version: 66.07.10.p01
glider: 573
mission: 9
dive: 91
start: 4 26 115 9 1 0
data:
$ID,573
$MISSION,9
$DIVE,91
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$D_ABORT,120
$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,30
$T_MISSION,40
$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,200
$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,300
$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,-13787.266
$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,2981
$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,1975
$C_ROLL_CLIMB,1602
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,13
$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,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,90
$GPS1,260415,085205,-3420.176,2540.108,46,0.9,47,-27.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-61.5
$GPS2,260415,090035,-3420.158,2540.112,41,1.1,42,-27.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,DEPLOY
$TGT_LATLONG,-3428.620,2530.300
$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,263.5,21679,-15.7,-10.000
$D_GRID,90
$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,-1.02,-194.6,0.0,0.0,0,78,0.00,0.00,-52.50,0.000,2,0.000,0.000,82,2069,2567,0,0,0,0,0,0
$GC,80,-1.02,-194.6,3.2,-3.7,6,124,11.02,0.00,-28.67,0.000,6,0.260,0.000,2645,2069,3559,0,0,0,0,0,0
$GC,201,-0.74,-194.6,25.9,-26.8,23,210,0.30,0.00,0.00,0.000,6,0.198,0.000,2730,2069,3562,0,0,0,0,0,0
$GC,286,-0.64,-194.6,44.5,-17.3,36,296,0.15,2.65,0.00,0.000,4,0.178,0.092,2770,557,3563,0,0,0,0,0,0
$GC,316,-0.57,-194.6,48.2,-13.3,40,327,0.10,2.53,0.00,0.000,6,0.174,0.094,2790,1974,3563,0,0,0,0,0,0
$GC,438,-0.57,-194.6,60.1,-8.7,59,445,0.00,2.38,0.00,0.000,4,0.000,0.090,2780,3400,3564,0,0,0,0,0,0
$GC,542,-0.57,-194.6,70.1,-9.2,76,553,0.03,2.42,0.00,0.000,6,0.135,0.083,2788,1988,3564,0,0,0,0,0,0
$GC,664,-0.57,-194.6,81.8,-10.1,95,671,0.00,2.47,0.00,0.000,4,0.000,0.101,2789,547,3565,0,0,0,0,0,0
$GC,693,-0.57,-194.6,85.1,-12.4,99,701,0.05,2.53,0.00,0.000,6,0.244,0.099,2788,1979,3565,0,0,0,0,0,0
$STATE,735,end dive,TARGET_DEPTH_EXCEEDED
$STATE,735,begin apogee
$GC,739,-0.25,0.0,90.0,11.8,105,895,0.32,0.00,147.20,0.616,6,0.158,0.000,2889,1598,2764,0,0,0,0,0,0
$STATE,895,end apogee,CONTROL_FINISHED_OK
$STATE,896,begin climb
$GC,897,1.02,194.6,101.1,0.0,126,1059,1.30,2.40,152.55,0.605,4,0.117,0.054,3311,179,1966,0,0,0,0,0,0
$GC,1200,0.99,194.6,81.1,10.2,171,1207,0.00,2.30,0.00,0.000,6,0.000,0.035,3311,1613,1962,0,0,0,0,0,0
$GC,1317,0.99,197.0,70.2,9.9,190,1326,0.00,2.35,0.00,0.000,4,0.000,0.067,3311,3025,1960,0,0,0,0,0,0
$GC,1353,0.95,197.0,66.5,11.2,195,1360,0.12,2.35,0.00,0.000,6,0.161,0.063,3287,1594,1960,0,0,0,0,0,0
$GC,1470,1.00,231.4,55.5,8.8,214,1508,0.00,0.00,29.60,0.596,6,0.000,0.000,3287,1593,1817,0,0,0,0,0,0
$GC,1619,1.07,273.6,43.0,8.5,237,1663,0.12,0.00,34.88,0.591,6,0.083,0.000,3349,1593,1645,0,0,0,0,0,0
$GC,1776,1.04,273.6,25.9,10.8,261,1786,0.12,2.35,0.00,0.000,4,0.155,0.057,3325,186,1641,0,0,0,0,0,0
$GC,1800,1.10,319.5,23.9,8.4,264,1835,0.00,2.30,23.67,0.548,6,0.000,0.039,3325,1594,1457,0,0,0,0,0,0
$GC,1913,1.20,371.7,14.6,8.2,280,1948,0.12,0.00,25.55,0.515,6,0.082,0.000,3387,1596,1246,0,0,0,0,0,0
$STATE,2005,end climb,SURFACE_DEPTH_REACHED
$STATE,2005,begin surface coast
$FINISH,1.4,1.022153
$STATE,2027,end surface coast,CONTROL_FINISHED_OK
$STATE,2027,begin surface
$SM_CCo,2103,0.00,0.000,0,0,1237,374.08
$SM_GC,2.00,8.98,0.00,0.00,0.047,0.000,0.000,80,1994,1237,-8.98,0.54,374.08
$IRIDIUM_FIX,-3406.89,2541.38,200208,222249
$TT8_MAMPS,0.026215
$HUMID,59.72
$INTERNAL_PRESSURE,9.36249
$TCM_TEMP,16.90
$XPDR_PINGS,0
$24V_AH,24.3,11.537
$10V_AH,10.3,8.873
$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,22.750,30.375,413.450,0.000,0.000,67.485,117.173,150.891,1.750,0.000,44.047,666.790,250.923,385.988,1274.338,53.724,0.000,819.095,0.000,814.354,0.000,11.513,0.000
$DEVICE_MAMPS,260.100,100.980,615.825,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,196.242,810.701,597.419,873.290,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331516
$DATA_FILE_SIZE,20400,296
$CAP_FILE_SIZE,45419,0
$CFSIZE,2097086464,2082635776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.208, 66.3,1
$GPS,260415,093705,-3420.182,2540.087,30,0.9,31,-27.7