version: 66.07.10.p01
glider: 573
mission: 9
dive: 415
start: 5 13 115 6 12 43
data:
$ID,573
$MISSION,9
$DIVE,415
$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,0
$DIRECT_CONTROL,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,0
$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,-14815.767
$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,12
$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,414
$GPS1,130515,060259,-3441.775,2523.351,40,1.6,40,-27.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-65.4
$GPS2,130515,061223,-3442.086,2522.879,45,1.3,45,-27.9
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3431.287,2522.879
$TGT_RADIUS,1852.000
$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,27.9,20000,-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,26,-1.05,-170.3,0.0,0.0,0,100,0.00,0.00,-72.55,0.000,2,0.000,0.000,70,1926,2228,0,0,0,0,0,0
$GC,103,-1.05,-170.3,3.2,-5.0,12,166,11.18,2.47,-41.65,0.000,4,0.246,0.102,2677,3343,3599,0,0,0,0,0,0
$GC,398,-0.88,-170.3,61.5,-21.2,61,404,0.25,2.60,0.00,0.000,6,0.184,0.113,2742,1913,3601,0,0,0,0,0,0
$GC,747,-0.81,-170.3,120.0,-15.0,111,752,0.10,2.50,0.00,0.000,4,0.191,0.094,2757,3349,3604,0,0,0,0,0,0
$GC,916,-0.81,-170.3,140.2,-11.4,125,922,0.00,2.53,0.00,0.000,6,0.000,0.096,2757,1906,3604,0,0,0,0,0,0
$GC,1241,-0.81,-170.3,177.3,-11.3,156,1246,0.03,2.40,0.00,0.000,4,0.254,0.095,2766,487,3606,0,0,0,0,0,0
$GC,1285,-0.81,-170.3,182.9,-12.0,159,1290,0.00,2.47,0.00,0.000,6,0.000,0.080,2757,1908,3607,0,0,0,0,0,0
$GC,1610,-0.81,-170.3,224.1,-13.3,190,1615,0.03,2.55,0.00,0.000,4,0.283,0.109,2754,3348,3607,0,0,0,0,0,0
$GC,1788,-0.81,-170.3,246.3,-12.5,205,1793,0.08,2.53,0.00,0.000,6,0.158,0.103,2769,1918,3606,0,0,0,0,0,0
$GC,2113,-0.81,-170.3,287.3,-12.1,235,2117,0.00,2.45,0.00,0.000,4,0.000,0.095,2769,477,3605,0,0,0,0,0,0
$GC,2164,-0.81,-170.3,293.9,-12.8,239,2168,0.00,2.47,0.00,0.000,6,0.000,0.079,2761,1920,3605,0,0,0,0,0,0
$GC,2491,-0.81,-170.3,336.9,-12.9,269,2495,0.00,2.47,0.00,0.000,4,0.000,0.100,2750,3351,3604,0,0,0,0,0,0
$GC,2679,-0.81,-170.3,360.7,-11.4,285,2685,0.08,2.62,0.00,0.000,6,0.151,0.118,2766,1907,3603,0,0,0,0,0,0
$GC,3005,-0.81,-170.3,400.5,-12.3,315,3009,0.00,2.42,0.00,0.000,4,0.000,0.091,2766,483,3602,0,0,0,0,0,0
$GC,3071,-0.81,-170.3,409.2,-12.9,318,3076,0.00,2.47,0.00,0.000,6,0.000,0.076,2757,1928,3601,0,0,0,0,0,0
$GC,3402,-0.81,-170.3,451.2,-12.9,334,3406,0.00,2.50,0.00,0.000,4,0.000,0.111,2746,3338,3600,0,0,0,0,0,0
$GC,3554,-0.81,-170.3,471.3,-12.6,341,3559,0.10,2.58,0.00,0.000,6,0.152,0.111,2769,1911,3598,0,0,0,0,0,0
$GC,3882,-0.81,-170.3,511.6,-12.3,357,3886,0.00,2.42,0.00,0.000,4,0.000,0.092,2769,488,3597,0,0,0,0,0,0
$GC,3909,-0.81,-170.3,515.4,-12.6,358,3913,0.00,2.45,0.00,0.000,6,0.000,0.073,2761,1920,3597,0,0,0,0,0,0
$GC,4232,-0.81,-170.3,555.9,-12.6,374,4236,0.00,2.55,0.00,0.000,4,0.000,0.114,2750,3337,3597,0,0,0,0,0,0
$GC,4363,-0.81,-170.3,572.1,-12.9,380,4368,0.08,2.65,0.00,0.000,6,0.155,0.127,2766,1921,3595,0,0,0,0,0,0
$GC,4690,-0.81,-170.3,610.5,-11.7,396,4695,0.00,2.42,0.00,0.000,4,0.000,0.083,2766,481,3594,0,0,0,0,0,0
$GC,4756,-0.81,-170.3,619.0,-12.6,399,4761,0.00,2.45,0.00,0.000,6,0.000,0.068,2757,1921,3594,0,0,0,0,0,0
$GC,5085,-0.81,-170.3,658.7,-12.1,415,5090,0.00,2.55,0.00,0.000,4,0.000,0.116,2747,3340,3592,0,0,0,0,0,0
$GC,5157,-0.81,-170.3,667.4,-10.8,418,5162,0.10,2.60,0.00,0.000,6,0.151,0.113,2769,1910,3591,0,0,0,0,0,0
$GC,5480,-0.81,-170.3,702.2,-10.9,434,5484,0.00,2.42,0.00,0.000,4,0.000,0.086,2770,481,3591,0,0,0,0,0,0
$GC,5557,-0.81,-170.3,711.6,-12.2,437,5563,0.00,2.42,0.00,0.000,6,0.000,0.064,2761,1921,3591,0,0,0,0,0,0
$GC,5874,-0.81,-170.3,750.0,-11.9,453,5878,0.00,2.53,0.00,0.000,4,0.000,0.119,2750,3326,3590,0,0,0,0,0,0
$STATE,5966,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5967,begin apogee
$GC,5976,-0.25,0.0,760.1,11.2,457,6116,0.70,0.00,136.77,1.088,6,0.177,0.000,2945,1759,2902,0,0,0,0,0,0
$STATE,6117,end apogee,CONTROL_FINISHED_OK
$STATE,6117,begin climb
$GC,6119,1.05,170.3,767.7,0.0,464,6281,1.30,2.85,150.32,1.051,4,0.099,0.101,3361,3176,2206,0,0,0,0,0,0
$GC,6533,0.90,170.3,743.2,10.6,483,6538,0.17,2.55,0.00,0.000,6,0.173,0.096,3326,1750,2201,0,0,0,0,0,0
$GC,6856,0.86,216.8,716.4,8.2,499,6902,0.05,2.38,40.35,1.034,4,0.241,0.054,3328,329,2018,0,0,0,0,0,0
$GC,6960,0.78,216.8,706.2,10.9,504,6965,0.15,2.33,0.00,0.000,6,0.155,0.035,3288,1765,2016,0,0,0,0,0,0
$GC,7287,0.83,257.6,678.4,8.4,520,7328,0.00,2.38,35.90,1.010,4,0.000,0.047,3297,335,1851,0,0,0,0,0,0
$GC,7434,0.83,257.6,664.0,11.0,526,7440,0.00,2.30,0.00,0.000,6,0.000,0.034,3298,1757,1847,0,0,0,0,0,0
$GC,7751,0.87,288.0,634.9,8.8,542,7785,0.00,2.40,27.15,0.980,4,0.000,0.050,3306,335,1726,0,0,0,0,0,0
$GC,7846,0.87,288.0,624.8,11.3,546,7851,0.00,2.30,0.00,0.000,6,0.000,0.034,3307,1753,1724,0,0,0,0,0,0
$GC,8169,0.87,291.9,592.3,9.9,562,8178,0.00,2.35,3.88,0.548,4,0.000,0.053,3317,332,1711,0,0,0,0,0,0
$GC,8213,0.85,291.9,587.5,11.3,564,8218,0.00,2.25,0.00,0.000,6,0.000,0.036,3317,1759,1711,0,0,0,0,0,0
$GC,8541,0.85,291.9,552.9,10.1,580,8542,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1759,1711,0,0,0,0,0,0
$GC,8850,0.85,291.9,520.0,10.8,595,8854,0.00,2.30,0.00,0.000,4,0.000,0.054,3326,329,1711,0,0,0,0,0,0
$GC,8884,0.82,291.9,516.2,10.9,596,8889,0.10,2.25,0.00,0.000,6,0.161,0.037,3300,1759,1711,0,0,0,0,0,0
$GC,9199,0.82,291.9,484.3,10.0,612,9200,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,1758,1711,0,0,0,0,0,0
$GC,9509,0.82,292.1,452.8,10.0,627,9513,0.00,2.35,0.00,0.000,4,0.000,0.080,3299,3169,1710,0,0,0,0,0,0
$GC,9541,0.82,292.1,449.2,10.8,628,9545,0.00,2.47,0.00,0.000,6,0.000,0.092,3308,1765,1710,0,0,0,0,0,0
$GC,9863,0.82,292.1,414.0,11.0,644,9867,0.00,2.33,0.00,0.000,4,0.000,0.066,3320,329,1709,0,0,0,0,0,0
$GC,10009,0.79,292.1,397.2,11.2,651,10015,0.12,2.25,0.00,0.000,6,0.155,0.034,3286,1768,1709,0,0,0,0,0,0
$GC,10335,0.85,317.2,366.6,9.0,682,10365,0.05,0.00,23.52,0.848,6,0.157,0.000,3324,1768,1607,0,0,0,0,0,0
$GC,10683,0.85,317.2,323.7,12.1,715,10687,0.08,2.33,0.00,0.000,4,0.169,0.080,3306,3168,1604,0,0,0,0,0,0
$GC,10722,0.85,317.2,319.0,11.7,718,10727,0.00,2.50,0.00,0.000,6,0.000,0.096,3315,1748,1604,0,0,0,0,0,0
$GC,11047,0.85,317.2,281.6,12.3,748,11051,0.00,2.28,0.00,0.000,4,0.000,0.060,3327,330,1603,0,0,0,0,0,0
$GC,11179,0.83,317.2,265.8,11.5,759,11183,0.10,2.22,0.00,0.000,6,0.158,0.034,3300,1761,1603,0,0,0,0,0,0
$GC,11506,0.85,317.2,232.8,10.5,789,11510,0.00,2.30,0.00,0.000,4,0.000,0.073,3300,3171,1603,0,0,0,0,0,0
$GC,11560,0.85,317.2,226.7,11.5,793,11565,0.00,2.45,0.00,0.000,6,0.000,0.090,3308,1754,1602,0,0,0,0,0,0
$GC,11885,0.85,317.2,188.8,11.5,823,11889,0.00,2.30,0.00,0.000,4,0.000,0.058,3320,329,1603,0,0,0,0,0,0
$GC,11962,0.85,317.2,179.9,11.8,829,11966,0.00,2.25,0.00,0.000,6,0.000,0.034,3320,1767,1602,0,0,0,0,0,0
$GC,12287,0.85,317.2,142.5,10.6,859,12291,0.00,2.33,0.00,0.000,4,0.000,0.082,3320,3173,1602,0,0,0,0,0,0
$GC,12417,0.85,317.2,126.6,11.8,870,12422,0.10,2.42,0.00,0.000,6,0.178,0.085,3305,1749,1602,0,0,0,0,0,0
$GC,12749,0.90,339.8,94.2,9.1,905,12778,0.05,2.33,19.48,0.645,4,0.159,0.060,3370,333,1518,0,0,0,0,0,0
$GC,12802,0.85,339.8,87.8,12.9,914,12808,0.20,2.25,0.00,0.000,6,0.145,0.037,3314,1752,1516,0,0,0,0,0,0
$GC,13151,0.95,383.5,51.3,8.3,975,13196,0.08,2.40,37.15,0.617,4,0.114,0.076,3372,3176,1338,0,0,0,0,0,0
$GC,13319,0.95,383.5,31.1,13.7,1004,13327,0.10,2.50,0.00,0.000,6,0.148,0.088,3350,1754,1335,0,0,0,0,0,0
$GC,13474,1.00,383.5,13.2,10.6,1029,13481,0.00,2.38,0.00,0.000,4,0.000,0.070,3350,3171,1333,0,0,0,0,0,0
$GC,13539,1.03,383.5,6.5,11.1,1039,13546,0.00,2.45,0.00,0.000,6,0.000,0.084,3359,1760,1333,0,0,0,0,0,0
$STATE,13577,end climb,SURFACE_DEPTH_REACHED
$STATE,13577,begin surface coast
$FINISH,1.3,1.019881
$STATE,13608,end surface coast,CONTROL_FINISHED_OK
$STATE,13608,begin surface
$SM_CCo,13626,104.32,0.045,0,0,407,611.52
$SM_GC,2.02,0.00,0.00,104.32,0.000,0.000,0.045,68,1970,407,-9.27,1.44,611.52
$IRIDIUM_FIX,-3427.77,2524.76,080308,090904
$TT8_MAMPS,0.026964
$HUMID,53.89
$INTERNAL_PRESSURE,9.36249
$TCM_TEMP,21.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,760.1,7.3
$24V_AH,22.7,40.650
$10V_AH,10.1,33.048
$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,24.250,146.525,474.525,104.325,0.000,30.250,18.216,328.846,18.250,0.000,48.027,2614.566,7661.806,631.840,3117.008,257.172,0.000,1806.300,0.000,2537.246,0.000,115.627,0.000
$DEVICE_MAMPS,283.050,129.285,1087.830,45.135,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,718.743,1735.043,814.473,299.824,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330824
$DATA_FILE_SIZE,73814,1050
$CAP_FILE_SIZE,155912,0
$CFSIZE,2097086464,2048950272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,130515,100253,-3442.374,2520.783,42,1.0,43,-27.9