version: 66.07.10.p01
glider: 573
mission: 9
dive: 557
start: 5 23 115 3 25 25
data:
$ID,573
$MISSION,9
$DIVE,557
$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,330
$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,-15186.824
$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,6
$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,556
$GPS1,230515,031835,-3436.892,2445.396,30,2.0,30,-27.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-64.4
$GPS2,230515,032504,-3436.927,2445.285,41,1.2,45,-27.6
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3427.574,2438.736
$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,357.6,20000,-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,24,end surface,CONTROL_FINISHED_OK
$STATE,24,begin dive
$GC,27,-1.05,-170.3,0.0,0.0,0,108,0.00,0.00,-78.55,0.000,2,0.000,0.000,76,1940,2341,0,0,0,0,0,0
$GC,111,-1.05,-170.3,3.1,-3.4,13,168,10.98,2.40,-38.30,0.000,4,0.241,0.099,2677,3363,3598,0,0,0,0,0,0
$GC,332,-0.89,-170.3,39.9,-21.5,49,338,0.25,2.50,0.00,0.000,6,0.174,0.090,2744,1911,3600,0,0,0,0,0,0
$GC,476,-0.83,-170.3,65.6,-16.0,74,482,0.08,2.40,0.00,0.000,4,0.204,0.086,2761,478,3601,0,0,0,0,0,0
$GC,510,-0.80,-170.3,70.2,-14.7,79,516,0.08,2.45,0.00,0.000,6,0.197,0.080,2767,1925,3600,0,0,0,0,0,0
$STATE,855,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,855,begin apogee
$GC,860,-0.25,0.0,114.1,12.5,130,996,0.57,0.00,129.10,0.589,6,0.148,0.000,2947,1703,2902,0,0,0,0,0,0
$STATE,997,end apogee,CONTROL_FINISHED_OK
$STATE,997,begin climb
$GC,999,1.05,170.3,121.0,0.0,144,1140,1.25,2.53,131.65,0.579,4,0.099,0.080,3367,3173,2204,0,0,0,0,0,0
$GC,1397,0.92,184.9,95.7,9.4,183,1420,0.12,2.45,12.43,0.535,6,0.145,0.086,3337,1756,2147,0,0,0,0,0,0
$GC,1765,0.92,241.8,68.6,7.8,247,1819,0.00,2.42,45.80,0.578,4,0.000,0.076,3336,3167,1915,0,0,0,0,0,0
$GC,1988,0.97,310.9,51.7,7.3,286,2054,0.00,2.40,55.08,0.566,6,0.000,0.083,3345,1758,1633,0,0,0,0,0,0
$GC,2406,1.00,336.6,13.1,9.0,358,2427,0.00,2.30,11.90,0.454,4,0.000,0.059,3356,334,1526,0,0,0,0,0,0
$STATE,2499,end climb,SURFACE_DEPTH_REACHED
$STATE,2499,begin surface coast
$FINISH,1.3,1.011130
$STATE,2532,end surface coast,CONTROL_FINISHED_OK
$STATE,2532,begin surface
$SM_CCo,2552,120.82,0.041,0,0,407,611.52
$SM_GC,1.93,0.00,0.00,120.82,0.000,0.000,0.041,75,1937,407,-9.25,0.51,611.52
$IRIDIUM_FIX,-3425.16,2446.14,180308,151533
$TT8_MAMPS,0.026215
$HUMID,57.83
$INTERNAL_PRESSURE,9.47968
$TCM_TEMP,21.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.3,28.3
$24V_AH,24.4,55.165
$10V_AH,10.2,43.242
$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,22.050,24.850,385.950,120.825,0.000,26.557,23.612,187.990,1.750,0.000,47.736,797.804,406.855,465.983,1280.821,124.062,0.000,934.687,0.000,966.508,0.000,13.129,0.000
$DEVICE_MAMPS,240.975,99.450,589.050,41.310,0.000,91.040,160.000,223.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,250.071,548.217,574.031,356.300,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330804
$DATA_FILE_SIZE,27061,378
$CAP_FILE_SIZE,44978,0
$CFSIZE,2097086464,2033778688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230515,041122,-3437.018,2444.793,29,1.2,45,-27.6