version: 66.07
glider: 543
mission: 9
dive: 69
start: 12 11 113 23 17 37
data:
$ID,543
$MISSION,9
$DIVE,69
$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,-12608.527
$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,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
$GPS1,111213,230958,-4259.300,831.847,42,1.0,42,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-68.2
$GPS2,111213,231716,-4259.276,831.941,18,0.9,18,-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,268.1,2951,-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,-49.00,0.000,2,0.000,0.000,70,3329,2697,0,0,0,0,0,0
$GC,67,-0.64,-108.8,3.3,-3.8,6,85,5.70,0.98,-5.60,0.000,4,0.236,0.083,1475,3955,2916,0,0,0,0,0,0
$GC,344,-0.64,-108.8,68.1,-22.8,53,350,0.00,0.98,0.00,0.000,6,0.000,0.037,1475,3318,2920,0,0,0,0,0,0
$GC,679,-0.64,-108.8,132.8,-19.8,98,683,0.00,1.00,0.00,0.000,4,0.000,0.059,1470,3942,2922,0,0,0,0,0,0
$GC,941,-0.64,-108.8,189.1,-22.4,121,945,0.00,0.95,0.00,0.000,6,0.000,0.037,1470,3316,2922,0,0,0,0,0,0
$GC,1271,-0.64,-108.8,257.3,-20.4,152,1274,0.00,1.00,0.00,0.000,4,0.000,0.059,1466,3944,2922,0,0,0,0,0,0
$GC,1530,-0.64,-108.8,313.0,-21.5,175,1534,0.00,0.95,0.00,0.000,6,0.000,0.037,1465,3315,2922,0,0,0,0,0,0
$GC,1860,-0.64,-108.8,379.1,-20.4,206,1864,0.00,1.00,0.00,0.000,4,0.000,0.059,1461,3947,2923,0,0,0,0,0,0
$GC,2117,-0.64,-108.8,435.2,-21.2,222,2122,0.00,0.98,0.00,0.000,6,0.000,0.037,1461,3310,2922,0,0,0,0,0,0
$GC,2439,-0.64,-108.8,500.0,-20.2,238,2442,0.00,1.00,0.00,0.000,4,0.000,0.060,1456,3941,2922,0,0,0,0,0,0
$GC,2695,-0.64,-108.8,555.1,-21.6,249,2700,0.00,0.95,0.00,0.000,6,0.000,0.037,1456,3319,2922,0,0,0,0,0,0
$GC,3017,-0.64,-108.8,618.7,-20.2,265,3021,0.12,1.00,0.00,0.000,4,0.195,0.062,1482,3940,2922,0,0,0,0,0,0
$GC,3273,-0.64,-108.8,665.9,-18.7,276,3277,0.00,0.95,0.00,0.000,6,0.000,0.038,1482,3319,2922,0,0,0,0,0,0
$GC,3594,-0.64,-108.8,719.1,-16.8,292,3598,0.00,1.00,0.00,0.000,4,0.000,0.063,1477,3949,2921,0,0,0,0,0,0
$GC,3851,-0.64,-108.8,767.1,-18.6,303,3855,0.00,0.98,0.00,0.000,6,0.000,0.039,1477,3313,2921,0,0,0,0,0,0
$GC,4172,-0.64,-108.8,823.1,-17.4,319,4176,0.00,1.00,0.00,0.000,4,0.000,0.063,1473,3942,2921,0,0,0,0,0,0
$GC,4429,-0.64,-108.8,873.0,-18.9,330,4433,0.00,0.98,0.00,0.000,6,0.000,0.039,1473,3310,2920,0,0,0,0,0,0
$GC,4752,-0.64,-108.8,929.2,-17.1,346,4756,0.00,1.00,0.00,0.000,4,0.000,0.063,1468,3939,2919,0,0,0,0,0,0
$GC,5009,-0.64,-108.8,976.5,-17.9,357,5013,0.00,0.98,0.00,0.000,6,0.000,0.040,1468,3310,2919,0,0,0,0,0,0
$STATE,5102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5102,begin apogee
$GC,5106,-0.11,0.0,991.9,16.6,362,5214,0.62,0.00,104.32,1.856,6,0.164,0.000,1652,3179,2473,0,0,0,0,0,0
$STATE,5214,end apogee,CONTROL_FINISHED_OK
$STATE,5215,begin climb
$GC,5216,0.64,108.8,996.5,0.0,367,5332,0.77,2.42,107.72,1.801,4,0.101,0.037,1908,1773,2028,0,0,0,0,0,0
$GC,5436,0.64,108.8,973.7,12.2,377,5441,0.00,2.42,0.00,0.000,6,0.000,0.051,1908,3179,2022,0,0,0,0,0,0
$GC,5758,0.64,108.8,923.2,15.9,393,5762,0.00,1.27,0.00,0.000,4,0.000,0.060,1908,3941,2017,0,0,0,0,0,0
$GC,5969,0.64,108.8,885.1,17.6,402,5974,0.00,1.23,0.00,0.000,6,0.000,0.037,1914,3173,2015,0,0,0,0,0,0
$GC,6291,0.64,108.8,834.1,15.5,418,6292,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3172,2014,0,0,0,0,0,0
$GC,6601,0.64,108.8,785.4,15.6,433,6602,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3172,2013,0,0,0,0,0,0
$GC,6911,0.64,108.8,736.4,16.0,448,6912,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3173,2012,0,0,0,0,0,0
$GC,7219,0.64,108.8,687.9,15.8,463,7220,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3173,2012,0,0,0,0,0,0
$GC,7529,0.64,108.8,638.7,16.2,478,7532,0.00,1.27,0.00,0.000,4,0.000,0.062,1914,3954,2011,0,0,0,0,0,0
$GC,7606,0.64,108.8,624.1,19.1,481,7610,0.00,1.20,0.00,0.000,6,0.000,0.038,1920,3180,2011,0,0,0,0,0,0
$GC,7927,0.64,108.8,570.5,16.5,497,7929,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3180,2010,0,0,0,0,0,0
$GC,8237,0.64,108.8,519.5,16.6,512,8240,0.00,1.25,0.00,0.000,4,0.000,0.063,1919,3949,2010,0,0,0,0,0,0
$GC,8308,0.64,108.8,506.6,17.0,515,8312,0.00,1.20,0.00,0.000,6,0.000,0.039,1925,3177,2010,0,0,0,0,0,0
$GC,8635,0.64,108.8,453.9,15.9,531,8636,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,3177,2009,0,0,0,0,0,0
$GC,8944,0.64,108.8,404.6,15.7,546,8945,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,3177,2009,0,0,0,0,0,0
$GC,9262,0.64,108.8,355.4,15.5,574,9266,0.00,1.25,0.00,0.000,4,0.000,0.062,1925,3947,2009,0,0,0,0,0,0
$GC,9333,0.64,108.8,343.1,16.7,580,9344,0.00,1.20,0.00,0.000,6,0.000,0.037,1931,3170,2009,0,0,0,0,0,0
$GC,9659,0.64,108.8,295.1,14.4,611,9662,0.00,1.25,0.00,0.000,4,0.000,0.060,1931,3943,2008,0,0,0,0,0,0
$GC,9715,0.64,108.8,285.9,17.3,616,9719,0.10,1.15,0.00,0.000,6,0.194,0.038,1909,3187,2008,0,0,0,0,0,0
$GC,10044,0.64,108.8,241.9,13.5,647,10045,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3186,2008,0,0,0,0,0,0
$GC,10366,0.64,108.8,198.7,13.5,677,10369,0.00,1.23,0.00,0.000,4,0.000,0.061,1908,3946,2007,0,0,0,0,0,0
$GC,10426,0.64,108.8,188.8,16.0,682,10434,0.00,1.17,0.00,0.000,6,0.000,0.037,1913,3179,2008,0,0,0,0,0,0
$GC,10753,0.64,108.8,143.5,14.3,713,10755,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3179,2008,0,0,0,0,0,0
$GC,11071,0.64,108.8,98.4,13.4,744,11079,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3179,2008,0,0,0,0,0,0
$GC,11421,0.64,108.8,53.2,12.5,805,11428,0.00,2.12,0.00,0.000,4,0.000,0.035,1924,1772,2007,0,0,0,0,0,0
$GC,11485,0.64,108.8,45.7,11.1,816,11494,0.00,2.25,0.00,0.000,6,0.000,0.052,1924,3180,2007,0,0,0,0,0,0
$STATE,11839,end climb,SURFACE_DEPTH_REACHED
$STATE,11839,begin surface coast
$FINISH,0.7,1.014625
$STATE,11883,end surface coast,CONTROL_FINISHED_OK
$STATE,11883,begin surface
$SM_CCo,11895,44.70,0.793,0,0,1554,225.18
$SM_GC,1.24,0.00,0.00,44.70,0.000,0.000,0.793,59,3328,1554,-5.11,0.23,225.18
$IRIDIUM_FIX,-4244.98,831.12,111213,191959
$TT8_MAMPS,0.026215
$HUMID,61.53
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.8,11.996
$10V_AH,10.1,7.954
$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,12.350,41.950,212.050,44.700,0.000,27.021,45.019,259.458,0.000,0.000,21.544,2223.622,7063.509,325.876,2645.291,122.190,0.000,1247.659,0.000,2209.824,0.000,1.010,0.000
$DEVICE_MAMPS,235.620,83.385,1855.890,793.305,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,612.694,1538.717,647.034,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355212
$DATA_FILE_SIZE,60396,883
$CAP_FILE_SIZE,109872,0
$CFSIZE,259252224,253571072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,121213,023734,-4258.727,831.869,24,1.7,24,-25.1