version: 66.07
glider: 543
mission: 11
dive: 67
start: 4 21 115 15 41 4
data:
$ID,543
$MISSION,11
$DIVE,67
$D_SURF,3
$D_FLARE,3
$D_TGT,140
$D_ABORT,160
$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,40
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52780
$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,-3415
$TGT_DEFAULT_LON,2600
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,-15511.616
$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,1860
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$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,3246
$C_ROLL_CLIMB,3064
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,1800
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,50
$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
$GPS1,210415,153324,-3423.760,2603.496,38,0.9,38,-27.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-70.3
$GPS2,210415,154041,-3423.836,2603.451,19,0.8,19,-27.9
$SPEED_LIMITS,0.202,0.311
$TGT_NAME,WP1
$TGT_LATLONG,-3430.000,2600.000
$TGT_RADIUS,800.000
$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,232.7,12572,-17.2,-11.667
$D_GRID,140
$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,15,-0.54,-194.7,0.0,0.0,0,88,0.00,0.00,-67.75,0.000,6,0.000,0.000,62,3260,2593,0,0,0,0,0,0
$GC,90,-0.54,-194.7,4.0,-7.0,9,100,6.22,1.40,0.00,0.000,4,0.220,0.035,1682,2349,2594,0,0,0,0,0,0
$GC,357,-0.54,-194.7,56.1,-13.9,55,364,0.00,1.42,0.00,0.000,6,0.000,0.050,1677,3240,2599,0,0,0,0,0,0
$GC,701,-0.54,-194.7,103.1,-13.3,114,705,0.00,1.30,0.00,0.000,4,0.000,0.031,1677,2346,2600,0,0,0,0,0,0
$GC,949,-0.54,-194.7,132.9,-11.7,136,952,0.00,1.42,0.00,0.000,6,0.000,0.052,1671,3244,2601,0,0,0,0,0,0
$STATE,1002,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1002,begin apogee
$GC,1006,-0.12,0.0,140.0,14.4,141,1117,0.47,0.00,107.18,1.176,6,0.145,0.000,1815,3068,1799,0,0,0,0,0,0
$STATE,1117,end apogee,CONTROL_FINISHED_OK
$STATE,1117,begin climb
$GC,1119,0.54,194.7,144.4,0.0,152,1228,0.65,0.00,106.15,1.148,6,0.113,0.000,2024,3069,1004,0,0,0,0,0,0
$GC,1551,0.54,194.7,86.9,13.8,201,1558,0.00,1.42,0.00,0.000,4,0.000,0.056,2024,3950,1001,0,0,0,0,0,0
$GC,1581,0.54,194.7,82.2,14.7,206,1587,0.00,1.35,0.00,0.000,6,0.000,0.034,2030,3061,1001,0,0,0,0,0,0
$GC,1929,0.54,194.7,35.1,13.2,267,1936,0.00,1.30,0.00,0.000,4,0.000,0.033,2037,2171,1000,0,0,0,0,0,0
$GC,1989,0.54,194.7,27.7,11.8,277,1996,0.00,1.42,0.00,0.000,6,0.000,0.050,2037,3070,999,0,0,0,0,0,0
$GC,2138,0.54,194.7,7.6,13.0,302,2146,0.00,1.38,0.00,0.000,4,0.000,0.057,2037,3940,998,0,0,0,0,0,0
$GC,2166,0.54,194.7,4.0,12.7,306,2175,0.00,1.30,0.00,0.000,6,0.000,0.034,2044,3064,998,0,0,0,0,0,0
$STATE,2182,end climb,SURFACE_DEPTH_REACHED
$STATE,2182,begin surface coast
$FINISH,0.1,1.025328
$STATE,2207,end surface coast,CONTROL_FINISHED_OK
$STATE,2207,begin surface
$SM_CCo,2219,22.30,0.138,0,0,775,250.20
$SM_GC,1.08,0.00,0.00,22.30,0.000,0.000,0.138,56,3261,775,-5.64,0.42,250.20
$IRIDIUM_FIX,-3409.50,2600.03,160208,040434
$TT8_MAMPS,0.026964
$HUMID,56.57
$INTERNAL_PRESSURE,11.3297
$TCM_TEMP,17.90
$XPDR_PINGS,0
$24V_AH,23.8,8.719
$10V_AH,10.5,3.138
$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,12.475,14.250,213.325,22.300,0.000,25.687,40.642,279.443,2.500,0.000,22.173,727.649,559.147,284.149,1079.175,49.661,0.000,589.112,0.000,706.663,0.000,16.555,0.000
$DEVICE_MAMPS,219.555,63.495,1175.805,137.700,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,213.324,154.097,79.551,337.072,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,4.380,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334164
$DATA_FILE_SIZE,17028,312
$CAP_FILE_SIZE,40457,0
$CFSIZE,259252224,256655360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210415,161918,-3424.232,2603.539,19,0.9,19,-27.9