version: 66.07
glider: 543
mission: 11
dive: 81
start: 4 22 115 8 45 17
data:
$ID,543
$MISSION,11
$DIVE,81
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,440
$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,130
$T_MISSION,140
$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,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$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,250
$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,-15544.209
$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,25
$C_ROLL_DIVE,3294
$C_ROLL_CLIMB,3064
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,28
$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,0.00056000001
$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,180
$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
$GPS1,220415,083522,-3427.088,2554.855,37,1.0,38,-27.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-73.3
$GPS2,220415,084454,-3427.156,2554.863,20,1.0,20,-27.9
$SPEED_LIMITS,0.178,0.297
$TGT_NAME,WP_NORTH
$TGT_LATLONG,-3420.000,2552.000
$TGT_RADIUS,2000.000
$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,9.6,13958,-15.3,-10.256
$D_GRID,400
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.49,-194.7,0.0,0.0,0,88,0.00,0.00,-70.30,0.000,6,0.000,0.000,60,3310,2595,0,0,0,0,0,0
$GC,91,-0.49,-194.7,3.2,-5.1,9,100,6.38,1.42,0.00,0.000,4,0.222,0.035,1693,2409,2596,0,0,0,0,0,0
$GC,114,-0.49,-194.7,12.5,-29.3,12,123,0.00,1.45,0.00,0.000,6,0.000,0.049,1688,3287,2599,0,0,0,0,0,0
$GC,171,-0.49,-194.7,25.8,-20.9,21,178,0.00,1.35,0.00,0.000,4,0.000,0.033,1688,2390,2601,0,0,0,0,0,0
$GC,186,-0.49,-194.7,28.6,-19.5,23,192,0.00,1.48,0.00,0.000,6,0.000,0.053,1681,3293,2601,0,0,0,0,0,0
$GC,329,-0.49,-194.7,51.0,-13.7,48,338,0.00,1.02,0.00,0.000,4,0.000,0.058,1676,3942,2601,0,0,0,0,0,0
$GC,377,-0.49,-194.7,57.4,-13.1,56,386,0.00,0.98,0.00,0.000,6,0.000,0.037,1676,3291,2601,0,0,0,0,0,0
$GC,723,-0.49,-194.7,104.6,-13.9,114,726,0.00,1.33,0.00,0.000,4,0.000,0.033,1676,2388,2603,0,0,0,0,0,0
$GC,767,-0.49,-194.7,110.3,-12.3,118,771,0.08,1.45,0.00,0.000,6,0.147,0.052,1694,3293,2604,0,0,0,0,0,0
$GC,1097,-0.49,-194.7,151.2,-11.6,149,1100,0.00,1.33,0.00,0.000,4,0.000,0.034,1694,2398,2605,0,0,0,0,0,0
$GC,1164,-0.49,-194.7,159.0,-10.7,155,1168,0.00,1.42,0.00,0.000,6,0.000,0.054,1689,3291,2604,0,0,0,0,0,0
$GC,1494,-0.49,-194.7,201.8,-13.0,186,1497,0.00,1.30,0.00,0.000,4,0.000,0.034,1688,2402,2604,0,0,0,0,0,0
$GC,1550,-0.49,-194.7,208.7,-11.3,191,1553,0.00,1.42,0.00,0.000,6,0.000,0.054,1682,3294,2605,0,0,0,0,0,0
$GC,1879,-0.49,-194.7,252.7,-14.2,222,1883,0.00,1.33,0.00,0.000,4,0.000,0.035,1682,2405,2604,0,0,0,0,0,0
$GC,1894,-0.49,-194.7,254.9,-13.2,223,1903,0.00,1.45,0.00,0.000,6,0.000,0.053,1675,3305,2604,0,0,0,0,0,0
$GC,2221,-0.49,-194.7,300.6,-14.6,254,2224,0.00,1.33,0.00,0.000,4,0.000,0.034,1675,2397,2604,0,0,0,0,0,0
$GC,2247,-0.49,-194.7,304.7,-13.8,256,2255,0.12,1.45,0.00,0.000,6,0.168,0.054,1702,3294,2604,0,0,0,0,0,0
$GC,2572,-0.49,-194.7,342.5,-11.3,287,2573,0.00,0.00,0.00,0.000,6,0.000,0.000,1702,3294,2603,0,0,0,0,0,0
$GC,2891,-0.49,-194.7,377.4,-10.8,317,2894,0.00,1.35,0.00,0.000,4,0.000,0.035,1701,2392,2602,0,0,0,0,0,0
$GC,2981,-0.49,-194.7,386.0,-9.4,325,2985,0.00,1.45,0.00,0.000,6,0.000,0.056,1696,3298,2602,0,0,0,0,0,0
$STATE,3110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3110,begin apogee
$GC,3114,-0.12,0.0,400.3,11.1,337,3297,0.40,0.00,179.45,1.421,6,0.138,0.000,1820,3069,1799,0,0,0,0,0,0
$STATE,3298,end apogee,CONTROL_FINISHED_OK
$STATE,3298,begin climb
$GC,3299,0.49,194.7,405.4,0.0,346,3481,0.62,1.58,170.38,1.366,4,0.110,0.059,2012,3949,1005,0,0,0,0,0,0
$GC,3503,0.49,194.7,381.2,16.7,362,3507,0.00,1.42,0.00,0.000,6,0.000,0.037,2018,3070,1004,0,0,0,0,0,0
$GC,3833,0.49,194.7,328.1,15.8,393,3837,0.00,1.38,0.00,0.000,4,0.000,0.036,2026,2174,1002,0,0,0,0,0,0
$GC,3882,0.49,194.7,320.7,14.0,397,3890,0.00,1.48,0.00,0.000,6,0.000,0.051,2025,3066,1002,0,0,0,0,0,0
$GC,4207,0.49,194.7,267.9,16.1,428,4211,0.00,1.42,0.00,0.000,4,0.000,0.059,2026,3955,1001,0,0,0,0,0,0
$GC,4256,0.49,194.7,258.6,18.9,432,4264,0.00,1.40,0.00,0.000,6,0.000,0.037,2033,3049,1000,0,0,0,0,0,0
$GC,4581,0.49,194.7,203.0,16.4,463,4585,0.00,1.45,0.00,0.000,4,0.000,0.060,2032,3950,1000,0,0,0,0,0,0
$GC,4607,0.49,194.7,198.1,18.1,465,4615,0.00,1.38,0.00,0.000,6,0.000,0.037,2039,3056,1000,0,0,0,0,0,0
$GC,4933,0.49,194.7,140.9,17.9,496,4934,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,3056,999,0,0,0,0,0,0
$GC,5258,0.49,194.7,84.0,17.8,533,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,3056,999,0,0,0,0,0,0
$GC,5603,0.49,194.7,24.6,14.9,594,5612,0.00,1.42,0.00,0.000,4,0.000,0.060,2039,3948,998,0,0,0,0,0,0
$GC,5684,0.49,194.7,12.0,16.8,607,5693,0.00,1.33,0.00,0.000,6,0.000,0.037,2046,3066,997,0,0,0,0,0,0
$GC,5742,0.49,194.7,3.2,15.1,616,5750,0.00,1.33,0.00,0.000,4,0.000,0.037,2053,2171,997,0,0,0,0,0,0
$STATE,5757,end climb,SURFACE_DEPTH_REACHED
$STATE,5757,begin surface coast
$FINISH,0.2,1.025408
$STATE,5783,end surface coast,CONTROL_FINISHED_OK
$STATE,5783,begin surface
$SM_CCo,5796,22.77,0.140,0,0,779,250.20
$SM_GC,1.13,0.00,0.00,22.77,0.000,0.000,0.140,59,3302,779,-5.63,0.23,250.20
$IRIDIUM_FIX,-3414.71,2551.84,160208,202036
$TT8_MAMPS,0.027713
$HUMID,59.05
$INTERNAL_PRESSURE,11.2223
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,23.2,10.795
$10V_AH,10.4,3.742
$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,12.850,42.025,349.825,22.775,0.000,47.736,44.052,376.825,5.750,0.000,22.203,1467.774,2709.477,446.789,1697.979,83.928,0.000,1032.744,0.000,1183.666,0.000,39.346,0.000
$DEVICE_MAMPS,221.850,60.435,1420.605,139.995,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,429.411,386.835,122.997,307.122,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,4.380,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333892
$DATA_FILE_SIZE,36808,622
$CAP_FILE_SIZE,78439,0
$CFSIZE,259252224,256122880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220415,102308,-3426.416,2554.613,17,1.3,18,-27.9