version: 66.07
glider: 543
mission: 11
dive: 160
start: 4 26 115 13 41 32
data:
$ID,543
$MISSION,11
$DIVE,160
$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,-15748.035
$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,49
$R_STBD_OVSHOOT,37
$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
$GPS1,260415,133439,-3425.862,2555.291,18,1.1,18,-27.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-66.9
$GPS2,260415,134106,-3425.873,2555.259,16,1.2,16,-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,325.9,10481,-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,14,-0.44,-170.4,0.0,0.0,0,83,0.00,0.00,-66.15,0.000,6,0.000,0.000,60,3229,2496,0,0,0,0,0,0
$GC,85,-0.44,-170.4,3.2,-3.6,8,103,6.53,1.45,0.00,0.000,4,0.223,0.041,1723,2314,2500,0,0,0,0,0,0
$GC,267,-0.44,-170.4,33.8,-9.4,37,273,0.00,1.42,0.00,0.000,6,0.000,0.053,1718,3188,2504,0,0,0,0,0,0
$GC,412,-0.44,-170.4,45.6,-8.0,62,419,0.00,1.20,0.00,0.000,4,0.000,0.057,1713,3946,2505,0,0,0,0,0,0
$GC,523,-0.44,-170.4,56.7,-10.3,81,530,0.00,1.12,0.00,0.000,6,0.000,0.035,1713,3191,2505,0,0,0,0,0,0
$GC,861,-0.44,-170.4,94.6,-11.1,142,868,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,3191,2508,0,0,0,0,0,0
$GC,1189,-0.44,-170.4,130.3,-10.6,177,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,3191,2509,0,0,0,0,0,0
$GC,1510,-0.44,-170.4,164.6,-10.5,207,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,3191,2509,0,0,0,0,0,0
$GC,1828,-0.44,-170.4,197.4,-10.1,237,1831,0.00,1.30,0.00,0.000,4,0.000,0.033,1713,2306,2508,0,0,0,0,0,0
$GC,1899,-0.44,-170.4,204.4,-8.9,243,1906,0.00,1.42,0.00,0.000,6,0.000,0.052,1706,3199,2508,0,0,0,0,0,0
$GC,2225,-0.44,-170.4,240.0,-11.9,274,2229,0.00,1.17,0.00,0.000,4,0.000,0.059,1700,3952,2508,0,0,0,0,0,0
$GC,2306,-0.44,-170.4,251.1,-14.4,281,2314,0.00,1.12,0.00,0.000,6,0.000,0.036,1700,3203,2509,0,0,0,0,0,0
$GC,2631,-0.44,-170.4,292.4,-12.3,312,2635,0.00,1.17,0.00,0.000,4,0.000,0.059,1695,3952,2508,0,0,0,0,0,0
$GC,2759,-0.44,-170.4,308.0,-12.4,323,2767,0.12,1.12,0.00,0.000,6,0.164,0.037,1727,3202,2508,0,0,0,0,0,0
$GC,3084,-0.44,-170.4,339.1,-10.3,354,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,1727,3201,2507,0,0,0,0,0,0
$STATE,3232,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3232,begin apogee
$GC,3236,-0.11,0.0,354.4,9.5,368,3397,0.32,0.00,157.55,1.355,6,0.133,0.000,1829,3049,1799,0,0,0,0,0,0
$STATE,3399,end apogee,CONTROL_FINISHED_OK
$STATE,3399,begin climb
$GC,3400,0.44,170.4,360.2,0.0,384,3557,0.55,1.60,148.82,1.306,4,0.112,0.057,2003,3932,1104,0,0,0,0,0,0
$GC,3608,0.44,170.4,340.8,13.2,402,3616,0.00,1.42,0.00,0.000,6,0.000,0.036,2010,3056,1102,0,0,0,0,0,0
$GC,3934,0.44,170.4,298.9,13.5,433,3937,0.00,1.45,0.00,0.000,4,0.000,0.060,2010,3934,1099,0,0,0,0,0,0
$GC,3960,0.44,170.4,294.7,14.4,435,3968,0.00,1.40,0.00,0.000,6,0.000,0.037,2017,3046,1099,0,0,0,0,0,0
$GC,4285,0.44,170.4,248.6,14.2,466,4289,0.00,1.45,0.00,0.000,4,0.000,0.060,2017,3929,1098,0,0,0,0,0,0
$GC,4375,0.44,170.4,233.6,17.9,474,4378,0.00,1.35,0.00,0.000,6,0.000,0.037,2023,3055,1098,0,0,0,0,0,0
$GC,4705,0.44,170.4,186.6,13.6,505,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,2024,3054,1097,0,0,0,0,0,0
$GC,5025,0.44,170.4,144.6,13.0,535,5028,0.00,1.42,0.00,0.000,4,0.000,0.061,2024,3929,1097,0,0,0,0,0,0
$GC,5062,0.44,170.4,138.7,15.2,538,5071,0.00,1.38,0.00,0.000,6,0.000,0.036,2030,3040,1096,0,0,0,0,0,0
$GC,5391,0.44,170.4,90.4,15.8,574,5399,0.00,1.45,0.00,0.000,4,0.000,0.060,2030,3939,1096,0,0,0,0,0,0
$GC,5436,0.44,170.4,82.7,19.4,581,5443,0.00,1.35,0.00,0.000,6,0.000,0.037,2037,3050,1096,0,0,0,0,0,0
$GC,5779,0.44,170.4,25.9,16.7,642,5788,0.00,1.42,0.00,0.000,4,0.000,0.060,2037,3935,1095,0,0,0,0,0,0
$GC,5838,0.44,170.4,17.7,14.3,651,5847,0.08,1.35,0.00,0.000,6,0.177,0.037,2021,3045,1095,0,0,0,0,0,0
$GC,5898,0.44,170.4,10.3,11.8,660,5906,0.00,1.33,0.00,0.000,4,0.000,0.035,2027,2150,1094,0,0,0,0,0,0
$GC,5952,0.47,223.5,5.9,7.7,668,5979,0.00,1.42,22.10,0.721,6,0.000,0.053,2026,3048,882,0,0,0,0,0,0
$STATE,5985,end climb,SURFACE_DEPTH_REACHED
$STATE,5985,begin surface coast
$FINISH,0.2,1.024256
$STATE,6018,end surface coast,CONTROL_FINISHED_OK
$STATE,6018,begin surface
$SM_CCo,6030,10.52,0.145,0,0,777,250.20
$SM_GC,1.72,0.00,0.00,10.52,0.000,0.000,0.145,56,3231,777,-5.67,0.88,250.20
$IRIDIUM_FIX,-3409.50,2548.35,210208,000001
$TT8_MAMPS,0.026964
$HUMID,58.46
$INTERNAL_PRESSURE,11.2321
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,291.1,82.9
$24V_AH,23.2,18.448
$10V_AH,10.4,7.332
$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,12.850,32.800,328.475,10.525,0.000,28.097,41.262,214.214,2.750,0.000,18.992,1646.895,2677.861,399.181,1617.153,100.861,0.000,1016.420,0.000,1303.266,0.000,20.710,0.000
$DEVICE_MAMPS,223.380,70.380,1354.815,144.585,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,468.089,415.569,138.262,373.440,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,4.380,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,332480
$DATA_FILE_SIZE,40350,677
$CAP_FILE_SIZE,74759,0
$CFSIZE,259252224,253272064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.153, 82.4,1
$GPS,260415,152323,-3425.473,2555.005,36,1.2,36,-27.9