version: 66.07
glider: 543
mission: 6
dive: 481
start: 3 7 113 2 39 46
data:
$ID,543
$MISSION,6
$DIVE,481
$D_SURF,3
$D_FLARE,3
$D_TGT,50
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,5
$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,15
$T_MISSION,30
$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,1
$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,230
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-9289.2031
$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,3400
$C_ROLL_CLIMB,3280
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,18
$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,-55.913475
$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
$DEVICE3,131
$DEVICE4,118
$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,0.0043127281
$SEABIRD_T_H,0.00062185986
$SEABIRD_T_I,2.2048062e-05
$SEABIRD_T_J,2.2117231e-06
$SEABIRD_C_G,-10.303595
$SEABIRD_C_H,1.1762303
$SEABIRD_C_I,-0.001936322
$SEABIRD_C_J,0.00024357962
$GPS1,070313,023155,-4235.902,939.696,14,0.8,16,-25.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-55.4
$GPS2,070313,023849,-4235.892,939.625,26,0.9,27,-25.4
$SPEED_LIMITS,0.192,0.269
$TGT_NAME,FLOAT
$TGT_LATLONG,-4234.355,942.252
$TGT_RADIUS,500.000
$KALMAN_CONTROL,0.269,-0.029
$KALMAN_X,162013.8,-342.6,-741.9,-27161.0,-148.3
$KALMAN_Y,472462.4,-87.1,-768.5,-482452.3,101.0
$MHEAD_RNG_PITCHd_Wd,121.6,4576,-19.1,-11.111
$D_GRID,50
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.58,-146.1,0.0,0.0,0,70,0.00,0.00,-48.45,0.000,2,0.000,0.000,39,3408,2731,0,0,0,0,0,0
$GC,75,-0.58,-146.1,3.4,-4.3,6,101,5.90,2.20,-9.45,0.000,4,0.237,0.043,1433,1980,3072,0,0,0,0,0,0
$GC,229,-0.58,-146.1,17.8,-9.3,28,240,0.00,2.33,0.00,0.000,6,0.000,0.053,1423,3404,3074,0,0,0,0,0,0
$GC,324,-0.58,-146.1,27.6,-10.4,41,332,0.00,0.00,0.00,0.000,6,0.000,0.000,1423,3404,3074,0,0,0,0,0,0
$GC,409,-0.58,-146.1,36.9,-11.2,54,416,0.00,0.00,0.00,0.000,6,0.000,0.000,1423,3404,3074,0,0,0,0,0,0
$STATE,531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,531,begin apogee
$GC,539,-0.13,0.0,50.6,10.9,74,661,0.50,0.00,118.35,0.623,6,0.142,0.000,1575,3275,2472,0,0,0,0,0,0
$STATE,662,end apogee,CONTROL_FINISHED_OK
$STATE,664,begin climb
$GC,667,0.58,146.1,56.8,0.0,90,801,0.70,2.22,118.55,0.603,4,0.103,0.024,1817,1853,1869,0,0,0,0,0,0
$GC,860,0.63,228.0,47.1,7.0,116,934,0.00,2.35,65.53,0.591,6,0.000,0.046,1817,3286,1538,0,0,0,0,0,0
$GC,1193,0.64,242.9,13.3,10.4,166,1202,0.00,1.10,4.62,0.584,4,0.000,0.054,1817,3958,1479,0,0,0,0,0,0
$STATE,1295,end climb,SURFACE_DEPTH_REACHED
$STATE,1295,begin surface coast
$FINISH,1.4,1.026193
$STATE,1308,end surface coast,CONTROL_FINISHED_OK
$STATE,1308,begin surface
$SM_CCo,1384,0.00,0.000,0,0,1482,243.33
$SM_GC,1.76,4.57,0.00,0.00,0.031,0.000,0.000,49,3369,1482,-4.78,-0.88,243.33
$IRIDIUM_FIX,-4221.55,938.80,070313,020248
$TT8_MAMPS,0.026215
$HUMID,53.15
$INTERNAL_PRESSURE,9.07378
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,24.2,75.910
$10V_AH,9.8,56.019
$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,11.675,11.250,307.050,0.000,0.000,34.100,45.494,182.682,0.000,0.000,29.643,384.748,102.013,239.775,787.752,294.557,33.355,546.792,0.000,597.041,0.000,1.014,0.000
$DEVICE_MAMPS,237.150,58.140,622.710,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,120.343,504.204,413.190,390.769,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354388
$DATA_FILE_SIZE,13842,182
$CAP_FILE_SIZE,26118,0
$CFSIZE,259252224,226717696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,070313,030348,-4235.759,939.616,20,0.9,21,-25.4