version: 66.07.10.p01
glider: 573
mission: 9
dive: 448
start: 5 16 115 16 38 40
data:
$ID,573
$MISSION,9
$DIVE,448
$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,-14896.629
$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,14
$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,447
$GPS1,160515,162459,-3439.657,2517.318,42,1.9,43,-27.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-56.4
$GPS2,160515,163805,-3439.771,2517.219,49,1.1,49,-27.8
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,WP_SOUTH
$TGT_LATLONG,-3440.000,2520.000
$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,87.5,4258,-18.0,-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,-1.08,-149.7,0.0,0.0,0,111,0.00,0.00,-83.22,0.000,2,0.000,0.000,66,1939,2579,0,0,0,0,0,0
$GC,114,-1.11,-170.3,3.6,-3.3,10,158,11.68,2.50,-21.40,0.000,4,0.261,0.109,2657,3351,3601,2,0,0,0,0,0
$GC,424,-0.95,-170.3,70.5,-22.1,60,435,0.22,2.53,0.00,0.000,6,0.183,0.091,2720,1920,3604,0,0,0,0,0,0
$GC,774,-0.90,-170.3,124.0,-14.7,107,779,0.08,2.50,0.00,0.000,4,0.229,0.100,2727,3343,3607,0,0,0,0,0,0
$GC,819,-0.90,-170.3,130.7,-14.2,110,826,0.05,2.47,0.00,0.000,6,0.182,0.092,2739,1914,3607,0,0,0,0,0,0
$GC,1146,-0.90,-170.3,175.8,-13.8,141,1150,0.00,2.45,0.00,0.000,4,0.000,0.095,2739,484,3608,0,0,0,0,0,0
$GC,1186,-0.87,-170.3,181.9,-14.0,144,1191,0.08,2.50,0.00,0.000,6,0.210,0.086,2744,1923,3608,0,0,0,0,0,0
$GC,1511,-0.87,-170.3,225.9,-13.5,174,1515,0.00,2.50,0.00,0.000,4,0.000,0.112,2734,3343,3608,0,0,0,0,0,0
$GC,1726,-0.87,-170.3,253.7,-12.9,192,1737,0.03,2.53,0.00,0.000,6,0.108,0.096,2745,1919,3607,0,0,0,0,0,0
$GC,2052,-0.87,-170.3,295.6,-13.7,223,2056,0.00,2.47,0.00,0.000,4,0.000,0.094,2745,475,3605,0,0,0,0,0,0
$GC,2103,-0.87,-170.3,302.0,-12.3,227,2108,0.05,2.47,0.00,0.000,6,0.236,0.079,2745,1922,3605,0,0,0,0,0,0
$GC,2433,-0.87,-170.3,350.6,-16.0,257,2437,0.00,2.55,0.00,0.000,4,0.000,0.117,2734,3335,3604,0,0,0,0,0,0
$GC,2578,-0.90,-170.3,371.9,-14.5,269,2583,0.00,2.50,0.00,0.000,6,0.000,0.103,2735,1920,3602,0,0,0,0,0,0
$GC,2912,-0.90,-170.3,418.6,-14.4,294,2916,0.00,2.45,0.00,0.000,4,0.000,0.090,2734,479,3601,0,0,0,0,0,0
$GC,2966,-0.90,-170.3,427.2,-14.5,296,2975,0.03,2.47,0.00,0.000,6,0.213,0.074,2732,1916,3601,0,0,0,0,0,0
$GC,3283,-0.87,-170.3,473.2,-14.7,312,3288,0.08,2.58,0.00,0.000,4,0.236,0.119,2737,3338,3599,0,0,0,0,0,0
$GC,3444,-0.89,-170.3,495.4,-13.4,319,3449,0.00,2.55,0.00,0.000,6,0.000,0.103,2736,1910,3598,0,0,0,0,0,0
$GC,3762,-0.89,-170.3,538.8,-14.1,334,3766,0.00,2.40,0.00,0.000,4,0.000,0.089,2737,487,3597,0,0,0,0,0,0
$GC,3885,-0.87,-170.3,559.2,-18.2,339,3896,0.10,2.40,0.00,0.000,6,0.207,0.067,2749,1922,3597,0,0,0,0,0,0
$GC,4204,-0.87,-170.3,601.6,-13.2,355,4208,0.00,2.55,0.00,0.000,4,0.000,0.119,2739,3333,3595,0,0,0,0,0,0
$GC,4387,-0.90,-170.3,623.8,-11.4,363,4391,0.00,2.47,0.00,0.000,6,0.000,0.097,2739,1921,3594,0,0,0,0,0,0
$GC,4705,-0.93,-170.3,659.1,-10.8,378,4709,0.00,2.47,0.00,0.000,4,0.000,0.098,2739,478,3594,0,0,0,0,0,0
$GC,4753,-0.93,-170.3,665.3,-11.9,380,4758,0.00,2.45,0.00,0.000,6,0.000,0.069,2729,1913,3593,0,0,0,0,0,0
$GC,5076,-0.93,-170.3,704.8,-12.6,396,5080,0.00,2.55,0.00,0.000,4,0.000,0.112,2718,3336,3592,0,0,0,0,0,0
$GC,5205,-0.93,-170.3,721.2,-12.5,402,5210,0.00,2.55,0.00,0.000,6,0.000,0.102,2718,1915,3591,0,0,0,0,0,0
$GC,5533,-0.93,-170.3,764.2,-13.3,418,5538,0.05,2.42,0.00,0.000,4,0.190,0.083,2729,485,3591,0,0,0,0,0,0
$GC,5560,-0.93,-170.3,768.4,-14.7,419,5564,0.00,2.40,0.00,0.000,6,0.000,0.063,2719,1914,3591,0,0,0,0,0,0
$STATE,5612,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5612,begin apogee
$GC,5618,-0.25,0.0,775.8,14.2,422,5761,0.82,0.00,139.50,1.097,6,0.172,0.000,2950,1712,2902,0,0,0,0,0,0
$STATE,5761,end apogee,CONTROL_FINISHED_OK
$STATE,5762,begin climb
$GC,5764,1.11,170.3,784.6,0.0,429,5924,1.35,2.42,150.10,1.059,4,0.103,0.053,3390,370,2206,0,0,0,0,0,0
$GC,6177,0.99,203.6,762.1,8.5,447,6214,0.15,2.25,29.80,1.024,6,0.165,0.034,3352,1772,2071,0,0,0,0,0,0
$GC,6536,0.91,203.6,725.6,10.5,465,6538,0.10,0.00,0.00,0.000,6,0.203,0.000,3329,1773,2067,0,0,0,0,0,0
$GC,6845,0.85,203.6,693.7,10.3,480,6850,0.08,2.28,0.00,0.000,4,0.213,0.047,3321,358,2065,0,0,0,0,0,0
$GC,6900,0.80,204.4,688.1,10.0,482,6908,0.10,2.20,0.00,0.000,6,0.186,0.035,3297,1756,2065,0,0,0,0,0,0
$GC,7217,0.80,204.4,658.1,10.5,498,7218,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,1756,2065,0,0,0,0,0,0
$GC,7526,0.87,257.4,629.4,7.6,513,7578,0.00,2.33,46.42,1.014,4,0.000,0.050,3306,374,1851,0,0,0,0,0,0
$GC,7735,0.89,277.4,610.6,9.1,522,7761,0.00,2.22,18.23,0.939,6,0.000,0.037,3306,1758,1771,0,0,0,0,0,0
$GC,8079,0.95,307.7,580.3,8.6,539,8109,0.10,0.00,27.60,0.954,6,0.101,0.000,3352,1758,1646,0,0,0,0,0,0
$GC,8407,0.93,307.7,544.6,11.5,555,8411,0.08,2.25,0.00,0.000,4,0.165,0.052,3344,369,1642,0,0,0,0,0,0
$GC,8461,0.90,307.7,537.6,12.2,557,8466,0.08,2.22,0.00,0.000,6,0.183,0.040,3327,1758,1641,0,0,0,0,0,0
$GC,8783,0.90,307.7,501.2,11.9,573,8784,0.00,0.00,0.00,0.000,6,0.000,0.000,3326,1759,1641,0,0,0,0,0,0
$GC,9092,0.90,307.7,463.0,12.8,588,9093,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,1759,1639,0,0,0,0,0,0
$GC,9401,0.90,307.7,420.6,13.4,603,9405,0.00,2.22,0.00,0.000,4,0.000,0.050,3336,364,1639,0,0,0,0,0,0
$GC,9501,0.90,307.7,405.3,15.3,607,9505,0.00,2.22,0.00,0.000,6,0.000,0.039,3336,1765,1639,0,0,0,0,0,0
$GC,9832,0.90,307.7,361.8,12.2,636,9836,0.00,2.42,0.00,0.000,4,0.000,0.095,3336,3173,1639,0,0,0,0,0,0
$GC,9865,0.90,307.7,357.1,13.3,638,9873,0.10,2.45,0.00,0.000,6,0.189,0.102,3322,1789,1638,0,0,0,0,0,0
$GC,10192,0.90,307.7,318.3,11.9,669,10197,0.00,2.38,0.00,0.000,4,0.000,0.063,3333,330,1638,0,0,0,0,0,0
$GC,10314,0.90,307.7,303.4,12.2,679,10321,0.00,2.30,0.00,0.000,6,0.000,0.039,3333,1762,1638,0,0,0,0,0,0
$GC,10640,0.90,307.7,267.1,12.0,710,10644,0.00,2.47,0.00,0.000,4,0.000,0.099,3333,3181,1638,0,0,0,0,0,0
$GC,10713,0.90,307.7,258.5,11.5,716,10718,0.08,2.53,0.00,0.000,6,0.199,0.101,3326,1756,1638,0,0,0,0,0,0
$GC,11038,0.90,307.7,222.3,12.6,746,11043,0.00,2.33,0.00,0.000,4,0.000,0.061,3337,323,1638,0,0,0,0,0,0
$GC,11112,0.90,307.7,213.3,11.6,752,11117,0.03,2.28,0.00,0.000,6,0.249,0.037,3327,1761,1638,0,0,0,0,0,0
$GC,11438,0.90,307.7,179.3,10.7,782,11439,0.00,0.00,0.00,0.000,6,0.000,0.000,3327,1762,1637,0,0,0,0,0,0
$GC,11757,0.90,307.7,144.0,11.2,812,11762,0.00,2.40,0.00,0.000,4,0.000,0.085,3327,3181,1637,0,0,0,0,0,0
$GC,11779,0.90,307.7,141.1,11.4,813,11787,0.00,2.53,0.00,0.000,6,0.000,0.100,3336,1752,1637,0,0,0,0,0,0
$GC,12104,0.90,307.7,101.0,12.9,844,12108,0.00,2.30,0.00,0.000,4,0.000,0.059,3347,330,1638,0,0,0,0,0,0
$GC,12124,0.90,307.7,98.7,13.1,845,12132,0.10,2.28,0.00,0.000,6,0.161,0.041,3321,1759,1637,0,0,0,0,0,0
$GC,12479,0.93,307.7,60.3,10.2,906,12488,0.00,2.38,0.00,0.000,4,0.000,0.077,3321,3175,1637,0,0,0,0,0,0
$GC,12750,0.98,328.9,33.0,9.1,952,12775,0.03,2.53,15.10,0.580,6,0.099,0.099,3376,1762,1562,0,0,0,0,0,0
$GC,12922,0.98,330.3,16.4,9.9,979,12932,0.10,2.40,0.00,0.000,4,0.167,0.074,3349,3177,1559,0,0,0,0,0,0
$GC,12978,1.02,367.4,11.4,8.3,987,13004,0.00,2.53,20.12,0.521,6,0.000,0.097,3358,1757,1403,0,0,0,0,0,0
$GC,13057,1.05,367.4,4.0,11.3,998,13065,0.00,0.00,0.00,0.000,6,0.000,0.000,3359,1757,1399,0,0,0,0,0,0
$STATE,13071,end climb,SURFACE_DEPTH_REACHED
$STATE,13071,begin surface coast
$FINISH,1.3,1.009479
$STATE,13104,end surface coast,CONTROL_FINISHED_OK
$STATE,13104,begin surface
$SM_CCo,13122,113.03,0.047,0,0,408,611.52
$SM_GC,1.97,0.00,0.00,113.03,0.000,0.000,0.047,68,1974,408,-9.27,1.58,611.52
$IRIDIUM_FIX,-3425.16,2515.41,120308,050558
$TT8_MAMPS,0.026964
$HUMID,57.83
$INTERNAL_PRESSURE,9.33319
$TCM_TEMP,19.60
$XPDR_PINGS,33
$ALTIM_BOTTOM_PING,761.5,27.4
$24V_AH,22.7,44.852
$10V_AH,10.0,36.069
$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,24.550,126.375,446.875,113.025,0.000,54.296,98.509,361.105,26.500,0.000,51.434,2674.809,7306.946,670.092,3094.752,275.308,0.000,1752.285,0.000,2387.974,0.000,114.654,0.000
$DEVICE_MAMPS,260.865,119.340,1097.010,47.430,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,691.632,1659.807,771.880,291.140,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330684
$DATA_FILE_SIZE,70297,1005
$CAP_FILE_SIZE,150574,2
$CFSIZE,2097086464,2045050880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,1
$CURRENT,0.228,235.9,1
$GPS,160515,202035,-3440.062,2517.551,42,1.0,42,-27.9