version: 66.07.10.p01
glider: 573
mission: 9
dive: 527
start: 5 21 115 22 25 11
data:
$ID,573
$MISSION,9
$DIVE,527
$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,30
$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,-15098.616
$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,11
$R_STBD_OVSHOOT,18
$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,526
$GPS1,210515,221804,-3434.685,2509.034,42,1.2,53,-27.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-64.5
$GPS2,210515,222449,-3434.748,2508.870,20,1.3,20,-27.7
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3425.396,2515.416
$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,57.7,20000,-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,-170.3,0.0,0.0,0,101,0.00,0.00,-72.65,0.000,2,0.000,0.000,67,1914,2267,0,0,0,0,0,0
$GC,104,-1.05,-170.3,3.2,-3.6,12,161,12.88,2.50,-35.42,0.000,4,0.288,0.106,2677,3342,3599,7,0,0,0,0,0
$GC,319,-0.90,-170.3,38.7,-18.7,47,324,0.25,2.50,0.00,0.000,6,0.177,0.097,2743,1920,3602,0,0,0,0,0,0
$GC,462,-0.82,-170.3,61.6,-16.0,72,470,0.10,2.45,0.00,0.000,4,0.198,0.086,2757,3345,3604,0,0,0,0,0,0
$GC,532,-0.82,-170.3,71.1,-11.2,84,539,0.00,2.55,0.00,0.000,6,0.000,0.099,2758,1909,3603,0,0,0,0,0,0
$GC,880,-0.82,-170.3,116.3,-13.1,135,884,0.00,2.40,0.00,0.000,4,0.000,0.088,2758,478,3605,0,0,0,0,0,0
$GC,901,-0.82,-170.3,119.5,-13.6,136,912,0.03,2.45,0.00,0.000,6,0.171,0.074,2756,1913,3605,0,0,0,0,0,0
$GC,1227,-0.82,-170.3,159.9,-11.9,167,1232,0.00,2.45,0.00,0.000,4,0.000,0.099,2746,3354,3606,0,0,0,0,0,0
$GC,1376,-0.82,-170.3,178.7,-12.3,180,1381,0.08,2.47,0.00,0.000,6,0.138,0.089,2762,1914,3606,0,0,0,0,0,0
$STATE,1572,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1572,begin apogee
$GC,1577,-0.25,0.0,205.0,14.0,198,1713,0.62,0.00,130.65,0.658,6,0.176,0.000,2943,1757,2903,0,0,0,0,0,0
$STATE,1714,end apogee,CONTROL_FINISHED_OK
$STATE,1714,begin climb
$GC,1717,1.05,170.3,215.7,0.0,212,1858,1.27,2.33,133.80,0.644,4,0.107,0.044,3372,315,2206,0,0,0,0,0,0
$GC,1945,0.96,242.1,210.0,7.2,232,2012,0.08,2.33,58.15,0.634,6,0.143,0.033,3348,1759,1914,0,0,0,0,0,0
$GC,2335,0.89,242.1,170.0,12.3,269,2340,0.10,2.30,0.00,0.000,4,0.184,0.069,3323,3186,1908,0,0,0,0,0,0
$GC,2434,0.83,242.1,158.2,11.6,277,2439,0.12,2.42,0.00,0.000,6,0.174,0.080,3300,1752,1908,0,0,0,0,0,0
$GC,2759,0.85,258.9,126.9,9.3,307,2782,0.00,2.30,14.23,0.597,4,0.000,0.057,3311,332,1846,0,0,0,0,0,0
$GC,2921,0.89,290.9,112.4,8.7,321,2955,0.00,2.25,27.45,0.614,6,0.000,0.036,3310,1762,1714,0,0,0,0,0,0
$GC,3290,0.92,322.5,79.0,8.8,374,3323,0.05,2.38,26.48,0.600,4,0.159,0.085,3366,3186,1586,0,0,0,0,0,0
$GC,3356,0.86,322.5,71.8,12.9,385,3361,0.22,2.45,0.00,0.000,6,0.147,0.083,3312,1756,1583,0,0,0,0,0,0
$GC,3706,0.96,364.0,39.8,8.4,446,3748,0.10,2.30,33.88,0.580,4,0.090,0.054,3405,339,1419,0,0,0,0,0,0
$GC,3844,0.87,364.0,21.8,14.2,469,3850,0.30,2.25,0.00,0.000,6,0.142,0.037,3319,1762,1415,0,0,0,0,0,0
$GC,3998,1.05,435.8,9.6,7.2,494,4043,0.15,2.40,34.17,0.480,4,0.070,0.080,3396,3182,1122,0,0,0,0,0,0
$STATE,4062,end climb,SURFACE_DEPTH_REACHED
$STATE,4062,begin surface coast
$FINISH,1.5,1.020810
$STATE,4095,end surface coast,CONTROL_FINISHED_OK
$STATE,4095,begin surface
$SM_CCo,4115,79.32,0.043,0,0,407,611.52
$SM_GC,2.07,0.00,0.00,79.32,0.000,0.000,0.043,76,1918,407,-9.25,-0.03,611.52
$IRIDIUM_FIX,-3419.93,2510.81,170308,101027
$TT8_MAMPS,0.026215
$HUMID,58.70
$INTERNAL_PRESSURE,9.46992
$TCM_TEMP,21.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,191.0,27.3
$24V_AH,24.3,52.648
$10V_AH,10.1,41.574
$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,25.375,47.975,458.800,79.325,0.000,24.233,24.050,221.040,4.000,0.000,22.879,1122.021,1231.146,484.919,1617.399,154.338,0.000,1104.508,0.000,1276.602,0.000,29.518,0.000
$DEVICE_MAMPS,288.405,137.700,657.900,42.840,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,339.895,836.770,679.432,346.079,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330844
$DATA_FILE_SIZE,37030,509
$CAP_FILE_SIZE,66050,7
$CFSIZE,2097086464,2036662272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,7,0,0,1
$GPS,210515,233634,-3434.466,2508.834,39,1.0,50,-27.7