version: 66.07.10.p01
glider: 573
mission: 9
dive: 180
start: 4 29 115 20 46 58
data:
$ID,573
$MISSION,9
$DIVE,180
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,5
$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,175
$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,-14089.138
$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,21
$R_STBD_OVSHOOT,40
$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,179
$GPS1,290415,203559,-3426.028,2543.871,40,1.3,41,-27.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-60.1
$GPS2,290415,204635,-3426.065,2544.071,28,1.7,29,-27.8
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,WP_NORTH
$TGT_LATLONG,-3423.880,2522.020
$TGT_RADIUS,3000.000
$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,274.2,33939,-16.9,-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,24,begin dive
$GC,25,-1.05,-170.3,0.0,0.0,0,71,0.00,0.00,-43.40,0.000,2,0.000,0.000,80,1952,2683,0,0,0,0,0,0
$GC,73,-1.05,-170.3,3.0,-3.0,5,118,11.23,2.38,-24.42,0.000,4,0.258,0.103,2664,3324,3560,0,0,0,0,0,0
$GC,139,-0.87,-170.3,10.2,-14.2,13,150,0.20,2.47,0.00,0.000,6,0.181,0.094,2723,1931,3563,0,0,0,0,0,0
$GC,227,-0.75,-170.3,24.2,-15.2,26,236,0.20,2.38,0.00,0.000,4,0.187,0.082,2764,3314,3563,0,0,0,0,0,0
$GC,310,-0.75,-170.3,33.9,-11.3,39,317,0.00,2.40,0.00,0.000,6,0.000,0.086,2764,1910,3564,0,0,0,0,0,0
$GC,424,-0.72,-170.3,47.7,-12.4,58,433,0.08,2.55,0.00,0.000,4,0.187,0.109,2779,496,3565,0,0,0,0,0,0
$GC,532,-0.72,-170.3,62.0,-11.4,76,541,0.00,2.53,0.00,0.000,6,0.000,0.101,2771,1890,3566,0,0,0,0,0,0
$GC,649,-0.72,-170.3,73.9,-10.0,95,656,0.00,2.42,0.00,0.000,4,0.000,0.092,2759,3347,3567,0,0,0,0,0,0
$GC,751,-0.72,-170.3,84.8,-10.0,112,761,0.05,2.53,0.00,0.000,6,0.148,0.100,2775,1923,3567,0,0,0,0,0,0
$GC,866,-0.72,-170.3,96.9,-11.2,131,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1923,3568,0,0,0,0,0,0
$GC,978,-0.72,-170.3,109.4,-10.9,150,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2775,1923,3568,0,0,0,0,0,0
$GC,1096,-0.72,-170.3,122.2,-11.9,169,1104,0.00,2.47,0.00,0.000,4,0.000,0.106,2775,491,3569,0,0,0,0,0,0
$GC,1129,-0.72,-170.3,126.3,-11.9,174,1138,0.05,2.47,0.00,0.000,6,0.197,0.085,2780,1913,3569,0,0,0,0,0,0
$GC,1245,-0.72,-170.3,139.4,-10.7,193,1256,0.00,2.42,0.00,0.000,4,0.000,0.098,2770,3352,3569,0,0,0,0,0,0
$GC,1346,-0.72,-170.3,150.5,-11.0,209,1355,0.05,2.50,0.00,0.000,6,0.175,0.103,2780,1922,3569,0,0,0,0,0,0
$GC,1462,-0.72,-170.3,163.2,-11.1,228,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1922,3569,0,0,0,0,0,0
$GC,1577,-0.72,-170.3,175.9,-11.2,247,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1922,3569,0,0,0,0,0,0
$GC,1688,-0.72,-170.3,189.7,-13.7,266,1697,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1922,3569,0,0,0,0,0,0
$GC,1804,-0.72,-170.3,202.1,-9.5,285,1812,0.00,2.45,0.00,0.000,4,0.000,0.100,2772,3348,3569,0,0,0,0,0,0
$GC,1825,-0.72,-170.3,204.7,-11.2,288,1834,0.00,2.55,0.00,0.000,6,0.000,0.109,2772,1923,3569,0,0,0,0,0,0
$GC,1940,-0.72,-170.3,216.5,-9.4,307,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1923,3568,0,0,0,0,0,0
$GC,2052,-0.72,-170.3,227.1,-9.4,326,2060,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1923,3569,0,0,0,0,0,0
$GC,2167,-0.72,-170.3,238.3,-9.3,345,2174,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,1923,3568,0,0,0,0,0,0
$GC,2282,-0.72,-170.3,251.9,-11.2,364,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1923,3568,0,0,0,0,0,0
$GC,2396,-0.72,-170.3,264.4,-11.7,383,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1923,3568,0,0,0,0,0,0
$STATE,2455,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2455,begin apogee
$GC,2459,-0.25,0.0,271.1,11.4,393,2600,0.52,0.00,133.40,0.767,6,0.174,0.000,2928,1755,2863,0,0,0,0,0,0
$STATE,2601,end apogee,CONTROL_FINISHED_OK
$STATE,2601,begin climb
$GC,2603,1.05,170.3,278.1,0.0,412,2751,1.30,2.45,135.32,0.738,4,0.109,0.052,3356,334,2167,0,0,0,0,0,0
$GC,2783,0.94,170.3,266.9,11.4,437,2792,0.12,2.35,0.00,0.000,6,0.155,0.037,3324,1765,2164,0,0,0,0,0,0
$GC,2898,0.89,170.6,255.4,10.0,456,2908,0.08,2.42,0.00,0.000,4,0.197,0.051,3317,326,2163,0,0,0,0,0,0
$GC,2934,0.84,170.6,251.0,12.9,461,2942,0.10,2.33,0.00,0.000,6,0.174,0.038,3293,1765,2163,0,0,0,0,0,0
$GC,3048,0.84,170.6,237.4,11.9,480,3057,0.00,2.33,0.00,0.000,4,0.000,0.062,3293,3176,2161,0,0,0,0,0,0
$GC,3095,0.83,182.4,233.0,9.5,487,3112,0.05,2.40,10.12,0.662,6,0.226,0.073,3291,1746,2120,0,0,0,0,0,0
$GC,3219,0.97,300.6,224.7,5.3,507,3329,0.12,2.40,99.85,0.721,4,0.085,0.057,3366,333,1635,0,0,0,0,0,0
$GC,3420,0.92,300.6,199.8,13.5,537,3428,0.17,2.30,0.00,0.000,6,0.149,0.036,3319,1758,1630,0,0,0,0,0,0
$GC,3534,0.95,300.6,187.4,10.1,556,3542,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1758,1628,0,0,0,0,0,0
$GC,3648,0.97,300.6,175.2,11.0,575,3654,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1757,1627,0,0,0,0,0,0
$GC,3759,1.00,300.6,162.9,10.6,594,3769,0.05,0.00,0.00,0.000,6,0.157,0.000,3361,1758,1626,0,0,0,0,0,0
$GC,3875,0.97,300.6,148.3,13.7,613,3883,0.10,0.00,0.00,0.000,6,0.161,0.000,3336,1759,1626,0,0,0,0,0,0
$GC,3990,0.97,300.6,133.1,13.3,632,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,3336,1759,1625,0,0,0,0,0,0
$GC,4103,0.97,300.6,117.6,12.4,651,4110,0.00,2.30,0.00,0.000,4,0.000,0.055,3346,334,1625,0,0,0,0,0,0
$GC,4152,0.97,300.6,110.6,13.7,659,4160,0.05,2.25,0.00,0.000,6,0.203,0.041,3335,1758,1625,0,0,0,0,0,0
$GC,4266,0.97,300.6,95.9,11.6,678,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,1758,1624,0,0,0,0,0,0
$GC,4380,0.97,300.6,82.7,11.9,697,4387,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,1758,1624,0,0,0,0,0,0
$GC,4491,0.97,300.6,68.6,12.3,716,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,1758,1624,0,0,0,0,0,0
$GC,4606,0.97,300.6,54.1,12.1,735,4612,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,1758,1623,0,0,0,0,0,0
$GC,4718,0.97,300.6,40.9,11.6,754,4727,0.00,2.33,0.00,0.000,4,0.000,0.057,3344,339,1622,0,0,0,0,0,0
$GC,4816,0.97,300.6,29.1,12.4,770,4825,0.00,2.28,0.00,0.000,6,0.000,0.044,3344,1750,1622,0,0,0,0,0,0
$GC,4902,0.97,300.6,18.6,11.5,783,4911,0.00,2.33,0.00,0.000,4,0.000,0.070,3344,3180,1621,0,0,0,0,0,0
$STATE,5029,end climb,SURFACE_DEPTH_REACHED
$STATE,5029,begin surface coast
$FINISH,1.4,1.022069
$STATE,5038,end surface coast,CONTROL_FINISHED_OK
$STATE,5038,begin surface
$SM_CCo,5116,0.00,0.000,0,0,1615,306.13
$SM_GC,2.26,8.68,0.00,0.00,0.047,0.000,0.000,75,1916,1615,-9.10,-0.08,306.13
$IRIDIUM_FIX,-3412.10,2542.51,240208,101050
$TT8_MAMPS,0.026215
$HUMID,61.02
$INTERNAL_PRESSURE,9.34296
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,250.3,35.7
$24V_AH,24.0,19.233
$10V_AH,10.2,15.505
$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,23.200,67.450,378.700,0.000,0.000,51.478,60.430,311.909,5.500,0.000,31.307,1892.898,476.965,489.257,2758.888,137.318,0.000,1308.126,0.000,2060.266,0.000,35.937,0.000
$DEVICE_MAMPS,257.805,145.350,766.530,0.000,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,547.562,2088.992,1438.037,2253.860,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331264
$DATA_FILE_SIZE,57128,804
$CAP_FILE_SIZE,98580,0
$CFSIZE,2097086464,2073591808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.325, 69.4,1
$GPS,290415,221359,-3426.003,2544.209,72,1.5,73,-27.8