version: 66.07.10.p01
glider: 573
mission: 9
dive: 638
start: 5 26 115 0 17 56
data:
$ID,573
$MISSION,9
$DIVE,638
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,5
$T_BOOST,0
$T_BOOST_BLACKOUT,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,333
$T_MISSION,348
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,-5
$MAX_BUOY,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,52922
$LENGTH,1.8
$NAV_MODE,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,60
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-3415
$TGT_DEFAULT_LON,2600
$TGT_AUTO_DEFAULT,0
$SM_CC,611.52295
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,2
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-15410.295
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,100
$PITCH_MAX,3858
$C_PITCH,3034
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,1919
$C_ROLL_CLIMB,1758
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,11
$R_STBD_OVSHOOT,10
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$ROLL_GAIN_P,0
$VBD_MIN,409
$VBD_MAX,3959
$C_VBD,2902
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,20
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-86.704987
$PRESSURE_SLOPE,0.00011693723
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,30
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.55000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,135
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042828661
$SEABIRD_T_H,0.00061930995
$SEABIRD_T_I,2.1971719e-05
$SEABIRD_T_J,2.301111e-06
$SEABIRD_C_G,-9.9469662
$SEABIRD_C_H,1.155618
$SEABIRD_C_I,-0.0016006827
$SEABIRD_C_J,0.00019558761
$EBE_ENABLE,0
$GC_WINDOW,0
$GC_LAST_COLLECTION,637
$GPS1,260515,001629,-3426.976,2437.694,41,1.2,41,-27.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-65.2
$GPS2,260515,001736,-3426.975,2437.685,18,1.2,18,-27.3
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3421.576,2449.014
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.229,0.204
$KALMAN_X,-18488.8,-8625.5,-2647.6,-6374.3,-1020.9
$KALMAN_Y,-14362.4,-6812.0,-2167.9,-3593.3,-569.5
$MHEAD_RNG_PITCHd_Wd,87.3,20000,-16.9,-10.010
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.05,-170.3,0.0,0.0,0,109,0.00,0.00,-78.97,0.000,2,0.000,0.000,80,1929,2350,0,0,0,0,0,0
$GC,113,-1.05,-170.3,3.1,-3.3,13,170,14.95,2.50,-35.50,0.000,4,0.327,0.104,2684,494,3598,11,0,0,0,0,0
$GC,245,-0.90,-170.3,22.5,-20.2,34,252,0.22,2.53,0.00,0.000,6,0.205,0.088,2734,1924,3600,0,0,0,0,0,0
$GC,395,-0.86,-170.3,46.6,-14.2,59,401,0.10,2.47,0.00,0.000,4,0.196,0.101,2748,3354,3601,0,0,0,0,0,0
$GC,481,-0.86,-170.3,56.4,-11.3,73,486,0.00,2.50,0.00,0.000,6,0.000,0.094,2748,1919,3601,0,0,0,0,0,0
$GC,833,-0.86,-170.3,98.1,-12.2,134,838,0.00,2.42,0.00,0.000,4,0.000,0.090,2748,475,3603,0,0,0,0,0,0
$STATE,901,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,901,begin apogee
$GC,909,-0.25,0.0,107.3,14.0,142,1045,0.73,0.00,129.68,0.604,6,0.180,0.000,2946,1771,2901,0,0,0,0,0,0
$STATE,1046,end apogee,CONTROL_FINISHED_OK
$STATE,1046,begin climb
$GC,1048,1.05,170.3,116.1,0.0,156,1194,1.27,2.45,132.73,0.594,4,0.106,0.047,3375,318,2206,0,0,0,0,0,0
$GC,1211,1.03,255.2,114.8,6.7,171,1288,0.00,2.35,68.38,0.582,6,0.000,0.037,3375,1767,1860,0,0,0,0,0,0
$GC,1626,0.94,255.2,66.8,12.8,233,1632,0.12,2.30,0.00,0.000,4,0.164,0.072,3341,3183,1855,0,0,0,0,0,0
$GC,1709,0.89,255.2,56.7,11.5,247,1715,0.12,2.47,0.00,0.000,6,0.169,0.090,3318,1756,1854,0,0,0,0,0,0
$GC,2064,0.98,313.9,25.7,7.7,308,2099,0.10,2.30,29.55,0.542,4,0.092,0.059,3404,328,1620,0,0,0,0,0,0
$STATE,2280,end climb,SURFACE_DEPTH_REACHED
$STATE,2280,begin surface coast
$FINISH,1.3,1.021623
$STATE,2312,end surface coast,CONTROL_FINISHED_OK
$STATE,2312,begin surface
$SM_CCo,2333,131.93,0.042,0,0,407,611.52
$SM_GC,2.01,0.00,0.00,131.93,0.000,0.000,0.042,88,1938,407,-9.21,0.57,611.52
$IRIDIUM_FIX,-3414.71,2434.64,210308,111107
$TT8_MAMPS,0.026964
$HUMID,59.72
$INTERNAL_PRESSURE,9.40155
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.4,21.0
$24V_AH,24.1,61.471
$10V_AH,10.1,47.489
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,26.775,29.275,360.325,131.925,0.000,0.000,0.000,0.000,2.250,0.000,20.995,755.363,307.229,481.594,932.893,64.860,0.000,899.923,0.000,884.109,0.000,16.005,0.000
$DEVICE_MAMPS,326.655,104.040,603.585,42.075,0.000,0.000,0.000,0.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,232.125,513.404,538.074,355.649,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330796
$DATA_FILE_SIZE,23833,349
$CAP_FILE_SIZE,38882,11
$CFSIZE,2097086464,2027290624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,11,0,0,1
$GPS,260515,010005,-3426.840,2437.815,25,1.1,25,-27.3