version: 66.07
glider: 543
mission: 9
dive: 13
start: 12 2 113 19 36 36
data:
$ID,543
$MISSION,9
$DIVE,13
$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,-12442.022
$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,39
$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
$GPS1,021213,192934,-4259.194,849.316,30,0.9,30,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-70.4
$GPS2,021213,193613,-4259.193,849.379,17,0.8,18,-25.2
$SPEED_LIMITS,0.172,0.259
$TGT_NAME,HEADING
$TGT_LATLONG,-4259.193,834.617
$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,295.2,20000,-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,-57.08,0.000,2,0.000,0.000,67,2804,2907,0,0,0,0,0,0
$GC,76,-0.56,-146.1,3.3,-4.6,7,93,5.62,1.90,-3.85,0.000,4,0.227,0.070,1485,3950,3072,0,0,0,0,0,0
$GC,157,-0.56,-146.1,28.5,-26.0,20,166,0.00,1.85,0.00,0.000,6,0.000,0.041,1485,2794,3074,0,0,0,0,0,0
$GC,306,-0.56,-146.1,60.2,-20.5,45,312,0.00,1.90,0.00,0.000,4,0.000,0.065,1477,3949,3075,0,0,0,0,0,0
$GC,541,-0.56,-146.1,114.9,-23.0,80,551,0.00,1.83,0.00,0.000,6,0.000,0.039,1477,2798,3075,0,0,0,0,0,0
$GC,870,-0.56,-146.1,179.1,-19.4,111,873,0.00,1.88,0.00,0.000,4,0.000,0.065,1468,3946,3076,0,0,0,0,0,0
$GC,1135,-0.56,-146.1,239.6,-22.3,134,1139,0.12,1.77,0.00,0.000,6,0.195,0.040,1497,2796,3076,0,0,0,0,0,0
$GC,1466,-0.56,-146.1,294.8,-15.3,165,1470,0.00,1.88,0.00,0.000,4,0.000,0.065,1489,3952,3077,0,0,0,0,0,0
$GC,1732,-0.56,-146.1,344.4,-18.7,188,1735,0.00,1.77,0.00,0.000,6,0.000,0.040,1489,2796,3076,0,0,0,0,0,0
$GC,2063,-0.56,-146.1,395.7,-14.8,219,2067,0.00,2.17,0.00,0.000,4,0.000,0.044,1489,1390,3077,0,0,0,0,0,0
$GC,2208,-0.56,-146.1,413.1,-11.5,226,2219,0.00,2.33,0.00,0.000,6,0.000,0.058,1479,2799,3078,0,0,0,0,0,0
$GC,2526,-0.56,-146.1,461.9,-16.2,242,2529,0.00,1.88,0.00,0.000,4,0.000,0.067,1470,3949,3078,0,0,0,0,0,0
$GC,2784,-0.56,-146.1,514.0,-20.6,253,2789,0.00,1.80,0.00,0.000,6,0.000,0.040,1470,2799,3077,0,0,0,0,0,0
$GC,3108,-0.56,-146.1,572.8,-18.6,269,3112,0.00,2.17,0.00,0.000,4,0.000,0.041,1470,1388,3077,0,0,0,0,0,0
$GC,3293,-0.56,-146.1,602.8,-15.8,277,3299,0.10,2.30,0.00,0.000,6,0.145,0.059,1491,2792,3077,0,0,0,0,0,0
$GC,3616,-0.56,-146.1,654.9,-16.0,293,3620,0.00,1.88,0.00,0.000,4,0.000,0.068,1483,3959,3076,0,0,0,0,0,0
$STATE,3857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3857,begin apogee
$GC,3862,-0.14,0.0,700.7,19.1,303,4000,0.47,0.00,135.18,1.640,6,0.161,0.000,1628,2796,2473,0,0,0,0,0,0
$STATE,4001,end apogee,CONTROL_FINISHED_OK
$STATE,4001,begin climb
$GC,4003,0.56,146.1,708.2,0.0,310,4150,0.75,2.47,137.35,1.581,4,0.116,0.044,1865,1406,1877,0,0,0,0,0,0
$GC,4238,0.56,146.1,689.6,11.0,320,4244,0.00,2.45,0.00,0.000,6,0.000,0.056,1865,2806,1873,0,0,0,0,0,0
$GC,4562,0.56,146.1,650.0,12.3,336,4566,0.00,1.92,0.00,0.000,4,0.000,0.066,1866,3956,1869,0,0,0,0,0,0
$GC,4820,0.56,146.1,609.6,16.0,347,4826,0.00,1.88,0.00,0.000,6,0.000,0.040,1874,2794,1867,0,0,0,0,0,0
$GC,5145,0.56,146.1,565.8,13.9,363,5148,0.00,1.92,0.00,0.000,4,0.000,0.066,1874,3957,1867,0,0,0,0,0,0
$GC,5403,0.56,146.1,522.2,17.2,374,5409,0.00,1.85,0.00,0.000,6,0.000,0.041,1883,2798,1866,0,0,0,0,0,0
$GC,5725,0.56,146.1,477.0,13.8,390,5728,0.00,1.88,0.00,0.000,4,0.000,0.067,1883,3951,1865,0,0,0,0,0,0
$GC,5982,0.56,146.1,434.4,15.7,401,5988,0.10,1.83,0.00,0.000,6,0.228,0.041,1866,2800,1865,0,0,0,0,0,0
$GC,6306,0.56,146.1,396.6,11.5,418,6310,0.00,1.88,0.00,0.000,4,0.000,0.067,1866,3954,1864,0,0,0,0,0,0
$GC,6572,0.56,146.1,359.2,15.0,441,6576,0.00,1.80,0.00,0.000,6,0.000,0.042,1874,2791,1864,0,0,0,0,0,0
$GC,6903,0.56,146.1,319.1,11.9,472,6907,0.00,1.90,0.00,0.000,4,0.000,0.067,1874,3954,1864,0,0,0,0,0,0
$GC,7168,0.56,146.1,280.8,14.2,495,7172,0.00,1.77,0.00,0.000,6,0.000,0.041,1883,2798,1864,0,0,0,0,0,0
$GC,7500,0.56,146.1,241.2,12.1,526,7504,0.00,1.88,0.00,0.000,4,0.000,0.067,1883,3951,1863,0,0,0,0,0,0
$GC,7513,0.56,146.1,239.6,12.3,527,7517,0.08,1.80,0.00,0.000,6,0.199,0.041,1870,2798,1863,0,0,0,0,0,0
$GC,7844,0.56,146.1,202.9,11.3,558,7848,0.00,2.17,0.00,0.000,4,0.000,0.045,1880,1391,1863,0,0,0,0,0,0
$GC,7933,0.56,146.1,193.6,10.0,565,7943,0.00,2.33,0.00,0.000,6,0.000,0.057,1880,2807,1862,0,0,0,0,0,0
$GC,8260,0.56,146.1,156.8,11.4,596,8264,0.00,1.83,0.00,0.000,4,0.000,0.065,1880,3952,1862,0,0,0,0,0,0
$GC,8526,0.56,146.1,116.4,16.1,619,8530,0.00,1.77,0.00,0.000,6,0.000,0.041,1889,2795,1862,0,0,0,0,0,0
$GC,8869,0.56,146.1,71.6,12.7,669,8876,0.00,1.88,0.00,0.000,4,0.000,0.066,1889,3957,1862,0,0,0,0,0,0
$GC,9137,0.56,146.1,34.1,14.2,715,9145,0.15,1.77,0.00,0.000,6,0.207,0.040,1862,2794,1862,0,0,0,0,0,0
$GC,9286,0.56,149.7,18.3,9.8,740,9295,0.00,1.88,0.00,0.000,4,0.000,0.064,1862,3946,1862,0,0,0,0,0,0
$STATE,9407,end climb,SURFACE_DEPTH_REACHED
$STATE,9408,begin surface coast
$FINISH,0.2,1.026612
$STATE,9433,end surface coast,CONTROL_FINISHED_OK
$STATE,9433,begin surface
$SM_CCo,9446,28.17,0.779,0,0,1574,220.03
$SM_GC,1.15,0.00,0.00,28.17,0.000,0.000,0.779,73,2798,1574,-5.02,-0.06,220.03
$IRIDIUM_FIX,-4242.04,848.57,021213,161646
$TT8_MAMPS,0.025466
$HUMID,61.53
$INTERNAL_PRESSURE,9.53279
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,23.0,2.820
$10V_AH,10.2,1.743
$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,12.200,73.775,272.525,28.175,0.000,26.454,41.365,234.690,0.000,0.000,20.905,1941.028,4108.453,348.321,3357.076,126.783,0.000,1246.475,0.000,3044.726,0.000,1.009,0.000
$DEVICE_MAMPS,227.970,70.380,1640.160,778.770,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,528.353,658.696,2142.816,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355276
$DATA_FILE_SIZE,46934,764
$CAP_FILE_SIZE,100276,0
$CFSIZE,259252224,257585152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,021213,221534,-4258.668,850.483,31,1.1,31,-25.2