version: 66.07
glider: 543
mission: 13
dive: 30
start: 7 7 115 23 48 10
data:
$ID,543
$MISSION,13
$DIVE,30
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$D_ABORT,110
$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,30
$T_MISSION,45
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,53008
$NAV_MODE,1
$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,392.28543
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-20329.379
$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,1922
$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,3134
$C_ROLL_CLIMB,2901
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,1425
$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,-55.370316
$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,5
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$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
$DEVICE3,35
$DEVICE4,-1
$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
$GPS1,070715,234110,-3351.284,1815.179,15,0.9,16,-24.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-72.0
$GPS2,070715,234746,-3351.275,1815.207,19,0.9,20,-24.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TEST2
$TGT_LATLONG,-3351.930,1812.190
$TGT_RADIUS,1000.000
$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,279.7,4795,-17.5,-10.000
$D_GRID,90
$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,-0.47,-146.1,0.0,0.0,0,80,0.00,0.00,-60.83,0.000,6,0.000,0.000,72,3153,2023,0,0,0,0,0,0
$GC,82,-0.47,-146.1,2.5,-2.8,8,92,6.47,1.33,0.00,0.000,4,0.216,0.050,1758,3964,2028,0,0,0,0,0,0
$GC,112,-0.47,-146.1,11.4,-27.1,12,121,0.00,1.25,0.00,0.000,6,0.000,0.034,1758,3156,2031,0,0,0,0,0,0
$GC,171,-0.47,-146.1,19.3,-11.4,21,179,0.00,1.38,0.00,0.000,4,0.000,0.032,1758,2236,2032,0,0,0,0,0,0
$GC,279,-0.47,-146.1,30.1,-9.3,39,286,0.00,1.45,0.00,0.000,6,0.000,0.054,1752,3129,2033,0,0,0,0,0,0
$GC,426,-0.47,-146.1,43.8,-9.9,64,433,0.00,1.33,0.00,0.000,4,0.000,0.061,1745,3957,2033,0,0,0,0,0,0
$GC,531,-0.47,-146.1,55.6,-11.3,82,538,0.00,1.25,0.00,0.000,6,0.000,0.034,1745,3118,2032,0,0,0,0,0,0
$STATE,849,end dive,TARGET_DEPTH_EXCEEDED
$STATE,849,begin apogee
$GC,853,-0.11,0.0,90.2,10.2,138,925,0.43,0.00,67.40,1.047,6,0.135,0.000,1881,2894,1423,0,0,0,0,0,0
$STATE,926,end apogee,CONTROL_FINISHED_OK
$STATE,926,begin climb
$GC,927,0.47,146.1,92.2,0.0,149,999,0.55,1.42,64.75,1.020,4,0.095,0.040,2074,2037,829,0,0,0,0,0,0
$GC,1022,0.47,146.1,83.0,13.4,164,1029,0.00,1.45,0.00,0.000,6,0.000,0.050,2073,2905,826,0,0,0,0,0,0
$GC,1371,0.47,146.1,33.6,14.3,225,1378,0.00,1.40,0.00,0.000,4,0.000,0.059,2074,3780,825,0,0,0,0,0,0
$GC,1431,0.47,146.1,24.5,15.4,235,1438,0.00,1.33,0.00,0.000,6,0.000,0.034,2080,2899,824,0,0,0,0,0,0
$GC,1580,0.47,146.1,3.9,13.4,260,1588,0.00,1.30,0.00,0.000,4,0.000,0.036,2087,2035,824,0,0,0,0,0,0
$STATE,1595,end climb,SURFACE_DEPTH_REACHED
$STATE,1595,begin surface coast
$FINISH,0.3,1.026247
$STATE,1620,end surface coast,CONTROL_FINISHED_OK
$STATE,1620,begin surface
$SM_CCo,1633,33.03,0.135,0,0,502,225.18
$SM_CCo,1669,0.00,0.000,0,0,501,226.65
$SM_CCo,1671,0.00,0.000,0,0,501,226.65
$SM_GC,1.15,0.00,0.00,0.00,0.000,0.000,0.000,79,3137,501,-5.76,0.08,226.65
$IRIDIUM_FIX,-3335.73,1815.43,030508,121201
$TT8_MAMPS,0.026964
$HUMID,61.26
$INTERNAL_PRESSURE,11.5543
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,23.9,2.472
$10V_AH,10.5,1.186
$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,12.825,16.975,132.150,33.025,0.000,28.719,20.188,261.491,2.250,0.000,22.425,615.867,221.798,208.253,1002.254,41.908,0.000,485.016,0.000,668.097,0.000,14.302,0.000
$DEVICE_MAMPS,215.730,61.200,1047.285,134.640,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,178.892,116.922,429.114,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354692
$DATA_FILE_SIZE,13612,266
$CAP_FILE_SIZE,36903,0
$CFSIZE,259252224,257773568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,080715,001653,-3351.252,1815.003,19,0.8,20,-24.3