version: 66.07
glider: 543
mission: 9
dive: 85
start: 12 14 113 7 48 21
data:
$ID,543
$MISSION,9
$DIVE,85
$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,-12657.647
$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,30
$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
$GPS1,141213,074022,-4300.036,830.933,36,1.6,36,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-70.4
$GPS2,141213,074800,-4300.062,830.906,20,1.3,20,-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,300.3,1233,-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,-48.78,0.000,2,0.000,0.000,68,3335,2673,0,0,0,0,0,0
$GC,67,-0.64,-104.2,3.4,-4.3,6,85,5.78,2.28,-6.07,0.000,4,0.238,0.052,1492,1918,2902,0,0,0,0,0,0
$GC,244,-0.64,-104.2,34.6,-15.0,35,251,0.00,2.28,0.00,0.000,6,0.000,0.055,1483,3312,2906,0,0,0,0,0,0
$GC,388,-0.64,-104.2,64.6,-21.6,60,397,0.00,1.02,0.00,0.000,4,0.000,0.060,1478,3948,2907,0,0,0,0,0,0
$GC,652,-0.64,-104.2,123.5,-21.9,97,656,0.00,0.95,0.00,0.000,6,0.000,0.037,1478,3319,2907,0,0,0,0,0,0
$GC,982,-0.64,-104.2,190.3,-20.6,128,986,0.00,1.02,0.00,0.000,4,0.000,0.060,1474,3955,2909,0,0,0,0,0,0
$GC,1242,-0.64,-104.2,245.6,-21.6,151,1245,0.00,0.95,0.00,0.000,6,0.000,0.037,1474,3324,2909,0,0,0,0,0,0
$GC,1571,-0.64,-104.2,309.1,-18.9,182,1575,0.00,1.00,0.00,0.000,4,0.000,0.061,1469,3955,2909,0,0,0,0,0,0
$GC,1833,-0.64,-104.2,363.0,-20.4,205,1837,0.00,0.95,0.00,0.000,6,0.000,0.037,1469,3327,2909,0,0,0,0,0,0
$GC,2170,-0.64,-104.2,428.0,-19.4,230,2173,0.00,1.00,0.00,0.000,4,0.000,0.062,1464,3956,2909,0,0,0,0,0,0
$GC,2425,-0.64,-104.2,482.5,-21.3,241,2430,0.00,1.00,0.00,0.000,6,0.000,0.037,1464,3305,2909,0,0,0,0,0,0
$GC,2747,-0.64,-104.2,545.2,-19.4,257,2751,0.00,1.02,0.00,0.000,4,0.000,0.062,1459,3950,2909,0,0,0,0,0,0
$GC,3004,-0.64,-104.2,600.2,-21.4,268,3009,0.00,0.98,0.00,0.000,6,0.000,0.038,1459,3315,2909,0,0,0,0,0,0
$GC,3327,-0.64,-104.2,661.1,-19.0,284,3331,0.00,1.00,0.00,0.000,4,0.000,0.063,1455,3947,2909,0,0,0,0,0,0
$GC,3584,-0.64,-104.2,713.7,-20.5,295,3589,0.12,0.98,0.00,0.000,6,0.199,0.039,1484,3315,2908,0,0,0,0,0,0
$GC,3905,-0.64,-104.2,765.4,-15.8,311,3909,0.00,2.15,0.00,0.000,4,0.000,0.037,1484,1897,2908,0,0,0,0,0,0
$GC,4101,-0.64,-104.2,788.8,-11.7,320,4105,0.00,2.25,0.00,0.000,6,0.000,0.058,1474,3321,2907,0,0,0,0,0,0
$GC,4432,-0.64,-104.2,840.1,-15.7,336,4436,0.00,0.98,0.00,0.000,4,0.000,0.063,1470,3940,2907,0,0,0,0,0,0
$GC,4689,-0.64,-104.2,884.1,-17.4,347,4693,0.00,0.95,0.00,0.000,6,0.000,0.040,1470,3319,2906,0,0,0,0,0,0
$GC,5011,-0.64,-104.2,933.8,-15.3,363,5014,0.00,1.00,0.00,0.000,4,0.000,0.064,1465,3949,2905,0,0,0,0,0,0
$GC,5267,-0.64,-104.2,977.9,-17.0,374,5272,0.00,0.98,0.00,0.000,6,0.000,0.040,1465,3318,2905,0,0,0,0,0,0
$STATE,5361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5361,begin apogee
$GC,5365,-0.11,0.0,992.7,16.0,379,5469,0.65,0.00,101.22,1.867,6,0.161,0.000,1657,3177,2474,0,0,0,0,0,0
$STATE,5470,end apogee,CONTROL_FINISHED_OK
$STATE,5470,begin climb
$GC,5472,0.64,104.2,996.7,0.0,384,5583,0.75,2.40,103.80,1.818,4,0.096,0.036,1909,1776,2048,0,0,0,0,0,0
$GC,5685,0.64,104.2,974.7,12.7,394,5689,0.00,2.42,0.00,0.000,6,0.000,0.054,1909,3184,2041,0,0,0,0,0,0
$GC,6011,0.64,104.2,923.6,15.3,410,6013,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3184,2036,0,0,0,0,0,0
$GC,6322,0.64,104.2,876.0,15.0,425,6323,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3184,2033,0,0,0,0,0,0
$GC,6630,0.64,104.2,829.9,15.2,440,6634,0.00,1.25,0.00,0.000,4,0.000,0.060,1909,3949,2032,0,0,0,0,0,0
$GC,6721,0.64,104.2,814.8,17.1,444,6724,0.00,1.20,0.00,0.000,6,0.000,0.038,1915,3176,2032,0,0,0,0,0,0
$GC,7053,0.64,104.2,762.5,15.7,460,7056,0.00,1.25,0.00,0.000,4,0.000,0.060,1915,3942,2031,0,0,0,0,0,0
$GC,7135,0.64,104.2,747.7,18.2,463,7143,0.00,1.20,0.00,0.000,6,0.000,0.037,1921,3174,2030,0,0,0,0,0,0
$GC,7453,0.64,104.2,697.1,16.0,479,7454,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3174,2029,0,0,0,0,0,0
$GC,7761,0.64,104.2,647.1,16.0,494,7765,0.00,2.15,0.00,0.000,4,0.000,0.039,1931,1788,2028,0,0,0,0,0,0
$GC,7782,0.64,104.2,643.4,15.9,495,7787,0.08,2.25,0.00,0.000,6,0.171,0.052,1909,3179,2028,0,0,0,0,0,0
$GC,8109,0.64,104.2,594.4,15.1,511,8110,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3179,2027,0,0,0,0,0,0
$GC,8419,0.64,104.2,548.7,14.7,526,8420,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3179,2027,0,0,0,0,0,0
$GC,8728,0.64,104.2,504.5,14.1,541,8732,0.00,1.23,0.00,0.000,4,0.000,0.062,1909,3937,2027,0,0,0,0,0,0
$GC,8821,0.64,104.2,489.6,16.8,545,8826,0.00,1.17,0.00,0.000,6,0.000,0.039,1913,3183,2027,0,0,0,0,0,0
$GC,9150,0.64,104.2,442.9,14.3,561,9151,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3182,2027,0,0,0,0,0,0
$GC,9458,0.64,104.2,399.0,14.1,576,9461,0.00,1.23,0.00,0.000,4,0.000,0.061,1913,3941,2027,0,0,0,0,0,0
$GC,9554,0.64,104.2,383.9,16.9,584,9562,0.00,1.17,0.00,0.000,6,0.000,0.040,1919,3176,2027,0,0,0,0,0,0
$GC,9878,0.64,104.2,335.7,15.0,615,9879,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3176,2027,0,0,0,0,0,0
$GC,10200,0.64,104.2,288.2,14.6,645,10201,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3176,2027,0,0,0,0,0,0
$GC,10516,0.64,104.2,242.4,14.3,675,10517,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3176,2026,0,0,0,0,0,0
$GC,10837,0.64,104.2,197.1,14.3,705,10841,0.00,1.25,0.00,0.000,4,0.000,0.063,1919,3950,2026,0,0,0,0,0,0
$GC,11090,0.64,104.2,155.7,16.3,727,11098,0.00,1.20,0.00,0.000,6,0.000,0.037,1925,3169,2026,0,0,0,0,0,0
$GC,11415,0.64,104.2,109.2,14.1,758,11416,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,3169,2026,0,0,0,0,0,0
$GC,11754,0.64,104.2,62.9,13.3,811,11760,0.00,1.25,0.00,0.000,4,0.000,0.061,1925,3944,2026,0,0,0,0,0,0
$GC,11894,0.64,104.2,43.0,14.0,835,11901,0.00,1.15,0.00,0.000,6,0.000,0.038,1931,3186,2026,0,0,0,0,0,0
$STATE,12236,end climb,SURFACE_DEPTH_REACHED
$STATE,12236,begin surface coast
$FINISH,0.6,1.024660
$STATE,12274,end surface coast,CONTROL_FINISHED_OK
$STATE,12274,begin surface
$SM_CCo,12285,46.80,0.808,0,0,1553,225.18
$SM_GC,1.36,0.00,0.00,46.80,0.000,0.000,0.808,72,3330,1553,-5.07,0.28,225.18
$IRIDIUM_FIX,-4242.04,830.68,141213,040443
$TT8_MAMPS,0.025466
$HUMID,62.01
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.30
$XPDR_PINGS,0
$24V_AH,22.7,14.196
$10V_AH,10.1,9.519
$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,12.375,48.925,205.025,46.800,0.000,28.088,43.483,268.889,0.000,0.000,23.257,2273.339,7350.385,324.975,2702.029,140.965,0.000,1266.044,0.000,2254.298,0.000,1.011,0.000
$DEVICE_MAMPS,237.915,77.265,1867.365,807.840,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,624.016,1569.053,651.278,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355180
$DATA_FILE_SIZE,60450,899
$CAP_FILE_SIZE,113368,0
$CFSIZE,259252224,252530688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,141213,111504,-4259.608,831.226,37,0.8,37,-25.0