version: 66.07
glider: 543
mission: 9
dive: 87
start: 12 14 113 14 51 44
data:
$ID,543
$MISSION,9
$DIVE,87
$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,-12663.953
$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,51
$R_STBD_OVSHOOT,22
$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
$GPS1,141213,144351,-4259.689,830.836,38,0.7,38,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-65.2
$GPS2,141213,145123,-4259.665,830.924,15,1.6,15,-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,268.6,1397,-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,-48.95,0.000,2,0.000,0.000,68,3299,2677,0,0,0,0,0,0
$GC,67,-0.64,-104.3,3.2,-4.3,6,85,5.75,2.15,-6.00,0.000,4,0.236,0.049,1492,1919,2901,0,0,0,0,0,0
$GC,170,-0.64,-104.3,21.8,-13.8,22,178,0.00,2.33,0.00,0.000,6,0.000,0.056,1483,3320,2904,0,0,0,0,0,0
$GC,316,-0.64,-104.3,51.1,-21.0,47,323,0.00,1.02,0.00,0.000,4,0.000,0.062,1478,3943,2905,0,0,0,0,0,0
$GC,443,-0.64,-104.3,80.4,-22.6,69,452,0.00,0.95,0.00,0.000,6,0.000,0.037,1480,3322,2905,0,0,0,0,0,0
$GC,784,-0.64,-104.3,146.7,-19.3,109,788,0.00,1.00,0.00,0.000,4,0.000,0.061,1477,3947,2907,0,0,0,0,0,0
$GC,921,-0.64,-104.3,174.9,-20.5,121,925,0.00,0.95,0.00,0.000,6,0.000,0.037,1477,3321,2907,0,0,0,0,0,0
$GC,1251,-0.64,-104.3,238.2,-19.6,152,1255,0.00,1.00,0.00,0.000,4,0.000,0.061,1472,3951,2908,0,0,0,0,0,0
$GC,1421,-0.64,-104.3,273.7,-21.3,167,1425,0.00,0.95,0.00,0.000,6,0.000,0.037,1472,3321,2908,0,0,0,0,0,0
$GC,1751,-0.64,-104.3,339.6,-19.9,198,1755,0.00,1.00,0.00,0.000,4,0.000,0.060,1468,3950,2908,0,0,0,0,0,0
$GC,1842,-0.64,-104.3,359.1,-21.9,206,1846,0.00,0.95,0.00,0.000,6,0.000,0.037,1468,3322,2908,0,0,0,0,0,0
$GC,2169,-0.64,-104.3,426.2,-20.6,231,2172,0.00,1.00,0.00,0.000,4,0.000,0.060,1463,3952,2908,0,0,0,0,0,0
$GC,2319,-0.64,-104.3,459.8,-22.3,237,2327,0.00,0.98,0.00,0.000,6,0.000,0.037,1463,3317,2908,0,0,0,0,0,0
$GC,2635,-0.64,-104.3,523.3,-20.1,253,2639,0.00,1.00,0.00,0.000,4,0.000,0.062,1458,3950,2908,0,0,0,0,0,0
$GC,2763,-0.64,-104.3,551.1,-21.2,258,2770,0.00,0.98,0.00,0.000,6,0.000,0.037,1458,3313,2908,0,0,0,0,0,0
$GC,3079,-0.64,-104.3,614.0,-19.7,274,3083,0.00,1.00,0.00,0.000,4,0.000,0.061,1454,3948,2907,0,0,0,0,0,0
$GC,3268,-0.64,-104.3,655.1,-21.5,282,3273,0.12,0.98,0.00,0.000,6,0.201,0.037,1482,3314,2907,0,0,0,0,0,0
$GC,3590,-0.64,-104.3,709.9,-16.8,298,3594,0.00,1.00,0.00,0.000,4,0.000,0.062,1479,3947,2907,0,0,0,0,0,0
$GC,3757,-0.64,-104.3,740.2,-18.2,305,3762,0.00,0.98,0.00,0.000,6,0.000,0.038,1479,3314,2906,0,0,0,0,0,0
$GC,4079,-0.64,-104.3,792.9,-16.4,321,4083,0.00,1.00,0.00,0.000,4,0.000,0.063,1474,3943,2906,0,0,0,0,0,0
$GC,4169,-0.64,-104.3,808.7,-18.5,325,4173,0.00,0.95,0.00,0.000,6,0.000,0.039,1474,3315,2906,0,0,0,0,0,0
$GC,4501,-0.64,-104.3,863.9,-16.6,341,4504,0.00,1.00,0.00,0.000,4,0.000,0.063,1470,3944,2905,0,0,0,0,0,0
$GC,4595,-0.64,-104.3,880.9,-17.9,345,4599,0.00,0.98,0.00,0.000,6,0.000,0.039,1470,3313,2905,0,0,0,0,0,0
$GC,4922,-0.64,-104.3,931.7,-15.4,361,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,1470,3313,2904,0,0,0,0,0,0
$GC,5232,-0.64,-104.3,978.8,-15.4,376,5235,0.00,1.02,0.00,0.000,4,0.000,0.063,1465,3956,2904,0,0,0,0,0,0
$STATE,5302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5302,begin apogee
$GC,5307,-0.11,0.0,991.0,16.8,379,5411,0.62,0.00,101.07,1.876,6,0.167,0.000,1652,3179,2474,0,0,0,0,0,0
$STATE,5412,end apogee,CONTROL_FINISHED_OK
$STATE,5412,begin climb
$GC,5414,0.64,104.3,994.9,0.0,384,5528,0.77,2.42,104.62,1.831,4,0.101,0.034,1907,1778,2047,0,0,0,0,0,0
$GC,5565,0.64,104.3,979.9,13.7,391,5570,0.00,2.47,0.00,0.000,6,0.000,0.051,1907,3177,2043,0,0,0,0,0,0
$GC,5893,0.64,104.3,927.6,16.2,407,5897,0.00,1.30,0.00,0.000,4,0.000,0.061,1907,3954,2036,0,0,0,0,0,0
$GC,5998,0.64,104.3,908.6,18.8,411,6006,0.00,1.25,0.00,0.000,6,0.000,0.036,1913,3169,2036,0,0,0,0,0,0
$GC,6316,0.64,104.3,856.7,16.5,427,6320,0.00,1.30,0.00,0.000,4,0.000,0.060,1913,3955,2033,0,0,0,0,0,0
$GC,6376,0.64,104.3,845.6,18.3,429,6384,0.00,1.23,0.00,0.000,6,0.000,0.037,1919,3180,2033,0,0,0,0,0,0
$GC,6692,0.64,104.3,795.4,15.9,445,6696,0.00,1.27,0.00,0.000,4,0.000,0.060,1919,3956,2032,0,0,0,0,0,0
$GC,6753,0.64,104.3,785.2,17.0,447,6760,0.00,1.20,0.00,0.000,6,0.000,0.038,1925,3181,2032,0,0,0,0,0,0
$GC,7068,0.64,104.3,734.8,15.9,463,7072,0.00,1.25,0.00,0.000,4,0.000,0.060,1925,3943,2030,0,0,0,0,0,0
$GC,7248,0.64,104.3,702.5,18.3,471,7252,0.00,1.17,0.00,0.000,6,0.000,0.037,1930,3181,2030,0,0,0,0,0,0
$GC,7582,0.64,104.3,648.6,16.0,487,7585,0.00,1.25,0.00,0.000,4,0.000,0.060,1930,3951,2029,0,0,0,0,0,0
$GC,7816,0.64,104.3,605.4,18.6,497,7822,0.12,1.20,0.00,0.000,6,0.221,0.037,1908,3180,2028,0,0,0,0,0,0
$GC,8137,0.64,104.3,557.0,15.0,513,8141,0.00,1.25,0.00,0.000,4,0.000,0.061,1907,3956,2028,0,0,0,0,0,0
$GC,8311,0.64,104.3,527.5,17.4,520,8318,0.00,1.20,0.00,0.000,6,0.000,0.039,1912,3176,2028,0,0,0,0,0,0
$GC,8626,0.64,104.3,480.7,14.8,536,8627,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3176,2027,0,0,0,0,0,0
$GC,8936,0.64,104.3,435.9,14.2,551,8939,0.00,1.25,0.00,0.000,4,0.000,0.060,1912,3949,2027,0,0,0,0,0,0
$GC,9194,0.64,104.3,393.7,16.1,564,9197,0.00,1.17,0.00,0.000,6,0.000,0.039,1918,3180,2027,0,0,0,0,0,0
$GC,9524,0.64,104.3,347.6,13.8,595,9527,0.00,1.25,0.00,0.000,4,0.000,0.061,1918,3953,2027,0,0,0,0,0,0
$GC,9782,0.64,104.3,307.1,15.8,618,9786,0.00,1.17,0.00,0.000,6,0.000,0.037,1924,3179,2027,0,0,0,0,0,0
$GC,10114,0.64,104.3,261.2,13.1,649,10118,0.00,1.25,0.00,0.000,4,0.000,0.060,1924,3956,2027,0,0,0,0,0,0
$GC,10373,0.64,104.3,220.2,15.4,672,10376,0.00,1.17,0.00,0.000,6,0.000,0.037,1930,3179,2026,0,0,0,0,0,0
$GC,10702,0.64,104.3,174.8,13.9,703,10706,0.00,1.25,0.00,0.000,4,0.000,0.060,1930,3954,2026,0,0,0,0,0,0
$GC,10920,0.64,104.3,140.3,15.7,722,10929,0.12,1.20,0.00,0.000,6,0.218,0.036,1908,3170,2027,0,0,0,0,0,0
$GC,11248,0.64,104.3,99.1,12.7,753,11257,0.00,1.25,0.00,0.000,4,0.000,0.060,1907,3952,2026,0,0,0,0,0,0
$GC,11314,0.64,104.3,90.3,12.8,764,11321,0.00,1.17,0.00,0.000,6,0.000,0.036,1912,3176,2026,0,0,0,0,0,0
$GC,11666,0.64,104.3,49.1,11.4,825,11674,0.00,1.25,0.00,0.000,4,0.000,0.060,1912,3952,2027,0,0,0,0,0,0
$GC,11820,0.64,104.3,28.6,13.7,851,11827,0.00,1.17,0.00,0.000,6,0.000,0.036,1918,3173,2026,0,0,0,0,0,0
$GC,11971,0.64,105.2,12.2,9.3,876,11980,0.00,2.12,0.00,0.000,4,0.000,0.034,1928,1780,2026,0,0,0,0,0,0
$GC,12077,0.65,117.3,3.7,8.1,893,12086,0.00,2.25,3.00,0.487,6,0.000,0.050,1929,3192,1991,0,0,0,0,0,0
$STATE,12093,end climb,SURFACE_DEPTH_REACHED
$STATE,12093,begin surface coast
$FINISH,0.7,1.018538
$STATE,12142,end surface coast,CONTROL_FINISHED_OK
$STATE,12142,begin surface
$SM_CCo,12154,43.17,0.811,0,0,1551,225.18
$SM_GC,1.30,0.00,0.00,43.17,0.000,0.000,0.811,57,3329,1551,-5.12,0.25,225.18
$IRIDIUM_FIX,-4242.04,834.03,141213,111125
$TT8_MAMPS,0.026215
$HUMID,61.49
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.7,14.469
$10V_AH,10.0,9.720
$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,12.550,65.275,208.700,43.175,0.000,36.063,46.035,263.571,0.000,0.000,17.817,2296.849,7056.734,356.297,2776.377,165.089,0.000,1355.195,0.000,2335.892,0.000,1.010,0.000
$DEVICE_MAMPS,235.620,74.205,1875.780,810.900,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,625.639,1593.410,687.830,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355196
$DATA_FILE_SIZE,60255,903
$CAP_FILE_SIZE,123023,0
$CFSIZE,259252224,252391424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,141213,181604,-4300.157,830.168,28,1.0,28,-25.0