version: 66.07.10.p01
glider: 573
mission: 9
dive: 112
start: 4 27 115 0 11 24
data:
$ID,573
$MISSION,9
$DIVE,112
$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,-13858.25
$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,3020
$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,1919
$C_ROLL_CLIMB,1758
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,11
$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,111
$GPS1,270415,000534,-3420.322,2544.126,43,0.9,43,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-61.8
$GPS2,270415,001100,-3420.279,2544.189,18,0.9,19,-27.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,DEPLOY
$TGT_LATLONG,-3424.000,2544.000
$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,255.1,6897,-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,24,-1.02,-194.6,0.0,0.0,0,70,0.00,0.00,-43.40,0.000,2,0.000,0.000,74,1922,2565,0,0,0,0,0,0
$GC,72,-1.02,-194.6,3.0,-3.0,5,125,11.12,2.42,-30.35,0.000,4,0.257,0.091,2666,3346,3560,0,0,0,0,0,0
$GC,209,-0.80,-194.6,25.0,-23.1,24,219,0.30,2.42,0.00,0.000,6,0.158,0.075,2757,1921,3562,0,0,0,0,0,0
$GC,294,-0.75,-194.6,37.4,-11.5,37,303,0.08,2.47,0.00,0.000,4,0.207,0.096,2774,488,3562,0,0,0,0,0,0
$GC,338,-0.71,-194.6,42.0,-11.3,43,346,0.10,2.50,0.00,0.000,6,0.210,0.090,2786,1923,3562,0,0,0,0,0,0
$GC,452,-0.71,-194.6,55.0,-11.2,62,461,0.00,2.38,0.00,0.000,4,0.000,0.086,2776,3333,3563,0,0,0,0,0,0
$GC,537,-0.71,-194.6,65.0,-11.2,76,546,0.00,2.42,0.00,0.000,6,0.000,0.085,2776,1923,3564,0,0,0,0,0,0
$GC,652,-0.71,-194.6,78.2,-11.7,95,659,0.00,2.38,0.00,0.000,4,0.000,0.083,2767,3352,3565,0,0,0,0,0,0
$GC,725,-0.71,-194.6,86.7,-11.4,107,732,0.08,2.42,0.00,0.000,6,0.179,0.086,2782,1917,3565,0,0,0,0,0,0
$STATE,757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,757,begin apogee
$GC,761,-0.25,0.0,90.3,10.6,112,917,0.50,0.00,148.25,0.611,6,0.164,0.000,2935,1756,2761,0,0,0,0,0,0
$STATE,918,end apogee,CONTROL_FINISHED_OK
$STATE,918,begin climb
$GC,919,1.02,194.6,98.1,0.0,133,1082,1.25,2.40,152.05,0.598,4,0.105,0.050,3353,325,1968,0,0,0,0,0,0
$GC,1153,0.93,194.6,79.8,12.7,167,1161,0.12,2.33,0.00,0.000,6,0.155,0.031,3320,1778,1965,0,0,0,0,0,0
$GC,1267,0.91,207.3,68.2,9.6,186,1283,0.00,2.30,11.75,0.549,4,0.000,0.052,3320,3173,1915,0,0,0,0,0,0
$GC,1326,0.86,207.3,62.3,10.1,195,1334,0.12,2.30,0.00,0.000,6,0.162,0.053,3297,1747,1912,0,0,0,0,0,0
$GC,1441,0.92,257.9,52.2,8.3,214,1494,0.00,2.38,42.12,0.588,4,0.000,0.055,3307,340,1708,0,0,0,0,0,0
$GC,1543,0.95,283.9,42.9,9.1,229,1574,0.00,2.28,22.77,0.569,6,0.000,0.037,3307,1752,1602,0,0,0,0,0,0
$GC,1681,1.07,341.2,31.8,8.0,251,1721,0.15,2.40,34.12,0.568,4,0.073,0.050,3393,345,1367,0,0,0,0,0,0
$GC,1793,1.01,341.2,18.2,14.4,267,1802,0.12,2.30,0.00,0.000,6,0.128,0.034,3352,1773,1359,0,0,0,0,0,0
$GC,1879,1.01,341.2,7.9,12.1,280,1888,0.00,2.25,0.00,0.000,4,0.000,0.056,3352,3157,1357,0,0,0,0,0,0
$GC,1897,1.01,341.2,5.7,12.5,282,1906,0.03,2.30,0.00,0.000,6,0.177,0.056,3352,1765,1356,0,0,0,0,0,0
$STATE,1919,end climb,SURFACE_DEPTH_REACHED
$STATE,1919,begin surface coast
$FINISH,1.6,1.022054
$STATE,1946,end surface coast,CONTROL_FINISHED_OK
$STATE,1946,begin surface
$SM_CCo,2022,0.00,0.000,0,0,1351,346.11
$SM_GC,2.07,8.70,0.00,0.00,0.040,0.000,0.000,81,1941,1351,-9.09,0.62,346.11
$IRIDIUM_FIX,-3343.50,2548.58,210208,121216
$TT8_MAMPS,0.025466
$HUMID,59.29
$INTERNAL_PRESSURE,9.38202
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.3,17.9
$24V_AH,24.3,13.223
$10V_AH,10.3,10.041
$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,22.675,43.200,411.075,0.000,0.000,27.758,44.475,161.369,2.000,0.000,20.930,649.538,149.359,383.966,1123.770,58.377,0.000,805.358,0.000,792.314,0.000,14.481,0.000
$DEVICE_MAMPS,257.040,129.285,611.235,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,191.169,789.351,577.596,848.498,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331536
$DATA_FILE_SIZE,20396,289
$CAP_FILE_SIZE,46293,0
$CFSIZE,2097086464,2080571392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.265, 66.2,1
$GPS,270415,004605,-3420.324,2544.249,27,1.1,28,-27.7