version: 66.07
glider: 543
mission: 11
dive: 154
start: 4 25 115 19 57 37
data:
$ID,543
$MISSION,11
$DIVE,154
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,650
$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,230
$T_MISSION,245
$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,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52780
$NAV_MODE,2
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-15729.65
$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,1870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$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,3200
$C_ROLL_CLIMB,3050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$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,200
$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
$GPS1,250415,195023,-3430.138,2558.024,38,1.0,38,-28.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-66.0
$GPS2,250415,195711,-3430.217,2557.877,16,1.4,16,-28.0
$SPEED_LIMITS,0.126,0.247
$TGT_NAME,WP_SOUTH
$TGT_LATLONG,-3430.000,2600.000
$TGT_RADIUS,3000.000
$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,117.9,3265,-11.4,-7.246
$D_GRID,500
$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,-0.35,-170.4,0.0,0.0,0,91,0.00,0.00,-71.65,0.000,6,0.000,0.000,52,3200,2495,0,0,0,0,0,0
$GC,93,-0.35,-170.4,3.8,-3.4,9,110,6.68,1.20,0.00,0.000,4,0.220,0.043,1745,3964,2496,0,0,0,0,0,0
$GC,368,-0.35,-170.4,51.0,-12.0,56,377,0.00,1.15,0.00,0.000,6,0.000,0.032,1745,3184,2501,0,0,0,0,0,0
$GC,712,-0.35,-170.4,86.5,-9.8,117,718,0.00,1.20,0.00,0.000,4,0.000,0.054,1740,3952,2502,0,0,0,0,0,0
$GC,860,-0.35,-170.4,99.0,-7.2,143,867,0.00,1.10,0.00,0.000,6,0.000,0.033,1740,3197,2503,0,0,0,0,0,0
$GC,1187,-0.35,-170.4,124.0,-8.8,175,1191,0.00,1.27,0.00,0.000,4,0.000,0.030,1740,2309,2505,0,0,0,0,0,0
$GC,1254,-0.35,-170.4,129.6,-7.8,181,1258,0.00,1.40,0.00,0.000,6,0.000,0.050,1733,3199,2505,0,0,0,0,0,0
$GC,1584,-0.35,-170.4,158.8,-9.3,212,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,3199,2505,0,0,0,0,0,0
$GC,1904,-0.35,-170.4,188.3,-8.8,242,1905,0.00,0.00,0.00,0.000,6,0.000,0.000,1734,3199,2505,0,0,0,0,0,0
$GC,2222,-0.35,-170.4,216.8,-8.8,272,2223,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,3199,2504,0,0,0,0,0,0
$GC,2540,-0.35,-170.4,243.2,-8.1,302,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,3198,2504,0,0,0,0,0,0
$GC,2859,-0.35,-170.4,269.2,-8.0,332,2860,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,3199,2503,0,0,0,0,0,0
$GC,3177,-0.35,-170.4,295.1,-8.0,362,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,3199,2501,0,0,0,0,0,0
$GC,3499,-0.35,-170.4,320.8,-8.3,392,3500,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,3199,2501,0,0,0,0,0,0
$GC,3814,-0.35,-170.4,347.7,-8.7,422,3817,0.00,1.17,0.00,0.000,4,0.000,0.060,1728,3949,2499,0,0,0,0,0,0
$GC,3870,-0.35,-170.4,352.9,-10.3,427,3874,0.00,1.10,0.00,0.000,6,0.000,0.038,1728,3210,2499,0,0,0,0,0,0
$GC,4200,-0.35,-170.4,383.0,-9.1,458,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,1728,3209,2498,0,0,0,0,0,0
$GC,4516,-0.35,-170.4,412.2,-9.3,482,4517,0.00,0.00,0.00,0.000,6,0.000,0.000,1728,3209,2497,0,0,0,0,0,0
$GC,4825,-0.35,-170.4,440.6,-9.1,497,4826,0.00,0.00,0.00,0.000,6,0.000,0.000,1728,3210,2496,0,0,0,0,0,0
$GC,5134,-0.35,-170.4,468.7,-9.0,512,5138,0.00,1.33,0.00,0.000,4,0.000,0.035,1728,2308,2495,0,0,0,0,0,0
$GC,5183,-0.35,-170.4,473.2,-8.7,514,5189,0.12,1.45,0.00,0.000,6,0.156,0.054,1761,3207,2495,0,0,0,0,0,0
$GC,5512,-0.35,-170.4,493.3,-6.0,530,5513,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,3207,2494,0,0,0,0,0,0
$STATE,5634,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5634,begin apogee
$GC,5638,-0.11,0.0,500.9,6.2,536,5796,0.22,0.00,152.43,1.417,6,0.129,0.000,1834,3060,1800,0,0,0,0,0,0
$STATE,5797,end apogee,CONTROL_FINISHED_OK
$STATE,5797,begin climb
$GC,5798,0.35,170.4,503.6,0.0,544,5954,0.45,0.00,150.52,1.411,6,0.105,0.000,1979,3059,1105,0,0,0,0,0,0
$GC,6276,0.35,181.8,469.9,6.9,567,6291,0.00,1.42,10.48,1.275,4,0.000,0.059,1978,3927,1060,0,0,0,0,0,0
$GC,6368,0.35,181.8,462.4,9.6,571,6373,0.00,1.40,0.00,0.000,6,0.000,0.037,1986,3045,1063,0,0,0,0,0,0
$GC,6695,0.35,181.8,429.2,10.0,587,6696,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,3045,1063,0,0,0,0,0,0
$GC,7005,0.35,181.8,398.3,10.1,602,7008,0.00,1.45,0.00,0.000,4,0.000,0.063,1986,3929,1063,0,0,0,0,0,0
$GC,7053,0.35,181.8,392.3,13.2,606,7061,0.00,1.38,0.00,0.000,6,0.000,0.038,1993,3046,1063,0,0,0,0,0,0
$GC,7379,0.35,181.8,355.3,11.4,637,7382,0.00,1.42,0.00,0.000,4,0.000,0.062,1993,3920,1062,0,0,0,0,0,0
$GC,7427,0.35,181.8,348.7,14.1,641,7435,0.00,1.35,0.00,0.000,6,0.000,0.038,1999,3047,1062,0,0,0,0,0,0
$GC,7753,0.35,181.8,307.6,12.9,672,7757,0.00,1.42,0.00,0.000,4,0.000,0.061,1999,3926,1062,0,0,0,0,0,0
$GC,7799,0.35,181.8,300.8,15.9,676,7802,0.00,1.33,0.00,0.000,6,0.000,0.038,2006,3057,1061,0,0,0,0,0,0
$GC,8129,0.35,181.8,254.2,13.7,707,8132,0.00,1.40,0.00,0.000,4,0.000,0.061,2006,3924,1061,0,0,0,0,0,0
$GC,8166,0.35,181.8,248.3,16.8,710,8174,0.00,1.35,0.00,0.000,6,0.000,0.038,2013,3046,1061,0,0,0,0,0,0
$GC,8492,0.35,181.8,200.8,13.9,741,8493,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,3046,1061,0,0,0,0,0,0
$GC,8811,0.35,181.8,156.1,14.0,771,8812,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,3045,1061,0,0,0,0,0,0
$GC,9131,0.35,181.8,111.6,14.4,801,9135,0.00,1.42,0.00,0.000,4,0.000,0.061,2013,3930,1061,0,0,0,0,0,0
$GC,9166,0.35,181.8,106.4,15.0,804,9170,0.10,1.33,0.00,0.000,6,0.164,0.038,1989,3056,1061,0,0,0,0,0,0
$GC,9503,0.35,181.8,72.2,9.3,860,9511,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,3056,1060,0,0,0,0,0,0
$GC,9849,0.37,208.8,45.6,6.5,921,9869,0.00,1.40,12.07,0.848,4,0.000,0.057,1989,3940,946,0,0,0,0,0,0
$GC,9892,0.37,208.8,42.0,8.2,928,9901,0.00,1.35,0.00,0.000,6,0.000,0.037,1994,3046,947,0,0,0,0,0,0
$GC,10248,0.37,217.7,17.8,7.0,989,10257,0.00,1.27,3.85,0.570,4,0.000,0.034,2001,2173,908,0,0,0,0,0,0
$GC,10290,0.37,217.7,14.4,8.2,995,10300,0.00,1.38,0.00,0.000,6,0.000,0.050,2001,3042,910,0,0,0,0,0,0
$GC,10351,0.37,217.7,10.1,7.2,1004,10360,0.00,1.40,0.00,0.000,4,0.000,0.056,2001,3930,910,0,0,0,0,0,0
$GC,10375,0.39,247.3,8.6,6.4,1007,10393,0.00,1.33,12.68,0.686,6,0.000,0.034,2007,3043,787,0,0,0,0,0,0
$STATE,10443,end climb,SURFACE_DEPTH_REACHED
$STATE,10443,begin surface coast
$FINISH,0.4,1.005245
$STATE,10482,end surface coast,CONTROL_FINISHED_OK
$STATE,10482,begin surface
$SM_CCo,10494,0.95,0.255,0,0,777,250.20
$SM_GC,1.58,0.00,0.00,0.95,0.000,0.000,0.255,67,3217,777,-5.64,0.48,250.20
$IRIDIUM_FIX,-3414.71,2555.33,200208,060602
$TT8_MAMPS,0.026964
$HUMID,55.00
$INTERNAL_PRESSURE,11.3493
$TCM_TEMP,20.70
$XPDR_PINGS,0
$24V_AH,23.2,17.571
$10V_AH,10.4,6.906
$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,12.650,37.650,342.025,0.950,0.000,25.501,22.245,250.306,7.750,0.000,19.023,2554.640,5569.805,408.308,2243.483,134.489,0.000,1275.110,0.000,1897.258,0.000,52.876,0.000
$DEVICE_MAMPS,220.320,68.085,1416.780,254.745,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,710.522,605.703,186.870,495.399,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,4.380,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,332460
$DATA_FILE_SIZE,56844,1023
$CAP_FILE_SIZE,106898,0
$CFSIZE,259252224,253571072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.080,301.4,1
$GPS,250415,225346,-3430.013,2558.942,40,0.8,40,-28.0