version: 66.07
glider: 543
mission: 11
dive: 223
start: 4 29 115 14 52 52
data:
$ID,543
$MISSION,11
$DIVE,223
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$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,333
$T_MISSION,348
$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,-15932.448
$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,53
$R_STBD_OVSHOOT,32
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,50
$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
$GPS1,290415,144612,-3424.538,2603.780,13,0.9,13,-27.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-67.0
$GPS2,290415,145228,-3424.633,2603.674,19,0.8,20,-27.9
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,WP_NORTH
$TGT_LATLONG,-3410.140,2615.600
$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,19.1,32471,-16.1,-10.010
$D_GRID,1000
$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,-170.4,0.0,0.0,0,83,0.00,0.00,-65.38,0.000,6,0.000,0.000,63,3196,2495,0,0,0,0,0,0
$GC,85,-0.45,-170.4,3.1,-4.3,8,95,6.47,1.35,0.00,0.000,4,0.221,0.029,1724,2320,2495,0,0,0,0,0,0
$GC,204,-0.45,-170.4,24.9,-9.9,27,210,0.00,1.45,0.00,0.000,6,0.000,0.049,1719,3206,2502,0,0,0,0,0,0
$GC,349,-0.45,-170.4,41.8,-14.8,52,358,0.00,1.15,0.00,0.000,4,0.000,0.054,1714,3942,2501,0,0,0,0,0,0
$GC,616,-0.45,-170.4,75.6,-6.8,98,623,0.00,1.10,0.00,0.000,6,0.000,0.032,1714,3188,2502,0,0,0,0,0,0
$GC,958,-0.45,-170.4,104.9,-13.5,156,961,0.00,1.17,0.00,0.000,4,0.000,0.054,1707,3942,2504,0,0,0,0,0,0
$GC,1183,-0.45,-170.4,138.5,-13.2,176,1186,0.00,1.08,0.00,0.000,6,0.000,0.032,1708,3202,2505,0,0,0,0,0,0
$GC,1513,-0.45,-170.4,182.3,-12.5,207,1516,0.00,1.27,0.00,0.000,4,0.000,0.030,1709,2307,2506,0,0,0,0,0,0
$GC,1557,-0.45,-170.4,187.7,-12.0,211,1561,0.00,1.40,0.00,0.000,6,0.000,0.050,1701,3198,2506,0,0,0,0,0,0
$GC,1888,-0.45,-170.4,228.0,-13.2,242,1891,0.00,1.15,0.00,0.000,4,0.000,0.055,1696,3943,2506,0,0,0,0,0,0
$GC,2013,-0.45,-170.4,245.3,-14.1,253,2017,0.00,1.08,0.00,0.000,6,0.000,0.034,1696,3206,2506,0,0,0,0,0,0
$STATE,2076,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2076,begin apogee
$GC,2081,-0.11,0.0,254.1,13.2,259,2240,0.45,0.00,154.35,1.297,6,0.137,0.000,1834,3045,1799,0,0,0,0,0,0
$STATE,2241,end apogee,CONTROL_FINISHED_OK
$STATE,2242,begin climb
$GC,2243,0.45,170.4,260.7,0.0,275,2398,0.52,1.55,146.18,1.260,4,0.106,0.053,2005,3926,1104,0,0,0,0,0,0
$GC,2415,0.45,170.4,245.8,10.8,292,2419,0.00,1.40,0.00,0.000,6,0.000,0.032,2012,3051,1104,0,0,0,0,0,0
$GC,2745,0.45,170.4,201.9,13.7,323,2749,0.00,1.45,0.00,0.000,4,0.000,0.057,2012,3925,1101,0,0,0,0,0,0
$GC,2816,0.45,170.4,189.5,17.7,329,2824,0.00,1.33,0.00,0.000,6,0.000,0.033,2019,3051,1100,0,0,0,0,0,0
$GC,3143,0.45,170.4,137.4,17.7,360,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,3051,1100,0,0,0,0,0,0
$GC,3463,0.45,170.4,88.2,17.5,396,3472,0.00,1.40,0.00,0.000,4,0.000,0.057,2019,3922,1098,0,0,0,0,0,0
$GC,3725,0.45,170.4,47.2,12.0,442,3732,0.00,1.33,0.00,0.000,6,0.000,0.034,2026,3041,1096,0,0,0,0,0,0
$GC,4084,0.46,183.0,4.1,9.5,503,4094,0.00,1.45,4.18,0.164,4,0.000,0.053,2026,3938,1049,0,0,0,0,0,0
$STATE,4100,end climb,SURFACE_DEPTH_REACHED
$STATE,4101,begin surface coast
$FINISH,0.2,1.024888
$STATE,4132,end surface coast,CONTROL_FINISHED_OK
$STATE,4133,begin surface
$SM_CCo,4146,40.85,0.313,1,0,779,250.20
$SM_GC,0.94,0.00,0.00,40.85,0.000,0.000,0.313,52,3196,779,-5.68,-0.11,250.20
$IRIDIUM_FIX,-3409.50,2604.72,240208,020231
$TT8_MAMPS,0.026964
$HUMID,57.56
$INTERNAL_PRESSURE,11.359
$TCM_TEMP,18.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,240.4,28.0
$24V_AH,23.6,26.226
$10V_AH,10.4,9.944
$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,12.500,23.400,304.700,40.850,0.000,28.007,45.827,199.098,5.250,0.000,22.588,1249.067,1482.185,385.969,1373.245,93.177,0.000,851.986,0.000,1068.272,0.000,34.468,0.000
$DEVICE_MAMPS,221.085,57.375,1297.440,312.885,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,351.989,288.357,116.097,403.479,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,4.380,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,332476
$DATA_FILE_SIZE,30314,510
$CAP_FILE_SIZE,56773,0
$CFSIZE,259252224,251166720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$CURRENT,0.210,164.3,1
$GPS,290415,160352,-3424.650,2603.669,34,1.0,34,-27.9