version: 66.07
glider: 543
mission: 11
dive: 212
start: 4 29 115 0 39 11
data:
$ID,543
$MISSION,11
$DIVE,212
$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,-15899.226
$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,30
$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
$GPS1,290415,003303,-3424.881,2602.940,35,1.1,37,-27.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-71.9
$GPS2,290415,003847,-3424.980,2602.897,17,1.0,17,-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,76.8,33679,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.45,-170.4,0.0,0.0,0,88,0.00,0.00,-67.53,0.000,6,0.000,0.000,66,3225,2495,0,0,0,0,0,0
$GC,91,-0.45,-170.4,3.2,-4.4,9,109,6.53,1.40,0.00,0.000,4,0.225,0.029,1724,2296,2498,0,0,0,0,0,0
$GC,281,-0.45,-170.4,35.0,-12.0,40,290,0.00,1.45,0.00,0.000,6,0.000,0.050,1719,3198,2502,0,0,0,0,0,0
$GC,429,-0.45,-170.4,55.3,-14.7,65,435,0.00,1.17,0.00,0.000,4,0.000,0.054,1713,3954,2502,0,0,0,0,0,0
$GC,503,-0.45,-170.4,67.3,-16.1,78,511,0.00,1.12,0.00,0.000,6,0.000,0.033,1714,3192,2502,0,0,0,0,0,0
$GC,849,-0.45,-170.4,101.6,-11.1,138,852,0.00,1.27,0.00,0.000,4,0.000,0.031,1713,2304,2504,0,0,0,0,0,0
$GC,973,-0.45,-170.4,113.8,-9.3,149,977,0.00,1.42,0.00,0.000,6,0.000,0.049,1706,3206,2505,0,0,0,0,0,0
$GC,1303,-0.45,-170.4,147.5,-10.8,180,1304,0.00,0.00,0.00,0.000,6,0.000,0.000,1706,3206,2506,0,0,0,0,0,0
$GC,1622,-0.45,-170.4,180.0,-10.3,210,1629,0.00,1.15,0.00,0.000,4,0.000,0.055,1701,3938,2506,0,0,0,0,0,0
$GC,1717,-0.45,-170.4,190.9,-11.8,218,1726,0.00,1.10,0.00,0.000,6,0.000,0.034,1701,3198,2506,0,0,0,0,0,0
$GC,2042,-0.45,-170.4,224.7,-10.3,249,2046,0.00,1.30,0.00,0.000,4,0.000,0.031,1701,2299,2506,0,0,0,0,0,0
$GC,2092,-0.45,-170.4,229.7,-9.9,253,2099,0.00,1.42,0.00,0.000,6,0.000,0.050,1694,3198,2506,0,0,0,0,0,0
$GC,2417,-0.45,-170.4,263.6,-11.4,284,2421,0.10,1.33,0.00,0.000,4,0.187,0.032,1718,2304,2506,0,0,0,0,0,0
$GC,2491,-0.45,-170.4,270.2,-8.4,290,2499,0.00,1.42,0.00,0.000,6,0.000,0.053,1714,3198,2506,0,0,0,0,0,0
$GC,2815,-0.45,-170.4,302.2,-10.2,321,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,3198,2506,0,0,0,0,0,0
$STATE,2899,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2899,begin apogee
$GC,2903,-0.11,0.0,310.9,10.1,329,3063,0.38,0.00,155.95,1.349,6,0.138,0.000,1828,3062,1799,0,0,0,0,0,0
$STATE,3065,end apogee,CONTROL_FINISHED_OK
$STATE,3065,begin climb
$GC,3066,0.45,170.4,314.7,0.0,345,3224,0.55,1.52,148.02,1.309,4,0.104,0.056,2007,3916,1104,0,0,0,0,0,0
$GC,3264,0.45,170.4,292.3,15.7,363,3268,0.00,1.40,0.00,0.000,6,0.000,0.034,2014,3051,1103,0,0,0,0,0,0
$GC,3594,0.45,170.4,237.5,16.0,394,3598,0.00,1.35,0.00,0.000,4,0.000,0.034,2021,2159,1100,0,0,0,0,0,0
$GC,3643,0.45,170.4,229.7,15.1,398,3652,0.00,1.42,0.00,0.000,6,0.000,0.049,2021,3040,1099,0,0,0,0,0,0
$GC,3969,0.45,170.4,178.0,16.2,429,3973,0.00,1.42,0.00,0.000,4,0.000,0.057,2021,3925,1098,0,0,0,0,0,0
$GC,4064,0.45,170.4,159.2,21.0,437,4071,0.00,1.35,0.00,0.000,6,0.000,0.035,2028,3042,1098,0,0,0,0,0,0
$GC,4388,0.45,170.4,105.8,15.9,468,4392,0.00,1.42,0.00,0.000,4,0.000,0.057,2028,3926,1097,0,0,0,0,0,0
$GC,4423,0.45,170.4,99.8,18.2,471,4429,0.00,1.33,0.00,0.000,6,0.000,0.036,2035,3052,1097,0,0,0,0,0,0
$GC,4761,0.45,170.4,44.4,15.3,532,4769,0.00,1.33,0.00,0.000,4,0.000,0.034,2041,2154,1095,0,0,0,0,0,0
$GC,4854,0.45,170.4,33.6,10.9,547,4860,0.00,1.42,0.00,0.000,6,0.000,0.050,2041,3053,1094,0,0,0,0,0,0
$GC,5005,0.45,170.4,12.8,14.8,572,5013,0.00,1.40,0.00,0.000,4,0.000,0.056,2042,3942,1093,0,0,0,0,0,0
$GC,5028,0.45,170.4,8.7,17.4,575,5037,0.08,1.33,0.00,0.000,6,0.173,0.034,2024,3052,1093,0,0,0,0,0,0
$STATE,5062,end climb,SURFACE_DEPTH_REACHED
$STATE,5062,begin surface coast
$FINISH,0.3,1.025413
$STATE,5082,end surface coast,CONTROL_FINISHED_OK
$STATE,5083,begin surface
$SM_CCo,5095,46.22,0.368,1,0,777,250.20
$SM_GC,1.29,0.00,0.00,46.22,0.000,0.000,0.368,70,3213,777,-5.61,0.37,250.20
$IRIDIUM_FIX,-3414.71,2601.17,230208,121240
$TT8_MAMPS,0.026964
$HUMID,57.08
$INTERNAL_PRESSURE,11.3102
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,290.5,35.3
$24V_AH,23.3,24.829
$10V_AH,10.4,9.448
$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,12.825,32.700,303.975,46.225,0.000,27.218,23.984,191.324,6.500,0.000,19.530,1428.421,2119.506,419.979,1437.093,100.601,0.000,974.085,0.000,1156.470,0.000,42.079,0.000
$DEVICE_MAMPS,224.910,73.440,1349.460,367.965,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,400.577,353.418,120.517,347.225,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,4.380,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,332488
$DATA_FILE_SIZE,33543,583
$CAP_FILE_SIZE,68774,0
$CFSIZE,259252224,251564032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1
$CURRENT,0.161,236.0,1
$GPS,290415,020547,-3424.779,2603.024,14,1.1,14,-27.9