version: 66.07.10.p01
glider: 573
mission: 9
dive: 652
start: 5 26 115 11 28 57
data:
$ID,573
$MISSION,9
$DIVE,652
$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,90
$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,2
$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,-15450.558
$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,13
$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,20
$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,651
$GPS1,260515,112735,-3426.655,2439.791,41,1.4,41,-27.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-65.6
$GPS2,260515,112836,-3426.656,2439.796,13,1.5,13,-27.3
$SPEED_LIMITS,0.173,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3426.656,2452.891
$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,117.3,20000,-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,-78.82,0.000,2,0.000,0.000,71,1934,2341,0,0,0,0,0,0
$GC,111,-1.05,-170.3,3.3,-4.6,13,168,11.23,2.45,-39.15,0.000,4,0.249,0.107,2678,3355,3598,0,0,0,0,0,0
$GC,438,-0.96,-170.3,56.9,-17.0,67,443,0.15,2.53,0.00,0.000,6,0.183,0.101,2716,1916,3601,0,0,0,0,0,0
$GC,797,-0.90,-170.3,107.0,-14.7,125,802,0.10,2.47,0.00,0.000,4,0.207,0.095,2731,3341,3602,0,0,0,0,0,0
$GC,851,-0.90,-170.3,114.5,-12.5,129,855,0.00,2.45,0.00,0.000,6,0.000,0.090,2730,1923,3602,0,0,0,0,0,0
$STATE,1123,end dive,NO_VERTICAL_VELOCITY
$STATE,1123,begin apogee
$GC,1129,-0.25,0.0,127.8,0.0,154,1265,0.68,0.00,130.90,0.617,6,0.123,0.000,2951,1757,2901,0,0,0,0,0,0
$STATE,1265,end apogee,CONTROL_FINISHED_OK
$STATE,1266,begin climb
$GC,1268,1.05,170.3,128.0,0.0,168,1413,1.23,2.30,133.25,0.607,4,0.093,0.053,3376,325,2206,0,0,0,0,0,0
$GC,1441,1.07,293.7,125.4,5.1,184,1548,0.00,2.35,99.07,0.600,6,0.000,0.035,3376,1765,1704,0,0,0,0,0,0
$GC,1881,0.99,293.7,73.2,12.0,242,1886,0.08,2.35,0.00,0.000,4,0.181,0.085,3359,3174,1696,0,0,0,0,0,0
$GC,1964,0.93,293.7,63.6,11.9,256,1970,0.12,2.50,0.00,0.000,6,0.171,0.100,3336,1749,1695,0,0,0,0,0,0
$GC,2319,0.98,334.3,31.9,8.4,317,2347,0.00,2.25,22.27,0.562,4,0.000,0.057,3347,333,1536,0,0,0,0,0,0
$GC,2479,1.02,345.4,17.4,9.6,344,2493,0.00,2.30,5.05,0.398,6,0.000,0.044,3347,1750,1491,0,0,0,0,0,0
$GC,2545,1.10,381.1,11.4,8.6,354,2571,0.12,2.42,17.25,0.487,4,0.084,0.085,3403,3186,1346,0,0,0,0,0,0
$GC,2593,1.07,381.1,6.2,12.7,361,2601,0.10,2.58,0.00,0.000,6,0.148,0.104,3381,1762,1344,0,0,0,0,0,0
$STATE,2620,end climb,SURFACE_DEPTH_REACHED
$STATE,2620,begin surface coast
$FINISH,1.3,1.015815
$STATE,2651,end surface coast,CONTROL_FINISHED_OK
$STATE,2651,begin surface
$SM_CCo,2670,102.72,0.043,0,0,407,611.52
$SM_GC,1.90,0.00,0.00,102.72,0.000,0.000,0.043,78,1995,407,-9.24,2.15,611.52
$IRIDIUM_FIX,-3412.10,2417.12,210308,232320
$TT8_MAMPS,0.026215
$HUMID,60.47
$INTERNAL_PRESSURE,9.40155
$TCM_TEMP,19.20
$XPDR_PINGS,0
$24V_AH,24.2,62.530
$10V_AH,10.1,48.196
$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,22.725,29.550,407.800,102.725,0.000,0.000,0.000,0.000,2.750,0.000,16.077,800.630,522.676,465.073,985.706,71.693,0.000,934.650,0.000,939.760,0.000,17.418,0.000
$DEVICE_MAMPS,248.625,123.165,617.355,42.840,0.000,0.000,0.000,0.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,246.049,565.173,554.633,341.043,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330780
$DATA_FILE_SIZE,27149,370
$CAP_FILE_SIZE,43524,0
$CFSIZE,2097086464,2026373120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260515,121630,-3426.673,2440.127,42,1.5,42,-27.3