version: 66.07
glider: 543
mission: 9
dive: 45
start: 12 8 113 12 44 59
data:
$ID,543
$MISSION,9
$DIVE,45
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,330
$T_MISSION,370
$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,-12536.613
$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,1695
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,47
$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,3320
$C_ROLL_CLIMB,3190
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,31
$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
$GPS1,081213,123704,-4259.077,832.347,38,0.8,38,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-71.4
$GPS2,081213,124435,-4259.047,832.383,15,1.2,15,-25.1
$SPEED_LIMITS,0.173,0.260
$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,266.4,3679,-25.4,-10.000
$D_GRID,990
$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,15,-0.58,-72.2,0.0,0.0,0,73,0.00,0.00,-51.22,0.000,6,0.000,0.000,61,3332,2767,0,0,0,0,0,0
$GC,75,-0.63,-144.8,3.4,-3.2,7,93,5.88,1.02,-7.22,0.000,4,0.244,0.090,1480,3951,3066,0,0,0,0,0,0
$GC,351,-0.63,-144.8,79.8,-24.8,54,359,0.00,0.95,0.00,0.000,6,0.000,0.037,1483,3325,3072,0,0,0,0,0,0
$GC,683,-0.63,-144.8,154.7,-22.5,92,687,0.00,0.98,0.00,0.000,4,0.000,0.061,1480,3933,3073,0,0,0,0,0,0
$GC,787,-0.63,-144.8,178.4,-23.2,101,791,0.00,0.93,0.00,0.000,6,0.000,0.037,1482,3323,3073,0,0,0,0,0,0
$GC,1117,-0.63,-144.8,250.9,-21.8,132,1120,0.00,0.98,0.00,0.000,4,0.000,0.060,1479,3932,3073,0,0,0,0,0,0
$GC,1252,-0.63,-144.8,281.4,-22.4,144,1256,0.00,0.93,0.00,0.000,6,0.000,0.037,1479,3318,3074,0,0,0,0,0,0
$GC,1582,-0.63,-144.8,352.9,-21.7,175,1586,0.00,0.98,0.00,0.000,4,0.000,0.061,1474,3929,3074,0,0,0,0,0,0
$GC,1631,-0.63,-144.8,364.3,-22.4,179,1638,0.00,0.95,0.00,0.000,6,0.000,0.037,1474,3310,3074,0,0,0,0,0,0
$GC,1952,-0.63,-144.8,432.6,-21.2,203,1956,0.00,1.00,0.00,0.000,4,0.000,0.062,1470,3932,3074,0,0,0,0,0,0
$GC,2091,-0.63,-144.8,464.7,-22.0,209,2095,0.00,0.95,0.00,0.000,6,0.000,0.037,1469,3313,3074,0,0,0,0,0,0
$GC,2418,-0.63,-144.8,534.8,-21.2,225,2421,0.00,1.00,0.00,0.000,4,0.000,0.062,1465,3940,3074,0,0,0,0,0,0
$GC,2489,-0.63,-144.8,551.1,-21.7,228,2493,0.00,0.95,0.00,0.000,6,0.000,0.037,1465,3319,3074,0,0,0,0,0,0
$GC,2816,-0.63,-144.8,621.3,-21.7,244,2820,0.00,0.98,0.00,0.000,4,0.000,0.063,1461,3930,3074,0,0,0,0,0,0
$GC,2864,-0.63,-144.8,632.7,-22.0,246,2870,0.12,0.95,0.00,0.000,6,0.206,0.037,1489,3314,3074,0,0,0,0,0,0
$GC,3193,-0.63,-144.8,692.4,-18.0,262,3196,0.00,1.00,0.00,0.000,4,0.000,0.063,1485,3942,3074,0,0,0,0,0,0
$GC,3292,-0.63,-144.8,711.4,-18.5,266,3296,0.00,0.95,0.00,0.000,6,0.000,0.039,1485,3320,3073,0,0,0,0,0,0
$GC,3614,-0.63,-144.8,768.8,-17.5,282,3617,0.00,1.00,0.00,0.000,4,0.000,0.065,1481,3931,3072,0,0,0,0,0,0
$GC,3681,-0.63,-144.8,781.3,-18.5,285,3685,0.00,0.93,0.00,0.000,6,0.000,0.039,1481,3321,3072,0,0,0,0,0,0
$GC,4013,-0.63,-144.8,841.6,-18.3,301,4016,0.00,0.98,0.00,0.000,4,0.000,0.065,1476,3931,3071,0,0,0,0,0,0
$GC,4185,-0.63,-144.8,874.7,-18.3,308,4192,0.00,0.95,0.00,0.000,6,0.000,0.039,1476,3315,3072,0,0,0,0,0,0
$GC,4501,-0.63,-144.8,931.6,-17.7,324,4504,0.00,1.00,0.00,0.000,4,0.000,0.064,1472,3941,3071,0,0,0,0,0,0
$GC,4568,-0.63,-144.8,944.6,-19.6,327,4572,0.00,0.95,0.00,0.000,6,0.000,0.040,1472,3315,3070,0,0,0,0,0,0
$STATE,4837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4837,begin apogee
$GC,4841,-0.11,0.0,993.0,17.5,340,4983,0.62,0.00,139.15,1.885,6,0.168,0.000,1654,3192,2474,0,0,0,0,0,0
$STATE,4984,end apogee,CONTROL_FINISHED_OK
$STATE,4984,begin climb
$GC,4986,0.63,144.8,997.8,0.0,347,5138,0.75,2.47,142.27,1.827,4,0.103,0.038,1898,1794,1882,0,0,0,0,0,0
$GC,5226,0.63,144.8,969.5,15.3,358,5231,0.00,2.42,0.00,0.000,6,0.000,0.054,1898,3179,1876,0,0,0,0,0,0
$GC,5554,0.63,144.8,911.3,17.8,374,5557,0.00,1.30,0.00,0.000,4,0.000,0.065,1898,3946,1872,0,0,0,0,0,0
$GC,5715,0.63,144.8,878.5,20.2,381,5720,0.00,1.23,0.00,0.000,6,0.000,0.039,1904,3181,1871,0,0,0,0,0,0
$GC,6042,0.63,144.8,820.2,17.3,397,6043,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3181,1869,0,0,0,0,0,0
$GC,6352,0.63,144.8,767.4,16.8,412,6355,0.00,1.27,0.00,0.000,4,0.000,0.065,1903,3952,1869,0,0,0,0,0,0
$GC,6535,0.63,144.8,732.4,19.2,420,6540,0.00,1.23,0.00,0.000,6,0.000,0.040,1910,3179,1868,0,0,0,0,0,0
$GC,6862,0.63,144.8,676.7,16.7,436,6866,0.00,1.27,0.00,0.000,4,0.000,0.064,1909,3955,1867,0,0,0,0,0,0
$GC,7086,0.63,144.8,634.9,18.4,446,7090,0.00,1.17,0.00,0.000,6,0.000,0.041,1915,3195,1867,0,0,0,0,0,0
$GC,7418,0.63,144.8,580.2,16.6,462,7419,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3196,1866,0,0,0,0,0,0
$GC,7728,0.63,144.8,529.0,16.5,477,7731,0.00,1.23,0.00,0.000,4,0.000,0.064,1915,3942,1866,0,0,0,0,0,0
$GC,7817,0.63,144.8,512.1,18.9,481,7821,0.00,1.17,0.00,0.000,6,0.000,0.041,1921,3184,1866,0,0,0,0,0,0
$GC,8150,0.63,144.8,452.3,18.1,497,8153,0.00,1.25,0.00,0.000,4,0.000,0.065,1921,3953,1865,0,0,0,0,0,0
$GC,8378,0.63,144.8,405.3,22.0,507,8383,0.00,1.20,0.00,0.000,6,0.000,0.040,1926,3182,1865,0,0,0,0,0,0
$GC,8703,0.63,144.8,345.4,18.4,536,8704,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,3182,1865,0,0,0,0,0,0
$GC,9022,0.63,144.8,287.4,18.0,566,9026,0.00,1.25,0.00,0.000,4,0.000,0.064,1927,3951,1865,0,0,0,0,0,0
$GC,9208,0.63,144.8,250.2,19.8,582,9216,0.12,1.20,0.00,0.000,6,0.218,0.039,1904,3179,1864,0,0,0,0,0,0
$GC,9536,0.63,144.8,200.3,14.7,613,9539,0.00,1.25,0.00,0.000,4,0.000,0.063,1904,3949,1864,0,0,0,0,0,0
$GC,9694,0.63,144.8,173.6,16.9,627,9697,0.00,1.15,0.00,0.000,6,0.000,0.041,1908,3198,1864,0,0,0,0,0,0
$GC,10023,0.63,144.8,122.1,15.6,658,10027,0.00,1.23,0.00,0.000,4,0.000,0.064,1908,3953,1863,0,0,0,0,0,0
$GC,10104,0.63,144.8,108.9,17.2,665,10108,0.00,1.17,0.00,0.000,6,0.000,0.040,1914,3183,1864,0,0,0,0,0,0
$GC,10446,0.63,144.8,58.6,14.3,720,10454,0.00,1.25,0.00,0.000,4,0.000,0.063,1914,3956,1864,0,0,0,0,0,0
$GC,10517,0.63,144.8,46.9,16.9,732,10526,0.00,1.17,0.00,0.000,6,0.000,0.039,1920,3184,1864,0,0,0,0,0,0
$STATE,10812,end climb,SURFACE_DEPTH_REACHED
$STATE,10812,begin surface coast
$FINISH,0.7,1.025106
$STATE,10832,end surface coast,CONTROL_FINISHED_OK
$STATE,10832,begin surface
$SM_CCo,10844,28.58,0.797,0,0,1573,220.03
$SM_GC,1.97,0.00,0.00,28.58,0.000,0.000,0.797,70,3341,1573,-5.08,0.57,220.03
$IRIDIUM_FIX,-4242.04,833.59,081213,080850
$TT8_MAMPS,0.026215
$HUMID,61.97
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.5,8.625
$10V_AH,10.1,5.687
$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,12.475,48.600,281.425,28.575,0.000,27.693,17.930,298.574,0.000,0.000,18.039,1993.417,6440.301,369.745,2404.512,117.929,0.000,1239.791,0.000,1967.800,0.000,1.010,0.000
$DEVICE_MAMPS,244.035,89.505,1884.960,797.130,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,543.834,1359.407,538.513,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355176
$DATA_FILE_SIZE,53784,785
$CAP_FILE_SIZE,107310,0
$CFSIZE,259252224,255086592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,081213,154705,-4259.300,831.706,20,1.5,20,-25.1