version: 66.07
glider: 543
mission: 11
dive: 87
start: 4 22 115 17 43 11
data:
$ID,543
$MISSION,11
$DIVE,87
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,250
$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,65
$T_MISSION,75
$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,-15558.271
$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,48
$R_STBD_OVSHOOT,34
$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
$GPS1,220415,173359,-3423.925,2554.985,17,1.1,18,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-74.7
$GPS2,220415,174248,-3423.876,2555.005,22,1.0,22,-27.8
$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,355.2,8524,-15.3,-10.256
$D_GRID,200
$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,14,-0.49,-194.7,0.0,0.0,0,88,0.00,0.00,-69.70,0.000,6,0.000,0.000,54,3310,2594,0,0,0,0,0,0
$GC,90,-0.49,-194.7,3.3,-5.1,9,107,6.40,1.42,0.00,0.000,4,0.221,0.032,1694,2379,2597,0,0,0,0,0,0
$GC,365,-0.49,-194.7,46.1,-11.2,56,374,0.00,1.45,0.00,0.000,6,0.000,0.053,1689,3280,2601,0,0,0,0,0,0
$GC,714,-0.49,-194.7,90.5,-12.7,117,720,0.00,0.00,0.00,0.000,6,0.000,0.000,1689,3279,2603,0,0,0,0,0,0
$GC,1043,-0.49,-194.7,134.3,-13.7,154,1047,0.00,1.30,0.00,0.000,4,0.000,0.033,1689,2400,2603,0,0,0,0,0,0
$GC,1114,-0.49,-194.7,143.4,-11.8,160,1122,0.00,1.45,0.00,0.000,6,0.000,0.052,1682,3295,2604,0,0,0,0,0,0
$GC,1440,-0.49,-194.7,178.9,-0.0,191,1444,0.00,1.33,0.00,0.000,4,0.000,0.034,1682,2391,2605,0,0,0,0,0,0
$GC,1698,-0.49,-194.7,178.9,0.1,214,1702,0.00,1.45,0.00,0.000,6,0.000,0.057,1682,3293,2605,0,0,0,0,0,0
$GC,2028,-0.49,-194.7,178.9,-0.0,245,2032,0.00,1.33,0.00,0.000,4,0.000,0.035,1682,2401,2604,0,0,0,0,0,0
$STATE,2256,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2256,begin apogee
$GC,2260,-0.12,0.0,178.9,-0.3,265,2438,0.38,0.00,174.20,1.261,6,0.086,0.000,1821,3071,1799,0,0,0,0,0,0
$STATE,2440,end apogee,CONTROL_FINISHED_OK
$STATE,2440,begin climb
$GC,2441,0.49,194.7,178.6,0.0,283,2616,0.57,1.55,165.65,1.213,4,0.109,0.057,2005,3946,1005,0,0,0,0,0,0
$GC,2661,0.49,194.7,154.8,14.0,303,2665,0.00,1.40,0.00,0.000,6,0.000,0.035,2012,3067,1004,0,0,0,0,0,0
$GC,2991,0.49,194.7,108.5,14.6,334,2994,0.00,1.42,0.00,0.000,4,0.000,0.059,2012,3937,1002,0,0,0,0,0,0
$GC,3006,0.49,194.7,106.1,14.5,335,3013,0.00,1.38,0.00,0.000,6,0.000,0.036,2019,3057,1001,0,0,0,0,0,0
$GC,3348,0.49,194.7,51.3,17.9,392,3356,0.00,1.42,0.00,0.000,4,0.000,0.059,2019,3936,1001,0,0,0,0,0,0
$GC,3373,0.49,194.7,47.2,15.8,396,3382,0.00,1.33,0.00,0.000,6,0.000,0.037,2026,3066,1000,0,0,0,0,0,0
$STATE,3695,end climb,SURFACE_DEPTH_REACHED
$STATE,3695,begin surface coast
$FINISH,0.2,1.025592
$STATE,3721,end surface coast,CONTROL_FINISHED_OK
$STATE,3721,begin surface
$SM_CCo,3733,38.35,0.288,1,0,777,250.20
$SM_GC,1.01,0.00,0.00,38.35,0.000,0.000,0.288,60,3302,777,-5.63,0.23,250.20
$IRIDIUM_FIX,-3409.50,2556.54,170208,050519
$TT8_MAMPS,0.027713
$HUMID,56.89
$INTERNAL_PRESSURE,11.2614
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,23.5,11.702
$10V_AH,10.4,4.028
$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,12.525,19.675,339.850,38.350,0.000,26.290,21.436,374.802,0.000,0.000,24.263,1035.451,1368.427,400.407,1448.944,68.779,0.000,861.857,0.000,999.670,0.000,1.326,0.000
$DEVICE_MAMPS,221.085,65.025,1260.720,287.640,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,311.330,262.977,103.066,363.247,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,4.380,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,332992
$DATA_FILE_SIZE,27004,455
$CAP_FILE_SIZE,54186,0
$CFSIZE,259252224,255918080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,220415,184721,-3423.710,2554.898,19,3.3,39,-27.8