version: 66.07.10.p01
glider: 573
mission: 9
dive: 342
start: 5 7 115 19 54 47
data:
$ID,573
$MISSION,9
$DIVE,342
$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,-14618.356
$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,3034
$PITCH_DBAND,0.0099999998
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$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,9
$R_STBD_OVSHOOT,9
$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,2902
$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,341
$GPS1,070515,194605,-3428.759,2523.708,35,1.5,35,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-66.8
$GPS2,070515,195423,-3428.889,2523.602,41,1.2,42,-27.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,WP_SOUTH
$TGT_LATLONG,-3435.580,2528.620
$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,141.5,14563,-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,23,begin dive
$GC,25,-1.05,-170.3,0.0,0.0,0,62,0.00,0.00,-35.12,0.000,2,0.000,0.000,71,1939,2531,0,0,0,0,0,0
$GC,65,-1.05,-170.3,3.1,-3.5,4,116,11.02,0.00,-33.22,0.000,6,0.246,0.000,2685,1936,3597,0,0,0,0,0,0
$GC,168,-0.84,-170.3,15.6,-20.1,18,177,0.25,0.00,0.00,0.000,6,0.210,0.000,2753,1936,3600,0,0,0,0,0,0
$GC,228,-0.74,-170.3,24.7,-14.2,27,235,0.15,2.53,0.00,0.000,4,0.201,0.095,2788,480,3601,0,0,0,0,0,0
$GC,256,-0.67,-170.3,29.1,-15.6,31,263,0.15,2.62,0.00,0.000,6,0.225,0.103,2811,1928,3601,0,0,0,0,0,0
$GC,403,-0.72,-170.3,49.9,-11.5,56,411,0.00,2.47,0.00,0.000,4,0.000,0.105,2801,3361,3602,0,0,0,0,0,0
$GC,448,-0.78,-170.3,54.1,-8.6,63,457,0.03,2.70,0.00,0.000,6,0.097,0.124,2775,1920,3602,0,0,0,0,0,0
$GC,807,-0.81,-170.3,87.4,-9.4,124,814,0.00,2.45,0.00,0.000,4,0.000,0.098,2775,480,3606,0,0,0,0,0,0
$GC,873,-0.81,-170.3,95.0,-10.9,135,882,0.00,2.50,0.00,0.000,6,0.000,0.083,2765,1919,3607,0,0,0,0,0,0
$STATE,1082,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1082,begin apogee
$GC,1087,-0.25,0.0,118.2,11.6,158,1225,0.60,0.00,131.57,0.625,6,0.171,0.000,2943,1712,2902,0,0,0,0,0,0
$STATE,1226,end apogee,CONTROL_FINISHED_OK
$STATE,1226,begin climb
$GC,1228,1.05,170.3,124.5,0.0,172,1371,1.30,2.25,131.23,0.610,4,0.116,0.056,3369,371,2206,0,0,0,0,0,0
$GC,1539,0.94,170.3,98.4,11.6,199,1546,0.12,2.28,0.00,0.000,6,0.162,0.040,3336,1774,2203,0,0,0,0,0,0
$GC,1891,0.88,170.3,64.6,10.8,260,1898,0.08,0.00,0.00,0.000,6,0.202,0.000,3319,1775,2201,0,0,0,0,0,0
$GC,2243,1.01,276.2,35.3,5.8,321,2322,0.10,2.38,68.68,0.605,4,0.094,0.055,3392,366,1772,0,0,0,0,0,0
$GC,2356,0.93,276.2,26.5,11.6,337,2364,0.20,2.30,0.00,0.000,6,0.152,0.044,3338,1765,1768,0,0,0,0,0,0
$GC,2513,0.94,283.1,9.0,9.7,362,2523,0.00,2.28,1.92,0.065,4,0.000,0.054,3347,367,1747,0,0,0,0,0,0
$STATE,2567,end climb,SURFACE_DEPTH_REACHED
$STATE,2567,begin surface coast
$FINISH,1.3,1.008555
$STATE,2599,end surface coast,CONTROL_FINISHED_OK
$STATE,2599,begin surface
$SM_CCo,2618,6.95,0.048,0,0,1677,300.24
$SM_GC,3.42,0.00,0.00,6.95,0.000,0.000,0.048,69,1930,1677,-9.26,0.31,300.24
$IRIDIUM_FIX,-3414.71,2526.12,030308,080819
$TT8_MAMPS,0.026215
$HUMID,62.32
$INTERNAL_PRESSURE,9.46015
$TCM_TEMP,18.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.2,32.7
$24V_AH,24.3,33.249
$10V_AH,10.2,27.789
$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,22.700,29.725,333.400,6.950,0.000,25.757,20.909,295.093,1.750,0.000,45.428,905.626,400.045,364.495,1348.365,120.947,0.000,772.368,0.000,930.409,0.000,13.126,0.000
$DEVICE_MAMPS,245.565,123.930,625.005,48.195,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,252.426,539.134,544.557,348.392,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,331120
$DATA_FILE_SIZE,27032,375
$CAP_FILE_SIZE,50396,0
$CFSIZE,2097086464,2056978432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.171,258.1,1
$GPS,070515,203954,-3429.116,2523.641,45,1.5,46,-27.7