version: 66.07
glider: 543
mission: 11
dive: 252
start: 5 1 115 16 26 40
data:
$ID,543
$MISSION,11
$DIVE,252
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,315
$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,-16023.641
$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,49
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,2147
$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
$GPS1,010515,161834,-3428.152,2557.765,25,1.6,25,-28.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-66.5
$GPS2,010515,162617,-3428.406,2557.434,15,1.6,15,-28.0
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,HEADING
$TGT_LATLONG,-3420.770,2548.186
$TGT_RADIUS,1852.000
$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,343.0,20000,-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,-170.4,0.0,0.0,0,88,0.00,0.00,-71.85,0.000,2,0.000,0.000,63,3217,2574,0,0,0,0,0,0
$GC,91,-0.45,-170.4,4.2,-7.8,9,109,6.45,1.33,-4.93,0.000,4,0.215,0.047,1722,2300,2844,0,0,0,0,0,0
$GC,146,-0.45,-170.4,25.0,-24.2,17,153,0.00,1.48,0.00,0.000,6,0.000,0.051,1717,3206,2848,0,0,0,0,0,0
$GC,292,-0.45,-170.4,29.7,-5.5,42,300,0.00,1.20,0.00,0.000,4,0.000,0.054,1712,3958,2849,0,0,0,0,0,0
$GC,474,-0.45,-170.4,53.2,-17.9,73,480,0.00,1.12,0.00,0.000,6,0.000,0.031,1711,3191,2851,0,0,0,0,0,0
$GC,819,-0.45,-170.4,118.0,-17.5,126,823,0.00,1.20,0.00,0.000,4,0.000,0.054,1706,3951,2854,0,0,0,0,0,0
$GC,955,-0.45,-170.4,141.4,-16.3,138,958,0.00,1.10,0.00,0.000,6,0.000,0.032,1706,3200,2855,0,0,0,0,0,0
$GC,1285,-0.45,-170.4,194.1,-15.9,169,1289,0.00,1.17,0.00,0.000,4,0.000,0.057,1700,3947,2857,0,0,0,0,0,0
$GC,1319,-0.45,-170.4,199.4,-15.9,172,1324,0.00,1.10,0.00,0.000,6,0.000,0.033,1700,3197,2857,0,0,0,0,0,0
$GC,1649,-0.45,-170.4,246.9,-12.9,203,1652,0.00,1.27,0.00,0.000,4,0.000,0.031,1700,2309,2857,0,0,0,0,0,0
$GC,1676,-0.45,-170.4,250.3,-12.1,205,1683,0.00,1.42,0.00,0.000,6,0.000,0.050,1694,3208,2856,0,0,0,0,0,0
$GC,2001,-0.45,-170.4,291.4,-12.4,236,2004,0.00,1.15,0.00,0.000,4,0.000,0.057,1688,3944,2856,0,0,0,0,0,0
$GC,2072,-0.45,-170.4,301.2,-13.8,242,2081,0.10,1.12,0.00,0.000,6,0.167,0.034,1720,3196,2855,0,0,0,0,0,0
$GC,2398,-0.45,-170.4,332.9,-9.8,273,2402,0.00,1.17,0.00,0.000,4,0.000,0.058,1716,3942,2854,0,0,0,0,0,0
$GC,2421,-0.45,-170.4,335.3,-10.4,275,2425,0.00,1.10,0.00,0.000,6,0.000,0.036,1715,3203,2854,0,0,0,0,0,0
$GC,2751,-0.45,-170.4,368.6,-10.5,306,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,3204,2853,0,0,0,0,0,0
$GC,3080,-0.45,-170.4,402.2,-10.7,336,3083,0.00,1.17,0.00,0.000,4,0.000,0.058,1710,3950,2851,0,0,0,0,0,0
$GC,3106,-0.45,-170.4,405.4,-11.5,337,3111,0.00,1.15,0.00,0.000,6,0.000,0.036,1710,3191,2850,0,0,0,0,0,0
$GC,3434,-0.45,-170.4,439.2,-10.7,353,3438,0.00,1.20,0.00,0.000,4,0.000,0.060,1705,3951,2849,0,0,0,0,0,0
$GC,3483,-0.45,-170.4,444.8,-10.7,355,3488,0.00,1.15,0.00,0.000,6,0.000,0.036,1705,3192,2849,0,0,0,0,0,0
$GC,3813,-0.45,-170.4,480.2,-10.7,371,3817,0.00,1.20,0.00,0.000,4,0.000,0.060,1699,3948,2848,0,0,0,0,0,0
$GC,3839,-0.45,-170.4,483.8,-12.2,372,3844,0.00,1.15,0.00,0.000,6,0.000,0.037,1699,3191,2848,0,0,0,0,0,0
$GC,4168,-0.45,-170.4,522.1,-11.5,388,4172,0.00,1.30,0.00,0.000,4,0.000,0.034,1699,2305,2846,0,0,0,0,0,0
$GC,4196,-0.45,-170.4,525.5,-11.4,389,4201,0.08,1.42,0.00,0.000,6,0.132,0.054,1718,3195,2846,0,0,0,0,0,0
$GC,4524,-0.45,-170.4,557.6,-10.1,405,4527,0.00,1.17,0.00,0.000,4,0.000,0.060,1714,3940,2845,0,0,0,0,0,0
$GC,4569,-0.45,-170.4,562.3,-10.2,407,4573,0.00,1.10,0.00,0.000,6,0.000,0.039,1714,3210,2844,0,0,0,0,0,0
$GC,4902,-0.45,-170.4,598.6,-11.8,423,4905,0.00,1.33,0.00,0.000,4,0.000,0.034,1714,2308,2843,0,0,0,0,0,0
$GC,4939,-0.45,-170.4,603.1,-10.8,424,4947,0.00,1.42,0.00,0.000,6,0.000,0.054,1708,3194,2843,0,0,0,0,0,0
$GC,5256,-0.45,-170.4,639.3,-11.3,440,5260,0.00,1.17,0.00,0.000,4,0.000,0.058,1703,3945,2842,0,0,0,0,0,0
$GC,5385,-0.45,-170.4,652.7,-10.0,445,5392,0.00,1.12,0.00,0.000,6,0.000,0.037,1703,3197,2841,0,0,0,0,0,0
$STATE,5493,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5493,begin apogee
$GC,5498,-0.11,0.0,663.7,10.2,451,5660,0.40,0.00,159.05,1.563,6,0.127,0.000,1828,3045,2145,0,0,0,0,0,0
$STATE,5661,end apogee,CONTROL_FINISHED_OK
$STATE,5661,begin climb
$GC,5663,0.45,170.4,671.2,0.0,459,5829,0.55,1.60,157.73,1.517,4,0.062,0.057,2021,3921,1450,0,0,0,0,0,0
$GC,5912,0.45,170.4,650.4,16.2,471,5917,0.00,1.42,0.00,0.000,6,0.000,0.034,2028,3038,1447,0,0,0,0,0,0
$GC,6239,0.45,170.4,608.7,12.1,487,6243,0.00,1.48,0.00,0.000,4,0.000,0.057,2028,3927,1444,0,0,0,0,0,0
$GC,6420,0.45,170.4,582.0,14.9,495,6423,0.00,1.35,0.00,0.000,6,0.000,0.035,2035,3050,1442,0,0,0,0,0,0
$GC,6752,0.45,170.4,537.5,13.2,511,6756,0.00,1.42,0.00,0.000,4,0.000,0.059,2035,3925,1441,0,0,0,0,0,0
$GC,6784,0.45,170.4,532.6,15.5,512,6789,0.00,1.38,0.00,0.000,6,0.000,0.035,2041,3042,1441,0,0,0,0,0,0
$GC,7106,0.45,170.4,487.8,14.3,528,7107,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,3041,1441,0,0,0,0,0,0
$GC,7415,0.45,170.4,443.3,14.6,543,7419,0.00,1.45,0.00,0.000,4,0.000,0.057,2041,3937,1440,0,0,0,0,0,0
$GC,7550,0.45,170.4,420.5,17.3,549,7555,0.10,1.35,0.00,0.000,6,0.188,0.037,2019,3046,1440,0,0,0,0,0,0
$GC,7877,0.45,170.4,377.2,13.0,572,7880,0.00,1.42,0.00,0.000,4,0.000,0.057,2019,3928,1440,0,0,0,0,0,0
$GC,7970,0.45,170.4,362.9,14.7,580,7978,0.00,1.35,0.00,0.000,6,0.000,0.035,2025,3042,1439,0,0,0,0,0,0
$GC,8296,0.45,170.4,317.9,14.3,611,8300,0.00,1.42,0.00,0.000,4,0.000,0.058,2025,3930,1439,0,0,0,0,0,0
$GC,8386,0.45,170.4,303.7,16.6,619,8390,0.00,1.33,0.00,0.000,6,0.000,0.037,2032,3057,1439,0,0,0,0,0,0
$GC,8716,0.45,170.4,255.6,14.7,650,8720,0.00,1.40,0.00,0.000,4,0.000,0.057,2032,3926,1439,0,0,0,0,0,0
$GC,8751,0.45,170.4,250.2,16.9,653,8755,0.00,1.35,0.00,0.000,6,0.000,0.037,2038,3041,1439,0,0,0,0,0,0
$GC,9082,0.45,170.4,200.6,14.9,684,9085,0.00,1.45,0.00,0.000,4,0.000,0.059,2038,3937,1439,0,0,0,0,0,0
$GC,9127,0.45,170.4,193.0,17.3,688,9130,0.00,1.35,0.00,0.000,6,0.000,0.035,2045,3044,1439,0,0,0,0,0,0
$GC,9457,0.45,170.4,142.0,15.5,719,9460,0.00,1.42,0.00,0.000,4,0.000,0.058,2045,3925,1439,0,0,0,0,0,0
$GC,9528,0.45,170.4,129.0,19.6,725,9536,0.10,1.33,0.00,0.000,6,0.193,0.035,2023,3046,1439,0,0,0,0,0,0
$GC,9862,0.45,170.4,80.4,13.6,768,9871,0.00,1.42,0.00,0.000,4,0.000,0.059,2023,3934,1439,0,0,0,0,0,0
$GC,10127,0.50,258.1,56.7,6.5,814,10173,0.00,1.33,37.58,0.936,6,0.000,0.036,2029,3054,1091,0,0,0,0,0,0
$GC,10518,0.50,258.1,11.9,13.5,881,10527,0.00,1.42,0.00,0.000,4,0.000,0.056,2029,3939,1085,0,0,0,0,0,0
$STATE,10599,end climb,SURFACE_DEPTH_REACHED
$STATE,10599,begin surface coast
$FINISH,0.4,1.021416
$STATE,10637,end surface coast,CONTROL_FINISHED_OK
$STATE,10637,begin surface
$SM_CCo,10710,0.00,0.000,0,0,1081,261.49
$SM_GC,1.58,5.15,0.00,0.00,0.037,0.000,0.000,77,3175,1081,-5.54,-0.71,261.49
$IRIDIUM_FIX,-3406.89,2945.34,260208,010115
$TT8_MAMPS,0.026964
$HUMID,57.67
$INTERNAL_PRESSURE,11.3004
$TCM_TEMP,18.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,650.5,27.4
$24V_AH,22.8,30.282
$10V_AH,10.3,11.504
$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,12.925,64.825,354.350,0.000,0.000,25.375,41.261,276.210,15.500,0.000,17.880,2207.488,6118.834,436.708,2243.704,166.965,0.000,1323.656,0.000,1837.781,0.000,98.737,0.000
$DEVICE_MAMPS,214.965,60.435,1562.895,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,622.444,558.068,142.063,393.372,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,4.380,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,332472
$DATA_FILE_SIZE,53510,900
$CAP_FILE_SIZE,117794,0
$CFSIZE,259252224,249835520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010515,192652,-3427.990,2554.704,69,1.0,69,-27.9