version: 66.07
glider: 543
mission: 9
dive: 1
start: 12 1 113 20 18 13
data:
$ID,543
$MISSION,9
$DIVE,1
$D_SURF,3
$D_FLARE,3
$D_TGT,25
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,0
$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,9
$T_MISSION,14
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52459
$NAV_MODE,1
$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,-4230
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,472.49722
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-12241.373
$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,1628
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,39
$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,40
$C_ROLL_DIVE,2169
$C_ROLL_CLIMB,2169
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,53
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,2474
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.00061500003
$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,-59.073162
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,15
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.050000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$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,0.00023287861
$GPS1,011213,201335,-4302.522,834.062,14,0.8,14,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.03
$_SM_ANGLEo,-15.4
$GPS2,011213,201753,-4302.501,834.118,20,1.2,20,-25.1
$SPEED_LIMITS,0.160,0.253
$TGT_NAME,ISLAND
$TGT_LATLONG,-3349.625,1820.957
$TGT_RADIUS,500.000
$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,66.5,1365124,-16.3,-9.259
$D_GRID,25
$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,14,-0.51,-146.1,0.0,0.0,0,135,0.00,0.00,-115.15,0.000,6,0.000,0.000,69,2153,3071,0,0,0,0,0,0
$GC,137,-0.51,-146.1,2.4,-3.8,15,147,5.32,2.22,0.00,0.000,4,0.216,0.042,1462,789,3073,0,0,0,0,0,0
$GC,202,-0.51,-146.1,12.6,-11.3,25,210,0.00,2.20,0.00,0.000,6,0.000,0.047,1453,2137,3076,0,0,0,0,0,0
$STATE,256,end dive,TARGET_DEPTH_EXCEEDED
$STATE,256,begin apogee
$GC,260,-0.13,0.0,25.2,25.3,34,323,0.43,0.00,57.75,0.887,6,0.155,0.000,1579,2174,2473,0,0,0,0,0,0
$STATE,324,end apogee,CONTROL_FINISHED_OK
$STATE,324,begin climb
$GC,325,0.51,146.1,36.2,0.0,43,395,0.68,2.35,58.45,0.838,4,0.142,0.044,1788,796,1875,0,0,0,0,0,0
$GC,470,0.58,262.3,34.7,4.3,66,520,0.00,2.28,44.33,0.794,6,0.000,0.046,1788,2165,1401,0,0,0,0,0,0
$GC,662,0.58,262.3,13.5,12.7,97,670,0.00,2.33,0.00,0.000,4,0.000,0.058,1781,3584,1394,0,0,0,0,0,0
$STATE,771,end climb,SURFACE_DEPTH_REACHED
$STATE,771,begin surface coast
$FINISH,-0.1,1.026551
$STATE,808,end surface coast,CONTROL_FINISHED_OK
$STATE,808,begin surface
$SM_CCo,820,81.38,0.714,0,0,545,472.69
$SM_GC,0.25,0.00,0.00,81.38,0.000,0.000,0.714,65,2195,545,-4.89,0.76,472.69
$IRIDIUM_FIX,-4247.91,831.55,011213,202014
$TT8_MAMPS,0.025466
$HUMID,59.25
$INTERNAL_PRESSURE,9.56208
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,24.2,0.927
$10V_AH,10.2,0.323
$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,11.025,13.600,160.525,81.375,0.000,0.000,0.000,0.000,0.000,0.000,22.731,262.912,30.839,274.280,391.620,16.934,0.000,484.434,0.000,383.233,0.000,1.015,0.000
$DEVICE_MAMPS,216.495,160.650,886.635,713.745,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,78.893,326.922,303.953,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355800
$DATA_FILE_SIZE,6982,121
$CAP_FILE_SIZE,33820,0
$CFSIZE,259252224,258260992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011213,203407,-4302.426,834.310,19,0.7,20,-25.1