version: 66.07
glider: 543
mission: 9
dive: 66
start: 12 11 113 12 43 21
data:
$ID,543
$MISSION,9
$DIVE,66
$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,-12599.472
$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,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
$GPS1,111213,123604,-4259.945,830.499,36,1.0,36,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-70.6
$GPS2,111213,124300,-4259.887,830.550,17,1.2,17,-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,279.3,774,-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,-57.7,0.0,0.0,0,65,0.00,0.00,-48.78,0.000,2,0.000,0.000,66,3328,2704,0,0,0,0,0,0
$GC,67,-0.64,-108.3,3.3,-3.9,6,85,5.75,0.98,-5.50,0.000,4,0.238,0.082,1475,3954,2918,0,0,0,0,0,0
$GC,340,-0.64,-108.3,72.9,-25.1,52,346,0.00,0.98,0.00,0.000,6,0.000,0.036,1475,3315,2922,0,0,0,0,0,0
$GC,675,-0.64,-108.3,145.5,-21.0,93,678,0.00,1.00,0.00,0.000,4,0.000,0.060,1470,3942,2923,0,0,0,0,0,0
$GC,769,-0.64,-108.3,167.9,-22.6,101,776,0.00,0.98,0.00,0.000,6,0.000,0.036,1470,3309,2924,0,0,0,0,0,0
$GC,1094,-0.64,-108.3,237.8,-22.1,132,1098,0.00,1.02,0.00,0.000,4,0.000,0.059,1465,3955,2926,0,0,0,0,0,0
$GC,1312,-0.64,-108.3,286.8,-19.7,151,1320,0.00,0.98,0.00,0.000,6,0.000,0.036,1465,3315,2925,0,0,0,0,0,0
$GC,1638,-0.64,-108.3,350.0,-18.7,182,1641,0.00,1.00,0.00,0.000,4,0.000,0.060,1460,3946,2926,0,0,0,0,0,0
$GC,1856,-0.64,-108.3,395.8,-20.9,201,1864,0.00,0.98,0.00,0.000,6,0.000,0.036,1461,3311,2925,0,0,0,0,0,0
$GC,2172,-0.64,-108.3,457.7,-19.5,218,2176,0.00,1.00,0.00,0.000,4,0.000,0.061,1455,3940,2926,0,0,0,0,0,0
$GC,2384,-0.64,-108.3,502.7,-20.8,227,2389,0.12,0.95,0.00,0.000,6,0.200,0.037,1485,3322,2926,0,0,0,0,0,0
$GC,2705,-0.64,-108.3,556.7,-16.8,243,2709,0.00,1.00,0.00,0.000,4,0.000,0.063,1482,3954,2926,0,0,0,0,0,0
$GC,2827,-0.64,-108.3,579.4,-17.8,248,2831,0.00,0.98,0.00,0.000,6,0.000,0.037,1481,3315,2925,0,0,0,0,0,0
$GC,3148,-0.64,-108.3,636.6,-17.9,264,3152,0.00,1.00,0.00,0.000,4,0.000,0.063,1477,3945,2925,0,0,0,0,0,0
$GC,3395,-0.64,-108.3,684.0,-18.2,275,3398,0.00,0.95,0.00,0.000,6,0.000,0.039,1477,3317,2925,0,0,0,0,0,0
$GC,3727,-0.64,-108.3,740.6,-16.5,291,3730,0.00,1.00,0.00,0.000,4,0.000,0.064,1472,3945,2924,0,0,0,0,0,0
$GC,3871,-0.64,-108.3,767.1,-18.0,297,3876,0.00,0.98,0.00,0.000,6,0.000,0.038,1472,3314,2923,0,0,0,0,0,0
$GC,4192,-0.64,-108.3,819.9,-16.0,313,4196,0.00,1.00,0.00,0.000,4,0.000,0.064,1468,3941,2923,0,0,0,0,0,0
$GC,4305,-0.64,-108.3,839.3,-18.6,318,4308,0.00,0.95,0.00,0.000,6,0.000,0.040,1468,3317,2923,0,0,0,0,0,0
$GC,4637,-0.64,-108.3,894.8,-16.5,334,4640,0.00,1.00,0.00,0.000,4,0.000,0.063,1463,3947,2922,0,0,0,0,0,0
$GC,4753,-0.64,-108.3,916.1,-17.9,339,4758,0.00,0.98,0.00,0.000,6,0.000,0.040,1463,3314,2922,0,0,0,0,0,0
$GC,5080,-0.64,-108.3,969.9,-16.6,355,5081,0.00,0.00,0.00,0.000,6,0.000,0.000,1463,3314,2921,0,0,0,0,0,0
$STATE,5223,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5223,begin apogee
$GC,5227,-0.11,0.0,992.9,15.7,362,5335,0.65,0.00,104.50,1.851,6,0.169,0.000,1652,3173,2474,0,0,0,0,0,0
$STATE,5336,end apogee,CONTROL_FINISHED_OK
$STATE,5336,begin climb
$GC,5337,0.64,108.3,996.7,0.0,367,5452,0.75,2.40,107.55,1.798,4,0.101,0.037,1901,1778,2031,0,0,0,0,0,0
$GC,5501,0.64,108.3,980.4,13.0,374,5510,0.00,2.47,0.00,0.000,6,0.000,0.052,1901,3185,2025,0,0,0,0,0,0
$GC,5818,0.64,108.3,930.0,15.9,390,5819,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3185,2019,0,0,0,0,0,0
$GC,6127,0.64,108.3,880.7,16.1,405,6128,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,3185,2017,0,0,0,0,0,0
$GC,6437,0.64,108.3,832.3,15.4,420,6440,0.00,1.25,0.00,0.000,4,0.000,0.063,1901,3944,2015,0,0,0,0,0,0
$GC,6654,0.64,108.3,794.5,17.7,429,6662,0.00,1.23,0.00,0.000,6,0.000,0.037,1907,3168,2015,0,0,0,0,0,0
$GC,6970,0.64,108.3,746.3,15.4,445,6971,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3167,2013,0,0,0,0,0,0
$GC,7279,0.64,108.3,699.7,15.2,460,7283,0.00,1.27,0.00,0.000,4,0.000,0.063,1907,3947,2013,0,0,0,0,0,0
$GC,7518,0.64,108.3,657.9,17.4,470,7526,0.00,1.20,0.00,0.000,6,0.000,0.037,1913,3175,2013,0,0,0,0,0,0
$GC,7836,0.64,108.3,610.0,15.0,486,7840,0.00,1.25,0.00,0.000,4,0.000,0.062,1913,3942,2012,0,0,0,0,0,0
$GC,7907,0.64,108.3,597.7,16.8,489,7912,0.00,1.20,0.00,0.000,6,0.000,0.037,1919,3174,2012,0,0,0,0,0,0
$GC,8234,0.64,108.3,548.0,15.3,505,8238,0.00,1.25,0.00,0.000,4,0.000,0.062,1919,3943,2011,0,0,0,0,0,0
$GC,8311,0.64,108.3,534.6,18.2,508,8316,0.00,1.20,0.00,0.000,6,0.000,0.037,1924,3172,2011,0,0,0,0,0,0
$GC,8633,0.64,108.3,485.2,15.0,524,8637,0.00,1.25,0.00,0.000,4,0.000,0.062,1925,3940,2011,0,0,0,0,0,0
$GC,8700,0.64,108.3,473.9,17.6,527,8704,0.00,1.17,0.00,0.000,6,0.000,0.037,1931,3174,2011,0,0,0,0,0,0
$GC,9032,0.64,108.3,422.8,15.1,543,9036,0.00,1.25,0.00,0.000,4,0.000,0.061,1931,3945,2011,0,0,0,0,0,0
$GC,9167,0.64,108.3,399.5,18.2,549,9171,0.10,1.17,0.00,0.000,6,0.195,0.037,1908,3171,2011,0,0,0,0,0,0
$GC,9496,0.64,108.3,352.9,13.9,580,9497,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3172,2010,0,0,0,0,0,0
$GC,9816,0.64,108.3,308.7,13.9,610,9819,0.00,1.25,0.00,0.000,4,0.000,0.062,1908,3946,2010,0,0,0,0,0,0
$GC,9955,0.64,108.3,287.8,14.7,622,9963,0.00,1.17,0.00,0.000,6,0.000,0.037,1913,3180,2010,0,0,0,0,0,0
$GC,10283,0.64,108.3,244.3,13.6,653,10286,0.00,1.23,0.00,0.000,4,0.000,0.063,1913,3944,2009,0,0,0,0,0,0
$GC,10377,0.64,108.3,229.5,15.5,661,10385,0.00,1.17,0.00,0.000,6,0.000,0.037,1919,3180,2009,0,0,0,0,0,0
$GC,10702,0.64,108.3,184.6,13.5,692,10706,0.00,1.25,0.00,0.000,4,0.000,0.063,1919,3955,2009,0,0,0,0,0,0
$GC,10852,0.64,108.3,161.6,16.7,705,10856,0.00,1.17,0.00,0.000,6,0.000,0.037,1924,3178,2009,0,0,0,0,0,0
$GC,11182,0.64,108.3,113.0,14.7,736,11185,0.00,1.25,0.00,0.000,4,0.000,0.061,1925,3954,2010,0,0,0,0,0,0
$GC,11261,0.64,108.3,100.3,16.2,743,11264,0.00,1.17,0.00,0.000,6,0.000,0.037,1931,3176,2010,0,0,0,0,0,0
$GC,11607,0.64,108.3,51.1,14.0,803,11614,0.00,1.25,0.00,0.000,4,0.000,0.060,1931,3955,2010,0,0,0,0,0,0
$GC,11701,0.64,108.3,36.6,16.1,819,11709,0.10,1.17,0.00,0.000,6,0.193,0.037,1908,3174,2010,0,0,0,0,0,0
$GC,11850,0.64,108.3,18.8,11.3,844,11859,0.00,1.25,0.00,0.000,4,0.000,0.061,1908,3954,2010,0,0,0,0,0,0
$STATE,11972,end climb,SURFACE_DEPTH_REACHED
$STATE,11972,begin surface coast
$FINISH,0.6,1.026290
$STATE,11998,end surface coast,CONTROL_FINISHED_OK
$STATE,11998,begin surface
$SM_CCo,12010,45.00,0.803,0,0,1551,225.18
$SM_GC,1.35,0.00,0.00,45.00,0.000,0.000,0.803,53,3310,1551,-5.13,-0.28,225.18
$IRIDIUM_FIX,-4244.98,719.92,111213,090925
$TT8_MAMPS,0.026215
$HUMID,61.81
$INTERNAL_PRESSURE,9.53279
$TCM_TEMP,13.20
$XPDR_PINGS,0
$24V_AH,22.8,11.572
$10V_AH,10.1,7.665
$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,12.500,53.775,212.050,45.000,0.000,25.839,16.938,265.898,0.000,0.000,20.256,2201.878,7212.652,352.607,2586.174,120.266,0.000,1286.705,0.000,2171.305,0.000,1.010,0.000
$DEVICE_MAMPS,237.915,81.855,1851.300,803.250,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,601.802,1506.784,597.426,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355208
$DATA_FILE_SIZE,56895,868
$CAP_FILE_SIZE,116179,0
$CFSIZE,259252224,253751296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,111213,160527,-4259.752,829.807,28,1.4,37,-25.0