version: 66.07
glider: 543
mission: 9
dive: 3
start: 12 1 113 21 53 29
data:
$ID,543
$MISSION,9
$DIVE,3
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,0
$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,135
$T_MISSION,150
$T_ABORT,720
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52459
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4300
$TGT_DEFAULT_LON,-800
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-12412.144
$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,1660
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$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,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2500
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,2474
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.00061500003
$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,-59.073162
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,15
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.050000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$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,0.00023287861
$GPS1,011213,214553,-4302.305,835.080,11,1.7,11,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-33.5
$GPS2,011213,215305,-4302.326,835.175,18,1.2,18,-25.1
$SPEED_LIMITS,0.171,0.259
$TGT_NAME,SAZ
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,500.000
$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,326.7,8227,-17.3,-9.877
$D_GRID,400
$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,14,-0.56,-146.1,0.0,0.0,0,126,0.00,0.00,-108.82,0.000,6,0.000,0.000,75,2518,3072,0,0,0,0,0,0
$GC,128,-0.56,-146.1,3.5,-5.1,14,138,5.35,2.28,0.00,0.000,4,0.219,0.050,1464,3908,3073,0,0,0,0,0,0
$GC,370,-0.56,-146.1,71.4,-25.1,55,377,0.00,2.17,0.00,0.000,6,0.000,0.039,1465,2494,3075,0,0,0,0,0,0
$GC,706,-0.56,-146.1,142.9,-21.3,97,710,0.00,2.28,0.00,0.000,4,0.000,0.062,1453,3897,3076,0,0,0,0,0,0
$GC,966,-0.56,-146.1,213.3,-25.8,119,977,0.00,2.17,0.00,0.000,6,0.000,0.038,1453,2492,3076,0,0,0,0,0,0
$GC,1294,-0.56,-146.1,278.4,-19.0,150,1298,0.00,2.17,0.00,0.000,4,0.000,0.044,1454,1094,3075,0,0,0,0,0,0
$GC,1395,-0.56,-146.1,295.0,-14.7,158,1406,0.10,2.28,0.00,0.000,6,0.151,0.052,1474,2492,3075,0,0,0,0,0,0
$GC,1722,-0.56,-146.1,345.0,-15.6,189,1726,0.00,2.17,0.00,0.000,4,0.000,0.044,1474,1097,3075,0,0,0,0,0,0
$GC,1889,-0.56,-146.1,367.4,-13.1,203,1894,0.00,2.25,0.00,0.000,6,0.000,0.054,1465,2503,3076,0,0,0,0,0,0
$STATE,2098,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2098,begin apogee
$GC,2101,-0.14,0.0,401.6,17.1,222,2241,0.50,0.00,130.07,1.401,6,0.157,0.000,1613,2505,2475,0,0,0,0,0,0
$STATE,2241,end apogee,CONTROL_FINISHED_OK
$STATE,2242,begin climb
$GC,2243,0.56,146.1,410.8,0.0,229,2383,0.73,2.45,130.82,1.354,4,0.126,0.044,1844,1102,1877,0,0,0,0,0,0
$GC,2568,0.59,190.9,390.2,7.8,248,2612,0.00,2.33,39.22,1.348,6,0.000,0.051,1844,2503,1694,0,0,0,0,0,0
$GC,2933,0.59,205.4,356.0,9.2,281,2951,0.00,2.30,12.85,1.312,4,0.000,0.046,1854,1102,1635,0,0,0,0,0,0
$GC,3079,0.61,232.1,343.1,8.7,293,3109,0.00,2.33,24.70,1.349,6,0.000,0.054,1854,2508,1526,0,0,0,0,0,0
$GC,3436,0.61,232.1,305.0,10.9,326,3440,0.00,2.28,0.00,0.000,4,0.000,0.049,1865,1096,1522,0,0,0,0,0,0
$GC,3559,0.61,236.2,292.6,9.7,336,3570,0.00,2.33,3.67,1.021,6,0.000,0.054,1865,2497,1510,0,0,0,0,0,0
$GC,3886,0.61,236.2,254.5,11.8,367,3890,0.00,2.22,0.00,0.000,4,0.000,0.048,1875,1099,1510,0,0,0,0,0,0
$GC,4020,0.61,236.2,240.4,10.0,378,4024,0.00,2.28,0.00,0.000,6,0.000,0.054,1875,2500,1510,0,0,0,0,0,0
$GC,4346,0.61,236.2,200.2,12.4,408,4350,0.00,2.25,0.00,0.000,4,0.000,0.049,1886,1094,1510,0,0,0,0,0,0
$GC,4490,0.61,236.2,185.0,10.3,420,4495,0.00,2.28,0.00,0.000,6,0.000,0.054,1886,2502,1509,0,0,0,0,0,0
$GC,4817,0.61,236.2,144.9,12.4,450,4820,0.00,2.20,0.00,0.000,4,0.000,0.048,1896,1103,1509,0,0,0,0,0,0
$GC,4952,0.61,236.2,129.7,10.4,461,4963,0.10,2.28,0.00,0.000,6,0.146,0.054,1864,2498,1508,0,0,0,0,0,0
$GC,5282,0.61,236.2,95.9,10.1,495,5288,0.00,2.20,0.00,0.000,4,0.000,0.047,1873,1091,1508,0,0,0,0,0,0
$GC,5423,0.64,274.4,83.9,8.1,519,5444,0.00,2.28,15.38,1.052,6,0.000,0.054,1873,2511,1354,0,0,0,0,0,0
$GC,5790,0.64,274.4,42.2,11.3,582,5798,0.00,2.25,0.00,0.000,4,0.000,0.047,1883,1103,1351,0,0,0,0,0,0
$GC,5873,0.64,274.4,33.2,10.3,596,5882,0.00,2.28,0.00,0.000,6,0.000,0.054,1883,2495,1350,0,0,0,0,0,0
$GC,6023,0.64,274.4,15.7,12.1,621,6031,0.00,2.30,0.00,0.000,4,0.000,0.063,1883,3908,1350,0,0,0,0,0,0
$STATE,6115,end climb,SURFACE_DEPTH_REACHED
$STATE,6115,begin surface coast
$FINISH,-0.0,1.026569
$STATE,6135,end surface coast,CONTROL_FINISHED_OK
$STATE,6135,begin surface
$SM_CCo,6208,0.00,0.000,0,0,1346,276.69
$SM_GC,0.74,4.80,0.00,0.00,0.044,0.000,0.000,65,2496,1346,-4.88,-0.08,276.69
$IRIDIUM_FIX,-4247.91,837.38,011213,212133
$TT8_MAMPS,0.025466
$HUMID,64.64
$INTERNAL_PRESSURE,9.56208
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,23.5,1.219
$10V_AH,10.2,0.492
$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,11.575,58.750,356.725,0.000,0.000,0.000,0.000,0.000,0.000,0.000,20.861,1518.380,1994.015,400.524,2288.595,81.308,0.000,1092.000,0.000,2294.200,0.000,1.016,0.000
$DEVICE_MAMPS,218.790,62.730,1401.480,0.000,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,438.975,700.040,1773.656,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355296
$DATA_FILE_SIZE,40346,639
$CAP_FILE_SIZE,84398,0
$CFSIZE,259252224,258129920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011213,233748,-4302.163,836.327,20,1.1,20,-25.1