version: 66.07
glider: 543
mission: 9
dive: 80
start: 12 13 113 14 21 49
data:
$ID,543
$MISSION,9
$DIVE,80
$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,-12642.416
$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,22
$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
$GPS1,131213,141350,-4259.197,831.956,21,0.8,22,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-71.2
$GPS2,131213,142128,-4259.210,831.877,32,0.7,32,-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,265.2,2933,-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,-48.92,0.000,2,0.000,0.000,66,3331,2673,0,0,0,0,0,0
$GC,67,-0.65,-113.5,3.0,-3.3,6,85,5.72,1.05,-7.30,0.000,4,0.237,0.092,1477,3955,2940,0,0,0,0,0,0
$GC,344,-0.65,-113.5,73.0,-25.6,53,350,0.00,0.98,0.00,0.000,6,0.000,0.039,1479,3322,2943,0,0,0,0,0,0
$GC,682,-0.65,-113.5,145.2,-20.8,95,686,0.00,1.00,0.00,0.000,4,0.000,0.060,1476,3939,2945,0,0,0,0,0,0
$GC,942,-0.65,-113.5,203.9,-22.3,118,945,0.00,0.95,0.00,0.000,6,0.000,0.037,1476,3316,2945,0,0,0,0,0,0
$GC,1274,-0.65,-113.5,273.4,-20.7,149,1277,0.00,1.00,0.00,0.000,4,0.000,0.060,1472,3948,2946,0,0,0,0,0,0
$GC,1532,-0.65,-113.5,329.6,-21.0,172,1536,0.00,0.95,0.00,0.000,6,0.000,0.037,1472,3320,2946,0,0,0,0,0,0
$GC,1862,-0.65,-113.5,395.8,-19.4,203,1866,0.00,1.00,0.00,0.000,4,0.000,0.062,1467,3949,2946,0,0,0,0,0,0
$GC,2118,-0.65,-113.5,448.4,-19.5,215,2123,0.00,0.98,0.00,0.000,6,0.000,0.037,1467,3315,2946,0,0,0,0,0,0
$GC,2440,-0.65,-113.5,509.0,-19.2,231,2444,0.00,1.00,0.00,0.000,4,0.000,0.063,1462,3944,2946,0,0,0,0,0,0
$GC,2697,-0.65,-113.5,561.2,-19.5,242,2702,0.00,0.98,0.00,0.000,6,0.000,0.038,1462,3315,2946,0,0,0,0,0,0
$GC,3019,-0.65,-113.5,621.5,-18.5,258,3022,0.00,1.00,0.00,0.000,4,0.000,0.063,1458,3940,2946,0,0,0,0,0,0
$GC,3275,-0.65,-113.5,673.9,-20.8,269,3280,0.00,0.98,0.00,0.000,6,0.000,0.039,1458,3312,2946,0,0,0,0,0,0
$GC,3598,-0.65,-113.5,735.5,-18.9,285,3602,0.00,1.00,0.00,0.000,4,0.000,0.063,1453,3938,2946,0,0,0,0,0,0
$GC,3793,-0.65,-113.5,775.4,-20.0,293,3801,0.12,0.98,0.00,0.000,6,0.198,0.039,1482,3311,2945,0,0,0,0,0,0
$GC,4109,-0.65,-113.5,826.7,-16.5,309,4113,0.00,1.00,0.00,0.000,4,0.000,0.065,1479,3938,2945,0,0,0,0,0,0
$GC,4349,-0.65,-113.5,869.6,-17.5,319,4356,0.00,0.98,0.00,0.000,6,0.000,0.040,1478,3311,2944,0,0,0,0,0,0
$GC,4666,-0.65,-113.5,921.1,-16.0,335,4670,0.00,1.02,0.00,0.000,4,0.000,0.065,1474,3953,2944,0,0,0,0,0,0
$GC,4861,-0.65,-113.5,955.1,-17.6,343,4869,0.00,0.98,0.00,0.000,6,0.000,0.041,1474,3317,2943,0,0,0,0,0,0
$STATE,5093,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5093,begin apogee
$GC,5097,-0.11,0.0,992.1,15.9,355,5210,0.60,0.00,109.75,1.863,6,0.159,0.000,1652,3178,2474,0,0,0,0,0,0
$STATE,5211,end apogee,CONTROL_FINISHED_OK
$STATE,5211,begin climb
$GC,5213,0.65,113.5,996.5,0.0,360,5333,0.77,2.45,112.75,1.808,4,0.102,0.037,1905,1773,2010,0,0,0,0,0,0
$GC,5416,0.65,113.5,975.1,14.3,368,5424,0.00,2.45,0.00,0.000,6,0.000,0.054,1905,3175,2003,0,0,0,0,0,0
$GC,5734,0.65,113.5,920.1,17.8,384,5737,0.00,1.30,0.00,0.000,4,0.000,0.061,1905,3955,1998,0,0,0,0,0,0
$GC,5878,0.65,113.5,890.3,20.2,390,5883,0.00,1.25,0.00,0.000,6,0.000,0.037,1911,3169,1997,0,0,0,0,0,0
$GC,6200,0.65,113.5,834.7,17.3,406,6204,0.00,1.30,0.00,0.000,4,0.000,0.062,1910,3955,1995,0,0,0,0,0,0
$GC,6322,0.65,113.5,811.4,19.1,411,6327,0.00,1.23,0.00,0.000,6,0.000,0.038,1916,3180,1994,0,0,0,0,0,0
$GC,6644,0.65,113.5,757.3,16.3,427,6647,0.00,1.27,0.00,0.000,4,0.000,0.062,1916,3958,1993,0,0,0,0,0,0
$GC,6824,0.65,113.5,724.5,18.3,435,6827,0.00,1.20,0.00,0.000,6,0.000,0.038,1922,3181,1993,0,0,0,0,0,0
$GC,7157,0.65,113.5,671.0,16.0,451,7158,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3181,1992,0,0,0,0,0,0
$GC,7465,0.65,113.5,620.2,16.4,466,7468,0.00,1.25,0.00,0.000,4,0.000,0.062,1922,3945,1992,0,0,0,0,0,0
$GC,7581,0.65,113.5,598.2,19.4,471,7586,0.00,1.20,0.00,0.000,6,0.000,0.038,1928,3179,1991,0,0,0,0,0,0
$GC,7908,0.65,113.5,543.8,17.0,487,7912,0.00,1.25,0.00,0.000,4,0.000,0.062,1927,3948,1992,0,0,0,0,0,0
$GC,8066,0.65,113.5,514.4,18.9,494,8070,0.00,1.17,0.00,0.000,6,0.000,0.040,1933,3181,1991,0,0,0,0,0,0
$GC,8398,0.65,113.5,457.5,17.1,510,8402,0.00,1.25,0.00,0.000,4,0.000,0.063,1934,3954,1990,0,0,0,0,0,0
$GC,8452,0.65,113.5,447.0,19.8,512,8458,0.12,1.20,0.00,0.000,6,0.220,0.038,1910,3180,1990,0,0,0,0,0,0
$GC,8777,0.65,113.5,395.1,16.0,529,8778,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3179,1989,0,0,0,0,0,0
$GC,9094,0.65,113.5,345.5,15.6,559,9097,0.00,1.25,0.00,0.000,4,0.000,0.062,1910,3954,1989,0,0,0,0,0,0
$GC,9254,0.65,113.5,317.8,19.2,573,9257,0.00,1.17,0.00,0.000,6,0.000,0.039,1915,3182,1989,0,0,0,0,0,0
$GC,9584,0.65,113.5,266.2,15.1,604,9587,0.00,1.25,0.00,0.000,4,0.000,0.063,1915,3957,1989,0,0,0,0,0,0
$GC,9769,0.65,113.5,234.8,17.9,620,9778,0.00,1.20,0.00,0.000,6,0.000,0.037,1922,3167,1989,0,0,0,0,0,0
$GC,10094,0.65,113.5,185.8,14.4,651,10097,0.00,1.27,0.00,0.000,4,0.000,0.063,1922,3956,1989,0,0,0,0,0,0
$GC,10176,0.65,113.5,172.1,16.8,658,10185,0.00,1.20,0.00,0.000,6,0.000,0.037,1928,3178,1989,0,0,0,0,0,0
$GC,10504,0.65,113.5,125.5,13.9,689,10508,0.00,1.25,0.00,0.000,4,0.000,0.062,1927,3953,1989,0,0,0,0,0,0
$GC,10576,0.65,113.5,113.7,15.7,695,10584,0.00,1.20,0.00,0.000,6,0.000,0.037,1933,3171,1989,0,0,0,0,0,0
$GC,10918,0.65,113.5,67.8,13.1,747,10926,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,3171,1989,0,0,0,0,0,0
$GC,11268,0.65,113.5,21.7,13.3,808,11276,0.00,1.25,0.00,0.000,4,0.000,0.060,1933,3949,1989,0,0,0,0,0,0
$GC,11344,0.65,113.5,12.8,11.5,820,11353,0.12,1.15,0.00,0.000,6,0.194,0.037,1903,3186,1989,0,0,0,0,0,0
$GC,11403,0.65,113.5,6.9,9.9,829,11411,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3186,1989,0,0,0,0,0,0
$STATE,11442,end climb,SURFACE_DEPTH_REACHED
$STATE,11442,begin surface coast
$FINISH,0.7,1.001058
$STATE,11473,end surface coast,CONTROL_FINISHED_OK
$STATE,11473,begin surface
$SM_CCo,11485,42.85,0.798,0,0,1553,225.18
$SM_GC,1.05,0.00,0.00,42.85,0.000,0.000,0.798,62,3341,1553,-5.10,0.59,225.18
$IRIDIUM_FIX,-4244.98,828.21,131213,101031
$TT8_MAMPS,0.025466
$HUMID,62.20
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.7,13.515
$10V_AH,10.1,9.025
$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,12.425,50.225,222.500,42.850,0.000,25.835,42.412,268.034,0.000,0.000,34.809,2153.092,6667.125,356.537,2681.797,129.478,0.000,1311.093,0.000,2223.203,0.000,1.010,0.000
$DEVICE_MAMPS,237.150,91.800,1862.775,797.895,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,581.965,1459.436,611.172,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,56921,840
$CAP_FILE_SIZE,114174,0
$CFSIZE,259252224,252858368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131213,173505,-4259.426,831.504,35,0.8,35,-25.1