version: 66.11
revision: 1138
glider: 543
mission: 16
dive: 3
start: 12 3 116 13 47 30
data:
$ID,543
$MISSION,16
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,350
$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,100
$T_MISSION,115
$T_ABORT,200
$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,200
$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,-35052.539
$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,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,2200
$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
$GPS1,031216,134134,-4300.996,848.360,14,1.8,14,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-52.5
$GPS2,031216,134704,-4300.962,848.482,19,1.2,19,-25.2
$SPEED_LIMITS,0.173,0.295
$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,271.0,11319,-14.9,-10.000,-18.74,2959
$D_GRID,300
$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,-0.47,-194.7,151,2165,568,443,0.0,0.0,0,124,0.00,0.00,-103.47,0.000,16390,0.000,0.000,145,2166,2995,3056,2934,0,0,0,0,0,0,28.83,28.83,26.51
$GC,126,-0.47,-194.7,145,2166,3057,2934,2.9,-6.1,17,140,6.62,0.00,0.00,0.000,2566,0.221,0.000,1743,2166,2997,3060,2934,0,0,0,0,0,0,24.73,28.83,28.83
$GC,183,-0.59,-194.7,1040,2164,3044,2922,17.4,-7.8,27,190,0.00,1.45,0.00,0.000,260,0.000,0.059,1740,3043,3002,3076,2928,0,0,0,0,0,0,28.83,25.39,28.83
$GC,308,-0.91,-194.7,1028,3041,3044,2922,28.7,-10.0,51,316,0.40,1.38,0.00,0.000,5126,0.117,0.040,1615,2167,3002,3078,2927,0,0,0,0,0,0,24.84,25.73,28.83
$GC,440,-0.83,-194.7,976,2164,3045,2919,50.5,-18.9,76,447,0.00,1.42,0.00,0.000,516,0.000,0.046,1615,1277,3001,3077,2925,0,0,0,0,0,0,28.83,25.46,28.83
$GC,493,-0.83,-194.7,1615,1276,3077,2925,56.6,-9.8,86,500,0.00,1.50,0.00,0.000,1030,0.000,0.057,1608,2201,3001,3077,2925,0,0,0,0,0,0,28.83,25.28,28.83
$GC,807,-0.75,-194.7,1608,2201,3077,2924,102.2,-15.7,147,811,0.15,1.45,0.00,0.000,2564,0.162,0.045,1654,1277,3000,3077,2924,0,0,0,0,0,0,25.70,25.35,28.83
$GC,837,-0.75,-194.7,1654,1275,3077,2924,105.8,-12.8,150,841,0.00,1.50,0.00,0.000,1030,0.000,0.056,1649,2171,3000,3077,2924,0,0,0,0,0,0,28.83,25.25,28.83
$GC,1148,-0.75,-194.7,1649,2172,3077,2924,141.1,-11.0,181,1152,0.00,1.45,0.00,0.000,260,0.000,0.057,1642,3047,3000,3077,2924,0,0,0,0,0,0,28.83,25.24,28.83
$GC,1381,-0.69,-194.7,1642,3047,3077,2923,173.5,-14.3,204,1385,0.10,1.38,0.00,0.000,3078,0.139,0.037,1674,2164,3000,3077,2923,0,0,0,0,0,0,25.22,25.67,28.83
$GC,1692,-0.74,-194.7,1673,2163,3077,2923,202.3,-8.9,235,1696,0.00,1.40,0.00,0.000,516,0.000,0.047,1674,1296,3000,3077,2923,0,0,0,0,0,0,28.83,25.38,28.83
$GC,1786,-0.85,-194.7,1674,1294,3077,2923,209.9,-8.4,244,1794,0.08,1.48,0.00,0.000,5126,0.070,0.055,1632,2175,3000,3077,2923,0,0,0,0,0,0,25.12,25.20,28.83
$GC,2093,-0.82,-194.7,1631,2175,3077,2922,244.6,-11.5,275,2096,0.00,1.45,0.00,0.000,260,0.000,0.059,1625,3047,2999,3077,2922,0,0,0,0,0,0,28.83,25.15,28.83
$GC,2324,-0.74,-194.7,1625,3046,3077,2922,277.9,-14.1,298,2328,0.10,1.38,0.00,0.000,3078,0.141,0.039,1657,2166,2999,3077,2922,0,0,0,0,0,0,25.13,25.60,28.83
$STATE,2563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2563,begin apogee
$GC,2566,-0.09,0.0,1657,2166,3077,2922,300.7,-9.1,322,2747,0.70,0.00,176.73,1.319,10246,0.120,0.000,1871,2165,2199,2290,2109,0,0,0,0,0,0,24.44,28.83,23.50
$STATE,2748,end apogee,CONTROL_FINISHED_OK
$STATE,2748,begin climb
$GC,2750,0.47,194.7,1871,2166,2290,2109,311.0,0.0,340,2927,0.50,1.48,168.23,1.284,11012,0.070,0.051,2067,1303,1405,1493,1318,0,0,0,0,0,0,24.96,24.85,23.46
$GC,3090,0.33,194.7,2066,1301,1482,1318,282.0,14.1,374,3095,0.15,1.45,0.00,0.000,5126,0.161,0.057,2015,2167,1399,1482,1317,0,0,0,0,0,0,24.92,25.47,28.83
$GC,3402,0.24,194.7,2015,2167,1482,1314,243.7,12.4,405,3406,0.00,1.45,0.00,0.000,260,0.000,0.058,2015,3048,1398,1482,1314,0,0,0,0,0,0,28.83,25.46,28.83
$GC,3635,0.11,194.7,2014,3048,1482,1310,212.4,13.2,428,3640,0.22,1.40,0.00,0.000,5126,0.164,0.044,1943,2172,1396,1482,1310,0,0,0,0,0,0,24.60,25.56,28.83
$GC,3948,0.19,246.9,1943,2170,1482,1310,187.0,8.2,459,4000,0.00,1.50,45.33,1.265,8452,0.000,0.060,1943,3044,1192,1281,1103,0,0,0,0,0,0,28.83,25.22,23.72
$GC,4229,0.26,270.9,1943,3044,1282,1095,161.5,9.2,487,4259,0.08,1.40,21.90,1.230,11270,0.080,0.044,2006,2166,1093,1185,1002,0,0,0,0,0,0,25.55,25.67,23.82
$GC,4557,0.22,270.9,2006,2166,1182,1001,120.5,12.6,520,4561,0.00,1.45,0.00,0.000,260,0.000,0.058,2006,3041,1091,1182,1001,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4788,0.15,270.9,1224,3039,1169,997,87.7,14.2,551,4795,0.15,1.40,0.00,0.000,5126,0.158,0.048,1955,2173,1090,1182,998,0,0,0,0,0,0,24.87,25.52,28.83
$GC,5098,0.31,361.9,1955,2172,1182,997,64.8,6.8,612,5152,0.12,1.42,46.10,0.968,10500,0.103,0.056,2014,3047,721,807,636,0,0,0,0,0,0,26.10,25.37,23.99
$GC,5380,0.29,361.9,1192,3045,802,629,30.4,11.9,666,5387,0.00,1.45,0.00,0.000,1030,0.000,0.054,2020,2173,717,806,629,0,0,0,0,0,0,28.83,25.55,28.83
$GC,5509,0.29,361.9,1192,2168,802,629,14.3,10.5,691,5516,0.00,1.48,0.00,0.000,260,0.000,0.063,2020,3044,717,806,629,0,0,0,0,0,0,28.83,25.44,28.83
$STATE,5587,end climb,SURFACE_DEPTH_REACHED
$STATE,5587,begin surface coast
$FINISH,-0.1,1.018842
$STATE,5608,end surface coast,CONTROL_FINISHED_OK
$STATE,5609,begin surface
$SM_CCo,5621,25.33,0.138,0,0,503,415.29
$SM_GC,0.68,5.28,1.42,25.33,0.062,0.040,0.138,156,2150,503,-5.40,0.68,415.29,0,0,0,0,0,0,25.52,25.75,25.22
$IRIDIUM_FIX,-4242.04,846.11,300909,030347
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.26
$INTERNAL_PRESSURE,10.8121
$TCM_TEMP,16.70
$XPDR_PINGS,0
$24V_AH,23.5,114.060
$10V_AH,10.5,76.267
$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,14.650,34.525,458.275,25.325,0.000,0.000,0.000,0.000,0.000,0.000,21.173,1621.233,2026.749,489.551,1539.597,48.726,0.000,1214.233,0.000,1506.031,0.000,0.546,0.000
$DEVICE_MAMPS,221.085,63.495,1318.860,138.465,0.000,0.000,0.000,0.000,420.000,0.000,29.210,14.960,2.190,14.210,42.670,51.660,0.000,15.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,487.468,437.218,613.990,98.496,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353852
$DATA_FILE_SIZE,40363,710
$CAP_FILE_SIZE,97740,0
$CFSIZE,259248128,257056768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031216,152233,-4300.892,849.470,21,0.8,22,-25.2