version: 66.07.10.p01
glider: 573
mission: 9
dive: 355
start: 5 9 115 0 4 26
data:
$ID,573
$MISSION,9
$DIVE,355
$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,611.52295
$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,-14655.542
$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,12
$R_STBD_OVSHOOT,11
$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,354
$GPS1,080515,235605,-3436.562,2527.407,34,1.4,35,-27.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-66.0
$GPS2,090515,000404,-3436.807,2526.983,42,1.1,47,-27.9
$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,98.8,3376,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,26,-1.05,-170.3,0.0,0.0,0,111,0.00,0.00,-81.80,0.000,2,0.000,0.000,70,1931,2530,0,0,0,0,0,0
$GC,113,-1.05,-170.3,3.2,-4.4,10,157,11.10,2.47,-25.00,0.000,4,0.244,0.108,2673,3349,3598,0,0,0,0,0,0
$GC,336,-0.88,-170.3,50.1,-18.0,45,346,0.22,2.50,0.00,0.000,6,0.164,0.086,2740,1918,3602,0,0,0,0,0,0
$GC,698,-0.80,-170.3,103.4,-15.4,105,705,0.12,0.00,0.00,0.000,6,0.177,0.000,2772,1917,3604,0,0,0,0,0,0
$GC,1023,-0.80,-170.3,141.9,-12.2,136,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1918,3606,0,0,0,0,0,0
$GC,1342,-0.80,-170.3,180.5,-12.1,166,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1918,3607,0,0,0,0,0,0
$GC,1661,-0.80,-170.3,220.1,-12.7,196,1665,0.00,2.47,0.00,0.000,4,0.000,0.102,2763,3338,3607,0,0,0,0,0,0
$GC,1701,-0.80,-170.3,225.1,-12.9,199,1705,0.00,2.50,0.00,0.000,6,0.000,0.102,2763,1914,3606,0,0,0,0,0,0
$GC,2028,-0.80,-170.3,265.3,-12.4,229,2032,0.00,2.40,0.00,0.000,4,0.000,0.090,2763,481,3606,0,0,0,0,0,0
$GC,2081,-0.80,-170.3,272.3,-13.1,233,2086,0.08,2.42,0.00,0.000,6,0.200,0.072,2768,1922,3606,0,0,0,0,0,0
$GC,2406,-0.80,-170.3,314.5,-12.5,263,2410,0.00,2.53,0.00,0.000,4,0.000,0.112,2758,3343,3604,0,0,0,0,0,0
$GC,2564,-0.80,-170.3,334.0,-12.4,276,2574,0.03,2.60,0.00,0.000,6,0.101,0.113,2769,1925,3603,0,0,0,0,0,0
$GC,2889,-0.80,-170.3,372.9,-12.2,307,2893,0.00,2.47,0.00,0.000,4,0.000,0.095,2769,479,3602,0,0,0,0,0,0
$GC,2944,-0.80,-170.3,379.7,-11.7,311,2955,0.00,2.45,0.00,0.000,6,0.000,0.070,2760,1916,3602,0,0,0,0,0,0
$GC,3265,-0.80,-170.3,419.7,-12.9,335,3270,0.05,2.53,0.00,0.000,4,0.242,0.118,2759,3334,3600,0,0,0,0,0,0
$GC,3454,-0.80,-170.3,442.1,-11.4,343,3460,0.03,2.70,0.00,0.000,6,0.106,0.129,2770,1917,3599,0,0,0,0,0,0
$GC,3777,-0.80,-170.3,478.7,-11.4,359,3781,0.00,2.45,0.00,0.000,4,0.000,0.090,2770,472,3598,0,0,0,0,0,0
$GC,3831,-0.80,-170.3,485.4,-12.0,361,3838,0.00,2.42,0.00,0.000,6,0.000,0.067,2761,1921,3598,0,0,0,0,0,0
$GC,4149,-0.80,-170.3,523.3,-12.3,377,4154,0.03,2.60,0.00,0.000,4,0.287,0.123,2758,3333,3597,0,0,0,0,0,0
$GC,4280,-0.82,-170.3,538.0,-11.0,383,4285,0.00,2.72,0.00,0.000,6,0.000,0.139,2758,1916,3596,0,0,0,0,0,0
$GC,4607,-0.82,-170.3,575.6,-11.2,399,4611,0.00,2.38,0.00,0.000,4,0.000,0.085,2758,487,3595,0,0,0,0,0,0
$GC,4691,-0.82,-170.3,585.9,-13.0,403,4696,0.08,2.33,0.00,0.000,6,0.195,0.057,2764,1925,3594,0,0,0,0,0,0
$GC,5017,-0.82,-170.3,625.1,-11.8,419,5022,0.00,2.58,0.00,0.000,4,0.000,0.125,2753,3334,3593,0,0,0,0,0,0
$GC,5172,-0.82,-170.3,643.0,-11.0,426,5177,0.00,2.75,0.00,0.000,6,0.000,0.142,2753,1908,3591,0,0,0,0,0,0
$GC,5502,-0.82,-170.3,680.9,-11.9,442,5506,0.00,2.38,0.00,0.000,4,0.000,0.080,2753,488,3590,0,0,0,0,0,0
$GC,5579,-0.82,-170.3,691.2,-13.1,445,5587,0.05,2.38,0.00,0.000,6,0.168,0.059,2758,1916,3590,0,0,0,0,0,0
$GC,5897,-0.82,-170.3,729.6,-11.9,461,5906,0.00,2.60,0.00,0.000,4,0.000,0.123,2748,3334,3589,0,0,0,0,0,0
$STATE,5909,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5909,begin apogee
$GC,5917,-0.25,0.0,731.7,11.7,461,6058,0.70,0.00,138.35,1.077,6,0.174,0.000,2948,1753,2902,0,0,0,0,0,0
$STATE,6059,end apogee,CONTROL_FINISHED_OK
$STATE,6059,begin climb
$GC,6061,1.05,170.3,738.8,0.0,468,6219,1.30,2.72,147.65,1.039,4,0.099,0.093,3365,3169,2208,0,0,0,0,0,0
$GC,6403,0.89,170.3,718.9,11.9,484,6408,0.20,2.55,0.00,0.000,6,0.170,0.087,3325,1746,2203,0,0,0,0,0,0
$GC,6726,0.84,201.7,688.9,8.8,500,6759,0.08,2.33,27.83,1.005,4,0.212,0.054,3319,333,2078,0,0,0,0,0,0
$GC,6888,0.77,201.7,672.9,10.3,507,6893,0.12,2.33,0.00,0.000,6,0.161,0.037,3287,1768,2076,0,0,0,0,0,0
$GC,7209,0.82,247.0,645.3,8.2,523,7254,0.00,2.47,39.92,1.001,4,0.000,0.053,3297,327,1893,0,0,0,0,0,0
$GC,7300,0.82,247.0,637.0,10.7,527,7304,0.00,2.35,0.00,0.000,6,0.000,0.038,3297,1771,1891,0,0,0,0,0,0
$GC,7626,0.85,264.7,606.5,9.3,543,7647,0.00,0.00,16.10,0.945,6,0.000,0.000,3297,1771,1822,0,0,0,0,0,0
$GC,7956,0.86,278.0,575.7,9.5,559,7978,0.00,2.40,12.80,0.913,4,0.000,0.054,3306,342,1767,0,0,0,0,0,0
$GC,8011,0.86,278.0,570.0,10.7,561,8015,0.00,2.30,0.00,0.000,6,0.000,0.039,3306,1747,1766,0,0,0,0,0,0
$GC,8334,0.87,282.0,537.6,9.9,577,8343,0.00,2.33,4.38,0.592,4,0.000,0.057,3315,326,1752,0,0,0,0,0,0
$GC,8371,0.84,282.0,533.5,10.7,578,8378,0.00,2.30,0.00,0.000,6,0.000,0.039,3315,1756,1753,0,0,0,0,0,0
$GC,8687,0.84,282.0,499.5,10.4,594,8691,0.00,2.33,0.00,0.000,4,0.000,0.058,3325,335,1752,0,0,0,0,0,0
$GC,8755,0.80,282.0,492.1,11.4,597,8760,0.12,2.28,0.00,0.000,6,0.156,0.040,3291,1762,1752,0,0,0,0,0,0
$GC,9084,0.85,302.9,461.1,9.2,613,9110,0.00,2.38,20.10,0.902,4,0.000,0.054,3301,336,1666,0,0,0,0,0,0
$GC,9133,0.87,315.4,456.0,9.5,615,9150,0.00,2.33,12.20,0.819,6,0.000,0.042,3301,1768,1615,0,0,0,0,0,0
$GC,9473,0.92,336.3,423.4,9.2,632,9500,0.10,2.42,19.85,0.871,4,0.099,0.057,3362,332,1529,0,0,0,0,0,0
$GC,9522,0.86,336.3,417.4,12.4,634,9527,0.17,2.33,0.00,0.000,6,0.153,0.039,3315,1764,1528,0,0,0,0,0,0
$GC,9844,0.86,336.3,383.9,10.8,656,9848,0.00,2.33,0.00,0.000,4,0.000,0.052,3325,335,1525,0,0,0,0,0,0
$GC,9898,0.86,336.3,376.9,12.1,660,9909,0.00,2.30,0.00,0.000,6,0.000,0.038,3325,1757,1524,0,0,0,0,0,0
$GC,10224,0.86,336.3,338.9,11.9,691,10225,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1757,1524,0,0,0,0,0,0
$GC,10546,0.86,336.3,301.4,11.1,721,10552,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1757,1524,0,0,0,0,0,0
$GC,10872,0.86,336.3,263.1,11.7,752,10873,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1757,1524,0,0,0,0,0,0
$GC,11191,0.86,336.3,225.1,12.1,782,11192,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1757,1523,0,0,0,0,0,0
$GC,11510,0.86,336.3,187.1,11.3,812,11511,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,1757,1523,0,0,0,0,0,0
$GC,11828,0.86,336.3,152.7,10.2,842,11832,0.00,2.33,0.00,0.000,4,0.000,0.078,3325,3178,1523,0,0,0,0,0,0
$GC,11849,0.86,336.3,149.8,11.4,843,11858,0.05,2.47,0.00,0.000,6,0.162,0.089,3318,1757,1522,0,0,0,0,0,0
$GC,12175,0.86,336.3,113.3,10.9,874,12179,0.00,2.28,0.00,0.000,4,0.000,0.062,3328,332,1522,0,0,0,0,0,0
$GC,12319,0.86,336.3,97.3,11.6,888,12329,0.03,2.28,0.00,0.000,6,0.149,0.041,3318,1746,1521,0,0,0,0,0,0
$GC,12675,0.89,336.3,60.5,11.0,949,12682,0.00,2.33,0.00,0.000,4,0.000,0.072,3318,3182,1521,0,0,0,0,0,0
$GC,12786,0.96,350.2,47.6,9.5,968,12802,0.00,2.40,11.68,0.584,6,0.000,0.083,3327,1757,1473,0,0,0,0,0,0
$GC,13161,1.08,400.3,19.0,8.0,1030,13197,0.15,2.35,25.98,0.555,4,0.068,0.064,3415,3180,1270,0,0,0,0,0,0
$GC,13230,1.03,400.3,10.6,13.6,1039,13240,0.15,2.47,0.00,0.000,6,0.141,0.085,3377,1756,1267,0,0,0,0,0,0
$GC,13292,1.03,400.3,3.5,11.7,1048,13302,0.00,2.35,0.00,0.000,4,0.000,0.062,3387,332,1265,0,0,0,0,0,0
$STATE,13310,end climb,SURFACE_DEPTH_REACHED
$STATE,13310,begin surface coast
$FINISH,1.0,1.019468
$STATE,13318,end surface coast,CONTROL_FINISHED_OK
$STATE,13318,begin surface
$SM_CCo,13337,95.93,0.046,0,0,407,611.52
$SM_GC,1.74,0.00,0.00,95.93,0.000,0.000,0.046,67,1942,407,-9.27,0.65,611.52
$IRIDIUM_FIX,-3422.54,2526.00,040308,101045
$TT8_MAMPS,0.026964
$HUMID,54.29
$INTERNAL_PRESSURE,9.38202
$TCM_TEMP,21.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,730.5,7.1
$24V_AH,22.9,34.779
$10V_AH,10.2,28.928
$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,23.900,127.450,476.825,95.925,0.000,27.018,43.040,246.336,17.500,0.000,49.393,2724.292,7334.991,687.246,2944.162,223.758,0.000,1783.048,0.000,2432.757,0.000,109.918,0.000
$DEVICE_MAMPS,286.875,142.290,1077.120,45.900,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,721.080,1736.213,811.100,306.860,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330640
$DATA_FILE_SIZE,73869,1051
$CAP_FILE_SIZE,146496,0
$CFSIZE,2097086464,2055340032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.199,278.2,1
$GPS,090515,034935,-3436.115,2527.581,38,1.7,39,-27.9