version: 66.07
glider: 543
mission: 11
dive: 89
start: 4 22 115 19 54 12
data:
$ID,543
$MISSION,11
$DIVE,89
$D_SURF,3
$D_FLARE,3
$D_TGT,170
$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,58
$T_MISSION,65
$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,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52780
$NAV_MODE,2
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-15563.464
$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,3250
$C_ROLL_CLIMB,3074
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,23
$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,80
$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
$GPS1,220415,194600,-3423.426,2554.933,18,1.1,18,-27.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-64.2
$GPS2,220415,195347,-3423.398,2554.936,20,0.9,20,-27.8
$SPEED_LIMITS,0.169,0.276
$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,332.8,7731,-15.7,-9.770
$D_GRID,170
$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,14,-0.49,-170.4,0.0,0.0,0,97,0.00,0.00,-75.95,0.000,6,0.000,0.000,53,3252,2494,0,0,0,0,0,0
$GC,99,-0.49,-170.4,3.3,-4.1,10,109,6.45,1.40,0.00,0.000,4,0.223,0.033,1701,2347,2495,0,0,0,0,0,0
$GC,341,-0.49,-170.4,36.9,-8.9,51,349,0.00,1.48,0.00,0.000,6,0.000,0.052,1696,3250,2500,0,0,0,0,0,0
$GC,485,-0.49,-170.4,50.6,-8.8,76,494,0.00,1.15,0.00,0.000,4,0.000,0.058,1690,3962,2500,0,0,0,0,0,0
$GC,540,-0.49,-170.4,56.0,-9.8,85,547,0.00,1.05,0.00,0.000,6,0.000,0.036,1690,3252,2500,0,0,0,0,0,0
$GC,880,-0.49,-170.4,94.2,-13.5,146,886,0.00,0.00,0.00,0.000,6,0.000,0.000,1690,3253,2500,0,0,0,0,0,0
$STATE,1212,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1212,begin apogee
$GC,1216,-0.12,0.0,140.4,14.0,181,1328,0.43,0.00,109.00,1.169,6,0.150,0.000,1817,3078,1799,0,0,0,0,0,0
$STATE,1329,end apogee,CONTROL_FINISHED_OK
$STATE,1329,begin climb
$GC,1330,0.49,170.4,146.7,0.0,192,1453,0.60,1.55,115.22,1.187,4,0.120,0.056,2006,3959,1105,0,0,0,0,0,0
$GC,1533,0.49,170.4,126.9,14.5,210,1536,0.00,1.38,0.00,0.000,6,0.000,0.034,2012,3079,1103,0,0,0,0,0,0
$GC,1864,0.49,170.4,84.4,12.5,251,1871,0.00,1.35,0.00,0.000,4,0.000,0.033,2020,2176,1101,0,0,0,0,0,0
$GC,1883,0.49,170.4,81.9,13.5,254,1889,0.00,1.45,0.00,0.000,6,0.000,0.050,2019,3075,1100,0,0,0,0,0,0
$GC,2227,0.49,170.4,33.8,13.3,315,2234,0.00,1.40,0.00,0.000,4,0.000,0.057,2019,3956,1099,0,0,0,0,0,0
$GC,2335,0.49,170.4,17.5,13.5,333,2343,0.00,1.33,0.00,0.000,6,0.000,0.035,2026,3076,1098,0,0,0,0,0,0
$GC,2394,0.49,170.4,11.1,11.1,342,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,3076,1098,0,0,0,0,0,0
$GC,2452,0.49,170.4,4.8,11.5,351,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,2026,3076,1098,0,0,0,0,0,0
$STATE,2468,end climb,SURFACE_DEPTH_REACHED
$STATE,2468,begin surface coast
$FINISH,0.3,1.025563
$STATE,2494,end surface coast,CONTROL_FINISHED_OK
$STATE,2494,begin surface
$SM_CCo,2506,43.05,0.334,1,0,777,250.20
$SM_GC,1.11,0.00,0.00,43.05,0.000,0.000,0.334,56,3270,777,-5.64,0.57,250.20
$IRIDIUM_FIX,-3409.50,2554.19,170208,080855
$TT8_MAMPS,0.026964
$HUMID,55.63
$INTERNAL_PRESSURE,11.2711
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,111.2,48.3
$24V_AH,23.6,11.950
$10V_AH,10.4,4.110
$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,12.625,14.050,224.225,43.050,0.000,25.052,52.670,292.339,1.250,0.000,22.837,863.891,596.914,327.472,1195.232,59.640,0.000,678.756,0.000,802.271,0.000,10.235,0.000
$DEVICE_MAMPS,223.380,64.260,1186.515,333.540,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,245.616,172.020,92.567,396.188,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,4.380,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,332688
$DATA_FILE_SIZE,20359,357
$CAP_FILE_SIZE,44060,0
$CFSIZE,259252224,255877120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$CURRENT,0.133, 83.3,1
$GPS,220415,203735,-3423.308,2554.825,15,1.3,15,-27.8