version: 66.07
glider: 543
mission: 11
dive: 159
start: 4 26 115 11 34 29
data:
$ID,543
$MISSION,11
$DIVE,159
$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,-15745.208
$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,50
$R_STBD_OVSHOOT,26
$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
$GPS1,260415,112709,-3426.541,2555.544,19,4.7,38,-27.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-67.1
$GPS2,260415,113403,-3426.613,2555.437,18,1.3,32,-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,326.6,11872,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.44,-170.4,0.0,0.0,0,83,0.00,0.00,-65.68,0.000,6,0.000,0.000,63,3218,2496,0,0,0,0,0,0
$GC,85,-0.44,-170.4,3.1,-3.2,8,103,6.50,1.40,0.00,0.000,4,0.222,0.031,1726,2303,2498,0,0,0,0,0,0
$GC,163,-0.44,-170.4,23.1,-15.9,20,172,0.00,1.48,0.00,0.000,6,0.000,0.051,1719,3212,2502,0,0,0,0,0,0
$GC,315,-0.44,-170.4,43.6,-9.0,45,322,0.00,1.17,0.00,0.000,4,0.000,0.057,1714,3955,2502,0,0,0,0,0,0
$GC,566,-0.44,-170.4,70.7,-10.8,90,574,0.00,1.12,0.00,0.000,6,0.000,0.034,1714,3196,2505,0,0,0,0,0,0
$GC,908,-0.44,-170.4,104.5,-10.3,147,912,0.00,1.17,0.00,0.000,4,0.000,0.057,1709,3941,2506,0,0,0,0,0,0
$GC,942,-0.44,-170.4,108.6,-12.4,150,945,0.00,1.10,0.00,0.000,6,0.000,0.035,1708,3202,2507,0,0,0,0,0,0
$GC,1272,-0.44,-170.4,145.2,-11.4,181,1273,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,3203,2508,0,0,0,0,0,0
$GC,1591,-0.44,-170.4,179.0,-10.0,211,1595,0.00,1.17,0.00,0.000,4,0.000,0.058,1703,3943,2508,0,0,0,0,0,0
$GC,1625,-0.44,-170.4,182.7,-10.6,214,1629,0.00,1.10,0.00,0.000,6,0.000,0.036,1704,3201,2507,0,0,0,0,0,0
$GC,1955,-0.44,-170.4,219.4,-11.2,245,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,1703,3201,2507,0,0,0,0,0,0
$GC,2274,-0.44,-170.4,254.0,-10.7,275,2278,0.00,1.17,0.00,0.000,4,0.000,0.059,1698,3948,2507,0,0,0,0,0,0
$GC,2342,-0.44,-170.4,262.4,-13.7,281,2345,0.00,1.10,0.00,0.000,6,0.000,0.037,1698,3208,2507,0,0,0,0,0,0
$GC,2671,-0.44,-170.4,299.3,-11.6,312,2673,0.00,0.00,0.00,0.000,6,0.000,0.000,1698,3207,2507,0,0,0,0,0,0
$GC,2990,-0.44,-170.4,337.1,-11.5,342,2994,0.00,1.15,0.00,0.000,4,0.000,0.060,1692,3936,2507,0,0,0,0,0,0
$GC,3105,-0.44,-170.4,351.1,-11.9,352,3113,0.12,1.12,0.00,0.000,6,0.170,0.037,1725,3197,2507,0,0,0,0,0,0
$GC,3431,-0.44,-170.4,379.7,-8.4,383,3432,0.00,0.00,0.00,0.000,6,0.000,0.000,1725,3197,2507,0,0,0,0,0,0
$GC,3757,-0.44,-170.4,408.2,-9.2,410,3758,0.00,0.00,0.00,0.000,6,0.000,0.000,1724,3197,2506,0,0,0,0,0,0
$GC,4067,-0.44,-170.4,437.5,-9.4,425,4068,0.00,0.00,0.00,0.000,6,0.000,0.000,1725,3197,2505,0,0,0,0,0,0
$STATE,4110,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4110,begin apogee
$GC,4114,-0.11,0.0,441.5,9.8,427,4275,0.35,0.00,157.55,1.417,6,0.142,0.000,1832,3059,1799,0,0,0,0,0,0
$STATE,4275,end apogee,CONTROL_FINISHED_OK
$STATE,4276,begin climb
$GC,4277,0.44,170.4,447.9,0.0,435,4434,0.52,1.52,150.35,1.366,4,0.086,0.055,2011,3936,1105,0,0,0,0,0,0
$GC,4477,0.44,170.4,422.8,16.0,444,4485,0.00,1.48,0.00,0.000,6,0.000,0.035,2018,3037,1103,0,0,0,0,0,0
$GC,4799,0.44,170.4,373.9,15.9,468,4802,0.00,1.48,0.00,0.000,4,0.000,0.060,2018,3921,1101,0,0,0,0,0,0
$GC,4843,0.44,170.4,366.1,18.7,472,4847,0.00,1.38,0.00,0.000,6,0.000,0.037,2024,3047,1100,0,0,0,0,0,0
$GC,5174,0.44,170.4,310.0,16.6,503,5177,0.00,1.45,0.00,0.000,4,0.000,0.060,2025,3930,1099,0,0,0,0,0,0
$GC,5200,0.44,170.4,304.9,18.7,505,5208,0.00,1.40,0.00,0.000,6,0.000,0.037,2032,3041,1099,0,0,0,0,0,0
$GC,5525,0.44,170.4,250.8,18.0,536,5529,0.00,1.45,0.00,0.000,4,0.000,0.060,2031,3926,1099,0,0,0,0,0,0
$GC,5604,0.44,170.4,235.4,19.9,543,5608,0.00,1.35,0.00,0.000,6,0.000,0.037,2038,3049,1098,0,0,0,0,0,0
$GC,5934,0.44,170.4,175.1,18.5,574,5938,0.00,1.42,0.00,0.000,4,0.000,0.060,2038,3927,1098,0,0,0,0,0,0
$GC,6001,0.44,170.4,162.1,18.3,580,6005,0.08,1.35,0.00,0.000,6,0.186,0.038,2022,3049,1098,0,0,0,0,0,0
$GC,6331,0.44,170.4,111.3,15.2,611,6335,0.00,1.33,0.00,0.000,4,0.000,0.036,2028,2161,1098,0,0,0,0,0,0
$GC,6346,0.44,170.4,108.7,14.8,612,6354,0.00,1.45,0.00,0.000,6,0.000,0.051,2028,3059,1098,0,0,0,0,0,0
$GC,6687,0.44,170.4,57.6,13.1,668,6695,0.00,1.40,0.00,0.000,4,0.000,0.059,2028,3930,1097,0,0,0,0,0,0
$GC,6881,0.44,170.4,24.9,15.6,701,6887,0.00,1.35,0.00,0.000,6,0.000,0.037,2035,3041,1096,0,0,0,0,0,0
$GC,7034,0.44,170.4,6.1,11.4,726,7044,0.00,1.30,0.00,0.000,4,0.000,0.035,2041,2160,1094,0,0,0,0,0,0
$GC,7058,0.44,170.4,3.8,10.5,729,7066,0.00,1.42,0.00,0.000,6,0.000,0.052,2042,3055,1094,0,0,0,0,0,0
$STATE,7074,end climb,SURFACE_DEPTH_REACHED
$STATE,7074,begin surface coast
$FINISH,0.3,1.025394
$STATE,7112,end surface coast,CONTROL_FINISHED_OK
$STATE,7112,begin surface
$SM_CCo,7124,32.92,0.138,0,0,778,250.20
$SM_GC,1.38,0.00,0.00,32.92,0.000,0.000,0.138,60,3230,778,-5.65,0.85,250.20
$IRIDIUM_FIX,-3417.32,2552.98,200208,212128
$TT8_MAMPS,0.027713
$HUMID,59.09
$INTERNAL_PRESSURE,11.2418
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,441.5,7.9
$24V_AH,23.1,18.313
$10V_AH,10.3,7.277
$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,12.950,37.225,307.900,32.925,0.000,25.367,30.411,230.136,6.750,0.000,35.100,1858.102,3450.741,404.037,1759.586,108.043,0.000,1065.770,0.000,1408.640,0.000,49.399,0.000
$DEVICE_MAMPS,221.850,70.380,1416.780,138.465,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,511.270,451.246,143.942,370.201,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,4.380,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,332472
$DATA_FILE_SIZE,43624,737
$CAP_FILE_SIZE,84171,0
$CFSIZE,259252224,253308928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.207, 66.3,1
$GPS,260415,133439,-3425.862,2555.291,18,1.1,18,-27.9