version: 66.07.10.p01
glider: 573
mission: 9
dive: 205
start: 5 2 115 1 39 42
data:
$ID,573
$MISSION,9
$DIVE,205
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$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,-14177.431
$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,17
$R_STBD_OVSHOOT,10
$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,204
$GPS1,020515,013334,-3426.205,2536.607,42,1.2,52,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-67.4
$GPS2,020515,013918,-3426.185,2536.643,18,1.2,19,-27.7
$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,284.5,22750,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,24,-1.05,-170.3,0.0,0.0,0,77,0.00,0.00,-51.08,0.000,2,0.000,0.000,73,1932,2682,0,0,0,0,0,0
$GC,80,-1.05,-170.3,3.3,-3.5,6,123,11.12,0.00,-26.77,0.000,6,0.255,0.000,2672,1930,3562,0,0,0,0,0,0
$GC,200,-0.84,-170.3,20.0,-19.9,23,211,0.28,2.42,0.00,0.000,4,0.220,0.086,2734,3341,3565,0,0,0,0,0,0
$GC,244,-0.72,-170.3,28.3,-17.7,29,254,0.15,2.45,0.00,0.000,6,0.158,0.085,2779,1927,3566,0,0,0,0,0,0
$GC,325,-0.68,-170.3,39.0,-11.9,42,334,0.08,2.58,0.00,0.000,4,0.237,0.106,2792,491,3566,0,0,0,0,0,0
$GC,342,-0.65,-170.3,41.1,-11.9,44,352,0.05,2.75,0.00,0.000,6,0.220,0.129,2796,1922,3566,0,0,0,0,0,0
$GC,460,-0.65,-170.3,54.3,-9.6,63,468,0.00,2.42,0.00,0.000,4,0.000,0.099,2785,3348,3566,0,0,0,0,0,0
$GC,536,-0.68,-170.3,60.8,-8.9,75,543,0.00,2.53,0.00,0.000,6,0.000,0.102,2785,1918,3567,0,0,0,0,0,0
$GC,649,-0.70,-170.3,69.1,-6.9,94,658,0.00,2.55,0.00,0.000,4,0.000,0.109,2785,485,3568,0,0,0,0,0,0
$GC,706,-0.70,-170.3,73.5,-8.0,103,715,0.05,2.62,0.00,0.000,6,0.239,0.113,2785,1924,3568,0,0,0,0,0,0
$GC,821,-0.70,-170.3,83.0,-9.1,122,830,0.00,2.47,0.00,0.000,4,0.000,0.101,2774,3352,3569,0,0,0,0,0,0
$GC,914,-0.70,-170.3,91.0,-9.0,137,922,0.08,2.60,0.00,0.000,6,0.188,0.116,2789,1911,3569,0,0,0,0,0,0
$GC,1027,-0.70,-170.3,101.6,-9.7,156,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1911,3570,0,0,0,0,0,0
$GC,1143,-0.70,-170.3,114.0,-11.4,175,1151,0.00,2.45,0.00,0.000,4,0.000,0.101,2790,481,3571,0,0,0,0,0,0
$GC,1182,-0.70,-170.3,118.7,-12.8,181,1189,0.00,2.58,0.00,0.000,6,0.000,0.104,2780,1925,3571,0,0,0,0,0,0
$GC,1297,-0.70,-170.3,132.6,-12.5,200,1306,0.00,2.42,0.00,0.000,4,0.000,0.096,2770,3343,3571,0,0,0,0,0,0
$GC,1397,-0.70,-170.3,144.1,-11.8,216,1407,0.05,2.58,0.00,0.000,6,0.174,0.113,2784,1924,3571,0,0,0,0,0,0
$GC,1514,-0.70,-170.3,157.1,-10.7,235,1521,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1924,3571,0,0,0,0,0,0
$GC,1631,-0.70,-170.3,170.0,-11.6,254,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1924,3571,0,0,0,0,0,0
$GC,1745,-0.70,-170.3,183.0,-10.9,273,1752,0.00,2.47,0.00,0.000,4,0.000,0.102,2784,480,3571,0,0,0,0,0,0
$GC,1784,-0.70,-170.3,187.8,-11.7,279,1793,0.08,2.53,0.00,0.000,6,0.242,0.095,2788,1922,3571,0,0,0,0,0,0
$STATE,1800,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1800,begin apogee
$GC,1805,-0.25,0.0,189.7,12.0,281,1941,0.47,0.00,132.52,0.705,6,0.174,0.000,2930,1718,2864,0,0,0,0,0,0
$STATE,1943,end apogee,CONTROL_FINISHED_OK
$STATE,1943,begin climb
$GC,1944,1.05,170.3,196.8,0.0,299,2092,1.33,2.33,133.50,0.680,4,0.111,0.054,3364,368,2167,0,0,0,0,0,0
$GC,2174,0.95,170.3,180.8,11.1,333,2182,0.15,2.28,0.00,0.000,6,0.159,0.035,3325,1770,2164,0,0,0,0,0,0
$GC,2289,0.94,206.9,170.1,8.6,352,2327,0.00,0.00,29.90,0.659,6,0.000,0.000,3325,1770,2020,0,0,0,0,0,0
$GC,2434,0.92,208.4,156.1,10.0,375,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1769,2018,0,0,0,0,0,0
$GC,2548,0.89,208.4,144.3,10.3,394,2557,0.08,0.00,0.00,0.000,6,0.203,0.000,3308,1771,2017,0,0,0,0,0,0
$GC,2663,0.92,231.0,133.3,9.1,413,2692,0.00,0.00,21.27,0.649,6,0.000,0.000,3308,1771,1920,0,0,0,0,0,0
$GC,2800,0.93,241.6,120.1,9.6,435,2817,0.00,2.33,9.88,0.604,4,0.000,0.067,3308,3188,1878,0,0,0,0,0,0
$GC,2842,0.93,242.1,115.9,10.0,441,2850,0.00,2.40,0.00,0.000,6,0.000,0.083,3317,1785,1876,0,0,0,0,0,0
$GC,2954,0.93,242.1,103.6,10.8,460,2963,0.00,2.40,0.00,0.000,4,0.000,0.061,3329,333,1875,0,0,0,0,0,0
$GC,3047,0.91,242.1,93.4,12.1,475,3055,0.05,2.30,0.00,0.000,6,0.191,0.041,3317,1767,1875,0,0,0,0,0,0
$GC,3161,0.91,244.5,81.2,9.9,494,3169,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1767,1874,0,0,0,0,0,0
$GC,3276,0.93,259.1,70.6,9.4,513,3298,0.00,0.00,16.08,0.629,6,0.000,0.000,3317,1767,1805,0,0,0,0,0,0
$GC,3403,0.93,259.3,57.9,10.0,534,3412,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1767,1802,0,0,0,0,0,0
$GC,3517,0.93,259.3,46.1,10.2,553,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1767,1801,0,0,0,0,0,0
$GC,3630,0.94,268.5,34.7,9.6,572,3646,0.00,2.35,7.25,0.555,4,0.000,0.074,3317,3179,1768,0,0,0,0,0,0
$GC,3678,0.96,268.5,29.9,11.1,579,3687,0.00,2.42,0.00,0.000,6,0.000,0.080,3326,1758,1767,0,0,0,0,0,0
$GC,3764,0.96,268.5,20.2,10.4,592,3773,0.00,2.38,0.00,0.000,4,0.000,0.066,3336,334,1766,0,0,0,0,0,0
$GC,3850,0.96,268.5,10.3,10.3,605,3859,0.00,2.33,0.00,0.000,6,0.000,0.047,3337,1750,1765,0,0,0,0,0,0
$STATE,3915,end climb,SURFACE_DEPTH_REACHED
$STATE,3915,begin surface coast
$FINISH,1.3,1.011404
$STATE,3948,end surface coast,CONTROL_FINISHED_OK
$STATE,3949,begin surface
$SM_CCo,3965,13.48,0.050,0,0,1639,300.24
$SM_GC,2.78,0.00,0.00,13.48,0.000,0.000,0.050,73,1946,1639,-9.21,0.76,300.24
$IRIDIUM_FIX,-3409.50,2530.83,260208,131321
$TT8_MAMPS,0.026215
$HUMID,59.09
$INTERNAL_PRESSURE,9.37226
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,170.0,33.3
$24V_AH,24.1,22.087
$10V_AH,10.3,19.626
$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,22.900,64.550,350.400,13.475,0.000,25.719,20.364,190.451,3.500,0.000,22.102,1470.730,256.169,445.956,2044.165,117.291,0.000,1121.038,0.000,1618.203,0.000,23.787,0.000
$DEVICE_MAMPS,254.745,128.520,705.330,49.725,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,420.126,1635.328,1141.635,1763.096,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331424
$DATA_FILE_SIZE,43683,620
$CAP_FILE_SIZE,80709,0
$CFSIZE,2097086464,2070544384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.181, 65.8,1
$GPS,020515,024705,-3426.108,2536.408,30,1.1,31,-27.7