version: 66.07
glider: 543
mission: 9
dive: 88
start: 12 14 113 18 23 56
data:
$ID,543
$MISSION,9
$DIVE,88
$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,-12667.035
$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,53
$R_STBD_OVSHOOT,32
$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
$GPS1,141213,181604,-4300.157,830.168,28,1.0,28,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-69.7
$GPS2,141213,182335,-4300.097,830.192,17,1.2,17,-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,329.7,316,-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,13,begin dive
$GC,14,-0.61,-57.7,0.0,0.0,0,57,0.00,0.00,-40.90,0.000,2,0.000,0.000,57,3330,2468,0,0,0,0,0,0
$GC,59,-0.64,-103.2,3.0,-4.4,5,85,5.72,2.17,-12.90,0.000,4,0.232,0.046,1488,1915,2897,0,0,0,0,0,0
$GC,280,-0.64,-103.2,38.5,-15.6,41,287,0.00,2.28,0.00,0.000,6,0.000,0.053,1479,3318,2901,0,0,0,0,0,0
$GC,423,-0.64,-103.2,67.5,-21.5,66,432,0.00,1.00,0.00,0.000,4,0.000,0.058,1474,3945,2902,0,0,0,0,0,0
$GC,536,-0.64,-103.2,93.6,-23.9,85,543,0.00,0.95,0.00,0.000,6,0.000,0.035,1474,3319,2902,0,0,0,0,0,0
$GC,863,-0.64,-103.2,160.3,-20.4,118,867,0.00,1.00,0.00,0.000,4,0.000,0.059,1469,3946,2903,0,0,0,0,0,0
$GC,944,-0.64,-103.2,177.1,-21.6,125,948,0.00,0.95,0.00,0.000,6,0.000,0.035,1469,3316,2904,0,0,0,0,0,0
$GC,1274,-0.64,-103.2,243.2,-20.1,156,1278,0.00,1.00,0.00,0.000,4,0.000,0.059,1465,3946,2904,0,0,0,0,0,0
$GC,1380,-0.64,-103.2,264.6,-19.5,165,1387,0.00,0.98,0.00,0.000,6,0.000,0.035,1465,3307,2904,0,0,0,0,0,0
$GC,1705,-0.64,-103.2,327.1,-19.5,196,1709,0.00,1.02,0.00,0.000,4,0.000,0.060,1460,3953,2904,0,0,0,0,0,0
$GC,1875,-0.64,-103.2,362.4,-21.5,211,1879,0.00,0.95,0.00,0.000,6,0.000,0.036,1460,3319,2904,0,0,0,0,0,0
$GC,2212,-0.64,-103.2,428.1,-19.6,236,2215,0.00,1.00,0.00,0.000,4,0.000,0.060,1455,3950,2904,0,0,0,0,0,0
$GC,2385,-0.64,-103.2,464.5,-20.1,243,2393,0.12,0.98,0.00,0.000,6,0.203,0.036,1484,3313,2904,0,0,0,0,0,0
$GC,2701,-0.64,-103.2,517.8,-17.1,259,2704,0.00,1.00,0.00,0.000,4,0.000,0.061,1480,3942,2904,0,0,0,0,0,0
$GC,2806,-0.64,-103.2,537.5,-18.3,263,2813,0.00,0.98,0.00,0.000,6,0.000,0.037,1480,3307,2904,0,0,0,0,0,0
$GC,3122,-0.64,-103.2,590.3,-16.5,279,3125,0.00,1.02,0.00,0.000,4,0.000,0.062,1476,3951,2904,0,0,0,0,0,0
$GC,3238,-0.64,-103.2,611.9,-17.9,284,3242,0.00,0.98,0.00,0.000,6,0.000,0.037,1476,3313,2904,0,0,0,0,0,0
$GC,3565,-0.64,-103.2,667.4,-16.7,300,3569,0.00,1.00,0.00,0.000,4,0.000,0.061,1471,3945,2904,0,0,0,0,0,0
$GC,3648,-0.64,-103.2,682.8,-18.1,303,3655,0.00,0.98,0.00,0.000,6,0.000,0.037,1471,3310,2903,0,0,0,0,0,0
$GC,3965,-0.64,-103.2,736.2,-16.9,319,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3310,2903,0,0,0,0,0,0
$GC,4273,-0.64,-103.2,787.4,-16.3,334,4277,0.00,1.02,0.00,0.000,4,0.000,0.063,1466,3952,2902,0,0,0,0,0,0
$GC,4445,-0.64,-103.2,819.2,-18.6,341,4453,0.00,0.98,0.00,0.000,6,0.000,0.037,1466,3317,2902,0,0,0,0,0,0
$GC,4761,-0.64,-103.2,873.4,-17.8,357,4764,0.00,1.00,0.00,0.000,4,0.000,0.063,1462,3946,2902,0,0,0,0,0,0
$GC,4928,-0.64,-103.2,904.8,-18.7,364,4933,0.00,0.98,0.00,0.000,6,0.000,0.038,1462,3313,2901,0,0,0,0,0,0
$GC,5250,-0.64,-103.2,960.0,-16.7,380,5253,0.00,1.00,0.00,0.000,4,0.000,0.063,1457,3943,2900,0,0,0,0,0,0
$STATE,5415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5415,begin apogee
$GC,5420,-0.11,0.0,990.3,17.6,387,5524,0.65,0.00,100.18,1.886,6,0.165,0.000,1651,3164,2474,0,0,0,0,0,0
$STATE,5525,end apogee,CONTROL_FINISHED_OK
$STATE,5525,begin climb
$GC,5526,0.64,103.2,994.8,0.0,392,5637,0.77,2.35,103.30,1.829,4,0.099,0.034,1907,1786,2052,0,0,0,0,0,0
$GC,5664,0.64,103.2,982.6,13.4,398,5672,0.00,2.47,0.00,0.000,6,0.000,0.050,1908,3184,2048,0,0,0,0,0,0
$GC,5982,0.64,103.2,932.4,16.1,414,5986,0.00,1.27,0.00,0.000,4,0.000,0.060,1908,3946,2040,0,0,0,0,0,0
$GC,6162,0.64,103.2,900.0,17.6,422,6165,0.00,1.20,0.00,0.000,6,0.000,0.037,1913,3183,2039,0,0,0,0,0,0
$GC,6494,0.64,103.2,845.5,16.4,438,6497,0.00,1.27,0.00,0.000,4,0.000,0.060,1913,3953,2037,0,0,0,0,0,0
$GC,6682,0.64,103.2,810.4,19.2,446,6687,0.00,1.23,0.00,0.000,6,0.000,0.037,1919,3174,2037,0,0,0,0,0,0
$GC,7004,0.64,103.2,757.4,16.3,462,7008,0.00,1.27,0.00,0.000,4,0.000,0.060,1919,3954,2035,0,0,0,0,0,0
$GC,7207,0.64,103.2,721.4,18.2,471,7211,0.00,1.20,0.00,0.000,6,0.000,0.037,1925,3174,2035,0,0,0,0,0,0
$GC,7539,0.64,103.2,667.5,16.1,487,7543,0.00,1.25,0.00,0.000,4,0.000,0.061,1925,3939,2034,0,0,0,0,0,0
$GC,7594,0.64,103.2,657.8,17.3,489,7599,0.00,1.20,0.00,0.000,6,0.000,0.037,1930,3169,2034,0,0,0,0,0,0
$GC,7915,0.64,103.2,608.8,14.8,505,7919,0.00,1.25,0.00,0.000,4,0.000,0.060,1930,3940,2033,0,0,0,0,0,0
$GC,8099,0.64,103.2,577.4,16.7,513,8104,0.12,1.17,0.00,0.000,6,0.220,0.037,1908,3182,2033,0,0,0,0,0,0
$GC,8426,0.64,103.2,532.2,13.7,529,8429,0.00,1.25,0.00,0.000,4,0.000,0.061,1908,3952,2032,0,0,0,0,0,0
$GC,8630,0.64,103.2,500.9,14.4,538,8633,0.00,1.17,0.00,0.000,6,0.000,0.038,1913,3184,2032,0,0,0,0,0,0
$GC,8961,0.64,103.2,454.0,14.0,554,8965,0.00,1.23,0.00,0.000,4,0.000,0.060,1912,3942,2031,0,0,0,0,0,0
$GC,9173,0.64,103.2,421.0,15.7,563,9178,0.00,1.20,0.00,0.000,6,0.000,0.037,1919,3169,2032,0,0,0,0,0,0
$GC,9501,0.64,103.2,375.1,14.1,587,9504,0.00,1.25,0.00,0.000,4,0.000,0.060,1919,3944,2031,0,0,0,0,0,0
$GC,9762,0.64,103.2,333.5,16.1,610,9765,0.00,1.17,0.00,0.000,6,0.000,0.037,1925,3174,2030,0,0,0,0,0,0
$GC,10094,0.64,103.2,284.8,14.9,641,10097,0.00,1.25,0.00,0.000,4,0.000,0.060,1925,3951,2030,0,0,0,0,0,0
$GC,10352,0.64,103.2,241.2,16.6,664,10356,0.00,1.17,0.00,0.000,6,0.000,0.037,1930,3175,2030,0,0,0,0,0,0
$GC,10682,0.64,103.2,193.6,14.3,695,10686,0.00,1.25,0.00,0.000,4,0.000,0.061,1931,3950,2030,0,0,0,0,0,0
$GC,10942,0.64,103.2,151.6,16.0,718,10947,0.10,1.17,0.00,0.000,6,0.195,0.037,1908,3172,2030,0,0,0,0,0,0
$GC,11275,0.64,103.2,108.8,12.4,749,11278,0.00,1.25,0.00,0.000,4,0.000,0.060,1908,3950,2029,0,0,0,0,0,0
$GC,11535,0.64,103.2,74.2,12.1,789,11543,0.00,1.15,0.00,0.000,6,0.000,0.037,1913,3185,2030,0,0,0,0,0,0
$GC,11884,0.64,103.2,34.1,11.6,850,11892,0.00,1.23,0.00,0.000,4,0.000,0.060,1913,3949,2030,0,0,0,0,0,0
$GC,12004,0.64,103.2,18.9,11.5,870,12014,0.00,1.15,0.00,0.000,6,0.000,0.036,1919,3184,2029,0,0,0,0,0,0
$GC,12063,0.64,103.2,13.1,10.0,879,12071,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3183,2030,0,0,0,0,0,0
$GC,12121,0.64,106.8,7.8,9.0,888,12130,0.00,1.23,0.00,0.000,4,0.000,0.060,1919,3943,2029,0,0,0,0,0,0
$STATE,12172,end climb,SURFACE_DEPTH_REACHED
$STATE,12172,begin surface coast
$FINISH,0.8,1.026100
$STATE,12191,end surface coast,CONTROL_FINISHED_OK
$STATE,12191,begin surface
$SM_CCo,12204,47.12,0.801,0,0,1552,225.18
$SM_GC,1.35,0.00,0.00,47.12,0.000,0.000,0.801,67,3318,1552,-5.09,-0.06,225.18
$IRIDIUM_FIX,-4244.98,828.21,141213,141428
$TT8_MAMPS,0.025466
$HUMID,61.85
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.7,14.606
$10V_AH,10.1,9.820
$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,12.475,62.625,203.475,47.125,0.000,26.606,42.616,272.584,0.000,0.000,19.777,2302.405,7090.062,353.829,2810.636,146.429,0.000,1372.582,0.000,2365.821,0.000,1.010,0.000
$DEVICE_MAMPS,231.795,62.730,1885.725,800.955,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,622.994,1559.056,664.284,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,60325,899
$CAP_FILE_SIZE,123641,0
$CFSIZE,259252224,252325888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,141213,214904,-4259.438,829.626,23,1.6,23,-25.0