version: 66.07
glider: 543
mission: 9
dive: 67
start: 12 11 113 16 13 9
data:
$ID,543
$MISSION,9
$DIVE,67
$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,-12602.556
$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,45
$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
$GPS1,111213,160527,-4259.752,829.807,28,1.4,37,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-71.4
$GPS2,111213,161248,-4259.781,829.867,16,1.5,16,-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,181.1,444,-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,-48.60,0.000,2,0.000,0.000,52,3311,2690,0,0,0,0,0,0
$GC,67,-0.65,-113.3,3.3,-3.3,6,85,5.80,1.08,-6.35,0.000,4,0.236,0.081,1477,3963,2937,0,0,0,0,0,0
$GC,345,-0.65,-113.3,72.3,-24.5,53,351,0.00,1.00,0.00,0.000,6,0.000,0.037,1477,3314,2942,0,0,0,0,0,0
$GC,678,-0.65,-113.3,142.3,-21.2,95,682,0.00,1.00,0.00,0.000,4,0.000,0.060,1474,3938,2944,0,0,0,0,0,0
$GC,938,-0.65,-113.3,198.5,-20.4,118,942,0.00,0.95,0.00,0.000,6,0.000,0.037,1474,3315,2945,0,0,0,0,0,0
$GC,1271,-0.65,-113.3,263.2,-19.3,149,1274,0.00,1.00,0.00,0.000,4,0.000,0.060,1469,3941,2945,0,0,0,0,0,0
$GC,1530,-0.65,-113.3,318.5,-20.1,172,1534,0.00,0.95,0.00,0.000,6,0.000,0.037,1469,3313,2945,0,0,0,0,0,0
$GC,1860,-0.65,-113.3,380.6,-18.8,203,1864,0.00,2.10,0.00,0.000,4,0.000,0.034,1469,1907,2945,0,0,0,0,0,0
$GC,2117,-0.65,-113.3,419.8,-14.7,219,2125,0.00,2.28,0.00,0.000,6,0.000,0.054,1458,3323,2946,0,0,0,0,0,0
$GC,2433,-0.65,-113.3,482.9,-20.8,235,2437,0.00,0.98,0.00,0.000,4,0.000,0.060,1454,3944,2946,0,0,0,0,0,0
$GC,2689,-0.65,-113.3,541.2,-22.2,246,2694,0.12,0.95,0.00,0.000,6,0.203,0.037,1482,3319,2946,0,0,0,0,0,0
$GC,3011,-0.65,-113.3,600.1,-18.2,262,3014,0.00,1.00,0.00,0.000,4,0.000,0.063,1478,3950,2946,0,0,0,0,0,0
$GC,3205,-0.65,-113.3,639.4,-19.6,270,3213,0.00,0.98,0.00,0.000,6,0.000,0.037,1479,3312,2945,0,0,0,0,0,0
$GC,3521,-0.65,-113.3,694.4,-16.9,286,3525,0.00,1.00,0.00,0.000,4,0.000,0.063,1474,3941,2945,0,0,0,0,0,0
$GC,3727,-0.65,-113.3,731.9,-18.1,295,3732,0.00,0.95,0.00,0.000,6,0.000,0.038,1474,3319,2944,0,0,0,0,0,0
$GC,4054,-0.65,-113.3,785.4,-16.4,311,4058,0.00,1.00,0.00,0.000,4,0.000,0.064,1469,3945,2944,0,0,0,0,0,0
$GC,4260,-0.65,-113.3,822.7,-18.0,320,4265,0.00,0.98,0.00,0.000,6,0.000,0.039,1469,3314,2944,0,0,0,0,0,0
$GC,4587,-0.65,-113.3,876.1,-16.1,336,4591,0.00,1.00,0.00,0.000,4,0.000,0.064,1465,3942,2943,0,0,0,0,0,0
$GC,4799,-0.65,-113.3,913.8,-18.1,345,4803,0.00,0.98,0.00,0.000,6,0.000,0.039,1464,3310,2943,0,0,0,0,0,0
$GC,5120,-0.65,-113.3,965.4,-16.2,361,5122,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3311,2942,0,0,0,0,0,0
$STATE,5284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5284,begin apogee
$GC,5288,-0.11,0.0,991.3,15.8,369,5401,0.65,0.00,109.40,1.854,6,0.166,0.000,1655,3184,2474,0,0,0,0,0,0
$STATE,5402,end apogee,CONTROL_FINISHED_OK
$STATE,5402,begin climb
$GC,5403,0.65,113.3,995.1,0.0,374,5523,0.75,2.45,112.28,1.807,4,0.099,0.037,1904,1772,2012,0,0,0,0,0,0
$GC,5578,0.65,113.3,977.6,13.3,382,5583,0.00,2.47,0.00,0.000,6,0.000,0.051,1904,3182,2005,0,0,0,0,0,0
$GC,5906,0.65,113.3,926.5,15.4,398,5907,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3181,1999,0,0,0,0,0,0
$GC,6217,0.65,113.3,880.2,14.9,413,6218,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3181,1997,0,0,0,0,0,0
$GC,6524,0.65,113.3,834.4,14.8,428,6528,0.00,1.25,0.00,0.000,4,0.000,0.063,1905,3945,1995,0,0,0,0,0,0
$GC,6595,0.65,113.3,822.4,17.8,431,6600,0.00,1.23,0.00,0.000,6,0.000,0.037,1910,3168,1995,0,0,0,0,0,0
$GC,6923,0.65,113.3,772.8,15.4,447,6927,0.00,1.27,0.00,0.000,4,0.000,0.062,1910,3947,1994,0,0,0,0,0,0
$GC,6968,0.65,113.3,765.0,17.3,449,6972,0.00,1.20,0.00,0.000,6,0.000,0.038,1916,3172,1994,0,0,0,0,0,0
$GC,7302,0.65,113.3,711.7,16.1,465,7305,0.00,1.25,0.00,0.000,4,0.000,0.062,1916,3938,1993,0,0,0,0,0,0
$GC,7474,0.65,113.3,679.7,18.3,472,7482,0.00,1.20,0.00,0.000,6,0.000,0.037,1922,3172,1993,0,0,0,0,0,0
$GC,7791,0.65,113.3,626.7,16.9,488,7793,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3172,1993,0,0,0,0,0,0
$GC,8099,0.65,113.3,574.6,17.3,503,8103,0.00,1.27,0.00,0.000,4,0.000,0.063,1922,3953,1992,0,0,0,0,0,0
$GC,8261,0.65,113.3,542.9,20.7,510,8265,0.00,1.17,0.00,0.000,6,0.000,0.037,1927,3181,1992,0,0,0,0,0,0
$GC,8588,0.65,113.3,488.0,16.6,526,8589,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,3181,1992,0,0,0,0,0,0
$GC,8899,0.65,113.3,438.4,15.9,541,8903,0.00,1.25,0.00,0.000,4,0.000,0.063,1928,3948,1991,0,0,0,0,0,0
$GC,9004,0.65,113.3,419.4,18.5,545,9012,0.00,1.20,0.00,0.000,6,0.000,0.037,1934,3171,1991,0,0,0,0,0,0
$GC,9326,0.65,113.3,369.6,15.4,570,9330,0.00,1.25,0.00,0.000,4,0.000,0.062,1933,3943,1991,0,0,0,0,0,0
$GC,9417,0.65,113.3,354.2,17.1,578,9421,0.10,1.17,0.00,0.000,6,0.198,0.038,1911,3173,1991,0,0,0,0,0,0
$GC,9749,0.65,113.3,309.0,13.9,609,9752,0.00,1.25,0.00,0.000,4,0.000,0.062,1911,3945,1990,0,0,0,0,0,0
$GC,9888,0.65,113.3,286.3,16.3,621,9896,0.00,1.20,0.00,0.000,6,0.000,0.037,1916,3166,1990,0,0,0,0,0,0
$GC,10214,0.65,113.3,237.8,15.0,652,10215,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3167,1990,0,0,0,0,0,0
$GC,10533,0.65,113.3,189.2,15.2,682,10537,0.00,1.25,0.00,0.000,4,0.000,0.061,1916,3939,1990,0,0,0,0,0,0
$GC,10623,0.65,113.3,174.0,16.9,690,10627,0.00,1.15,0.00,0.000,6,0.000,0.038,1922,3183,1990,0,0,0,0,0,0
$GC,10956,0.65,113.3,124.7,14.5,721,10959,0.00,1.23,0.00,0.000,4,0.000,0.061,1922,3939,1990,0,0,0,0,0,0
$GC,11048,0.65,113.3,109.3,16.7,729,11052,0.00,1.15,0.00,0.000,6,0.000,0.037,1927,3181,1990,0,0,0,0,0,0
$GC,11391,0.65,113.3,61.1,12.7,784,11398,0.00,1.23,0.00,0.000,4,0.000,0.062,1927,3942,1990,0,0,0,0,0,0
$GC,11490,0.65,113.3,46.4,14.7,801,11499,0.00,1.15,0.00,0.000,6,0.000,0.038,1933,3182,1990,0,0,0,0,0,0
$STATE,11850,end climb,SURFACE_DEPTH_REACHED
$STATE,11850,begin surface coast
$FINISH,0.7,1.024048
$STATE,11882,end surface coast,CONTROL_FINISHED_OK
$STATE,11882,begin surface
$SM_CCo,11894,43.00,0.806,0,0,1555,225.18
$SM_GC,1.35,0.00,0.00,43.00,0.000,0.000,0.806,64,3327,1555,-5.09,0.23,225.18
$IRIDIUM_FIX,-4247.91,831.55,111213,121222
$TT8_MAMPS,0.026215
$HUMID,62.36
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.30
$XPDR_PINGS,0
$24V_AH,22.7,11.714
$10V_AH,10.1,7.760
$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,12.400,49.800,221.675,43.000,0.000,24.964,46.454,264.222,0.000,0.000,19.247,2201.123,7070.058,340.599,2632.735,136.402,0.000,1267.263,0.000,2199.523,0.000,1.011,0.000
$DEVICE_MAMPS,235.620,81.090,1854.360,805.545,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,601.517,1513.017,624.278,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,56950,867
$CAP_FILE_SIZE,112780,0
$CFSIZE,259252224,253693952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,111213,193304,-4300.465,831.358,24,1.0,24,-25.1