version: 66.07
glider: 543
mission: 9
dive: 57
start: 12 10 113 4 34 8
data:
$ID,543
$MISSION,9
$DIVE,57
$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,350
$T_MISSION,390
$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,225
$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,-12572.388
$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,3180
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,25
$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
$GPS1,101213,042658,-4259.987,830.022,39,0.9,39,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-70.7
$GPS2,101213,043347,-4300.004,830.016,20,1.1,20,-25.0
$SPEED_LIMITS,0.163,0.255
$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,313.5,23,-27.2,-9.429
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.61,-57.7,0.0,0.0,0,57,0.00,0.00,-41.12,0.000,2,0.000,0.000,66,3314,2484,0,0,0,0,0,0
$GC,59,-0.64,-104.5,3.0,-4.3,5,85,5.80,1.02,-12.45,0.000,4,0.243,0.087,1475,3937,2901,0,0,0,0,0,0
$GC,344,-0.64,-104.5,69.2,-23.4,53,350,0.00,0.95,0.00,0.000,6,0.000,0.036,1475,3314,2905,0,0,0,0,0,0
$GC,681,-0.64,-104.5,136.2,-18.9,97,684,0.00,1.00,0.00,0.000,4,0.000,0.060,1470,3941,2907,0,0,0,0,0,0
$GC,939,-0.64,-104.5,194.2,-23.2,120,943,0.00,0.95,0.00,0.000,6,0.000,0.036,1471,3313,2907,0,0,0,0,0,0
$GC,1269,-0.64,-104.5,261.8,-20.1,151,1273,0.00,1.00,0.00,0.000,4,0.000,0.060,1466,3942,2908,0,0,0,0,0,0
$GC,1529,-0.64,-104.5,317.1,-20.7,174,1533,0.00,0.93,0.00,0.000,6,0.000,0.037,1466,3324,2908,0,0,0,0,0,0
$GC,1861,-0.64,-104.5,380.2,-19.2,205,1865,0.00,0.98,0.00,0.000,4,0.000,0.061,1461,3940,2908,0,0,0,0,0,0
$GC,2118,-0.64,-104.5,434.4,-20.8,221,2123,0.00,0.95,0.00,0.000,6,0.000,0.037,1461,3318,2908,0,0,0,0,0,0
$GC,2440,-0.64,-104.5,496.8,-19.1,237,2443,0.00,1.00,0.00,0.000,4,0.000,0.061,1457,3950,2908,0,0,0,0,0,0
$GC,2697,-0.64,-104.5,551.4,-20.9,248,2702,0.12,0.98,0.00,0.000,6,0.203,0.037,1485,3312,2908,0,0,0,0,0,0
$GC,3018,-0.64,-104.5,604.8,-16.7,264,3021,0.00,1.00,0.00,0.000,4,0.000,0.062,1481,3945,2908,0,0,0,0,0,0
$GC,3274,-0.64,-104.5,653.7,-19.1,275,3278,0.00,0.98,0.00,0.000,6,0.000,0.038,1481,3309,2908,0,0,0,0,0,0
$GC,3595,-0.64,-104.5,711.4,-18.1,291,3599,0.00,1.00,0.00,0.000,4,0.000,0.063,1477,3938,2907,0,0,0,0,0,0
$GC,3852,-0.64,-104.5,761.9,-20.3,302,3856,0.00,0.95,0.00,0.000,6,0.000,0.039,1477,3319,2907,0,0,0,0,0,0
$GC,4175,-0.64,-104.5,817.4,-17.1,318,4179,0.00,1.00,0.00,0.000,4,0.000,0.064,1472,3950,2906,0,0,0,0,0,0
$GC,4431,-0.64,-104.5,865.3,-17.5,329,4436,0.00,0.98,0.00,0.000,6,0.000,0.039,1472,3313,2905,0,0,0,0,0,0
$GC,4753,-0.64,-104.5,916.5,-15.8,345,4757,0.00,1.00,0.00,0.000,4,0.000,0.063,1468,3943,2905,0,0,0,0,0,0
$GC,5010,-0.64,-104.5,960.7,-17.2,356,5015,0.00,0.98,0.00,0.000,6,0.000,0.040,1468,3311,2904,0,0,0,0,0,0
$STATE,5207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5207,begin apogee
$GC,5211,-0.11,0.0,991.3,15.4,366,5315,0.65,0.00,100.90,1.857,6,0.170,0.000,1656,3179,2473,0,0,0,0,0,0
$STATE,5316,end apogee,CONTROL_FINISHED_OK
$STATE,5316,begin climb
$GC,5317,0.64,104.5,994.9,0.0,371,5429,0.75,2.38,103.82,1.799,4,0.100,0.035,1905,1778,2046,0,0,0,0,0,0
$GC,5681,0.64,104.5,952.7,13.3,387,5689,0.00,2.38,0.00,0.000,6,0.000,0.052,1905,3182,2035,0,0,0,0,0,0
$GC,5997,0.64,104.5,904.7,15.4,403,6001,0.00,2.22,0.00,0.000,4,0.000,0.038,1916,1778,2032,0,0,0,0,0,0
$GC,6028,0.64,104.5,899.9,14.6,404,6036,0.00,2.33,0.00,0.000,6,0.000,0.052,1916,3178,2032,0,0,0,0,0,0
$GC,6346,0.64,104.5,850.0,15.7,420,6347,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3178,2030,0,0,0,0,0,0
$GC,6654,0.64,104.5,803.0,15.1,435,6655,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3178,2029,0,0,0,0,0,0
$GC,6963,0.64,104.5,755.3,15.4,450,6967,0.00,1.25,0.00,0.000,4,0.000,0.063,1916,3948,2028,0,0,0,0,0,0
$GC,7045,0.64,104.5,741.2,17.8,453,7053,0.00,1.20,0.00,0.000,6,0.000,0.038,1922,3174,2028,0,0,0,0,0,0
$GC,7362,0.64,104.5,693.1,15.2,469,7363,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3174,2027,0,0,0,0,0,0
$GC,7671,0.64,104.5,645.7,15.0,484,7675,0.00,2.15,0.00,0.000,4,0.000,0.040,1932,1779,2027,0,0,0,0,0,0
$GC,7725,0.64,104.5,638.2,13.7,486,7734,0.08,2.28,0.00,0.000,6,0.172,0.053,1910,3180,2026,0,0,0,0,0,0
$GC,8041,0.64,104.5,595.3,13.6,502,8043,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3180,2026,0,0,0,0,0,0
$GC,8351,0.64,104.5,553.2,13.7,517,8354,0.00,1.23,0.00,0.000,4,0.000,0.063,1910,3941,2026,0,0,0,0,0,0
$GC,8472,0.64,104.5,533.7,16.1,522,8477,0.00,1.17,0.00,0.000,6,0.000,0.039,1914,3183,2026,0,0,0,0,0,0
$GC,8794,0.64,104.5,489.1,13.8,538,8795,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3182,2026,0,0,0,0,0,0
$GC,9104,0.64,104.5,446.3,14.3,553,9105,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3182,2026,0,0,0,0,0,0
$GC,9413,0.64,104.5,401.6,14.6,568,9414,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3182,2026,0,0,0,0,0,0
$GC,9734,0.64,104.5,355.1,15.0,597,9735,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3182,2025,0,0,0,0,0,0
$GC,10050,0.64,104.5,308.1,14.7,627,10054,0.00,2.15,0.00,0.000,4,0.000,0.039,1926,1777,2025,0,0,0,0,0,0
$GC,10089,0.64,104.5,302.7,13.6,630,10093,0.00,2.25,0.00,0.000,6,0.000,0.054,1925,3189,2025,0,0,0,0,0,0
$GC,10413,0.64,104.5,253.5,15.4,660,10417,0.00,1.20,0.00,0.000,4,0.000,0.063,1926,3938,2024,0,0,0,0,0,0
$GC,10451,0.64,104.5,246.9,17.2,663,10458,0.00,1.17,0.00,0.000,6,0.000,0.038,1931,3179,2025,0,0,0,0,0,0
$GC,10776,0.64,104.5,194.6,15.8,694,10777,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,3179,2025,0,0,0,0,0,0
$GC,11095,0.64,104.5,146.6,15.0,724,11096,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,3179,2025,0,0,0,0,0,0
$GC,11414,0.64,104.5,101.1,13.9,754,11415,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,3179,2024,0,0,0,0,0,0
$GC,11755,0.64,104.5,53.3,12.5,813,11764,0.00,2.17,0.00,0.000,4,0.000,0.037,1942,1770,2025,0,0,0,0,0,0
$GC,11799,0.64,104.5,48.5,10.0,820,11807,0.15,2.25,0.00,0.000,6,0.190,0.053,1904,3191,2024,0,0,0,0,0,0
$GC,12157,0.64,104.5,13.1,9.4,881,12166,0.00,1.20,0.00,0.000,4,0.000,0.060,1904,3939,2025,0,0,0,0,0,0
$STATE,12237,end climb,SURFACE_DEPTH_REACHED
$STATE,12237,begin surface coast
$FINISH,0.7,1.026344
$STATE,12257,end surface coast,CONTROL_FINISHED_OK
$STATE,12257,begin surface
$SM_CCo,12269,46.65,0.786,0,0,1552,225.18
$SM_GC,1.35,0.00,0.00,46.65,0.000,0.000,0.786,65,3318,1552,-5.09,-0.06,225.18
$IRIDIUM_FIX,-4244.98,816.13,101213,000052
$TT8_MAMPS,0.026215
$HUMID,61.53
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.9,10.361
$10V_AH,10.1,6.786
$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,12.475,49.725,204.725,46.650,0.000,27.214,18.385,256.799,0.000,0.000,23.376,2252.842,7377.263,334.235,2630.468,132.041,0.000,1261.206,0.000,2221.481,0.000,1.010,0.000
$DEVICE_MAMPS,242.505,87.210,1856.655,785.655,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,622.248,1553.054,637.050,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355160
$DATA_FILE_SIZE,60328,897
$CAP_FILE_SIZE,112240,0
$CFSIZE,259252224,254332928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,101213,080034,-4259.103,830.834,37,0.9,37,-25.0