version: 66.07.10.p01
glider: 573
mission: 9
dive: 18
start: 4 23 115 6 56 29
data:
$ID,573
$MISSION,9
$DIVE,18
$D_SURF,3
$D_FLARE,3
$D_TGT,750
$D_ABORT,850
$D_NO_BLEED,500
$D_BOOST,0
$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,220
$T_MISSION,250
$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,230
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0278
$MASS,52922
$LENGTH,1.8
$NAV_MODE,2
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$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,375
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$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,-13541.373
$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,3050
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,150
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2169
$C_ROLL_CLIMB,1673
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,14
$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,2762
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$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,17
$GPS1,230415,064735,-3431.956,2556.013,25,1.2,25,-28.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-65.2
$GPS2,230415,065605,-3432.095,2555.815,43,0.9,44,-28.0
$SPEED_LIMITS,0.197,0.329
$TGT_NAME,WP_NORTH
$TGT_LATLONG,-3420.000,2552.000
$TGT_RADIUS,2000.000
$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,58.4,23148,-16.3,-11.364
$D_GRID,750
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,23,-1.08,-223.8,0.0,0.0,0,77,0.00,0.00,-52.03,0.000,2,0.000,0.000,87,2185,2526,0,0,0,0,0,0
$GC,79,-1.08,-223.8,3.4,-4.0,6,132,11.25,2.55,-28.92,0.000,4,0.261,0.116,2691,761,3678,0,0,0,0,0,0
$GC,281,-0.92,-223.8,40.8,-21.2,36,290,0.22,2.65,0.00,0.000,6,0.177,0.125,2747,2168,3681,0,0,0,0,0,0
$GC,396,-0.86,-223.8,59.0,-13.7,55,404,0.10,0.00,0.00,0.000,6,0.196,0.000,2770,2168,3682,0,0,0,0,0,0
$GC,508,-0.86,-223.8,71.4,-10.7,74,517,0.00,2.47,0.00,0.000,4,0.000,0.103,2760,3583,3684,0,0,0,0,0,0
$GC,593,-0.86,-223.8,81.3,-11.6,88,602,0.00,2.42,0.00,0.000,6,0.000,0.089,2760,2179,3684,0,0,0,0,0,0
$GC,708,-0.86,-223.8,94.0,-11.6,107,716,0.00,2.50,0.00,0.000,4,0.000,0.112,2760,747,3685,0,0,0,0,0,0
$GC,748,-0.86,-223.8,98.6,-11.9,113,755,0.08,2.65,0.00,0.000,6,0.211,0.129,2766,2173,3685,0,0,0,0,0,0
$GC,865,-0.86,-223.8,111.2,-10.3,132,874,0.00,2.47,0.00,0.000,4,0.000,0.108,2756,3587,3685,0,0,0,0,0,0
$GC,927,-0.88,-223.8,117.9,-9.9,142,936,0.00,2.42,0.00,0.000,6,0.000,0.088,2756,2176,3685,0,0,0,0,0,0
$GC,1045,-0.88,-223.8,131.3,-12.4,161,1052,0.00,2.47,0.00,0.000,4,0.000,0.109,2756,746,3686,0,0,0,0,0,0
$GC,1072,-0.88,-223.8,134.6,-12.5,165,1080,0.08,2.58,0.00,0.000,6,0.216,0.118,2761,2172,3686,0,0,0,0,0,0
$GC,1185,-0.88,-223.8,149.0,-12.9,184,1194,0.00,2.47,0.00,0.000,4,0.000,0.112,2751,3581,3687,0,0,0,0,0,0
$GC,1218,-0.88,-223.8,153.2,-12.7,189,1225,0.00,2.40,0.00,0.000,6,0.000,0.090,2751,2168,3686,0,0,0,0,0,0
$GC,1330,-0.88,-223.8,167.2,-12.2,208,1339,0.00,2.50,0.00,0.000,4,0.000,0.109,2752,746,3687,0,0,0,0,0,0
$GC,1381,-0.88,-223.8,174.2,-13.5,216,1391,0.05,2.58,0.00,0.000,6,0.183,0.110,2756,2169,3687,0,0,0,0,0,0
$GC,1497,-0.88,-223.8,189.2,-13.3,235,1506,0.00,2.45,0.00,0.000,4,0.000,0.106,2746,3597,3687,0,0,0,0,0,0
$GC,1541,-0.88,-223.8,195.0,-13.2,242,1551,0.03,2.47,0.00,0.000,6,0.135,0.093,2755,2167,3687,0,0,0,0,0,0
$GC,1659,-0.88,-223.8,209.8,-13.2,261,1667,0.00,2.45,0.00,0.000,4,0.000,0.107,2755,742,3687,0,0,0,0,0,0
$GC,1686,-0.88,-223.8,213.4,-13.0,265,1693,0.08,2.55,0.00,0.000,6,0.225,0.112,2759,2167,3687,0,0,0,0,0,0
$GC,1801,-0.88,-223.8,228.6,-12.6,284,1810,0.00,2.55,0.00,0.000,4,0.000,0.121,2749,3592,3686,0,0,0,0,0,0
$GC,1839,-0.88,-223.8,233.6,-13.3,290,1848,0.00,2.47,0.00,0.000,6,0.000,0.099,2749,2173,3686,0,0,0,0,0,0
$GC,1954,-0.88,-223.8,248.7,-13.4,309,1961,0.05,2.50,0.00,0.000,4,0.196,0.114,2759,734,3686,0,0,0,0,0,0
$GC,2009,-0.88,-223.8,256.4,-13.1,318,2018,0.00,2.62,0.00,0.000,6,0.000,0.118,2750,2169,3686,0,0,0,0,0,0
$GC,2125,-0.88,-223.8,272.0,-13.7,337,2133,0.00,2.50,0.00,0.000,4,0.000,0.118,2739,3598,3686,0,0,0,0,0,0
$GC,2164,-0.88,-223.8,277.1,-13.7,343,2172,0.10,2.50,0.00,0.000,6,0.166,0.106,2763,2163,3685,0,0,0,0,0,0
$GC,2278,-0.88,-223.8,291.8,-12.5,362,2287,0.00,2.50,0.00,0.000,4,0.000,0.109,2763,740,3685,0,0,0,0,0,0
$GC,2324,-0.88,-223.8,297.4,-13.0,369,2331,0.00,2.58,0.00,0.000,6,0.000,0.117,2754,2173,3685,0,0,0,0,0,0
$GC,2438,-0.88,-223.8,312.7,-13.6,388,2447,0.00,2.53,0.00,0.000,4,0.000,0.122,2744,3583,3685,0,0,0,0,0,0
$GC,2475,-0.88,-223.8,317.8,-13.7,394,2485,0.05,2.47,0.00,0.000,6,0.148,0.103,2759,2176,3685,0,0,0,0,0,0
$GC,2593,-0.88,-223.8,331.9,-12.6,413,2600,0.00,2.50,0.00,0.000,4,0.000,0.111,2760,734,3685,0,0,0,0,0,0
$GC,2642,-0.88,-223.8,338.1,-12.8,421,2650,0.00,2.60,0.00,0.000,6,0.000,0.119,2751,2169,3685,0,0,0,0,0,0
$GC,2756,-0.88,-223.8,352.7,-13.0,440,2765,0.00,2.58,0.00,0.000,4,0.000,0.132,2740,3580,3685,0,0,0,0,0,0
$GC,2801,-0.88,-223.8,358.6,-13.9,447,2810,0.10,2.45,0.00,0.000,6,0.168,0.104,2763,2168,3684,0,0,0,0,0,0
$GC,2918,-0.88,-223.8,373.0,-11.6,466,2927,0.00,2.47,0.00,0.000,4,0.000,0.104,2764,743,3684,0,0,0,0,0,0
$GC,2976,-0.88,-223.8,379.8,-12.3,475,2984,0.00,2.55,0.00,0.000,6,0.000,0.115,2755,2169,3684,0,0,0,0,0,0
$STATE,3064,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3064,begin apogee
$GC,3068,-0.25,0.0,390.6,12.6,489,3251,0.65,0.00,175.00,0.845,6,0.151,0.000,2960,1660,2762,0,0,0,0,0,0
$STATE,3252,end apogee,CONTROL_FINISHED_OK
$STATE,3252,begin climb
$GC,3253,1.08,223.8,400.9,0.0,514,3446,1.30,2.47,182.27,0.815,4,0.092,0.065,3399,247,1849,0,0,0,0,0,0
$GC,3685,0.92,223.8,354.3,15.8,581,3693,0.20,2.35,0.00,0.000,6,0.160,0.050,3347,1689,1844,0,0,0,0,0,0
$GC,3799,0.84,223.8,339.5,11.9,600,3808,0.10,0.00,0.00,0.000,6,0.195,0.000,3323,1694,1843,0,0,0,0,0,0
$GC,3915,0.80,231.4,326.7,11.1,619,3930,0.05,0.00,6.62,0.657,6,0.233,0.000,3311,1694,1820,0,0,0,0,0,0
$GC,4037,0.79,258.5,313.7,10.4,639,4068,0.00,2.47,24.58,0.759,4,0.000,0.076,3322,249,1708,0,0,0,0,0,0
$GC,4093,0.76,264.8,307.4,11.2,647,4110,0.10,2.35,6.45,0.636,6,0.176,0.054,3298,1676,1683,0,0,0,0,0,0
$GC,4215,0.81,303.1,295.0,10.1,667,4251,0.00,0.00,33.85,0.767,6,0.000,0.000,3298,1676,1526,0,0,0,0,0,0
$GC,4357,0.86,327.0,280.7,10.5,690,4388,0.10,2.53,21.20,0.744,4,0.093,0.083,3360,247,1428,0,0,0,0,0,0
$GC,4424,0.79,327.0,271.9,13.6,700,4434,0.15,2.40,0.00,0.000,6,0.140,0.054,3314,1674,1425,0,0,0,0,0,0
$GC,4539,0.79,327.3,258.6,11.4,719,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1677,1422,0,0,0,0,0,0
$GC,4650,0.80,335.9,246.1,11.1,738,4666,0.00,2.45,8.15,0.627,4,0.000,0.081,3324,254,1392,0,0,0,0,0,0
$GC,4709,0.80,335.9,239.4,12.0,747,4717,0.05,2.33,0.00,0.000,6,0.197,0.056,3313,1668,1391,0,0,0,0,0,0
$GC,4823,0.83,335.9,226.3,11.7,766,4831,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1669,1390,0,0,0,0,0,0
$GC,4937,0.85,335.9,213.7,11.6,785,4944,0.00,2.42,0.00,0.000,4,0.000,0.083,3323,250,1390,0,0,0,0,0,0
$GC,4969,0.85,335.9,209.7,12.3,790,4978,0.00,2.35,0.00,0.000,6,0.000,0.056,3323,1664,1390,0,0,0,0,0,0
$GC,5083,0.85,335.9,195.9,12.2,809,5090,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,1664,1389,0,0,0,0,0,0
$GC,5195,0.85,335.9,182.4,11.8,828,5203,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,1664,1389,0,0,0,0,0,0
$GC,5309,0.85,335.9,168.9,12.2,847,5316,0.00,2.38,0.00,0.000,4,0.000,0.081,3333,253,1389,0,0,0,0,0,0
$GC,5340,0.85,335.9,164.7,12.9,852,5348,0.00,2.35,0.00,0.000,6,0.000,0.057,3332,1673,1389,0,0,0,0,0,0
$GC,5454,0.85,335.9,150.5,13.0,871,5460,0.00,0.00,0.00,0.000,6,0.000,0.000,3333,1673,1388,0,0,0,0,0,0
$GC,5565,0.85,335.9,136.6,11.5,890,5574,0.00,2.40,0.00,0.000,4,0.000,0.080,3341,257,1388,0,0,0,0,0,0
$GC,5601,0.83,335.9,132.3,13.9,895,5609,0.10,2.30,0.00,0.000,6,0.161,0.054,3315,1677,1388,0,0,0,0,0,0
$GC,5714,0.83,335.9,118.8,11.9,914,5722,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1680,1388,0,0,0,0,0,0
$GC,5828,0.83,335.9,105.9,12.3,933,5836,0.00,2.38,0.00,0.000,4,0.000,0.077,3325,247,1388,0,0,0,0,0,0
$GC,5872,0.83,335.9,100.5,12.2,940,5881,0.00,2.33,0.00,0.000,6,0.000,0.054,3326,1667,1388,0,0,0,0,0,0
$GC,5987,0.83,335.9,87.5,11.8,959,5994,0.00,2.42,0.00,0.000,4,0.000,0.099,3326,3092,1387,0,0,0,0,0,0
$GC,6002,0.83,335.9,85.8,11.4,961,6010,0.08,2.33,0.00,0.000,6,0.177,0.068,3317,1649,1387,0,0,0,0,0,0
$GC,6116,0.88,377.8,74.0,9.9,980,6162,0.00,2.38,35.35,0.669,4,0.000,0.074,3327,265,1220,0,0,0,0,0,0
$GC,6217,0.88,377.8,62.2,13.7,995,6225,0.00,2.33,0.00,0.000,6,0.000,0.056,3328,1673,1217,0,0,0,0,0,0
$GC,6329,0.94,392.9,48.9,10.8,1014,6354,0.08,2.45,12.98,0.596,4,0.116,0.090,3375,3078,1160,0,0,0,0,0,0
$GC,6391,0.90,392.9,41.0,14.5,1023,6399,0.15,2.28,0.00,0.000,6,0.151,0.060,3344,1678,1159,0,0,0,0,0,0
$GC,6507,0.94,404.6,27.4,11.0,1042,6525,0.00,2.40,6.62,0.530,4,0.000,0.071,3354,263,1112,0,0,0,0,0,0
$GC,6632,0.94,404.6,10.5,14.0,1061,6642,0.00,2.33,0.00,0.000,6,0.000,0.053,3354,1668,1109,0,0,0,0,0,0
$STATE,6692,end climb,SURFACE_DEPTH_REACHED
$STATE,6692,begin surface coast
$FINISH,1.2,1.021443
$STATE,6719,end surface coast,CONTROL_FINISHED_OK
$STATE,6719,begin surface
$SM_CCo,6795,0.00,0.000,0,0,1106,406.46
$SM_GC,2.08,8.60,0.00,0.00,0.037,0.000,0.000,69,2184,1106,-9.18,0.42,406.46
$IRIDIUM_FIX,-3419.93,2555.27,170208,202015
$TT8_MAMPS,0.026215
$HUMID,61.06
$INTERNAL_PRESSURE,9.32343
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,390.6,7.3
$24V_AH,23.9,5.017
$10V_AH,10.4,3.274
$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,23.875,144.425,513.075,0.000,0.000,31.006,42.361,297.292,8.000,0.000,45.870,2512.181,544.702,661.101,3452.103,130.488,0.000,1765.373,0.000,2720.540,0.000,53.807,0.000
$DEVICE_MAMPS,260.865,132.345,844.560,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,730.727,2766.372,1876.398,2988.237,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331364
$DATA_FILE_SIZE,80476,1074
$CAP_FILE_SIZE,135990,0
$CFSIZE,2097086464,2090074112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.462,250.0,1
$GPS,230415,085053,-3431.817,2554.738,37,1.5,37,-28.0