version: 66.07
glider: 543
mission: 9
dive: 92
start: 12 15 113 8 39 10
data:
$ID,543
$MISSION,9
$DIVE,92
$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,-12679.366
$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,41
$R_STBD_OVSHOOT,24
$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
$GPS1,151213,083123,-4259.944,830.259,39,1.3,39,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-70.2
$GPS2,151213,083849,-4259.971,830.365,16,0.9,17,-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,288.7,497,-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,-41.08,0.000,2,0.000,0.000,58,3324,2475,0,0,0,0,0,0
$GC,59,-0.64,-98.1,3.1,-5.0,5,85,5.72,1.02,-11.90,0.000,4,0.233,0.087,1477,3949,2875,0,0,0,0,0,0
$GC,282,-0.64,-98.1,52.3,-23.6,42,290,0.00,0.98,0.00,0.000,6,0.000,0.035,1480,3310,2879,0,0,0,0,0,0
$GC,624,-0.64,-98.1,122.7,-19.3,92,628,0.00,1.02,0.00,0.000,4,0.000,0.059,1476,3950,2881,0,0,0,0,0,0
$GC,884,-0.64,-98.1,178.2,-21.9,115,888,0.00,0.95,0.00,0.000,6,0.000,0.035,1476,3317,2882,0,0,0,0,0,0
$GC,1214,-0.64,-98.1,243.5,-19.5,146,1218,0.00,1.00,0.00,0.000,4,0.000,0.060,1472,3945,2883,0,0,0,0,0,0
$GC,1476,-0.64,-98.1,296.6,-20.5,169,1479,0.00,0.95,0.00,0.000,6,0.000,0.036,1471,3312,2883,0,0,0,0,0,0
$GC,1806,-0.64,-98.1,360.3,-18.5,200,1809,0.00,1.00,0.00,0.000,4,0.000,0.060,1467,3943,2883,0,0,0,0,0,0
$GC,2064,-0.64,-98.1,413.8,-20.4,220,2069,0.00,0.95,0.00,0.000,6,0.000,0.035,1467,3319,2883,0,0,0,0,0,0
$GC,2385,-0.64,-98.1,474.1,-18.6,236,2389,0.00,1.00,0.00,0.000,4,0.000,0.060,1462,3952,2883,0,0,0,0,0,0
$GC,2642,-0.64,-98.1,524.7,-19.8,247,2647,0.00,0.98,0.00,0.000,6,0.000,0.035,1462,3311,2883,0,0,0,0,0,0
$GC,2964,-0.64,-98.1,583.9,-18.4,263,2967,0.00,1.00,0.00,0.000,4,0.000,0.060,1457,3943,2883,0,0,0,0,0,0
$GC,3220,-0.64,-98.1,634.8,-19.5,274,3225,0.12,0.95,0.00,0.000,6,0.197,0.036,1486,3321,2883,0,0,0,0,0,0
$GC,3542,-0.64,-98.1,685.4,-15.5,290,3545,0.00,0.98,0.00,0.000,4,0.000,0.061,1483,3934,2882,0,0,0,0,0,0
$GC,3798,-0.64,-98.1,727.7,-16.3,301,3803,0.00,0.95,0.00,0.000,6,0.000,0.037,1483,3317,2881,0,0,0,0,0,0
$GC,4122,-0.64,-98.1,777.1,-15.6,317,4125,0.00,1.00,0.00,0.000,4,0.000,0.063,1478,3949,2881,0,0,0,0,0,0
$GC,4378,-0.64,-98.1,819.4,-16.7,328,4383,0.00,0.98,0.00,0.000,6,0.000,0.037,1478,3312,2880,0,0,0,0,0,0
$GC,4700,-0.64,-98.1,868.4,-15.5,344,4703,0.00,1.00,0.00,0.000,4,0.000,0.062,1473,3942,2880,0,0,0,0,0,0
$GC,4957,-0.64,-98.1,911.9,-17.3,355,4962,0.00,0.98,0.00,0.000,6,0.000,0.038,1474,3310,2879,0,0,0,0,0,0
$GC,5279,-0.64,-98.1,963.7,-16.3,371,5282,0.00,1.02,0.00,0.000,4,0.000,0.063,1469,3953,2879,0,0,0,0,0,0
$STATE,5428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5428,begin apogee
$GC,5432,-0.11,0.0,990.4,17.4,377,5531,0.60,0.00,95.40,1.883,6,0.166,0.000,1649,3173,2473,0,0,0,0,0,0
$STATE,5532,end apogee,CONTROL_FINISHED_OK
$STATE,5532,begin climb
$GC,5534,0.64,98.1,995.1,0.0,382,5641,0.77,2.40,98.25,1.833,4,0.102,0.034,1905,1774,2073,0,0,0,0,0,0
$GC,5799,0.64,98.1,968.2,12.8,394,5804,0.00,2.40,0.00,0.000,6,0.000,0.052,1905,3190,2065,0,0,0,0,0,0
$GC,6125,0.64,98.1,920.3,14.8,410,6127,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3190,2061,0,0,0,0,0,0
$GC,6436,0.64,98.1,873.6,15.2,425,6440,0.00,1.25,0.00,0.000,4,0.000,0.061,1905,3954,2059,0,0,0,0,0,0
$GC,6491,0.64,98.1,864.1,17.4,427,6496,0.00,1.23,0.00,0.000,6,0.000,0.037,1911,3169,2059,0,0,0,0,0,0
$GC,6812,0.64,98.1,815.0,15.3,443,6814,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3169,2058,0,0,0,0,0,0
$GC,7123,0.64,98.1,767.7,15.1,458,7127,0.00,1.27,0.00,0.000,4,0.000,0.060,1911,3951,2057,0,0,0,0,0,0
$GC,7245,0.64,98.1,747.0,17.0,463,7250,0.00,1.20,0.00,0.000,6,0.000,0.037,1917,3180,2057,0,0,0,0,0,0
$GC,7567,0.64,98.1,698.6,15.0,479,7570,0.00,1.23,0.00,0.000,4,0.000,0.060,1917,3938,2056,0,0,0,0,0,0
$GC,7683,0.64,98.1,678.9,16.9,484,7688,0.00,1.20,0.00,0.000,6,0.000,0.037,1922,3166,2057,0,0,0,0,0,0
$GC,8010,0.64,98.1,630.2,14.6,500,8012,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3166,2055,0,0,0,0,0,0
$GC,8320,0.64,98.1,585.3,14.4,515,8324,0.00,1.27,0.00,0.000,4,0.000,0.060,1923,3956,2055,0,0,0,0,0,0
$GC,8380,0.64,98.1,575.4,15.5,517,8388,0.00,1.20,0.00,0.000,6,0.000,0.037,1928,3181,2055,0,0,0,0,0,0
$GC,8696,0.64,98.1,529.0,14.7,533,8697,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,3180,2054,0,0,0,0,0,0
$GC,9005,0.64,98.1,483.7,14.7,548,9009,0.00,1.23,0.00,0.000,4,0.000,0.061,1928,3944,2054,0,0,0,0,0,0
$GC,9053,0.64,98.1,475.7,17.3,550,9059,0.12,1.20,0.00,0.000,6,0.216,0.037,1906,3168,2054,0,0,0,0,0,0
$GC,9381,0.64,98.1,431.3,13.6,566,9382,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3167,2053,0,0,0,0,0,0
$GC,9692,0.64,98.1,388.7,13.5,584,9693,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3168,2053,0,0,0,0,0,0
$GC,10011,0.64,98.1,345.5,13.5,614,10015,0.00,1.25,0.00,0.000,4,0.000,0.061,1906,3939,2053,0,0,0,0,0,0
$GC,10203,0.64,98.1,316.4,15.0,631,10206,0.00,1.17,0.00,0.000,6,0.000,0.037,1910,3170,2054,0,0,0,0,0,0
$GC,10533,0.64,98.1,269.7,14.1,662,10536,0.00,1.25,0.00,0.000,4,0.000,0.061,1910,3949,2053,0,0,0,0,0,0
$GC,10614,0.64,98.1,257.9,14.8,669,10617,0.00,1.17,0.00,0.000,6,0.000,0.037,1916,3173,2053,0,0,0,0,0,0
$GC,10944,0.64,98.1,212.4,13.1,700,10947,0.00,1.25,0.00,0.000,4,0.000,0.061,1916,3953,2053,0,0,0,0,0,0
$GC,11027,0.64,98.1,199.8,15.1,707,11035,0.00,1.17,0.00,0.000,6,0.000,0.036,1922,3180,2053,0,0,0,0,0,0
$GC,11352,0.64,98.1,156.8,13.1,738,11356,0.00,1.23,0.00,0.000,4,0.000,0.060,1922,3949,2053,0,0,0,0,0,0
$GC,11435,0.64,98.1,144.4,15.4,745,11443,0.00,1.17,0.00,0.000,6,0.000,0.036,1928,3180,2053,0,0,0,0,0,0
$GC,11761,0.64,98.1,102.6,12.5,776,11764,0.00,1.23,0.00,0.000,4,0.000,0.060,1928,3951,2053,0,0,0,0,0,0
$GC,11922,0.64,98.1,80.5,13.0,802,11930,0.10,1.15,0.00,0.000,6,0.190,0.036,1905,3182,2053,0,0,0,0,0,0
$GC,12274,0.64,98.1,44.1,10.9,863,12280,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3183,2053,0,0,0,0,0,0
$GC,12631,0.64,107.6,8.6,8.4,924,12640,0.00,2.12,1.65,0.234,4,0.000,0.033,1915,1771,2032,0,0,0,0,0,0
$STATE,12700,end climb,SURFACE_DEPTH_REACHED
$STATE,12700,begin surface coast
$FINISH,0.7,1.014066
$STATE,12743,end surface coast,CONTROL_FINISHED_OK
$STATE,12744,begin surface
$SM_CCo,12757,47.30,0.803,0,0,1553,225.18
$SM_GC,1.61,0.00,0.00,47.30,0.000,0.000,0.803,74,3325,1553,-5.06,0.14,225.18
$IRIDIUM_FIX,-4244.98,831.12,151213,050559
$TT8_MAMPS,0.026215
$HUMID,61.97
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.8,15.134
$10V_AH,10.1,10.221
$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,12.425,53.625,195.300,47.300,0.000,28.677,46.755,262.768,0.000,0.000,20.144,2390.300,7552.897,326.468,2845.582,137.231,0.000,1328.677,0.000,2398.153,0.000,1.011,0.000
$DEVICE_MAMPS,232.560,87.210,1882.665,803.250,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,653.890,1634.411,697.723,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355212
$DATA_FILE_SIZE,63787,942
$CAP_FILE_SIZE,120831,0
$CFSIZE,259252224,252067840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151213,121334,-4259.465,830.076,26,0.8,26,-25.0