version: 66.07
glider: 543
mission: 9
dive: 81
start: 12 13 113 17 42 38
data:
$ID,543
$MISSION,9
$DIVE,81
$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,-12645.469
$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,50
$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
$GPS1,131213,173505,-4259.426,831.504,35,0.8,35,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-70.9
$GPS2,131213,174217,-4259.482,831.519,21,1.1,21,-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,270.1,2270,-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,-48.58,0.000,2,0.000,0.000,61,3338,2678,0,0,0,0,0,0
$GC,67,-0.64,-102.6,3.4,-4.5,6,85,5.72,0.93,-5.78,0.000,4,0.233,0.083,1479,3945,2893,0,0,0,0,0,0
$GC,346,-0.64,-102.6,65.3,-21.9,53,352,0.00,0.95,0.00,0.000,6,0.000,0.039,1479,3330,2898,0,0,0,0,0,0
$GC,682,-0.64,-102.6,130.3,-19.0,99,686,0.00,0.98,0.00,0.000,4,0.000,0.061,1474,3933,2900,0,0,0,0,0,0
$GC,942,-0.64,-102.6,184.0,-20.6,122,946,0.00,0.95,0.00,0.000,6,0.000,0.038,1474,3313,2901,0,0,0,0,0,0
$GC,1274,-0.64,-102.6,246.1,-18.7,153,1278,0.00,2.15,0.00,0.000,4,0.000,0.035,1474,1900,2901,0,0,0,0,0,0
$GC,1510,-0.64,-102.6,282.6,-14.5,173,1518,0.00,2.28,0.00,0.000,6,0.000,0.054,1464,3312,2902,0,0,0,0,0,0
$GC,1835,-0.64,-102.6,345.6,-19.8,204,1839,0.00,1.02,0.00,0.000,4,0.000,0.061,1459,3958,2902,0,0,0,0,0,0
$GC,2096,-0.64,-102.6,401.8,-21.3,227,2099,0.00,0.95,0.00,0.000,6,0.000,0.037,1459,3323,2902,0,0,0,0,0,0
$GC,2416,-0.64,-102.6,465.8,-19.5,243,2420,0.00,1.00,0.00,0.000,4,0.000,0.061,1454,3952,2902,0,0,0,0,0,0
$GC,2673,-0.64,-102.6,521.1,-21.1,254,2678,0.12,0.98,0.00,0.000,6,0.199,0.038,1483,3318,2902,0,0,0,0,0,0
$GC,2995,-0.64,-102.6,577.7,-17.8,270,2998,0.00,1.00,0.00,0.000,4,0.000,0.063,1480,3952,2901,0,0,0,0,0,0
$GC,3251,-0.64,-102.6,627.6,-20.3,281,3255,0.00,0.98,0.00,0.000,6,0.000,0.037,1480,3313,2901,0,0,0,0,0,0
$GC,3574,-0.64,-102.6,683.9,-17.2,297,3577,0.00,1.02,0.00,0.000,4,0.000,0.062,1475,3957,2901,0,0,0,0,0,0
$GC,3830,-0.64,-102.6,732.4,-18.0,308,3835,0.00,0.98,0.00,0.000,6,0.000,0.037,1475,3320,2900,0,0,0,0,0,0
$GC,4152,-0.64,-102.6,787.3,-17.4,324,4156,0.00,1.02,0.00,0.000,4,0.000,0.064,1470,3949,2900,0,0,0,0,0,0
$GC,4409,-0.64,-102.6,834.4,-17.6,335,4413,0.00,0.98,0.00,0.000,6,0.000,0.038,1470,3317,2899,0,0,0,0,0,0
$GC,4731,-0.64,-102.6,887.3,-16.4,351,4734,0.00,1.00,0.00,0.000,4,0.000,0.063,1466,3947,2899,0,0,0,0,0,0
$GC,4987,-0.64,-102.6,932.3,-16.0,362,4992,0.00,0.98,0.00,0.000,6,0.000,0.039,1466,3315,2899,0,0,0,0,0,0
$GC,5309,-0.64,-102.6,982.2,-15.8,378,5313,0.00,1.00,0.00,0.000,4,0.000,0.063,1461,3946,2898,0,0,0,0,0,0
$STATE,5356,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5357,begin apogee
$GC,5362,-0.11,0.0,990.4,16.3,380,5464,0.65,0.00,99.32,1.858,6,0.167,0.000,1655,3168,2473,0,0,0,0,0,0
$STATE,5465,end apogee,CONTROL_FINISHED_OK
$STATE,5465,begin climb
$GC,5467,0.64,102.6,993.7,0.0,385,5577,0.75,2.40,102.10,1.812,4,0.099,0.036,1903,1785,2054,0,0,0,0,0,0
$GC,5829,0.64,102.6,950.5,13.0,401,5834,0.00,2.38,0.00,0.000,6,0.000,0.052,1903,3183,2045,0,0,0,0,0,0
$GC,6151,0.64,102.6,900.0,15.5,417,6152,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3183,2041,0,0,0,0,0,0
$GC,6460,0.64,102.6,852.0,15.4,432,6464,0.00,1.25,0.00,0.000,4,0.000,0.062,1903,3941,2039,0,0,0,0,0,0
$GC,6554,0.64,102.6,835.3,17.1,436,6559,0.00,1.20,0.00,0.000,6,0.000,0.038,1909,3182,2039,0,0,0,0,0,0
$GC,6881,0.64,102.6,784.6,15.5,452,6885,0.00,1.25,0.00,0.000,4,0.000,0.062,1909,3937,2038,0,0,0,0,0,0
$GC,6958,0.64,102.6,771.1,18.8,455,6963,0.00,1.17,0.00,0.000,6,0.000,0.038,1915,3182,2037,0,0,0,0,0,0
$GC,7280,0.64,102.6,723.4,14.7,471,7283,0.00,1.25,0.00,0.000,4,0.000,0.061,1915,3946,2037,0,0,0,0,0,0
$GC,7459,0.64,102.6,692.9,16.7,479,7463,0.00,1.20,0.00,0.000,6,0.000,0.041,1921,3168,2037,0,0,0,0,0,0
$GC,7793,0.64,102.6,644.1,14.6,495,7796,0.00,1.27,0.00,0.000,4,0.000,0.062,1921,3952,2036,0,0,0,0,0,0
$GC,7883,0.64,102.6,628.6,17.0,499,7887,0.00,1.17,0.00,0.000,6,0.000,0.040,1926,3187,2036,0,0,0,0,0,0
$GC,8215,0.64,102.6,576.6,15.6,515,8216,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,3186,2035,0,0,0,0,0,0
$GC,8526,0.64,102.6,528.2,16.0,530,8529,0.00,1.25,0.00,0.000,4,0.000,0.063,1926,3953,2035,0,0,0,0,0,0
$GC,8664,0.64,102.6,503.6,18.4,536,8669,0.00,1.20,0.00,0.000,6,0.000,0.038,1932,3172,2035,0,0,0,0,0,0
$GC,8991,0.64,102.6,452.5,15.4,552,8995,0.00,1.25,0.00,0.000,4,0.000,0.063,1932,3941,2034,0,0,0,0,0,0
$GC,9059,0.64,102.6,441.0,17.2,555,9063,0.10,1.17,0.00,0.000,6,0.200,0.040,1910,3175,2034,0,0,0,0,0,0
$GC,9381,0.64,102.6,394.7,14.2,572,9385,0.00,1.25,0.00,0.000,4,0.000,0.062,1909,3944,2033,0,0,0,0,0,0
$GC,9588,0.64,102.6,361.0,16.9,590,9596,0.00,1.20,0.00,0.000,6,0.000,0.038,1914,3170,2033,0,0,0,0,0,0
$GC,9916,0.64,102.6,314.2,14.0,621,9919,0.00,1.25,0.00,0.000,4,0.000,0.063,1914,3940,2033,0,0,0,0,0,0
$GC,10021,0.64,102.6,296.7,16.7,630,10029,0.00,1.17,0.00,0.000,6,0.000,0.038,1920,3181,2033,0,0,0,0,0,0
$GC,10349,0.64,102.6,249.6,14.3,661,10353,0.00,1.25,0.00,0.000,4,0.000,0.063,1920,3955,2033,0,0,0,0,0,0
$GC,10406,0.64,102.6,240.2,16.7,666,10409,0.00,1.17,0.00,0.000,6,0.000,0.039,1926,3182,2033,0,0,0,0,0,0
$GC,10738,0.64,102.6,192.6,13.6,697,10741,0.00,1.23,0.00,0.000,4,0.000,0.063,1926,3938,2033,0,0,0,0,0,0
$GC,10851,0.64,102.6,173.9,16.7,707,10855,0.00,1.15,0.00,0.000,6,0.000,0.037,1931,3182,2032,0,0,0,0,0,0
$GC,11181,0.64,102.6,124.5,14.7,738,11184,0.00,1.23,0.00,0.000,4,0.000,0.061,1932,3940,2033,0,0,0,0,0,0
$GC,11317,0.64,102.6,102.2,17.1,750,11321,0.10,1.17,0.00,0.000,6,0.197,0.037,1909,3166,2033,0,0,0,0,0,0
$GC,11663,0.64,102.6,58.1,12.7,809,11670,0.00,1.25,0.00,0.000,4,0.000,0.061,1909,3944,2033,0,0,0,0,0,0
$GC,11853,0.64,102.6,29.7,14.8,842,11862,0.00,1.15,0.00,0.000,6,0.000,0.037,1914,3185,2033,0,0,0,0,0,0
$GC,12005,0.64,102.6,13.6,9.6,867,12014,0.00,1.23,0.00,0.000,4,0.000,0.061,1914,3950,2033,0,0,0,0,0,0
$STATE,12098,end climb,SURFACE_DEPTH_REACHED
$STATE,12098,begin surface coast
$FINISH,0.7,1.012587
$STATE,12124,end surface coast,CONTROL_FINISHED_OK
$STATE,12124,begin surface
$SM_CCo,12136,47.25,0.812,0,0,1552,225.18
$SM_GC,1.49,0.00,0.00,47.25,0.000,0.000,0.812,69,3306,1552,-5.08,-0.40,225.18
$IRIDIUM_FIX,-4242.04,830.68,131213,141409
$TT8_MAMPS,0.026215
$HUMID,61.30
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.8,13.648
$10V_AH,10.1,9.123
$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,12.450,58.425,201.425,47.250,0.000,26.165,40.697,254.440,0.000,0.000,24.232,2281.986,7083.384,325.339,2784.830,143.195,0.000,1328.217,0.000,2353.846,0.000,1.011,0.000
$DEVICE_MAMPS,233.325,83.385,1858.185,812.430,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,614.573,1532.669,631.517,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355192
$DATA_FILE_SIZE,60355,886
$CAP_FILE_SIZE,120035,0
$CFSIZE,259252224,252784640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131213,210652,-4259.335,832.217,37,1.0,37,-25.1