version: 66.07
glider: 543
mission: 9
dive: 86
start: 12 14 113 11 22 38
data:
$ID,543
$MISSION,9
$DIVE,86
$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,-12660.785
$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,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
$GPS1,141213,111504,-4259.608,831.226,37,0.8,37,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-69.3
$GPS2,141213,112217,-4259.642,831.267,18,1.3,18,-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,274.0,1840,-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,-57.7,0.0,0.0,0,57,0.00,0.00,-41.20,0.000,2,0.000,0.000,72,3331,2473,0,0,0,0,0,0
$GC,59,-0.64,-105.6,3.0,-4.2,5,85,5.70,2.20,-13.10,0.000,4,0.235,0.047,1491,1914,2903,0,0,0,0,0,0
$GC,176,-0.64,-105.6,21.2,-15.4,23,182,0.00,2.30,0.00,0.000,6,0.000,0.055,1482,3316,2907,0,0,0,0,0,0
$GC,320,-0.64,-105.6,51.1,-21.5,48,329,0.00,1.00,0.00,0.000,4,0.000,0.060,1477,3940,2907,0,0,0,0,0,0
$GC,408,-0.64,-105.6,70.3,-21.2,63,417,0.00,0.95,0.00,0.000,6,0.000,0.037,1478,3319,2908,0,0,0,0,0,0
$GC,746,-0.64,-105.6,136.4,-19.3,107,749,0.00,1.00,0.00,0.000,4,0.000,0.060,1474,3950,2909,0,0,0,0,0,0
$GC,1006,-0.64,-105.6,191.2,-20.2,130,1010,0.00,0.95,0.00,0.000,6,0.000,0.037,1474,3320,2910,0,0,0,0,0,0
$GC,1338,-0.64,-105.6,254.6,-20.1,161,1342,0.00,1.00,0.00,0.000,4,0.000,0.059,1470,3952,2910,0,0,0,0,0,0
$GC,1597,-0.64,-105.6,310.9,-20.6,184,1601,0.00,0.95,0.00,0.000,6,0.000,0.037,1470,3319,2910,0,0,0,0,0,0
$GC,1927,-0.64,-105.6,378.0,-20.4,215,1931,0.00,1.00,0.00,0.000,4,0.000,0.061,1465,3951,2910,0,0,0,0,0,0
$GC,2183,-0.64,-105.6,432.8,-20.5,231,2188,0.00,0.98,0.00,0.000,6,0.000,0.037,1465,3314,2911,0,0,0,0,0,0
$GC,2505,-0.64,-105.6,494.1,-18.8,247,2509,0.00,1.00,0.00,0.000,4,0.000,0.061,1461,3945,2910,0,0,0,0,0,0
$GC,2761,-0.64,-105.6,546.4,-20.1,258,2766,0.00,0.98,0.00,0.000,6,0.000,0.037,1461,3312,2910,0,0,0,0,0,0
$GC,3083,-0.64,-105.6,607.1,-18.8,274,3087,0.00,1.00,0.00,0.000,4,0.000,0.062,1456,3942,2910,0,0,0,0,0,0
$GC,3340,-0.64,-105.6,660.4,-21.5,285,3345,0.12,0.98,0.00,0.000,6,0.201,0.038,1485,3312,2910,0,0,0,0,0,0
$GC,3661,-0.64,-105.6,714.2,-16.8,301,3665,0.00,1.00,0.00,0.000,4,0.000,0.063,1481,3942,2909,0,0,0,0,0,0
$GC,3918,-0.64,-105.6,761.7,-17.7,312,3922,0.00,0.98,0.00,0.000,6,0.000,0.039,1481,3312,2909,0,0,0,0,0,0
$GC,4241,-0.64,-105.6,814.5,-16.3,328,4244,0.00,1.00,0.00,0.000,4,0.000,0.065,1477,3938,2908,0,0,0,0,0,0
$GC,4498,-0.64,-105.6,858.8,-16.7,339,4502,0.00,0.98,0.00,0.000,6,0.000,0.040,1477,3310,2908,0,0,0,0,0,0
$GC,4819,-0.64,-105.6,907.9,-14.9,355,4823,0.00,1.02,0.00,0.000,4,0.000,0.065,1472,3953,2907,0,0,0,0,0,0
$GC,5053,-0.64,-105.6,947.4,-17.2,365,5057,0.00,0.98,0.00,0.000,6,0.000,0.040,1472,3315,2907,0,0,0,0,0,0
$STATE,5352,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5353,begin apogee
$GC,5357,-0.11,0.0,993.1,15.0,380,5461,0.62,0.00,101.53,1.866,6,0.161,0.000,1656,3176,2473,0,0,0,0,0,0
$STATE,5462,end apogee,CONTROL_FINISHED_OK
$STATE,5462,begin climb
$GC,5464,0.64,105.6,996.5,0.0,385,5579,0.75,2.47,105.60,1.818,4,0.096,0.037,1907,1776,2043,0,0,0,0,0,0
$GC,5616,0.64,105.6,981.0,14.4,392,5621,0.00,2.47,0.00,0.000,6,0.000,0.053,1907,3176,2037,0,0,0,0,0,0
$GC,5944,0.64,105.6,927.6,16.2,408,5947,0.00,1.30,0.00,0.000,4,0.000,0.062,1907,3950,2030,0,0,0,0,0,0
$GC,6034,0.64,105.6,911.3,19.1,412,6037,0.00,1.23,0.00,0.000,6,0.000,0.039,1913,3179,2029,0,0,0,0,0,0
$GC,6367,0.64,105.6,857.1,15.8,428,6371,0.00,1.27,0.00,0.000,4,0.000,0.062,1913,3952,2027,0,0,0,0,0,0
$GC,6579,0.64,105.6,816.5,18.8,437,6584,0.00,1.23,0.00,0.000,6,0.000,0.038,1919,3175,2027,0,0,0,0,0,0
$GC,6903,0.64,105.6,762.0,17.0,453,6906,0.00,1.27,0.00,0.000,4,0.000,0.061,1919,3953,2026,0,0,0,0,0,0
$GC,7024,0.64,105.6,738.5,18.7,458,7028,0.00,1.23,0.00,0.000,6,0.000,0.039,1925,3172,2026,0,0,0,0,0,0
$GC,7346,0.64,105.6,684.5,16.9,474,7349,0.00,1.25,0.00,0.000,4,0.000,0.061,1925,3939,2025,0,0,0,0,0,0
$GC,7530,0.64,105.6,650.2,18.3,482,7534,0.00,1.20,0.00,0.000,6,0.000,0.039,1930,3177,2025,0,0,0,0,0,0
$GC,7857,0.64,105.6,595.5,16.7,498,7861,0.00,1.25,0.00,0.000,4,0.000,0.062,1930,3949,2024,0,0,0,0,0,0
$GC,7984,0.64,105.6,572.0,18.2,503,7993,0.12,1.20,0.00,0.000,6,0.218,0.039,1908,3180,2024,0,0,0,0,0,0
$GC,8301,0.64,105.6,526.1,14.2,519,8304,0.00,1.23,0.00,0.000,4,0.000,0.063,1908,3939,2023,0,0,0,0,0,0
$GC,8435,0.64,105.6,504.8,16.3,525,8439,0.00,1.17,0.00,0.000,6,0.000,0.040,1912,3180,2024,0,0,0,0,0,0
$GC,8768,0.64,105.6,457.7,13.9,541,8771,0.00,1.25,0.00,0.000,4,0.000,0.063,1912,3951,2022,0,0,0,0,0,0
$GC,9007,0.64,105.6,419.8,15.5,551,9015,0.00,1.20,0.00,0.000,6,0.000,0.039,1918,3178,2022,0,0,0,0,0,0
$GC,9328,0.64,105.6,374.4,14.2,575,9332,0.00,1.25,0.00,0.000,4,0.000,0.062,1918,3949,2022,0,0,0,0,0,0
$GC,9442,0.64,105.6,356.3,17.1,585,9446,0.00,1.17,0.00,0.000,6,0.000,0.040,1924,3181,2022,0,0,0,0,0,0
$GC,9772,0.64,105.6,306.8,14.9,616,9776,0.00,1.23,0.00,0.000,4,0.000,0.063,1924,3939,2022,0,0,0,0,0,0
$GC,9844,0.64,105.6,294.9,16.7,622,9852,0.00,1.20,0.00,0.000,6,0.000,0.038,1930,3163,2021,0,0,0,0,0,0
$GC,10172,0.64,105.6,244.3,15.4,653,10175,0.00,1.27,0.00,0.000,4,0.000,0.061,1930,3953,2021,0,0,0,0,0,0
$GC,10424,0.64,105.6,198.1,18.3,675,10433,0.12,1.20,0.00,0.000,6,0.220,0.037,1907,3174,2021,0,0,0,0,0,0
$GC,10750,0.64,105.6,152.4,13.8,706,10754,0.00,1.25,0.00,0.000,4,0.000,0.063,1908,3950,2020,0,0,0,0,0,0
$GC,10821,0.64,105.6,141.1,16.1,712,10832,0.00,1.20,0.00,0.000,6,0.000,0.037,1913,3168,2020,0,0,0,0,0,0
$GC,11151,0.64,105.6,96.6,12.5,745,11157,0.00,1.25,0.00,0.000,4,0.000,0.062,1912,3945,2020,0,0,0,0,0,0
$GC,11295,0.64,105.6,75.8,14.5,770,11302,0.00,1.15,0.00,0.000,6,0.000,0.038,1918,3186,2021,0,0,0,0,0,0
$GC,11646,0.64,105.6,34.9,11.8,831,11652,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3186,2021,0,0,0,0,0,0
$GC,11793,0.64,105.6,16.4,14.0,856,11802,0.00,1.23,0.00,0.000,4,0.000,0.063,1918,3942,2020,0,0,0,0,0,0
$STATE,11911,end climb,SURFACE_DEPTH_REACHED
$STATE,11911,begin surface coast
$FINISH,0.7,1.014953
$STATE,11943,end surface coast,CONTROL_FINISHED_OK
$STATE,11943,begin surface
$SM_CCo,11955,46.38,0.809,0,0,1554,225.18
$SM_GC,1.31,0.00,0.00,46.38,0.000,0.000,0.809,69,3299,1554,-5.08,-0.59,225.18
$IRIDIUM_FIX,-4244.98,831.12,141213,070747
$TT8_MAMPS,0.025466
$HUMID,62.20
$INTERNAL_PRESSURE,9.53279
$TCM_TEMP,13.20
$XPDR_PINGS,0
$24V_AH,22.7,14.332
$10V_AH,10.1,9.618
$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,12.375,59.025,207.125,46.375,0.000,27.033,40.610,257.982,0.000,0.000,20.863,2264.463,6850.575,352.520,2813.695,155.982,0.000,1367.817,0.000,2385.946,0.000,1.011,0.000
$DEVICE_MAMPS,234.855,65.025,1865.835,809.370,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,610.143,1531.489,654.463,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355188
$DATA_FILE_SIZE,60271,880
$CAP_FILE_SIZE,120880,0
$CFSIZE,259252224,252461056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,141213,144351,-4259.689,830.836,38,0.7,38,-25.0