version: 66.07
glider: 543
mission: 9
dive: 77
start: 12 13 113 3 39 51
data:
$ID,543
$MISSION,9
$DIVE,77
$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,-12633.098
$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,51
$R_STBD_OVSHOOT,29
$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
$GPS1,131213,033234,-4259.860,830.269,34,1.2,34,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-69.0
$GPS2,131213,033930,-4259.880,830.349,15,2.0,15,-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,269.9,523,-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,-48.90,0.000,2,0.000,0.000,64,3340,2677,0,0,0,0,0,0
$GC,67,-0.64,-104.1,3.3,-4.3,6,85,5.82,2.22,-6.00,0.000,4,0.240,0.046,1492,1917,2900,0,0,0,0,0,0
$GC,198,-0.64,-104.1,28.0,-14.0,27,205,0.00,2.28,0.00,0.000,6,0.000,0.054,1483,3314,2904,0,0,0,0,0,0
$GC,345,-0.64,-104.1,56.1,-20.3,52,352,0.00,1.02,0.00,0.000,4,0.000,0.060,1478,3954,2904,0,0,0,0,0,0
$GC,511,-0.64,-104.1,93.3,-21.0,81,520,0.00,0.95,0.00,0.000,6,0.000,0.037,1478,3327,2905,0,0,0,0,0,0
$GC,840,-0.64,-104.1,158.9,-20.0,114,843,0.00,1.00,0.00,0.000,4,0.000,0.061,1474,3953,2907,0,0,0,0,0,0
$GC,1102,-0.64,-104.1,213.7,-20.9,137,1106,0.00,0.95,0.00,0.000,6,0.000,0.036,1474,3317,2907,0,0,0,0,0,0
$GC,1432,-0.64,-104.1,280.2,-20.0,168,1435,0.00,1.00,0.00,0.000,4,0.000,0.060,1469,3947,2907,0,0,0,0,0,0
$GC,1591,-0.64,-104.1,314.0,-21.2,182,1595,0.00,0.95,0.00,0.000,6,0.000,0.037,1469,3317,2908,0,0,0,0,0,0
$GC,1923,-0.64,-104.1,379.0,-19.4,213,1927,0.00,1.00,0.00,0.000,4,0.000,0.061,1464,3949,2908,0,0,0,0,0,0
$GC,2158,-0.64,-104.1,430.3,-21.8,228,2162,0.00,0.98,0.00,0.000,6,0.000,0.037,1464,3313,2908,0,0,0,0,0,0
$GC,2479,-0.64,-104.1,493.6,-19.7,244,2483,0.00,1.00,0.00,0.000,4,0.000,0.061,1460,3942,2908,0,0,0,0,0,0
$GC,2736,-0.64,-104.1,546.7,-19.9,255,2740,0.00,0.98,0.00,0.000,6,0.000,0.037,1460,3310,2908,0,0,0,0,0,0
$GC,3058,-0.64,-104.1,606.7,-18.7,271,3061,0.00,1.02,0.00,0.000,4,0.000,0.063,1455,3953,2908,0,0,0,0,0,0
$GC,3269,-0.64,-104.1,650.2,-19.8,280,3274,0.12,0.98,0.00,0.000,6,0.200,0.037,1483,3319,2907,0,0,0,0,0,0
$GC,3591,-0.64,-104.1,703.6,-16.3,296,3595,0.00,1.00,0.00,0.000,4,0.000,0.063,1480,3947,2907,0,0,0,0,0,0
$GC,3741,-0.64,-104.1,730.0,-17.3,302,3749,0.00,0.98,0.00,0.000,6,0.000,0.038,1479,3314,2907,0,0,0,0,0,0
$GC,4059,-0.64,-104.1,780.6,-15.6,318,4062,0.00,1.00,0.00,0.000,4,0.000,0.063,1475,3942,2906,0,0,0,0,0,0
$GC,4203,-0.64,-104.1,806.1,-17.1,324,4208,0.00,0.98,0.00,0.000,6,0.000,0.039,1475,3312,2906,0,0,0,0,0,0
$GC,4525,-0.64,-104.1,857.1,-16.0,340,4528,0.00,1.00,0.00,0.000,4,0.000,0.063,1471,3942,2905,0,0,0,0,0,0
$GC,4619,-0.64,-104.1,873.7,-17.0,344,4623,0.00,0.98,0.00,0.000,6,0.000,0.039,1471,3313,2905,0,0,0,0,0,0
$GC,4946,-0.64,-104.1,925.1,-15.7,360,4950,0.00,1.00,0.00,0.000,4,0.000,0.064,1466,3939,2904,0,0,0,0,0,0
$GC,5059,-0.64,-104.1,944.5,-17.0,365,5062,0.00,0.95,0.00,0.000,6,0.000,0.041,1466,3316,2904,0,0,0,0,0,0
$STATE,5327,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5327,begin apogee
$GC,5331,-0.11,0.0,990.0,16.7,378,5435,0.65,0.00,100.95,1.860,6,0.163,0.000,1657,3173,2473,0,0,0,0,0,0
$STATE,5436,end apogee,CONTROL_FINISHED_OK
$STATE,5436,begin climb
$GC,5438,0.64,104.1,995.2,0.0,383,5549,0.75,2.40,103.60,1.815,4,0.098,0.035,1907,1778,2048,0,0,0,0,0,0
$GC,5598,0.64,104.1,982.2,12.3,390,5606,0.00,2.45,0.00,0.000,6,0.000,0.050,1908,3180,2043,0,0,0,0,0,0
$GC,5915,0.64,104.1,934.6,15.8,406,5916,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3179,2037,0,0,0,0,0,0
$GC,6224,0.64,104.1,887.4,15.4,421,6227,0.00,1.27,0.00,0.000,4,0.000,0.061,1908,3953,2035,0,0,0,0,0,0
$GC,6323,0.64,104.1,870.2,17.9,425,6328,0.00,1.23,0.00,0.000,6,0.000,0.037,1913,3175,2034,0,0,0,0,0,0
$GC,6645,0.64,104.1,820.1,15.7,441,6646,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3175,2033,0,0,0,0,0,0
$GC,6954,0.64,104.1,771.8,15.5,456,6958,0.00,1.27,0.00,0.000,4,0.000,0.060,1913,3955,2031,0,0,0,0,0,0
$GC,7031,0.64,104.1,757.8,18.7,459,7036,0.00,1.20,0.00,0.000,6,0.000,0.037,1919,3175,2032,0,0,0,0,0,0
$GC,7353,0.64,104.1,707.8,15.6,475,7356,0.00,1.25,0.00,0.000,4,0.000,0.060,1919,3947,2030,0,0,0,0,0,0
$GC,7480,0.64,104.1,685.1,18.3,480,7488,0.00,1.20,0.00,0.000,6,0.000,0.037,1925,3174,2031,0,0,0,0,0,0
$GC,7796,0.64,104.1,635.4,16.1,496,7800,0.00,1.25,0.00,0.000,4,0.000,0.059,1925,3945,2029,0,0,0,0,0,0
$GC,7912,0.64,104.1,614.4,17.9,501,7917,0.00,1.20,0.00,0.000,6,0.000,0.037,1931,3170,2029,0,0,0,0,0,0
$GC,8240,0.64,104.1,561.9,16.2,517,8241,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3170,2029,0,0,0,0,0,0
$GC,8551,0.64,104.1,512.1,16.3,532,8554,0.00,1.25,0.00,0.000,4,0.000,0.060,1930,3947,2028,0,0,0,0,0,0
$GC,8686,0.64,104.1,487.2,18.3,538,8690,0.10,1.17,0.00,0.000,6,0.200,0.037,1909,3178,2028,0,0,0,0,0,0
$GC,9017,0.64,104.1,440.1,13.6,554,9021,0.00,1.25,0.00,0.000,4,0.000,0.060,1908,3953,2028,0,0,0,0,0,0
$GC,9219,0.64,104.1,407.8,16.8,563,9223,0.00,1.17,0.00,0.000,6,0.000,0.038,1913,3181,2028,0,0,0,0,0,0
$GC,9549,0.64,104.1,361.0,14.1,591,9552,0.00,1.23,0.00,0.000,4,0.000,0.061,1913,3947,2028,0,0,0,0,0,0
$GC,9696,0.64,104.1,337.7,17.3,604,9699,0.00,1.17,0.00,0.000,6,0.000,0.037,1919,3174,2028,0,0,0,0,0,0
$GC,10025,0.64,104.1,290.0,14.4,635,10027,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3174,2027,0,0,0,0,0,0
$GC,10347,0.64,104.1,244.6,14.4,665,10351,0.00,1.25,0.00,0.000,4,0.000,0.060,1919,3952,2027,0,0,0,0,0,0
$GC,10475,0.64,104.1,223.1,16.9,676,10485,0.00,1.20,0.00,0.000,6,0.000,0.036,1925,3167,2027,0,0,0,0,0,0
$GC,10801,0.64,104.1,176.9,13.7,707,10804,0.00,1.25,0.00,0.000,4,0.000,0.060,1925,3946,2027,0,0,0,0,0,0
$GC,10903,0.64,104.1,160.9,16.1,716,10906,0.00,1.15,0.00,0.000,6,0.000,0.037,1931,3184,2027,0,0,0,0,0,0
$GC,11233,0.64,104.1,116.3,13.6,747,11236,0.00,1.23,0.00,0.000,4,0.000,0.060,1931,3949,2027,0,0,0,0,0,0
$GC,11281,0.64,104.1,108.7,15.7,751,11290,0.12,1.17,0.00,0.000,6,0.220,0.036,1908,3178,2027,0,0,0,0,0,0
$GC,11626,0.64,104.1,68.4,11.5,806,11633,0.00,2.12,0.00,0.000,4,0.000,0.036,1918,1771,2027,0,0,0,0,0,0
$GC,11658,0.64,104.1,65.3,10.3,811,11665,0.00,2.25,0.00,0.000,6,0.000,0.050,1918,3195,2027,0,0,0,0,0,0
$GC,12007,0.64,104.1,25.4,14.5,872,12016,0.00,1.17,0.00,0.000,4,0.000,0.059,1918,3932,2027,0,0,0,0,0,0
$STATE,12206,end climb,SURFACE_DEPTH_REACHED
$STATE,12207,begin surface coast
$FINISH,0.7,1.020384
$STATE,12237,end surface coast,CONTROL_FINISHED_OK
$STATE,12238,begin surface
$SM_CCo,12250,46.92,0.802,0,0,1554,225.18
$SM_GC,1.51,0.00,0.00,46.92,0.000,0.000,0.802,72,3324,1554,-5.07,0.11,225.18
$IRIDIUM_FIX,-4244.98,834.03,131213,000004
$TT8_MAMPS,0.026215
$HUMID,61.26
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.8,13.068
$10V_AH,10.1,8.736
$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,12.500,60.100,204.550,46.925,0.000,25.343,19.842,266.016,0.000,0.000,18.346,2306.479,7217.950,345.847,2704.602,141.435,0.000,1318.578,0.000,2295.019,0.000,1.010,0.000
$DEVICE_MAMPS,240.210,64.260,1859.715,802.485,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,630.849,1577.070,670.206,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355220
$DATA_FILE_SIZE,60305,910
$CAP_FILE_SIZE,119788,0
$CFSIZE,259252224,253038592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131213,070606,-4300.146,829.888,45,1.4,45,-25.0