version: 66.07
glider: 543
mission: 9
dive: 5
start: 12 2 113 1 45 35
data:
$ID,543
$MISSION,9
$DIVE,5
$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,-12417.686
$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,39
$R_STBD_OVSHOOT,24
$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
$GPS1,021213,013504,-4302.064,837.870,43,1.1,43,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-53.5
$GPS2,021213,014511,-4302.076,838.107,15,1.6,15,-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,314.4,11634,-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,-146.1,0.0,0.0,0,87,0.00,0.00,-69.30,0.000,6,0.000,0.000,62,2488,3072,0,0,0,0,0,0
$GC,89,-0.56,-146.1,4.3,-6.6,9,100,5.53,2.38,0.00,0.000,4,0.222,0.050,1466,3923,3074,0,0,0,0,0,0
$GC,188,-0.56,-146.1,37.0,-25.0,25,195,0.00,2.25,0.00,0.000,6,0.000,0.041,1466,2492,3077,0,0,0,0,0,0
$GC,333,-0.56,-146.1,68.7,-20.9,50,342,0.00,2.35,0.00,0.000,4,0.000,0.065,1455,3901,3076,0,0,0,0,0,0
$GC,590,-0.56,-146.1,132.9,-25.2,83,594,0.00,2.17,0.00,0.000,6,0.000,0.041,1456,2500,3077,0,0,0,0,0,0
$GC,916,-0.56,-146.1,198.7,-19.3,113,920,0.00,2.28,0.00,0.000,4,0.000,0.065,1444,3908,3078,0,0,0,0,0,0
$GC,1176,-0.56,-146.1,264.7,-24.6,135,1187,0.10,2.20,0.00,0.000,6,0.175,0.041,1473,2496,3078,0,0,0,0,0,0
$GC,1503,-0.56,-146.1,319.6,-16.2,166,1507,0.00,2.15,0.00,0.000,4,0.000,0.045,1473,1099,3078,0,0,0,0,0,0
$GC,1647,-0.56,-146.1,339.6,-13.4,178,1651,0.00,2.28,0.00,0.000,6,0.000,0.057,1464,2503,3078,0,0,0,0,0,0
$GC,1973,-0.56,-146.1,395.0,-18.1,208,1977,0.00,2.28,0.00,0.000,4,0.000,0.067,1453,3909,3078,0,0,0,0,0,0
$GC,1982,-0.56,-146.1,397.4,-18.5,208,1992,0.00,2.17,0.00,0.000,6,0.000,0.040,1453,2502,3078,0,0,0,0,0,0
$STATE,2000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2000,begin apogee
$GC,2003,-0.14,0.0,400.5,19.5,210,2143,0.52,0.00,130.45,1.406,6,0.158,0.000,1608,2502,2473,0,0,0,0,0,0
$STATE,2144,end apogee,CONTROL_FINISHED_OK
$STATE,2144,begin climb
$GC,2145,0.56,146.1,411.9,0.0,217,2286,0.73,2.55,131.35,1.356,4,0.125,0.063,1827,3904,1877,0,0,0,0,0,0
$GC,2540,0.56,146.1,380.5,11.1,242,2551,0.00,2.25,0.00,0.000,6,0.000,0.040,1838,2503,1870,0,0,0,0,0,0
$GC,2868,0.58,180.8,352.5,8.3,273,2908,0.00,2.35,29.92,1.356,4,0.000,0.047,1849,1105,1735,0,0,0,0,0,0
$GC,3071,0.60,217.5,335.5,8.2,290,3111,0.00,2.33,33.00,1.346,6,0.000,0.056,1849,2498,1586,0,0,0,0,0,0
$GC,3428,0.60,220.6,300.5,9.7,323,3432,0.00,2.25,0.00,0.000,4,0.000,0.047,1859,1087,1581,0,0,0,0,0,0
$GC,3561,0.62,239.6,288.6,9.0,334,3588,0.00,2.33,19.60,1.326,6,0.000,0.056,1859,2500,1497,0,0,0,0,0,0
$GC,3904,0.62,239.6,251.4,11.3,366,3908,0.00,2.28,0.00,0.000,4,0.000,0.047,1869,1099,1495,0,0,0,0,0,0
$GC,4026,0.62,239.6,238.8,10.3,376,4030,0.00,2.30,0.00,0.000,6,0.000,0.055,1869,2499,1493,0,0,0,0,0,0
$GC,4352,0.62,239.6,199.6,12.0,406,4356,0.00,2.22,0.00,0.000,4,0.000,0.047,1880,1098,1493,0,0,0,0,0,0
$GC,4473,0.62,239.6,186.3,10.6,416,4477,0.00,2.30,0.00,0.000,6,0.000,0.056,1880,2508,1492,0,0,0,0,0,0
$GC,4799,0.62,239.6,144.2,13.2,446,4803,0.00,2.22,0.00,0.000,4,0.000,0.047,1891,1098,1493,0,0,0,0,0,0
$GC,4934,0.62,239.6,128.2,10.8,457,4944,0.10,2.30,0.00,0.000,6,0.139,0.054,1858,2498,1492,0,0,0,0,0,0
$GC,5266,0.62,239.6,91.2,11.4,494,5274,0.00,2.22,0.00,0.000,4,0.000,0.047,1867,1102,1492,0,0,0,0,0,0
$GC,5395,0.62,239.7,78.2,9.9,516,5405,0.00,2.28,0.00,0.000,6,0.000,0.055,1867,2495,1492,0,0,0,0,0,0
$GC,5752,0.63,262.2,41.5,8.9,577,5767,0.00,2.22,8.52,0.876,4,0.000,0.044,1877,1086,1402,0,0,0,0,0,0
$GC,5888,0.66,312.2,30.4,7.6,600,5917,0.00,2.33,20.25,0.862,6,0.000,0.055,1877,2502,1197,0,0,0,0,0,0
$GC,6059,0.66,312.2,13.1,11.4,628,6068,0.00,2.33,0.00,0.000,4,0.000,0.063,1878,3909,1194,0,0,0,0,0,0
$STATE,6128,end climb,SURFACE_DEPTH_REACHED
$STATE,6128,begin surface coast
$FINISH,0.2,1.026563
$STATE,6148,end surface coast,CONTROL_FINISHED_OK
$STATE,6148,begin surface
$SM_CCo,6221,0.00,0.000,0,0,1190,314.96
$SM_GC,0.80,4.95,0.00,0.00,0.057,0.000,0.000,71,2494,1190,-4.88,-0.17,314.96
$IRIDIUM_FIX,-4242.04,541.76,011213,232315
$TT8_MAMPS,0.025466
$HUMID,63.66
$INTERNAL_PRESSURE,9.53279
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,23.4,1.553
$10V_AH,10.2,0.723
$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,11.925,63.775,373.100,0.000,0.000,38.616,29.547,444.055,0.000,0.000,17.466,1533.934,1962.327,401.998,2832.301,108.849,0.000,1106.361,0.000,2315.236,0.000,1.009,0.000
$DEVICE_MAMPS,221.850,66.555,1406.070,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,441.102,710.752,1770.334,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355292
$DATA_FILE_SIZE,40338,642
$CAP_FILE_SIZE,81216,0
$CFSIZE,259252224,258035712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021213,033028,-4301.822,839.402,40,1.2,41,-25.1