version: 66.07
glider: 543
mission: 11
dive: 1009
start: 5 27 115 6 59 27
data:
$ID,543
$MISSION,11
$DIVE,1009
$D_SURF,3
$D_FLARE,3
$D_TGT,100
$D_ABORT,150
$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,33
$T_MISSION,48
$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,220
$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,-18275.955
$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,86
$R_STBD_OVSHOOT,43
$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,5
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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
$GPS1,270515,064937,-3407.646,2559.887,18,0.8,19,-27.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-71.2
$GPS2,270515,065904,-3407.583,2559.880,33,1.0,33,-27.6
$SPEED_LIMITS,0.175,0.279
$TGT_NAME,HEADING
$TGT_LATLONG,-3415.856,2551.481
$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,247.6,20000,-16.2,-10.101
$D_GRID,100
$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,-0.46,-170.4,0.0,0.0,0,96,0.00,0.00,-77.47,0.000,2,0.000,0.000,63,3224,2615,0,0,0,0,0,0
$GC,100,-0.46,-170.4,3.3,-4.8,10,118,6.40,0.00,-4.45,0.000,6,0.213,0.000,1713,3223,2842,0,0,0,0,0,0
$GC,167,-0.46,-170.4,22.1,-15.6,20,175,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,3223,2846,0,0,0,0,0,0
$GC,317,-0.46,-170.4,37.4,-9.0,45,324,0.00,1.10,0.00,0.000,4,0.000,0.048,1709,3938,2845,0,0,0,0,0,0
$GC,384,-0.46,-170.4,44.5,-9.3,56,396,0.00,1.02,0.00,0.000,6,0.000,0.025,1709,3195,2846,0,0,0,0,0,0
$GC,742,-0.46,-170.4,73.7,-8.2,117,749,0.00,1.15,0.00,0.000,4,0.000,0.050,1709,3938,2847,0,0,0,0,0,0
$GC,808,-0.46,-170.4,79.2,-8.2,128,817,0.00,1.02,0.00,0.000,6,0.000,0.025,1708,3192,2847,0,0,0,0,0,0
$STATE,1056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1056,begin apogee
$GC,1064,-0.11,0.0,100.1,8.9,171,1151,0.32,0.00,80.50,0.988,6,0.081,0.000,1833,3041,2147,0,0,0,0,0,0
$STATE,1152,end apogee,CONTROL_FINISHED_OK
$STATE,1152,begin climb
$GC,1156,0.46,170.4,105.2,0.0,180,1240,0.45,1.40,79.00,0.981,4,0.036,0.043,2056,3929,1450,0,0,0,0,0,0
$GC,1411,0.46,170.4,76.1,17.4,213,1418,0.12,1.25,0.00,0.000,6,0.168,0.024,2024,3039,1448,0,0,0,0,0,0
$GC,1761,0.54,323.7,45.2,4.0,274,1837,0.00,1.25,67.95,0.805,4,0.000,0.022,2030,2159,826,0,0,0,0,0,0
$GC,1860,0.60,424.7,40.0,6.1,289,1902,0.00,1.38,35.28,0.760,6,0.000,0.038,2030,3043,505,0,0,0,0,0,0
$GC,2047,0.60,424.7,23.2,11.2,319,2053,0.00,1.38,0.00,0.000,4,0.000,0.047,2026,3918,503,0,0,0,0,0,0
$STATE,2220,end climb,SURFACE_DEPTH_REACHED
$STATE,2220,begin surface coast
$FINISH,0.4,1.025214
$STATE,2251,end surface coast,CONTROL_FINISHED_OK
$STATE,2251,begin surface
$SM_CCo,2329,0.00,0.000,0,0,502,403.51
$SM_GC,1.22,5.05,0.00,0.00,0.031,0.000,0.000,61,3187,502,-5.55,-0.37,403.51
$IRIDIUM_FIX,-3353.88,2557.80,220308,181806
$TT8_MAMPS,0.026964
$HUMID,58.86
$INTERNAL_PRESSURE,11.4079
$TCM_TEMP,19.70
$XPDR_PINGS,0
$24V_AH,23.8,89.225
$10V_AH,10.3,41.427
$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,12.350,12.075,262.725,0.000,0.000,38.136,19.392,294.494,2.500,0.000,36.310,783.146,416.135,284.050,1186.272,232.930,0.000,651.423,0.000,827.364,0.000,15.769,0.000
$DEVICE_MAMPS,212.670,61.965,987.615,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,238.617,149.783,94.119,465.386,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,4.380,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,332624
$DATA_FILE_SIZE,20340,353
$CAP_FILE_SIZE,42267,0
$CFSIZE,259252224,227778560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270515,073905,-3407.479,2600.101,12,1.8,12,-27.6