version: 66.07
glider: 543
mission: 9
dive: 101
start: 12 16 113 16 43 20
data:
$ID,543
$MISSION,9
$DIVE,101
$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,-12707.896
$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,44
$R_STBD_OVSHOOT,35
$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
$GPS1,161213,163534,-4300.800,831.021,24,0.9,24,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-65.0
$GPS2,161213,164259,-4300.812,831.133,18,1.3,18,-25.1
$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,339.5,2149,-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,-48.88,0.000,2,0.000,0.000,63,3340,2686,0,0,0,0,0,0
$GC,67,-0.64,-103.6,3.3,-4.4,6,85,5.82,2.20,-5.60,0.000,4,0.241,0.047,1480,1911,2898,0,0,0,0,0,0
$GC,175,-0.64,-103.6,24.6,-16.0,23,182,0.00,2.25,0.00,0.000,6,0.000,0.053,1471,3308,2902,0,0,0,0,0,0
$GC,319,-0.64,-103.6,55.0,-21.7,48,328,0.00,1.02,0.00,0.000,4,0.000,0.058,1466,3949,2903,0,0,0,0,0,0
$GC,500,-0.64,-103.6,100.6,-26.3,79,507,0.00,0.95,0.00,0.000,6,0.000,0.035,1466,3318,2904,0,0,0,0,0,0
$GC,825,-0.64,-103.6,175.7,-22.7,110,828,0.00,1.02,0.00,0.000,4,0.000,0.060,1462,3953,2906,0,0,0,0,0,0
$GC,1049,-0.64,-103.6,228.3,-23.4,130,1053,0.00,0.95,0.00,0.000,6,0.000,0.035,1462,3322,2906,0,0,0,0,0,0
$GC,1381,-0.64,-103.6,299.8,-21.5,161,1385,0.00,1.00,0.00,0.000,4,0.000,0.060,1457,3952,2907,0,0,0,0,0,0
$GC,1543,-0.64,-103.6,337.7,-22.4,175,1550,0.00,0.98,0.00,0.000,6,0.000,0.035,1457,3314,2907,0,0,0,0,0,0
$GC,1869,-0.64,-103.6,404.9,-20.3,205,1873,0.12,1.02,0.00,0.000,4,0.196,0.060,1483,3954,2907,0,0,0,0,0,0
$GC,2126,-0.64,-103.6,455.7,-19.4,216,2130,0.00,0.95,0.00,0.000,6,0.000,0.037,1483,3318,2907,0,0,0,0,0,0
$GC,2447,-0.64,-103.6,513.2,-18.0,232,2451,0.00,1.00,0.00,0.000,4,0.000,0.062,1478,3950,2907,0,0,0,0,0,0
$GC,2653,-0.64,-103.6,553.6,-19.7,241,2658,0.00,0.98,0.00,0.000,6,0.000,0.036,1478,3312,2906,0,0,0,0,0,0
$GC,2980,-0.64,-103.6,611.2,-17.2,257,2984,0.00,1.00,0.00,0.000,4,0.000,0.061,1473,3943,2906,0,0,0,0,0,0
$GC,3237,-0.64,-103.6,660.0,-19.1,268,3242,0.00,0.98,0.00,0.000,6,0.000,0.037,1473,3309,2906,0,0,0,0,0,0
$GC,3560,-0.64,-103.6,716.1,-17.2,284,3564,0.00,1.00,0.00,0.000,4,0.000,0.063,1469,3937,2905,0,0,0,0,0,0
$GC,3816,-0.64,-103.6,765.8,-18.4,295,3821,0.00,0.98,0.00,0.000,6,0.000,0.037,1469,3306,2904,0,0,0,0,0,0
$GC,4138,-0.64,-103.6,822.4,-17.7,311,4142,0.00,1.02,0.00,0.000,4,0.000,0.063,1464,3951,2904,0,0,0,0,0,0
$GC,4395,-0.64,-103.6,872.1,-19.0,322,4400,0.00,0.98,0.00,0.000,6,0.000,0.037,1463,3315,2903,0,0,0,0,0,0
$GC,4717,-0.64,-103.6,927.4,-16.8,338,4721,0.00,1.00,0.00,0.000,4,0.000,0.063,1459,3945,2903,0,0,0,0,0,0
$GC,4973,-0.64,-103.6,974.2,-17.9,349,4978,0.00,0.98,0.00,0.000,6,0.000,0.038,1459,3313,2902,0,0,0,0,0,0
$STATE,5068,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5068,begin apogee
$GC,5072,-0.11,0.0,990.2,17.5,354,5176,0.68,0.00,100.75,1.890,6,0.164,0.000,1657,3181,2473,0,0,0,0,0,0
$STATE,5177,end apogee,CONTROL_FINISHED_OK
$STATE,5177,begin climb
$GC,5178,0.64,103.6,994.7,0.0,359,5290,0.75,2.40,104.12,1.834,4,0.096,0.033,1905,1780,2049,0,0,0,0,0,0
$GC,5384,0.64,103.6,974.3,12.1,368,5393,0.00,2.42,0.00,0.000,6,0.000,0.050,1905,3179,2042,0,0,0,0,0,0
$GC,5701,0.64,103.6,927.4,14.9,384,5705,0.00,1.30,0.00,0.000,4,0.000,0.060,1905,3954,2037,0,0,0,0,0,0
$GC,5755,0.64,103.6,917.9,18.0,386,5760,0.00,1.25,0.00,0.000,6,0.000,0.036,1911,3173,2037,0,0,0,0,0,0
$GC,6079,0.64,103.6,867.0,15.8,402,6080,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3174,2035,0,0,0,0,0,0
$GC,6387,0.64,103.6,818.9,15.4,417,6388,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3174,2034,0,0,0,0,0,0
$GC,6696,0.64,103.6,770.2,15.8,432,6699,0.00,1.27,0.00,0.000,4,0.000,0.061,1911,3952,2033,0,0,0,0,0,0
$GC,6763,0.64,103.6,758.4,18.3,435,6767,0.00,1.20,0.00,0.000,6,0.000,0.037,1917,3175,2033,0,0,0,0,0,0
$GC,7095,0.64,103.6,704.0,16.0,451,7099,0.00,1.25,0.00,0.000,4,0.000,0.060,1917,3949,2031,0,0,0,0,0,0
$GC,7194,0.64,103.6,685.9,19.1,455,7199,0.00,1.20,0.00,0.000,6,0.000,0.036,1923,3177,2032,0,0,0,0,0,0
$GC,7518,0.64,103.6,632.8,16.1,471,7521,0.00,1.25,0.00,0.000,4,0.000,0.060,1923,3953,2030,0,0,0,0,0,0
$GC,7676,0.64,103.6,604.7,17.6,478,7679,0.00,1.17,0.00,0.000,6,0.000,0.037,1929,3183,2030,0,0,0,0,0,0
$GC,8009,0.64,103.6,551.3,15.7,494,8010,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,3183,2029,0,0,0,0,0,0
$GC,8317,0.64,103.6,503.7,15.4,509,8320,0.00,1.25,0.00,0.000,4,0.000,0.060,1929,3955,2029,0,0,0,0,0,0
$GC,8371,0.64,103.6,494.3,16.9,511,8376,0.12,1.20,0.00,0.000,6,0.216,0.037,1906,3179,2029,0,0,0,0,0,0
$GC,8693,0.64,103.6,449.4,14.2,527,8694,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3179,2028,0,0,0,0,0,0
$GC,9002,0.64,103.6,406.5,13.7,542,9006,0.00,1.25,0.00,0.000,4,0.000,0.060,1905,3955,2028,0,0,0,0,0,0
$GC,9164,0.64,103.6,381.5,14.9,554,9172,0.00,1.17,0.00,0.000,6,0.000,0.037,1910,3181,2028,0,0,0,0,0,0
$GC,9492,0.64,103.6,338.1,13.1,585,9493,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3181,2028,0,0,0,0,0,0
$GC,9808,0.64,103.6,296.9,12.7,615,9809,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3181,2028,0,0,0,0,0,0
$GC,10129,0.64,103.6,255.7,13.0,645,10133,0.00,1.25,0.00,0.000,4,0.000,0.062,1910,3955,2028,0,0,0,0,0,0
$GC,10268,0.64,103.6,234.1,15.3,657,10275,0.00,1.17,0.00,0.000,6,0.000,0.036,1916,3181,2028,0,0,0,0,0,0
$GC,10593,0.64,103.6,189.9,14.3,688,10594,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3181,2027,0,0,0,0,0,0
$GC,10912,0.64,103.6,146.3,13.1,718,10916,0.00,1.23,0.00,0.000,4,0.000,0.059,1915,3949,2027,0,0,0,0,0,0
$GC,11128,0.64,103.6,113.9,14.1,737,11132,0.00,1.17,0.00,0.000,6,0.000,0.037,1922,3171,2028,0,0,0,0,0,0
$GC,11469,0.64,103.6,69.0,13.0,788,11476,0.00,1.25,0.00,0.000,4,0.000,0.060,1922,3948,2028,0,0,0,0,0,0
$GC,11535,0.64,103.6,60.6,12.4,799,11542,0.00,1.15,0.00,0.000,6,0.000,0.037,1928,3188,2028,0,0,0,0,0,0
$GC,11887,0.64,103.6,16.4,13.8,860,11896,0.00,2.17,0.00,0.000,4,0.000,0.034,1939,1771,2028,0,0,0,0,0,0
$STATE,12040,end climb,SURFACE_DEPTH_REACHED
$STATE,12040,begin surface coast
$FINISH,2.5,1.026125
$STATE,12047,end surface coast,CONTROL_FINISHED_OK
$STATE,12048,begin surface
$SM_CCo,12062,47.03,0.784,0,0,1552,225.18
$SM_GC,1.17,0.00,0.00,47.03,0.000,0.000,0.784,62,3341,1552,-5.10,0.59,225.18
$IRIDIUM_FIX,-4242.04,830.68,161213,131317
$TT8_MAMPS,0.026215
$HUMID,62.48
$INTERNAL_PRESSURE,9.53279
$TCM_TEMP,13.30
$XPDR_PINGS,0
$24V_AH,22.6,16.355
$10V_AH,10.0,11.110
$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,13.300,53.950,204.875,47.025,0.000,33.300,42.884,256.925,0.000,0.000,21.545,2250.114,7140.301,340.838,2701.061,124.395,0.000,1289.682,0.000,2255.331,0.000,1.010,0.000
$DEVICE_MAMPS,240.975,63.495,1890.315,784.125,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,614.673,1543.224,643.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355236
$DATA_FILE_SIZE,60321,886
$CAP_FILE_SIZE,115214,0
$CFSIZE,259252224,251482112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,161213,200622,-4259.776,831.025,38,0.9,38,-25.0