version: 66.07
glider: 543
mission: 11
dive: 815
start: 5 21 115 22 7 28
data:
$ID,543
$MISSION,11
$DIVE,815
$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,80
$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,-17767.957
$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,77
$R_STBD_OVSHOOT,37
$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
$GPS1,210515,215800,-3417.695,2535.388,15,0.9,16,-27.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-70.3
$GPS2,210515,220705,-3417.629,2535.355,20,0.9,20,-27.6
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,HEADING
$TGT_LATLONG,-3415.754,2548.223
$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,107.6,20000,-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,15,-0.45,-170.4,0.0,0.0,0,88,0.00,0.00,-70.57,0.000,2,0.000,0.000,63,3213,2507,0,0,0,0,0,0
$GC,92,-0.45,-170.4,3.2,-3.6,9,110,6.47,1.17,-6.53,0.000,4,0.216,0.067,1711,3963,2844,0,0,0,0,0,0
$GC,254,-0.45,-170.4,34.3,-11.7,35,261,0.00,1.08,0.00,0.000,6,0.000,0.028,1711,3201,2847,0,0,0,0,0,0
$GC,402,-0.45,-170.4,51.2,-11.4,60,410,0.00,1.27,0.00,0.000,4,0.000,0.024,1711,2296,2847,0,0,0,0,0,0
$GC,446,-0.45,-170.4,56.1,-9.4,67,453,0.00,1.40,0.00,0.000,6,0.000,0.044,1705,3195,2847,0,0,0,0,0,0
$GC,800,-0.45,-170.4,88.9,-7.1,128,809,0.00,1.15,0.00,0.000,4,0.000,0.050,1700,3946,2848,0,0,0,0,0,0
$STATE,878,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,878,begin apogee
$GC,887,-0.11,0.0,95.2,7.8,141,974,0.38,0.00,80.72,0.968,6,0.103,0.000,1830,3041,2146,0,0,0,0,0,0
$STATE,974,end apogee,CONTROL_FINISHED_OK
$STATE,974,begin climb
$GC,977,0.45,170.4,98.2,0.0,155,1060,0.50,1.33,75.90,0.965,4,0.061,0.024,2028,2147,1451,0,0,0,0,0,0
$GC,1081,0.47,204.2,93.7,8.7,171,1102,0.00,1.42,15.23,0.889,6,0.000,0.041,2029,3041,1313,0,0,0,0,0,0
$GC,1447,0.49,244.3,52.4,8.4,234,1468,0.00,1.45,17.70,0.786,4,0.000,0.049,2029,3938,1149,0,0,0,0,0,0
$GC,1598,0.49,244.3,37.0,10.2,259,1604,0.00,1.27,0.00,0.000,6,0.000,0.027,2035,3051,1150,0,0,0,0,0,0
$GC,1746,0.51,274.0,24.4,8.8,284,1768,0.00,1.27,13.45,0.681,4,0.000,0.023,2042,2152,1028,0,0,0,0,0,0
$GC,1799,0.53,316.5,19.5,8.3,292,1824,0.00,1.40,19.30,0.672,6,0.000,0.042,2042,3052,853,0,0,0,0,0,0
$GC,1875,0.55,343.9,12.7,8.9,303,1893,0.00,1.42,12.12,0.623,4,0.000,0.049,2042,3934,742,0,0,0,0,0,0
$GC,1967,0.57,371.6,4.6,8.9,317,1984,0.00,1.27,11.75,0.126,6,0.000,0.026,2049,3050,627,0,0,0,0,0,0
$STATE,1991,end climb,SURFACE_DEPTH_REACHED
$STATE,1991,begin surface coast
$FINISH,0.4,1.024527
$STATE,2034,end surface coast,CONTROL_FINISHED_OK
$STATE,2034,begin surface
$SM_CCo,2051,12.93,0.126,0,0,505,402.29
$SM_GC,1.30,0.00,0.00,12.93,0.000,0.000,0.126,53,3226,505,-5.68,0.71,402.29
$IRIDIUM_FIX,-3404.29,2536.77,170308,101025
$TT8_MAMPS,0.026964
$HUMID,55.94
$INTERNAL_PRESSURE,11.4469
$TCM_TEMP,21.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,29.5
$24V_AH,24.0,75.833
$10V_AH,10.4,34.422
$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,12.525,18.475,246.175,12.925,0.000,27.576,42.075,294.130,1.500,0.000,22.251,723.828,297.305,265.002,1129.018,207.483,0.000,621.799,0.000,766.223,0.000,11.584,0.000
$DEVICE_MAMPS,215.730,67.320,967.725,126.225,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,222.330,138.864,87.153,449.329,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,4.380,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,332660
$DATA_FILE_SIZE,20364,327
$CAP_FILE_SIZE,42795,0
$CFSIZE,259252224,232972288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210515,224247,-3417.468,2535.571,15,1.1,16,-27.6