version: 66.07
glider: 543
mission: 11
dive: 163
start: 4 26 115 18 40 14
data:
$ID,543
$MISSION,11
$DIVE,163
$D_SURF,3
$D_FLARE,3
$D_TGT,350
$D_ABORT,450
$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,120
$T_MISSION,130
$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,-15756.206
$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,49
$R_STBD_OVSHOOT,39
$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
$GPS1,260415,183343,-3424.810,2555.169,13,0.9,14,-27.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-66.8
$GPS2,260415,183948,-3424.853,2555.158,18,1.3,18,-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,323.4,8637,-15.6,-9.722
$D_GRID,350
$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,-0.44,-170.4,0.0,0.0,0,90,0.00,0.00,-66.80,0.000,6,0.000,0.000,48,3219,2494,0,0,0,0,0,0
$GC,92,-0.44,-170.4,4.0,-5.5,9,109,6.62,1.40,0.00,0.000,4,0.225,0.032,1727,2303,2498,0,0,0,0,0,0
$GC,219,-0.44,-170.4,32.6,-12.3,30,228,0.00,1.45,0.00,0.000,6,0.000,0.051,1722,3196,2501,0,0,0,0,0,0
$GC,364,-0.44,-170.4,49.0,-9.9,55,371,0.00,1.33,0.00,0.000,4,0.000,0.032,1722,2299,2501,0,0,0,0,0,0
$GC,402,-0.44,-170.4,52.3,-9.6,61,408,0.00,1.45,0.00,0.000,6,0.000,0.050,1715,3199,2502,0,0,0,0,0,0
$GC,746,-0.44,-170.4,86.3,-10.4,122,752,0.00,1.17,0.00,0.000,4,0.000,0.057,1710,3951,2504,0,0,0,0,0,0
$GC,872,-0.44,-170.4,100.9,-12.3,144,876,0.00,1.12,0.00,0.000,6,0.000,0.035,1709,3194,2504,0,0,0,0,0,0
$GC,1203,-0.44,-170.4,136.5,-10.0,175,1204,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,3194,2505,0,0,0,0,0,0
$GC,1520,-0.44,-170.4,169.8,-10.9,205,1525,0.00,1.20,0.00,0.000,4,0.000,0.059,1704,3945,2505,0,0,0,0,0,0
$GC,1542,-0.44,-170.4,172.3,-11.5,207,1546,0.00,1.10,0.00,0.000,6,0.000,0.036,1704,3204,2505,0,0,0,0,0,0
$GC,1873,-0.44,-170.4,210.3,-11.4,238,1877,0.00,1.17,0.00,0.000,4,0.000,0.058,1698,3955,2505,0,0,0,0,0,0
$GC,1929,-0.44,-170.4,217.3,-12.2,243,1932,0.00,1.12,0.00,0.000,6,0.000,0.036,1698,3194,2505,0,0,0,0,0,0
$STATE,2226,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2226,begin apogee
$GC,2230,-0.11,0.0,250.7,10.6,271,2389,0.43,0.00,155.00,1.280,6,0.145,0.000,1826,3056,1800,0,0,0,0,0,0
$STATE,2391,end apogee,CONTROL_FINISHED_OK
$STATE,2391,begin climb
$GC,2392,0.44,170.4,255.1,0.0,287,2550,0.55,1.55,146.70,1.232,4,0.109,0.056,2004,3930,1104,0,0,0,0,0,0
$GC,2585,0.44,170.4,234.0,15.7,304,2588,0.00,1.42,0.00,0.000,6,0.000,0.034,2011,3045,1103,0,0,0,0,0,0
$GC,2915,0.44,170.4,188.9,13.2,335,2918,0.00,1.45,0.00,0.000,4,0.000,0.058,2011,3926,1101,0,0,0,0,0,0
$GC,2963,0.44,170.4,181.3,16.4,339,2971,0.00,1.38,0.00,0.000,6,0.000,0.034,2017,3047,1100,0,0,0,0,0,0
$GC,3289,0.44,170.4,136.2,13.5,370,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,2018,3047,1099,0,0,0,0,0,0
$GC,3613,0.44,170.4,89.5,14.9,406,3620,0.00,1.42,0.00,0.000,4,0.000,0.059,2017,3926,1098,0,0,0,0,0,0
$GC,3649,0.44,170.4,83.3,17.7,412,3660,0.00,1.33,0.00,0.000,6,0.000,0.037,2024,3056,1098,0,0,0,0,0,0
$GC,4010,0.44,170.4,29.1,11.8,473,4016,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,3056,1097,0,0,0,0,0,0
$GC,4161,0.44,170.4,10.4,11.6,498,4170,0.00,1.40,0.00,0.000,4,0.000,0.060,2024,3924,1095,0,0,0,0,0,0
$STATE,4220,end climb,SURFACE_DEPTH_REACHED
$STATE,4220,begin surface coast
$FINISH,0.2,1.025327
$STATE,4246,end surface coast,CONTROL_FINISHED_OK
$STATE,4246,begin surface
$SM_CCo,4258,32.42,0.133,0,0,775,250.20
$SM_GC,1.56,0.00,0.00,32.42,0.000,0.000,0.133,64,3188,775,-5.65,-0.37,250.20
$IRIDIUM_FIX,-3409.50,2554.19,210208,060637
$TT8_MAMPS,0.027713
$HUMID,57.75
$INTERNAL_PRESSURE,11.2516
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,220.0,50.5
$24V_AH,23.4,18.825
$10V_AH,10.4,7.481
$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,12.625,23.775,301.700,32.425,0.000,28.114,20.024,215.244,4.000,0.000,20.868,1237.048,1664.487,378.329,1313.164,80.852,0.000,854.805,0.000,1014.644,0.000,27.299,0.000
$DEVICE_MAMPS,224.910,61.965,1279.845,133.110,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,353.761,292.632,110.327,356.775,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,4.380,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,332368
$DATA_FILE_SIZE,30321,511
$CAP_FILE_SIZE,57165,0
$CFSIZE,259252224,253177856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.263, 97.3,1
$GPS,260415,195258,-3424.710,2555.273,38,1.0,38,-27.9