version: 66.07.10.p01
glider: 573
mission: 9
dive: 662
start: 5 26 115 19 11 58
data:
$ID,573
$MISSION,9
$DIVE,662
$D_SURF,3
$D_FLARE,3
$D_TGT,100
$D_ABORT,150
$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,33
$T_MISSION,48
$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,-15477.91
$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,60
$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,15
$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,661
$GPS1,260515,191035,-3425.879,2442.726,34,1.2,34,-27.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-61.5
$GPS2,260515,191137,-3425.873,2442.726,15,1.0,16,-27.3
$SPEED_LIMITS,0.175,0.280
$TGT_NAME,HEADING
$TGT_LATLONG,-3425.873,2455.819
$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,-17.0,-10.101
$D_GRID,100
$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,25,end surface,CONTROL_FINISHED_OK
$STATE,25,begin dive
$GC,28,-1.05,-170.3,0.0,0.0,0,109,0.00,0.00,-79.12,0.000,2,0.000,0.000,84,1979,2376,0,0,0,0,0,0
$GC,113,-1.05,-170.3,3.2,-4.0,13,169,10.95,2.55,-37.47,0.000,4,0.243,0.095,2688,491,3598,0,0,0,0,0,0
$GC,265,-0.92,-170.3,26.1,-19.1,37,271,0.22,2.42,0.00,0.000,6,0.203,0.091,2734,1873,3600,0,0,0,0,0,0
$GC,411,-0.87,-170.3,51.3,-14.8,62,416,0.08,2.53,0.00,0.000,4,0.206,0.099,2741,3345,3600,0,0,0,0,0,0
$GC,479,-0.87,-170.3,59.1,-10.8,73,485,0.00,2.47,0.00,0.000,6,0.000,0.092,2741,1918,3600,0,0,0,0,0,0
$STATE,818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,818,begin apogee
$GC,824,-0.25,0.0,100.5,12.6,132,960,0.70,0.00,129.43,0.592,6,0.164,0.000,2946,1750,2903,0,0,0,0,0,0
$STATE,961,end apogee,CONTROL_FINISHED_OK
$STATE,961,begin climb
$GC,963,1.05,170.3,108.5,0.0,146,1109,1.27,2.38,132.93,0.587,4,0.103,0.053,3379,323,2207,0,0,0,0,0,0
$GC,1139,0.98,226.7,107.2,7.9,162,1191,0.12,2.30,46.03,0.573,6,0.167,0.034,3348,1761,1976,0,0,0,0,0,0
$GC,1531,0.97,267.6,68.7,8.5,224,1575,0.00,2.40,33.17,0.569,4,0.000,0.075,3347,3174,1811,0,0,0,0,0,0
$GC,1599,0.91,267.6,62.0,10.4,236,1605,0.10,2.45,0.00,0.000,6,0.189,0.088,3330,1758,1809,0,0,0,0,0,0
$GC,1956,1.07,395.8,31.6,5.0,297,2029,0.12,2.35,66.95,0.551,4,0.077,0.058,3428,327,1286,0,0,0,0,0,0
$STATE,2157,end climb,SURFACE_DEPTH_REACHED
$STATE,2157,begin surface coast
$FINISH,1.4,1.021531
$STATE,2176,end surface coast,CONTROL_FINISHED_OK
$STATE,2177,begin surface
$SM_CCo,2198,95.57,0.042,0,0,407,611.52
$SM_GC,1.98,0.00,0.00,95.57,0.000,0.000,0.042,86,1935,407,-9.21,0.45,611.52
$IRIDIUM_FIX,-3412.10,2439.39,220308,060626
$TT8_MAMPS,0.026215
$HUMID,60.63
$INTERNAL_PRESSURE,9.41132
$TCM_TEMP,19.20
$XPDR_PINGS,0
$24V_AH,24.3,63.252
$10V_AH,10.1,48.686
$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,22.650,24.950,408.500,95.575,0.000,0.000,0.000,0.000,2.250,0.000,18.996,699.039,260.362,462.131,883.218,63.793,0.000,886.474,0.000,839.226,0.000,15.879,0.000
$DEVICE_MAMPS,243.270,117.045,592.110,42.075,0.000,0.000,0.000,0.000,420.000,0.000,27.710,13.890,2.190,13.890,40.850,50.590,0.000,15.320,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,220.288,476.995,508.449,329.221,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,17.230,105.000,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,330784
$DATA_FILE_SIZE,23727,334
$CAP_FILE_SIZE,37108,0
$CFSIZE,2097086464,2025750528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260515,195130,-3425.726,2443.010,40,1.3,40,-27.3