version: 66.07
glider: 543
mission: 9
dive: 62
start: 12 10 113 22 1 8
data:
$ID,543
$MISSION,9
$DIVE,62
$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,-12587.428
$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,44
$R_STBD_OVSHOOT,22
$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
$GPS1,101213,215353,-4258.955,830.519,38,1.5,38,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-71.3
$GPS2,101213,220047,-4258.904,830.580,17,1.6,17,-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,226.2,2176,-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,-41.50,0.000,2,0.000,0.000,63,3326,2495,0,0,0,0,0,0
$GC,59,-0.64,-106.7,3.0,-4.1,5,85,5.80,1.02,-12.07,0.000,4,0.242,0.083,1475,3956,2911,0,0,0,0,0,0
$GC,264,-0.64,-106.7,50.6,-22.3,39,273,0.00,0.98,0.00,0.000,6,0.000,0.037,1475,3320,2915,0,0,0,0,0,0
$GC,606,-0.64,-106.7,122.0,-20.0,90,610,0.00,1.00,0.00,0.000,4,0.000,0.060,1470,3942,2917,0,0,0,0,0,0
$GC,825,-0.64,-106.7,169.1,-21.5,109,832,0.00,0.98,0.00,0.000,6,0.000,0.035,1470,3310,2918,0,0,0,0,0,0
$GC,1150,-0.64,-106.7,234.0,-20.5,140,1153,0.00,1.02,0.00,0.000,4,0.000,0.060,1466,3952,2919,0,0,0,0,0,0
$GC,1301,-0.64,-106.7,267.0,-21.2,153,1309,0.00,0.98,0.00,0.000,6,0.000,0.035,1466,3314,2919,0,0,0,0,0,0
$GC,1626,-0.64,-106.7,329.3,-18.9,184,1630,0.00,1.00,0.00,0.000,4,0.000,0.060,1461,3943,2919,0,0,0,0,0,0
$GC,1886,-0.64,-106.7,383.6,-20.6,207,1890,0.00,0.95,0.00,0.000,6,0.000,0.037,1461,3313,2919,0,0,0,0,0,0
$GC,2219,-0.64,-106.7,448.6,-19.4,227,2223,0.00,1.00,0.00,0.000,4,0.000,0.061,1456,3941,2919,0,0,0,0,0,0
$GC,2386,-0.64,-106.7,484.3,-21.2,234,2391,0.12,0.95,0.00,0.000,6,0.200,0.037,1485,3321,2919,0,0,0,0,0,0
$GC,2710,-0.64,-106.7,540.4,-17.1,250,2713,0.00,1.00,0.00,0.000,4,0.000,0.061,1482,3953,2919,0,0,0,0,0,0
$GC,2747,-0.64,-106.7,547.9,-18.4,251,2755,0.00,0.98,0.00,0.000,6,0.000,0.037,1481,3314,2919,0,0,0,0,0,0
$GC,3063,-0.64,-106.7,604.0,-17.7,267,3067,0.00,1.00,0.00,0.000,4,0.000,0.063,1476,3943,2919,0,0,0,0,0,0
$GC,3265,-0.64,-106.7,642.6,-19.3,276,3269,0.00,0.95,0.00,0.000,6,0.000,0.038,1477,3316,2919,0,0,0,0,0,0
$GC,3597,-0.64,-106.7,701.6,-17.8,292,3601,0.00,1.00,0.00,0.000,4,0.000,0.063,1472,3946,2918,0,0,0,0,0,0
$GC,3710,-0.64,-106.7,723.3,-19.3,297,3713,0.00,0.95,0.00,0.000,6,0.000,0.040,1472,3317,2918,0,0,0,0,0,0
$GC,4041,-0.64,-106.7,784.6,-18.2,313,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3317,2918,0,0,0,0,0,0
$GC,4351,-0.64,-106.7,841.0,-18.4,328,4354,0.00,1.00,0.00,0.000,4,0.000,0.064,1468,3947,2916,0,0,0,0,0,0
$GC,4590,-0.64,-106.7,887.4,-18.4,338,4598,0.00,0.98,0.00,0.000,6,0.000,0.040,1468,3314,2916,0,0,0,0,0,0
$GC,4906,-0.64,-106.7,942.6,-17.4,354,4910,0.00,1.00,0.00,0.000,4,0.000,0.065,1463,3943,2915,0,0,0,0,0,0
$GC,5033,-0.64,-106.7,966.9,-18.7,359,5041,0.00,0.98,0.00,0.000,6,0.000,0.039,1463,3314,2915,0,0,0,0,0,0
$STATE,5183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5183,begin apogee
$GC,5187,-0.11,0.0,993.4,17.5,367,5294,0.65,0.00,103.20,1.851,6,0.169,0.000,1653,3172,2473,0,0,0,0,0,0
$STATE,5294,end apogee,CONTROL_FINISHED_OK
$STATE,5295,begin climb
$GC,5296,0.64,106.7,998.5,0.0,372,5411,0.75,2.42,106.03,1.803,4,0.101,0.037,1901,1781,2037,0,0,0,0,0,0
$GC,5460,0.64,106.7,984.3,11.9,379,5468,0.00,2.45,0.00,0.000,6,0.000,0.050,1901,3180,2031,0,0,0,0,0,0
$GC,5776,0.64,106.7,936.6,15.4,395,5780,0.00,1.27,0.00,0.000,4,0.000,0.060,1901,3948,2026,0,0,0,0,0,0
$GC,5965,0.64,106.7,902.1,18.1,403,5970,0.00,1.23,0.00,0.000,6,0.000,0.037,1907,3180,2025,0,0,0,0,0,0
$GC,6287,0.64,106.7,849.9,16.1,419,6290,0.00,1.25,0.00,0.000,4,0.000,0.061,1907,3939,2022,0,0,0,0,0,0
$GC,6347,0.64,106.7,839.2,18.2,421,6355,0.00,1.23,0.00,0.000,6,0.000,0.037,1913,3166,2022,0,0,0,0,0,0
$GC,6663,0.64,106.7,787.7,16.5,437,6667,0.00,1.27,0.00,0.000,4,0.000,0.061,1913,3941,2021,0,0,0,0,0,0
$GC,6864,0.64,106.7,750.9,17.8,446,6868,0.00,1.17,0.00,0.000,6,0.000,0.039,1919,3183,2020,0,0,0,0,0,0
$GC,7196,0.64,106.7,696.4,16.6,462,7200,0.00,1.25,0.00,0.000,4,0.000,0.061,1919,3948,2019,0,0,0,0,0,0
$GC,7245,0.64,106.7,687.4,18.6,464,7249,0.00,1.20,0.00,0.000,6,0.000,0.038,1924,3179,2019,0,0,0,0,0,0
$GC,7574,0.64,106.7,634.7,15.7,480,7577,0.00,1.25,0.00,0.000,4,0.000,0.061,1924,3947,2018,0,0,0,0,0,0
$GC,7821,0.64,106.7,589.3,18.7,491,7824,0.00,1.17,0.00,0.000,6,0.000,0.038,1930,3181,2018,0,0,0,0,0,0
$GC,8153,0.64,106.7,535.4,16.4,507,8156,0.00,1.23,0.00,0.000,4,0.000,0.061,1930,3944,2017,0,0,0,0,0,0
$GC,8229,0.64,106.7,521.5,18.3,510,8235,0.12,1.20,0.00,0.000,6,0.220,0.037,1908,3170,2017,0,0,0,0,0,0
$GC,8551,0.64,106.7,474.5,14.6,526,8554,0.00,1.25,0.00,0.000,4,0.000,0.061,1908,3943,2017,0,0,0,0,0,0
$GC,8655,0.64,106.7,457.1,16.2,530,8663,0.00,1.20,0.00,0.000,6,0.000,0.037,1912,3168,2017,0,0,0,0,0,0
$GC,8971,0.64,106.7,412.4,13.9,546,8975,0.00,1.25,0.00,0.000,4,0.000,0.062,1912,3943,2016,0,0,0,0,0,0
$GC,9097,0.64,106.7,392.7,16.7,553,9101,0.00,1.17,0.00,0.000,6,0.000,0.038,1918,3175,2017,0,0,0,0,0,0
$GC,9426,0.64,106.7,345.8,13.8,584,9427,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3174,2016,0,0,0,0,0,0
$GC,9745,0.64,106.7,300.4,14.6,614,9749,0.00,1.25,0.00,0.000,4,0.000,0.062,1918,3955,2016,0,0,0,0,0,0
$GC,9976,0.64,106.7,262.0,17.2,634,9983,0.00,1.20,0.00,0.000,6,0.000,0.037,1924,3172,2016,0,0,0,0,0,0
$GC,10303,0.64,106.7,215.8,14.5,665,10307,0.00,1.25,0.00,0.000,4,0.000,0.062,1924,3950,2015,0,0,0,0,0,0
$GC,10475,0.64,106.7,186.5,17.6,680,10486,0.00,1.17,0.00,0.000,6,0.000,0.037,1930,3182,2015,0,0,0,0,0,0
$GC,10800,0.64,106.7,139.1,14.0,711,10802,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3181,2015,0,0,0,0,0,0
$GC,11125,0.64,106.7,93.6,13.5,745,11131,0.00,1.23,0.00,0.000,4,0.000,0.060,1930,3945,2015,0,0,0,0,0,0
$GC,11252,0.64,106.7,74.0,16.6,767,11259,0.10,1.15,0.00,0.000,6,0.194,0.037,1907,3184,2015,0,0,0,0,0,0
$GC,11601,0.64,106.7,33.9,11.3,828,11610,0.00,1.23,0.00,0.000,4,0.000,0.061,1907,3947,2015,0,0,0,0,0,0
$GC,11727,0.64,106.7,17.7,12.9,849,11736,0.00,1.15,0.00,0.000,6,0.000,0.037,1912,3186,2015,0,0,0,0,0,0
$GC,11785,0.64,106.7,10.9,11.5,858,11793,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3186,2015,0,0,0,0,0,0
$GC,11842,0.64,106.7,4.6,10.5,867,11851,0.00,2.17,0.00,0.000,4,0.000,0.035,1923,1768,2015,0,0,0,0,0,0
$STATE,11864,end climb,SURFACE_DEPTH_REACHED
$STATE,11864,begin surface coast
$FINISH,1.9,1.025902
$STATE,11877,end surface coast,CONTROL_FINISHED_OK
$STATE,11878,begin surface
$SM_CCo,11892,45.67,0.801,0,0,1552,225.18
$SM_GC,1.26,0.00,0.00,45.67,0.000,0.000,0.801,59,3334,1552,-5.11,0.40,225.18
$IRIDIUM_FIX,-4244.98,831.12,101213,181822
$TT8_MAMPS,0.026215
$HUMID,61.65
$INTERNAL_PRESSURE,9.53279
$TCM_TEMP,13.30
$XPDR_PINGS,0
$24V_AH,22.9,11.041
$10V_AH,10.1,7.264
$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,12.950,58.700,209.225,45.675,0.000,26.374,20.118,261.804,0.000,0.000,19.721,2214.908,7013.918,371.059,2637.955,116.914,0.000,1338.971,0.000,2223.437,0.000,1.010,0.000
$DEVICE_MAMPS,241.740,82.620,1851.300,800.955,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,603.822,1496.844,617.333,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355204
$DATA_FILE_SIZE,57138,872
$CAP_FILE_SIZE,118133,0
$CFSIZE,259252224,254017536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,111213,012104,-4259.602,830.705,25,1.0,25,-25.0