version: 66.07
glider: 543
mission: 11
dive: 162
start: 4 26 115 17 6 14
data:
$ID,543
$MISSION,11
$DIVE,162
$D_SURF,3
$D_FLARE,3
$D_TGT,700
$D_ABORT,800
$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,240
$T_MISSION,255
$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,-15753.571
$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,3200
$C_ROLL_CLIMB,3050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,38
$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,200
$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
$GPS1,260415,170003,-3425.172,2554.862,19,1.6,32,-27.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.2
$GPS2,260415,170548,-3425.181,2554.924,19,1.0,19,-27.9
$SPEED_LIMITS,0.168,0.275
$TGT_NAME,WP_SOUTH
$TGT_LATLONG,-3420.460,2553.260
$TGT_RADIUS,3000.000
$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,343.9,9107,-15.6,-9.722
$D_GRID,700
$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,13,begin dive
$GC,14,-0.44,-170.4,0.0,0.0,0,90,0.00,0.00,-66.38,0.000,6,0.000,0.000,63,3221,2495,0,0,0,0,0,0
$GC,92,-0.44,-170.4,4.5,-6.5,9,110,6.53,1.40,0.00,0.000,4,0.225,0.031,1725,2304,2499,0,0,0,0,0,0
$GC,301,-0.44,-170.4,37.6,-7.9,43,308,0.00,1.42,0.00,0.000,6,0.000,0.053,1719,3186,2502,0,0,0,0,0,0
$GC,443,-0.44,-170.4,52.8,-11.2,68,451,0.00,1.33,0.00,0.000,4,0.000,0.032,1719,2297,2502,0,0,0,0,0,0
$GC,477,-0.44,-170.4,55.9,-9.5,73,483,0.00,1.45,0.00,0.000,6,0.000,0.051,1714,3197,2503,0,0,0,0,0,0
$GC,820,-0.44,-170.4,92.4,-11.3,134,828,0.00,1.17,0.00,0.000,4,0.000,0.057,1707,3942,2505,0,0,0,0,0,0
$GC,905,-0.44,-170.4,102.8,-11.9,147,913,0.00,1.12,0.00,0.000,6,0.000,0.035,1707,3194,2505,0,0,0,0,0,0
$GC,1230,-0.44,-170.4,137.2,-9.8,178,1234,0.00,1.30,0.00,0.000,4,0.000,0.032,1707,2305,2506,0,0,0,0,0,0
$GC,1264,-0.44,-170.4,140.2,-8.9,181,1268,0.00,1.42,0.00,0.000,6,0.000,0.052,1700,3199,2506,0,0,0,0,0,0
$GC,1595,-0.44,-170.4,171.8,-9.2,212,1598,0.00,1.17,0.00,0.000,4,0.000,0.058,1695,3945,2506,0,0,0,0,0,0
$GC,1654,-0.44,-170.4,178.3,-10.4,217,1663,0.12,1.12,0.00,0.000,6,0.164,0.036,1727,3196,2506,0,0,0,0,0,0
$GC,1981,-0.44,-170.4,203.2,-7.7,248,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,1727,3196,2506,0,0,0,0,0,0
$GC,2299,-0.44,-170.4,229.5,-8.7,278,2303,0.00,1.17,0.00,0.000,4,0.000,0.060,1723,3941,2506,0,0,0,0,0,0
$GC,2329,-0.44,-170.4,232.5,-9.9,280,2336,0.00,1.12,0.00,0.000,6,0.000,0.036,1723,3195,2506,0,0,0,0,0,0
$GC,2654,-0.44,-170.4,264.0,-9.9,311,2658,0.00,1.17,0.00,0.000,4,0.000,0.060,1718,3943,2505,0,0,0,0,0,0
$GC,2722,-0.44,-170.4,271.3,-10.1,317,2726,0.00,1.10,0.00,0.000,6,0.000,0.037,1718,3203,2505,0,0,0,0,0,0
$STATE,2880,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2880,begin apogee
$GC,2885,-0.11,0.0,286.3,9.4,332,3044,0.38,0.00,155.55,1.309,6,0.138,0.000,1832,3049,1799,0,0,0,0,0,0
$STATE,3046,end apogee,CONTROL_FINISHED_OK
$STATE,3046,begin climb
$GC,3047,0.44,170.4,289.9,0.0,348,3203,0.52,1.55,147.40,1.261,4,0.100,0.055,2004,3941,1104,0,0,0,0,0,0
$GC,3261,0.44,170.4,264.8,16.3,367,3264,0.00,1.42,0.00,0.000,6,0.000,0.035,2011,3052,1102,0,0,0,0,0,0
$GC,3591,0.44,170.4,219.9,12.8,398,3594,0.00,1.45,0.00,0.000,4,0.000,0.059,2011,3932,1099,0,0,0,0,0,0
$GC,3639,0.44,170.4,212.5,14.7,402,3648,0.00,1.38,0.00,0.000,6,0.000,0.035,2018,3049,1099,0,0,0,0,0,0
$GC,3965,0.44,170.4,167.2,14.0,433,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,3048,1098,0,0,0,0,0,0
$GC,4285,0.44,170.4,121.2,14.8,463,4288,0.00,1.42,0.00,0.000,4,0.000,0.059,2018,3924,1098,0,0,0,0,0,0
$GC,4355,0.44,170.4,109.3,17.4,469,4363,0.00,1.35,0.00,0.000,6,0.000,0.035,2025,3046,1097,0,0,0,0,0,0
$GC,4695,0.44,170.4,56.1,15.6,524,4703,0.00,1.42,0.00,0.000,4,0.000,0.060,2025,3928,1097,0,0,0,0,0,0
$GC,4728,0.44,170.4,51.1,15.8,529,4735,0.00,1.33,0.00,0.000,6,0.000,0.036,2032,3055,1097,0,0,0,0,0,0
$GC,5087,0.44,170.4,8.2,11.1,590,5097,0.00,1.33,0.00,0.000,4,0.000,0.034,2038,2163,1095,0,0,0,0,0,0
$GC,5111,0.46,203.3,6.2,8.5,593,5130,0.00,1.40,13.15,0.708,6,0.000,0.052,2038,3045,966,0,0,0,0,0,0
$STATE,5136,end climb,SURFACE_DEPTH_REACHED
$STATE,5136,begin surface coast
$FINISH,0.3,1.025360
$STATE,5168,end surface coast,CONTROL_FINISHED_OK
$STATE,5169,begin surface
$SM_CCo,5181,19.38,0.138,0,0,776,250.20
$SM_GC,0.92,0.00,0.00,19.38,0.000,0.000,0.138,48,3218,776,-5.70,0.51,250.20
$IRIDIUM_FIX,-3409.50,2550.70,210208,040402
$TT8_MAMPS,0.027713
$HUMID,58.07
$INTERNAL_PRESSURE,11.2516
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,230.6,74.7
$24V_AH,23.4,18.702
$10V_AH,10.4,7.436
$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,12.700,32.000,316.100,19.375,0.000,25.157,20.203,198.823,1.500,0.000,22.320,1456.964,2156.663,391.449,1468.320,89.266,0.000,953.719,0.000,1192.699,0.000,13.592,0.000
$DEVICE_MAMPS,224.910,69.615,1308.915,137.700,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,415.662,360.564,128.142,389.809,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,4.380,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,332440
$DATA_FILE_SIZE,33610,601
$CAP_FILE_SIZE,67526,0
$CFSIZE,259252224,253202432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.220, 98.5,1
$GPS,260415,183343,-3424.810,2555.169,13,0.9,14,-27.9