version: 66.07
glider: 543
mission: 11
dive: 231
start: 4 30 115 2 12 35
data:
$ID,543
$MISSION,11
$DIVE,231
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$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,333
$T_MISSION,348
$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,-15956.436
$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,55
$R_STBD_OVSHOOT,40
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,50
$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
$GPS1,300415,020536,-3424.709,2604.166,18,1.2,18,-27.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-64.8
$GPS2,300415,021211,-3424.779,2604.172,16,1.0,16,-27.9
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,WP_NORTH
$TGT_LATLONG,-3410.140,2615.600
$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,26.0,32275,-16.1,-10.010
$D_GRID,1000
$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,-0.45,-170.4,0.0,0.0,0,77,0.00,0.00,-59.30,0.000,2,0.000,0.000,61,3236,2411,0,0,0,0,0,0
$GC,79,-0.45,-170.4,3.1,-4.6,7,97,6.60,1.38,-1.77,0.000,4,0.226,0.049,1720,2302,2496,0,0,0,0,0,0
$GC,252,-0.45,-170.4,32.8,-13.1,35,259,0.00,1.42,0.00,0.000,6,0.000,0.048,1715,3196,2500,0,0,0,0,0,0
$GC,399,-0.45,-170.4,53.0,-13.2,60,408,0.00,1.30,0.00,0.000,4,0.000,0.028,1715,2293,2500,0,0,0,0,0,0
$GC,433,-0.45,-170.4,57.3,-12.9,65,440,0.00,1.45,0.00,0.000,6,0.000,0.048,1709,3206,2500,0,0,0,0,0,0
$GC,776,-0.45,-170.4,92.2,-3.2,126,783,0.00,1.15,0.00,0.000,4,0.000,0.053,1703,3949,2501,0,0,0,0,0,0
$GC,939,-0.45,-170.4,105.4,-10.6,150,947,0.00,1.10,0.00,0.000,6,0.000,0.031,1703,3187,2502,0,0,0,0,0,0
$GC,1264,-0.45,-170.4,142.4,-10.8,181,1267,0.00,1.20,0.00,0.000,4,0.000,0.054,1697,3951,2503,0,0,0,0,0,0
$GC,1320,-0.45,-170.4,149.2,-12.4,186,1324,0.00,1.08,0.00,0.000,6,0.000,0.032,1697,3204,2504,0,0,0,0,0,0
$GC,1650,-0.45,-170.4,186.8,-11.9,217,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,3203,2503,0,0,0,0,0,0
$GC,1969,-0.45,-170.4,225.8,-12.9,247,1973,0.00,1.15,0.00,0.000,4,0.000,0.055,1691,3941,2503,0,0,0,0,0,0
$GC,2018,-0.45,-170.4,232.4,-12.9,251,2027,0.12,1.10,0.00,0.000,6,0.168,0.033,1724,3199,2504,0,0,0,0,0,0
$GC,2344,-0.45,-170.4,265.4,-10.9,282,2348,0.00,1.17,0.00,0.000,4,0.000,0.057,1720,3950,2503,0,0,0,0,0,0
$GC,2370,-0.45,-170.4,268.9,-13.0,284,2377,0.00,1.12,0.00,0.000,6,0.000,0.034,1720,3190,2503,0,0,0,0,0,0
$STATE,2407,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2407,begin apogee
$GC,2412,-0.11,0.0,273.4,12.0,288,2570,0.35,0.00,150.05,1.320,6,0.131,0.000,1829,3047,1801,0,0,0,0,0,0
$STATE,2572,end apogee,CONTROL_FINISHED_OK
$STATE,2572,begin climb
$GC,2574,0.45,170.4,277.9,0.0,304,2730,0.55,1.52,146.15,1.270,4,0.102,0.054,2009,3920,1103,0,0,0,0,0,0
$GC,2776,0.45,170.4,256.6,14.9,322,2780,0.00,1.38,0.00,0.000,6,0.000,0.033,2016,3051,1103,0,0,0,0,0,0
$GC,3105,0.45,170.4,210.1,13.9,353,3109,0.00,1.42,0.00,0.000,4,0.000,0.056,2016,3927,1101,0,0,0,0,0,0
$GC,3139,0.45,170.4,205.1,16.0,356,3142,0.00,1.35,0.00,0.000,6,0.000,0.034,2023,3041,1101,0,0,0,0,0,0
$GC,3469,0.45,170.4,153.2,15.0,387,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,3041,1100,0,0,0,0,0,0
$GC,3788,0.45,170.4,108.9,14.6,417,3792,0.00,1.42,0.00,0.000,4,0.000,0.056,2023,3928,1099,0,0,0,0,0,0
$GC,3873,0.45,170.4,94.6,17.9,427,3879,0.00,1.33,0.00,0.000,6,0.000,0.034,2030,3047,1098,0,0,0,0,0,0
$GC,4214,0.45,170.4,56.0,14.5,488,4222,0.00,1.40,0.00,0.000,4,0.000,0.057,2030,3924,1097,0,0,0,0,0,0
$GC,4353,0.45,170.4,33.4,14.5,512,4362,0.00,1.30,0.00,0.000,6,0.000,0.034,2037,3051,1096,0,0,0,0,0,0
$GC,4506,0.45,170.4,16.5,14.0,537,4514,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,3051,1095,0,0,0,0,0,0
$GC,4564,0.45,170.4,9.6,11.0,546,4573,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,3051,1095,0,0,0,0,0,0
$GC,4624,0.49,236.7,4.4,7.4,555,4642,0.00,0.00,15.90,0.140,2,0.000,0.000,2036,3051,941,0,0,0,0,0,0
$STATE,4643,end climb,SURFACE_DEPTH_REACHED
$STATE,4643,begin surface coast
$FINISH,0.2,1.003853
$STATE,4669,end surface coast,CONTROL_FINISHED_OK
$STATE,4669,begin surface
$SM_CCo,4681,16.88,0.134,0,0,777,250.20
$SM_GC,0.92,0.00,0.00,16.88,0.000,0.000,0.134,71,3228,777,-5.62,0.79,250.20
$IRIDIUM_FIX,-3409.50,2600.03,240208,141410
$TT8_MAMPS,0.027713
$HUMID,58.23
$INTERNAL_PRESSURE,11.359
$TCM_TEMP,18.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,260.8,26.9
$24V_AH,23.6,27.271
$10V_AH,10.4,10.339
$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,12.725,26.175,312.100,16.875,0.000,33.857,41.096,214.856,5.750,0.000,19.518,1359.682,1816.649,376.700,1457.701,98.077,0.000,906.005,0.000,1131.128,0.000,37.520,0.000
$DEVICE_MAMPS,226.440,61.965,1319.625,133.875,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,386.004,324.660,121.752,396.773,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,4.380,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,332508
$DATA_FILE_SIZE,33663,561
$CAP_FILE_SIZE,64714,0
$CFSIZE,259252224,250834944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.198,142.3,1
$GPS,300415,033146,-3424.651,2604.412,15,0.8,18,-27.9