version: 66.07
glider: 543
mission: 11
dive: 775
start: 5 20 115 12 28 13
data:
$ID,543
$MISSION,11
$DIVE,775
$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,0
$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,-17632.1
$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,70
$R_STBD_OVSHOOT,41
$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
$GPS1,200515,121711,-3425.819,2540.784,18,1.2,18,-27.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-67.7
$GPS2,200515,122748,-3425.903,2540.519,17,1.0,18,-27.8
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,HEADING
$TGT_LATLONG,-3415.104,2540.519
$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,27.8,20000,-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,13,begin dive
$GC,16,-0.45,-170.4,0.0,0.0,0,96,0.00,0.00,-78.03,0.000,2,0.000,0.000,46,3214,2718,0,0,0,0,0,0
$GC,99,-0.45,-170.4,4.3,-7.1,10,117,6.68,1.12,-2.12,0.000,4,0.218,0.060,1713,3955,2840,0,0,0,0,0,0
$GC,127,-0.45,-170.4,18.2,-39.4,13,136,0.00,1.08,0.00,0.000,6,0.000,0.026,1713,3186,2843,0,0,0,0,0,0
$GC,183,-0.45,-170.4,30.2,-16.4,22,192,0.00,1.17,0.00,0.000,4,0.000,0.048,1708,3936,2844,0,0,0,0,0,0
$GC,253,-0.45,-170.4,39.6,-13.4,33,261,0.00,1.02,0.00,0.000,6,0.000,0.028,1708,3214,2844,0,0,0,0,0,0
$GC,400,-0.45,-170.4,56.7,-10.8,58,406,0.00,1.12,0.00,0.000,4,0.000,0.049,1702,3934,2845,0,0,0,0,0,0
$GC,444,-0.45,-170.4,61.7,-12.1,65,451,0.00,1.05,0.00,0.000,6,0.000,0.027,1702,3192,2845,0,0,0,0,0,0
$GC,798,-0.45,-170.4,102.0,-12.1,126,802,0.00,1.15,0.00,0.000,4,0.000,0.050,1697,3930,2847,0,0,0,0,0,0
$GC,970,-0.45,-170.4,122.7,-10.5,141,973,0.00,1.02,0.00,0.000,6,0.000,0.027,1697,3196,2847,0,0,0,0,0,0
$GC,1301,-0.45,-170.4,155.7,-9.6,172,1305,0.00,1.15,0.00,0.000,4,0.000,0.050,1692,3939,2848,0,0,0,0,0,0
$GC,1439,-0.45,-170.4,169.5,-10.3,184,1447,0.08,1.02,0.00,0.000,6,0.119,0.027,1719,3206,2848,0,0,0,0,0,0
$GC,1773,-0.45,-170.4,198.9,-9.1,215,1776,0.00,1.12,0.00,0.000,4,0.000,0.050,1716,3927,2848,0,0,0,0,0,0
$GC,1880,-0.45,-170.4,208.6,-9.5,224,1889,0.00,1.02,0.00,0.000,6,0.000,0.028,1716,3200,2848,0,0,0,0,0,0
$STATE,1909,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1909,begin apogee
$GC,1916,-0.11,0.0,210.9,9.0,227,2073,0.32,0.00,150.98,1.195,6,0.109,0.000,1828,3047,2147,0,0,0,0,0,0
$STATE,2076,end apogee,CONTROL_FINISHED_OK
$STATE,2076,begin climb
$GC,2079,0.45,170.4,218.8,0.0,243,2240,0.50,1.38,147.62,1.187,4,0.064,0.023,2023,2153,1452,0,0,0,0,0,0
$GC,2257,0.46,184.9,211.4,9.4,258,2276,0.00,1.42,13.98,1.105,6,0.000,0.041,2023,3038,1391,0,0,0,0,0,0
$GC,2595,0.46,184.9,168.0,13.5,290,2598,0.00,1.40,0.00,0.000,4,0.000,0.047,2023,3929,1390,0,0,0,0,0,0
$GC,2732,0.46,184.9,147.8,14.7,302,2736,0.00,1.27,0.00,0.000,6,0.000,0.026,2030,3044,1389,0,0,0,0,0,0
$GC,3066,0.46,191.8,107.8,9.7,333,3078,0.00,1.45,2.83,0.636,4,0.000,0.048,2031,3938,1363,0,0,0,0,0,0
$GC,3285,0.46,191.8,83.3,12.4,365,3291,0.00,1.27,0.00,0.000,6,0.000,0.027,2037,3057,1363,0,0,0,0,0,0
$GC,3633,0.48,225.2,45.8,8.7,426,3654,0.00,1.38,14.70,0.803,4,0.000,0.048,2037,3938,1227,0,0,0,0,0,0
$GC,3852,0.51,273.4,23.9,8.1,463,3881,0.00,1.30,21.25,0.732,6,0.000,0.027,2044,3040,1029,0,0,0,0,0,0
$GC,4028,0.54,333.9,10.3,7.6,491,4061,0.00,1.25,26.62,0.673,4,0.000,0.021,2051,2148,781,0,0,0,0,0,0
$GC,4088,0.56,363.3,4.9,8.8,499,4106,0.00,1.42,12.10,0.129,6,0.000,0.041,2051,3052,661,0,0,0,0,0,0
$STATE,4112,end climb,SURFACE_DEPTH_REACHED
$STATE,4113,begin surface coast
$FINISH,0.3,1.024549
$STATE,4155,end surface coast,CONTROL_FINISHED_OK
$STATE,4156,begin surface
$SM_CCo,4171,32.20,0.184,1,0,506,402.29
$SM_GC,1.10,0.00,0.00,32.20,0.000,0.000,0.184,67,3210,506,-5.63,0.28,402.29
$IRIDIUM_FIX,-3412.10,2540.16,150308,222223
$TT8_MAMPS,0.026964
$HUMID,57.83
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,20.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,210.9,14.9
$24V_AH,23.5,72.519
$10V_AH,10.3,32.743
$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,12.850,27.000,390.075,32.200,0.000,24.580,19.101,402.927,5.000,0.000,22.521,1159.748,1331.802,429.431,1678.295,257.243,0.000,989.095,0.000,1223.599,0.000,34.050,0.000
$DEVICE_MAMPS,218.025,68.850,1194.930,184.365,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,349.644,281.283,146.368,594.309,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,4.380,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,332668
$DATA_FILE_SIZE,30270,509
$CAP_FILE_SIZE,66567,0
$CFSIZE,259252224,234160128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,200515,133934,-3425.686,2539.964,33,1.6,33,-27.8