version: 66.07.10.p01
glider: 573
mission: 9
dive: 152
start: 4 28 115 6 47 28
data:
$ID,573
$MISSION,9
$DIVE,152
$D_SURF,3
$D_FLARE,3
$D_TGT,160
$D_ABORT,190
$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,53
$T_MISSION,68
$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,-13994.384
$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,16
$R_STBD_OVSHOOT,16
$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,60
$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,151
$GPS1,280415,064105,-3422.980,2550.492,29,1.4,30,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-71.9
$GPS2,280415,064705,-3423.000,2550.512,42,1.2,42,-27.8
$SPEED_LIMITS,0.174,0.296
$TGT_NAME,DEPLOY
$TGT_LATLONG,-3435.580,2528.620
$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,272.0,40703,-15.8,-10.063
$D_GRID,160
$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,24,-1.02,-194.6,0.0,0.0,0,70,0.00,0.00,-43.47,0.000,2,0.000,0.000,82,1929,2542,0,0,0,0,0,0
$GC,72,-1.02,-194.6,3.2,-3.1,5,125,11.30,2.40,-33.62,0.000,4,0.262,0.099,2667,3342,3557,0,0,0,0,0,0
$GC,400,-0.84,-194.6,59.7,-18.7,56,413,0.25,2.45,0.00,0.000,6,0.177,0.086,2740,1923,3561,0,0,0,0,0,0
$GC,525,-0.76,-194.6,76.4,-12.3,75,532,0.12,2.38,0.00,0.000,4,0.194,0.083,2761,3343,3563,0,0,0,0,0,0
$GC,632,-0.73,-194.6,89.0,-10.5,92,642,0.03,2.42,0.00,0.000,6,0.142,0.082,2770,1925,3564,0,0,0,0,0,0
$GC,752,-0.70,-194.6,99.8,-9.6,111,760,0.08,0.00,0.00,0.000,6,0.234,0.000,2786,1925,3565,0,0,0,0,0,0
$GC,872,-0.70,-194.6,110.2,-8.8,130,882,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1925,3565,0,0,0,0,0,0
$GC,992,-0.70,-194.6,124.8,-14.1,149,999,0.00,2.40,0.00,0.000,4,0.000,0.093,2778,3341,3566,0,0,0,0,0,0
$STATE,1046,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1046,begin apogee
$GC,1052,-0.25,0.0,132.2,12.1,158,1212,0.50,0.00,149.27,0.646,6,0.161,0.000,2930,1756,2762,0,0,0,0,0,0
$STATE,1213,end apogee,CONTROL_FINISHED_OK
$STATE,1213,begin climb
$GC,1214,1.02,194.6,140.0,0.0,179,1377,1.27,2.47,153.68,0.630,4,0.106,0.051,3354,322,1967,0,0,0,0,0,0
$GC,1427,0.94,194.6,125.1,10.5,209,1435,0.10,2.33,0.00,0.000,6,0.164,0.033,3329,1767,1963,0,0,0,0,0,0
$GC,1545,0.92,211.7,114.4,9.5,228,1569,0.00,2.33,14.60,0.592,4,0.000,0.054,3329,3177,1898,0,0,0,0,0,0
$GC,1643,0.86,211.7,103.7,11.6,243,1651,0.15,2.33,0.00,0.000,6,0.164,0.057,3300,1746,1896,0,0,0,0,0,0
$GC,1760,0.86,219.0,91.0,9.8,262,1777,0.00,2.33,7.47,0.542,4,0.000,0.056,3309,346,1869,0,0,0,0,0,0
$GC,1839,0.86,219.0,82.2,11.6,274,1849,0.00,2.28,0.00,0.000,6,0.000,0.038,3309,1748,1867,0,0,0,0,0,0
$GC,1959,0.86,219.0,69.6,10.4,293,1966,0.00,2.30,0.00,0.000,4,0.000,0.065,3309,3178,1866,0,0,0,0,0,0
$GC,1999,0.84,219.0,65.0,11.9,299,2007,0.10,2.30,0.00,0.000,6,0.172,0.059,3294,1753,1866,0,0,0,0,0,0
$GC,2115,0.86,238.1,52.9,9.4,318,2140,0.00,2.30,16.98,0.601,4,0.000,0.057,3304,336,1792,0,0,0,0,0,0
$GC,2179,0.87,246.2,47.1,9.8,327,2195,0.00,2.28,8.65,0.552,6,0.000,0.040,3304,1757,1758,0,0,0,0,0,0
$GC,2306,0.95,294.0,36.0,8.4,347,2352,0.08,2.35,38.55,0.604,4,0.118,0.063,3355,3186,1562,0,0,0,0,0,0
$GC,2405,0.95,318.9,26.5,9.2,361,2424,0.10,2.38,13.02,0.540,6,0.125,0.056,3331,1756,1460,0,0,0,0,0,0
$GC,2502,1.02,345.4,17.7,9.1,375,2521,0.00,2.40,12.93,0.514,4,0.000,0.059,3342,336,1350,0,0,0,0,0,0
$GC,2637,1.04,345.4,3.1,11.6,395,2646,0.00,2.35,0.00,0.000,6,0.000,0.045,3342,1763,1343,0,0,0,0,0,0
$STATE,2653,end climb,SURFACE_DEPTH_REACHED
$STATE,2653,begin surface coast
$FINISH,1.2,1.010071
$STATE,2686,end surface coast,CONTROL_FINISHED_OK
$STATE,2686,begin surface
$SM_CCo,2761,0.00,0.000,0,0,1338,349.30
$SM_GC,2.14,8.90,0.00,0.00,0.055,0.000,0.000,83,1933,1338,-9.08,0.40,349.30
$IRIDIUM_FIX,-3409.50,2548.35,220208,191936
$TT8_MAMPS,0.026215
$HUMID,60.63
$INTERNAL_PRESSURE,9.36249
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.2,41.9
$24V_AH,24.2,16.388
$10V_AH,10.3,12.500
$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,22.975,47.800,415.150,0.000,0.000,26.462,46.910,166.523,1.750,0.000,44.468,922.448,258.257,399.708,1478.297,76.384,0.000,903.892,0.000,1084.886,0.000,13.184,0.000
$DEVICE_MAMPS,262.395,109.395,646.425,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,269.815,1091.412,789.014,1173.156,0.000,0.000,0.000,0.000,0.000,0.000
$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,30384,402
$CAP_FILE_SIZE,55419,0
$CFSIZE,2097086464,2076639232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.164, 66.1,1
$GPS,280415,073435,-3422.967,2550.377,32,1.2,33,-27.8