version: 66.07
glider: 543
mission: 11
dive: 771
start: 5 20 115 6 3 19
data:
$ID,543
$MISSION,11
$DIVE,771
$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,330
$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,-17616.438
$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,70
$R_STBD_OVSHOOT,47
$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
$GPS1,200515,054931,-3426.283,2543.996,15,1.0,16,-27.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-73.5
$GPS2,200515,060256,-3426.594,2543.502,20,0.8,20,-27.8
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,HEADING
$TGT_LATLONG,-3417.242,2536.967
$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,357.8,20000,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.45,-170.4,0.0,0.0,0,90,0.00,0.00,-71.03,0.000,2,0.000,0.000,62,3214,2539,0,0,0,0,0,0
$GC,94,-0.45,-170.4,3.5,-4.7,9,112,6.65,1.15,-5.72,0.000,4,0.217,0.064,1713,3945,2845,0,0,0,0,0,0
$GC,288,-0.45,-170.4,38.0,-10.8,41,294,0.00,1.08,0.00,0.000,6,0.000,0.026,1713,3180,2848,0,0,0,0,0,0
$GC,433,-0.45,-170.4,54.6,-11.7,66,440,0.00,1.15,0.00,0.000,4,0.000,0.049,1708,3917,2850,0,0,0,0,0,0
$GC,479,-0.45,-170.4,59.9,-11.9,73,487,0.00,1.00,0.00,0.000,6,0.000,0.027,1708,3202,2849,0,0,0,0,0,0
$GC,837,-0.45,-170.4,102.4,-11.3,133,841,0.00,1.23,0.00,0.000,4,0.000,0.023,1707,2297,2851,0,0,0,0,0,0
$GC,850,-0.45,-170.4,104.2,-10.9,134,853,0.00,1.38,0.00,0.000,6,0.000,0.042,1702,3187,2851,0,0,0,0,0,0
$GC,1184,-0.45,-170.4,138.6,-9.5,165,1188,0.00,1.17,0.00,0.000,4,0.000,0.049,1696,3951,2852,0,0,0,0,0,0
$GC,1312,-0.45,-170.4,150.2,-8.4,176,1316,0.00,1.05,0.00,0.000,6,0.000,0.027,1696,3190,2852,0,0,0,0,0,0
$GC,1643,-0.45,-170.4,182.8,-9.9,207,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,1696,3190,2853,0,0,0,0,0,0
$GC,1964,-0.45,-170.4,214.9,-10.7,237,1967,0.00,1.17,0.00,0.000,4,0.000,0.050,1691,3947,2852,0,0,0,0,0,0
$GC,2001,-0.45,-170.4,219.0,-11.5,240,2005,0.08,1.02,0.00,0.000,6,0.119,0.028,1718,3218,2852,0,0,0,0,0,0
$GC,2332,-0.45,-170.4,244.1,-5.8,271,2336,0.00,1.12,0.00,0.000,4,0.000,0.050,1715,3942,2852,0,0,0,0,0,0
$GC,2404,-0.45,-170.4,250.5,-9.2,277,2408,0.00,1.05,0.00,0.000,6,0.000,0.028,1714,3196,2852,0,0,0,0,0,0
$GC,2736,-0.45,-170.4,275.6,-6.4,308,2739,0.00,1.15,0.00,0.000,4,0.000,0.052,1709,3930,2850,0,0,0,0,0,0
$GC,2842,-0.45,-170.4,284.6,-7.2,317,2846,0.00,1.05,0.00,0.000,6,0.000,0.028,1709,3188,2850,0,0,0,0,0,0
$STATE,3046,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3046,begin apogee
$GC,3053,-0.11,0.0,302.5,10.8,336,3212,0.35,0.00,155.93,1.315,6,0.108,0.000,1829,3053,2146,0,0,0,0,0,0
$STATE,3215,end apogee,CONTROL_FINISHED_OK
$STATE,3215,begin climb
$GC,3217,0.45,170.4,313.1,0.0,352,3379,0.47,1.40,150.85,1.280,4,0.034,0.024,2068,2160,1452,0,0,0,0,0,0
$GC,3430,0.45,170.4,297.9,15.0,370,3437,0.15,1.42,0.00,0.000,6,0.158,0.041,2024,3046,1450,0,0,0,0,0,0
$GC,3759,0.45,170.4,257.3,13.7,401,3762,0.00,1.40,0.00,0.000,4,0.000,0.049,2024,3932,1446,0,0,0,0,0,0
$GC,3899,0.45,170.4,235.9,13.3,413,3906,0.00,1.27,0.00,0.000,6,0.000,0.027,2029,3054,1444,0,0,0,0,0,0
$GC,4225,0.45,170.4,189.7,15.0,444,4228,0.00,1.40,0.00,0.000,4,0.000,0.049,2030,3931,1443,0,0,0,0,0,0
$GC,4306,0.45,170.4,176.6,16.7,451,4309,0.00,1.27,0.00,0.000,6,0.000,0.028,2036,3056,1443,0,0,0,0,0,0
$GC,4637,0.45,170.4,129.2,14.6,482,4641,0.00,1.40,0.00,0.000,4,0.000,0.048,2036,3938,1442,0,0,0,0,0,0
$GC,4801,0.45,170.4,107.4,10.8,496,4810,0.00,1.30,0.00,0.000,6,0.000,0.028,2043,3044,1441,0,0,0,0,0,0
$GC,5145,0.48,216.0,69.9,8.2,551,5171,0.00,1.40,19.58,0.926,4,0.000,0.049,2043,3945,1263,0,0,0,0,0,0
$GC,5187,0.49,230.5,66.2,9.4,557,5200,0.00,1.33,6.45,0.783,6,0.000,0.028,2050,3041,1204,0,0,0,0,0,0
$GC,5547,0.49,230.5,23.7,10.7,619,5553,0.00,1.40,0.00,0.000,4,0.000,0.050,2050,3924,1201,0,0,0,0,0,0
$STATE,5762,end climb,SURFACE_DEPTH_REACHED
$STATE,5762,begin surface coast
$FINISH,0.5,1.024229
$STATE,5798,end surface coast,CONTROL_FINISHED_OK
$STATE,5799,begin surface
$SM_CCo,5815,73.12,0.119,0,0,505,402.29
$SM_GC,1.34,0.00,0.00,73.12,0.000,0.000,0.119,68,3194,505,-5.63,-0.17,402.29
$IRIDIUM_FIX,-3412.10,2543.64,150308,151533
$TT8_MAMPS,0.026964
$HUMID,57.99
$INTERNAL_PRESSURE,11.3786
$TCM_TEMP,20.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,290.5,26.5
$24V_AH,23.2,71.972
$10V_AH,10.3,32.495
$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,12.850,31.950,332.800,73.125,0.000,101.641,21.258,409.238,6.750,0.000,21.838,1550.931,2334.692,422.300,2081.193,309.665,0.000,1059.245,0.000,1540.878,0.000,45.671,0.000
$DEVICE_MAMPS,217.260,65.790,1315.035,119.340,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,455.161,400.890,198.261,722.675,0.000,0.000,0.000,0.000,0.000,0.000
$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,40238,661
$CAP_FILE_SIZE,79704,0
$CFSIZE,259252224,234315776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200515,074234,-3426.400,2542.667,26,0.9,26,-27.8