version: 66.07
glider: 543
mission: 11
dive: 17
start: 4 20 115 6 51 30
data:
$ID,543
$MISSION,11
$DIVE,17
$D_SURF,3
$D_FLARE,3
$D_TGT,280
$D_ABORT,320
$D_NO_BLEED,200
$D_BOOST,5
$T_BOOST,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,80
$T_MISSION,90
$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,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52780
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,320
$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,280
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-15374.696
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,86
$PITCH_MAX,3908
$C_PITCH,1860
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,394
$ROLL_MAX,3944
$ROLL_DEG,40
$C_ROLL_DIVE,3208
$C_ROLL_CLIMB,3157
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,1800
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.00061500003
$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,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-54.899082
$PRESSURE_SLOPE,0.00011638312
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.050000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,117
$DEVICE4,131
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$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,0.0043512532
$SEABIRD_T_H,0.00062429422
$SEABIRD_T_I,2.2835797e-05
$SEABIRD_T_J,2.3805812e-06
$SEABIRD_C_G,-10.305622
$SEABIRD_C_H,1.1763667
$SEABIRD_C_I,-0.0018977363
$SEABIRD_C_J,0.00012677554
$GPS1,200415,064253,-3424.975,2552.837,17,1.0,17,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-73.5
$GPS2,200415,065105,-3425.063,2552.833,18,1.4,19,-27.9
$SPEED_LIMITS,0.202,0.311
$TGT_NAME,HEADING
$TGT_LATLONG,-3416.791,2544.432
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,347.9,20000,-17.2,-11.667
$D_GRID,280
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-0.55,-194.7,0.0,0.0,0,95,0.00,0.00,-74.85,0.000,6,0.000,0.000,71,3231,2593,0,0,0,0,0,0
$GC,97,-0.55,-194.7,4.0,-7.5,10,114,6.28,2.25,0.00,0.000,4,0.225,0.034,1684,1789,2596,0,0,0,0,0,0
$GC,180,-0.55,-194.7,26.3,-16.9,23,186,0.00,2.28,0.00,0.000,6,0.000,0.052,1676,3213,2600,0,0,0,0,0,0
$GC,323,-0.55,-194.7,51.4,-16.2,48,331,0.00,0.00,0.00,0.000,6,0.000,0.000,1676,3213,2600,0,0,0,0,0,0
$GC,673,-0.55,-194.7,104.7,-13.3,107,677,0.00,1.15,0.00,0.000,4,0.000,0.059,1671,3947,2601,0,0,0,0,0,0
$GC,729,-0.55,-194.7,112.9,-14.3,112,733,0.00,1.10,0.00,0.000,6,0.000,0.037,1670,3206,2601,0,0,0,0,0,0
$GC,1058,-0.55,-194.7,156.8,-13.4,143,1061,0.00,1.17,0.00,0.000,4,0.000,0.059,1665,3954,2602,0,0,0,0,0,0
$GC,1136,-0.55,-194.7,168.1,-13.8,150,1140,0.00,1.10,0.00,0.000,6,0.000,0.038,1665,3212,2602,0,0,0,0,0,0
$GC,1466,-0.55,-194.7,213.9,-15.0,181,1469,0.00,1.15,0.00,0.000,4,0.000,0.060,1659,3945,2602,0,0,0,0,0,0
$GC,1510,-0.55,-194.7,221.0,-15.9,185,1514,0.00,1.10,0.00,0.000,6,0.000,0.038,1659,3203,2602,0,0,0,0,0,0
$STATE,1744,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1744,begin apogee
$GC,1747,-0.12,0.0,254.5,14.3,207,1927,0.52,0.00,176.07,1.335,6,0.153,0.000,1816,3202,1799,0,0,0,0,0,0
$STATE,1929,end apogee,CONTROL_FINISHED_OK
$STATE,1929,begin climb
$GC,1930,0.55,194.7,259.4,0.0,225,2106,0.68,2.42,167.77,1.304,4,0.120,0.037,2037,1764,1005,0,0,0,0,0,0
$GC,2134,0.55,194.7,233.7,15.4,244,2139,0.00,2.35,0.00,0.000,6,0.000,0.050,2037,3153,1005,0,0,0,0,0,0
$GC,2458,0.55,194.7,180.5,16.4,274,2462,0.00,1.27,0.00,0.000,4,0.000,0.059,2037,3952,1003,0,0,0,0,0,0
$GC,2518,0.55,194.7,169.3,18.9,279,2525,0.00,1.23,0.00,0.000,6,0.000,0.037,2043,3156,1002,0,0,0,0,0,0
$GC,2843,0.55,194.7,113.8,16.2,310,2844,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,3156,1001,0,0,0,0,0,0
$GC,3178,0.55,194.7,63.1,16.9,361,3184,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,3156,1000,0,0,0,0,0,0
$GC,3530,0.55,194.7,6.8,14.3,422,3539,0.00,2.15,0.00,0.000,4,0.000,0.039,2054,1760,997,0,0,0,0,0,0
$STATE,3563,end climb,SURFACE_DEPTH_REACHED
$STATE,3563,begin surface coast
$FINISH,0.1,1.025710
$STATE,3588,end surface coast,CONTROL_FINISHED_OK
$STATE,3588,begin surface
$SM_CCo,3602,49.53,0.177,1,0,657,280.13
$SM_GC,0.89,0.00,0.00,49.53,0.000,0.000,0.177,72,3217,657,-5.59,0.25,280.13
$IRIDIUM_FIX,-3409.50,2554.19,140208,191908
$TT8_MAMPS,0.027713
$HUMID,56.89
$INTERNAL_PRESSURE,11.2614
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,200.1,73.6
$24V_AH,23.5,4.613
$10V_AH,10.5,1.530
$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,12.775,23.075,343.850,49.525,0.000,27.150,42.850,329.477,1.750,0.000,21.539,974.901,1401.848,417.240,1325.029,50.605,0.000,852.226,0.000,892.009,0.000,14.578,0.000
$DEVICE_MAMPS,224.910,59.670,1334.925,176.715,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,295.166,248.515,94.458,313.854,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,4.380,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334220
$DATA_FILE_SIZE,23713,431
$CAP_FILE_SIZE,52109,0
$CFSIZE,259252224,257941504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,200415,075317,-3424.792,2552.562,17,1.7,17,-27.8