version: 66.07
glider: 543
mission: 11
dive: 863
start: 5 23 115 8 51 34
data:
$ID,543
$MISSION,11
$DIVE,863
$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,-17889.355
$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,74
$R_STBD_OVSHOOT,36
$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
$GPS1,230515,084135,-3412.906,2526.520,32,0.9,32,-27.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-71.3
$GPS2,230515,085112,-3412.899,2526.484,21,0.8,21,-27.4
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,HEADING
$TGT_LATLONG,-3402.100,2526.484
$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,27.4,20000,-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,16,-0.45,-170.4,0.0,0.0,0,96,0.00,0.00,-77.93,0.000,2,0.000,0.000,58,3210,2631,0,0,0,0,0,0
$GC,100,-0.45,-170.4,3.5,-5.3,10,118,6.53,1.27,-4.05,0.000,4,0.216,0.044,1719,2290,2843,0,0,0,0,0,0
$GC,133,-0.45,-170.4,17.6,-37.9,14,142,0.00,1.42,0.00,0.000,6,0.000,0.044,1714,3192,2845,0,0,0,0,0,0
$GC,191,-0.45,-170.4,27.7,-15.0,23,198,0.00,1.15,0.00,0.000,4,0.000,0.049,1709,3935,2846,0,0,0,0,0,0
$GC,231,-0.45,-170.4,33.3,-14.6,29,238,0.00,1.05,0.00,0.000,6,0.000,0.028,1708,3198,2846,0,0,0,0,0,0
$GC,382,-0.45,-170.4,53.5,-11.2,54,389,0.00,1.15,0.00,0.000,4,0.000,0.050,1704,3938,2846,0,0,0,0,0,0
$GC,467,-0.45,-170.4,61.5,-7.8,68,476,0.00,1.05,0.00,0.000,6,0.000,0.027,1704,3199,2847,0,0,0,0,0,0
$GC,827,-0.45,-170.4,90.0,-8.1,129,833,0.00,1.15,0.00,0.000,4,0.000,0.050,1699,3945,2848,0,0,0,0,0,0
$GC,900,-0.45,-170.4,96.4,-7.9,141,906,0.00,1.05,0.00,0.000,6,0.000,0.028,1699,3198,2848,0,0,0,0,0,0
$STATE,995,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,995,begin apogee
$GC,1002,-0.11,0.0,105.0,8.8,153,1089,0.38,0.00,79.88,1.018,6,0.112,0.000,1827,3050,2145,0,0,0,0,0,0
$STATE,1090,end apogee,CONTROL_FINISHED_OK
$STATE,1090,begin climb
$GC,1093,0.45,170.4,108.8,0.0,162,1178,0.50,1.30,79.35,1.005,4,0.075,0.021,2018,2159,1451,0,0,0,0,0,0
$GC,1230,0.46,180.1,100.9,9.6,173,1243,0.00,1.40,4.25,0.722,6,0.000,0.042,2018,3040,1411,0,0,0,0,0,0
$GC,1585,0.46,180.1,59.3,11.2,234,1592,0.00,1.40,0.00,0.000,4,0.000,0.049,2018,3932,1411,0,0,0,0,0,0
$GC,1775,0.50,259.5,41.0,6.9,267,1817,0.00,1.27,35.50,0.793,6,0.000,0.027,2026,3051,1087,0,0,0,0,0,0
$GC,1959,0.56,356.3,30.5,6.2,297,2006,0.00,0.00,43.15,0.754,6,0.000,0.000,2025,3051,691,0,0,0,0,0,0
$GC,2150,0.59,418.1,16.7,7.6,328,2175,0.10,0.00,20.42,0.691,6,0.094,0.000,2099,3051,504,0,0,0,0,0,0
$GC,2226,0.59,418.1,5.7,18.8,339,2236,0.15,1.30,0.00,0.000,4,0.170,0.027,2066,2160,505,0,0,0,0,0,0
$STATE,2242,end climb,SURFACE_DEPTH_REACHED
$STATE,2242,begin surface coast
$FINISH,0.5,1.025150
$STATE,2256,end surface coast,CONTROL_FINISHED_OK
$STATE,2256,begin surface
$SM_CCo,2333,0.00,0.000,0,0,503,403.27
$SM_GC,1.08,5.20,0.00,0.00,0.033,0.000,0.000,71,3208,503,-5.53,0.23,403.27
$IRIDIUM_FIX,-3359.08,2527.46,180308,202019
$TT8_MAMPS,0.026964
$HUMID,58.58
$INTERNAL_PRESSURE,11.3688
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.3,19.0
$24V_AH,23.8,79.218
$10V_AH,10.4,36.307
$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,12.850,17.800,262.550,0.000,0.000,39.201,46.119,300.506,2.000,0.000,23.238,777.157,447.386,287.890,1186.498,219.123,0.000,666.058,0.000,800.708,0.000,14.582,0.000
$DEVICE_MAMPS,215.730,56.610,1018.215,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,232.466,149.347,88.708,439.218,0.000,0.000,0.000,0.000,0.000,0.000
$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,20267,343
$CAP_FILE_SIZE,45111,0
$CFSIZE,259252224,231600128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230515,093117,-3412.704,2526.384,13,1.6,13,-27.4