version: 66.07
glider: 543
mission: 9
dive: 68
start: 12 11 113 19 45 57
data:
$ID,543
$MISSION,9
$DIVE,68
$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,-12605.494
$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,27
$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
$GPS1,111213,193304,-4300.465,831.358,24,1.0,24,-25.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-68.8
$GPS2,111213,194536,-4300.475,831.572,18,1.3,18,-25.1
$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,317.5,2304,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.61,-57.7,0.0,0.0,0,65,0.00,0.00,-48.50,0.000,2,0.000,0.000,63,3328,2701,0,0,0,0,0,0
$GC,67,-0.64,-106.4,3.3,-4.1,6,85,5.82,0.98,-5.35,0.000,4,0.242,0.082,1475,3958,2911,0,0,0,0,0,0
$GC,343,-0.64,-106.4,70.0,-22.5,53,350,0.00,0.98,0.00,0.000,6,0.000,0.037,1476,3321,2915,0,0,0,0,0,0
$GC,680,-0.64,-106.4,135.1,-19.3,97,684,0.00,1.00,0.00,0.000,4,0.000,0.060,1471,3936,2917,0,0,0,0,0,0
$GC,940,-0.64,-106.4,190.5,-21.1,120,943,0.00,0.93,0.00,0.000,6,0.000,0.037,1470,3322,2918,0,0,0,0,0,0
$GC,1270,-0.64,-106.4,255.5,-19.2,151,1273,0.00,0.98,0.00,0.000,4,0.000,0.060,1466,3935,2918,0,0,0,0,0,0
$GC,1530,-0.64,-106.4,309.8,-22.4,174,1533,0.00,0.93,0.00,0.000,6,0.000,0.037,1466,3322,2918,0,0,0,0,0,0
$GC,1862,-0.64,-106.4,374.8,-19.2,205,1865,0.00,0.98,0.00,0.000,4,0.000,0.059,1462,3936,2918,0,0,0,0,0,0
$GC,2119,-0.64,-106.4,429.7,-21.0,222,2124,0.00,0.95,0.00,0.000,6,0.000,0.037,1461,3317,2918,0,0,0,0,0,0
$GC,2440,-0.64,-106.4,493.6,-20.2,238,2444,0.00,1.00,0.00,0.000,4,0.000,0.060,1457,3947,2918,0,0,0,0,0,0
$GC,2697,-0.64,-106.4,548.5,-21.4,249,2703,0.12,0.98,0.00,0.000,6,0.198,0.037,1485,3313,2918,0,0,0,0,0,0
$GC,3019,-0.64,-106.4,604.7,-17.5,265,3022,0.00,1.00,0.00,0.000,4,0.000,0.062,1482,3942,2918,0,0,0,0,0,0
$GC,3275,-0.64,-106.4,652.5,-19.0,276,3280,0.00,0.98,0.00,0.000,6,0.000,0.037,1483,3307,2917,0,0,0,0,0,0
$GC,3597,-0.64,-106.4,707.3,-17.2,292,3601,0.00,1.00,0.00,0.000,4,0.000,0.063,1478,3934,2916,0,0,0,0,0,0
$GC,3854,-0.64,-106.4,755.9,-18.5,303,3858,0.00,0.95,0.00,0.000,6,0.000,0.038,1478,3317,2916,0,0,0,0,0,0
$GC,4177,-0.64,-106.4,809.6,-16.7,319,4181,0.00,1.00,0.00,0.000,4,0.000,0.063,1473,3943,2915,0,0,0,0,0,0
$GC,4433,-0.64,-106.4,854.9,-17.6,330,4438,0.00,0.98,0.00,0.000,6,0.000,0.038,1473,3311,2915,0,0,0,0,0,0
$GC,4755,-0.64,-106.4,903.3,-14.4,346,4759,0.00,1.00,0.00,0.000,4,0.000,0.064,1468,3941,2914,0,0,0,0,0,0
$GC,5012,-0.64,-106.4,943.7,-15.5,357,5016,0.00,0.98,0.00,0.000,6,0.000,0.039,1468,3309,2913,0,0,0,0,0,0
$STATE,5332,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5332,begin apogee
$GC,5336,-0.11,0.0,990.7,14.8,373,5442,0.62,0.00,102.88,1.860,6,0.166,0.000,1651,3181,2473,0,0,0,0,0,0
$STATE,5443,end apogee,CONTROL_FINISHED_OK
$STATE,5443,begin climb
$GC,5445,0.64,106.4,993.8,0.0,378,5560,0.77,2.47,105.40,1.811,4,0.103,0.036,1907,1773,2039,0,0,0,0,0,0
$GC,5676,0.64,106.4,966.4,14.3,388,5684,0.00,2.42,0.00,0.000,6,0.000,0.052,1907,3180,2031,0,0,0,0,0,0
$GC,5993,0.64,106.4,914.3,16.7,404,5996,0.00,1.27,0.00,0.000,4,0.000,0.060,1907,3948,2027,0,0,0,0,0,0
$GC,6151,0.64,106.4,884.6,19.0,411,6154,0.00,1.23,0.00,0.000,6,0.000,0.037,1913,3168,2026,0,0,0,0,0,0
$GC,6483,0.64,106.4,829.3,16.2,427,6484,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3168,2024,0,0,0,0,0,0
$GC,6794,0.64,106.4,780.5,15.6,442,6798,0.00,2.17,0.00,0.000,4,0.000,0.039,1924,1775,2023,0,0,0,0,0,0
$GC,6814,0.64,106.4,777.0,14.9,443,6819,0.00,2.30,0.00,0.000,6,0.000,0.053,1924,3177,2022,0,0,0,0,0,0
$GC,7142,0.64,106.4,724.3,15.9,459,7143,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,3178,2021,0,0,0,0,0,0
$GC,7451,0.64,106.4,674.5,16.4,474,7454,0.00,1.25,0.00,0.000,4,0.000,0.061,1924,3951,2021,0,0,0,0,0,0
$GC,7533,0.64,106.4,659.4,17.8,477,7541,0.00,1.20,0.00,0.000,6,0.000,0.037,1929,3178,2021,0,0,0,0,0,0
$GC,7849,0.64,106.4,608.1,16.2,493,7853,0.00,2.15,0.00,0.000,4,0.000,0.037,1940,1778,2021,0,0,0,0,0,0
$GC,7911,0.64,106.4,599.0,14.0,496,7916,0.15,2.25,0.00,0.000,6,0.194,0.051,1904,3186,2019,0,0,0,0,0,0
$GC,8237,0.64,106.4,555.0,13.3,512,8241,0.00,1.23,0.00,0.000,4,0.000,0.060,1904,3949,2018,0,0,0,0,0,0
$GC,8336,0.64,106.4,539.4,15.8,516,8341,0.00,1.20,0.00,0.000,6,0.000,0.037,1908,3174,2018,0,0,0,0,0,0
$GC,8658,0.64,106.4,494.6,13.6,532,8659,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3174,2018,0,0,0,0,0,0
$GC,8967,0.64,106.4,452.3,13.7,547,8971,0.00,2.12,0.00,0.000,4,0.000,0.037,1919,1775,2017,0,0,0,0,0,0
$GC,9007,0.64,106.4,447.3,12.7,549,9011,0.00,2.25,0.00,0.000,6,0.000,0.052,1919,3186,2017,0,0,0,0,0,0
$GC,9333,0.64,106.4,400.2,14.4,565,9334,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3186,2017,0,0,0,0,0,0
$GC,9651,0.64,106.4,353.5,15.0,594,9655,0.00,1.23,0.00,0.000,4,0.000,0.061,1919,3951,2016,0,0,0,0,0,0
$GC,9687,0.64,106.4,348.0,16.4,597,9691,0.00,1.17,0.00,0.000,6,0.000,0.038,1925,3178,2017,0,0,0,0,0,0
$GC,10017,0.64,106.4,297.7,15.7,628,10018,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,3178,2017,0,0,0,0,0,0
$GC,10336,0.64,106.4,248.8,14.8,658,10340,0.00,1.23,0.00,0.000,4,0.000,0.062,1925,3937,2016,0,0,0,0,0,0
$GC,10407,0.64,106.4,236.4,17.4,664,10417,0.00,1.17,0.00,0.000,6,0.000,0.037,1931,3173,2017,0,0,0,0,0,0
$GC,10733,0.64,106.4,186.5,15.5,695,10734,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,3173,2016,0,0,0,0,0,0
$GC,11054,0.64,106.4,139.8,14.7,725,11055,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,3173,2016,0,0,0,0,0,0
$GC,11372,0.64,106.4,92.0,15.3,759,11380,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,3173,2016,0,0,0,0,0,0
$GC,11725,0.64,106.4,45.3,12.7,820,11731,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,3173,2017,0,0,0,0,0,0
$STATE,12071,end climb,SURFACE_DEPTH_REACHED
$STATE,12071,begin surface coast
$FINISH,0.8,1.026145
$STATE,12109,end surface coast,CONTROL_FINISHED_OK
$STATE,12109,begin surface
$SM_CCo,12120,45.72,0.799,0,0,1553,225.18
$SM_GC,1.11,0.00,0.00,45.72,0.000,0.000,0.799,72,3328,1553,-5.07,0.23,225.18
$IRIDIUM_FIX,-4244.98,836.94,111213,191909
$TT8_MAMPS,0.025466
$HUMID,62.60
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.8,11.858
$10V_AH,10.1,7.858
$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,12.550,48.300,208.275,45.725,0.000,81.365,178.342,263.379,0.000,0.000,21.193,2237.035,7377.055,326.767,2841.563,138.696,0.000,1260.664,0.000,2218.480,0.000,1.011,0.000
$DEVICE_MAMPS,241.740,81.855,1859.715,798.660,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,614.160,1532.983,627.237,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,60369,885
$CAP_FILE_SIZE,112784,0
$CFSIZE,259252224,253628416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,111213,230958,-4259.300,831.847,42,1.0,42,-25.1