version: 66.07.10.p01
glider: 573
mission: 9
dive: 521
start: 5 21 115 9 42 44
data:
$ID,573
$MISSION,9
$DIVE,521
$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,-15082.957
$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,10
$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,520
$GPS1,210515,093053,-3436.876,2514.674,41,1.0,41,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-56.3
$GPS2,210515,094222,-3437.010,2514.323,29,1.1,44,-27.8
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3426.211,2514.323
$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,27.8,20000,-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,25,-1.05,-170.3,0.0,0.0,0,101,0.00,0.00,-73.18,0.000,2,0.000,0.000,68,1939,2277,0,0,0,0,0,0
$GC,104,-1.05,-170.3,3.2,-4.2,12,161,11.12,2.58,-35.83,0.000,4,0.242,0.107,2691,494,3599,0,0,0,0,0,0
$GC,248,-0.87,-170.3,27.3,-22.2,35,254,0.25,2.58,0.00,0.000,6,0.193,0.101,2745,1921,3602,0,0,0,0,0,0
$GC,395,-0.78,-170.3,51.9,-17.1,60,403,0.12,2.53,0.00,0.000,4,0.195,0.103,2764,3349,3602,0,0,0,0,0,0
$GC,651,-0.78,-170.3,86.0,-11.2,104,657,0.05,2.53,0.00,0.000,6,0.177,0.099,2775,1913,3604,0,0,0,0,0,0
$GC,984,-0.78,-170.3,123.0,-11.7,146,988,0.00,2.42,0.00,0.000,4,0.000,0.094,2775,478,3606,0,0,0,0,0,0
$GC,1038,-0.78,-170.3,130.0,-11.6,150,1045,0.00,2.55,0.00,0.000,6,0.000,0.097,2766,1919,3606,0,0,0,0,0,0
$GC,1366,-0.78,-170.3,170.0,-12.4,181,1371,0.00,2.42,0.00,0.000,4,0.000,0.098,2755,3344,3606,0,0,0,0,0,0
$GC,1581,-0.81,-170.3,198.0,-12.4,200,1586,0.05,2.53,0.00,0.000,6,0.171,0.103,2766,1911,3606,0,0,0,0,0,0
$GC,1906,-0.81,-170.3,238.7,-12.2,230,1911,0.00,2.42,0.00,0.000,4,0.000,0.090,2766,480,3605,0,0,0,0,0,0
$GC,1972,-0.81,-170.3,247.3,-12.4,235,1979,0.05,2.47,0.00,0.000,6,0.228,0.081,2766,1922,3605,0,0,0,0,0,0
$GC,2298,-0.81,-170.3,287.0,-11.4,266,2302,0.00,2.50,0.00,0.000,4,0.000,0.109,2755,3336,3604,0,0,0,0,0,0
$GC,2489,-0.81,-170.3,308.4,-11.0,282,2495,0.05,2.53,0.00,0.000,6,0.171,0.104,2766,1920,3603,0,0,0,0,0,0
$GC,2816,-0.81,-170.3,349.2,-14.7,313,2821,0.00,2.42,0.00,0.000,4,0.000,0.088,2766,482,3602,0,0,0,0,0,0
$GC,2956,-0.81,-170.3,368.7,-14.1,325,2961,0.05,2.45,0.00,0.000,6,0.226,0.077,2765,1919,3602,0,0,0,0,0,0
$GC,3281,-0.81,-170.3,399.4,-10.9,355,3286,0.00,2.53,0.00,0.000,4,0.000,0.121,2755,3325,3602,0,0,0,0,0,0
$GC,3462,-0.83,-170.3,419.3,-10.9,364,3469,0.00,2.55,0.00,0.000,6,0.000,0.111,2755,1913,3600,0,0,0,0,0,0
$STATE,3670,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3670,begin apogee
$GC,3676,-0.25,0.0,444.3,11.9,374,3814,0.70,0.00,134.12,0.846,6,0.180,0.000,2949,1751,2902,0,0,0,0,0,0
$STATE,3815,end apogee,CONTROL_FINISHED_OK
$STATE,3815,begin climb
$GC,3817,1.05,170.3,452.3,0.0,381,3968,1.30,2.70,140.07,0.827,4,0.103,0.099,3364,3160,2206,0,0,0,0,0,0
$GC,4065,0.90,170.3,445.6,10.4,393,4070,0.17,2.50,0.00,0.000,6,0.179,0.091,3330,1759,2203,0,0,0,0,0,0
$GC,4394,0.84,194.8,418.0,9.0,409,4421,0.10,2.40,21.02,0.797,4,0.201,0.080,3307,3176,2106,0,0,0,0,0,0
$GC,4511,0.81,209.1,406.8,9.4,414,4531,0.08,2.47,12.95,0.756,6,0.210,0.090,3300,1757,2050,0,0,0,0,0,0
$GC,4851,0.88,289.0,377.0,6.9,443,4924,0.00,2.42,67.22,0.817,4,0.000,0.066,3311,337,1723,0,0,0,0,0,0
$GC,4991,0.86,298.6,366.1,9.6,456,5008,0.00,2.33,8.93,0.695,6,0.000,0.039,3311,1757,1685,0,0,0,0,0,0
$GC,5327,0.86,298.6,331.3,11.2,488,5331,0.00,2.28,0.00,0.000,4,0.000,0.051,3320,328,1681,0,0,0,0,0,0
$GC,5440,0.84,298.6,318.5,10.4,497,5446,0.05,2.28,0.00,0.000,6,0.198,0.040,3309,1764,1681,0,0,0,0,0,0
$GC,5765,0.84,298.6,283.2,11.1,528,5769,0.00,2.38,0.00,0.000,4,0.000,0.093,3309,3170,1679,0,0,0,0,0,0
$GC,5786,0.84,298.6,280.6,11.1,529,5791,0.00,2.45,0.00,0.000,6,0.000,0.092,3318,1759,1679,0,0,0,0,0,0
$GC,6112,0.82,298.6,243.6,10.6,560,6117,0.08,2.33,0.00,0.000,4,0.207,0.063,3312,326,1678,0,0,0,0,0,0
$GC,6266,0.82,298.6,227.8,10.5,573,6271,0.03,2.25,0.00,0.000,6,0.243,0.040,3302,1756,1678,0,0,0,0,0,0
$GC,6591,0.83,306.7,196.1,9.7,603,6605,0.00,2.35,7.18,0.618,4,0.000,0.050,3311,325,1651,0,0,0,0,0,0
$GC,6662,0.83,306.7,188.5,10.9,609,6667,0.00,2.28,0.00,0.000,6,0.000,0.041,3311,1764,1651,0,0,0,0,0,0
$GC,6988,0.83,312.0,156.4,9.8,640,6998,0.00,0.00,6.15,0.574,6,0.000,0.000,3311,1764,1629,0,0,0,0,0,0
$GC,7316,0.83,313.1,124.1,10.0,671,7317,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,1764,1630,0,0,0,0,0,0
$GC,7640,0.83,313.1,92.9,11.3,706,7645,0.00,2.38,0.00,0.000,4,0.000,0.088,3311,3177,1630,0,0,0,0,0,0
$GC,7704,0.83,313.1,84.7,12.2,717,7711,0.05,2.47,0.00,0.000,6,0.163,0.090,3305,1758,1630,0,0,0,0,0,0
$GC,8056,0.95,370.2,52.3,7.8,778,8115,0.10,2.42,49.65,0.612,4,0.093,0.066,3381,323,1391,0,0,0,0,0,0
$GC,8271,0.92,370.2,26.2,13.4,815,8277,0.17,2.33,0.00,0.000,6,0.142,0.047,3332,1764,1387,0,0,0,0,0,0
$GC,8424,0.98,372.9,12.4,9.9,840,8431,0.00,2.38,0.00,0.000,4,0.000,0.077,3332,3182,1385,0,0,0,0,0,0
$GC,8452,1.07,386.6,9.6,9.5,844,8467,0.08,2.53,7.97,0.442,6,0.054,0.097,3388,1767,1324,0,0,0,0,0,0
$GC,8518,1.04,386.6,3.5,10.9,854,8526,0.08,2.40,0.00,0.000,4,0.173,0.070,3382,334,1321,0,0,0,0,0,0
$STATE,8533,end climb,SURFACE_DEPTH_REACHED
$STATE,8533,begin surface coast
$FINISH,1.3,1.020758
$STATE,8546,end surface coast,CONTROL_FINISHED_OK
$STATE,8546,begin surface
$SM_CCo,8567,102.25,0.044,0,0,408,611.52
$SM_GC,1.99,0.00,0.00,102.25,0.000,0.000,0.044,66,1936,408,-9.28,0.48,611.52
$IRIDIUM_FIX,-3425.16,2517.78,160308,202059
$TT8_MAMPS,0.026215
$HUMID,57.48
$INTERNAL_PRESSURE,9.41132
$TCM_TEMP,21.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,432.0,25.5
$24V_AH,23.5,51.970
$10V_AH,10.1,41.065
$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,23.375,93.325,455.275,102.250,0.000,27.184,43.504,405.728,10.000,0.000,46.826,2035.549,3774.101,590.964,2692.487,250.223,0.000,1491.736,0.000,2071.671,0.000,64.657,0.000
$DEVICE_MAMPS,243.270,141.525,846.090,43.605,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,583.235,1472.073,896.928,332.788,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330752
$DATA_FILE_SIZE,60458,858
$CAP_FILE_SIZE,114130,0
$CFSIZE,2097086464,2037317632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,210515,120829,-3436.695,2512.667,38,1.1,38,-27.8