version: 66.07
glider: 543
mission: 11
dive: 754
start: 5 18 115 19 40 58
data:
$ID,543
$MISSION,11
$DIVE,754
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,20
$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,402.28543
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,2
$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,-17557.705
$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,61
$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,2147
$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,40
$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
$GPS1,180515,193922,-3424.942,2558.495,37,0.9,37,-27.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-70.6
$GPS2,180515,194035,-3424.975,2558.489,20,1.1,21,-27.9
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,HEADING
$TGT_LATLONG,-3414.827,2602.957
$TGT_RADIUS,1852.000
$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,47.9,20000,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.45,-170.4,0.0,0.0,0,96,0.00,0.00,-77.97,0.000,2,0.000,0.000,61,3195,2644,0,0,0,0,0,0
$GC,99,-0.45,-170.4,4.1,-7.8,10,117,6.62,1.30,-3.50,0.000,4,0.223,0.045,1720,2289,2841,0,0,0,0,0,0
$GC,139,-0.45,-170.4,22.8,-47.2,15,145,0.00,1.45,0.00,0.000,6,0.000,0.044,1715,3207,2844,0,0,0,0,0,0
$GC,287,-0.45,-170.4,54.5,-19.4,40,296,0.00,1.30,0.00,0.000,4,0.000,0.025,1715,2285,2845,0,0,0,0,0,0
$GC,305,-0.45,-170.4,57.7,-17.4,42,311,0.00,1.45,0.00,0.000,6,0.000,0.045,1709,3203,2846,0,0,0,0,0,0
$GC,656,-0.45,-170.4,92.8,-8.2,103,663,0.00,1.15,0.00,0.000,4,0.000,0.052,1703,3947,2848,0,0,0,0,0,0
$GC,803,-0.45,-170.4,103.9,-6.0,124,812,0.00,1.08,0.00,0.000,6,0.000,0.028,1703,3193,2848,0,0,0,0,0,0
$GC,1129,-0.45,-170.4,128.9,-5.3,155,1133,0.00,1.15,0.00,0.000,4,0.000,0.049,1697,3936,2849,0,0,0,0,0,0
$GC,1157,-0.45,-170.4,131.1,-7.8,157,1164,0.00,1.05,0.00,0.000,6,0.000,0.029,1697,3201,2849,0,0,0,0,0,0
$GC,1483,-0.45,-170.4,156.6,-8.6,188,1487,0.00,1.15,0.00,0.000,4,0.000,0.052,1692,3936,2850,0,0,0,0,0,0
$GC,1511,-0.45,-170.4,159.3,-10.1,190,1518,0.08,1.05,0.00,0.000,6,0.122,0.029,1719,3206,2850,0,0,0,0,0,0
$GC,1839,-0.45,-170.4,193.2,-13.1,221,1843,0.00,1.15,0.00,0.000,4,0.000,0.052,1716,3936,2850,0,0,0,0,0,0
$GC,1946,-0.45,-170.4,208.6,-13.4,230,1953,0.00,1.08,0.00,0.000,6,0.000,0.029,1716,3190,2851,0,0,0,0,0,0
$GC,2275,-0.45,-170.4,242.7,-9.8,261,2279,0.00,1.17,0.00,0.000,4,0.000,0.054,1710,3941,2850,0,0,0,0,0,0
$GC,2446,-0.45,-170.4,257.8,-6.9,276,2449,0.00,1.05,0.00,0.000,6,0.000,0.029,1710,3206,2850,0,0,0,0,0,0
$STATE,2629,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2630,begin apogee
$GC,2638,-0.11,0.0,274.4,11.1,293,2798,0.35,0.00,153.88,1.285,6,0.106,0.000,1831,3049,2146,0,0,0,0,0,0
$STATE,2801,end apogee,CONTROL_FINISHED_OK
$STATE,2801,begin climb
$GC,2803,0.45,170.4,284.2,0.0,309,2959,0.47,1.42,149.52,1.262,4,0.046,0.025,2033,2144,1453,0,0,0,0,0,0
$GC,3069,0.46,180.3,272.1,9.6,332,3082,0.00,1.45,9.73,1.115,6,0.000,0.045,2033,3044,1411,0,0,0,0,0,0
$GC,3402,0.46,180.3,229.2,11.3,363,3405,0.00,1.40,0.00,0.000,4,0.000,0.049,2033,3929,1410,0,0,0,0,0,0
$GC,3509,0.46,180.3,214.7,12.5,372,3518,0.00,1.30,0.00,0.000,6,0.000,0.029,2039,3042,1409,0,0,0,0,0,0
$GC,3835,0.46,184.7,174.4,9.8,403,3847,0.00,1.45,4.88,0.990,4,0.000,0.053,2039,3932,1394,0,0,0,0,0,0
$GC,3979,0.46,184.7,154.9,15.9,415,3985,0.00,1.30,0.00,0.000,6,0.000,0.028,2046,3049,1394,0,0,0,0,0,0
$GC,4304,0.47,208.5,118.3,9.1,446,4319,0.00,1.27,11.10,1.054,4,0.000,0.025,2053,2152,1295,0,0,0,0,0,0
$GC,4444,0.47,208.5,102.3,14.7,458,4451,0.08,1.42,0.00,0.000,6,0.145,0.046,2029,3052,1296,0,0,0,0,0,0
$GC,4792,0.56,364.4,53.7,3.8,518,4868,0.00,1.42,69.18,0.896,4,0.000,0.048,2029,3933,659,0,0,0,0,0,0
$GC,4968,0.57,387.0,42.8,9.1,547,4983,0.00,1.33,9.68,0.756,6,0.000,0.029,2034,3048,566,0,0,0,0,0,0
$GC,5334,0.57,387.6,6.8,10.0,609,5343,0.00,1.27,0.00,0.000,4,0.000,0.025,2041,2144,565,0,0,0,0,0,0
$STATE,5373,end climb,SURFACE_DEPTH_REACHED
$STATE,5373,begin surface coast
$FINISH,2.4,1.024824
$STATE,5381,end surface coast,CONTROL_FINISHED_OK
$STATE,5381,begin surface
$SM_CCo,5398,6.05,0.144,0,0,504,402.29
$SM_GC,1.80,0.00,0.00,6.05,0.000,0.000,0.144,50,3221,504,-5.69,0.59,402.29
$IRIDIUM_FIX,-3409.50,2558.88,140308,050548
$TT8_MAMPS,0.026964
$HUMID,60.15
$INTERNAL_PRESSURE,11.3688
$TCM_TEMP,20.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,260.7,27.9
$24V_AH,23.2,69.267
$10V_AH,10.3,31.202
$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,13.050,33.500,407.950,6.050,0.000,0.000,0.000,0.000,6.000,0.000,23.241,1415.625,2034.592,424.455,1465.588,146.168,0.000,1059.069,0.000,1440.983,0.000,38.802,0.000
$DEVICE_MAMPS,223.380,54.315,1285.200,143.820,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,424.147,370.070,177.004,657.022,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,4.380,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,332788
$DATA_FILE_SIZE,37046,616
$CAP_FILE_SIZE,68806,0
$CFSIZE,259252224,235167744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180515,211204,-3425.174,2558.798,22,1.0,22,-27.9