version: 66.07
glider: 543
mission: 9
dive: 100
start: 12 16 113 13 14 17
data:
$ID,543
$MISSION,9
$DIVE,100
$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,-12704.7
$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,23
$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
$GPS1,161213,130634,-4259.933,829.821,24,1.0,24,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-62.0
$GPS2,161213,131356,-4259.954,829.871,15,0.9,17,-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,141.0,194,-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,-48.60,0.000,2,0.000,0.000,62,3321,2674,0,0,0,0,0,0
$GC,67,-0.64,-104.2,3.3,-4.3,6,85,5.72,0.98,-6.00,0.000,4,0.233,0.081,1478,3957,2900,0,0,0,0,0,0
$GC,344,-0.64,-104.2,72.0,-24.0,53,351,0.00,0.98,0.00,0.000,6,0.000,0.036,1478,3315,2904,0,0,0,0,0,0
$GC,678,-0.64,-104.2,141.6,-21.3,95,681,0.00,1.00,0.00,0.000,4,0.000,0.059,1473,3942,2907,0,0,0,0,0,0
$GC,936,-0.64,-104.2,200.5,-22.4,118,940,0.00,0.95,0.00,0.000,6,0.000,0.035,1474,3314,2908,0,0,0,0,0,0
$GC,1269,-0.64,-104.2,266.9,-19.5,149,1272,0.00,1.00,0.00,0.000,4,0.000,0.059,1468,3949,2908,0,0,0,0,0,0
$GC,1528,-0.64,-104.2,323.3,-20.8,172,1531,0.00,0.95,0.00,0.000,6,0.000,0.036,1469,3316,2908,0,0,0,0,0,0
$GC,1857,-0.64,-104.2,389.7,-20.3,203,1861,0.00,1.00,0.00,0.000,4,0.000,0.060,1464,3946,2908,0,0,0,0,0,0
$GC,2113,-0.64,-104.2,444.6,-21.1,217,2118,0.00,0.98,0.00,0.000,6,0.000,0.036,1464,3311,2908,0,0,0,0,0,0
$GC,2435,-0.64,-104.2,508.6,-19.8,233,2438,0.00,1.00,0.00,0.000,4,0.000,0.060,1459,3939,2908,0,0,0,0,0,0
$GC,2692,-0.64,-104.2,565.0,-22.9,244,2697,0.00,0.95,0.00,0.000,6,0.000,0.037,1459,3323,2908,0,0,0,0,0,0
$GC,3013,-0.64,-104.2,629.0,-19.5,260,3017,0.00,1.00,0.00,0.000,4,0.000,0.060,1454,3952,2908,0,0,0,0,0,0
$GC,3270,-0.64,-104.2,683.2,-20.1,271,3275,0.12,0.98,0.00,0.000,6,0.197,0.037,1483,3318,2907,0,0,0,0,0,0
$GC,3591,-0.64,-104.2,738.7,-17.0,287,3595,0.00,1.00,0.00,0.000,4,0.000,0.061,1480,3945,2906,0,0,0,0,0,0
$GC,3848,-0.64,-104.2,786.3,-17.3,298,3852,0.00,0.98,0.00,0.000,6,0.000,0.037,1480,3313,2906,0,0,0,0,0,0
$GC,4171,-0.64,-104.2,838.2,-15.8,314,4174,0.00,1.00,0.00,0.000,4,0.000,0.063,1475,3946,2905,0,0,0,0,0,0
$GC,4427,-0.64,-104.2,882.4,-16.9,325,4432,0.00,0.98,0.00,0.000,6,0.000,0.038,1475,3312,2904,0,0,0,0,0,0
$GC,4749,-0.64,-104.2,931.7,-15.5,341,4753,0.00,1.00,0.00,0.000,4,0.000,0.063,1471,3942,2904,0,0,0,0,0,0
$GC,5006,-0.64,-104.2,975.7,-16.9,352,5010,0.00,0.98,0.00,0.000,6,0.000,0.039,1471,3310,2903,0,0,0,0,0,0
$STATE,5099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5099,begin apogee
$GC,5103,-0.11,0.0,990.3,15.7,357,5208,0.62,0.00,101.05,1.894,6,0.160,0.000,1655,3181,2473,0,0,0,0,0,0
$STATE,5209,end apogee,CONTROL_FINISHED_OK
$STATE,5209,begin climb
$GC,5210,0.64,104.2,994.3,0.0,362,5324,0.75,2.47,104.60,1.847,4,0.096,0.034,1906,1777,2049,0,0,0,0,0,0
$GC,5471,0.64,104.2,965.3,14.0,374,5475,0.00,2.38,0.00,0.000,6,0.000,0.051,1906,3181,2041,0,0,0,0,0,0
$GC,5797,0.64,104.2,912.3,16.2,390,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3181,2037,0,0,0,0,0,0
$GC,6106,0.64,104.2,862.3,16.2,405,6107,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3181,2034,0,0,0,0,0,0
$GC,6417,0.64,104.2,812.9,15.9,420,6420,0.00,1.25,0.00,0.000,4,0.000,0.061,1906,3947,2033,0,0,0,0,0,0
$GC,6602,0.64,104.2,779.4,18.4,428,6605,0.00,1.20,0.00,0.000,6,0.000,0.037,1912,3171,2032,0,0,0,0,0,0
$GC,6928,0.64,104.2,724.8,16.5,444,6929,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3171,2031,0,0,0,0,0,0
$GC,7238,0.64,104.2,676.3,15.4,459,7241,0.00,1.27,0.00,0.000,4,0.000,0.061,1912,3954,2030,0,0,0,0,0,0
$GC,7466,0.64,104.2,637.5,17.3,469,7471,0.00,1.20,0.00,0.000,6,0.000,0.037,1918,3179,2030,0,0,0,0,0,0
$GC,7795,0.64,104.2,588.4,14.4,485,7796,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3180,2029,0,0,0,0,0,0
$GC,8103,0.64,104.2,544.4,14.2,500,8106,0.00,1.25,0.00,0.000,4,0.000,0.061,1918,3952,2029,0,0,0,0,0,0
$GC,8247,0.64,104.2,521.4,16.0,506,8251,0.00,1.20,0.00,0.000,6,0.000,0.037,1924,3178,2028,0,0,0,0,0,0
$GC,8568,0.64,104.2,474.0,15.1,522,8572,0.00,1.25,0.00,0.000,4,0.000,0.060,1924,3949,2028,0,0,0,0,0,0
$GC,8707,0.64,104.2,450.7,16.5,528,8711,0.00,1.20,0.00,0.000,6,0.000,0.037,1930,3174,2028,0,0,0,0,0,0
$GC,9034,0.64,104.2,398.4,16.6,544,9038,0.00,1.25,0.00,0.000,4,0.000,0.060,1930,3954,2028,0,0,0,0,0,0
$GC,9123,0.64,104.2,382.1,18.9,552,9128,0.12,1.17,0.00,0.000,6,0.193,0.037,1900,3181,2028,0,0,0,0,0,0
$GC,9453,0.64,104.2,333.4,14.4,583,9457,0.00,1.23,0.00,0.000,4,0.000,0.060,1900,3947,2027,0,0,0,0,0,0
$GC,9536,0.64,104.2,320.0,16.1,590,9544,0.00,1.20,0.00,0.000,6,0.000,0.036,1904,3168,2028,0,0,0,0,0,0
$GC,9864,0.64,104.2,273.9,14.3,621,9867,0.00,1.25,0.00,0.000,4,0.000,0.061,1904,3939,2027,0,0,0,0,0,0
$GC,10047,0.64,104.2,246.4,14.8,637,10055,0.00,1.17,0.00,0.000,6,0.000,0.036,1910,3177,2027,0,0,0,0,0,0
$GC,10373,0.64,104.2,205.4,12.3,668,10376,0.00,1.23,0.00,0.000,4,0.000,0.061,1910,3939,2027,0,0,0,0,0,0
$GC,10476,0.64,104.2,191.1,15.0,677,10480,0.00,1.15,0.00,0.000,6,0.000,0.036,1916,3180,2027,0,0,0,0,0,0
$GC,10806,0.64,104.2,148.2,13.4,708,10810,0.00,1.23,0.00,0.000,4,0.000,0.060,1916,3951,2027,0,0,0,0,0,0
$GC,10897,0.64,104.2,134.5,15.1,716,10900,0.00,1.15,0.00,0.000,6,0.000,0.037,1922,3185,2027,0,0,0,0,0,0
$GC,11226,0.64,104.2,88.9,13.4,753,11235,0.00,1.23,0.00,0.000,4,0.000,0.060,1922,3949,2027,0,0,0,0,0,0
$GC,11451,0.64,104.2,56.9,14.1,792,11460,0.00,1.15,0.00,0.000,6,0.000,0.036,1928,3184,2027,0,0,0,0,0,0
$GC,11808,0.64,106.4,13.0,9.2,853,11816,0.00,2.15,0.00,0.000,4,0.000,0.034,1939,1771,2027,0,0,0,0,0,0
$GC,11824,0.64,107.9,11.4,9.3,855,11834,0.10,2.25,0.00,0.000,6,0.148,0.051,1907,3178,2027,0,0,0,0,0,0
$GC,11884,0.65,109.3,6.4,9.3,864,11892,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3178,2027,0,0,0,0,0,0
$STATE,11922,end climb,SURFACE_DEPTH_REACHED
$STATE,11922,begin surface coast
$FINISH,0.6,1.014897
$STATE,11960,end surface coast,CONTROL_FINISHED_OK
$STATE,11960,begin surface
$SM_CCo,11972,46.97,0.791,0,0,1555,225.18
$SM_GC,1.67,0.00,0.00,46.97,0.000,0.000,0.791,64,3337,1555,-5.09,0.48,225.18
$IRIDIUM_FIX,-4244.98,831.12,161213,050530
$TT8_MAMPS,0.026215
$HUMID,62.16
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.30
$XPDR_PINGS,0
$24V_AH,22.6,16.218
$10V_AH,10.0,11.013
$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,12.400,51.550,205.650,46.975,0.000,39.744,26.749,266.468,0.000,0.000,19.735,2250.110,6984.821,331.818,2764.451,131.198,0.000,1319.807,0.000,2319.472,0.000,1.010,0.000
$DEVICE_MAMPS,232.560,81.090,1894.140,791.010,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,608.059,1534.227,640.758,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355216
$DATA_FILE_SIZE,60340,876
$CAP_FILE_SIZE,117865,0
$CFSIZE,259252224,251547648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,161213,163534,-4300.800,831.021,24,0.9,24,-25.1