version: 66.07.10.p01
glider: 573
mission: 9
dive: 228
start: 5 3 115 1 59 29
data:
$ID,573
$MISSION,9
$DIVE,228
$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,-14257.22
$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,12
$R_STBD_OVSHOOT,7
$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,227
$GPS1,030515,015029,-3424.636,2536.590,43,1.0,43,-27.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-71.1
$GPS2,030515,015905,-3424.690,2536.657,41,1.1,42,-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,290.5,22418,-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,-170.3,0.0,0.0,0,60,0.00,0.00,-33.95,0.000,2,0.000,0.000,77,1934,2402,0,0,0,0,0,0
$GC,62,-1.05,-170.3,3.0,-3.7,4,123,11.20,0.00,-41.10,0.000,6,0.256,0.000,2671,1931,3561,1,0,0,0,0,0
$GC,201,-0.82,-170.3,21.0,-22.4,23,211,0.30,2.47,0.00,0.000,4,0.214,0.094,2742,3348,3564,0,0,0,0,0,0
$GC,245,-0.72,-170.3,29.0,-16.5,29,255,0.12,2.53,0.00,0.000,6,0.158,0.096,2779,1923,3564,0,0,0,0,0,0
$GC,326,-0.72,-170.3,40.7,-11.3,42,335,0.00,2.50,0.00,0.000,4,0.000,0.099,2770,3348,3565,0,0,0,0,0,0
$GC,457,-0.72,-170.3,54.7,-10.7,64,467,0.03,2.60,0.00,0.000,6,0.149,0.109,2779,1918,3566,0,0,0,0,0,0
$GC,575,-0.72,-170.3,66.7,-10.6,83,582,0.00,2.50,0.00,0.000,4,0.000,0.103,2770,3354,3567,0,0,0,0,0,0
$GC,602,-0.72,-170.3,69.8,-10.8,87,611,0.08,2.60,0.00,0.000,6,0.178,0.115,2785,1913,3567,0,0,0,0,0,0
$GC,721,-0.72,-170.3,82.3,-10.1,106,729,0.00,2.50,0.00,0.000,4,0.000,0.103,2785,493,3568,0,0,0,0,0,0
$GC,772,-0.72,-170.3,87.9,-9.9,114,781,0.00,2.65,0.00,0.000,6,0.000,0.116,2777,1916,3568,0,0,0,0,0,0
$GC,890,-0.72,-170.3,100.5,-11.2,133,898,0.00,2.45,0.00,0.000,4,0.000,0.102,2765,3352,3569,0,0,0,0,0,0
$GC,1000,-0.72,-170.3,113.2,-11.4,151,1008,0.08,2.55,0.00,0.000,6,0.180,0.111,2780,1919,3569,0,0,0,0,0,0
$GC,1116,-0.72,-170.3,126.4,-12.5,170,1124,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1919,3569,0,0,0,0,0,0
$GC,1235,-0.72,-170.3,139.8,-11.2,189,1243,0.00,2.45,0.00,0.000,4,0.000,0.104,2780,487,3570,0,0,0,0,0,0
$GC,1286,-0.72,-170.3,146.0,-11.9,197,1295,0.05,2.53,0.00,0.000,6,0.250,0.097,2780,1923,3570,0,0,0,0,0,0
$STATE,1302,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1302,begin apogee
$GC,1307,-0.25,0.0,147.9,11.9,199,1447,0.50,0.00,131.68,0.666,6,0.174,0.000,2928,1719,2862,0,0,0,0,0,0
$STATE,1448,end apogee,CONTROL_FINISHED_OK
$STATE,1448,begin climb
$GC,1450,1.05,170.3,154.6,0.0,218,1592,1.30,2.35,132.45,0.646,4,0.107,0.056,3359,367,2168,0,0,0,0,0,0
$GC,1688,0.95,170.3,137.9,10.9,253,1697,0.12,2.28,0.00,0.000,6,0.163,0.039,3327,1765,2164,0,0,0,0,0,0
$GC,1805,0.94,196.1,126.7,9.0,272,1829,0.00,0.00,21.67,0.621,6,0.000,0.000,3327,1765,2063,0,0,0,0,0,0
$GC,1937,0.92,204.9,113.4,9.7,293,1953,0.00,0.00,8.50,0.565,6,0.000,0.000,3327,1765,2028,0,0,0,0,0,0
$GC,2060,0.90,217.4,101.2,9.5,313,2077,0.05,0.00,11.95,0.593,6,0.234,0.000,3315,1765,1976,0,0,0,0,0,0
$GC,2184,0.91,226.1,89.3,9.7,333,2200,0.00,0.00,8.50,0.564,6,0.000,0.000,3315,1765,1941,0,0,0,0,0,0
$GC,2306,0.92,235.0,77.6,9.7,353,2322,0.00,0.00,8.98,0.570,6,0.000,0.000,3314,1765,1904,0,0,0,0,0,0
$GC,2428,0.92,237.3,66.3,9.9,373,2436,0.00,2.28,0.00,0.000,4,0.000,0.057,3324,364,1901,0,0,0,0,0,0
$GC,2479,0.93,239.2,61.2,9.9,381,2496,0.00,2.25,4.72,0.483,6,0.000,0.047,3324,1756,1887,0,0,0,0,0,0
$GC,2603,0.93,239.2,48.0,11.2,401,2611,0.00,2.40,0.00,0.000,4,0.000,0.090,3323,3189,1886,0,0,0,0,0,0
$GC,2712,0.95,260.1,35.2,9.2,419,2735,0.00,2.40,17.73,0.604,6,0.000,0.088,3333,1787,1803,0,0,0,0,0,0
$GC,2848,0.97,277.3,22.8,9.3,440,2867,0.00,2.42,8.40,0.517,4,0.000,0.065,3345,336,1730,0,0,0,0,0,0
$STATE,3029,end climb,SURFACE_DEPTH_REACHED
$STATE,3029,begin surface coast
$FINISH,1.3,1.022006
$STATE,3061,end surface coast,CONTROL_FINISHED_OK
$STATE,3061,begin surface
$SM_CCo,3080,9.12,0.048,0,0,1639,300.24
$SM_GC,3.42,0.00,0.00,9.12,0.000,0.000,0.048,75,1940,1639,-9.21,0.59,300.24
$IRIDIUM_FIX,-3409.50,2536.67,270208,151514
$TT8_MAMPS,0.026964
$HUMID,60.67
$INTERNAL_PRESSURE,9.40155
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.1,31.2
$24V_AH,24.2,24.061
$10V_AH,10.3,21.476
$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,22.725,49.750,354.575,9.125,0.000,55.069,99.039,174.216,2.500,0.000,45.351,1105.971,259.384,395.731,1755.574,103.817,0.000,933.490,0.000,1257.471,0.000,17.684,0.000
$DEVICE_MAMPS,256.275,116.280,665.550,48.195,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,319.297,1266.384,904.311,1363.726,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331304
$DATA_FILE_SIZE,33684,473
$CAP_FILE_SIZE,62808,1
$CFSIZE,2097086464,2068316160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,2
$CURRENT,0.173, 78.7,1
$GPS,030515,025205,-3424.618,2536.526,32,1.1,32,-27.7