version: 66.07
glider: 543
mission: 11
dive: 272
start: 5 3 115 16 7 21
data:
$ID,543
$MISSION,11
$DIVE,272
$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,0
$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,-16092.286
$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,57
$R_STBD_OVSHOOT,23
$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
$GPS1,030515,155658,-3427.072,2548.302,51,1.0,51,-27.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-69.7
$GPS2,030515,160659,-3427.192,2548.091,17,1.6,17,-27.9
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,HEADING
$TGT_LATLONG,-3416.393,2548.091
$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,27.9,20000,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.45,-170.4,0.0,0.0,0,74,0.00,0.00,-56.47,0.000,2,0.000,0.000,63,3213,2398,0,0,0,0,0,0
$GC,76,-0.45,-170.4,3.0,-3.9,7,102,6.60,1.33,-9.12,0.000,4,0.223,0.048,1717,2295,2845,0,0,0,0,0,0
$GC,215,-0.45,-170.4,31.0,-12.2,29,222,0.00,1.45,0.00,0.000,6,0.000,0.048,1712,3204,2849,0,0,0,0,0,0
$GC,361,-0.45,-170.4,50.8,-13.5,54,368,0.00,1.15,0.00,0.000,4,0.000,0.053,1706,3937,2850,0,0,0,0,0,0
$GC,428,-0.45,-170.4,60.8,-15.4,65,435,0.00,1.08,0.00,0.000,6,0.000,0.031,1706,3200,2851,0,0,0,0,0,0
$GC,775,-0.45,-170.4,109.2,-14.0,121,779,0.00,1.15,0.00,0.000,4,0.000,0.054,1701,3934,2854,0,0,0,0,0,0
$GC,921,-0.45,-170.4,128.8,-13.1,134,925,0.00,1.08,0.00,0.000,6,0.000,0.031,1701,3196,2855,0,0,0,0,0,0
$GC,1251,-0.45,-170.4,169.7,-12.0,165,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,1701,3195,2857,0,0,0,0,0,0
$GC,1570,-0.45,-170.4,209.4,-12.9,195,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,1701,3195,2857,0,0,0,0,0,0
$GC,1889,-0.45,-170.4,247.7,-11.8,225,1892,0.00,1.17,0.00,0.000,4,0.000,0.057,1695,3945,2856,0,0,0,0,0,0
$GC,1937,-0.45,-170.4,254.0,-12.6,229,1945,0.00,1.10,0.00,0.000,6,0.000,0.033,1695,3203,2856,0,0,0,0,0,0
$GC,2263,-0.45,-170.4,293.8,-12.3,260,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,1695,3203,2855,0,0,0,0,0,0
$GC,2582,-0.45,-170.4,331.4,-11.3,290,2585,0.00,1.15,0.00,0.000,4,0.000,0.057,1690,3935,2853,0,0,0,0,0,0
$GC,2654,-0.45,-170.4,340.2,-12.3,296,2661,0.08,1.08,0.00,0.000,6,0.140,0.034,1715,3207,2853,0,0,0,0,0,0
$GC,2980,-0.45,-170.4,370.8,-9.2,327,2983,0.00,1.33,0.00,0.000,4,0.000,0.031,1715,2296,2851,0,0,0,0,0,0
$GC,3003,-0.45,-170.4,373.1,-9.4,329,3006,0.00,1.45,0.00,0.000,6,0.000,0.052,1710,3204,2851,0,0,0,0,0,0
$GC,3332,-0.45,-170.4,404.9,-10.1,358,3335,0.00,1.15,0.00,0.000,4,0.000,0.057,1705,3941,2849,0,0,0,0,0,0
$GC,3358,-0.45,-170.4,407.9,-10.2,359,3363,0.00,1.12,0.00,0.000,6,0.000,0.034,1705,3188,2849,0,0,0,0,0,0
$STATE,3499,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3499,begin apogee
$GC,3504,-0.11,0.0,422.2,10.6,366,3662,0.40,0.00,155.38,1.401,6,0.123,0.000,1831,3062,2147,0,0,0,0,0,0
$STATE,3663,end apogee,CONTROL_FINISHED_OK
$STATE,3663,begin climb
$GC,3665,0.45,170.4,427.7,0.0,374,3825,0.52,1.50,151.07,1.353,4,0.080,0.031,2020,2160,1451,0,0,0,0,0,0
$GC,3846,0.45,170.4,413.9,12.2,382,3854,0.00,1.50,0.00,0.000,6,0.000,0.047,2020,3038,1449,0,0,0,0,0,0
$GC,4169,0.45,170.4,367.5,14.4,408,4173,0.00,1.48,0.00,0.000,4,0.000,0.057,2020,3939,1444,0,0,0,0,0,0
$GC,4297,0.45,170.4,345.1,17.7,419,4305,0.00,1.38,0.00,0.000,6,0.000,0.034,2027,3043,1443,0,0,0,0,0,0
$GC,4623,0.45,170.4,298.7,13.9,450,4626,0.00,1.45,0.00,0.000,4,0.000,0.058,2027,3930,1441,0,0,0,0,0,0
$GC,4806,0.45,170.4,267.1,18.2,466,4814,0.00,1.35,0.00,0.000,6,0.000,0.034,2034,3048,1440,0,0,0,0,0,0
$GC,5132,0.45,170.4,218.9,14.4,497,5135,0.00,1.42,0.00,0.000,4,0.000,0.057,2034,3929,1440,0,0,0,0,0,0
$GC,5214,0.45,170.4,205.0,16.9,504,5222,0.00,1.35,0.00,0.000,6,0.000,0.035,2040,3050,1439,0,0,0,0,0,0
$GC,5540,0.45,170.4,158.6,13.8,535,5544,0.00,1.42,0.00,0.000,4,0.000,0.058,2040,3938,1438,0,0,0,0,0,0
$GC,5645,0.45,170.4,141.4,16.3,544,5653,0.08,1.35,0.00,0.000,6,0.179,0.034,2024,3047,1438,0,0,0,0,0,0
$GC,5971,0.45,170.4,100.0,12.5,575,5974,0.00,1.45,0.00,0.000,4,0.000,0.057,2024,3945,1437,0,0,0,0,0,0
$GC,6230,0.45,170.4,62.6,14.4,620,6239,0.00,1.35,0.00,0.000,6,0.000,0.035,2029,3047,1435,0,0,0,0,0,0
$GC,6583,0.51,270.2,23.5,6.1,681,6630,0.00,1.42,40.38,0.804,4,0.000,0.055,2029,3941,1041,0,0,0,0,0,0
$GC,6710,0.53,305.9,14.0,8.6,701,6735,0.00,1.35,14.55,0.722,6,0.000,0.032,2036,3051,894,0,0,0,0,0,0
$GC,6785,0.56,364.6,8.5,7.7,712,6817,0.00,1.35,24.27,0.718,4,0.000,0.029,2043,2159,657,0,0,0,0,0,0
$STATE,6836,end climb,SURFACE_DEPTH_REACHED
$STATE,6836,begin surface coast
$FINISH,0.4,1.024404
$STATE,6873,end surface coast,CONTROL_FINISHED_OK
$STATE,6873,begin surface
$SM_CCo,6947,0.00,0.000,0,0,653,366.47
$SM_GC,1.29,5.30,0.00,0.00,0.038,0.000,0.000,55,3216,653,-5.55,0.42,366.47
$IRIDIUM_FIX,-3412.10,2546.00,280208,050555
$TT8_MAMPS,0.027713
$HUMID,57.36
$INTERNAL_PRESSURE,11.3395
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,400.7,36.3
$24V_AH,23.1,33.289
$10V_AH,10.4,12.768
$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,12.975,39.750,385.650,0.000,0.000,72.299,104.644,249.996,9.250,0.000,20.016,1707.043,3369.203,423.459,1920.720,133.155,0.000,1120.067,0.000,1451.049,0.000,59.615,0.000
$DEVICE_MAMPS,222.615,65.025,1400.715,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,498.578,445.969,144.961,396.610,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,4.380,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,332524
$DATA_FILE_SIZE,40245,725
$CAP_FILE_SIZE,85898,0
$CFSIZE,259252224,248852480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030515,180355,-3426.544,2547.709,13,1.0,14,-27.8