version: 66.07
glider: 543
mission: 11
dive: 80
start: 4 22 115 6 57 59
data:
$ID,543
$MISSION,11
$DIVE,80
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,440
$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,130
$T_MISSION,140
$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,-15541.884
$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,25
$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
$GPS1,220415,064859,-3427.640,2555.364,13,1.4,14,-27.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-72.5
$GPS2,220415,065736,-3427.725,2555.300,17,1.0,17,-27.9
$SPEED_LIMITS,0.178,0.297
$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,8.5,15171,-15.3,-10.256
$D_GRID,400
$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,-0.49,-194.7,0.0,0.0,0,89,0.00,0.00,-70.18,0.000,6,0.000,0.000,59,3280,2594,0,0,0,0,0,0
$GC,91,-0.49,-194.7,3.5,-5.7,9,100,6.30,1.08,0.00,0.000,4,0.219,0.045,1689,3962,2596,0,0,0,0,0,0
$GC,126,-0.49,-194.7,17.4,-38.1,14,135,0.00,1.00,0.00,0.000,6,0.000,0.037,1688,3296,2600,0,0,0,0,0,0
$GC,183,-0.49,-194.7,30.1,-19.0,23,190,0.00,1.35,0.00,0.000,4,0.000,0.033,1689,2390,2601,0,0,0,0,0,0
$GC,201,-0.49,-194.7,33.9,-18.5,26,210,0.00,1.48,0.00,0.000,6,0.000,0.053,1682,3295,2601,0,0,0,0,0,0
$GC,346,-0.49,-194.7,54.8,-12.3,51,353,0.00,1.02,0.00,0.000,4,0.000,0.057,1677,3949,2601,0,0,0,0,0,0
$GC,466,-0.49,-194.7,72.1,-14.1,72,474,0.00,0.98,0.00,0.000,6,0.000,0.036,1677,3290,2601,0,0,0,0,0,0
$GC,810,-0.49,-194.7,122.1,-13.9,120,814,0.00,1.33,0.00,0.000,4,0.000,0.033,1677,2391,2603,0,0,0,0,0,0
$GC,903,-0.49,-194.7,134.3,-11.8,128,912,0.12,1.48,0.00,0.000,6,0.168,0.051,1702,3303,2604,0,0,0,0,0,0
$GC,1228,-0.49,-194.7,172.7,-12.0,159,1232,0.00,1.35,0.00,0.000,4,0.000,0.033,1703,2390,2604,0,0,0,0,0,0
$GC,1254,-0.49,-194.7,176.0,-11.7,161,1263,0.00,1.48,0.00,0.000,6,0.000,0.053,1697,3302,2604,0,0,0,0,0,0
$GC,1580,-0.49,-194.7,215.9,-11.9,192,1584,0.00,1.33,0.00,0.000,4,0.000,0.034,1697,2398,2604,0,0,0,0,0,0
$GC,1625,-0.49,-194.7,221.1,-10.4,196,1629,0.00,1.42,0.00,0.000,6,0.000,0.054,1690,3291,2604,0,0,0,0,0,0
$GC,1955,-0.49,-194.7,261.0,-12.2,227,1959,0.00,1.33,0.00,0.000,4,0.000,0.034,1690,2389,2604,0,0,0,0,0,0
$GC,1993,-0.49,-194.7,265.8,-11.4,230,2001,0.00,1.48,0.00,0.000,6,0.000,0.054,1684,3305,2604,0,0,0,0,0,0
$GC,2319,-0.49,-194.7,306.8,-12.4,261,2322,0.00,1.33,0.00,0.000,4,0.000,0.035,1684,2399,2603,0,0,0,0,0,0
$GC,2367,-0.49,-194.7,312.6,-10.5,265,2375,0.00,1.45,0.00,0.000,6,0.000,0.054,1677,3297,2603,0,0,0,0,0,0
$GC,2693,-0.49,-194.7,354.1,-13.3,296,2697,0.00,1.33,0.00,0.000,4,0.000,0.035,1677,2392,2603,0,0,0,0,0,0
$GC,2738,-0.49,-194.7,359.6,-11.6,300,2743,0.08,1.42,0.00,0.000,6,0.148,0.057,1695,3285,2603,0,0,0,0,0,0
$GC,3068,-0.49,-194.7,395.8,-10.7,331,3069,0.00,0.00,0.00,0.000,6,0.000,0.000,1694,3285,2602,0,0,0,0,0,0
$STATE,3110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3110,begin apogee
$GC,3114,-0.12,0.0,400.4,10.6,335,3296,0.40,0.00,179.48,1.426,6,0.140,0.000,1819,3059,1799,0,0,0,0,0,0
$STATE,3297,end apogee,CONTROL_FINISHED_OK
$STATE,3297,begin climb
$GC,3299,0.49,194.7,403.8,0.0,344,3479,0.60,1.55,171.23,1.372,4,0.112,0.056,2008,3950,1005,0,0,0,0,0,0
$GC,3506,0.49,194.7,378.8,15.9,360,3514,0.00,1.45,0.00,0.000,6,0.000,0.036,2015,3065,1003,0,0,0,0,0,0
$GC,3831,0.49,194.7,327.7,15.3,391,3835,0.00,1.45,0.00,0.000,4,0.000,0.059,2015,3949,1001,0,0,0,0,0,0
$GC,3868,0.49,194.7,321.1,17.6,394,3876,0.00,1.40,0.00,0.000,6,0.000,0.037,2022,3054,1001,0,0,0,0,0,0
$GC,4194,0.49,194.7,268.3,15.9,425,4197,0.00,1.45,0.00,0.000,4,0.000,0.060,2022,3948,1000,0,0,0,0,0,0
$GC,4221,0.49,194.7,263.5,17.3,427,4228,0.00,1.35,0.00,0.000,6,0.000,0.038,2029,3067,999,0,0,0,0,0,0
$GC,4546,0.49,194.7,209.5,17.1,458,4549,0.00,1.42,0.00,0.000,4,0.000,0.060,2029,3952,999,0,0,0,0,0,0
$GC,4568,0.49,194.7,205.7,17.4,460,4571,0.00,1.35,0.00,0.000,6,0.000,0.038,2035,3063,999,0,0,0,0,0,0
$GC,4897,0.49,194.7,147.1,17.9,491,4898,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,3062,999,0,0,0,0,0,0
$GC,5223,0.49,194.7,90.4,17.5,525,5230,0.00,1.33,0.00,0.000,4,0.000,0.036,2042,2173,998,0,0,0,0,0,0
$GC,5241,0.49,194.7,86.4,17.7,528,5250,0.00,1.42,0.00,0.000,6,0.000,0.053,2042,3066,998,0,0,0,0,0,0
$GC,5593,0.49,194.7,23.0,14.6,589,5600,0.00,1.42,0.00,0.000,4,0.000,0.059,2042,3959,997,0,0,0,0,0,0
$GC,5689,0.49,194.7,7.0,16.5,605,5699,0.08,1.35,0.00,0.000,6,0.178,0.037,2026,3061,997,0,0,0,0,0,0
$STATE,5717,end climb,SURFACE_DEPTH_REACHED
$STATE,5717,begin surface coast
$FINISH,0.2,1.020620
$STATE,5737,end surface coast,CONTROL_FINISHED_OK
$STATE,5737,begin surface
$SM_CCo,5749,23.05,0.140,0,0,777,250.20
$SM_GC,0.94,0.00,0.00,23.05,0.000,0.000,0.140,60,3308,777,-5.63,0.40,250.20
$IRIDIUM_FIX,-3412.10,2555.33,160208,181844
$TT8_MAMPS,0.026964
$HUMID,59.33
$INTERNAL_PRESSURE,11.2321
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,23.3,10.630
$10V_AH,10.4,3.690
$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,12.775,41.275,350.700,23.050,0.000,25.971,18.656,372.762,5.750,0.000,20.193,1441.054,2715.052,458.784,1600.122,89.981,0.000,1029.276,0.000,1143.879,0.000,39.817,0.000
$DEVICE_MAMPS,218.790,63.495,1425.960,139.995,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,421.861,386.351,118.237,284.028,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,4.380,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,334004
$DATA_FILE_SIZE,33578,612
$CAP_FILE_SIZE,77402,0
$CFSIZE,259252224,256167936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220415,083522,-3427.088,2554.855,37,1.0,38,-27.9