version: 66.07
glider: 543
mission: 11
dive: 82
start: 4 22 115 10 34 7
data:
$ID,543
$MISSION,11
$DIVE,82
$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,-15546.524
$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,46
$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
$GPS1,220415,102308,-3426.416,2554.613,17,1.3,18,-27.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-74.4
$GPS2,220415,103343,-3426.460,2554.675,17,1.0,17,-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,9.0,12644,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.49,-194.7,0.0,0.0,0,88,0.00,0.00,-70.00,0.000,6,0.000,0.000,58,3302,2594,0,0,0,0,0,0
$GC,90,-0.49,-194.7,3.3,-5.3,9,100,6.38,1.42,0.00,0.000,4,0.220,0.037,1701,2393,2595,0,0,0,0,0,0
$GC,166,-0.49,-194.7,24.1,-18.2,21,173,0.00,1.48,0.00,0.000,6,0.000,0.054,1696,3288,2601,0,0,0,0,0,0
$GC,310,-0.49,-194.7,44.3,-13.1,46,316,0.00,1.05,0.00,0.000,4,0.000,0.058,1691,3954,2601,0,0,0,0,0,0
$GC,367,-0.49,-194.7,52.4,-14.8,56,376,0.00,1.00,0.00,0.000,6,0.000,0.037,1691,3282,2601,0,0,0,0,0,0
$GC,717,-0.49,-194.7,97.8,-12.4,117,723,0.00,1.33,0.00,0.000,4,0.000,0.033,1691,2386,2603,0,0,0,0,0,0
$GC,808,-0.49,-194.7,108.9,-11.6,127,812,0.00,1.48,0.00,0.000,6,0.000,0.054,1684,3304,2604,0,0,0,0,0,0
$GC,1138,-0.49,-194.7,150.7,-11.8,158,1142,0.00,1.35,0.00,0.000,4,0.000,0.033,1684,2392,2604,0,0,0,0,0,0
$GC,1159,-0.49,-194.7,153.2,-11.4,160,1163,0.00,1.45,0.00,0.000,6,0.000,0.054,1677,3296,2604,0,0,0,0,0,0
$GC,1489,-0.49,-194.7,193.6,-12.6,191,1493,0.00,1.33,0.00,0.000,4,0.000,0.034,1678,2399,2604,0,0,0,0,0,0
$GC,1504,-0.49,-194.7,195.7,-12.7,192,1513,0.12,1.45,0.00,0.000,6,0.168,0.053,1703,3298,2604,0,0,0,0,0,0
$GC,1830,-0.49,-194.7,227.2,-9.9,223,1831,0.00,0.00,0.00,0.000,6,0.000,0.000,1703,3298,2604,0,0,0,0,0,0
$GC,2148,-0.49,-194.7,257.9,-9.9,253,2152,0.00,1.33,0.00,0.000,4,0.000,0.034,1704,2392,2603,0,0,0,0,0,0
$GC,2209,-0.49,-194.7,263.9,-8.9,258,2216,0.00,1.45,0.00,0.000,6,0.000,0.054,1698,3295,2603,0,0,0,0,0,0
$GC,2534,-0.49,-194.7,298.4,-10.9,289,2537,0.00,1.33,0.00,0.000,4,0.000,0.035,1698,2396,2603,0,0,0,0,0,0
$GC,2560,-0.49,-194.7,301.4,-10.5,291,2568,0.00,1.45,0.00,0.000,6,0.000,0.055,1692,3297,2603,0,0,0,0,0,0
$GC,2885,-0.49,-194.7,338.8,-11.8,322,2889,0.00,1.33,0.00,0.000,4,0.000,0.035,1691,2395,2602,0,0,0,0,0,0
$GC,2943,-0.49,-194.7,345.0,-10.2,327,2946,0.00,1.42,0.00,0.000,6,0.000,0.056,1685,3289,2602,0,0,0,0,0,0
$GC,3272,-0.49,-194.7,386.0,-12.8,358,3276,0.00,1.30,0.00,0.000,4,0.000,0.035,1685,2401,2601,0,0,0,0,0,0
$STATE,3309,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3309,begin apogee
$GC,3314,-0.12,0.0,390.8,11.7,361,3501,0.43,0.00,178.30,1.407,6,0.140,0.000,1815,3074,1799,0,0,0,0,0,0
$STATE,3502,end apogee,CONTROL_FINISHED_OK
$STATE,3502,begin climb
$GC,3503,0.49,194.7,396.8,0.0,380,3680,0.60,1.48,170.00,1.363,4,0.109,0.057,2006,3942,1005,0,0,0,0,0,0
$GC,3731,0.49,194.7,371.6,16.9,400,3738,0.00,1.40,0.00,0.000,6,0.000,0.037,2013,3073,1004,0,0,0,0,0,0
$GC,4055,0.49,194.7,325.2,13.6,431,4059,0.00,1.38,0.00,0.000,4,0.000,0.036,2020,2175,1002,0,0,0,0,0,0
$GC,4092,0.49,194.7,319.8,14.0,434,4100,0.00,1.48,0.00,0.000,6,0.000,0.051,2020,3065,1001,0,0,0,0,0,0
$GC,4418,0.49,194.7,269.0,16.0,465,4421,0.00,1.42,0.00,0.000,4,0.000,0.059,2020,3952,1000,0,0,0,0,0,0
$GC,4486,0.49,194.7,256.8,19.4,471,4490,0.00,1.35,0.00,0.000,6,0.000,0.038,2027,3068,1000,0,0,0,0,0,0
$GC,4816,0.49,194.7,201.5,16.6,502,4820,0.00,1.33,0.00,0.000,4,0.000,0.036,2034,2181,1000,0,0,0,0,0,0
$GC,4853,0.49,194.7,195.6,14.3,505,4861,0.00,1.45,0.00,0.000,6,0.000,0.053,2034,3071,1000,0,0,0,0,0,0
$GC,5178,0.49,194.7,142.3,16.7,536,5182,0.00,1.40,0.00,0.000,4,0.000,0.060,2034,3955,999,0,0,0,0,0,0
$GC,5249,0.49,194.7,128.5,19.9,542,5257,0.00,1.38,0.00,0.000,6,0.000,0.037,2041,3053,999,0,0,0,0,0,0
$GC,5585,0.49,194.7,70.5,16.6,588,5594,0.00,1.42,0.00,0.000,4,0.000,0.060,2041,3946,999,0,0,0,0,0,0
$GC,5628,0.49,194.7,62.4,20.4,595,5634,0.00,1.33,0.00,0.000,6,0.000,0.039,2047,3067,998,0,0,0,0,0,0
$STATE,5974,end climb,SURFACE_DEPTH_REACHED
$STATE,5974,begin surface coast
$FINISH,0.3,1.001894
$STATE,6000,end surface coast,CONTROL_FINISHED_OK
$STATE,6000,begin surface
$SM_CCo,6012,22.85,0.140,0,0,776,250.20
$SM_GC,0.73,0.00,0.00,22.85,0.000,0.000,0.140,59,3306,776,-5.63,0.34,250.20
$IRIDIUM_FIX,-3412.10,2557.68,160208,222226
$TT8_MAMPS,0.027713
$HUMID,59.60
$INTERNAL_PRESSURE,11.2125
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,340.0,70.5
$24V_AH,23.2,10.963
$10V_AH,10.4,3.797
$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,12.750,41.175,348.300,22.850,0.000,26.152,42.972,465.353,4.500,0.000,20.140,1524.390,2818.662,422.840,1820.959,99.018,0.000,1038.299,0.000,1256.002,0.000,32.396,0.000
$DEVICE_MAMPS,219.555,66.555,1406.835,139.995,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,453.877,422.468,131.600,316.979,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,4.380,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,333960
$DATA_FILE_SIZE,37000,659
$CAP_FILE_SIZE,81296,0
$CFSIZE,259252224,256073728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220415,121552,-3425.634,2554.589,35,0.8,36,-27.9