version: 66.07
glider: 543
mission: 9
dive: 97
start: 12 16 113 2 33 55
data:
$ID,543
$MISSION,9
$DIVE,97
$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,-12695.193
$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,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
$GPS1,161213,022549,-4259.521,829.638,22,0.7,22,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-62.5
$GPS2,161213,023334,-4259.508,829.739,32,0.9,32,-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,183.8,977,-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,-41.20,0.000,2,0.000,0.000,66,3338,2473,0,0,0,0,0,0
$GC,59,-0.64,-100.7,3.0,-4.7,5,85,5.70,1.00,-12.60,0.000,4,0.233,0.085,1476,3950,2885,0,0,0,0,0,0
$GC,344,-0.64,-100.7,65.3,-23.1,53,351,0.00,0.95,0.00,0.000,6,0.000,0.036,1479,3324,2889,0,0,0,0,0,0
$GC,686,-0.64,-100.7,133.8,-19.6,99,689,0.00,1.00,0.00,0.000,4,0.000,0.059,1476,3951,2891,0,0,0,0,0,0
$GC,944,-0.64,-100.7,190.1,-22.3,122,948,0.00,0.95,0.00,0.000,6,0.000,0.035,1476,3321,2892,0,0,0,0,0,0
$GC,1277,-0.64,-100.7,257.8,-20.6,153,1280,0.00,1.02,0.00,0.000,4,0.000,0.060,1471,3948,2892,0,0,0,0,0,0
$GC,1446,-0.64,-100.7,292.7,-19.9,168,1449,0.00,0.95,0.00,0.000,6,0.000,0.036,1471,3319,2893,0,0,0,0,0,0
$GC,1776,-0.64,-100.7,355.6,-19.2,199,1779,0.00,1.00,0.00,0.000,4,0.000,0.060,1467,3951,2893,0,0,0,0,0,0
$GC,1993,-0.64,-100.7,401.0,-21.1,218,2000,0.00,0.98,0.00,0.000,6,0.000,0.036,1467,3311,2893,0,0,0,0,0,0
$GC,2309,-0.64,-100.7,464.3,-20.2,234,2312,0.00,1.00,0.00,0.000,4,0.000,0.060,1462,3941,2893,0,0,0,0,0,0
$GC,2514,-0.64,-100.7,510.1,-21.2,243,2519,0.00,0.95,0.00,0.000,6,0.000,0.037,1462,3319,2893,0,0,0,0,0,0
$GC,2844,-0.64,-100.7,576.3,-20.1,259,2847,0.00,1.00,0.00,0.000,4,0.000,0.061,1457,3948,2893,0,0,0,0,0,0
$GC,2955,-0.64,-100.7,600.2,-20.6,264,2960,0.08,0.95,0.00,0.000,6,0.183,0.037,1479,3322,2893,0,0,0,0,0,0
$GC,3288,-0.64,-100.7,658.9,-17.2,280,3291,0.00,1.00,0.00,0.000,4,0.000,0.062,1476,3952,2893,0,0,0,0,0,0
$GC,3423,-0.64,-100.7,683.8,-18.0,286,3427,0.00,0.95,0.00,0.000,6,0.000,0.038,1475,3319,2892,0,0,0,0,0,0
$GC,3755,-0.64,-100.7,742.4,-17.0,302,3758,0.00,1.00,0.00,0.000,4,0.000,0.063,1471,3951,2891,0,0,0,0,0,0
$GC,3905,-0.64,-100.7,770.3,-18.1,308,3913,0.00,0.98,0.00,0.000,6,0.000,0.037,1471,3314,2891,0,0,0,0,0,0
$GC,4221,-0.64,-100.7,823.2,-16.6,324,4225,0.00,1.00,0.00,0.000,4,0.000,0.063,1467,3941,2890,0,0,0,0,0,0
$GC,4455,-0.64,-100.7,865.7,-17.6,334,4460,0.00,0.98,0.00,0.000,6,0.000,0.038,1466,3310,2890,0,0,0,0,0,0
$GC,4777,-0.64,-100.7,917.7,-15.7,350,4781,0.00,1.00,0.00,0.000,4,0.000,0.063,1461,3938,2889,0,0,0,0,0,0
$GC,5034,-0.64,-100.7,962.9,-16.5,361,5038,0.00,0.98,0.00,0.000,6,0.000,0.038,1462,3308,2888,0,0,0,0,0,0
$STATE,5210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5210,begin apogee
$GC,5214,-0.11,0.0,991.7,16.3,370,5315,0.65,0.00,97.72,1.899,6,0.164,0.000,1652,3182,2473,0,0,0,0,0,0
$STATE,5316,end apogee,CONTROL_FINISHED_OK
$STATE,5316,begin climb
$GC,5317,0.64,100.7,996.3,0.0,375,5428,0.75,2.45,101.35,1.851,4,0.099,0.034,1902,1781,2063,0,0,0,0,0,0
$GC,5494,0.64,100.7,979.9,12.3,383,5499,0.00,2.42,0.00,0.000,6,0.000,0.051,1902,3170,2057,0,0,0,0,0,0
$GC,5823,0.64,100.7,932.1,14.7,399,5826,0.00,1.30,0.00,0.000,4,0.000,0.060,1902,3949,2052,0,0,0,0,0,0
$GC,5994,0.64,100.7,902.7,16.6,406,6002,0.00,1.25,0.00,0.000,6,0.000,0.036,1908,3162,2051,0,0,0,0,0,0
$GC,6312,0.64,100.7,854.2,15.2,422,6316,0.00,1.27,0.00,0.000,4,0.000,0.060,1908,3939,2048,0,0,0,0,0,0
$GC,6501,0.64,100.7,821.0,17.4,430,6506,0.00,1.20,0.00,0.000,6,0.000,0.036,1914,3178,2048,0,0,0,0,0,0
$GC,6823,0.64,100.7,770.5,15.2,446,6827,0.00,1.25,0.00,0.000,4,0.000,0.060,1914,3947,2047,0,0,0,0,0,0
$GC,7006,0.64,100.7,738.8,16.4,454,7011,0.00,1.20,0.00,0.000,6,0.000,0.036,1919,3178,2047,0,0,0,0,0,0
$GC,7335,0.64,100.7,688.5,14.7,470,7339,0.00,1.25,0.00,0.000,4,0.000,0.060,1919,3951,2045,0,0,0,0,0,0
$GC,7426,0.64,100.7,673.3,17.8,474,7429,0.00,1.17,0.00,0.000,6,0.000,0.037,1925,3183,2045,0,0,0,0,0,0
$GC,7757,0.64,100.7,621.4,15.4,490,7759,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,3182,2045,0,0,0,0,0,0
$GC,8068,0.64,100.7,574.2,15.4,505,8072,0.00,1.25,0.00,0.000,4,0.000,0.061,1925,3956,2045,0,0,0,0,0,0
$GC,8207,0.64,100.7,550.2,17.4,511,8212,0.00,1.23,0.00,0.000,6,0.000,0.037,1931,3162,2045,0,0,0,0,0,0
$GC,8535,0.64,100.7,500.8,15.0,527,8538,0.00,1.27,0.00,0.000,4,0.000,0.060,1931,3954,2044,0,0,0,0,0,0
$GC,8752,0.64,100.7,462.8,17.0,536,8761,0.12,1.20,0.00,0.000,6,0.218,0.037,1908,3177,2044,0,0,0,0,0,0
$GC,9069,0.64,100.7,417.0,14.2,552,9070,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3177,2043,0,0,0,0,0,0
$GC,9383,0.64,100.7,373.0,14.4,576,9387,0.00,1.25,0.00,0.000,4,0.000,0.060,1908,3955,2043,0,0,0,0,0,0
$GC,9642,0.64,100.7,333.1,15.2,599,9646,0.00,1.17,0.00,0.000,6,0.000,0.037,1912,3181,2043,0,0,0,0,0,0
$GC,9972,0.64,100.7,288.9,13.3,630,9976,0.00,1.23,0.00,0.000,4,0.000,0.060,1913,3940,2042,0,0,0,0,0,0
$GC,10164,0.64,100.7,261.1,15.0,647,10167,0.00,1.15,0.00,0.000,6,0.000,0.037,1918,3183,2042,0,0,0,0,0,0
$GC,10494,0.64,100.7,218.4,12.9,678,10495,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3184,2041,0,0,0,0,0,0
$GC,10813,0.64,100.7,178.1,12.8,708,10816,0.00,1.23,0.00,0.000,4,0.000,0.061,1918,3947,2041,0,0,0,0,0,0
$GC,10993,0.64,100.7,151.8,14.4,724,10997,0.00,1.15,0.00,0.000,6,0.000,0.036,1924,3184,2041,0,0,0,0,0,0
$GC,11323,0.64,100.7,106.7,14.2,755,11327,0.00,1.23,0.00,0.000,4,0.000,0.060,1924,3948,2041,0,0,0,0,0,0
$GC,11583,0.64,100.7,67.2,14.5,797,11590,0.00,1.17,0.00,0.000,6,0.000,0.036,1930,3172,2041,0,0,0,0,0,0
$GC,11931,0.64,100.7,21.7,11.5,858,11940,0.00,1.25,0.00,0.000,4,0.000,0.060,1930,3954,2041,0,0,0,0,0,0
$STATE,12085,end climb,SURFACE_DEPTH_REACHED
$STATE,12085,begin surface coast
$FINISH,0.8,1.026933
$STATE,12110,end surface coast,CONTROL_FINISHED_OK
$STATE,12110,begin surface
$SM_CCo,12123,47.90,0.784,0,0,1554,225.18
$SM_GC,1.59,0.00,0.00,47.90,0.000,0.000,0.784,65,3302,1554,-5.08,-0.54,225.18
$IRIDIUM_FIX,-4244.98,831.12,151213,222222
$TT8_MAMPS,0.025466
$HUMID,62.52
$INTERNAL_PRESSURE,9.53279
$TCM_TEMP,13.30
$XPDR_PINGS,0
$24V_AH,22.7,15.811
$10V_AH,10.1,10.713
$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,12.275,51.325,199.075,47.900,0.000,25.171,50.504,264.329,0.000,0.000,35.179,2275.287,7104.483,324.064,2789.559,143.972,0.000,1307.515,0.000,2327.445,0.000,1.012,0.000
$DEVICE_MAMPS,232.560,84.915,1898.730,784.125,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,615.740,1540.293,630.869,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,60321,887
$CAP_FILE_SIZE,117541,0
$CFSIZE,259252224,251748352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,161213,055758,-4300.812,830.881,39,0.9,39,-25.0