version: 66.07
glider: 543
mission: 9
dive: 95
start: 12 15 113 19 41 45
data:
$ID,543
$MISSION,9
$DIVE,95
$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,-12688.895
$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,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
$GPS1,151213,193404,-4259.364,830.570,34,0.8,34,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-64.5
$GPS2,151213,194124,-4259.368,830.605,16,1.4,16,-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,240.0,1429,-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,-48.97,0.000,2,0.000,0.000,67,3324,2686,0,0,0,0,0,0
$GC,67,-0.64,-107.6,3.3,-4.0,6,85,5.75,0.98,-6.00,0.000,4,0.236,0.081,1478,3958,2913,0,0,0,0,0,0
$GC,202,-0.64,-107.6,37.3,-24.0,28,211,0.00,0.98,0.00,0.000,6,0.000,0.037,1478,3322,2917,0,0,0,0,0,0
$GC,347,-0.64,-107.6,69.2,-21.3,53,354,0.00,1.00,0.00,0.000,4,0.000,0.058,1475,3949,2918,0,0,0,0,0,0
$GC,452,-0.64,-107.6,92.3,-21.4,71,459,0.00,0.95,0.00,0.000,6,0.000,0.036,1474,3321,2919,0,0,0,0,0,0
$GC,782,-0.64,-107.6,158.2,-20.1,105,786,0.00,1.00,0.00,0.000,4,0.000,0.058,1470,3951,2920,0,0,0,0,0,0
$GC,1019,-0.64,-107.6,211.3,-22.8,126,1022,0.00,0.95,0.00,0.000,6,0.000,0.036,1470,3318,2921,0,0,0,0,0,0
$GC,1351,-0.64,-107.6,282.4,-21.0,157,1354,0.00,1.00,0.00,0.000,4,0.000,0.059,1465,3949,2921,0,0,0,0,0,0
$GC,1610,-0.64,-107.6,341.5,-21.0,180,1614,0.00,0.95,0.00,0.000,6,0.000,0.037,1465,3315,2921,0,0,0,0,0,0
$GC,1940,-0.64,-107.6,409.9,-20.6,209,1944,0.00,1.00,0.00,0.000,4,0.000,0.059,1461,3948,2921,0,0,0,0,0,0
$GC,2198,-0.64,-107.6,465.6,-21.0,220,2202,0.00,0.95,0.00,0.000,6,0.000,0.037,1461,3313,2921,0,0,0,0,0,0
$GC,2519,-0.64,-107.6,528.7,-19.0,236,2523,0.00,1.00,0.00,0.000,4,0.000,0.060,1456,3946,2921,0,0,0,0,0,0
$GC,2747,-0.64,-107.6,575.7,-20.1,246,2752,0.00,0.98,0.00,0.000,6,0.000,0.037,1456,3310,2921,0,0,0,0,0,0
$GC,3074,-0.64,-107.6,638.3,-19.4,262,3079,0.12,1.02,0.00,0.000,4,0.197,0.060,1482,3949,2921,0,0,0,0,0,0
$GC,3331,-0.64,-107.6,685.8,-18.6,273,3336,0.00,0.98,0.00,0.000,6,0.000,0.038,1482,3313,2920,0,0,0,0,0,0
$GC,3653,-0.64,-107.6,740.7,-17.0,289,3657,0.00,1.00,0.00,0.000,4,0.000,0.062,1477,3947,2920,0,0,0,0,0,0
$GC,3821,-0.64,-107.6,771.7,-17.8,296,3825,0.00,0.95,0.00,0.000,6,0.000,0.038,1477,3320,2919,0,0,0,0,0,0
$GC,4142,-0.64,-107.6,825.5,-16.6,312,4146,0.00,1.00,0.00,0.000,4,0.000,0.063,1473,3950,2919,0,0,0,0,0,0
$GC,4399,-0.64,-107.6,872.6,-18.2,323,4404,0.00,0.98,0.00,0.000,6,0.000,0.038,1473,3315,2918,0,0,0,0,0,0
$GC,4720,-0.64,-107.6,928.0,-17.5,339,4724,0.00,1.00,0.00,0.000,4,0.000,0.063,1468,3945,2918,0,0,0,0,0,0
$GC,4977,-0.64,-107.6,975.8,-18.2,350,4982,0.00,0.98,0.00,0.000,6,0.000,0.039,1468,3313,2917,0,0,0,0,0,0
$STATE,5072,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5072,begin apogee
$GC,5076,-0.11,0.0,991.7,17.1,355,5184,0.62,0.00,104.32,1.883,6,0.160,0.000,1653,3181,2473,0,0,0,0,0,0
$STATE,5185,end apogee,CONTROL_FINISHED_OK
$STATE,5185,begin climb
$GC,5186,0.64,107.6,997.2,0.0,360,5302,0.75,2.45,107.78,1.835,4,0.097,0.036,1903,1775,2034,0,0,0,0,0,0
$GC,5391,0.64,107.6,978.2,12.6,369,5399,0.00,2.45,0.00,0.000,6,0.000,0.051,1904,3179,2027,0,0,0,0,0,0
$GC,5709,0.64,107.6,929.0,16.1,385,5712,0.00,1.27,0.00,0.000,4,0.000,0.060,1903,3948,2023,0,0,0,0,0,0
$GC,5768,0.64,107.6,918.0,18.0,387,5777,0.00,1.25,0.00,0.000,6,0.000,0.036,1909,3163,2022,0,0,0,0,0,0
$GC,6085,0.64,107.6,866.4,16.6,403,6088,0.00,1.30,0.00,0.000,4,0.000,0.060,1909,3956,2019,0,0,0,0,0,0
$GC,6175,0.64,107.6,849.7,19.8,407,6178,0.00,1.20,0.00,0.000,6,0.000,0.037,1915,3181,2019,0,0,0,0,0,0
$GC,6507,0.64,107.6,794.1,16.4,423,6510,0.00,1.25,0.00,0.000,4,0.000,0.060,1915,3952,2018,0,0,0,0,0,0
$GC,6578,0.64,107.6,780.9,19.2,426,6583,0.00,1.23,0.00,0.000,6,0.000,0.037,1921,3168,2018,0,0,0,0,0,0
$GC,6906,0.64,107.6,725.4,17.0,442,6909,0.00,1.27,0.00,0.000,4,0.000,0.060,1920,3956,2017,0,0,0,0,0,0
$GC,6954,0.64,107.6,715.5,19.9,444,6959,0.00,1.20,0.00,0.000,6,0.000,0.037,1927,3180,2017,0,0,0,0,0,0
$GC,7284,0.64,107.6,657.3,17.5,460,7285,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,3180,2016,0,0,0,0,0,0
$GC,7591,0.64,107.6,605.4,16.6,475,7595,0.00,1.23,0.00,0.000,4,0.000,0.060,1927,3941,2016,0,0,0,0,0,0
$GC,7793,0.64,107.6,567.4,18.5,484,7797,0.00,1.17,0.00,0.000,6,0.000,0.037,1932,3178,2016,0,0,0,0,0,0
$GC,8127,0.64,107.6,513.9,15.8,500,8130,0.00,1.25,0.00,0.000,4,0.000,0.060,1933,3954,2014,0,0,0,0,0,0
$GC,8209,0.64,107.6,498.9,18.3,503,8218,0.12,1.20,0.00,0.000,6,0.223,0.037,1910,3176,2015,0,0,0,0,0,0
$GC,8526,0.64,107.6,453.7,13.9,519,8529,0.00,1.25,0.00,0.000,4,0.000,0.060,1910,3954,2014,0,0,0,0,0,0
$GC,8593,0.64,107.6,442.5,17.3,522,8597,0.00,1.17,0.00,0.000,6,0.000,0.037,1915,3180,2013,0,0,0,0,0,0
$GC,8916,0.64,107.6,394.7,14.9,539,8919,0.00,1.23,0.00,0.000,4,0.000,0.060,1914,3947,2013,0,0,0,0,0,0
$GC,8987,0.64,107.6,382.7,16.8,545,8995,0.00,1.20,0.00,0.000,6,0.000,0.037,1921,3168,2014,0,0,0,0,0,0
$GC,9313,0.64,107.6,332.3,15.7,576,9316,0.00,1.25,0.00,0.000,4,0.000,0.060,1921,3944,2013,0,0,0,0,0,0
$GC,9396,0.64,107.6,317.8,17.1,583,9403,0.00,1.17,0.00,0.000,6,0.000,0.036,1927,3181,2013,0,0,0,0,0,0
$GC,9721,0.64,107.6,267.5,16.4,614,9725,0.00,1.23,0.00,0.000,4,0.000,0.060,1926,3950,2013,0,0,0,0,0,0
$GC,9867,0.64,107.6,241.0,18.2,627,9871,0.00,1.17,0.00,0.000,6,0.000,0.037,1932,3173,2013,0,0,0,0,0,0
$GC,10197,0.64,107.6,187.9,16.0,658,10201,0.00,1.25,0.00,0.000,4,0.000,0.060,1932,3954,2013,0,0,0,0,0,0
$GC,10314,0.64,107.6,167.4,18.1,668,10324,0.12,1.20,0.00,0.000,6,0.221,0.035,1910,3167,2013,0,0,0,0,0,0
$GC,10639,0.64,107.6,123.1,13.4,699,10642,0.00,1.25,0.00,0.000,4,0.000,0.060,1908,3947,2013,0,0,0,0,0,0
$GC,10744,0.64,107.6,106.6,16.5,708,10754,0.00,1.17,0.00,0.000,6,0.000,0.035,1913,3179,2013,0,0,0,0,0,0
$GC,11089,0.64,107.6,59.7,12.9,765,11098,0.00,1.23,0.00,0.000,4,0.000,0.060,1913,3947,2013,0,0,0,0,0,0
$GC,11301,0.64,107.6,27.7,15.8,801,11308,0.00,1.15,0.00,0.000,6,0.000,0.036,1919,3183,2013,0,0,0,0,0,0
$GC,11451,0.64,107.6,10.2,11.0,826,11460,0.00,1.23,0.00,0.000,4,0.000,0.060,1919,3944,2013,0,0,0,0,0,0
$STATE,11514,end climb,SURFACE_DEPTH_REACHED
$STATE,11514,begin surface coast
$FINISH,0.7,1.024185
$STATE,11539,end surface coast,CONTROL_FINISHED_OK
$STATE,11539,begin surface
$SM_CCo,11552,45.42,0.806,0,0,1555,225.18
$SM_GC,1.17,0.00,0.00,45.42,0.000,0.000,0.806,66,3327,1555,-5.09,0.20,225.18
$IRIDIUM_FIX,-4244.98,828.21,151213,151554
$TT8_MAMPS,0.026215
$HUMID,62.16
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.6,15.539
$10V_AH,10.1,10.517
$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,12.475,58.625,212.100,45.425,0.000,24.439,40.814,268.248,0.000,0.000,19.207,2163.908,6746.529,357.642,2641.090,130.723,0.000,1315.754,0.000,2202.171,0.000,1.011,0.000
$DEVICE_MAMPS,236.385,81.090,1882.665,805.545,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,582.186,1455.896,601.159,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355192
$DATA_FILE_SIZE,57089,840
$CAP_FILE_SIZE,117748,0
$CFSIZE,259252224,251883520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151213,225603,-4300.068,830.270,27,1.0,27,-25.0