version: 66.07
glider: 543
mission: 11
dive: 78
start: 4 22 115 3 39 52
data:
$ID,543
$MISSION,11
$DIVE,78
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$D_ABORT,380
$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,120
$T_MISSION,130
$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,-15537.198
$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,3294
$C_ROLL_CLIMB,3064
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,24
$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,180
$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
$GPS1,220415,033023,-3428.487,2556.779,14,1.0,15,-27.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-73.2
$GPS2,220415,033929,-3428.572,2556.632,16,0.9,16,-27.9
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,WP_NORTH
$TGT_LATLONG,-3420.000,2552.000
$TGT_RADIUS,2000.000
$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,3.9,17385,-14.9,-10.000
$D_GRID,360
$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,-0.48,-194.7,0.0,0.0,0,89,0.00,0.00,-69.85,0.000,6,0.000,0.000,61,3295,2594,0,0,0,0,0,0
$GC,91,-0.48,-194.7,3.6,-6.1,9,101,6.32,1.05,0.00,0.000,4,0.219,0.044,1693,3965,2595,0,0,0,0,0,0
$GC,158,-0.48,-194.7,27.5,-24.6,20,167,0.00,1.00,0.00,0.000,6,0.000,0.037,1693,3295,2600,0,0,0,0,0,0
$GC,305,-0.48,-194.7,51.6,-15.2,45,312,0.00,1.02,0.00,0.000,4,0.000,0.058,1688,3946,2601,0,0,0,0,0,0
$GC,444,-0.48,-194.7,70.2,-12.4,69,451,0.00,0.98,0.00,0.000,6,0.000,0.036,1688,3290,2601,0,0,0,0,0,0
$GC,783,-0.48,-194.7,114.1,-12.9,120,786,0.00,1.02,0.00,0.000,4,0.000,0.058,1683,3946,2603,0,0,0,0,0,0
$GC,805,-0.48,-194.7,116.9,-12.3,122,808,0.00,0.95,0.00,0.000,6,0.000,0.037,1683,3298,2603,0,0,0,0,0,0
$GC,1136,-0.48,-194.7,162.3,-13.7,153,1140,0.00,1.33,0.00,0.000,4,0.000,0.033,1683,2396,2604,0,0,0,0,0,0
$GC,1196,-0.48,-194.7,170.1,-12.3,158,1204,0.00,1.45,0.00,0.000,6,0.000,0.053,1676,3297,2604,0,0,0,0,0,0
$GC,1521,-0.48,-194.7,214.4,-14.0,189,1525,0.00,1.33,0.00,0.000,4,0.000,0.033,1677,2389,2604,0,0,0,0,0,0
$GC,1559,-0.48,-194.7,219.5,-12.2,192,1568,0.12,1.48,0.00,0.000,6,0.167,0.053,1702,3305,2604,0,0,0,0,0,0
$GC,1884,-0.48,-194.7,256.3,-10.5,223,1888,0.00,1.33,0.00,0.000,4,0.000,0.034,1702,2398,2604,0,0,0,0,0,0
$GC,1962,-0.48,-194.7,264.2,-9.5,230,1966,0.00,1.42,0.00,0.000,6,0.000,0.054,1697,3291,2604,0,0,0,0,0,0
$GC,2293,-0.48,-194.7,300.5,-11.7,261,2297,0.00,1.30,0.00,0.000,4,0.000,0.034,1697,2402,2604,0,0,0,0,0,0
$GC,2319,-0.48,-194.7,303.7,-11.6,263,2327,0.00,1.45,0.00,0.000,6,0.000,0.054,1690,3302,2603,0,0,0,0,0,0
$GC,2645,-0.48,-194.7,343.9,-12.3,294,2648,0.00,1.33,0.00,0.000,4,0.000,0.034,1690,2397,2603,0,0,0,0,0,0
$GC,2750,-0.48,-194.7,355.9,-10.7,303,2757,0.00,1.45,0.00,0.000,6,0.000,0.055,1683,3294,2602,0,0,0,0,0,0
$STATE,2788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2788,begin apogee
$GC,2792,-0.12,0.0,360.3,11.9,307,2974,0.45,0.00,177.62,1.381,6,0.148,0.000,1819,3066,1799,0,0,0,0,0,0
$STATE,2975,end apogee,CONTROL_FINISHED_OK
$STATE,2975,begin climb
$GC,2976,0.48,194.7,364.3,0.0,325,3155,0.60,0.00,169.40,1.327,6,0.112,0.000,2009,3066,1005,0,0,0,0,0,0
$GC,3472,0.48,194.7,300.3,13.8,372,3475,0.00,1.45,0.00,0.000,4,0.000,0.059,2009,3949,1002,0,0,0,0,0,0
$GC,3494,0.48,194.7,297.0,15.1,374,3498,0.00,1.38,0.00,0.000,6,0.000,0.037,2016,3062,1001,0,0,0,0,0,0
$GC,3825,0.48,194.7,248.2,15.0,405,3829,0.00,1.33,0.00,0.000,4,0.000,0.035,2022,2178,1000,0,0,0,0,0,0
$GC,3847,0.48,194.7,244.8,14.2,407,3851,0.00,1.42,0.00,0.000,6,0.000,0.052,2022,3062,1001,0,0,0,0,0,0
$GC,4177,0.48,194.7,193.3,15.6,438,4181,0.00,1.40,0.00,0.000,4,0.000,0.058,2022,3941,999,0,0,0,0,0,0
$GC,4244,0.48,194.7,181.5,18.6,444,4248,0.00,1.33,0.00,0.000,6,0.000,0.038,2029,3066,999,0,0,0,0,0,0
$GC,4574,0.48,194.7,127.9,15.8,475,4577,0.00,1.40,0.00,0.000,4,0.000,0.059,2029,3943,999,0,0,0,0,0,0
$GC,4600,0.48,194.7,123.2,17.7,477,4608,0.00,1.35,0.00,0.000,6,0.000,0.037,2035,3060,998,0,0,0,0,0,0
$GC,4939,0.48,194.7,68.0,17.2,525,4945,0.00,1.42,0.00,0.000,4,0.000,0.060,2036,3953,998,0,0,0,0,0,0
$GC,5064,0.48,194.7,42.7,21.4,547,5070,0.00,1.33,0.00,0.000,6,0.000,0.037,2043,3069,997,0,0,0,0,0,0
$STATE,5337,end climb,SURFACE_DEPTH_REACHED
$STATE,5337,begin surface coast
$FINISH,0.2,1.013842
$STATE,5362,end surface coast,CONTROL_FINISHED_OK
$STATE,5362,begin surface
$SM_CCo,5374,22.58,0.140,0,0,778,250.20
$SM_GC,1.21,0.00,0.00,22.58,0.000,0.000,0.140,59,3303,778,-5.63,0.28,250.20
$IRIDIUM_FIX,-3414.71,2558.83,160208,151536
$TT8_MAMPS,0.027713
$HUMID,59.05
$INTERNAL_PRESSURE,11.2516
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,23.4,10.307
$10V_AH,10.4,3.590
$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,12.650,34.375,347.025,22.575,0.000,25.153,26.927,394.412,4.750,0.000,18.547,1383.602,2446.722,416.758,1631.919,79.828,0.000,973.422,0.000,1146.247,0.000,33.085,0.000
$DEVICE_MAMPS,218.790,67.320,1380.825,139.995,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,411.851,381.520,119.563,310.525,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,4.380,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334000
$DATA_FILE_SIZE,33643,598
$CAP_FILE_SIZE,72634,0
$CFSIZE,259252224,256253952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220415,051104,-3428.048,2555.933,42,1.2,42,-27.9