version: 66.07
glider: 543
mission: 9
dive: 12
start: 12 2 113 16 52 12
data:
$ID,543
$MISSION,9
$DIVE,12
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,270
$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,-12438.936
$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
$GPS1,021213,164514,-4259.622,847.976,33,1.0,33,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-69.3
$GPS2,021213,165149,-4259.603,848.033,21,0.9,21,-25.1
$SPEED_LIMITS,0.172,0.259
$TGT_NAME,HEADING
$TGT_LATLONG,-4259.603,833.268
$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,295.1,20000,-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,-146.1,0.0,0.0,0,74,0.00,0.00,-57.35,0.000,2,0.000,0.000,64,2793,2907,0,0,0,0,0,0
$GC,76,-0.56,-146.1,3.4,-4.9,7,94,5.47,1.92,-3.80,0.000,4,0.216,0.073,1484,3951,3070,0,0,0,0,0,0
$GC,102,-0.56,-146.1,12.0,-20.7,10,110,0.00,1.85,0.00,0.000,6,0.000,0.041,1491,2797,3072,0,0,0,0,0,0
$GC,159,-0.56,-146.1,26.4,-22.4,19,166,0.00,1.90,0.00,0.000,4,0.000,0.065,1483,3945,3073,0,0,0,0,0,0
$GC,212,-0.56,-146.1,39.5,-25.0,28,221,0.00,1.83,0.00,0.000,6,0.000,0.041,1483,2799,3073,0,0,0,0,0,0
$GC,361,-0.56,-146.1,71.4,-20.4,53,367,0.00,1.88,0.00,0.000,4,0.000,0.066,1475,3950,3073,0,0,0,0,0,0
$GC,615,-0.56,-146.1,129.9,-23.2,86,619,0.00,1.80,0.00,0.000,6,0.000,0.040,1475,2793,3074,0,0,0,0,0,0
$GC,947,-0.56,-146.1,196.9,-19.8,117,950,0.00,1.88,0.00,0.000,4,0.000,0.065,1466,3952,3075,0,0,0,0,0,0
$GC,1211,-0.56,-146.1,258.4,-22.4,140,1216,0.12,1.77,0.00,0.000,6,0.200,0.041,1494,2800,3075,0,0,0,0,0,0
$GC,1543,-0.56,-146.1,314.7,-15.9,171,1547,0.00,1.88,0.00,0.000,4,0.000,0.066,1487,3954,3075,0,0,0,0,0,0
$GC,1808,-0.56,-146.1,367.9,-20.4,194,1812,0.00,1.75,0.00,0.000,6,0.000,0.041,1487,2802,3075,0,0,0,0,0,0
$GC,2134,-0.56,-146.1,424.8,-17.1,218,2138,0.00,2.17,0.00,0.000,4,0.000,0.044,1487,1393,3075,0,0,0,0,0,0
$GC,2296,-0.56,-146.1,447.5,-13.1,225,2301,0.00,2.30,0.00,0.000,6,0.000,0.058,1476,2796,3076,0,0,0,0,0,0
$GC,2620,-0.56,-146.1,502.7,-17.6,241,2623,0.00,1.85,0.00,0.000,4,0.000,0.067,1467,3945,3075,0,0,0,0,0,0
$GC,2878,-0.56,-146.1,559.5,-21.1,252,2884,0.08,1.80,0.00,0.000,6,0.180,0.040,1489,2798,3076,0,0,0,0,0,0
$GC,3202,-0.56,-146.1,613.4,-16.2,268,3206,0.00,2.17,0.00,0.000,4,0.000,0.044,1490,1393,3075,0,0,0,0,0,0
$GC,3369,-0.56,-146.1,636.7,-13.0,275,3380,0.00,2.30,0.00,0.000,6,0.000,0.059,1480,2793,3075,0,0,0,0,0,0
$GC,3688,-0.56,-146.1,686.9,-16.3,291,3691,0.00,1.85,0.00,0.000,4,0.000,0.068,1471,3946,3075,0,0,0,0,0,0
$STATE,3756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3756,begin apogee
$GC,3762,-0.14,0.0,700.2,19.8,294,3900,0.55,0.00,135.12,1.636,6,0.162,0.000,1633,2798,2473,0,0,0,0,0,0
$STATE,3901,end apogee,CONTROL_FINISHED_OK
$STATE,3901,begin climb
$GC,3902,0.56,146.1,708.3,0.0,301,4049,0.73,2.47,137.27,1.584,4,0.116,0.045,1864,1400,1877,0,0,0,0,0,0
$GC,4221,0.56,146.1,680.6,11.0,315,4226,0.00,2.40,0.00,0.000,6,0.000,0.057,1864,2803,1872,0,0,0,0,0,0
$GC,4549,0.56,146.1,638.7,13.2,331,4552,0.00,1.90,0.00,0.000,4,0.000,0.066,1864,3956,1868,0,0,0,0,0,0
$GC,4807,0.56,146.1,595.1,16.9,342,4813,0.00,1.88,0.00,0.000,6,0.000,0.041,1873,2791,1866,0,0,0,0,0,0
$GC,5131,0.56,146.1,549.9,13.8,358,5135,0.00,1.90,0.00,0.000,4,0.000,0.067,1873,3946,1866,0,0,0,0,0,0
$GC,5390,0.56,146.1,506.6,16.6,369,5396,0.00,1.83,0.00,0.000,6,0.000,0.042,1881,2803,1865,0,0,0,0,0,0
$GC,5714,0.56,146.1,463.7,12.8,385,5718,0.00,1.88,0.00,0.000,4,0.000,0.067,1881,3945,1865,0,0,0,0,0,0
$GC,5971,0.56,146.1,424.0,15.2,396,5977,0.00,1.83,0.00,0.000,6,0.000,0.041,1890,2796,1864,0,0,0,0,0,0
$GC,6300,0.56,146.1,383.6,12.4,418,6304,0.00,2.20,0.00,0.000,4,0.000,0.046,1901,1397,1864,0,0,0,0,0,0
$GC,6491,0.56,146.1,361.1,11.7,434,6503,0.12,2.33,0.00,0.000,6,0.161,0.058,1863,2804,1863,0,0,0,0,0,0
$GC,6819,0.56,146.1,325.5,11.6,465,6822,0.00,1.85,0.00,0.000,4,0.000,0.066,1863,3946,1863,0,0,0,0,0,0
$GC,7085,0.56,146.1,288.7,14.1,488,7088,0.00,1.77,0.00,0.000,6,0.000,0.042,1870,2797,1862,0,0,0,0,0,0
$GC,7417,0.56,146.1,249.5,11.8,519,7420,0.00,1.85,0.00,0.000,4,0.000,0.066,1871,3956,1862,0,0,0,0,0,0
$GC,7682,0.56,146.1,208.5,16.4,542,7686,0.00,1.77,0.00,0.000,6,0.000,0.041,1879,2800,1862,0,0,0,0,0,0
$GC,8014,0.56,146.1,163.5,13.5,573,8017,0.00,1.88,0.00,0.000,4,0.000,0.066,1879,3955,1862,0,0,0,0,0,0
$GC,8278,0.56,146.1,123.4,13.9,596,8282,0.00,1.75,0.00,0.000,6,0.000,0.041,1888,2798,1862,0,0,0,0,0,0
$GC,8616,0.56,146.1,81.6,12.6,639,8623,0.00,2.17,0.00,0.000,4,0.000,0.044,1899,1391,1862,0,0,0,0,0,0
$GC,8818,0.56,146.1,57.5,11.3,674,8827,0.10,2.30,0.00,0.000,6,0.156,0.058,1868,2800,1862,0,0,0,0,0,0
$GC,9175,0.56,146.1,20.4,10.4,735,9182,0.00,1.83,0.00,0.000,4,0.000,0.065,1868,3954,1862,0,0,0,0,0,0
$STATE,9312,end climb,SURFACE_DEPTH_REACHED
$STATE,9312,begin surface coast
$FINISH,0.2,1.026533
$STATE,9338,end surface coast,CONTROL_FINISHED_OK
$STATE,9338,begin surface
$SM_CCo,9350,28.17,0.786,0,0,1573,220.03
$SM_GC,1.07,0.00,0.00,28.17,0.000,0.000,0.786,67,2803,1573,-5.04,0.08,220.03
$IRIDIUM_FIX,-4247.91,717.00,021213,131348
$TT8_MAMPS,0.025466
$HUMID,62.28
$INTERNAL_PRESSURE,9.53279
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,23.0,2.673
$10V_AH,10.2,1.604
$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,12.000,74.275,272.400,28.175,0.000,42.568,27.048,228.412,0.000,0.000,23.734,1932.330,4057.775,349.114,3327.631,116.548,0.000,1245.132,0.000,3011.136,0.000,1.010,0.000
$DEVICE_MAMPS,216.495,72.675,1635.570,785.655,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,526.843,655.523,2106.528,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355288
$DATA_FILE_SIZE,50214,762
$CAP_FILE_SIZE,99782,0
$CFSIZE,259252224,257638400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,021213,192934,-4259.194,849.316,30,0.9,30,-25.2