version: 66.07
glider: 543
mission: 9
dive: 4
start: 12 1 113 23 51 12
data:
$ID,543
$MISSION,9
$DIVE,4
$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,-12414.88
$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,45
$R_STBD_OVSHOOT,18
$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
$GPS1,011213,233748,-4302.163,836.327,20,1.1,20,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-59.9
$GPS2,011213,235048,-4302.213,836.556,25,1.7,25,-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,319.9,9780,-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,13,-0.56,-146.1,0.0,0.0,0,88,0.00,0.00,-72.22,0.000,2,0.000,0.000,64,2496,3058,0,0,0,0,0,0
$GC,90,-0.56,-146.1,3.6,-4.8,9,101,5.47,2.38,-0.25,0.000,4,0.220,0.068,1463,3919,3072,0,0,0,0,0,0
$GC,362,-0.56,-146.1,78.2,-22.8,55,369,0.00,2.20,0.00,0.000,6,0.000,0.040,1463,2500,3075,0,0,0,0,0,0
$GC,702,-0.56,-146.1,143.6,-18.6,95,706,0.00,2.33,0.00,0.000,4,0.000,0.064,1452,3922,3075,0,0,0,0,0,0
$GC,963,-0.56,-146.1,207.6,-23.7,117,973,0.00,2.22,0.00,0.000,6,0.000,0.040,1452,2492,3076,0,0,0,0,0,0
$GC,1291,-0.56,-146.1,273.7,-19.8,148,1294,0.00,2.17,0.00,0.000,4,0.000,0.044,1452,1093,3075,0,0,0,0,0,0
$GC,1402,-0.56,-146.1,292.9,-17.2,157,1407,0.12,2.28,0.00,0.000,6,0.174,0.054,1473,2506,3075,0,0,0,0,0,0
$GC,1728,-0.56,-146.1,351.5,-18.5,187,1732,0.00,2.20,0.00,0.000,4,0.000,0.044,1473,1099,3076,0,0,0,0,0,0
$GC,1895,-0.56,-146.1,378.1,-14.7,201,1899,0.00,2.25,0.00,0.000,6,0.000,0.055,1464,2507,3076,0,0,0,0,0,0
$STATE,2018,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2018,begin apogee
$GC,2021,-0.14,0.0,400.4,18.1,212,2161,0.50,0.00,130.25,1.414,6,0.157,0.000,1611,2508,2474,0,0,0,0,0,0
$STATE,2162,end apogee,CONTROL_FINISHED_OK
$STATE,2162,begin climb
$GC,2163,0.56,146.1,411.3,0.0,219,2304,0.73,2.47,131.23,1.368,4,0.125,0.044,1842,1099,1877,0,0,0,0,0,0
$GC,2444,0.59,196.3,396.1,7.6,233,2496,0.00,2.35,44.28,1.362,6,0.000,0.054,1842,2498,1673,0,0,0,0,0,0
$GC,2813,0.59,196.3,360.6,10.3,267,2817,0.00,2.28,0.00,0.000,4,0.000,0.046,1853,1088,1666,0,0,0,0,0,0
$GC,2946,0.60,215.7,348.1,9.0,278,2973,0.00,2.35,16.95,1.350,6,0.000,0.054,1853,2511,1593,0,0,0,0,0,0
$GC,3290,0.60,215.7,309.6,11.5,310,3294,0.00,2.28,0.00,0.000,4,0.000,0.047,1863,1091,1592,0,0,0,0,0,0
$GC,3423,0.60,215.7,296.2,10.1,321,3427,0.00,2.33,0.00,0.000,6,0.000,0.055,1863,2506,1591,0,0,0,0,0,0
$GC,3749,0.60,215.7,258.6,11.3,351,3753,0.00,2.25,0.00,0.000,4,0.000,0.047,1873,1090,1590,0,0,0,0,0,0
$GC,3883,0.60,222.1,245.1,9.6,362,3897,0.00,2.28,6.22,1.216,6,0.000,0.055,1873,2499,1566,0,0,0,0,0,0
$GC,4215,0.60,222.1,205.8,11.8,393,4219,0.00,2.22,0.00,0.000,4,0.000,0.047,1884,1095,1566,0,0,0,0,0,0
$GC,4349,0.60,222.1,191.8,10.3,404,4353,0.00,2.30,0.00,0.000,6,0.000,0.056,1884,2507,1566,0,0,0,0,0,0
$GC,4675,0.60,222.1,151.0,13.0,434,4679,0.00,2.22,0.00,0.000,4,0.000,0.047,1894,1098,1566,0,0,0,0,0,0
$GC,4831,0.60,222.1,133.1,11.6,447,4836,0.15,2.28,0.00,0.000,6,0.165,0.055,1854,2500,1566,0,0,0,0,0,0
$GC,5157,0.60,222.1,97.9,11.2,478,5166,0.00,2.22,0.00,0.000,4,0.000,0.047,1864,1100,1566,0,0,0,0,0,0
$GC,5306,0.61,235.0,84.0,9.3,503,5322,0.00,2.28,5.12,0.906,6,0.000,0.054,1863,2508,1513,0,0,0,0,0,0
$GC,5669,0.61,235.0,47.1,10.0,565,5676,0.00,2.22,0.00,0.000,4,0.000,0.047,1874,1094,1513,0,0,0,0,0,0
$GC,5776,0.63,256.3,37.3,8.9,583,5791,0.00,2.28,8.43,0.867,6,0.000,0.054,1874,2504,1425,0,0,0,0,0,0
$GC,5933,0.63,256.3,20.2,10.7,609,5940,0.00,2.28,0.00,0.000,4,0.000,0.063,1874,3910,1424,0,0,0,0,0,0
$STATE,6059,end climb,SURFACE_DEPTH_REACHED
$STATE,6059,begin surface coast
$FINISH,-0.0,1.013722
$STATE,6085,end surface coast,CONTROL_FINISHED_OK
$STATE,6085,begin surface
$SM_CCo,6158,0.00,0.000,0,0,1420,258.54
$SM_GC,0.86,4.80,0.00,0.00,0.046,0.000,0.000,64,2489,1420,-4.89,-0.31,258.54
$IRIDIUM_FIX,-4242.04,541.76,011213,232315
$TT8_MAMPS,0.025466
$HUMID,64.53
$INTERNAL_PRESSURE,9.56208
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,23.4,1.384
$10V_AH,10.2,0.607
$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,11.775,59.125,342.475,0.000,0.000,56.330,104.288,452.041,0.000,0.000,27.885,1523.347,2029.540,369.570,2898.414,128.626,0.000,1038.734,0.000,2286.100,0.000,1.011,0.000
$DEVICE_MAMPS,220.320,68.085,1413.720,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,436.271,692.853,1743.922,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355248
$DATA_FILE_SIZE,40339,634
$CAP_FILE_SIZE,79180,0
$CFSIZE,259252224,258084864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021213,013504,-4302.064,837.870,43,1.1,43,-25.1