version: 66.07
glider: 543
mission: 9
dive: 83
start: 12 14 113 0 45 45
data:
$ID,543
$MISSION,9
$DIVE,83
$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,-12651.542
$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,48
$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
$GPS1,141213,003805,-4259.372,832.064,29,1.0,29,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-71.0
$GPS2,141213,004524,-4259.324,832.160,16,1.3,16,-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,271.9,3182,-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,-48.75,0.000,2,0.000,0.000,64,3334,2672,0,0,0,0,0,0
$GC,67,-0.64,-106.6,3.2,-4.1,6,85,5.75,2.28,-6.43,0.000,4,0.236,0.051,1489,1914,2911,0,0,0,0,0,0
$GC,200,-0.64,-106.6,26.1,-14.9,27,207,0.00,2.30,0.00,0.000,6,0.000,0.056,1480,3319,2915,0,0,0,0,0,0
$GC,346,-0.64,-106.6,55.1,-20.4,52,353,0.00,1.00,0.00,0.000,4,0.000,0.060,1475,3939,2915,0,0,0,0,0,0
$GC,486,-0.64,-106.6,86.0,-21.1,76,493,0.00,0.95,0.00,0.000,6,0.000,0.037,1475,3318,2916,0,0,0,0,0,0
$GC,823,-0.64,-106.6,150.6,-19.0,113,827,0.00,1.00,0.00,0.000,4,0.000,0.060,1471,3946,2917,0,0,0,0,0,0
$GC,1083,-0.64,-106.6,206.1,-20.4,136,1087,0.00,0.95,0.00,0.000,6,0.000,0.037,1471,3315,2918,0,0,0,0,0,0
$GC,1413,-0.64,-106.6,272.0,-19.7,167,1417,0.00,1.00,0.00,0.000,4,0.000,0.061,1466,3942,2918,0,0,0,0,0,0
$GC,1672,-0.64,-106.6,325.9,-20.7,190,1676,0.00,0.95,0.00,0.000,6,0.000,0.037,1466,3315,2918,0,0,0,0,0,0
$GC,2004,-0.64,-106.6,388.8,-19.0,221,2008,0.00,1.00,0.00,0.000,4,0.000,0.061,1461,3942,2918,0,0,0,0,0,0
$GC,2262,-0.64,-106.6,440.9,-20.0,235,2266,0.00,0.95,0.00,0.000,6,0.000,0.037,1462,3316,2918,0,0,0,0,0,0
$GC,2583,-0.64,-106.6,500.8,-19.1,251,2587,0.00,1.00,0.00,0.000,4,0.000,0.062,1457,3941,2918,0,0,0,0,0,0
$GC,2840,-0.64,-106.6,553.7,-20.1,262,2845,0.12,0.95,0.00,0.000,6,0.198,0.038,1485,3322,2918,0,0,0,0,0,0
$GC,3163,-0.64,-106.6,605.2,-15.9,278,3166,0.00,1.00,0.00,0.000,4,0.000,0.064,1482,3953,2918,0,0,0,0,0,0
$GC,3419,-0.64,-106.6,649.9,-17.6,289,3424,0.00,0.98,0.00,0.000,6,0.000,0.039,1482,3317,2918,0,0,0,0,0,0
$GC,3741,-0.64,-106.6,702.9,-17.0,305,3744,0.00,1.00,0.00,0.000,4,0.000,0.064,1478,3947,2918,0,0,0,0,0,0
$GC,3998,-0.64,-106.6,750.3,-18.2,316,4002,0.00,0.98,0.00,0.000,6,0.000,0.040,1478,3315,2917,0,0,0,0,0,0
$GC,4319,-0.64,-106.6,806.0,-17.7,332,4323,0.00,1.00,0.00,0.000,4,0.000,0.065,1473,3941,2917,0,0,0,0,0,0
$GC,4576,-0.64,-106.6,853.4,-19.0,343,4581,0.00,0.98,0.00,0.000,6,0.000,0.040,1473,3314,2916,0,0,0,0,0,0
$GC,4898,-0.64,-106.6,908.4,-16.7,359,4901,0.00,1.00,0.00,0.000,4,0.000,0.066,1469,3939,2915,0,0,0,0,0,0
$GC,5154,-0.64,-106.6,954.1,-18.2,370,5159,0.00,0.98,0.00,0.000,6,0.000,0.041,1468,3312,2915,0,0,0,0,0,0
$STATE,5392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5392,begin apogee
$GC,5396,-0.11,0.0,992.8,16.2,382,5503,0.62,0.00,103.72,1.881,6,0.164,0.000,1652,3170,2473,0,0,0,0,0,0
$STATE,5504,end apogee,CONTROL_FINISHED_OK
$STATE,5504,begin climb
$GC,5505,0.64,106.6,996.7,0.0,387,5621,0.77,2.42,106.12,1.827,4,0.101,0.037,1905,1784,2038,0,0,0,0,0,0
$GC,5709,0.64,106.6,975.5,12.4,396,5714,0.00,2.42,0.00,0.000,6,0.000,0.053,1906,3176,2031,0,0,0,0,0,0
$GC,6031,0.64,106.6,924.2,16.2,412,6035,0.00,1.30,0.00,0.000,4,0.000,0.061,1906,3955,2026,0,0,0,0,0,0
$GC,6190,0.64,106.6,894.7,19.4,419,6193,0.00,1.23,0.00,0.000,6,0.000,0.039,1911,3177,2026,0,0,0,0,0,0
$GC,6521,0.64,106.6,839.5,15.9,435,6525,0.00,1.27,0.00,0.000,4,0.000,0.062,1911,3944,2024,0,0,0,0,0,0
$GC,6589,0.64,106.6,827.3,19.0,438,6592,0.00,1.20,0.00,0.000,6,0.000,0.040,1917,3178,2024,0,0,0,0,0,0
$GC,6921,0.64,106.6,772.0,16.3,454,6922,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3178,2022,0,0,0,0,0,0
$GC,7230,0.64,106.6,721.7,16.7,469,7233,0.00,1.25,0.00,0.000,4,0.000,0.063,1917,3939,2021,0,0,0,0,0,0
$GC,7388,0.64,106.6,692.6,18.8,476,7392,0.00,1.17,0.00,0.000,6,0.000,0.040,1923,3181,2021,0,0,0,0,0,0
$GC,7719,0.64,106.6,637.9,16.2,492,7723,0.00,1.25,0.00,0.000,4,0.000,0.062,1923,3948,2020,0,0,0,0,0,0
$GC,7902,0.64,106.6,603.9,18.8,500,7907,0.00,1.20,0.00,0.000,6,0.000,0.039,1929,3175,2020,0,0,0,0,0,0
$GC,8231,0.64,106.6,551.2,15.5,516,8235,0.00,1.25,0.00,0.000,4,0.000,0.062,1929,3942,2019,0,0,0,0,0,0
$GC,8358,0.64,106.6,528.4,18.0,521,8367,0.12,1.20,0.00,0.000,6,0.221,0.039,1907,3172,2019,0,0,0,0,0,0
$GC,8675,0.64,106.6,482.8,14.3,537,8678,0.00,1.25,0.00,0.000,4,0.000,0.063,1906,3940,2018,0,0,0,0,0,0
$GC,8712,0.64,106.6,476.9,15.8,538,8720,0.00,1.20,0.00,0.000,6,0.000,0.038,1911,3170,2018,0,0,0,0,0,0
$GC,9028,0.64,106.6,432.9,13.2,554,9032,0.00,1.27,0.00,0.000,4,0.000,0.063,1911,3953,2018,0,0,0,0,0,0
$GC,9234,0.64,106.6,399.7,16.6,563,9239,0.00,1.20,0.00,0.000,6,0.000,0.039,1917,3178,2018,0,0,0,0,0,0
$GC,9563,0.64,106.6,351.6,14.8,593,9566,0.00,1.25,0.00,0.000,4,0.000,0.063,1917,3948,2018,0,0,0,0,0,0
$GC,9700,0.64,106.6,328.3,17.0,605,9704,0.00,1.17,0.00,0.000,6,0.000,0.040,1923,3181,2017,0,0,0,0,0,0
$GC,10030,0.64,106.6,277.4,14.8,636,10034,0.00,1.25,0.00,0.000,4,0.000,0.063,1923,3955,2017,0,0,0,0,0,0
$GC,10143,0.64,106.6,258.9,16.5,646,10147,0.00,1.17,0.00,0.000,6,0.000,0.039,1929,3182,2017,0,0,0,0,0,0
$GC,10475,0.64,106.6,208.4,15.2,677,10476,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,3182,2017,0,0,0,0,0,0
$GC,10791,0.64,106.6,162.2,14.9,707,10795,0.00,1.25,0.00,0.000,4,0.000,0.062,1929,3955,2017,0,0,0,0,0,0
$GC,11027,0.64,106.6,122.2,16.9,728,11031,0.00,1.17,0.00,0.000,6,0.000,0.037,1935,3181,2017,0,0,0,0,0,0
$GC,11363,0.64,106.6,75.0,13.6,774,11372,0.12,0.00,0.00,0.000,6,0.210,0.000,1906,3181,2017,0,0,0,0,0,0
$GC,11714,0.64,106.6,31.0,12.0,835,11721,0.00,1.23,0.00,0.000,4,0.000,0.062,1906,3938,2017,0,0,0,0,0,0
$GC,11767,0.64,106.6,24.1,12.4,844,11776,0.00,1.15,0.00,0.000,6,0.000,0.037,1910,3181,2017,0,0,0,0,0,0
$GC,11920,0.65,118.3,10.1,8.1,869,11930,0.00,2.12,2.78,0.493,4,0.000,0.034,1921,1773,1986,0,0,0,0,0,0
$STATE,11996,end climb,SURFACE_DEPTH_REACHED
$STATE,11996,begin surface coast
$FINISH,0.7,1.023144
$STATE,12028,end surface coast,CONTROL_FINISHED_OK
$STATE,12028,begin surface
$SM_CCo,12042,42.65,0.802,0,0,1552,225.18
$SM_GC,1.31,0.00,0.00,42.65,0.000,0.000,0.802,66,3327,1552,-5.09,0.20,225.18
$IRIDIUM_FIX,-4244.98,831.12,131213,212113
$TT8_MAMPS,0.026215
$HUMID,61.97
$INTERNAL_PRESSURE,9.53279
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.7,13.924
$10V_AH,10.1,9.322
$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,12.500,58.800,212.625,42.650,0.000,26.166,48.539,258.338,0.000,0.000,18.951,2281.397,6938.117,337.590,2828.933,140.076,0.000,1347.169,0.000,2390.517,0.000,1.012,0.000
$DEVICE_MAMPS,236.385,65.790,1881.135,801.720,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,614.466,1556.843,667.992,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355224
$DATA_FILE_SIZE,60427,886
$CAP_FILE_SIZE,120333,0
$CFSIZE,259252224,252653568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,141213,040822,-4259.384,831.549,38,1.2,38,-25.1