version: 66.07
glider: 543
mission: 9
dive: 78
start: 12 13 113 7 14 2
data:
$ID,543
$MISSION,9
$DIVE,78
$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,-12636.07
$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,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
$GPS1,131213,070606,-4300.146,829.888,45,1.4,45,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-71.7
$GPS2,131213,071341,-4300.147,829.979,17,1.4,17,-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,30.8,274,-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,-48.72,0.000,2,0.000,0.000,67,3323,2673,0,0,0,0,0,0
$GC,67,-0.64,-105.3,3.1,-4.2,6,85,5.72,1.05,-6.35,0.000,4,0.236,0.086,1475,3955,2907,0,0,0,0,0,0
$GC,344,-0.64,-105.3,69.7,-21.9,53,351,0.00,0.98,0.00,0.000,6,0.000,0.036,1475,3316,2910,0,0,0,0,0,0
$GC,678,-0.64,-105.3,136.0,-18.6,96,682,0.00,1.00,0.00,0.000,4,0.000,0.060,1471,3937,2912,0,0,0,0,0,0
$GC,938,-0.64,-105.3,191.3,-21.6,119,942,0.00,0.95,0.00,0.000,6,0.000,0.036,1470,3315,2913,0,0,0,0,0,0
$GC,1268,-0.64,-105.3,259.2,-20.0,150,1271,0.00,1.00,0.00,0.000,4,0.000,0.060,1466,3938,2914,0,0,0,0,0,0
$GC,1530,-0.64,-105.3,315.0,-21.1,173,1533,0.00,0.95,0.00,0.000,6,0.000,0.037,1466,3313,2914,0,0,0,0,0,0
$GC,1860,-0.64,-105.3,381.3,-19.8,204,1863,0.00,1.00,0.00,0.000,4,0.000,0.060,1461,3942,2914,0,0,0,0,0,0
$GC,2118,-0.64,-105.3,436.4,-21.4,219,2122,0.00,0.95,0.00,0.000,6,0.000,0.037,1461,3314,2914,0,0,0,0,0,0
$GC,2439,-0.64,-105.3,499.6,-19.7,235,2443,0.00,1.00,0.00,0.000,4,0.000,0.061,1457,3942,2914,0,0,0,0,0,0
$GC,2696,-0.64,-105.3,553.3,-19.8,246,2701,0.12,0.95,0.00,0.000,6,0.199,0.037,1485,3321,2914,0,0,0,0,0,0
$GC,3018,-0.64,-105.3,605.1,-15.9,262,3022,0.00,1.00,0.00,0.000,4,0.000,0.065,1482,3930,2914,0,0,0,0,0,0
$GC,3275,-0.64,-105.3,651.7,-18.1,273,3280,0.00,0.95,0.00,0.000,6,0.000,0.038,1482,3315,2914,0,0,0,0,0,0
$GC,3597,-0.64,-105.3,708.0,-17.4,289,3600,0.00,1.00,0.00,0.000,4,0.000,0.064,1477,3945,2913,0,0,0,0,0,0
$GC,3853,-0.64,-105.3,755.9,-18.1,300,3858,0.00,0.98,0.00,0.000,6,0.000,0.038,1477,3314,2912,0,0,0,0,0,0
$GC,4175,-0.64,-105.3,808.9,-16.0,316,4179,0.00,1.00,0.00,0.000,4,0.000,0.063,1473,3941,2912,0,0,0,0,0,0
$GC,4431,-0.64,-105.3,852.5,-16.5,327,4436,0.00,0.98,0.00,0.000,6,0.000,0.039,1473,3310,2911,0,0,0,0,0,0
$GC,4753,-0.64,-105.3,902.8,-15.6,343,4757,0.00,1.00,0.00,0.000,4,0.000,0.064,1468,3933,2910,0,0,0,0,0,0
$GC,5010,-0.64,-105.3,946.5,-16.5,354,5014,0.00,0.95,0.00,0.000,6,0.000,0.040,1468,3318,2910,0,0,0,0,0,0
$STATE,5310,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5310,begin apogee
$GC,5314,-0.11,0.0,991.1,14.9,369,5419,0.62,0.00,102.38,1.869,6,0.164,0.000,1652,3177,2473,0,0,0,0,0,0
$STATE,5420,end apogee,CONTROL_FINISHED_OK
$STATE,5420,begin climb
$GC,5422,0.64,105.3,994.8,0.0,374,5537,0.77,2.47,104.97,1.828,4,0.104,0.036,1904,1772,2043,0,0,0,0,0,0
$GC,5631,0.64,105.3,972.0,13.3,383,5639,0.00,2.42,0.00,0.000,6,0.000,0.050,1904,3169,2035,0,0,0,0,0,0
$GC,5947,0.64,105.3,921.4,15.8,399,5948,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3169,2030,0,0,0,0,0,0
$GC,6257,0.64,105.3,873.4,15.2,414,6260,0.00,1.30,0.00,0.000,4,0.000,0.060,1904,3957,2028,0,0,0,0,0,0
$GC,6316,0.64,105.3,862.8,18.2,416,6324,0.00,1.25,0.00,0.000,6,0.000,0.037,1910,3165,2028,0,0,0,0,0,0
$GC,6633,0.64,105.3,813.3,15.2,432,6636,0.00,1.30,0.00,0.000,4,0.000,0.060,1910,3958,2027,0,0,0,0,0,0
$GC,6677,0.64,105.3,805.7,17.6,434,6681,0.00,1.20,0.00,0.000,6,0.000,0.037,1916,3182,2026,0,0,0,0,0,0
$GC,7011,0.64,105.3,753.2,15.5,450,7015,0.00,2.17,0.00,0.000,4,0.000,0.039,1926,1786,2026,0,0,0,0,0,0
$GC,7076,0.64,105.3,743.6,14.4,453,7081,0.00,2.30,0.00,0.000,6,0.000,0.053,1927,3194,2025,0,0,0,0,0,0
$GC,7404,0.64,105.3,692.2,15.5,469,7405,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,3194,2025,0,0,0,0,0,0
$GC,7713,0.64,105.3,641.6,16.2,484,7714,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,3194,2025,0,0,0,0,0,0
$GC,8022,0.64,105.3,590.1,16.6,499,8024,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,3194,2024,0,0,0,0,0,0
$GC,8332,0.64,105.3,539.5,16.2,514,8335,0.00,1.20,0.00,0.000,4,0.000,0.060,1927,3937,2023,0,0,0,0,0,0
$GC,8380,0.64,105.3,530.7,18.0,516,8385,0.00,1.17,0.00,0.000,6,0.000,0.038,1932,3181,2024,0,0,0,0,0,0
$GC,8707,0.64,105.3,477.5,16.4,532,8711,0.00,1.23,0.00,0.000,4,0.000,0.060,1932,3943,2023,0,0,0,0,0,0
$GC,8767,0.64,105.3,466.4,18.6,534,8776,0.15,1.20,0.00,0.000,6,0.216,0.037,1903,3168,2023,0,0,0,0,0,0
$GC,9083,0.64,105.3,421.1,14.1,550,9085,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3169,2022,0,0,0,0,0,0
$GC,9397,0.64,105.3,378.5,13.6,572,9398,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3169,2022,0,0,0,0,0,0
$GC,9716,0.64,105.3,336.2,12.9,602,9718,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3169,2022,0,0,0,0,0,0
$GC,10035,0.64,105.3,292.0,14.3,632,10039,0.00,1.25,0.00,0.000,4,0.000,0.061,1902,3941,2022,0,0,0,0,0,0
$GC,10094,0.64,105.3,283.1,15.6,637,10098,0.00,1.17,0.00,0.000,6,0.000,0.037,1907,3175,2021,0,0,0,0,0,0
$GC,10423,0.64,105.3,236.5,14.4,668,10427,0.00,1.23,0.00,0.000,4,0.000,0.061,1907,3933,2021,0,0,0,0,0,0
$GC,10573,0.64,105.3,212.6,16.7,681,10576,0.00,1.15,0.00,0.000,6,0.000,0.037,1913,3180,2021,0,0,0,0,0,0
$GC,10903,0.64,105.3,163.9,14.4,712,10907,0.00,2.15,0.00,0.000,4,0.000,0.037,1924,1768,2021,0,0,0,0,0,0
$GC,10969,0.64,105.3,155.4,11.6,717,10977,0.00,2.28,0.00,0.000,6,0.000,0.051,1924,3183,2020,0,0,0,0,0,0
$GC,11294,0.64,105.3,108.7,14.9,748,11298,0.00,1.20,0.00,0.000,4,0.000,0.059,1924,3938,2019,0,0,0,0,0,0
$GC,11362,0.64,105.3,97.8,16.5,755,11369,0.00,1.15,0.00,0.000,6,0.000,0.036,1930,3177,2020,0,0,0,0,0,0
$GC,11708,0.64,105.3,47.8,14.6,816,11716,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3177,2019,0,0,0,0,0,0
$GC,12068,0.64,105.3,4.8,11.4,877,12077,0.00,2.15,0.00,0.000,4,0.000,0.034,1941,1773,2020,0,0,0,0,0,0
$STATE,12083,end climb,SURFACE_DEPTH_REACHED
$STATE,12084,begin surface coast
$FINISH,0.7,1.012866
$STATE,12115,end surface coast,CONTROL_FINISHED_OK
$STATE,12115,begin surface
$SM_CCo,12129,46.12,0.809,0,0,1552,225.18
$SM_GC,1.50,0.00,0.00,46.12,0.000,0.000,0.809,58,3319,1552,-5.12,-0.03,225.18
$IRIDIUM_FIX,-4242.04,834.03,131213,030352
$TT8_MAMPS,0.026215
$HUMID,61.61
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.8,13.205
$10V_AH,10.1,8.832
$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,12.475,53.325,207.350,46.125,0.000,27.421,46.128,271.163,0.000,0.000,20.345,2230.955,7286.550,335.801,2656.095,122.590,0.000,1267.476,0.000,2202.151,0.000,1.009,0.000
$DEVICE_MAMPS,236.385,86.445,1868.895,809.370,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,613.161,1533.774,630.504,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355208
$DATA_FILE_SIZE,60178,884
$CAP_FILE_SIZE,112593,0
$CFSIZE,259252224,252981248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131213,103805,-4258.930,832.220,34,0.9,34,-25.1