version: 66.07
glider: 543
mission: 9
dive: 74
start: 12 12 113 16 54 15
data:
$ID,543
$MISSION,9
$DIVE,74
$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,-12623.867
$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,47
$R_STBD_OVSHOOT,30
$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
$GPS1,121213,164603,-4259.449,831.271,32,1.2,32,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-62.3
$GPS2,121213,165354,-4259.390,831.234,13,0.9,14,-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,260.9,2017,-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,-57.7,0.0,0.0,0,57,0.00,0.00,-40.50,0.000,2,0.000,0.000,70,3338,2467,0,0,0,0,0,0
$GC,59,-0.64,-93.0,3.1,-5.6,5,85,5.72,2.25,-11.00,0.000,4,0.235,0.047,1480,1906,2856,0,0,0,0,0,0
$GC,244,-0.64,-93.0,32.7,-14.3,35,251,0.00,2.30,0.00,0.000,6,0.000,0.054,1471,3319,2860,0,0,0,0,0,0
$GC,388,-0.64,-93.0,61.0,-20.5,60,397,0.00,1.00,0.00,0.000,4,0.000,0.060,1466,3945,2860,0,0,0,0,0,0
$GC,654,-0.64,-93.0,119.2,-21.1,99,657,0.00,0.95,0.00,0.000,6,0.000,0.037,1466,3317,2862,0,0,0,0,0,0
$GC,983,-0.64,-93.0,186.1,-20.6,130,987,0.00,1.00,0.00,0.000,4,0.000,0.060,1462,3944,2862,0,0,0,0,0,0
$GC,1188,-0.64,-93.0,231.3,-22.0,148,1191,0.00,0.95,0.00,0.000,6,0.000,0.037,1462,3314,2863,0,0,0,0,0,0
$GC,1518,-0.64,-93.0,297.6,-19.6,179,1521,0.00,1.00,0.00,0.000,4,0.000,0.060,1457,3944,2863,0,0,0,0,0,0
$GC,1776,-0.64,-93.0,353.6,-21.5,202,1780,0.08,0.95,0.00,0.000,6,0.188,0.037,1478,3317,2863,0,0,0,0,0,0
$GC,2113,-0.64,-93.0,415.8,-18.2,230,2117,0.00,1.00,0.00,0.000,4,0.000,0.061,1476,3947,2863,0,0,0,0,0,0
$GC,2319,-0.64,-93.0,456.6,-19.8,239,2324,0.00,0.98,0.00,0.000,6,0.000,0.037,1476,3311,2864,0,0,0,0,0,0
$GC,2647,-0.64,-93.0,517.3,-18.6,255,2650,0.00,1.00,0.00,0.000,4,0.000,0.062,1471,3939,2864,0,0,0,0,0,0
$GC,2903,-0.64,-93.0,567.8,-19.2,266,2908,0.00,0.95,0.00,0.000,6,0.000,0.038,1471,3321,2863,0,0,0,0,0,0
$GC,3225,-0.64,-93.0,624.7,-18.0,282,3228,0.00,1.02,0.00,0.000,4,0.000,0.063,1466,3950,2863,0,0,0,0,0,0
$GC,3392,-0.64,-93.0,656.4,-18.6,289,3397,0.00,0.95,0.00,0.000,6,0.000,0.038,1466,3323,2863,0,0,0,0,0,0
$GC,3713,-0.64,-93.0,711.7,-17.3,305,3716,0.00,1.00,0.00,0.000,4,0.000,0.063,1461,3955,2862,0,0,0,0,0,0
$GC,3851,-0.64,-93.0,737.5,-18.1,311,3856,0.00,0.98,0.00,0.000,6,0.000,0.040,1461,3317,2862,0,0,0,0,0,0
$GC,4180,-0.64,-93.0,792.4,-16.4,327,4184,0.00,1.00,0.00,0.000,4,0.000,0.064,1457,3948,2861,0,0,0,0,0,0
$GC,4437,-0.64,-93.0,838.0,-17.2,338,4442,0.12,0.98,0.00,0.000,6,0.200,0.040,1485,3317,2860,0,0,0,0,0,0
$GC,4760,-0.64,-93.0,882.3,-13.8,354,4764,0.00,1.00,0.00,0.000,4,0.000,0.065,1482,3947,2860,0,0,0,0,0,0
$GC,5017,-0.64,-93.0,923.3,-15.1,365,5021,0.00,0.98,0.00,0.000,6,0.000,0.041,1482,3316,2860,0,0,0,0,0,0
$GC,5339,-0.64,-93.0,967.6,-13.9,381,5342,0.00,1.00,0.00,0.000,4,0.000,0.066,1477,3941,2859,0,0,0,0,0,0
$STATE,5476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5476,begin apogee
$GC,5481,-0.11,0.0,990.4,16.5,387,5579,0.57,0.00,90.62,1.859,6,0.166,0.000,1650,3166,2474,0,0,0,0,0,0
$STATE,5580,end apogee,CONTROL_FINISHED_OK
$STATE,5580,begin climb
$GC,5581,0.64,93.0,994.9,0.0,392,5682,0.75,2.38,93.35,1.811,4,0.103,0.036,1899,1768,2094,0,0,0,0,0,0
$GC,5731,0.64,93.0,982.5,12.3,398,5737,0.00,2.47,0.00,0.000,6,0.000,0.054,1899,3180,2089,0,0,0,0,0,0
$GC,6059,0.64,93.0,934.8,14.9,414,6062,0.00,1.27,0.00,0.000,4,0.000,0.062,1899,3947,2082,0,0,0,0,0,0
$GC,6254,0.64,93.0,901.1,17.2,422,6262,0.00,1.25,0.00,0.000,6,0.000,0.038,1905,3161,2081,0,0,0,0,0,0
$GC,6571,0.64,93.0,853.8,15.2,438,6572,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3161,2079,0,0,0,0,0,0
$GC,6879,0.64,93.0,807.9,15.0,453,6883,0.00,1.30,0.00,0.000,4,0.000,0.062,1905,3953,2078,0,0,0,0,0,0
$GC,7037,0.64,93.0,782.0,16.2,460,7041,0.00,1.20,0.00,0.000,6,0.000,0.039,1911,3179,2078,0,0,0,0,0,0
$GC,7369,0.64,93.0,733.4,14.5,476,7373,0.00,1.25,0.00,0.000,4,0.000,0.063,1911,3948,2077,0,0,0,0,0,0
$GC,7463,0.64,93.0,717.9,16.7,480,7467,0.00,1.20,0.00,0.000,6,0.000,0.039,1917,3178,2077,0,0,0,0,0,0
$GC,7790,0.64,93.0,670.4,14.3,496,7791,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3179,2076,0,0,0,0,0,0
$GC,8101,0.64,93.0,625.6,14.6,511,8102,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3178,2075,0,0,0,0,0,0
$GC,8409,0.64,93.0,581.9,14.2,526,8410,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3178,2075,0,0,0,0,0,0
$GC,8718,0.64,93.0,539.1,14.2,541,8722,0.00,1.25,0.00,0.000,4,0.000,0.063,1917,3948,2074,0,0,0,0,0,0
$GC,8935,0.64,93.0,505.6,15.9,550,8943,0.00,1.20,0.00,0.000,6,0.000,0.039,1923,3174,2074,0,0,0,0,0,0
$GC,9251,0.64,93.0,462.4,13.8,566,9253,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3174,2073,0,0,0,0,0,0
$GC,9560,0.64,93.0,419.4,14.0,581,9562,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3174,2073,0,0,0,0,0,0
$GC,9875,0.64,93.0,376.3,13.5,604,9878,0.00,1.25,0.00,0.000,4,0.000,0.063,1923,3945,2073,0,0,0,0,0,0
$GC,9958,0.64,93.0,363.6,15.0,611,9966,0.00,1.20,0.00,0.000,6,0.000,0.039,1929,3175,2072,0,0,0,0,0,0
$GC,10283,0.64,93.0,318.1,13.5,642,10287,0.00,1.25,0.00,0.000,4,0.000,0.063,1929,3951,2072,0,0,0,0,0,0
$GC,10389,0.64,93.0,301.7,16.0,651,10397,0.12,1.20,0.00,0.000,6,0.216,0.038,1906,3175,2073,0,0,0,0,0,0
$GC,10714,0.64,93.0,259.9,12.8,682,10718,0.00,1.25,0.00,0.000,4,0.000,0.063,1904,3953,2072,0,0,0,0,0,0
$GC,10930,0.64,93.0,229.1,14.5,701,10934,0.00,1.17,0.00,0.000,6,0.000,0.038,1909,3180,2072,0,0,0,0,0,0
$GC,11260,0.64,93.0,186.9,12.7,732,11263,0.00,1.23,0.00,0.000,4,0.000,0.063,1909,3945,2072,0,0,0,0,0,0
$GC,11412,0.64,93.0,165.2,14.9,745,11419,0.00,1.17,0.00,0.000,6,0.000,0.037,1915,3175,2072,0,0,0,0,0,0
$GC,11737,0.64,93.0,124.8,12.7,776,11738,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3175,2072,0,0,0,0,0,0
$GC,12063,0.64,93.0,87.0,10.6,816,12071,0.00,2.15,0.00,0.000,4,0.000,0.037,1926,1777,2071,0,0,0,0,0,0
$GC,12090,0.64,93.0,84.1,11.4,820,12098,0.00,2.22,0.00,0.000,6,0.000,0.053,1926,3194,2072,0,0,0,0,0,0
$GC,12439,0.64,93.0,44.6,10.8,881,12445,0.00,1.20,0.00,0.000,4,0.000,0.060,1926,3947,2072,0,0,0,0,0,0
$GC,12709,0.64,99.5,11.7,8.7,927,12719,0.08,1.15,0.00,0.000,6,0.197,0.038,1911,3183,2072,0,0,0,0,0,0
$GC,12768,0.65,123.8,7.5,6.8,936,12785,0.00,0.00,10.35,0.777,6,0.000,0.000,1910,3183,1966,0,0,0,0,0,0
$STATE,12821,end climb,SURFACE_DEPTH_REACHED
$STATE,12821,begin surface coast
$FINISH,0.7,1.024855
$STATE,12852,end surface coast,CONTROL_FINISHED_OK
$STATE,12852,begin surface
$SM_CCo,12864,40.25,0.786,0,0,1554,225.18
$SM_GC,1.12,0.00,0.00,40.25,0.000,0.000,0.786,63,3327,1554,-5.09,0.20,225.18
$IRIDIUM_FIX,-4242.04,830.68,121213,090922
$TT8_MAMPS,0.026215
$HUMID,60.98
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,23.0,12.663
$10V_AH,10.1,8.443
$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,12.300,55.875,194.325,40.250,0.000,32.597,40.519,290.579,0.000,0.000,16.896,2406.890,7607.800,327.261,2893.488,142.147,0.000,1349.998,0.000,2422.474,0.000,1.011,0.000
$DEVICE_MAMPS,234.855,78.795,1858.950,785.655,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,657.888,1652.106,703.209,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355388
$DATA_FILE_SIZE,63505,949
$CAP_FILE_SIZE,124417,0
$CFSIZE,259252224,253222912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,121213,203031,-4259.679,831.116,38,0.8,38,-25.0