version: 66.07
glider: 543
mission: 9
dive: 90
start: 12 15 113 1 36 21
data:
$ID,543
$MISSION,9
$DIVE,90
$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,-12673.2
$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,52
$R_STBD_OVSHOOT,28
$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
$GPS1,151213,012858,-4300.623,831.475,38,1.1,38,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-71.9
$GPS2,151213,013600,-4300.616,831.496,15,0.9,16,-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,324.5,2326,-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,-48.53,0.000,2,0.000,0.000,64,3329,2680,0,0,0,0,0,0
$GC,67,-0.64,-106.2,3.3,-4.1,6,85,5.70,2.20,-6.07,0.000,4,0.232,0.045,1486,1912,2910,0,0,0,0,0,0
$GC,167,-0.64,-106.2,24.2,-17.5,22,176,0.00,2.33,0.00,0.000,6,0.000,0.054,1477,3317,2913,0,0,0,0,0,0
$GC,315,-0.64,-106.2,56.2,-22.4,47,322,0.00,1.00,0.00,0.000,4,0.000,0.058,1472,3944,2914,0,0,0,0,0,0
$GC,449,-0.64,-106.2,87.7,-23.1,70,456,0.00,0.95,0.00,0.000,6,0.000,0.035,1472,3318,2915,0,0,0,0,0,0
$GC,783,-0.64,-106.2,154.6,-19.5,106,787,0.00,1.02,0.00,0.000,4,0.000,0.060,1468,3951,2916,0,0,0,0,0,0
$GC,955,-0.64,-106.2,189.9,-21.3,121,958,0.00,0.95,0.00,0.000,6,0.000,0.036,1468,3321,2916,0,0,0,0,0,0
$GC,1285,-0.64,-106.2,255.0,-19.3,152,1288,0.00,1.00,0.00,0.000,4,0.000,0.060,1463,3951,2917,0,0,0,0,0,0
$GC,1545,-0.64,-106.2,309.1,-20.7,175,1548,0.00,0.95,0.00,0.000,6,0.000,0.035,1463,3318,2917,0,0,0,0,0,0
$GC,1874,-0.64,-106.2,374.3,-20.5,206,1878,0.00,1.00,0.00,0.000,4,0.000,0.060,1458,3949,2917,0,0,0,0,0,0
$GC,2132,-0.64,-106.2,430.9,-21.8,223,2136,0.00,0.98,0.00,0.000,6,0.000,0.036,1459,3312,2917,0,0,0,0,0,0
$GC,2454,-0.64,-106.2,498.6,-21.3,239,2457,0.00,1.00,0.00,0.000,4,0.000,0.060,1454,3944,2917,0,0,0,0,0,0
$GC,2710,-0.64,-106.2,556.9,-22.4,250,2716,0.12,0.98,0.00,0.000,6,0.198,0.037,1483,3311,2917,0,0,0,0,0,0
$GC,3032,-0.64,-106.2,616.0,-18.3,266,3036,0.00,1.00,0.00,0.000,4,0.000,0.062,1479,3939,2917,0,0,0,0,0,0
$GC,3289,-0.64,-106.2,666.0,-19.4,277,3293,0.00,0.98,0.00,0.000,6,0.000,0.037,1479,3309,2917,0,0,0,0,0,0
$GC,3612,-0.64,-106.2,721.2,-17.1,293,3616,0.00,1.02,0.00,0.000,4,0.000,0.062,1474,3955,2916,0,0,0,0,0,0
$GC,3869,-0.64,-106.2,769.8,-19.1,304,3873,0.00,0.98,0.00,0.000,6,0.000,0.038,1474,3316,2916,0,0,0,0,0,0
$GC,4191,-0.64,-106.2,825.3,-17.1,320,4194,0.00,1.00,0.00,0.000,4,0.000,0.063,1470,3948,2915,0,0,0,0,0,0
$GC,4415,-0.64,-106.2,866.1,-17.5,330,4419,0.00,0.95,0.00,0.000,6,0.000,0.040,1470,3320,2915,0,0,0,0,0,0
$GC,4749,-0.64,-106.2,919.7,-15.8,346,4752,0.00,1.02,0.00,0.000,4,0.000,0.064,1465,3952,2914,0,0,0,0,0,0
$GC,4996,-0.64,-106.2,963.3,-17.8,357,5000,0.00,0.95,0.00,0.000,6,0.000,0.040,1465,3323,2913,0,0,0,0,0,0
$STATE,5162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5162,begin apogee
$GC,5166,-0.11,0.0,991.0,16.5,365,5272,0.65,0.00,103.22,1.865,6,0.159,0.000,1658,3179,2473,0,0,0,0,0,0
$STATE,5273,end apogee,CONTROL_FINISHED_OK
$STATE,5273,begin climb
$GC,5275,0.64,106.2,994.9,0.0,370,5390,0.73,2.45,106.07,1.814,4,0.095,0.035,1902,1783,2039,0,0,0,0,0,0
$GC,5427,0.64,106.2,981.0,12.7,377,5432,0.00,2.45,0.00,0.000,6,0.000,0.050,1902,3175,2035,0,0,0,0,0,0
$GC,5755,0.64,106.2,930.7,15.5,393,5756,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3175,2028,0,0,0,0,0,0
$GC,6064,0.64,106.2,882.1,15.6,408,6068,0.00,1.27,0.00,0.000,4,0.000,0.060,1902,3950,2026,0,0,0,0,0,0
$GC,6282,0.64,106.2,843.5,17.7,417,6290,0.00,1.20,0.00,0.000,6,0.000,0.037,1908,3177,2026,0,0,0,0,0,0
$GC,6598,0.64,106.2,795.2,15.2,433,6599,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3177,2024,0,0,0,0,0,0
$GC,6907,0.64,106.2,748.9,15.0,448,6908,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3178,2023,0,0,0,0,0,0
$GC,7218,0.64,106.2,702.2,15.4,463,7222,0.00,1.25,0.00,0.000,4,0.000,0.062,1908,3943,2023,0,0,0,0,0,0
$GC,7286,0.64,106.2,690.4,17.5,466,7289,0.00,1.17,0.00,0.000,6,0.000,0.037,1914,3179,2023,0,0,0,0,0,0
$GC,7617,0.64,106.2,638.4,15.7,482,7621,0.00,1.25,0.00,0.000,4,0.000,0.061,1914,3951,2021,0,0,0,0,0,0
$GC,7798,0.64,106.2,607.4,17.7,490,7802,0.00,1.17,0.00,0.000,6,0.000,0.037,1920,3179,2021,0,0,0,0,0,0
$GC,8130,0.64,106.2,554.1,15.8,506,8131,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3179,2021,0,0,0,0,0,0
$GC,8441,0.64,106.2,507.3,15.1,521,8442,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3179,2020,0,0,0,0,0,0
$GC,8749,0.64,106.2,460.6,15.0,536,8753,0.00,1.25,0.00,0.000,4,0.000,0.062,1920,3949,2020,0,0,0,0,0,0
$GC,8893,0.64,106.2,437.1,15.9,542,8897,0.00,1.20,0.00,0.000,6,0.000,0.037,1926,3173,2020,0,0,0,0,0,0
$GC,9219,0.64,106.2,388.7,15.0,561,9222,0.00,1.25,0.00,0.000,4,0.000,0.062,1926,3951,2019,0,0,0,0,0,0
$GC,9290,0.64,106.2,376.2,17.0,567,9298,0.00,1.20,0.00,0.000,6,0.000,0.037,1931,3172,2019,0,0,0,0,0,0
$GC,9615,0.64,106.2,328.5,14.9,598,9616,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,3172,2019,0,0,0,0,0,0
$GC,9935,0.64,106.2,281.6,14.6,628,9938,0.00,1.25,0.00,0.000,4,0.000,0.060,1931,3949,2019,0,0,0,0,0,0
$GC,9968,0.64,106.2,276.1,16.3,631,9972,0.10,1.17,0.00,0.000,6,0.194,0.037,1909,3177,2019,0,0,0,0,0,0
$GC,10298,0.64,106.2,230.9,14.2,662,10302,0.00,1.25,0.00,0.000,4,0.000,0.061,1909,3956,2018,0,0,0,0,0,0
$GC,10424,0.64,106.2,212.2,15.2,673,10428,0.00,1.17,0.00,0.000,6,0.000,0.037,1913,3179,2018,0,0,0,0,0,0
$GC,10754,0.64,106.2,166.5,13.4,704,10756,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3179,2018,0,0,0,0,0,0
$GC,11074,0.64,106.2,124.0,13.3,734,11077,0.00,1.23,0.00,0.000,4,0.000,0.061,1914,3939,2017,0,0,0,0,0,0
$GC,11141,0.64,106.2,114.1,14.4,740,11145,0.00,1.15,0.00,0.000,6,0.000,0.037,1919,3180,2018,0,0,0,0,0,0
$GC,11480,0.64,106.2,68.8,12.7,791,11486,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3180,2017,0,0,0,0,0,0
$GC,11829,0.64,106.2,24.4,12.7,852,11837,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3180,2017,0,0,0,0,0,0
$GC,11981,0.64,106.2,8.5,9.7,877,11989,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3181,2017,0,0,0,0,0,0
$STATE,12037,end climb,SURFACE_DEPTH_REACHED
$STATE,12037,begin surface coast
$FINISH,0.7,1.025387
$STATE,12069,end surface coast,CONTROL_FINISHED_OK
$STATE,12069,begin surface
$SM_CCo,12081,45.78,0.806,0,0,1554,225.18
$SM_GC,1.32,0.00,0.00,45.78,0.000,0.000,0.806,61,3339,1554,-5.11,0.54,225.18
$IRIDIUM_FIX,-4242.04,827.77,141213,212125
$TT8_MAMPS,0.025466
$HUMID,62.24
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.7,14.868
$10V_AH,10.0,10.021
$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,12.300,47.050,209.300,45.775,0.000,24.762,18.495,269.520,0.000,0.000,19.440,2261.612,7146.425,329.971,2680.067,131.027,0.000,1283.705,0.000,2263.642,0.000,1.011,0.000
$DEVICE_MAMPS,231.795,72.675,1865.070,805.545,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,618.322,1561.330,657.631,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,60380,891
$CAP_FILE_SIZE,114682,0
$CFSIZE,259252224,252207104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151213,045936,-4259.867,830.961,35,1.0,35,-25.0