version: 66.07
glider: 543
mission: 11
dive: 767
start: 5 19 115 21 51 29
data:
$ID,543
$MISSION,11
$DIVE,767
$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,402.28543
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,2
$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,-17602.531
$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,68
$R_STBD_OVSHOOT,54
$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,40
$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
$GPS1,190515,213654,-3426.667,2548.772,40,0.8,40,-27.8
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-69.3
$GPS2,190515,215105,-3426.979,2548.257,21,1.0,22,-27.9
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,HEADING
$TGT_LATLONG,-3416.180,2548.257
$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,16,-0.45,-170.4,0.0,0.0,0,89,0.00,0.00,-70.95,0.000,2,0.000,0.000,62,3242,2600,0,0,0,0,0,0
$GC,93,-0.45,-170.4,4.4,-8.1,9,111,6.60,1.33,-4.22,0.000,4,0.215,0.042,1721,2285,2842,0,0,0,0,0,0
$GC,231,-0.45,-170.4,38.7,-10.7,31,238,0.00,1.42,0.00,0.000,6,0.000,0.042,1716,3186,2847,0,0,0,0,0,0
$GC,379,-0.45,-170.4,55.0,-11.0,56,388,0.00,1.15,0.00,0.000,4,0.000,0.049,1710,3933,2847,0,0,0,0,0,0
$GC,574,-0.45,-170.4,79.4,-13.0,89,582,0.00,1.05,0.00,0.000,6,0.000,0.027,1711,3181,2848,0,0,0,0,0,0
$GC,915,-0.45,-170.4,114.9,-8.7,135,918,0.00,1.17,0.00,0.000,4,0.000,0.049,1705,3942,2849,0,0,0,0,0,0
$GC,973,-0.45,-170.4,120.2,-8.9,140,977,0.00,1.02,0.00,0.000,6,0.000,0.027,1705,3200,2849,0,0,0,0,0,0
$GC,1305,-0.45,-170.4,151.9,-8.3,171,1308,0.00,1.15,0.00,0.000,4,0.000,0.050,1700,3935,2850,0,0,0,0,0,0
$GC,1401,-0.45,-170.4,159.5,-7.7,179,1407,0.00,1.02,0.00,0.000,6,0.000,0.026,1700,3197,2850,0,0,0,0,0,0
$GC,1726,-0.45,-170.4,187.2,-9.4,210,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,1700,3196,2850,0,0,0,0,0,0
$GC,2045,-0.45,-170.4,216.7,-9.5,240,2049,0.00,1.15,0.00,0.000,4,0.000,0.051,1695,3933,2850,0,0,0,0,0,0
$GC,2118,-0.45,-170.4,224.6,-10.1,246,2125,0.00,1.02,0.00,0.000,6,0.000,0.028,1694,3205,2850,0,0,0,0,0,0
$GC,2446,-0.45,-170.4,262.7,-12.3,277,2449,0.00,1.15,0.00,0.000,4,0.000,0.052,1689,3943,2849,0,0,0,0,0,0
$GC,2539,-0.45,-170.4,274.5,-11.9,285,2544,0.08,1.05,0.00,0.000,6,0.121,0.028,1717,3199,2849,0,0,0,0,0,0
$GC,2871,-0.45,-170.4,305.1,-7.5,316,2874,0.00,1.15,0.00,0.000,4,0.000,0.051,1713,3938,2847,0,0,0,0,0,0
$GC,2957,-0.45,-170.4,313.1,-9.6,323,2963,0.00,1.05,0.00,0.000,6,0.000,0.028,1713,3202,2847,0,0,0,0,0,0
$GC,3282,-0.45,-170.4,343.3,-8.3,354,3286,0.00,1.15,0.00,0.000,4,0.000,0.050,1708,3942,2845,0,0,0,0,0,0
$GC,3389,-0.45,-170.4,355.2,-8.3,363,3396,0.00,1.05,0.00,0.000,6,0.000,0.030,1708,3207,2844,0,0,0,0,0,0
$GC,3715,-0.45,-170.4,382.1,-8.3,394,3719,0.00,1.15,0.00,0.000,4,0.000,0.053,1703,3940,2842,0,0,0,0,0,0
$GC,3833,-0.45,-170.4,393.9,-11.2,404,3842,0.00,1.08,0.00,0.000,6,0.000,0.029,1703,3192,2841,0,0,0,0,0,0
$STATE,3953,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3953,begin apogee
$GC,3960,-0.11,0.0,406.5,10.5,413,4120,0.40,0.00,157.20,1.356,6,0.106,0.000,1834,3051,2147,0,0,0,0,0,0
$STATE,4121,end apogee,CONTROL_FINISHED_OK
$STATE,4121,begin climb
$GC,4124,0.45,170.4,415.3,0.0,421,4288,0.52,1.55,153.62,1.320,4,0.054,0.049,2026,3937,1452,0,0,0,0,0,0
$GC,4310,0.45,170.4,407.9,14.2,430,4314,0.00,1.38,0.00,0.000,6,0.000,0.025,2034,3043,1451,0,0,0,0,0,0
$GC,4642,0.45,170.4,360.6,13.9,458,4645,0.00,1.42,0.00,0.000,4,0.000,0.050,2033,3929,1448,0,0,0,0,0,0
$GC,4700,0.45,170.4,352.9,14.0,463,4704,0.00,1.30,0.00,0.000,6,0.000,0.028,2040,3045,1447,0,0,0,0,0,0
$GC,5032,0.45,170.4,307.0,12.5,494,5035,0.00,1.40,0.00,0.000,4,0.000,0.051,2040,3922,1445,0,0,0,0,0,0
$GC,5172,0.45,170.4,283.5,17.7,506,5179,0.00,1.27,0.00,0.000,6,0.000,0.028,2047,3049,1445,0,0,0,0,0,0
$GC,5501,0.45,170.4,237.1,13.3,537,5505,0.12,1.40,0.00,0.000,4,0.197,0.050,2016,3929,1444,0,0,0,0,0,0
$GC,5581,0.45,170.4,225.8,13.4,544,5585,0.00,1.27,0.00,0.000,6,0.000,0.028,2022,3056,1443,0,0,0,0,0,0
$GC,5912,0.45,170.4,183.8,13.8,575,5916,0.00,1.38,0.00,0.000,4,0.000,0.050,2022,3920,1443,0,0,0,0,0,0
$GC,6029,0.45,170.4,166.2,14.6,585,6033,0.00,1.27,0.00,0.000,6,0.000,0.028,2029,3044,1443,0,0,0,0,0,0
$GC,6360,0.45,170.4,119.0,11.3,616,6364,0.00,1.40,0.00,0.000,4,0.000,0.050,2028,3922,1443,0,0,0,0,0,0
$GC,6420,0.45,170.4,112.9,10.5,621,6424,0.00,1.27,0.00,0.000,6,0.000,0.028,2035,3049,1442,0,0,0,0,0,0
$GC,6760,0.48,223.0,84.3,7.9,669,6787,0.00,0.00,23.05,0.979,6,0.000,0.000,2035,3048,1236,0,0,0,0,0,0
$GC,7129,0.49,228.1,48.3,9.8,733,7136,0.00,1.45,1.80,0.278,4,0.000,0.050,2035,3936,1216,0,0,0,0,0,0
$GC,7398,0.54,332.5,22.7,5.9,779,7453,0.00,1.30,46.90,0.754,6,0.000,0.028,2042,3040,788,0,0,0,0,0,0
$GC,7600,0.61,446.2,14.1,5.5,811,7641,0.00,1.45,30.88,0.695,4,0.000,0.051,2042,3922,504,0,0,0,0,0,0
$GC,7704,0.65,516.1,7.2,7.2,826,7712,0.00,1.30,0.00,0.000,6,0.000,0.026,2047,3040,503,0,0,0,0,0,0
$GC,7763,0.72,641.2,3.4,5.0,835,7772,0.15,1.27,0.00,0.000,4,0.076,0.024,2152,2141,502,0,0,0,0,0,0
$STATE,7779,end climb,SURFACE_DEPTH_REACHED
$STATE,7779,begin surface coast
$FINISH,0.4,1.010610
$STATE,7792,end surface coast,CONTROL_FINISHED_OK
$STATE,7792,begin surface
$SM_CCo,7870,0.00,0.000,0,0,501,403.76
$SM_GC,1.48,5.50,0.00,0.00,0.037,0.000,0.000,60,3212,501,-5.54,0.28,403.76
$IRIDIUM_FIX,-3412.10,2540.16,150308,060601
$TT8_MAMPS,0.026964
$HUMID,57.28
$INTERNAL_PRESSURE,11.4079
$TCM_TEMP,22.20
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,400.2,20.9
$24V_AH,22.9,71.396
$10V_AH,10.3,32.199
$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,13.375,45.250,413.450,0.000,0.000,26.578,37.662,570.789,11.250,0.000,24.351,1974.874,3353.174,459.169,2596.307,337.979,0.000,1247.195,0.000,1940.688,0.000,61.817,0.000
$DEVICE_MAMPS,214.965,58.905,1356.345,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,576.954,511.089,249.181,877.654,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,4.380,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,332668
$DATA_FILE_SIZE,50387,839
$CAP_FILE_SIZE,100589,0
$CFSIZE,259252224,234479616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200515,000355,-3426.679,2547.404,39,1.1,39,-27.8