version: 66.07.10.p01
glider: 573
mission: 9
dive: 174
start: 4 29 115 9 39 20
data:
$ID,573
$MISSION,9
$DIVE,174
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$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,333
$T_MISSION,348
$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,-14068.492
$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,20
$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,2864
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$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,173
$GPS1,290415,093123,-3426.328,2545.331,37,1.8,37,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-61.9
$GPS2,290415,093859,-3426.334,2545.396,43,1.3,43,-27.8
$SPEED_LIMITS,0.173,0.296
$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,261.5,30779,-15.7,-10.010
$D_GRID,1000
$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,-1.02,-194.6,0.0,0.0,0,79,0.00,0.00,-51.67,0.000,2,0.000,0.000,73,1930,2570,0,0,0,0,0,0
$GC,81,-1.02,-194.6,3.0,-2.9,6,134,11.35,2.40,-33.83,0.000,4,0.260,0.093,2669,3352,3658,0,0,0,0,0,0
$GC,224,-0.80,-194.6,24.5,-22.1,26,234,0.30,2.50,0.00,0.000,6,0.172,0.090,2756,1925,3662,0,0,0,0,0,0
$GC,307,-0.73,-194.6,40.6,-13.9,39,316,0.10,2.38,0.00,0.000,4,0.200,0.077,2770,3349,3662,0,0,0,0,0,0
$GC,370,-0.73,-194.6,48.4,-11.0,49,378,0.00,2.42,0.00,0.000,6,0.000,0.081,2770,1913,3663,0,0,0,0,0,0
$GC,485,-0.71,-194.6,60.8,-10.6,68,494,0.08,0.00,0.00,0.000,6,0.184,0.000,2785,1913,3664,0,0,0,0,0,0
$GC,599,-0.71,-194.6,73.1,-11.0,87,607,0.00,2.40,0.00,0.000,4,0.000,0.085,2777,3354,3665,0,0,0,0,0,0
$GC,662,-0.71,-194.6,79.9,-10.6,97,670,0.00,2.42,0.00,0.000,6,0.000,0.084,2777,1921,3665,0,0,0,0,0,0
$GC,777,-0.71,-194.6,92.5,-10.9,116,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1921,3666,0,0,0,0,0,0
$GC,891,-0.71,-194.6,104.4,-10.7,135,898,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1921,3667,0,0,0,0,0,0
$GC,1004,-0.71,-194.6,116.2,-10.4,154,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1921,3667,0,0,0,0,0,0
$GC,1119,-0.71,-194.6,128.5,-11.3,173,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,1921,3668,0,0,0,0,0,0
$GC,1233,-0.71,-194.6,141.4,-11.9,192,1242,0.00,2.45,0.00,0.000,4,0.000,0.093,2767,3343,3668,0,0,0,0,0,0
$GC,1280,-0.71,-194.6,146.7,-11.8,199,1288,0.08,2.42,0.00,0.000,6,0.176,0.090,2783,1918,3667,0,0,0,0,0,0
$GC,1394,-0.71,-194.6,159.5,-10.6,218,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1918,3667,0,0,0,0,0,0
$GC,1512,-0.71,-194.6,171.5,-9.9,237,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1918,3667,0,0,0,0,0,0
$GC,1625,-0.71,-194.6,183.8,-11.1,256,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1918,3667,0,0,0,0,0,0
$GC,1740,-0.71,-194.6,196.9,-11.2,275,1748,0.00,2.42,0.00,0.000,4,0.000,0.096,2784,479,3668,0,0,0,0,0,0
$GC,1781,-0.71,-194.6,202.2,-13.3,281,1789,0.05,2.50,0.00,0.000,6,0.256,0.093,2783,1920,3668,0,0,0,0,0,0
$GC,1896,-0.71,-194.6,215.9,-10.7,300,1905,0.00,2.45,0.00,0.000,4,0.000,0.099,2773,3345,3667,0,0,0,0,0,0
$GC,2000,-0.71,-194.6,227.1,-10.4,317,2008,0.08,2.50,0.00,0.000,6,0.181,0.103,2788,1912,3667,0,0,0,0,0,0
$GC,2119,-0.71,-194.6,240.8,-10.9,336,2128,0.00,2.42,0.00,0.000,4,0.000,0.091,2788,488,3667,0,0,0,0,0,0
$GC,2148,-0.71,-194.6,244.1,-11.4,340,2157,0.00,2.47,0.00,0.000,6,0.000,0.083,2780,1919,3667,0,0,0,0,0,0
$GC,2264,-0.71,-194.6,257.0,-11.2,359,2272,0.00,2.40,0.00,0.000,4,0.000,0.099,2769,3345,3667,0,0,0,0,0,0
$GC,2350,-0.71,-194.6,266.1,-11.1,373,2358,0.08,2.50,0.00,0.000,6,0.184,0.108,2784,1918,3666,0,0,0,0,0,0
$GC,2466,-0.71,-194.6,278.4,-10.6,392,2474,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1918,3666,0,0,0,0,0,0
$GC,2582,-0.71,-194.6,289.8,-10.0,411,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1918,3665,0,0,0,0,0,0
$GC,2697,-0.71,-194.6,299.8,-7.4,430,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1918,3665,0,0,0,0,0,0
$GC,2813,-0.71,-194.6,306.8,-5.2,449,2820,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1918,3665,0,0,0,0,0,0
$GC,2926,-0.71,-194.6,314.1,-9.5,468,2935,0.00,2.47,0.00,0.000,4,0.000,0.100,2776,3346,3664,0,0,0,0,0,0
$GC,2971,-0.71,-194.6,318.9,-10.7,475,2979,0.00,2.53,0.00,0.000,6,0.000,0.112,2775,1919,3664,0,0,0,0,0,0
$GC,3090,-0.71,-194.6,331.8,-11.1,494,3099,0.03,0.00,0.00,0.000,6,0.255,0.000,2784,1920,3664,0,0,0,0,0,0
$STATE,3147,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3147,begin apogee
$GC,3151,-0.25,0.0,337.6,9.8,503,3315,0.47,0.00,152.45,0.814,6,0.167,0.000,2929,1759,2866,0,0,0,0,0,0
$STATE,3316,end apogee,CONTROL_FINISHED_OK
$STATE,3316,begin climb
$GC,3317,1.02,194.6,343.1,0.0,525,3486,1.27,0.00,157.48,0.782,6,0.106,0.000,3341,1758,2067,0,0,0,0,0,0
$GC,3591,0.92,194.6,320.5,10.5,566,3600,0.10,0.00,0.00,0.000,6,0.171,0.000,3317,1757,2063,0,0,0,0,0,0
$GC,3706,0.86,194.6,309.5,13.2,585,3713,0.08,0.00,0.00,0.000,6,0.191,0.000,3299,1758,2062,0,0,0,0,0,0
$GC,3819,0.83,194.6,299.5,10.7,604,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,1757,2061,0,0,0,0,0,0
$GC,3934,0.80,194.6,287.6,10.7,623,3942,0.08,0.00,0.00,0.000,6,0.203,0.000,3282,1757,2061,0,0,0,0,0,0
$GC,4046,0.82,205.0,276.4,9.7,642,4063,0.00,2.33,8.23,0.679,4,0.000,0.053,3293,326,2030,0,0,0,0,0,0
$GC,4094,0.82,205.0,271.8,10.7,649,4101,0.00,2.30,0.00,0.000,6,0.000,0.038,3293,1771,2029,0,0,0,0,0,0
$GC,4206,0.83,215.9,260.7,9.6,668,4222,0.00,0.00,11.30,0.708,6,0.000,0.000,3293,1771,1982,0,0,0,0,0,0
$GC,4328,0.84,225.6,248.7,9.7,688,4343,0.00,0.00,9.43,0.685,6,0.000,0.000,3293,1772,1944,0,0,0,0,0,0
$GC,4448,0.85,232.4,236.6,9.8,708,4457,0.00,0.00,7.43,0.619,6,0.000,0.000,3293,1772,1916,0,0,0,0,0,0
$GC,4564,0.88,258.3,225.8,9.1,727,4594,0.00,0.00,23.48,0.722,6,0.000,0.000,3293,1771,1809,0,0,0,0,0,0
$GC,4699,0.88,258.3,212.1,10.1,749,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,1771,1805,0,0,0,0,0,0
$GC,4811,0.91,258.3,200.8,10.6,768,4819,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,1772,1804,0,0,0,0,0,0
$GC,4925,0.93,258.3,189.0,10.9,787,4933,0.08,0.00,0.00,0.000,6,0.119,0.000,3336,1772,1804,0,0,0,0,0,0
$GC,5040,0.89,258.3,175.0,10.7,806,5049,0.10,0.00,0.00,0.000,6,0.159,0.000,3309,1773,1803,0,0,0,0,0,0
$GC,5154,0.89,258.3,162.8,11.7,825,5161,0.00,2.33,0.00,0.000,4,0.000,0.050,3319,326,1803,0,0,0,0,0,0
$GC,5182,0.89,258.3,159.8,11.3,829,5190,0.00,2.25,0.00,0.000,6,0.000,0.035,3319,1765,1803,0,0,0,0,0,0
$GC,5295,0.89,258.3,146.9,10.9,848,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1765,1803,0,0,0,0,0,0
$GC,5409,0.89,258.3,134.5,10.8,867,5417,0.00,2.25,0.00,0.000,4,0.000,0.063,3319,3179,1803,0,0,0,0,0,0
$GC,5438,0.87,258.3,131.3,11.6,871,5447,0.10,2.25,0.00,0.000,6,0.173,0.048,3303,1741,1802,0,0,0,0,0,0
$GC,5553,0.89,277.8,120.0,9.3,890,5578,0.00,2.25,17.10,0.685,4,0.000,0.053,3313,339,1730,0,0,0,0,0,0
$GC,5631,0.89,277.8,112.2,10.7,902,5639,0.00,2.28,0.00,0.000,6,0.000,0.036,3313,1762,1727,0,0,0,0,0,0
$GC,5746,0.90,286.8,101.1,9.7,921,5761,0.00,0.00,8.93,0.627,6,0.000,0.000,3313,1762,1693,0,0,0,0,0,0
$GC,5866,0.90,286.8,89.2,10.0,941,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1762,1690,0,0,0,0,0,0
$GC,5978,0.91,292.2,77.9,9.8,960,5987,0.00,0.00,5.60,0.515,6,0.000,0.000,3313,1762,1672,0,0,0,0,0,0
$GC,6094,0.91,292.2,66.3,10.0,979,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,1762,1671,0,0,0,0,0,0
$GC,6207,0.93,311.7,54.9,9.3,998,6232,0.00,0.00,18.17,0.635,6,0.000,0.000,3313,1762,1593,0,0,0,0,0,0
$GC,6339,1.01,355.9,43.8,8.5,1019,6385,0.10,0.00,39.00,0.646,6,0.096,0.000,3369,1762,1413,0,0,0,0,0,0
$GC,6494,1.01,355.9,26.6,12.5,1043,6504,0.10,2.35,0.00,0.000,4,0.160,0.052,3354,351,1405,0,0,0,0,0,0
$GC,6556,1.01,355.9,19.4,11.8,1052,6565,0.00,2.28,0.00,0.000,6,0.000,0.037,3354,1749,1404,0,0,0,0,0,0
$GC,6642,1.05,386.5,10.1,9.0,1065,6660,0.00,0.00,14.50,0.533,6,0.000,0.000,3354,1749,1287,0,0,0,0,0,0
$STATE,6717,end climb,SURFACE_DEPTH_REACHED
$STATE,6717,begin surface coast
$FINISH,1.1,1.021564
$STATE,6750,end surface coast,CONTROL_FINISHED_OK
$STATE,6750,begin surface
$SM_CCo,6826,0.00,0.000,0,0,1274,390.02
$SM_GC,1.95,8.93,0.00,0.00,0.053,0.000,0.000,70,1942,1274,-9.08,0.65,390.02
$IRIDIUM_FIX,-3412.10,2546.00,230208,212156
$TT8_MAMPS,0.026964
$HUMID,60.94
$INTERNAL_PRESSURE,9.31366
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,330.4,21.8
$24V_AH,23.9,18.603
$10V_AH,10.3,14.677
$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,23.525,67.525,473.075,0.000,0.000,27.005,21.260,263.163,7.750,0.000,45.092,2539.908,566.297,601.811,3410.059,161.871,0.000,1668.157,0.000,2740.412,0.000,50.905,0.000
$DEVICE_MAMPS,260.100,139.995,813.960,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,738.183,2786.458,1899.295,3010.974,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331556
$DATA_FILE_SIZE,77012,1081
$CAP_FILE_SIZE,124175,0
$CFSIZE,2097086464,2074279936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.043, 18.6,1
$GPS,290415,113406,-3426.799,2544.425,27,1.5,28,-27.8