version: 66.07.10.p01
glider: 573
mission: 9
dive: 515
start: 5 20 115 15 4 58
data:
$ID,573
$MISSION,9
$DIVE,515
$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,-15066.022
$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,19
$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,514
$GPS1,200515,145505,-3434.519,2527.219,32,1.2,32,-27.8
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-64.2
$GPS2,200515,150435,-3434.750,2526.711,29,2.0,29,-27.8
$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,53.2,21370,-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,24,begin dive
$GC,26,-1.05,-170.3,0.0,0.0,0,104,0.00,0.00,-75.43,0.000,2,0.000,0.000,81,1920,2294,0,0,0,0,0,0
$GC,107,-1.05,-170.3,3.0,-2.7,9,166,11.20,2.47,-35.62,0.000,4,0.244,0.096,2677,3337,3600,0,0,0,0,0,0
$GC,320,-0.90,-170.3,40.0,-19.8,41,327,0.22,2.47,0.00,0.000,6,0.160,0.091,2739,1917,3602,0,0,0,0,0,0
$GC,674,-0.86,-170.3,96.0,-14.3,102,683,0.05,2.50,0.00,0.000,4,0.241,0.091,2742,3342,3604,0,0,0,0,0,0
$GC,764,-0.86,-170.3,108.7,-13.1,111,771,0.00,2.53,0.00,0.000,6,0.000,0.094,2742,1919,3604,0,0,0,0,0,0
$GC,1090,-0.83,-170.3,154.0,-15.1,142,1095,0.08,2.40,0.00,0.000,4,0.181,0.086,2760,477,3607,0,0,0,0,0,0
$GC,1119,-0.81,-170.3,158.3,-15.0,144,1124,0.08,2.45,0.00,0.000,6,0.213,0.076,2766,1911,3607,0,0,0,0,0,0
$GC,1444,-0.81,-170.3,202.6,-13.1,174,1448,0.00,2.55,0.00,0.000,4,0.000,0.109,2756,3353,3607,0,0,0,0,0,0
$GC,1604,-0.81,-170.3,222.2,-12.0,187,1611,0.08,2.62,0.00,0.000,6,0.168,0.112,2771,1911,3606,0,0,0,0,0,0
$GC,1929,-0.81,-170.3,260.4,-11.9,218,1934,0.00,2.42,0.00,0.000,4,0.000,0.092,2771,478,3606,0,0,0,0,0,0
$GC,1974,-0.81,-170.3,266.6,-12.7,221,1982,0.00,2.50,0.00,0.000,6,0.000,0.084,2762,1922,3606,0,0,0,0,0,0
$GC,2300,-0.81,-170.3,311.5,-13.8,252,2304,0.00,2.50,0.00,0.000,4,0.000,0.103,2751,3352,3605,0,0,0,0,0,0
$GC,2504,-0.81,-170.3,335.6,-11.9,269,2509,0.08,2.60,0.00,0.000,6,0.169,0.111,2766,1923,3604,0,0,0,0,0,0
$GC,2829,-0.81,-170.3,375.1,-12.3,299,2833,0.00,2.45,0.00,0.000,4,0.000,0.090,2766,475,3603,0,0,0,0,0,0
$GC,2873,-0.81,-170.3,381.4,-13.5,302,2881,0.05,2.47,0.00,0.000,6,0.230,0.078,2766,1918,3603,0,0,0,0,0,0
$GC,3204,-0.81,-170.3,427.9,-13.7,325,3209,0.00,2.60,0.00,0.000,4,0.000,0.119,2756,3340,3602,0,0,0,0,0,0
$GC,3366,-0.83,-170.3,449.1,-12.0,332,3370,0.00,2.67,0.00,0.000,6,0.000,0.122,2756,1917,3601,0,0,0,0,0,0
$GC,3682,-0.83,-170.3,486.8,-12.1,347,3686,0.00,2.42,0.00,0.000,4,0.000,0.086,2756,481,3601,0,0,0,0,0,0
$GC,3736,-0.83,-170.3,494.4,-13.3,349,3744,0.08,2.42,0.00,0.000,6,0.212,0.065,2760,1929,3600,0,0,0,0,0,0
$GC,4055,-0.83,-170.3,535.1,-12.6,365,4059,0.00,2.62,0.00,0.000,4,0.000,0.127,2750,3333,3599,0,0,0,0,0,0
$GC,4164,-0.85,-170.3,549.2,-12.2,370,4169,0.00,2.67,0.00,0.000,6,0.000,0.122,2750,1911,3598,0,0,0,0,0,0
$GC,4487,-0.85,-170.3,587.7,-12.0,386,4491,0.00,2.42,0.00,0.000,4,0.000,0.090,2750,481,3597,0,0,0,0,0,0
$GC,4571,-0.85,-170.3,599.3,-14.3,390,4579,0.08,2.38,0.00,0.000,6,0.200,0.059,2756,1922,3597,0,0,0,0,0,0
$GC,4906,-0.85,-170.3,643.0,-11.9,406,4911,0.00,2.65,0.00,0.000,4,0.000,0.129,2746,3328,3595,0,0,0,0,0,0
$GC,5015,-0.85,-170.3,655.6,-12.0,411,5019,0.00,2.72,0.00,0.000,6,0.000,0.135,2746,1920,3594,0,0,0,0,0,0
$STATE,5216,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5216,begin apogee
$GC,5222,-0.25,0.0,679.6,12.0,421,5363,0.73,0.00,138.27,1.028,6,0.169,0.000,2950,1753,2902,0,0,0,0,0,0
$STATE,5364,end apogee,CONTROL_FINISHED_OK
$STATE,5364,begin climb
$GC,5366,1.05,170.3,687.1,0.0,428,5526,1.30,2.80,148.80,0.992,4,0.104,0.105,3363,3167,2206,0,0,0,0,0,0
$GC,5779,0.92,178.6,663.2,9.7,446,5794,0.15,2.55,7.82,0.819,6,0.184,0.098,3336,1750,2173,0,0,0,0,0,0
$GC,6118,0.86,209.0,633.5,8.8,463,6153,0.10,2.40,27.65,0.962,4,0.196,0.058,3322,326,2050,0,0,0,0,0,0
$GC,6318,0.81,219.3,614.6,9.6,472,6334,0.10,2.30,10.05,0.863,6,0.168,0.036,3297,1765,2007,0,0,0,0,0,0
$GC,6645,0.87,262.4,587.8,8.3,487,6690,0.00,2.42,38.50,0.958,4,0.000,0.050,3307,332,1831,0,0,0,0,0,0
$GC,6729,0.90,294.8,580.6,8.7,490,6765,0.00,2.30,29.33,0.929,6,0.000,0.035,3307,1759,1699,0,0,0,0,0,0
$GC,7087,0.90,294.8,544.6,11.2,508,7091,0.00,2.33,0.00,0.000,4,0.000,0.053,3316,331,1694,0,0,0,0,0,0
$GC,7120,0.90,294.8,540.6,12.2,509,7127,0.00,2.28,0.00,0.000,6,0.000,0.037,3316,1759,1693,0,0,0,0,0,0
$GC,7437,0.90,294.8,504.7,11.2,525,7441,0.00,2.33,0.00,0.000,4,0.000,0.054,3325,328,1692,0,0,0,0,0,0
$GC,7486,0.88,294.8,498.7,11.9,527,7490,0.00,2.28,0.00,0.000,6,0.000,0.038,3326,1757,1692,0,0,0,0,0,0
$GC,7802,0.88,294.8,465.9,10.1,542,7806,0.00,2.50,0.00,0.000,4,0.000,0.106,3325,3171,1691,0,0,0,0,0,0
$GC,7834,0.88,294.8,462.4,10.7,543,7842,0.08,2.47,0.00,0.000,6,0.206,0.095,3319,1755,1691,0,0,0,0,0,0
$GC,8150,0.89,300.0,432.5,9.8,559,8160,0.00,2.35,4.15,0.532,4,0.000,0.065,3330,332,1678,0,0,0,0,0,0
$GC,8295,0.85,300.0,417.2,10.7,565,8300,0.08,2.25,0.00,0.000,6,0.172,0.037,3312,1759,1679,0,0,0,0,0,0
$GC,8619,0.88,322.4,388.8,9.1,585,8645,0.00,2.38,21.73,0.849,4,0.000,0.083,3312,3173,1587,0,0,0,0,0,0
$GC,8672,0.89,329.6,383.7,9.7,589,8685,0.00,2.53,7.65,0.731,6,0.000,0.101,3320,1754,1558,0,0,0,0,0,0
$GC,9002,0.89,329.6,346.9,11.6,620,9006,0.00,2.33,0.00,0.000,4,0.000,0.060,3332,324,1556,0,0,0,0,0,0
$GC,9179,0.86,329.6,323.5,13.9,635,9184,0.08,2.30,0.00,0.000,6,0.170,0.038,3314,1766,1554,0,0,0,0,0,0
$GC,9507,0.86,329.6,284.7,12.2,665,9511,0.00,2.30,0.00,0.000,4,0.000,0.049,3323,323,1554,0,0,0,0,0,0
$GC,9547,0.86,329.6,279.4,12.8,668,9551,0.00,2.28,0.00,0.000,6,0.000,0.037,3323,1756,1554,0,0,0,0,0,0
$GC,9872,0.86,329.6,240.5,11.8,698,9876,0.00,2.38,0.00,0.000,4,0.000,0.086,3323,3175,1554,0,0,0,0,0,0
$GC,9904,0.86,329.6,236.5,12.3,700,9915,0.05,2.53,0.00,0.000,6,0.164,0.094,3317,1753,1554,0,0,0,0,0,0
$GC,10230,0.86,329.6,199.4,11.4,731,10234,0.00,2.30,0.00,0.000,4,0.000,0.059,3328,330,1554,0,0,0,0,0,0
$GC,10362,0.86,329.6,183.2,12.2,742,10366,0.05,2.25,0.00,0.000,6,0.194,0.037,3316,1759,1553,0,0,0,0,0,0
$GC,10695,0.86,329.6,146.8,10.2,773,10699,0.00,2.28,0.00,0.000,4,0.000,0.051,3325,329,1553,0,0,0,0,0,0
$GC,10727,0.86,329.6,142.9,11.6,775,10734,0.00,2.28,0.00,0.000,6,0.000,0.038,3325,1752,1553,0,0,0,0,0,0
$GC,11052,0.86,329.6,108.4,10.5,806,11056,0.00,2.28,0.00,0.000,4,0.000,0.051,3334,328,1553,0,0,0,0,0,0
$GC,11070,0.86,329.6,106.4,10.8,807,11075,0.08,2.28,0.00,0.000,6,0.169,0.038,3316,1769,1553,0,0,0,0,0,0
$GC,11417,0.94,356.0,73.9,9.0,862,11446,0.00,2.38,23.35,0.620,4,0.000,0.075,3316,3177,1450,0,0,0,0,0,0
$GC,11634,1.01,380.4,52.4,9.0,899,11663,0.10,2.47,21.52,0.607,6,0.089,0.090,3392,1756,1350,0,0,0,0,0,0
$GC,12027,0.99,382.0,5.7,9.9,963,12036,0.15,2.33,0.00,0.000,4,0.144,0.057,3359,333,1346,0,0,0,0,0,0
$STATE,12049,end climb,SURFACE_DEPTH_REACHED
$STATE,12050,begin surface coast
$FINISH,1.2,1.009713
$STATE,12082,end surface coast,CONTROL_FINISHED_OK
$STATE,12082,begin surface
$SM_CCo,12103,105.55,0.045,0,0,408,611.52
$SM_GC,1.90,0.00,0.00,105.55,0.000,0.000,0.045,91,1927,408,-9.20,0.23,611.52
$IRIDIUM_FIX,-3419.93,2524.88,160308,000058
$TT8_MAMPS,0.026215
$HUMID,56.10
$INTERNAL_PRESSURE,9.38202
$TCM_TEMP,20.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,662.3,31.2
$24V_AH,22.7,51.144
$10V_AH,10.1,40.439
$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,23.725,137.050,478.825,105.550,0.000,24.118,23.956,350.076,15.750,0.000,31.912,2545.916,6332.299,684.511,2942.784,270.120,0.000,1751.234,0.000,2378.397,0.000,98.350,0.000
$DEVICE_MAMPS,244.035,135.405,1028.160,45.135,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,664.703,1602.631,804.601,296.222,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330704
$DATA_FILE_SIZE,67147,971
$CAP_FILE_SIZE,145126,0
$CFSIZE,2097086464,2038038528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$CURRENT,0.341,240.0,1
$GPS,200515,182936,-3434.701,2525.509,32,1.1,32,-27.8