version: 66.07
glider: 543
mission: 11
dive: 145
start: 4 24 115 19 50 13
data:
$ID,543
$MISSION,11
$DIVE,145
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$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,167
$T_MISSION,177
$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,-15704.054
$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,50
$R_STBD_OVSHOOT,33
$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,100
$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
$GPS1,240415,194334,-3428.969,2557.390,30,1.0,30,-28.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-69.6
$GPS2,240415,194947,-3429.064,2557.267,18,1.5,18,-28.0
$SPEED_LIMITS,0.173,0.278
$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,122.9,4518,-16.0,-9.980
$D_GRID,500
$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,-170.4,0.0,0.0,0,90,0.00,0.00,-66.10,0.000,6,0.000,0.000,56,3253,2494,0,0,0,0,0,0
$GC,92,-0.45,-170.4,4.2,-6.0,9,101,6.55,0.00,0.00,0.000,6,0.226,0.000,1714,3254,2495,0,0,0,0,0,0
$GC,149,-0.45,-170.4,23.4,-24.7,18,158,0.00,1.35,0.00,0.000,4,0.000,0.031,1714,2329,2499,0,0,0,0,0,0
$GC,175,-0.45,-170.4,27.8,-17.5,22,184,0.00,1.45,0.00,0.000,6,0.000,0.050,1709,3229,2500,0,0,0,0,0,0
$GC,319,-0.45,-170.4,47.9,-14.3,47,327,0.00,1.33,0.00,0.000,4,0.000,0.031,1709,2325,2500,0,0,0,0,0,0
$GC,417,-0.45,-170.4,59.9,-11.7,64,426,0.00,1.45,0.00,0.000,6,0.000,0.050,1702,3235,2501,0,0,0,0,0,0
$GC,760,-0.45,-170.4,96.0,-10.7,125,767,0.00,1.33,0.00,0.000,4,0.000,0.031,1702,2318,2502,0,0,0,0,0,0
$GC,830,-0.45,-170.4,102.6,-9.3,135,834,0.00,1.45,0.00,0.000,6,0.000,0.050,1695,3231,2503,0,0,0,0,0,0
$GC,1160,-0.45,-170.4,138.9,-11.8,166,1161,0.00,0.00,0.00,0.000,6,0.000,0.000,1695,3231,2504,0,0,0,0,0,0
$GC,1479,-0.45,-170.4,176.6,-11.3,196,1480,0.00,0.00,0.00,0.000,6,0.000,0.000,1695,3232,2504,0,0,0,0,0,0
$GC,1797,-0.45,-170.4,214.6,-12.1,226,1801,0.00,1.30,0.00,0.000,4,0.000,0.033,1695,2335,2504,0,0,0,0,0,0
$GC,1846,-0.45,-170.4,220.3,-10.8,230,1854,0.08,1.40,0.00,0.000,6,0.142,0.050,1714,3224,2504,0,0,0,0,0,0
$GC,2171,-0.45,-170.4,253.2,-10.2,261,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,3225,2504,0,0,0,0,0,0
$GC,2490,-0.45,-170.4,284.3,-9.7,291,2491,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,3225,2504,0,0,0,0,0,0
$GC,2809,-0.45,-170.4,315.3,-9.6,321,2812,0.00,1.12,0.00,0.000,4,0.000,0.059,1710,3947,2503,0,0,0,0,0,0
$GC,2876,-0.45,-170.4,322.5,-10.4,327,2880,0.00,1.05,0.00,0.000,6,0.000,0.037,1711,3236,2503,0,0,0,0,0,0
$GC,3206,-0.45,-170.4,359.0,-11.4,358,3210,0.00,1.33,0.00,0.000,4,0.000,0.034,1710,2325,2503,0,0,0,0,0,0
$GC,3274,-0.45,-170.4,366.1,-10.0,364,3278,0.00,1.45,0.00,0.000,6,0.000,0.054,1704,3236,2502,0,0,0,0,0,0
$GC,3603,-0.45,-170.4,403.5,-11.0,394,3607,0.00,1.10,0.00,0.000,4,0.000,0.060,1698,3939,2502,0,0,0,0,0,0
$GC,3641,-0.45,-170.4,408.0,-11.2,395,3649,0.00,1.08,0.00,0.000,6,0.000,0.037,1698,3226,2501,0,0,0,0,0,0
$GC,3958,-0.45,-170.4,442.0,-10.7,411,3961,0.00,1.30,0.00,0.000,4,0.000,0.035,1698,2333,2501,0,0,0,0,0,0
$GC,4029,-0.45,-170.4,449.2,-10.0,414,4034,0.08,1.42,0.00,0.000,6,0.142,0.054,1717,3230,2501,0,0,0,0,0,0
$GC,4356,-0.45,-170.4,477.6,-8.3,430,4358,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,3231,2501,0,0,0,0,0,0
$STATE,4644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4644,begin apogee
$GC,4649,-0.11,0.0,501.7,8.3,444,4811,0.38,0.00,159.48,1.470,6,0.136,0.000,1833,3100,1799,0,0,0,0,0,0
$STATE,4812,end apogee,CONTROL_FINISHED_OK
$STATE,4812,begin climb
$GC,4814,0.45,170.4,504.3,0.0,452,4969,0.55,0.00,151.07,1.416,6,0.106,0.000,2011,3100,1104,0,0,0,0,0,0
$GC,5269,0.45,170.4,442.2,15.0,474,5270,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,3100,1100,0,0,0,0,0,0
$GC,5579,0.45,170.4,396.0,15.0,490,5583,0.00,1.35,0.00,0.000,4,0.000,0.036,2018,2216,1099,0,0,0,0,0,0
$GC,5602,0.45,170.4,392.8,14.4,492,5606,0.00,1.45,0.00,0.000,6,0.000,0.054,2018,3100,1099,0,0,0,0,0,0
$GC,5932,0.45,170.4,341.8,15.3,523,5935,0.00,1.35,0.00,0.000,4,0.000,0.060,2018,3947,1098,0,0,0,0,0,0
$GC,5969,0.45,170.4,335.0,17.9,526,5977,0.00,1.30,0.00,0.000,6,0.000,0.037,2024,3098,1097,0,0,0,0,0,0
$GC,6295,0.45,170.4,280.6,16.3,557,6296,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,3098,1097,0,0,0,0,0,0
$GC,6614,0.45,170.4,227.9,16.6,587,6618,0.00,1.38,0.00,0.000,4,0.000,0.061,2024,3952,1097,0,0,0,0,0,0
$GC,6640,0.45,170.4,222.9,18.1,589,6648,0.00,1.30,0.00,0.000,6,0.000,0.038,2031,3101,1097,0,0,0,0,0,0
$GC,6966,0.45,170.4,166.8,16.8,620,6967,0.00,0.00,0.00,0.000,6,0.000,0.000,2031,3101,1097,0,0,0,0,0,0
$GC,7285,0.45,170.4,112.1,17.6,650,7288,0.00,1.33,0.00,0.000,4,0.000,0.036,2038,2221,1096,0,0,0,0,0,0
$GC,7318,0.45,170.4,106.4,16.2,653,7322,0.00,1.42,0.00,0.000,6,0.000,0.053,2038,3106,1096,0,0,0,0,0,0
$GC,7654,0.45,170.4,53.0,12.7,710,7661,0.00,1.33,0.00,0.000,4,0.000,0.036,2045,2221,1095,0,0,0,0,0,0
$GC,7758,0.45,170.4,40.9,11.7,728,7767,0.00,1.42,0.00,0.000,6,0.000,0.054,2044,3109,1094,0,0,0,0,0,0
$STATE,8030,end climb,SURFACE_DEPTH_REACHED
$STATE,8031,begin surface coast
$FINISH,0.3,1.017137
$STATE,8050,end surface coast,CONTROL_FINISHED_OK
$STATE,8050,begin surface
$SM_CCo,8063,32.78,0.140,0,0,776,250.20
$SM_GC,1.39,0.00,0.00,32.78,0.000,0.000,0.140,69,3252,776,-5.63,0.68,250.20
$IRIDIUM_FIX,-3414.71,2557.68,190208,050501
$TT8_MAMPS,0.026964
$HUMID,58.62
$INTERNAL_PRESSURE,11.2711
$TCM_TEMP,17.30
$XPDR_PINGS,0
$24V_AH,23.2,16.254
$10V_AH,10.4,6.281
$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,12.825,34.900,310.550,32.775,0.000,31.472,58.333,182.968,10.250,0.000,21.015,1958.440,4253.855,408.232,1762.572,102.189,0.000,1090.226,0.000,1438.369,0.000,66.329,0.000
$DEVICE_MAMPS,226.440,80.325,1470.330,139.995,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,541.080,467.124,140.421,340.351,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,4.380,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,332420
$DATA_FILE_SIZE,43603,777
$CAP_FILE_SIZE,87474,0
$CFSIZE,259252224,254087168
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.181,282.9,1
$GPS,240415,220600,-3428.988,2557.695,17,1.6,17,-28.0