version: 66.07
glider: 543
mission: 11
dive: 246
start: 4 30 115 23 14 1
data:
$ID,543
$MISSION,11
$DIVE,246
$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,-16003.521
$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,53
$R_STBD_OVSHOOT,29
$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
$GPS1,300415,230358,-3424.832,2608.270,46,0.9,46,-28.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-67.1
$GPS2,300415,231336,-3425.241,2607.913,19,1.0,19,-28.0
$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,26.1,30346,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.45,-170.4,0.0,0.0,0,79,0.00,0.00,-60.53,0.000,6,0.000,0.000,62,3197,2495,0,0,0,0,0,0
$GC,82,-0.45,-170.4,4.5,-8.7,8,101,6.62,1.35,0.00,0.000,4,0.228,0.031,1721,2314,2498,0,0,0,0,0,0
$GC,121,-0.45,-170.4,17.0,-26.6,13,130,0.00,1.42,0.00,0.000,6,0.000,0.049,1715,3201,2500,0,0,0,0,0,0
$GC,177,-0.45,-170.4,24.8,-13.7,22,185,0.00,1.17,0.00,0.000,4,0.000,0.055,1710,3942,2500,0,0,0,0,0,0
$GC,362,-0.45,-170.4,52.6,-16.2,54,369,0.00,1.10,0.00,0.000,6,0.000,0.032,1710,3196,2501,0,0,0,0,0,0
$GC,710,-0.45,-170.4,92.6,-14.3,115,716,0.00,1.20,0.00,0.000,4,0.000,0.054,1704,3955,2503,0,0,0,0,0,0
$GC,950,-0.45,-170.4,133.9,-17.4,140,957,0.00,1.10,0.00,0.000,6,0.000,0.031,1704,3196,2505,0,0,0,0,0,0
$GC,1275,-0.45,-170.4,179.2,-12.1,171,1279,0.00,1.17,0.00,0.000,4,0.000,0.055,1698,3946,2506,0,0,0,0,0,0
$GC,1313,-0.45,-170.4,184.3,-12.9,174,1321,0.00,1.10,0.00,0.000,6,0.000,0.032,1699,3202,2505,0,0,0,0,0,0
$GC,1639,-0.45,-170.4,222.7,-11.0,205,1642,0.00,1.27,0.00,0.000,4,0.000,0.031,1699,2310,2506,0,0,0,0,0,0
$GC,1710,-0.45,-170.4,229.7,-9.2,211,1718,0.08,1.40,0.00,0.000,6,0.142,0.050,1717,3196,2505,0,0,0,0,0,0
$GC,2036,-0.45,-170.4,261.8,-12.0,242,2040,0.00,1.17,0.00,0.000,4,0.000,0.057,1713,3952,2506,0,0,0,0,0,0
$GC,2104,-0.45,-170.4,270.0,-11.9,248,2108,0.00,1.10,0.00,0.000,6,0.000,0.034,1713,3202,2505,0,0,0,0,0,0
$GC,2435,-0.45,-170.4,308.1,-12.0,279,2438,0.00,1.30,0.00,0.000,4,0.000,0.032,1713,2307,2504,0,0,0,0,0,0
$GC,2495,-0.45,-170.4,315.5,-11.4,284,2502,0.00,1.42,0.00,0.000,6,0.000,0.051,1706,3204,2503,0,0,0,0,0,0
$GC,2820,-0.45,-170.4,355.6,-13.3,315,2824,0.00,1.30,0.00,0.000,4,0.000,0.032,1706,2310,2503,0,0,0,0,0,0
$GC,2865,-0.45,-170.4,361.1,-11.2,319,2869,0.00,1.42,0.00,0.000,6,0.000,0.053,1699,3205,2502,0,0,0,0,0,0
$GC,3205,-0.45,-170.4,405.5,-11.6,349,3206,0.00,0.00,0.00,0.000,6,0.000,0.000,1699,3204,2501,0,0,0,0,0,0
$STATE,3410,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3410,begin apogee
$GC,3415,-0.11,0.0,432.0,13.4,359,3575,0.43,0.00,156.60,1.400,6,0.145,0.000,1827,3058,1799,0,0,0,0,0,0
$STATE,3575,end apogee,CONTROL_FINISHED_OK
$STATE,3575,begin climb
$GC,3577,0.45,170.4,437.1,0.0,367,3732,0.55,0.00,149.90,1.353,6,0.106,0.000,2004,3058,1105,0,0,0,0,0,0
$GC,4033,0.45,170.4,383.9,13.7,394,4037,0.00,1.42,0.00,0.000,4,0.000,0.057,2005,3919,1101,0,0,0,0,0,0
$GC,4059,0.45,170.4,380.0,13.0,396,4067,0.00,1.38,0.00,0.000,6,0.000,0.034,2012,3043,1100,0,0,0,0,0,0
$GC,4385,0.45,170.4,334.0,14.4,427,4389,0.00,1.42,0.00,0.000,4,0.000,0.055,2012,3924,1100,0,0,0,0,0,0
$GC,4407,0.45,170.4,330.9,14.0,429,4410,0.00,1.33,0.00,0.000,6,0.000,0.036,2018,3058,1100,0,0,0,0,0,0
$GC,4737,0.45,170.4,283.9,15.0,460,4740,0.00,1.40,0.00,0.000,4,0.000,0.059,2018,3927,1100,0,0,0,0,0,0
$GC,4752,0.45,170.4,281.0,16.3,461,4761,0.00,1.35,0.00,0.000,6,0.000,0.035,2025,3048,1100,0,0,0,0,0,0
$GC,5077,0.45,170.4,229.4,15.9,492,5081,0.00,1.42,0.00,0.000,4,0.000,0.057,2025,3933,1099,0,0,0,0,0,0
$GC,5156,0.45,170.4,214.7,18.7,499,5160,0.00,1.33,0.00,0.000,6,0.000,0.035,2032,3056,1098,0,0,0,0,0,0
$GC,5487,0.45,170.4,158.3,16.1,530,5488,0.00,0.00,0.00,0.000,6,0.000,0.000,2032,3056,1098,0,0,0,0,0,0
$GC,5806,0.45,170.4,106.1,17.8,560,5810,0.00,1.40,0.00,0.000,4,0.000,0.058,2032,3931,1098,0,0,0,0,0,0
$GC,5875,0.45,170.4,92.6,21.8,569,5883,0.00,1.33,0.00,0.000,6,0.000,0.036,2039,3055,1097,0,0,0,0,0,0
$GC,6216,0.45,170.4,50.5,13.2,630,6223,0.00,1.40,0.00,0.000,4,0.000,0.058,2039,3929,1096,0,0,0,0,0,0
$GC,6484,0.45,170.4,8.8,16.5,676,6494,0.00,1.33,0.00,0.000,6,0.000,0.034,2045,3045,1095,0,0,0,0,0,0
$GC,6544,0.48,224.1,3.4,7.9,685,6555,0.00,0.00,9.02,0.148,2,0.000,0.000,2045,3044,1006,0,0,0,0,0,0
$STATE,6556,end climb,SURFACE_DEPTH_REACHED
$STATE,6556,begin surface coast
$FINISH,0.6,1.024263
$STATE,6600,end surface coast,CONTROL_FINISHED_OK
$STATE,6600,begin surface
$SM_CCo,6612,38.40,0.428,1,0,775,250.20
$SM_GC,1.18,0.00,0.00,38.40,0.000,0.000,0.428,57,3225,775,-5.67,0.71,250.20
$IRIDIUM_FIX,-3412.10,2609.36,250208,121241
$TT8_MAMPS,0.026964
$HUMID,58.82
$INTERNAL_PRESSURE,11.3297
$TCM_TEMP,18.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,410.4,35.8
$24V_AH,23.3,29.230
$10V_AH,10.4,11.077
$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,12.750,37.000,315.525,38.400,0.000,54.866,108.425,243.916,9.500,0.000,22.504,1747.226,3147.605,440.057,1790.368,122.821,0.000,1062.092,0.000,1334.149,0.000,61.223,0.000
$DEVICE_MAMPS,227.970,67.320,1399.950,427.635,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,478.903,420.817,135.094,353.737,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,4.380,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,332496
$DATA_FILE_SIZE,40340,693
$CAP_FILE_SIZE,80755,0
$CFSIZE,259252224,250228736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$CURRENT,0.222,162.0,1
$GPS,010515,010555,-3425.252,2608.023,22,2.0,22,-28.0