version: 66.07
glider: 543
mission: 11
dive: 824
start: 5 22 115 4 15 30
data:
$ID,543
$MISSION,11
$DIVE,824
$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,-17793.443
$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,75
$R_STBD_OVSHOOT,46
$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
$GPS1,220515,041401,-3416.231,2536.774,16,0.9,17,-27.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-69.5
$GPS2,220515,041507,-3416.236,2536.729,17,0.9,18,-27.6
$SPEED_LIMITS,0.173,0.278
$TGT_NAME,HEADING
$TGT_LATLONG,-3414.360,2549.594
$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,16,-0.45,-170.4,0.0,0.0,0,88,0.00,0.00,-70.28,0.000,2,0.000,0.000,48,3215,2482,0,0,0,0,0,0
$GC,92,-0.45,-170.4,3.2,-4.2,9,109,6.47,0.00,-7.05,0.000,6,0.214,0.000,1716,3215,2844,0,0,0,0,0,0
$GC,160,-0.45,-170.4,21.0,-16.0,19,166,0.00,1.27,0.00,0.000,4,0.000,0.024,1716,2294,2847,0,0,0,0,0,0
$GC,199,-0.45,-170.4,26.2,-12.6,25,205,0.00,1.40,0.00,0.000,6,0.000,0.044,1711,3190,2846,0,0,0,0,0,0
$GC,346,-0.45,-170.4,44.7,-12.2,50,353,0.00,1.15,0.00,0.000,4,0.000,0.050,1705,3938,2847,0,0,0,0,0,0
$GC,482,-0.45,-170.4,59.2,-9.9,73,489,0.00,1.05,0.00,0.000,6,0.000,0.028,1706,3194,2847,0,0,0,0,0,0
$STATE,781,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,781,begin apogee
$GC,788,-0.11,0.0,86.9,7.0,125,870,0.35,0.00,77.60,0.955,6,0.108,0.000,1827,3045,2146,0,0,0,0,0,0
$STATE,871,end apogee,CONTROL_FINISHED_OK
$STATE,871,begin climb
$GC,874,0.45,170.4,89.8,0.0,138,956,0.50,1.35,75.72,0.944,4,0.070,0.024,2022,2141,1451,0,0,0,0,0,0
$GC,1079,0.48,213.2,73.9,8.3,172,1105,0.00,1.42,18.85,0.849,6,0.000,0.042,2022,3047,1275,0,0,0,0,0,0
$GC,1449,0.51,263.9,37.2,8.0,236,1477,0.00,1.38,22.30,0.736,4,0.000,0.047,2022,3945,1069,0,0,0,0,0,0
$GC,1567,0.51,263.9,25.8,10.3,255,1574,0.00,1.30,0.00,0.000,6,0.000,0.025,2029,3041,1069,0,0,0,0,0,0
$GC,1719,0.53,313.6,13.4,8.0,280,1745,0.00,1.30,22.08,0.642,4,0.000,0.025,2036,2157,864,0,0,0,0,0,0
$STATE,1865,end climb,SURFACE_DEPTH_REACHED
$STATE,1866,begin surface coast
$FINISH,2.1,1.024725
$STATE,1873,end surface coast,CONTROL_FINISHED_OK
$STATE,1873,begin surface
$SM_CCo,1890,50.35,0.161,1,0,506,402.29
$SM_GC,1.38,0.00,0.00,50.35,0.000,0.000,0.161,66,3221,506,-5.63,0.59,402.29
$IRIDIUM_FIX,-3404.29,2534.42,170308,151522
$TT8_MAMPS,0.026964
$HUMID,55.35
$INTERNAL_PRESSURE,11.4469
$TCM_TEMP,21.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.5,21.1
$24V_AH,24.0,76.431
$10V_AH,10.4,34.765
$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,12.575,13.450,216.550,50.350,0.000,0.000,0.000,0.000,1.500,0.000,20.271,666.537,266.838,282.925,735.687,72.584,0.000,600.065,0.000,729.265,0.000,11.541,0.000
$DEVICE_MAMPS,214.200,56.610,954.720,161.415,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,QSP2150,WL_BB2FLVMT,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,205.157,130.567,85.887,439.448,0.000,0.000,0.000,0.000,0.000,0.000
$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,16982,304
$CAP_FILE_SIZE,32283,0
$CFSIZE,259252224,232726528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,220515,044855,-3416.211,2536.883,20,0.9,21,-27.6