version: 66.07
glider: 543
mission: 9
dive: 91
start: 12 15 113 5 7 8
data:
$ID,543
$MISSION,9
$DIVE,91
$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,-12676.316
$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,47
$R_STBD_OVSHOOT,31
$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
$GPS1,151213,045936,-4259.867,830.961,35,1.0,35,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-72.0
$GPS2,151213,050647,-4259.853,830.989,22,1.0,22,-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,283.5,1366,-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,-48.72,0.000,2,0.000,0.000,60,3340,2687,0,0,0,0,0,0
$GC,67,-0.64,-103.7,3.3,-4.4,6,85,5.75,2.20,-5.60,0.000,4,0.234,0.044,1482,1902,2900,0,0,0,0,0,0
$GC,135,-0.64,-103.7,18.2,-20.2,16,143,0.00,2.33,0.00,0.000,6,0.000,0.054,1473,3309,2903,0,0,0,0,0,0
$GC,192,-0.64,-103.7,29.5,-20.8,25,198,0.00,1.02,0.00,0.000,4,0.000,0.058,1468,3948,2903,0,0,0,0,0,0
$GC,355,-0.64,-103.7,68.2,-24.7,53,362,0.00,0.95,0.00,0.000,6,0.000,0.035,1468,3322,2904,0,0,0,0,0,0
$GC,689,-0.64,-103.7,142.9,-21.1,96,693,0.00,1.00,0.00,0.000,4,0.000,0.058,1463,3951,2906,0,0,0,0,0,0
$GC,860,-0.64,-103.7,181.3,-22.0,111,863,0.00,0.95,0.00,0.000,6,0.000,0.035,1463,3316,2906,0,0,0,0,0,0
$GC,1189,-0.64,-103.7,250.4,-20.5,142,1193,0.00,1.00,0.00,0.000,4,0.000,0.059,1459,3948,2907,0,0,0,0,0,0
$GC,1415,-0.64,-103.7,299.4,-21.9,162,1419,0.00,0.95,0.00,0.000,6,0.000,0.035,1459,3312,2907,0,0,0,0,0,0
$GC,1747,-0.64,-103.7,367.1,-20.8,193,1751,0.00,1.00,0.00,0.000,4,0.000,0.059,1454,3944,2907,0,0,0,0,0,0
$GC,2004,-0.64,-103.7,422.7,-21.8,211,2010,0.12,0.95,0.00,0.000,6,0.199,0.035,1483,3322,2907,0,0,0,0,0,0
$GC,2326,-0.64,-103.7,480.6,-18.1,227,2330,0.00,1.00,0.00,0.000,4,0.000,0.060,1480,3954,2907,0,0,0,0,0,0
$GC,2538,-0.64,-103.7,521.3,-18.6,236,2542,0.00,0.98,0.00,0.000,6,0.000,0.036,1479,3314,2907,0,0,0,0,0,0
$GC,2861,-0.64,-103.7,578.5,-17.6,252,2864,0.00,1.02,0.00,0.000,4,0.000,0.060,1475,3956,2907,0,0,0,0,0,0
$GC,2983,-0.64,-103.7,601.8,-18.7,257,2987,0.00,0.98,0.00,0.000,6,0.000,0.036,1475,3317,2907,0,0,0,0,0,0
$GC,3306,-0.64,-103.7,658.1,-17.5,273,3309,0.00,1.00,0.00,0.000,4,0.000,0.062,1470,3948,2907,0,0,0,0,0,0
$GC,3562,-0.64,-103.7,706.7,-18.4,284,3567,0.00,0.98,0.00,0.000,6,0.000,0.037,1470,3312,2906,0,0,0,0,0,0
$GC,3884,-0.64,-103.7,761.6,-17.3,300,3888,0.00,1.00,0.00,0.000,4,0.000,0.062,1465,3943,2905,0,0,0,0,0,0
$GC,4118,-0.64,-103.7,806.1,-18.7,310,4123,0.00,0.95,0.00,0.000,6,0.000,0.037,1466,3319,2905,0,0,0,0,0,0
$GC,4441,-0.64,-103.7,862.7,-17.7,326,4445,0.00,1.00,0.00,0.000,4,0.000,0.063,1461,3951,2905,0,0,0,0,0,0
$GC,4603,-0.64,-103.7,893.9,-18.9,333,4607,0.00,0.95,0.00,0.000,6,0.000,0.037,1461,3323,2904,0,0,0,0,0,0
$GC,4932,-0.64,-103.7,950.3,-17.3,349,4935,0.00,1.00,0.00,0.000,4,0.000,0.063,1456,3954,2903,0,0,0,0,0,0
$GC,5037,-0.64,-103.7,970.4,-18.1,353,5045,0.12,0.98,0.00,0.000,6,0.194,0.037,1485,3319,2903,0,0,0,0,0,0
$STATE,5187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5187,begin apogee
$GC,5191,-0.11,0.0,992.7,14.6,361,5295,0.55,0.00,100.90,1.870,6,0.155,0.000,1652,3176,2473,0,0,0,0,0,0
$STATE,5296,end apogee,CONTROL_FINISHED_OK
$STATE,5296,begin climb
$GC,5297,0.64,103.7,996.9,0.0,366,5409,0.77,2.42,104.15,1.821,4,0.099,0.034,1907,1772,2049,0,0,0,0,0,0
$GC,5466,0.64,103.7,980.5,13.7,374,5470,0.00,2.45,0.00,0.000,6,0.000,0.051,1907,3185,2044,0,0,0,0,0,0
$GC,5792,0.64,103.7,926.6,16.9,390,5795,0.00,1.27,0.00,0.000,4,0.000,0.059,1907,3950,2037,0,0,0,0,0,0
$GC,5863,0.64,103.7,912.7,18.7,393,5868,0.00,1.25,0.00,0.000,6,0.000,0.036,1913,3169,2037,0,0,0,0,0,0
$GC,6192,0.64,103.7,856.6,17.1,409,6195,0.00,1.27,0.00,0.000,4,0.000,0.060,1913,3940,2035,0,0,0,0,0,0
$GC,6263,0.64,103.7,842.8,19.3,412,6268,0.00,1.23,0.00,0.000,6,0.000,0.037,1919,3169,2034,0,0,0,0,0,0
$GC,6590,0.64,103.7,788.0,16.5,428,6594,0.00,1.27,0.00,0.000,4,0.000,0.062,1919,3946,2033,0,0,0,0,0,0
$GC,6662,0.64,103.7,774.6,18.8,431,6667,0.00,1.20,0.00,0.000,6,0.000,0.038,1925,3180,2033,0,0,0,0,0,0
$GC,6989,0.64,103.7,719.9,16.4,447,6990,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,3179,2032,0,0,0,0,0,0
$GC,7298,0.64,103.7,670.9,15.3,462,7302,0.00,1.25,0.00,0.000,4,0.000,0.062,1925,3945,2031,0,0,0,0,0,0
$GC,7461,0.64,103.7,643.5,16.7,469,7464,0.00,1.17,0.00,0.000,6,0.000,0.039,1931,3182,2031,0,0,0,0,0,0
$GC,7787,0.64,103.7,593.3,15.4,485,7790,0.00,1.25,0.00,0.000,4,0.000,0.060,1930,3954,2030,0,0,0,0,0,0
$GC,7877,0.64,103.7,578.3,17.8,489,7881,0.10,1.17,0.00,0.000,6,0.197,0.037,1908,3181,2030,0,0,0,0,0,0
$GC,8208,0.64,103.7,531.9,14.0,505,8209,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3181,2029,0,0,0,0,0,0
$GC,8517,0.64,103.7,490.3,13.3,520,8521,0.00,1.23,0.00,0.000,4,0.000,0.060,1908,3942,2029,0,0,0,0,0,0
$GC,8654,0.64,103.7,469.9,15.0,526,8657,0.00,1.15,0.00,0.000,6,0.000,0.037,1913,3188,2029,0,0,0,0,0,0
$GC,8985,0.64,103.7,424.8,13.6,542,8989,0.00,1.23,0.00,0.000,4,0.000,0.060,1913,3946,2028,0,0,0,0,0,0
$GC,9101,0.64,103.7,406.7,15.1,547,9106,0.00,1.20,0.00,0.000,6,0.000,0.037,1919,3167,2028,0,0,0,0,0,0
$GC,9426,0.64,103.7,362.1,13.9,575,9430,0.00,1.25,0.00,0.000,4,0.000,0.060,1919,3945,2028,0,0,0,0,0,0
$GC,9483,0.64,103.7,353.5,15.4,580,9486,0.00,1.15,0.00,0.000,6,0.000,0.037,1925,3188,2028,0,0,0,0,0,0
$GC,9813,0.64,103.7,305.6,14.3,611,9816,0.00,1.23,0.00,0.000,4,0.000,0.060,1925,3948,2028,0,0,0,0,0,0
$GC,9914,0.64,103.7,289.5,17.3,620,9918,0.00,1.17,0.00,0.000,6,0.000,0.037,1930,3173,2028,0,0,0,0,0,0
$GC,10244,0.64,103.7,241.5,14.5,651,10248,0.00,1.25,0.00,0.000,4,0.000,0.061,1930,3951,2027,0,0,0,0,0,0
$GC,10369,0.64,103.7,221.6,16.4,662,10373,0.10,1.17,0.00,0.000,6,0.195,0.037,1908,3170,2027,0,0,0,0,0,0
$GC,10700,0.64,103.7,178.6,13.1,693,10704,0.00,1.25,0.00,0.000,4,0.000,0.060,1908,3953,2027,0,0,0,0,0,0
$GC,10779,0.64,103.7,166.9,15.2,700,10783,0.00,1.15,0.00,0.000,6,0.000,0.037,1913,3187,2027,0,0,0,0,0,0
$GC,11109,0.64,103.7,124.3,12.9,731,11110,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3186,2027,0,0,0,0,0,0
$GC,11438,0.64,103.7,82.5,14.1,772,11445,0.00,1.23,0.00,0.000,4,0.000,0.061,1913,3950,2027,0,0,0,0,0,0
$GC,11701,0.64,103.7,46.9,13.4,818,11708,0.00,1.15,0.00,0.000,6,0.000,0.037,1918,3183,2027,0,0,0,0,0,0
$GC,12058,0.64,103.7,6.4,10.0,879,12067,0.00,1.23,0.00,0.000,4,0.000,0.060,1919,3945,2028,0,0,0,0,0,0
$STATE,12091,end climb,SURFACE_DEPTH_REACHED
$STATE,12092,begin surface coast
$FINISH,0.7,1.026037
$STATE,12123,end surface coast,CONTROL_FINISHED_OK
$STATE,12123,begin surface
$SM_CCo,12136,46.78,0.810,0,0,1553,225.18
$SM_GC,1.49,0.00,0.00,46.78,0.000,0.000,0.810,59,3325,1553,-5.11,0.14,225.18
$IRIDIUM_FIX,-4244.98,831.12,151213,010119
$TT8_MAMPS,0.026215
$HUMID,61.97
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.7,15.003
$10V_AH,10.1,10.118
$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,12.575,60.575,205.050,46.775,0.000,26.178,20.810,269.427,0.000,0.000,25.481,2283.133,7174.897,332.290,2689.884,135.488,0.000,1299.858,0.000,2261.243,0.000,1.011,0.000
$DEVICE_MAMPS,234.090,62.730,1869.660,810.135,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,616.999,1545.616,644.686,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,60405,889
$CAP_FILE_SIZE,120677,0
$CFSIZE,259252224,252137472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151213,083123,-4259.944,830.259,39,1.3,39,-25.0