version: 66.07
glider: 543
mission: 11
dive: 161
start: 4 26 115 15 30 13
data:
$ID,543
$MISSION,11
$DIVE,161
$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,-15750.811
$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,35
$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
$GPS1,260415,152323,-3425.473,2555.005,36,1.2,36,-27.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-66.0
$GPS2,260415,152947,-3425.489,2555.056,16,1.2,16,-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,338.1,9710,-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,-170.4,0.0,0.0,0,89,0.00,0.00,-67.00,0.000,6,0.000,0.000,56,3232,2493,0,0,0,0,0,0
$GC,91,-0.44,-170.4,3.8,-4.8,9,108,6.55,1.42,0.00,0.000,4,0.224,0.033,1721,2305,2497,0,0,0,0,0,0
$GC,260,-0.44,-170.4,30.1,-8.3,37,267,0.00,1.45,0.00,0.000,6,0.000,0.052,1716,3199,2501,0,0,0,0,0,0
$GC,404,-0.44,-170.4,43.6,-9.9,62,410,0.00,1.20,0.00,0.000,4,0.000,0.058,1710,3938,2501,0,0,0,0,0,0
$GC,440,-0.44,-170.4,47.4,-11.0,68,448,0.00,1.12,0.00,0.000,6,0.000,0.035,1710,3194,2501,0,0,0,0,0,0
$GC,786,-0.44,-170.4,84.1,-10.8,129,792,0.00,1.20,0.00,0.000,4,0.000,0.057,1704,3951,2503,0,0,0,0,0,0
$GC,849,-0.44,-170.4,91.2,-11.5,140,858,0.00,1.12,0.00,0.000,6,0.000,0.035,1705,3196,2503,0,0,0,0,0,0
$GC,1186,-0.44,-170.4,129.6,-12.0,178,1190,0.00,1.30,0.00,0.000,4,0.000,0.032,1705,2308,2504,0,0,0,0,0,0
$GC,1209,-0.44,-170.4,132.3,-11.8,180,1213,0.00,1.42,0.00,0.000,6,0.000,0.051,1698,3203,2504,0,0,0,0,0,0
$GC,1539,-0.44,-170.4,172.6,-12.3,211,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,1698,3203,2505,0,0,0,0,0,0
$GC,1858,-0.44,-170.4,212.1,-12.5,241,1861,0.00,1.30,0.00,0.000,4,0.000,0.034,1698,2311,2504,0,0,0,0,0,0
$GC,1913,-0.44,-170.4,218.5,-10.6,246,1918,0.08,1.42,0.00,0.000,6,0.144,0.052,1717,3209,2504,0,0,0,0,0,0
$GC,2243,-0.44,-170.4,253.5,-10.1,277,2247,0.00,1.15,0.00,0.000,4,0.000,0.060,1713,3941,2504,0,0,0,0,0,0
$GC,2426,-0.44,-170.4,274.9,-11.9,293,2430,0.00,1.10,0.00,0.000,6,0.000,0.038,1713,3202,2504,0,0,0,0,0,0
$GC,2757,-0.44,-170.4,312.4,-11.4,324,2760,0.00,1.17,0.00,0.000,4,0.000,0.059,1707,3952,2504,0,0,0,0,0,0
$STATE,2767,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2767,begin apogee
$GC,2772,-0.11,0.0,313.7,10.8,325,2931,0.38,0.00,154.75,1.317,6,0.141,0.000,1826,3048,1799,0,0,0,0,0,0
$STATE,2932,end apogee,CONTROL_FINISHED_OK
$STATE,2932,begin climb
$GC,2934,0.44,170.4,319.0,0.0,341,3091,0.55,0.00,149.00,1.276,6,0.106,0.000,2004,3048,1104,0,0,0,0,0,0
$GC,3409,0.44,170.4,265.3,12.2,387,3412,0.00,1.45,0.00,0.000,4,0.000,0.059,2004,3922,1100,0,0,0,0,0,0
$GC,3487,0.44,170.4,254.2,14.7,394,3490,0.00,1.35,0.00,0.000,6,0.000,0.037,2010,3056,1099,0,0,0,0,0,0
$GC,3816,0.44,170.4,209.0,14.4,425,3820,0.00,1.40,0.00,0.000,4,0.000,0.058,2010,3915,1098,0,0,0,0,0,0
$GC,3884,0.44,170.4,197.7,17.5,431,3888,0.00,1.35,0.00,0.000,6,0.000,0.037,2017,3042,1098,0,0,0,0,0,0
$GC,4214,0.44,170.4,148.8,13.7,462,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,3042,1097,0,0,0,0,0,0
$GC,4534,0.44,170.4,103.0,14.5,492,4538,0.00,1.45,0.00,0.000,4,0.000,0.060,2016,3930,1097,0,0,0,0,0,0
$GC,4549,0.44,170.4,100.2,15.4,493,4557,0.00,1.38,0.00,0.000,6,0.000,0.037,2024,3042,1097,0,0,0,0,0,0
$GC,4890,0.44,170.4,48.5,14.6,554,4896,0.00,1.42,0.00,0.000,4,0.000,0.060,2024,3923,1096,0,0,0,0,0,0
$GC,4936,0.44,170.4,41.0,16.7,562,4943,0.00,1.33,0.00,0.000,6,0.000,0.037,2031,3050,1095,0,0,0,0,0,0
$STATE,5246,end climb,SURFACE_DEPTH_REACHED
$STATE,5246,begin surface coast
$FINISH,0.3,1.025392
$STATE,5278,end surface coast,CONTROL_FINISHED_OK
$STATE,5278,begin surface
$SM_CCo,5290,32.70,0.135,0,0,777,250.20
$SM_GC,1.45,0.00,0.00,32.70,0.000,0.000,0.135,65,3221,777,-5.64,0.59,250.20
$IRIDIUM_FIX,-3412.10,2554.19,210208,030321
$TT8_MAMPS,0.027713
$HUMID,57.67
$INTERNAL_PRESSURE,11.2418
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,270.5,63.0
$24V_AH,23.3,18.576
$10V_AH,10.4,7.385
$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,12.650,29.150,303.750,32.700,0.000,27.941,43.124,213.324,2.250,0.000,18.821,1506.545,2207.995,395.933,1522.987,89.369,0.000,937.318,0.000,1212.866,0.000,18.139,0.000
$DEVICE_MAMPS,224.145,62.730,1317.330,135.405,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,431.316,377.352,134.166,402.976,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,4.380,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,332416
$DATA_FILE_SIZE,36952,619
$CAP_FILE_SIZE,65481,0
$CFSIZE,259252224,253243392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.151,105.9,1
$GPS,260415,170003,-3425.172,2554.862,19,1.6,32,-27.9