version: 66.07
glider: 543
mission: 9
dive: 75
start: 12 12 113 20 38 20
data:
$ID,543
$MISSION,9
$DIVE,75
$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,-12626.945
$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,46
$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
$GPS1,121213,203031,-4259.679,831.116,38,0.8,38,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-69.3
$GPS2,121213,203759,-4259.695,831.110,14,1.9,14,-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,274.4,1606,-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,-57.7,0.0,0.0,0,57,0.00,0.00,-41.40,0.000,2,0.000,0.000,62,3327,2483,0,0,0,0,0,0
$GC,59,-0.64,-99.5,3.1,-4.9,5,85,5.75,2.20,-11.57,0.000,4,0.236,0.049,1483,1912,2882,0,0,0,0,0,0
$GC,299,-0.64,-99.5,44.8,-15.9,45,308,0.00,2.30,0.00,0.000,6,0.000,0.055,1474,3310,2885,0,0,0,0,0,0
$GC,644,-0.64,-99.5,113.8,-20.5,100,648,0.00,1.02,0.00,0.000,4,0.000,0.060,1469,3954,2887,0,0,0,0,0,0
$GC,904,-0.64,-99.5,170.6,-21.6,123,908,0.00,0.95,0.00,0.000,6,0.000,0.037,1469,3326,2887,0,0,0,0,0,0
$GC,1234,-0.64,-99.5,235.0,-19.1,154,1238,0.00,1.00,0.00,0.000,4,0.000,0.061,1465,3953,2888,0,0,0,0,0,0
$GC,1497,-0.64,-99.5,288.9,-20.2,177,1500,0.00,0.95,0.00,0.000,6,0.000,0.037,1465,3321,2888,0,0,0,0,0,0
$GC,1826,-0.64,-99.5,352.8,-18.9,208,1830,0.00,1.00,0.00,0.000,4,0.000,0.060,1460,3951,2888,0,0,0,0,0,0
$GC,2085,-0.64,-99.5,407.2,-21.2,230,2089,0.00,0.98,0.00,0.000,6,0.000,0.036,1460,3313,2888,0,0,0,0,0,0
$GC,2406,-0.64,-99.5,469.1,-19.3,246,2410,0.00,1.00,0.00,0.000,4,0.000,0.060,1455,3945,2888,0,0,0,0,0,0
$GC,2544,-0.64,-99.5,498.2,-20.6,252,2549,0.12,0.98,0.00,0.000,6,0.200,0.036,1484,3310,2888,0,0,0,0,0,0
$GC,2873,-0.64,-99.5,553.9,-16.9,268,2877,0.00,1.02,0.00,0.000,4,0.000,0.062,1480,3956,2888,0,0,0,0,0,0
$GC,3053,-0.64,-99.5,586.8,-18.6,276,3057,0.00,0.95,0.00,0.000,6,0.000,0.038,1480,3323,2888,0,0,0,0,0,0
$GC,3385,-0.64,-99.5,644.6,-17.5,292,3389,0.00,1.00,0.00,0.000,4,0.000,0.062,1476,3956,2888,0,0,0,0,0,0
$GC,3506,-0.64,-99.5,667.8,-18.7,297,3511,0.00,0.98,0.00,0.000,6,0.000,0.037,1476,3318,2888,0,0,0,0,0,0
$GC,3828,-0.64,-99.5,724.5,-17.4,313,3832,0.00,1.00,0.00,0.000,4,0.000,0.063,1471,3949,2887,0,0,0,0,0,0
$GC,3933,-0.64,-99.5,744.6,-19.0,317,3940,0.00,0.98,0.00,0.000,6,0.000,0.038,1471,3315,2887,0,0,0,0,0,0
$GC,4249,-0.64,-99.5,798.3,-16.8,333,4252,0.00,1.00,0.00,0.000,4,0.000,0.063,1467,3945,2887,0,0,0,0,0,0
$GC,4376,-0.64,-99.5,820.9,-17.5,338,4384,0.00,0.98,0.00,0.000,6,0.000,0.039,1467,3313,2887,0,0,0,0,0,0
$GC,4693,-0.64,-99.5,872.7,-16.2,354,4696,0.00,1.02,0.00,0.000,4,0.000,0.063,1462,3956,2885,0,0,0,0,0,0
$GC,4949,-0.64,-99.5,918.8,-18.1,365,4954,0.00,1.00,0.00,0.000,6,0.000,0.039,1462,3310,2885,0,0,0,0,0,0
$GC,5271,-0.64,-99.5,971.2,-16.4,381,5274,0.00,1.02,0.00,0.000,4,0.000,0.063,1457,3951,2884,0,0,0,0,0,0
$STATE,5374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5375,begin apogee
$GC,5380,-0.11,0.0,990.5,17.7,385,5479,0.65,0.00,96.43,1.860,6,0.172,0.000,1649,3174,2473,0,0,0,0,0,0
$STATE,5480,end apogee,CONTROL_FINISHED_OK
$STATE,5480,begin climb
$GC,5482,0.64,99.5,994.8,0.0,390,5589,0.77,0.00,99.00,1.809,6,0.103,0.000,1893,3174,2069,0,0,0,0,0,0
$GC,5898,0.64,99.5,940.0,15.7,410,5899,0.00,0.00,0.00,0.000,6,0.000,0.000,1893,3174,2058,0,0,0,0,0,0
$GC,6206,0.64,99.5,893.9,14.7,425,6209,0.00,1.30,0.00,0.000,4,0.000,0.062,1893,3954,2056,0,0,0,0,0,0
$GC,6389,0.64,99.5,862.1,17.9,433,6393,0.00,1.23,0.00,0.000,6,0.000,0.037,1899,3177,2055,0,0,0,0,0,0
$GC,6716,0.64,99.5,812.2,15.5,449,6720,0.00,1.27,0.00,0.000,4,0.000,0.061,1899,3956,2053,0,0,0,0,0,0
$GC,6883,0.64,99.5,782.1,18.0,456,6888,0.00,1.23,0.00,0.000,6,0.000,0.037,1905,3173,2053,0,0,0,0,0,0
$GC,7205,0.64,99.5,732.8,15.6,472,7209,0.00,1.27,0.00,0.000,4,0.000,0.061,1905,3957,2051,0,0,0,0,0,0
$GC,7254,0.64,99.5,724.3,17.8,474,7258,0.00,1.23,0.00,0.000,6,0.000,0.037,1911,3172,2051,0,0,0,0,0,0
$GC,7581,0.64,99.5,674.2,14.8,490,7585,0.00,1.27,0.00,0.000,4,0.000,0.061,1911,3955,2051,0,0,0,0,0,0
$GC,7664,0.64,99.5,660.0,17.5,493,7672,0.00,1.23,0.00,0.000,6,0.000,0.037,1917,3166,2051,0,0,0,0,0,0
$GC,7980,0.64,99.5,611.0,15.4,509,7981,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3166,2050,0,0,0,0,0,0
$GC,8290,0.64,99.5,563.0,15.4,524,8293,0.00,1.27,0.00,0.000,4,0.000,0.060,1917,3956,2050,0,0,0,0,0,0
$GC,8360,0.64,99.5,550.8,17.4,527,8365,0.00,1.20,0.00,0.000,6,0.000,0.037,1923,3180,2050,0,0,0,0,0,0
$GC,8690,0.64,99.5,501.7,14.6,543,8694,0.00,1.25,0.00,0.000,4,0.000,0.061,1923,3956,2049,0,0,0,0,0,0
$GC,8806,0.64,99.5,482.2,17.1,548,8811,0.00,1.20,0.00,0.000,6,0.000,0.037,1928,3181,2049,0,0,0,0,0,0
$GC,9134,0.64,99.5,434.5,14.0,564,9137,0.00,1.25,0.00,0.000,4,0.000,0.060,1928,3955,2049,0,0,0,0,0,0
$GC,9182,0.64,99.5,426.5,16.0,566,9188,0.12,1.20,0.00,0.000,6,0.217,0.037,1906,3179,2049,0,0,0,0,0,0
$GC,9503,0.64,99.5,383.2,14.0,587,9504,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3178,2048,0,0,0,0,0,0
$GC,9824,0.64,99.5,339.3,14.2,617,9828,0.00,1.25,0.00,0.000,4,0.000,0.061,1906,3955,2048,0,0,0,0,0,0
$GC,10051,0.64,99.5,302.9,16.3,637,10055,0.00,1.17,0.00,0.000,6,0.000,0.037,1910,3179,2048,0,0,0,0,0,0
$GC,10381,0.64,99.5,254.6,14.6,668,10385,0.00,1.25,0.00,0.000,4,0.000,0.061,1911,3956,2048,0,0,0,0,0,0
$GC,10494,0.64,99.5,235.7,17.1,678,10498,0.00,1.17,0.00,0.000,6,0.000,0.037,1916,3181,2048,0,0,0,0,0,0
$GC,10827,0.64,99.5,186.1,14.3,709,10830,0.00,1.25,0.00,0.000,4,0.000,0.060,1917,3956,2048,0,0,0,0,0,0
$GC,10985,0.64,99.5,159.4,16.9,723,10989,0.00,1.17,0.00,0.000,6,0.000,0.036,1923,3179,2048,0,0,0,0,0,0
$GC,11315,0.64,99.5,113.1,13.8,754,11316,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3180,2048,0,0,0,0,0,0
$GC,11651,0.64,99.5,70.2,11.0,805,11658,0.00,1.23,0.00,0.000,4,0.000,0.060,1923,3950,2048,0,0,0,0,0,0
$GC,11916,0.64,99.5,34.6,13.5,851,11922,0.00,1.15,0.00,0.000,6,0.000,0.037,1928,3184,2048,0,0,0,0,0,0
$GC,12064,0.64,99.5,18.5,9.8,876,12073,0.00,1.23,0.00,0.000,4,0.000,0.060,1928,3944,2048,0,0,0,0,0,0
$STATE,12234,end climb,SURFACE_DEPTH_REACHED
$STATE,12234,begin surface coast
$FINISH,1.6,1.026096
$STATE,12241,end surface coast,CONTROL_FINISHED_OK
$STATE,12241,begin surface
$SM_CCo,12254,48.70,0.799,0,0,1552,225.18
$SM_GC,1.51,0.00,0.00,48.70,0.000,0.000,0.799,70,3320,1552,-5.07,0.03,225.18
$IRIDIUM_FIX,-4244.98,831.55,121213,161630
$TT8_MAMPS,0.025466
$HUMID,62.44
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.9,12.794
$10V_AH,10.1,8.542
$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,12.550,53.750,195.425,48.700,0.000,27.851,44.428,267.742,0.000,0.000,16.918,2299.629,7250.090,328.141,2742.438,130.867,0.000,1295.772,0.000,2295.737,0.000,1.010,0.000
$DEVICE_MAMPS,235.620,63.495,1859.715,799.425,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,627.936,1566.012,663.565,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,60424,905
$CAP_FILE_SIZE,117610,0
$CFSIZE,259252224,253169664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131213,000433,-4259.707,830.847,28,1.7,37,-25.0