version: 66.07
glider: 543
mission: 11
dive: 158
start: 4 26 115 8 26 53
data:
$ID,543
$MISSION,11
$DIVE,158
$D_SURF,3
$D_FLARE,3
$D_TGT,700
$D_ABORT,800
$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,240
$T_MISSION,255
$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,-15742.478
$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,30
$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
$GPS1,260415,081825,-3427.944,2555.583,28,1.9,28,-27.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-63.7
$GPS2,260415,082627,-3428.016,2555.370,28,1.3,42,-27.9
$SPEED_LIMITS,0.168,0.275
$TGT_NAME,WP_SOUTH
$TGT_LATLONG,-3420.460,2553.260
$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,350.3,14361,-15.6,-9.722
$D_GRID,700
$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,-0.44,-170.4,0.0,0.0,0,83,0.00,0.00,-63.47,0.000,6,0.000,0.000,61,3197,2495,0,0,0,0,0,0
$GC,85,-0.44,-170.4,4.1,-5.5,8,95,6.47,1.38,0.00,0.000,4,0.219,0.030,1724,2310,2496,0,0,0,0,0,0
$GC,248,-0.44,-170.4,37.4,-11.2,35,255,0.00,1.45,0.00,0.000,6,0.000,0.050,1719,3193,2502,0,0,0,0,0,0
$GC,391,-0.44,-170.4,54.1,-10.9,60,400,0.00,1.20,0.00,0.000,4,0.000,0.055,1713,3952,2502,0,0,0,0,0,0
$GC,484,-0.44,-170.4,63.9,-11.0,76,493,0.00,1.12,0.00,0.000,6,0.000,0.034,1714,3190,2503,0,0,0,0,0,0
$GC,829,-0.44,-170.4,94.4,-9.2,137,837,0.00,1.20,0.00,0.000,4,0.000,0.056,1708,3953,2506,0,0,0,0,0,0
$GC,1013,-0.44,-170.4,113.7,-10.8,158,1016,0.00,1.10,0.00,0.000,6,0.000,0.033,1708,3203,2507,0,0,0,0,0,0
$GC,1342,-0.44,-170.4,149.1,-10.9,189,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,1708,3203,2507,0,0,0,0,0,0
$GC,1662,-0.44,-170.4,182.8,-10.1,219,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,1708,3203,2507,0,0,0,0,0,0
$GC,1980,-0.44,-170.4,215.7,-10.6,249,1983,0.00,1.30,0.00,0.000,4,0.000,0.032,1708,2308,2507,0,0,0,0,0,0
$GC,2006,-0.44,-170.4,218.7,-10.8,251,2014,0.00,1.45,0.00,0.000,6,0.000,0.050,1701,3211,2507,0,0,0,0,0,0
$GC,2332,-0.44,-170.4,254.3,-11.4,282,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,1701,3211,2507,0,0,0,0,0,0
$GC,2650,-0.44,-170.4,289.8,-11.0,312,2655,0.00,1.33,0.00,0.000,4,0.000,0.033,1701,2305,2506,0,0,0,0,0,0
$GC,2709,-0.44,-170.4,296.1,-10.0,317,2719,0.12,1.45,0.00,0.000,6,0.164,0.052,1733,3205,2506,0,0,0,0,0,0
$GC,3035,-0.44,-170.4,322.4,-8.6,348,3039,0.00,1.30,0.00,0.000,4,0.000,0.034,1733,2313,2506,0,0,0,0,0,0
$GC,3069,-0.44,-170.4,325.0,-7.8,351,3073,0.00,1.42,0.00,0.000,6,0.000,0.054,1728,3207,2506,0,0,0,0,0,0
$GC,3400,-0.44,-170.4,351.6,-8.1,382,3404,0.00,1.15,0.00,0.000,4,0.000,0.060,1723,3944,2504,0,0,0,0,0,0
$GC,3472,-0.44,-170.4,358.0,-8.9,388,3479,0.00,1.12,0.00,0.000,6,0.000,0.037,1722,3199,2504,0,0,0,0,0,0
$GC,3797,-0.44,-170.4,388.9,-9.4,419,3801,0.00,1.17,0.00,0.000,4,0.000,0.060,1717,3941,2503,0,0,0,0,0,0
$GC,3868,-0.44,-170.4,396.6,-10.4,425,3877,0.00,1.12,0.00,0.000,6,0.000,0.037,1717,3198,2503,0,0,0,0,0,0
$GC,4197,-0.44,-170.4,436.5,-15.2,443,4200,0.00,1.17,0.00,0.000,4,0.000,0.059,1712,3946,2502,0,0,0,0,0,0
$GC,4273,-0.44,-170.4,448.0,-13.7,446,4278,0.00,1.12,0.00,0.000,6,0.000,0.037,1712,3203,2502,0,0,0,0,0,0
$GC,4596,-0.44,-170.4,494.9,-15.7,462,4600,0.00,1.17,0.00,0.000,4,0.000,0.060,1706,3948,2502,0,0,0,0,0,0
$GC,4687,-0.44,-170.4,508.9,-14.8,466,4690,0.00,1.12,0.00,0.000,6,0.000,0.038,1706,3197,2502,0,0,0,0,0,0
$GC,5020,-0.44,-170.4,549.7,-10.3,482,5029,0.00,1.30,0.00,0.000,4,0.000,0.035,1707,2309,2501,0,0,0,0,0,0
$GC,5038,-0.44,-170.4,551.9,-10.2,482,5046,0.00,1.45,0.00,0.000,6,0.000,0.054,1699,3211,2501,0,0,0,0,0,0
$GC,5355,-0.44,-170.4,573.2,-5.1,498,5359,0.00,1.33,0.00,0.000,4,0.000,0.036,1700,2314,2500,0,0,0,0,0,0
$GC,5388,-0.44,-170.4,574.3,-2.7,499,5393,0.08,1.42,0.00,0.000,6,0.143,0.054,1718,3203,2499,0,0,0,0,0,0
$GC,5709,-0.44,-170.4,579.0,-1.9,515,5710,0.00,0.00,0.00,0.000,6,0.000,0.000,1719,3203,2499,0,0,0,0,0,0
$GC,6019,-0.44,-170.4,595.1,-8.6,530,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,1719,3203,2499,0,0,0,0,0,0
$GC,6327,-0.44,-170.4,628.1,-11.2,545,6328,0.00,0.00,0.00,0.000,6,0.000,0.000,1718,3203,2498,0,0,0,0,0,0
$STATE,6532,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6532,begin apogee
$GC,6537,-0.11,0.0,654.5,13.6,555,6703,0.38,0.00,162.98,1.564,6,0.146,0.000,1833,3058,1798,0,0,0,0,0,0
$STATE,6704,end apogee,CONTROL_FINISHED_OK
$STATE,6704,begin climb
$GC,6705,0.44,170.4,654.2,0.0,563,6868,0.52,1.60,154.45,1.509,4,0.097,0.062,2005,3923,1104,0,0,0,0,0,0
$GC,7122,0.44,170.4,597.4,18.1,582,7125,0.00,1.40,0.00,0.000,6,0.000,0.038,2012,3045,1099,0,0,0,0,0,0
$GC,7454,0.44,170.4,529.3,20.7,598,7458,0.00,1.45,0.00,0.000,4,0.000,0.061,2012,3924,1098,0,0,0,0,0,0
$GC,7477,0.44,170.4,524.5,20.7,599,7480,0.00,1.38,0.00,0.000,6,0.000,0.039,2018,3046,1098,0,0,0,0,0,0
$GC,7809,0.44,170.4,459.7,18.2,615,7812,0.00,1.45,0.00,0.000,4,0.000,0.060,2019,3935,1098,0,0,0,0,0,0
$GC,7846,0.44,170.4,452.8,18.5,616,7854,0.00,1.40,0.00,0.000,6,0.000,0.038,2026,3042,1098,0,0,0,0,0,0
$GC,8162,0.44,170.4,399.5,16.1,632,8166,0.00,1.45,0.00,0.000,4,0.000,0.060,2026,3931,1098,0,0,0,0,0,0
$GC,8196,0.44,170.4,394.1,17.4,635,8200,0.00,1.38,0.00,0.000,6,0.000,0.040,2033,3044,1098,0,0,0,0,0,0
$GC,8526,0.44,170.4,337.2,18.1,666,8530,0.00,1.45,0.00,0.000,4,0.000,0.063,2032,3933,1098,0,0,0,0,0,0
$GC,8629,0.44,170.4,317.0,21.5,675,8633,0.00,1.35,0.00,0.000,6,0.000,0.038,2040,3052,1097,0,0,0,0,0,0
$GC,8959,0.44,170.4,259.7,17.9,706,8963,0.00,1.42,0.00,0.000,4,0.000,0.062,2040,3933,1097,0,0,0,0,0,0
$GC,9038,0.44,170.4,243.6,21.7,713,9042,0.10,1.35,0.00,0.000,6,0.187,0.038,2017,3048,1096,0,0,0,0,0,0
$GC,9367,0.44,170.4,192.6,14.7,744,9371,0.00,1.45,0.00,0.000,4,0.000,0.061,2017,3943,1096,0,0,0,0,0,0
$GC,9390,0.44,170.4,189.2,16.2,746,9394,0.00,1.35,0.00,0.000,6,0.000,0.039,2022,3056,1096,0,0,0,0,0,0
$GC,9720,0.44,170.4,137.9,15.9,777,9721,0.00,0.00,0.00,0.000,6,0.000,0.000,2022,3055,1096,0,0,0,0,0,0
$GC,10043,0.44,170.4,85.7,15.2,815,10049,0.00,1.42,0.00,0.000,4,0.000,0.062,2022,3929,1096,0,0,0,0,0,0
$GC,10102,0.44,170.4,75.6,18.3,825,10109,0.00,1.35,0.00,0.000,6,0.000,0.037,2029,3042,1096,0,0,0,0,0,0
$GC,10451,0.44,170.4,29.2,10.6,886,10459,0.00,1.45,0.00,0.000,4,0.000,0.061,2029,3936,1095,0,0,0,0,0,0
$GC,10572,0.44,170.4,14.2,14.8,906,10580,0.00,1.35,0.00,0.000,6,0.000,0.038,2036,3046,1094,0,0,0,0,0,0
$GC,10631,0.44,170.4,7.3,11.4,915,10640,0.00,1.30,0.00,0.000,4,0.000,0.036,2043,2167,1094,0,0,0,0,0,0
$STATE,10671,end climb,SURFACE_DEPTH_REACHED
$STATE,10671,begin surface coast
$FINISH,0.5,1.024999
$STATE,10697,end surface coast,CONTROL_FINISHED_OK
$STATE,10697,begin surface
$SM_CCo,10710,32.62,0.140,0,0,776,250.20
$SM_GC,1.38,0.00,0.00,32.62,0.000,0.000,0.140,66,3216,776,-5.63,0.45,250.20
$IRIDIUM_FIX,-3425.16,2556.41,200208,181801
$TT8_MAMPS,0.026964
$HUMID,58.97
$INTERNAL_PRESSURE,11.2516
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,630.8,43.0
$24V_AH,22.9,18.174
$10V_AH,10.4,7.218
$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,12.800,59.000,317.425,32.625,0.000,37.335,41.171,263.037,11.500,0.000,44.597,2377.250,6040.114,442.348,2240.824,130.942,0.000,1310.977,0.000,1803.669,0.000,80.434,0.000
$DEVICE_MAMPS,218.790,62.730,1563.660,139.995,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,640.463,579.340,147.735,370.200,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,4.380,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,332452
$DATA_FILE_SIZE,53621,925
$CAP_FILE_SIZE,114335,0
$CFSIZE,259252224,253325312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.203, 61.6,1
$GPS,260415,112709,-3426.541,2555.544,19,4.7,38,-27.9