version: 66.07
glider: 543
mission: 9
dive: 82
start: 12 13 113 21 14 22
data:
$ID,543
$MISSION,9
$DIVE,82
$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,-12648.495
$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,49
$R_STBD_OVSHOOT,23
$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
$GPS1,131213,210652,-4259.335,832.217,37,1.0,37,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-72.2
$GPS2,131213,211401,-4259.395,832.327,19,1.1,19,-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,275.5,3346,-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,-48.92,0.000,2,0.000,0.000,68,3308,2673,0,0,0,0,0,0
$GC,67,-0.64,-107.3,3.1,-4.0,6,85,5.72,2.22,-6.47,0.000,4,0.236,0.048,1488,1902,2914,0,0,0,0,0,0
$GC,271,-0.64,-107.3,39.4,-13.9,40,280,0.00,2.33,0.00,0.000,6,0.000,0.055,1479,3314,2919,0,0,0,0,0,0
$GC,417,-0.64,-107.3,67.3,-19.6,65,424,0.00,1.02,0.00,0.000,4,0.000,0.060,1474,3954,2919,0,0,0,0,0,0
$GC,611,-0.64,-107.3,106.9,-20.7,96,614,0.00,0.95,0.00,0.000,6,0.000,0.037,1474,3327,2920,0,0,0,0,0,0
$GC,940,-0.64,-107.3,172.4,-19.8,127,944,0.00,1.00,0.00,0.000,4,0.000,0.061,1470,3945,2921,0,0,0,0,0,0
$GC,1199,-0.64,-107.3,228.1,-21.3,150,1203,0.00,0.95,0.00,0.000,6,0.000,0.037,1469,3317,2921,0,0,0,0,0,0
$GC,1531,-0.64,-107.3,293.5,-19.4,181,1535,0.00,1.00,0.00,0.000,4,0.000,0.061,1465,3946,2921,0,0,0,0,0,0
$GC,1791,-0.64,-107.3,346.2,-19.3,204,1795,0.00,0.95,0.00,0.000,6,0.000,0.037,1465,3317,2921,0,0,0,0,0,0
$GC,2121,-0.64,-107.3,407.9,-18.9,233,2125,0.00,1.00,0.00,0.000,4,0.000,0.061,1460,3946,2921,0,0,0,0,0,0
$GC,2379,-0.64,-107.3,461.8,-20.1,244,2382,0.00,0.95,0.00,0.000,6,0.000,0.038,1460,3317,2921,0,0,0,0,0,0
$GC,2700,-0.64,-107.3,523.6,-19.0,260,2703,0.00,1.00,0.00,0.000,4,0.000,0.062,1456,3944,2921,0,0,0,0,0,0
$GC,2956,-0.64,-107.3,578.0,-21.0,271,2962,0.12,0.98,0.00,0.000,6,0.200,0.037,1484,3315,2921,0,0,0,0,0,0
$GC,3278,-0.64,-107.3,634.6,-17.4,287,3282,0.00,1.00,0.00,0.000,4,0.000,0.064,1481,3942,2921,0,0,0,0,0,0
$GC,3535,-0.64,-107.3,682.4,-17.8,298,3539,0.00,0.98,0.00,0.000,6,0.000,0.039,1481,3311,2921,0,0,0,0,0,0
$GC,3858,-0.64,-107.3,735.1,-15.8,314,3861,0.00,1.02,0.00,0.000,4,0.000,0.065,1476,3951,2920,0,0,0,0,0,0
$GC,4114,-0.64,-107.3,780.5,-17.7,325,4119,0.00,0.98,0.00,0.000,6,0.000,0.039,1476,3318,2920,0,0,0,0,0,0
$GC,4436,-0.64,-107.3,831.7,-16.1,341,4440,0.00,1.00,0.00,0.000,4,0.000,0.065,1471,3948,2919,0,0,0,0,0,0
$GC,4683,-0.64,-107.3,873.4,-16.2,352,4687,0.00,0.95,0.00,0.000,6,0.000,0.041,1471,3323,2919,0,0,0,0,0,0
$GC,5015,-0.64,-107.3,925.1,-15.3,368,5019,0.00,1.00,0.00,0.000,4,0.000,0.064,1467,3949,2918,0,0,0,0,0,0
$GC,5210,-0.64,-107.3,958.6,-17.5,376,5217,0.00,0.98,0.00,0.000,6,0.000,0.041,1467,3316,2918,0,0,0,0,0,0
$STATE,5421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5421,begin apogee
$GC,5426,-0.11,0.0,992.2,15.4,387,5533,0.62,0.00,104.00,1.872,6,0.163,0.000,1651,3177,2473,0,0,0,0,0,0
$STATE,5534,end apogee,CONTROL_FINISHED_OK
$STATE,5534,begin climb
$GC,5535,0.64,107.3,996.5,0.0,392,5650,0.77,2.45,107.38,1.825,4,0.102,0.037,1906,1771,2035,0,0,0,0,0,0
$GC,5707,0.64,107.3,979.7,13.6,400,5711,0.00,2.45,0.00,0.000,6,0.000,0.053,1906,3181,2029,0,0,0,0,0,0
$GC,6032,0.64,107.3,927.7,16.2,416,6034,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3181,2023,0,0,0,0,0,0
$GC,6343,0.64,107.3,878.8,15.6,431,6347,0.00,1.27,0.00,0.000,4,0.000,0.062,1906,3950,2021,0,0,0,0,0,0
$GC,6510,0.64,107.3,847.4,19.5,438,6515,0.00,1.23,0.00,0.000,6,0.000,0.038,1911,3168,2020,0,0,0,0,0,0
$GC,6833,0.64,107.3,795.2,16.0,454,6837,0.00,1.27,0.00,0.000,4,0.000,0.062,1911,3941,2018,0,0,0,0,0,0
$GC,6924,0.64,107.3,779.0,17.7,458,6927,0.00,1.17,0.00,0.000,6,0.000,0.038,1917,3184,2018,0,0,0,0,0,0
$GC,7255,0.64,107.3,725.1,15.9,474,7259,0.00,1.25,0.00,0.000,4,0.000,0.062,1917,3948,2017,0,0,0,0,0,0
$GC,7368,0.64,107.3,705.1,19.1,479,7371,0.00,1.17,0.00,0.000,6,0.000,0.040,1923,3186,2017,0,0,0,0,0,0
$GC,7700,0.64,107.3,652.8,15.3,495,7703,0.00,1.25,0.00,0.000,4,0.000,0.062,1923,3953,2016,0,0,0,0,0,0
$GC,7835,0.64,107.3,629.6,17.5,501,7838,0.00,1.20,0.00,0.000,6,0.000,0.040,1929,3171,2016,0,0,0,0,0,0
$GC,8166,0.64,107.3,579.3,14.9,517,8168,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,3171,2015,0,0,0,0,0,0
$GC,8476,0.64,107.3,532.7,15.1,532,8477,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,3171,2015,0,0,0,0,0,0
$GC,8785,0.64,107.3,484.5,15.7,547,8789,0.00,1.25,0.00,0.000,4,0.000,0.062,1929,3944,2015,0,0,0,0,0,0
$GC,8954,0.64,107.3,454.5,18.1,554,8958,0.10,1.17,0.00,0.000,6,0.197,0.040,1907,3181,2015,0,0,0,0,0,0
$GC,9274,0.64,107.3,408.3,14.2,570,9277,0.00,1.25,0.00,0.000,4,0.000,0.062,1907,3954,2014,0,0,0,0,0,0
$GC,9390,0.64,107.3,388.9,17.2,577,9398,0.00,1.20,0.00,0.000,6,0.000,0.038,1911,3176,2013,0,0,0,0,0,0
$GC,9715,0.64,107.3,340.7,14.8,608,9719,0.00,1.25,0.00,0.000,4,0.000,0.063,1911,3946,2013,0,0,0,0,0,0
$GC,9794,0.64,107.3,327.7,17.2,615,9798,0.00,1.17,0.00,0.000,6,0.000,0.040,1917,3181,2013,0,0,0,0,0,0
$GC,10124,0.64,107.3,278.0,14.6,646,10125,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3181,2013,0,0,0,0,0,0
$GC,10443,0.64,107.3,231.5,15.1,676,10447,0.00,1.25,0.00,0.000,4,0.000,0.061,1918,3952,2013,0,0,0,0,0,0
$GC,10583,0.64,107.3,207.5,16.8,688,10593,0.00,1.17,0.00,0.000,6,0.000,0.038,1924,3179,2013,0,0,0,0,0,0
$GC,10908,0.64,107.3,159.4,14.7,719,10912,0.00,1.23,0.00,0.000,4,0.000,0.062,1923,3941,2013,0,0,0,0,0,0
$GC,11101,0.64,107.3,127.7,17.3,736,11104,0.00,1.17,0.00,0.000,6,0.000,0.038,1929,3170,2013,0,0,0,0,0,0
$GC,11435,0.64,107.3,80.1,13.8,779,11442,0.00,1.25,0.00,0.000,4,0.000,0.061,1930,3944,2013,0,0,0,0,0,0
$GC,11535,0.64,107.3,66.0,14.2,796,11542,0.10,1.17,0.00,0.000,6,0.194,0.038,1907,3170,2013,0,0,0,0,0,0
$GC,11887,0.64,107.3,25.3,13.1,857,11894,0.00,1.25,0.00,0.000,4,0.000,0.061,1906,3947,2013,0,0,0,0,0,0
$GC,11936,0.64,107.3,18.4,14.4,865,11945,0.00,1.17,0.00,0.000,6,0.000,0.037,1911,3173,2013,0,0,0,0,0,0
$GC,11995,0.64,107.3,11.0,12.4,874,12004,0.00,2.12,0.00,0.000,4,0.000,0.036,1923,1785,2013,0,0,0,0,0,0
$STATE,12081,end climb,SURFACE_DEPTH_REACHED
$STATE,12081,begin surface coast
$FINISH,1.3,1.026129
$STATE,12101,end surface coast,CONTROL_FINISHED_OK
$STATE,12101,begin surface
$SM_CCo,12115,45.42,0.812,0,0,1552,225.18
$SM_GC,1.22,0.00,0.00,45.42,0.000,0.000,0.812,64,3333,1552,-5.09,0.37,225.18
$IRIDIUM_FIX,-4242.04,827.77,131213,171724
$TT8_MAMPS,0.025466
$HUMID,62.16
$INTERNAL_PRESSURE,9.53279
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.7,13.786
$10V_AH,10.1,9.221
$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,12.450,58.775,211.375,45.425,0.000,27.613,19.578,270.234,0.000,0.000,22.273,2283.227,7093.202,339.746,2755.611,119.994,0.000,1331.120,0.000,2317.049,0.000,1.011,0.000
$DEVICE_MAMPS,235.620,65.025,1871.955,812.430,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,617.777,1534.534,641.483,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,60395,891
$CAP_FILE_SIZE,119806,0
$CFSIZE,259252224,252719104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,141213,003805,-4259.372,832.064,29,1.0,29,-25.1