version: 66.07
glider: 543
mission: 11
dive: 138
start: 4 24 115 8 21 19
data:
$ID,543
$MISSION,11
$DIVE,138
$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,95
$T_MISSION,105
$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,-15684.997
$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,1870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$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,3228
$C_ROLL_CLIMB,3105
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,29
$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,60
$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
$GPS1,240415,081525,-3426.927,2557.000,17,1.8,17,-27.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.2
$GPS2,240415,082054,-3426.986,2556.917,27,1.9,27,-27.9
$SPEED_LIMITS,0.170,0.276
$TGT_NAME,WP_SOUTH
$TGT_LATLONG,-3430.000,2600.000
$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,141.0,7301,-15.8,-9.825
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.45,-170.4,0.0,0.0,0,89,0.00,0.00,-66.68,0.000,6,0.000,0.000,64,3239,2494,0,0,0,0,0,0
$GC,91,-0.45,-170.4,3.5,-4.6,9,108,6.55,1.38,0.00,0.000,4,0.230,0.031,1723,2330,2498,0,0,0,0,0,0
$GC,338,-0.45,-170.4,43.3,-11.1,51,345,0.00,1.45,0.00,0.000,6,0.000,0.050,1718,3234,2501,0,0,0,0,0,0
$GC,682,-0.45,-170.4,77.5,-9.1,112,690,0.00,1.33,0.00,0.000,4,0.000,0.031,1718,2322,2502,0,0,0,0,0,0
$GC,809,-0.45,-170.4,87.6,-7.7,133,815,0.00,1.45,0.00,0.000,6,0.000,0.051,1712,3234,2504,0,0,0,0,0,0
$GC,1145,-0.45,-170.4,121.2,-10.0,176,1149,0.00,1.12,0.00,0.000,4,0.000,0.057,1706,3949,2505,0,0,0,0,0,0
$GC,1194,-0.45,-170.4,126.7,-11.0,180,1201,0.00,1.08,0.00,0.000,6,0.000,0.034,1706,3229,2505,0,0,0,0,0,0
$GC,1521,-0.45,-170.4,160.0,-9.6,211,1526,0.00,1.30,0.00,0.000,4,0.000,0.032,1706,2334,2505,0,0,0,0,0,0
$GC,1580,-0.45,-170.4,166.1,-9.8,216,1588,0.00,1.42,0.00,0.000,6,0.000,0.050,1700,3237,2505,0,0,0,0,0,0
$GC,1908,-0.45,-170.4,200.2,-11.2,247,1911,0.00,1.33,0.00,0.000,4,0.000,0.033,1700,2322,2505,0,0,0,0,0,0
$GC,1953,-0.45,-170.4,205.3,-11.0,251,1957,0.08,1.42,0.00,0.000,6,0.141,0.052,1718,3223,2505,0,0,0,0,0,0
$GC,2283,-0.45,-170.4,237.4,-9.7,282,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,1718,3222,2505,0,0,0,0,0,0
$GC,2602,-0.45,-170.4,268.4,-8.9,312,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,1718,3222,2504,0,0,0,0,0,0
$STATE,2739,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2739,begin apogee
$GC,2743,-0.11,0.0,280.5,8.5,325,2902,0.35,0.00,154.68,1.300,6,0.139,0.000,1828,3107,1799,0,0,0,0,0,0
$STATE,2903,end apogee,CONTROL_FINISHED_OK
$STATE,2903,begin climb
$GC,2904,0.45,170.4,282.9,0.0,341,3062,0.55,0.00,147.60,1.259,6,0.110,0.000,2003,3107,1104,0,0,0,0,0,0
$GC,3377,0.45,170.4,224.4,13.4,386,3378,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,3107,1100,0,0,0,0,0,0
$GC,3697,0.45,170.4,184.0,12.1,416,3698,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,3107,1098,0,0,0,0,0,0
$GC,4014,0.45,170.4,141.1,13.3,446,4016,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,3106,1098,0,0,0,0,0,0
$GC,4334,0.45,170.4,99.8,12.8,476,4343,0.00,1.35,0.00,0.000,4,0.000,0.059,2003,3949,1098,0,0,0,0,0,0
$GC,4372,0.45,170.4,94.3,14.8,482,4378,0.00,1.27,0.00,0.000,6,0.000,0.037,2010,3102,1097,0,0,0,0,0,0
$GC,4714,0.45,170.4,51.5,9.9,543,4722,0.00,1.33,0.00,0.000,4,0.000,0.034,2017,2218,1097,0,0,0,0,0,0
$GC,4886,0.49,242.3,38.6,7.0,573,4921,0.00,1.40,29.95,0.848,6,0.000,0.052,2017,3096,807,0,0,0,0,0,0
$GC,5058,0.49,242.3,22.4,12.3,602,5067,0.00,1.35,0.00,0.000,4,0.000,0.058,2017,3942,804,0,0,0,0,0,0
$GC,5104,0.49,242.3,14.0,20.1,609,5113,0.00,1.27,0.00,0.000,6,0.000,0.037,2024,3101,804,0,0,0,0,0,0
$GC,5163,0.49,242.3,7.6,11.6,618,5172,0.00,1.33,0.00,0.000,4,0.000,0.034,2031,2216,803,0,0,0,0,0,0
$STATE,5198,end climb,SURFACE_DEPTH_REACHED
$STATE,5198,begin surface coast
$FINISH,0.2,1.025256
$STATE,5224,end surface coast,CONTROL_FINISHED_OK
$STATE,5224,begin surface
$SM_CCo,5237,2.28,0.184,0,0,775,250.20
$SM_GC,1.20,0.00,0.00,2.28,0.000,0.000,0.184,62,3235,775,-5.65,0.20,250.20
$IRIDIUM_FIX,-3414.71,2555.33,180208,202002
$TT8_MAMPS,0.027713
$HUMID,57.91
$INTERNAL_PRESSURE,11.3004
$TCM_TEMP,17.50
$XPDR_PINGS,0
$24V_AH,23.5,15.328
$10V_AH,10.4,5.909
$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,12.700,24.375,332.225,2.275,0.000,26.817,19.998,177.878,5.750,0.000,29.633,1505.247,2148.460,390.703,1459.030,81.832,0.000,934.101,0.000,1192.656,0.000,36.255,0.000
$DEVICE_MAMPS,229.500,67.320,1299.735,183.600,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,432.755,361.247,130.678,409.686,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,4.380,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,332464
$DATA_FILE_SIZE,36887,627
$CAP_FILE_SIZE,65465,0
$CFSIZE,259252224,254406656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.190,237.9,1
$GPS,240415,094951,-3427.511,2557.115,24,1.7,38,-27.9