version: 66.07
glider: 543
mission: 9
dive: 10
start: 12 2 113 11 15 40
data:
$ID,543
$MISSION,9
$DIVE,10
$D_SURF,3
$D_FLARE,3
$D_TGT,700
$D_ABORT,1020
$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,235
$T_MISSION,260
$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,220
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-12432.757
$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,1680
$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,2800
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,23
$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
$GPS1,021213,110529,-4300.331,844.999,19,1.3,19,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-64.4
$GPS2,021213,111517,-4300.275,845.148,18,0.9,18,-25.1
$SPEED_LIMITS,0.172,0.259
$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,296.5,20523,-17.4,-9.929
$D_GRID,700
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.56,-146.1,0.0,0.0,0,80,0.00,0.00,-63.88,0.000,2,0.000,0.000,60,2508,2929,0,0,0,0,0,0
$GC,82,-0.56,-146.1,3.2,-4.7,8,100,5.57,2.40,-3.35,0.000,4,0.220,0.068,1481,3951,3073,0,0,0,0,0,0
$GC,214,-0.56,-146.1,38.8,-24.5,29,221,0.00,1.80,0.00,0.000,6,0.000,0.039,1481,2797,3075,0,0,0,0,0,0
$GC,359,-0.56,-146.1,69.4,-18.0,54,367,0.00,1.92,0.00,0.000,4,0.000,0.066,1472,3950,3075,0,0,0,0,0,0
$GC,454,-0.56,-146.1,89.9,-22.6,70,463,0.00,1.80,0.00,0.000,6,0.000,0.039,1472,2807,3075,0,0,0,0,0,0
$GC,791,-0.56,-146.1,154.8,-18.8,105,795,0.00,1.85,0.00,0.000,4,0.000,0.064,1463,3953,3076,0,0,0,0,0,0
$GC,1057,-0.56,-146.1,215.6,-22.8,128,1062,0.12,1.77,0.00,0.000,6,0.205,0.039,1491,2797,3076,0,0,0,0,0,0
$GC,1389,-0.56,-146.1,272.6,-16.8,159,1393,0.00,2.17,0.00,0.000,4,0.000,0.041,1491,1391,3076,0,0,0,0,0,0
$GC,1557,-0.56,-146.1,296.9,-14.5,173,1561,0.00,2.28,0.00,0.000,6,0.000,0.057,1482,2799,3076,0,0,0,0,0,0
$GC,1889,-0.56,-146.1,356.3,-18.5,204,1892,0.00,1.85,0.00,0.000,4,0.000,0.064,1473,3953,3076,0,0,0,0,0,0
$GC,2150,-0.56,-146.1,413.8,-21.5,224,2155,0.00,1.80,0.00,0.000,6,0.000,0.039,1473,2802,3076,0,0,0,0,0,0
$GC,2473,-0.56,-146.1,471.8,-17.0,240,2477,0.00,2.17,0.00,0.000,4,0.000,0.041,1473,1390,3076,0,0,0,0,0,0
$GC,2635,-0.56,-146.1,494.8,-13.0,247,2640,0.10,2.30,0.00,0.000,6,0.151,0.057,1494,2793,3076,0,0,0,0,0,0
$GC,2959,-0.56,-146.1,540.4,-14.4,263,2962,0.00,1.88,0.00,0.000,4,0.000,0.067,1486,3958,3076,0,0,0,0,0,0
$GC,3217,-0.56,-146.1,586.0,-16.6,274,3222,0.00,1.83,0.00,0.000,6,0.000,0.040,1486,2793,3075,0,0,0,0,0,0
$GC,3541,-0.56,-146.1,635.5,-15.3,290,3545,0.00,2.15,0.00,0.000,4,0.000,0.043,1486,1397,3075,0,0,0,0,0,0
$GC,3703,-0.56,-146.1,656.8,-12.2,297,3708,0.00,2.30,0.00,0.000,6,0.000,0.060,1476,2801,3075,0,0,0,0,0,0
$STATE,3984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3984,begin apogee
$GC,3987,-0.14,0.0,701.0,16.1,311,4128,0.52,0.00,134.88,1.622,6,0.159,0.000,1631,2801,2474,0,0,0,0,0,0
$STATE,4128,end apogee,CONTROL_FINISHED_OK
$STATE,4129,begin climb
$GC,4130,0.56,146.1,708.1,0.0,318,4276,0.73,2.47,136.68,1.573,4,0.119,0.042,1861,1411,1878,0,0,0,0,0,0
$GC,4456,0.56,148.4,681.5,9.8,332,4461,0.00,2.40,0.00,0.000,6,0.000,0.057,1861,2802,1870,0,0,0,0,0,0
$GC,4780,0.56,148.4,643.8,11.9,348,4783,0.00,1.90,0.00,0.000,4,0.000,0.067,1862,3946,1867,0,0,0,0,0,0
$GC,5038,0.56,148.4,606.2,15.0,359,5043,0.00,1.85,0.00,0.000,6,0.000,0.041,1870,2794,1865,0,0,0,0,0,0
$GC,5362,0.56,148.4,567.4,12.0,375,5365,0.00,1.90,0.00,0.000,4,0.000,0.067,1871,3954,1865,0,0,0,0,0,0
$GC,5620,0.56,148.4,529.1,14.5,386,5625,0.00,1.85,0.00,0.000,6,0.000,0.041,1879,2790,1864,0,0,0,0,0,0
$GC,5942,0.56,148.4,490.2,12.1,402,5945,0.00,1.90,0.00,0.000,4,0.000,0.067,1879,3958,1864,0,0,0,0,0,0
$GC,6201,0.56,148.4,449.5,16.2,413,6206,0.00,1.85,0.00,0.000,6,0.000,0.041,1888,2791,1863,0,0,0,0,0,0
$GC,6525,0.56,148.4,405.3,13.6,429,6528,0.00,1.88,0.00,0.000,4,0.000,0.067,1888,3946,1863,0,0,0,0,0,0
$GC,6789,0.56,148.4,361.6,16.9,450,6794,0.15,1.77,0.00,0.000,6,0.210,0.041,1862,2795,1863,0,0,0,0,0,0
$GC,7121,0.56,148.4,322.9,11.2,481,7125,0.00,1.88,0.00,0.000,4,0.000,0.067,1862,3956,1862,0,0,0,0,0,0
$GC,7387,0.56,148.4,287.2,13.7,504,7390,0.00,1.77,0.00,0.000,6,0.000,0.041,1869,2800,1861,0,0,0,0,0,0
$GC,7719,0.56,148.4,250.0,11.2,535,7723,0.00,2.17,0.00,0.000,4,0.000,0.044,1880,1394,1861,0,0,0,0,0,0
$GC,7911,0.56,148.4,229.5,10.5,551,7922,0.00,2.30,0.00,0.000,6,0.000,0.058,1880,2798,1861,0,0,0,0,0,0
$GC,8239,0.56,148.4,190.6,12.1,582,8243,0.00,1.83,0.00,0.000,4,0.000,0.067,1880,3950,1861,0,0,0,0,0,0
$GC,8504,0.56,148.4,152.5,14.1,605,8507,0.00,1.77,0.00,0.000,6,0.000,0.041,1889,2794,1861,0,0,0,0,0,0
$GC,8835,0.56,148.4,109.7,14.1,636,8839,0.00,1.85,0.00,0.000,4,0.000,0.065,1889,3957,1861,0,0,0,0,0,0
$GC,9099,0.56,148.4,65.4,17.9,676,9109,0.10,1.80,0.00,0.000,6,0.191,0.040,1869,2793,1861,0,0,0,0,0,0
$GC,9455,0.56,148.4,27.9,10.5,737,9461,0.00,1.85,0.00,0.000,4,0.000,0.065,1869,3946,1861,0,0,0,0,0,0
$STATE,9651,end climb,SURFACE_DEPTH_REACHED
$STATE,9651,begin surface coast
$FINISH,0.2,1.026510
$STATE,9676,end surface coast,CONTROL_FINISHED_OK
$STATE,9676,begin surface
$SM_CCo,9689,27.95,0.794,0,0,1576,220.03
$SM_GC,1.16,0.00,0.00,27.95,0.000,0.000,0.794,66,2792,1576,-5.04,-0.23,220.03
$IRIDIUM_FIX,-4244.98,843.20,021213,070753
$TT8_MAMPS,0.025466
$HUMID,62.48
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,23.1,2.375
$10V_AH,10.2,1.328
$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,12.025,71.075,271.550,27.950,0.000,37.850,18.022,433.615,0.000,0.000,20.872,1963.485,4290.189,343.408,3587.264,133.568,0.000,1250.907,0.000,3089.048,0.000,1.010,0.000
$DEVICE_MAMPS,220.320,68.085,1621.800,794.070,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,535.531,654.749,2175.558,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355232
$DATA_FILE_SIZE,50240,774
$CAP_FILE_SIZE,103503,0
$CFSIZE,259252224,257748992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,021213,135834,-4259.945,846.498,24,0.9,24,-25.1