version: 66.11
revision: 1138
glider: 543
mission: 16
dive: 2
start: 12 3 116 12 36 7
data:
$ID,543
$MISSION,16
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,120
$D_NO_BLEED,500
$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,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,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,52862
$MASS_COMP,0
$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,-4300
$TGT_DEFAULT_LON,800
$TGT_AUTO_DEFAULT,0
$SM_CC,415.28613
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$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,-34971.656
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3800
$C_PITCH,1905
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,55
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,394
$ROLL_MAX,3944
$ROLL_DEG,25
$C_ROLL_DIVE,2169
$C_ROLL_CLIMB,2169
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,2230
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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,-59.167316
$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,0
$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
$DEVICE3,131
$DEVICE4,149
$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
$GPS1,031216,123136,-4301.436,847.451,16,0.9,16,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.37
$_SM_ANGLEo,-53.6
$GPS2,031216,123541,-4301.362,847.547,18,0.8,18,-25.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET
$TGT_LATLONG,-4303.471,840.855
$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,271.8,9863,-17.5,-10.000,-21.06,2225
$D_GRID,150
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.46,-146.1,148,2165,573,441,0.0,0.0,0,112,0.00,0.00,-94.68,0.000,16390,0.000,0.000,140,2165,2826,2884,2768,0,0,0,0,0,0,28.83,28.83,26.53
$GC,114,-0.46,-146.1,139,2165,2884,2769,3.0,-7.9,15,122,6.62,0.00,0.00,0.000,2310,0.220,0.000,1746,2165,2828,2886,2771,0,0,0,0,0,0,24.77,28.83,28.83
$GC,165,-0.56,-146.1,1040,2163,2863,2756,14.5,-7.4,24,172,0.00,1.45,0.00,0.000,260,0.000,0.056,1741,3050,2833,2904,2762,0,0,0,0,0,0,28.83,25.48,28.83
$GC,400,-0.71,-146.1,1024,3048,2862,2755,27.5,-7.5,70,408,0.15,1.38,0.00,0.000,5126,0.067,0.038,1664,2169,2832,2904,2761,0,0,0,0,0,0,25.56,25.81,28.83
$GC,529,-0.74,-146.1,992,2167,2862,2754,41.2,-10.7,95,536,0.00,1.40,0.00,0.000,516,0.000,0.044,1664,1284,2832,2904,2761,0,0,0,0,0,0,28.83,25.57,28.83
$GC,637,-0.80,-146.1,1024,1282,2866,2754,51.7,-7.6,116,644,0.00,1.48,0.00,0.000,1030,0.000,0.056,1658,2167,2832,2904,2760,0,0,0,0,0,0,28.83,25.35,28.83
$GC,947,-0.80,-146.1,1658,2167,2904,2759,82.2,-8.9,177,955,0.00,1.40,0.00,0.000,516,0.000,0.044,1658,1295,2831,2904,2759,0,0,0,0,0,0,28.83,25.54,28.83
$GC,967,-0.84,-146.1,1658,1293,2904,2759,83.9,-8.5,180,974,0.00,1.45,0.00,0.000,1030,0.000,0.055,1652,2163,2832,2905,2759,0,0,0,0,0,0,28.83,25.34,28.83
$GC,1282,-0.84,-146.1,1652,2163,2904,2758,111.1,-8.0,229,1286,0.00,1.40,0.00,0.000,516,0.000,0.044,1652,1291,2831,2904,2758,0,0,0,0,0,0,28.83,25.50,28.83
$GC,1307,-0.86,-146.1,1028,1288,2867,2752,112.7,-8.0,231,1313,0.00,1.48,0.00,0.000,1030,0.000,0.055,1647,2172,2831,2904,2758,0,0,0,0,0,0,28.83,25.30,28.83
$STATE,1331,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1331,begin apogee
$GC,1334,-0.09,0.0,1646,2173,2904,2757,115.2,-8.1,234,1426,0.75,0.00,88.12,1.125,10246,0.127,0.000,1871,2173,2228,2319,2138,0,0,0,0,0,0,24.48,28.83,23.84
$STATE,1427,end apogee,CONTROL_FINISHED_OK
$STATE,1427,begin climb
$GC,1428,0.46,146.1,1871,2173,2322,2140,118.1,0.0,243,1514,0.50,1.50,75.15,1.095,10500,0.061,0.055,2064,3049,1633,1723,1544,0,0,0,0,0,0,25.27,25.17,23.83
$GC,1743,0.25,146.1,2063,3049,1722,1533,82.1,15.2,285,1751,0.28,1.40,0.00,0.000,5126,0.175,0.042,1994,2163,1627,1722,1533,0,0,0,0,0,0,24.82,25.72,28.83
$GC,2054,0.23,168.9,1200,2161,1685,1528,53.9,8.9,346,2073,0.00,1.48,10.95,0.847,8452,0.000,0.055,1994,3054,1539,1634,1445,0,0,0,0,0,0,28.83,25.65,24.24
$GC,2276,0.24,229.9,1168,3052,1600,1439,31.7,7.2,389,2315,0.00,1.40,30.12,0.825,9222,0.000,0.047,2000,2174,1289,1384,1195,0,0,0,0,0,0,28.83,25.60,24.19
$GC,2437,0.24,229.9,1184,2172,1361,1193,17.0,13.0,419,2445,0.00,1.45,0.00,0.000,516,0.000,0.050,2007,1284,1289,1384,1195,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2461,0.24,229.9,1216,1279,1361,1193,14.2,11.8,423,2469,0.05,1.48,0.00,0.000,5126,0.142,0.056,1991,2169,1289,1383,1195,0,0,0,0,0,0,25.42,25.58,28.83
$GC,2511,0.27,229.9,1184,2167,1360,1193,8.2,11.2,432,2519,0.00,1.45,0.00,0.000,260,0.000,0.060,1991,3049,1288,1382,1195,0,0,0,0,0,0,28.83,25.53,28.83
$STATE,2565,end climb,SURFACE_DEPTH_REACHED
$STATE,2565,begin surface coast
$FINISH,-0.3,1.025680
$STATE,2581,end surface coast,CONTROL_FINISHED_OK
$STATE,2582,begin surface
$SM_CCo,2594,85.65,0.131,0,0,535,415.29
$SM_GC,0.50,5.15,1.40,85.65,0.060,0.038,0.131,149,2165,535,-5.41,1.13,415.29,0,0,0,0,0,0,25.64,25.84,25.29
$IRIDIUM_FIX,-4244.98,849.47,300909,010148
$TT8_MAMPS,0.026964,0.026964
$HUMID,50.31
$INTERNAL_PRESSURE,10.8512
$TCM_TEMP,17.30
$XPDR_PINGS,0
$24V_AH,23.8,113.849
$10V_AH,10.5,76.199
$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,13.500,22.975,204.350,85.650,0.000,0.000,0.000,0.000,0.000,0.000,19.781,1018.803,426.007,362.507,919.365,30.253,0.000,775.352,0.000,901.530,0.000,0.547,0.000
$DEVICE_MAMPS,219.555,60.435,1124.550,130.815,0.000,0.000,0.000,0.000,420.000,0.000,29.210,14.960,2.190,14.210,42.670,51.660,0.000,15.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,307.081,232.149,547.683,129.036,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353884
$DATA_FILE_SIZE,26985,445
$CAP_FILE_SIZE,60752,1
$CFSIZE,259248128,257142784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031216,132157,-4301.183,848.015,36,1.0,36,-25.1