version: 66.07
glider: 543
mission: 9
dive: 94
start: 12 15 113 16 6 15
data:
$ID,543
$MISSION,9
$DIVE,94
$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,-12685.792
$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,50
$R_STBD_OVSHOOT,20
$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
$GPS1,151213,155829,-4300.640,830.335,36,0.8,36,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-66.1
$GPS2,151213,160554,-4300.609,830.385,17,1.3,17,-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,0.2,1242,-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,15,-0.61,-57.7,0.0,0.0,0,65,0.00,0.00,-47.90,0.000,2,0.000,0.000,60,3318,2654,0,0,0,0,0,0
$GC,67,-0.64,-105.0,3.1,-4.3,6,86,5.70,2.25,-6.82,0.000,4,0.230,0.047,1486,1905,2905,0,0,0,0,0,0
$GC,164,-0.64,-105.0,22.0,-18.8,21,171,0.00,2.30,0.00,0.000,6,0.000,0.054,1477,3327,2908,0,0,0,0,0,0
$GC,310,-0.64,-105.0,53.1,-22.1,46,317,0.00,1.00,0.00,0.000,4,0.000,0.059,1473,3949,2909,0,0,0,0,0,0
$GC,467,-0.64,-105.0,91.2,-22.4,73,474,0.00,0.95,0.00,0.000,6,0.000,0.036,1473,3322,2910,0,0,0,0,0,0
$GC,795,-0.64,-105.0,159.7,-21.2,107,798,0.00,1.00,0.00,0.000,4,0.000,0.059,1468,3945,2911,0,0,0,0,0,0
$GC,988,-0.64,-105.0,202.8,-22.5,124,991,0.00,0.95,0.00,0.000,6,0.000,0.034,1468,3314,2912,0,0,0,0,0,0
$GC,1317,-0.64,-105.0,269.4,-19.4,155,1321,0.00,1.00,0.00,0.000,4,0.000,0.058,1463,3946,2912,0,0,0,0,0,0
$GC,1410,-0.64,-105.0,289.1,-20.9,163,1418,0.00,0.98,0.00,0.000,6,0.000,0.034,1464,3306,2912,0,0,0,0,0,0
$GC,1736,-0.64,-105.0,353.0,-19.4,194,1739,0.00,1.00,0.00,0.000,4,0.000,0.058,1459,3937,2912,0,0,0,0,0,0
$GC,1940,-0.64,-105.0,396.7,-21.1,212,1944,0.00,0.93,0.00,0.000,6,0.000,0.035,1459,3320,2912,0,0,0,0,0,0
$GC,2271,-0.64,-105.0,464.2,-20.0,229,2275,0.00,1.00,0.00,0.000,4,0.000,0.060,1454,3951,2912,0,0,0,0,0,0
$GC,2511,-0.64,-105.0,515.8,-21.6,239,2519,0.12,0.98,0.00,0.000,6,0.201,0.034,1482,3312,2912,0,0,0,0,0,0
$GC,2828,-0.64,-105.0,571.7,-17.7,255,2832,0.00,1.00,0.00,0.000,4,0.000,0.060,1479,3943,2912,0,0,0,0,0,0
$GC,2927,-0.64,-105.0,591.3,-19.3,259,2932,0.00,0.95,0.00,0.000,6,0.000,0.036,1479,3321,2912,0,0,0,0,0,0
$GC,3249,-0.64,-105.0,648.5,-18.0,275,3253,0.00,1.00,0.00,0.000,4,0.000,0.061,1474,3951,2912,0,0,0,0,0,0
$GC,3417,-0.64,-105.0,681.3,-19.7,282,3421,0.00,0.95,0.00,0.000,6,0.000,0.037,1475,3319,2911,0,0,0,0,0,0
$GC,3738,-0.64,-105.0,740.0,-18.5,298,3742,0.00,1.00,0.00,0.000,4,0.000,0.062,1470,3950,2911,0,0,0,0,0,0
$GC,3842,-0.64,-105.0,760.3,-20.2,302,3850,0.00,0.98,0.00,0.000,6,0.000,0.037,1470,3314,2910,0,0,0,0,0,0
$GC,4160,-0.64,-105.0,816.8,-17.5,318,4164,0.00,1.00,0.00,0.000,4,0.000,0.061,1465,3942,2910,0,0,0,0,0,0
$GC,4377,-0.64,-105.0,858.1,-18.6,327,4385,0.00,0.98,0.00,0.000,6,0.000,0.037,1465,3310,2909,0,0,0,0,0,0
$GC,4695,-0.64,-105.0,913.0,-17.3,343,4699,0.00,1.00,0.00,0.000,4,0.000,0.062,1460,3939,2909,0,0,0,0,0,0
$GC,4884,-0.64,-105.0,949.2,-18.3,351,4889,0.00,0.95,0.00,0.000,6,0.000,0.038,1461,3321,2908,0,0,0,0,0,0
$STATE,5144,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5145,begin apogee
$GC,5149,-0.11,0.0,992.9,16.5,364,5254,0.65,0.00,102.25,1.886,6,0.163,0.000,1651,3178,2473,0,0,0,0,0,0
$STATE,5255,end apogee,CONTROL_FINISHED_OK
$STATE,5255,begin climb
$GC,5257,0.64,105.0,997.4,0.0,369,5372,0.77,2.47,105.10,1.833,4,0.101,0.034,1905,1777,2046,0,0,0,0,0,0
$GC,5438,0.64,105.0,978.8,13.5,377,5443,0.00,2.45,0.00,0.000,6,0.000,0.051,1905,3176,2039,0,0,0,0,0,0
$GC,5761,0.64,105.0,926.8,16.3,393,5765,0.00,1.27,0.00,0.000,4,0.000,0.060,1905,3939,2033,0,0,0,0,0,0
$GC,5838,0.64,105.0,912.5,18.0,396,5843,0.00,1.23,0.00,0.000,6,0.000,0.036,1911,3176,2033,0,0,0,0,0,0
$GC,6160,0.64,105.0,860.1,16.1,412,6163,0.00,1.27,0.00,0.000,4,0.000,0.060,1911,3950,2031,0,0,0,0,0,0
$GC,6265,0.64,105.0,841.1,17.3,416,6273,0.00,1.23,0.00,0.000,6,0.000,0.037,1917,3171,2030,0,0,0,0,0,0
$GC,6581,0.64,105.0,792.3,15.3,432,6585,0.00,1.27,0.00,0.000,4,0.000,0.060,1917,3951,2029,0,0,0,0,0,0
$GC,6680,0.64,105.0,775.5,17.1,436,6685,0.00,1.20,0.00,0.000,6,0.000,0.037,1923,3180,2028,0,0,0,0,0,0
$GC,7002,0.64,105.0,727.4,14.7,452,7003,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3179,2028,0,0,0,0,0,0
$GC,7311,0.64,105.0,681.7,14.9,467,7315,0.00,2.15,0.00,0.000,4,0.000,0.039,1934,1784,2027,0,0,0,0,0,0
$GC,7360,0.64,105.0,674.6,13.6,469,7366,0.08,2.28,0.00,0.000,6,0.168,0.053,1911,3189,2026,0,0,0,0,0,0
$GC,7682,0.64,105.0,629.1,14.3,485,7683,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3188,2026,0,0,0,0,0,0
$GC,7991,0.64,105.0,585.9,13.9,500,7992,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3189,2026,0,0,0,0,0,0
$GC,8301,0.64,105.0,544.8,13.3,515,8305,0.00,2.20,0.00,0.000,4,0.000,0.038,1920,1774,2026,0,0,0,0,0,0
$GC,8349,0.64,105.0,538.6,11.9,517,8354,0.00,2.28,0.00,0.000,6,0.000,0.053,1921,3171,2025,0,0,0,0,0,0
$GC,8671,0.64,105.0,494.4,13.9,533,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3171,2025,0,0,0,0,0,0
$GC,8980,0.64,105.0,449.4,14.9,548,8982,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3172,2025,0,0,0,0,0,0
$GC,9290,0.64,105.0,403.3,14.9,563,9291,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3172,2025,0,0,0,0,0,0
$GC,9607,0.64,105.0,356.1,15.1,591,9608,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3172,2025,0,0,0,0,0,0
$GC,9929,0.64,105.0,310.1,13.6,621,9930,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3172,2024,0,0,0,0,0,0
$GC,10245,0.64,105.0,267.3,13.3,651,10246,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3172,2024,0,0,0,0,0,0
$GC,10566,0.64,105.0,225.1,13.1,681,10567,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3172,2024,0,0,0,0,0,0
$GC,10882,0.64,105.0,183.2,13.0,711,10883,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3172,2024,0,0,0,0,0,0
$GC,11202,0.64,105.0,141.2,13.6,741,11203,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3172,2024,0,0,0,0,0,0
$GC,11521,0.64,105.0,97.5,13.0,772,11527,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3171,2024,0,0,0,0,0,0
$GC,11868,0.64,105.0,54.4,11.6,833,11875,0.00,1.23,0.00,0.000,4,0.000,0.060,1921,3941,2024,0,0,0,0,0,0
$GC,11968,0.64,105.0,41.4,13.3,850,11975,0.00,1.15,0.00,0.000,6,0.000,0.036,1926,3180,2024,0,0,0,0,0,0
$STATE,12310,end climb,SURFACE_DEPTH_REACHED
$STATE,12310,begin surface coast
$FINISH,0.8,1.026150
$STATE,12342,end surface coast,CONTROL_FINISHED_OK
$STATE,12343,begin surface
$SM_CCo,12354,46.55,0.794,0,0,1551,225.18
$SM_GC,1.44,0.00,0.00,46.55,0.000,0.000,0.794,68,3326,1551,-5.08,0.14,225.18
$IRIDIUM_FIX,-4244.98,828.21,151213,121204
$TT8_MAMPS,0.026215
$HUMID,62.16
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.7,15.399
$10V_AH,10.1,10.424
$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,12.275,48.225,207.350,46.550,0.000,26.538,19.667,287.096,0.000,0.000,19.946,2263.953,7527.096,344.127,2568.418,142.117,0.000,1233.829,0.000,2139.653,0.000,1.010,0.000
$DEVICE_MAMPS,229.500,79.560,1885.725,794.070,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,633.361,1604.144,667.279,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355204
$DATA_FILE_SIZE,60355,913
$CAP_FILE_SIZE,110730,0
$CFSIZE,259252224,251944960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151213,193404,-4259.364,830.570,34,0.8,34,-25.0