version: 66.07
glider: 543
mission: 9
dive: 96
start: 12 15 113 23 3 15
data:
$ID,543
$MISSION,9
$DIVE,96
$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,-12692.012
$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,43
$R_STBD_OVSHOOT,21
$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
$GPS1,151213,225603,-4300.068,830.270,27,1.0,27,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-63.1
$GPS2,151213,230254,-4300.099,830.387,15,1.4,15,-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,314.3,555,-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,-48.72,0.000,2,0.000,0.000,66,3327,2672,0,0,0,0,0,0
$GC,67,-0.64,-105.1,3.3,-4.2,6,84,5.70,0.00,-6.35,0.000,6,0.233,0.000,1480,3328,2905,0,0,0,0,0,0
$GC,134,-0.64,-105.1,17.9,-22.2,16,142,0.00,0.00,0.00,0.000,6,0.000,0.000,1480,3328,2909,0,0,0,0,0,0
$GC,190,-0.64,-105.1,29.4,-20.7,25,197,0.00,1.00,0.00,0.000,4,0.000,0.060,1477,3945,2909,0,0,0,0,0,0
$GC,296,-0.64,-105.1,53.0,-22.3,43,302,0.00,0.98,0.00,0.000,6,0.000,0.037,1478,3312,2909,0,0,0,0,0,0
$GC,640,-0.64,-105.1,125.1,-20.3,94,644,0.00,1.02,0.00,0.000,4,0.000,0.060,1475,3943,2911,0,0,0,0,0,0
$GC,880,-0.64,-105.1,176.4,-21.5,115,888,0.00,0.98,0.00,0.000,6,0.000,0.035,1475,3310,2912,0,0,0,0,0,0
$GC,1205,-0.64,-105.1,242.2,-20.3,146,1209,0.00,1.02,0.00,0.000,4,0.000,0.060,1470,3956,2913,0,0,0,0,0,0
$GC,1341,-0.64,-105.1,270.8,-21.0,158,1345,0.00,0.95,0.00,0.000,6,0.000,0.037,1470,3323,2913,0,0,0,0,0,0
$GC,1673,-0.64,-105.1,333.5,-18.5,189,1677,0.00,1.00,0.00,0.000,4,0.000,0.060,1466,3956,2913,0,0,0,0,0,0
$GC,1880,-0.64,-105.1,376.3,-20.3,207,1888,0.00,0.98,0.00,0.000,6,0.000,0.035,1466,3316,2913,0,0,0,0,0,0
$GC,2210,-0.64,-105.1,441.1,-19.7,229,2213,0.00,1.00,0.00,0.000,4,0.000,0.060,1461,3950,2913,0,0,0,0,0,0
$GC,2404,-0.64,-105.1,482.6,-21.0,237,2412,0.00,0.98,0.00,0.000,6,0.000,0.036,1461,3311,2913,0,0,0,0,0,0
$GC,2721,-0.64,-105.1,546.2,-20.2,253,2724,0.00,1.00,0.00,0.000,4,0.000,0.060,1456,3943,2913,0,0,0,0,0,0
$GC,2915,-0.64,-105.1,588.6,-21.5,261,2924,0.12,0.95,0.00,0.000,6,0.197,0.037,1485,3323,2913,0,0,0,0,0,0
$GC,3233,-0.64,-105.1,644.3,-17.4,277,3237,0.00,1.00,0.00,0.000,4,0.000,0.061,1482,3955,2913,0,0,0,0,0,0
$GC,3332,-0.64,-105.1,663.3,-18.8,281,3337,0.00,0.98,0.00,0.000,6,0.000,0.037,1482,3316,2913,0,0,0,0,0,0
$GC,3654,-0.64,-105.1,718.2,-17.3,297,3658,0.00,1.00,0.00,0.000,4,0.000,0.063,1477,3945,2912,0,0,0,0,0,0
$GC,3837,-0.64,-105.1,751.5,-17.3,305,3842,0.00,0.98,0.00,0.000,6,0.000,0.038,1477,3312,2912,0,0,0,0,0,0
$GC,4165,-0.64,-105.1,805.4,-16.0,321,4168,0.00,1.00,0.00,0.000,4,0.000,0.063,1472,3941,2911,0,0,0,0,0,0
$GC,4323,-0.64,-105.1,832.9,-17.5,328,4327,0.00,0.95,0.00,0.000,6,0.000,0.039,1472,3316,2911,0,0,0,0,0,0
$GC,4655,-0.64,-105.1,887.2,-15.8,344,4658,0.00,1.00,0.00,0.000,4,0.000,0.062,1467,3947,2910,0,0,0,0,0,0
$GC,4822,-0.64,-105.1,916.8,-17.4,351,4826,0.00,0.98,0.00,0.000,6,0.000,0.039,1467,3301,2909,0,0,0,0,0,0
$GC,5144,-0.64,-105.1,970.5,-16.9,367,5147,0.00,1.02,0.00,0.000,4,0.000,0.063,1463,3946,2908,0,0,0,0,0,0
$STATE,5247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5248,begin apogee
$GC,5252,-0.11,0.0,990.0,17.4,371,5360,0.62,0.00,102.60,1.896,6,0.167,0.000,1650,3169,2473,0,0,0,0,0,0
$STATE,5361,end apogee,CONTROL_FINISHED_OK
$STATE,5361,begin climb
$GC,5362,0.64,105.1,995.5,0.0,377,5477,0.77,2.45,105.80,1.852,4,0.100,0.036,1906,1777,2044,0,0,0,0,0,0
$GC,5566,0.64,105.1,976.3,12.1,386,5570,0.00,2.45,0.00,0.000,6,0.000,0.052,1906,3182,2037,0,0,0,0,0,0
$GC,5888,0.64,105.1,928.3,15.1,402,5891,0.00,1.27,0.00,0.000,4,0.000,0.060,1906,3950,2031,0,0,0,0,0,0
$GC,6023,0.64,105.1,904.5,17.4,408,6026,0.00,1.23,0.00,0.000,6,0.000,0.037,1911,3170,2030,0,0,0,0,0,0
$GC,6355,0.64,105.1,849.8,16.3,424,6358,0.00,1.27,0.00,0.000,4,0.000,0.060,1911,3947,2028,0,0,0,0,0,0
$GC,6538,0.64,105.1,815.8,18.9,432,6543,0.00,1.23,0.00,0.000,6,0.000,0.037,1917,3167,2028,0,0,0,0,0,0
$GC,6866,0.64,105.1,762.5,15.9,448,6869,0.00,1.27,0.00,0.000,4,0.000,0.060,1917,3951,2027,0,0,0,0,0,0
$GC,6937,0.64,105.1,749.5,18.6,451,6942,0.00,1.20,0.00,0.000,6,0.000,0.037,1923,3180,2027,0,0,0,0,0,0
$GC,7265,0.64,105.1,696.6,16.1,467,7268,0.00,1.25,0.00,0.000,4,0.000,0.061,1923,3947,2026,0,0,0,0,0,0
$GC,7403,0.64,105.1,671.6,18.3,473,7408,0.00,1.20,0.00,0.000,6,0.000,0.037,1929,3176,2026,0,0,0,0,0,0
$GC,7732,0.64,105.1,619.0,15.8,489,7736,0.00,1.25,0.00,0.000,4,0.000,0.060,1929,3947,2025,0,0,0,0,0,0
$GC,7845,0.64,105.1,599.5,17.0,494,7849,0.10,1.17,0.00,0.000,6,0.193,0.038,1906,3180,2025,0,0,0,0,0,0
$GC,8176,0.64,105.1,554.2,13.3,510,8180,0.00,1.25,0.00,0.000,4,0.000,0.061,1906,3951,2024,0,0,0,0,0,0
$GC,8253,0.64,105.1,542.6,14.8,513,8258,0.00,1.20,0.00,0.000,6,0.000,0.037,1911,3179,2024,0,0,0,0,0,0
$GC,8575,0.64,105.1,499.2,13.7,529,8579,0.00,1.25,0.00,0.000,4,0.000,0.061,1911,3955,2024,0,0,0,0,0,0
$GC,8781,0.64,105.1,465.9,16.6,538,8786,0.00,1.20,0.00,0.000,6,0.000,0.037,1917,3179,2024,0,0,0,0,0,0
$GC,9108,0.64,105.1,418.5,14.5,554,9112,0.00,1.25,0.00,0.000,4,0.000,0.061,1917,3953,2024,0,0,0,0,0,0
$GC,9230,0.64,105.1,398.2,17.4,559,9235,0.00,1.20,0.00,0.000,6,0.000,0.037,1923,3175,2023,0,0,0,0,0,0
$GC,9561,0.64,105.1,348.1,14.8,590,9565,0.00,1.25,0.00,0.000,4,0.000,0.061,1922,3958,2023,0,0,0,0,0,0
$GC,9667,0.64,105.1,330.2,16.8,599,9675,0.00,1.20,0.00,0.000,6,0.000,0.037,1929,3179,2023,0,0,0,0,0,0
$GC,9992,0.64,105.1,281.5,15.2,630,9996,0.00,1.25,0.00,0.000,4,0.000,0.060,1929,3955,2022,0,0,0,0,0,0
$GC,10165,0.64,105.1,252.4,17.2,645,10174,0.12,1.20,0.00,0.000,6,0.213,0.036,1906,3172,2022,0,0,0,0,0,0
$GC,10491,0.64,105.1,207.7,13.6,676,10494,0.00,1.25,0.00,0.000,4,0.000,0.060,1904,3956,2023,0,0,0,0,0,0
$GC,10597,0.64,105.1,191.3,16.6,685,10605,0.00,1.20,0.00,0.000,6,0.000,0.036,1909,3169,2022,0,0,0,0,0,0
$GC,10922,0.64,105.1,146.7,13.1,716,10926,0.00,1.25,0.00,0.000,4,0.000,0.060,1909,3947,2022,0,0,0,0,0,0
$GC,11081,0.64,105.1,123.1,14.9,730,11085,0.00,1.15,0.00,0.000,6,0.000,0.036,1915,3183,2022,0,0,0,0,0,0
$GC,11415,0.64,105.1,79.1,13.2,774,11424,0.00,1.23,0.00,0.000,4,0.000,0.060,1915,3947,2022,0,0,0,0,0,0
$GC,11600,0.64,105.1,53.3,13.7,806,11607,0.00,1.15,0.00,0.000,6,0.000,0.036,1921,3182,2022,0,0,0,0,0,0
$GC,11955,0.64,105.1,9.6,10.5,867,11964,0.00,2.15,0.00,0.000,4,0.000,0.035,1931,1777,2022,0,0,0,0,0,0
$STATE,12024,end climb,SURFACE_DEPTH_REACHED
$STATE,12024,begin surface coast
$FINISH,1.4,1.026137
$STATE,12038,end surface coast,CONTROL_FINISHED_OK
$STATE,12038,begin surface
$SM_CCo,12052,46.45,0.796,0,0,1555,225.18
$SM_GC,1.24,0.00,0.00,46.45,0.000,0.000,0.796,69,3336,1555,-5.08,0.45,225.18
$IRIDIUM_FIX,-4244.98,828.21,151213,191923
$TT8_MAMPS,0.026215
$HUMID,61.93
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.6,15.677
$10V_AH,10.0,10.615
$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,12.425,63.325,208.400,46.450,0.000,25.055,19.217,257.729,0.000,0.000,18.594,2256.718,7031.099,363.801,2728.629,131.716,0.000,1364.506,0.000,2316.100,0.000,1.010,0.000
$DEVICE_MAMPS,232.560,62.730,1895.670,795.600,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,609.960,1520.781,630.912,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,60378,880
$CAP_FILE_SIZE,122069,0
$CFSIZE,259252224,251809792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,161213,022549,-4259.521,829.638,22,0.7,22,-25.0