version: 66.07
glider: 543
mission: 9
dive: 99
start: 12 16 113 9 43 26
data:
$ID,543
$MISSION,9
$DIVE,99
$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,-12701.464
$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,53
$R_STBD_OVSHOOT,33
$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
$GPS1,161213,093522,-4259.704,830.588,37,0.9,37,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-64.9
$GPS2,161213,094305,-4259.690,830.617,16,1.6,16,-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,260.5,1014,-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,14,-0.61,-57.7,0.0,0.0,0,65,0.00,0.00,-48.28,0.000,2,0.000,0.000,66,3339,2658,0,0,0,0,0,0
$GC,67,-0.64,-105.2,3.1,-4.2,6,85,5.80,1.00,-6.78,0.000,4,0.238,0.087,1478,3941,2905,0,0,0,0,0,0
$GC,155,-0.64,-105.2,24.6,-24.2,20,164,0.00,0.95,0.00,0.000,6,0.000,0.035,1478,3326,2908,0,0,0,0,0,0
$GC,302,-0.64,-105.2,56.3,-21.7,45,311,0.00,0.98,0.00,0.000,4,0.000,0.058,1475,3927,2910,0,0,0,0,0,0
$GC,433,-0.64,-105.2,86.7,-24.3,67,440,0.00,0.95,0.00,0.000,6,0.000,0.036,1475,3310,2910,0,0,0,0,0,0
$GC,767,-0.64,-105.2,154.3,-20.1,103,771,0.00,1.00,0.00,0.000,4,0.000,0.059,1470,3927,2912,0,0,0,0,0,0
$GC,1026,-0.64,-105.2,211.8,-22.2,126,1030,0.00,0.93,0.00,0.000,6,0.000,0.035,1470,3315,2912,0,0,0,0,0,0
$GC,1359,-0.64,-105.2,280.6,-20.3,157,1362,0.00,1.00,0.00,0.000,4,0.000,0.059,1466,3941,2913,0,0,0,0,0,0
$GC,1617,-0.64,-105.2,338.4,-21.9,180,1621,0.00,0.95,0.00,0.000,6,0.000,0.035,1466,3311,2913,0,0,0,0,0,0
$GC,1946,-0.64,-105.2,405.2,-20.0,210,1950,0.00,1.00,0.00,0.000,4,0.000,0.060,1461,3937,2913,0,0,0,0,0,0
$GC,2203,-0.64,-105.2,460.3,-20.9,221,2207,0.00,0.95,0.00,0.000,6,0.000,0.036,1461,3318,2913,0,0,0,0,0,0
$GC,2525,-0.64,-105.2,524.5,-20.4,237,2528,0.00,0.98,0.00,0.000,4,0.000,0.060,1456,3928,2913,0,0,0,0,0,0
$GC,2781,-0.64,-105.2,580.5,-21.8,248,2786,0.12,0.95,0.00,0.000,6,0.197,0.037,1485,3315,2913,0,0,0,0,0,0
$GC,3102,-0.64,-105.2,636.9,-17.1,264,3106,0.00,0.98,0.00,0.000,4,0.000,0.062,1482,3930,2912,0,0,0,0,0,0
$GC,3359,-0.64,-105.2,684.3,-18.7,275,3363,0.00,0.95,0.00,0.000,6,0.000,0.037,1482,3314,2912,0,0,0,0,0,0
$GC,3683,-0.64,-105.2,737.4,-16.1,291,3686,0.00,0.98,0.00,0.000,4,0.000,0.062,1478,3926,2911,0,0,0,0,0,0
$GC,3939,-0.64,-105.2,780.9,-17.0,302,3943,0.00,0.95,0.00,0.000,6,0.000,0.037,1478,3310,2911,0,0,0,0,0,0
$GC,4262,-0.64,-105.2,831.0,-15.7,318,4266,0.00,1.00,0.00,0.000,4,0.000,0.062,1473,3936,2910,0,0,0,0,0,0
$GC,4519,-0.64,-105.2,875.2,-16.8,329,4523,0.00,0.95,0.00,0.000,6,0.000,0.037,1473,3320,2909,0,0,0,0,0,0
$GC,4840,-0.64,-105.2,928.6,-17.0,345,4844,0.00,0.98,0.00,0.000,4,0.000,0.063,1468,3930,2909,0,0,0,0,0,0
$GC,5097,-0.64,-105.2,974.5,-17.5,356,5101,0.00,0.95,0.00,0.000,6,0.000,0.038,1468,3317,2908,0,0,0,0,0,0
$STATE,5211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5211,begin apogee
$GC,5215,-0.11,0.0,993.2,16.2,362,5321,0.62,0.00,102.38,1.893,6,0.161,0.000,1652,3175,2473,0,0,0,0,0,0
$STATE,5321,end apogee,CONTROL_FINISHED_OK
$STATE,5321,begin climb
$GC,5323,0.64,105.2,997.6,0.0,367,5438,0.75,2.45,105.95,1.847,4,0.099,0.034,1902,1780,2044,0,0,0,0,0,0
$GC,5518,0.64,105.2,977.9,13.4,376,5522,0.00,2.40,0.00,0.000,6,0.000,0.050,1902,3172,2037,0,0,0,0,0,0
$GC,5843,0.64,105.2,926.2,15.9,392,5847,0.00,1.27,0.00,0.000,4,0.000,0.059,1902,3939,2032,0,0,0,0,0,0
$GC,5942,0.64,105.2,908.2,18.4,396,5947,0.00,1.23,0.00,0.000,6,0.000,0.036,1908,3173,2030,0,0,0,0,0,0
$GC,6266,0.64,105.2,855.9,16.6,412,6269,0.00,1.27,0.00,0.000,4,0.000,0.059,1908,3952,2029,0,0,0,0,0,0
$GC,6337,0.64,105.2,842.6,18.2,415,6341,0.00,1.23,0.00,0.000,6,0.000,0.036,1914,3173,2028,0,0,0,0,0,0
$GC,6665,0.64,105.2,788.2,16.7,431,6668,0.00,1.27,0.00,0.000,4,0.000,0.060,1914,3955,2027,0,0,0,0,0,0
$GC,6754,0.64,105.2,771.4,18.8,435,6758,0.00,1.20,0.00,0.000,6,0.000,0.037,1920,3176,2027,0,0,0,0,0,0
$GC,7088,0.64,105.2,713.7,17.2,451,7091,0.00,1.25,0.00,0.000,4,0.000,0.060,1920,3948,2026,0,0,0,0,0,0
$GC,7187,0.64,105.2,694.4,19.4,455,7192,0.00,1.20,0.00,0.000,6,0.000,0.036,1926,3177,2027,0,0,0,0,0,0
$GC,7509,0.64,105.2,641.6,16.7,471,7512,0.00,1.25,0.00,0.000,4,0.000,0.060,1926,3948,2026,0,0,0,0,0,0
$GC,7591,0.64,105.2,627.1,18.1,474,7599,0.00,1.20,0.00,0.000,6,0.000,0.037,1931,3173,2026,0,0,0,0,0,0
$GC,7909,0.64,105.2,577.5,15.4,490,7910,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,3173,2025,0,0,0,0,0,0
$GC,8217,0.64,105.2,529.9,15.4,505,8220,0.00,1.25,0.00,0.000,4,0.000,0.060,1931,3947,2025,0,0,0,0,0,0
$GC,8271,0.64,105.2,520.7,17.2,507,8277,0.12,1.20,0.00,0.000,6,0.218,0.037,1908,3171,2025,0,0,0,0,0,0
$GC,8593,0.64,105.2,475.5,14.3,523,8597,0.00,1.25,0.00,0.000,4,0.000,0.060,1908,3946,2024,0,0,0,0,0,0
$GC,8728,0.64,105.2,453.9,16.8,529,8732,0.00,1.17,0.00,0.000,6,0.000,0.037,1913,3179,2024,0,0,0,0,0,0
$GC,9060,0.64,105.2,405.2,14.6,545,9061,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3179,2024,0,0,0,0,0,0
$GC,9380,0.64,105.2,359.2,14.6,573,9384,0.00,1.25,0.00,0.000,4,0.000,0.061,1913,3955,2023,0,0,0,0,0,0
$GC,9542,0.64,105.2,332.6,16.2,587,9550,0.00,1.20,0.00,0.000,6,0.000,0.036,1919,3171,2023,0,0,0,0,0,0
$GC,9868,0.64,105.2,287.4,13.6,618,9871,0.00,1.25,0.00,0.000,4,0.000,0.060,1919,3948,2024,0,0,0,0,0,0
$GC,10039,0.64,105.2,261.1,16.0,633,10042,0.00,1.15,0.00,0.000,6,0.000,0.037,1925,3188,2023,0,0,0,0,0,0
$GC,10368,0.64,105.2,212.9,14.1,664,10372,0.00,1.23,0.00,0.000,4,0.000,0.060,1925,3951,2023,0,0,0,0,0,0
$GC,10417,0.64,105.2,205.5,15.6,668,10428,0.00,1.20,0.00,0.000,6,0.000,0.036,1931,3167,2023,0,0,0,0,0,0
$GC,10743,0.64,105.2,159.9,14.3,699,10746,0.00,1.25,0.00,0.000,4,0.000,0.060,1931,3948,2023,0,0,0,0,0,0
$GC,10871,0.64,105.2,139.4,15.6,710,10879,0.12,1.17,0.00,0.000,6,0.215,0.035,1908,3180,2023,0,0,0,0,0,0
$GC,11199,0.64,105.2,97.7,13.0,742,11206,0.00,1.23,0.00,0.000,4,0.000,0.060,1907,3946,2023,0,0,0,0,0,0
$GC,11407,0.64,105.2,70.7,12.5,778,11414,0.00,1.15,0.00,0.000,6,0.000,0.036,1912,3184,2023,0,0,0,0,0,0
$GC,11758,0.64,105.2,32.9,12.4,839,11765,0.00,1.23,0.00,0.000,4,0.000,0.060,1912,3946,2023,0,0,0,0,0,0
$GC,11830,0.64,105.2,23.1,12.7,851,11837,0.00,1.15,0.00,0.000,6,0.000,0.035,1918,3181,2023,0,0,0,0,0,0
$GC,11982,0.64,105.2,8.4,10.1,876,11991,0.00,2.15,0.00,0.000,4,0.000,0.034,1929,1783,2022,0,0,0,0,0,0
$STATE,12039,end climb,SURFACE_DEPTH_REACHED
$STATE,12039,begin surface coast
$FINISH,0.7,1.026137
$STATE,12070,end surface coast,CONTROL_FINISHED_OK
$STATE,12070,begin surface
$SM_CCo,12084,46.40,0.791,0,0,1554,225.18
$SM_GC,1.40,0.00,0.00,46.40,0.000,0.000,0.791,62,3320,1554,-5.10,0.03,225.18
$IRIDIUM_FIX,-4244.98,831.12,161213,050530
$TT8_MAMPS,0.025466
$HUMID,62.16
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.6,16.081
$10V_AH,10.0,10.915
$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,12.500,60.725,208.325,46.400,0.000,25.956,46.658,280.929,0.000,0.000,18.594,2282.154,7014.443,355.011,2788.208,154.240,0.000,1352.581,0.000,2331.887,0.000,1.012,0.000
$DEVICE_MAMPS,237.915,87.210,1892.610,791.010,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,617.192,1549.417,650.587,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355160
$DATA_FILE_SIZE,60363,890
$CAP_FILE_SIZE,122045,0
$CFSIZE,259252224,251609088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,161213,130634,-4259.933,829.821,24,1.0,24,-25.0