version: 66.07.10.p01
glider: 573
mission: 9
dive: 141
start: 4 27 115 20 56 30
data:
$ID,573
$MISSION,9
$DIVE,141
$D_SURF,3
$D_FLARE,3
$D_TGT,110
$D_ABORT,140
$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,37
$T_MISSION,47
$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,-13957.063
$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,28
$R_STBD_OVSHOOT,18
$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,140
$GPS1,270415,205105,-3423.577,2550.112,27,1.7,28,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-68.0
$GPS2,270415,205611,-3423.575,2550.192,18,1.7,19,-27.8
$SPEED_LIMITS,0.172,0.295
$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,293.0,9494,-15.6,-9.910
$D_GRID,110
$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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.01,-194.6,0.0,0.0,0,88,0.00,0.00,-60.83,0.000,2,0.000,0.000,83,1935,2853,0,0,0,0,0,0
$GC,90,-1.01,-194.6,3.1,-3.1,7,127,11.20,2.45,-19.10,0.000,4,0.259,0.099,2674,3341,3561,0,0,0,0,0,0
$GC,236,-0.82,-194.6,26.7,-16.9,28,245,0.25,2.40,0.00,0.000,6,0.164,0.080,2749,1939,3563,0,0,0,0,0,0
$GC,321,-0.73,-194.6,39.1,-12.6,41,332,0.12,2.47,0.00,0.000,4,0.189,0.096,2780,494,3564,0,0,0,0,0,0
$GC,400,-0.69,-194.6,48.3,-10.8,53,408,0.10,2.47,0.00,0.000,6,0.214,0.090,2792,1913,3565,0,0,0,0,0,0
$GC,521,-0.69,-194.6,61.3,-11.1,72,530,0.00,2.42,0.00,0.000,4,0.000,0.086,2782,3346,3565,0,0,0,0,0,0
$GC,642,-0.69,-194.6,74.9,-11.5,91,649,0.00,2.42,0.00,0.000,6,0.000,0.084,2781,1913,3566,0,0,0,0,0,0
$GC,757,-0.69,-194.6,88.3,-11.4,110,767,0.03,2.42,0.00,0.000,4,0.254,0.091,2791,491,3567,0,0,0,0,0,0
$GC,798,-0.69,-194.6,93.1,-11.8,116,807,0.00,2.50,0.00,0.000,6,0.000,0.086,2782,1920,3567,0,0,0,0,0,0
$GC,917,-0.66,-194.6,106.7,-12.1,135,925,0.10,2.38,0.00,0.000,4,0.230,0.086,2792,3361,3568,0,0,0,0,0,0
$STATE,949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,949,begin apogee
$GC,956,-0.25,0.0,110.7,11.1,140,1115,0.45,0.00,149.60,0.626,6,0.148,0.000,2933,1753,2762,0,0,0,0,0,0
$STATE,1116,end apogee,CONTROL_FINISHED_OK
$STATE,1116,begin climb
$GC,1118,1.01,194.6,119.0,0.0,161,1281,1.25,2.45,153.02,0.611,4,0.109,0.049,3349,326,1967,0,0,0,0,0,0
$GC,1367,0.93,194.6,98.7,11.6,197,1375,0.10,2.33,0.00,0.000,6,0.160,0.032,3324,1791,1963,0,0,0,0,0,0
$GC,1484,0.89,194.6,86.6,10.0,216,1493,0.08,0.00,0.00,0.000,6,0.200,0.000,3307,1792,1962,0,0,0,0,0,0
$GC,1604,0.91,210.7,75.6,9.4,235,1626,0.00,2.38,14.20,0.577,4,0.000,0.048,3317,331,1900,0,0,0,0,0,0
$GC,1651,0.90,219.2,70.9,9.6,242,1668,0.00,2.28,8.15,0.533,6,0.000,0.035,3317,1741,1867,0,0,0,0,0,0
$GC,1777,0.90,219.2,56.9,11.1,262,1787,0.00,2.33,0.00,0.000,4,0.000,0.058,3317,3169,1865,0,0,0,0,0,0
$GC,1805,0.87,219.2,53.7,11.5,266,1816,0.08,2.33,0.00,0.000,6,0.140,0.054,3301,1746,1864,0,0,0,0,0,0
$GC,1927,0.88,224.1,41.7,9.7,285,1943,0.00,2.30,5.28,0.485,4,0.000,0.054,3312,343,1848,0,0,0,0,0,0
$GC,2073,0.94,281.0,28.6,8.0,308,2109,0.00,2.28,30.12,0.577,6,0.000,0.037,3311,1762,1615,0,0,0,0,0,0
$GC,2187,1.01,301.3,18.4,9.2,324,2205,0.10,0.00,9.62,0.496,6,0.094,0.000,3372,1763,1532,0,0,0,0,0,0
$GC,2282,0.98,301.3,7.6,11.8,338,2292,0.12,2.30,0.00,0.000,4,0.152,0.058,3339,3172,1527,0,0,0,0,0,0
$STATE,2324,end climb,SURFACE_DEPTH_REACHED
$STATE,2324,begin surface coast
$FINISH,1.5,1.022030
$STATE,2332,end surface coast,CONTROL_FINISHED_OK
$STATE,2332,begin surface
$SM_CCo,2409,0.00,0.000,0,0,1520,304.66
$SM_GC,2.01,8.62,0.00,0.00,0.038,0.000,0.000,84,1921,1520,-9.09,0.06,304.66
$IRIDIUM_FIX,-3404.29,2546.08,220208,090936
$TT8_MAMPS,0.026215
$HUMID,59.64
$INTERNAL_PRESSURE,9.39179
$TCM_TEMP,17.40
$XPDR_PINGS,0
$24V_AH,24.3,15.483
$10V_AH,10.3,11.720
$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,22.600,47.775,370.000,0.000,0.000,27.361,20.541,164.864,2.250,0.000,20.867,794.941,222.549,376.555,1263.998,69.247,0.000,834.343,0.000,940.099,0.000,14.496,0.000
$DEVICE_MAMPS,258.570,98.685,625.770,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,230.352,940.064,683.350,1010.741,0.000,0.000,0.000,0.000,0.000,0.000
$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,23732,345
$CAP_FILE_SIZE,51124,0
$CFSIZE,2097086464,2077720576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.241, 85.5,1
$GPS,270415,213753,-3423.534,2550.195,41,0.9,42,-27.8