version: 66.07
glider: 543
mission: 9
dive: 103
start: 12 16 113 23 56 2
data:
$ID,543
$MISSION,9
$DIVE,103
$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,-12714.207
$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,45
$R_STBD_OVSHOOT,27
$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
$GPS1,161213,234735,-4259.653,830.307,29,1.3,29,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-63.7
$GPS2,161213,235541,-4259.609,830.395,17,1.3,17,-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,241.5,900,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.61,-57.7,0.0,0.0,0,65,0.00,0.00,-48.22,0.000,2,0.000,0.000,63,3331,2665,0,0,0,0,0,0
$GC,67,-0.64,-105.1,3.3,-4.2,6,85,5.78,1.05,-6.53,0.000,4,0.236,0.089,1477,3956,2905,0,0,0,0,0,0
$GC,225,-0.64,-105.1,39.7,-21.8,32,234,0.00,0.98,0.00,0.000,6,0.000,0.035,1478,3319,2909,0,0,0,0,0,0
$GC,371,-0.64,-105.1,71.9,-22.3,57,379,0.00,1.00,0.00,0.000,4,0.000,0.058,1474,3941,2910,0,0,0,0,0,0
$GC,415,-0.64,-105.1,82.2,-24.0,64,423,0.00,0.95,0.00,0.000,6,0.000,0.035,1474,3319,2910,0,0,0,0,0,0
$GC,751,-0.64,-105.1,153.6,-20.6,102,755,0.00,1.00,0.00,0.000,4,0.000,0.059,1470,3944,2912,0,0,0,0,0,0
$GC,1013,-0.64,-105.1,211.0,-22.1,125,1017,0.00,0.95,0.00,0.000,6,0.000,0.035,1470,3316,2912,0,0,0,0,0,0
$GC,1343,-0.64,-105.1,278.8,-20.8,156,1347,0.00,1.00,0.00,0.000,4,0.000,0.059,1465,3946,2913,0,0,0,0,0,0
$GC,1603,-0.64,-105.1,336.9,-22.5,179,1607,0.00,0.95,0.00,0.000,6,0.000,0.036,1465,3314,2912,0,0,0,0,0,0
$GC,1943,-0.64,-105.1,406.2,-20.2,210,1947,0.00,1.00,0.00,0.000,4,0.000,0.060,1460,3945,2912,0,0,0,0,0,0
$GC,2200,-0.64,-105.1,462.7,-22.3,221,2204,0.00,0.98,0.00,0.000,6,0.000,0.035,1460,3306,2912,0,0,0,0,0,0
$GC,2522,-0.64,-105.1,529.9,-20.9,237,2525,0.00,1.00,0.00,0.000,4,0.000,0.061,1456,3935,2912,0,0,0,0,0,0
$GC,2778,-0.64,-105.1,586.4,-20.8,248,2784,0.12,0.95,0.00,0.000,6,0.197,0.037,1485,3319,2912,0,0,0,0,0,0
$GC,3100,-0.64,-105.1,641.3,-16.5,264,3104,0.00,1.00,0.00,0.000,4,0.000,0.062,1481,3948,2912,0,0,0,0,0,0
$GC,3357,-0.64,-105.1,686.2,-17.1,275,3362,0.00,0.98,0.00,0.000,6,0.000,0.037,1481,3314,2912,0,0,0,0,0,0
$GC,3679,-0.64,-105.1,738.5,-16.2,291,3683,0.00,1.00,0.00,0.000,4,0.000,0.062,1477,3941,2911,0,0,0,0,0,0
$GC,3882,-0.64,-105.1,774.5,-18.1,300,3885,0.00,0.95,0.00,0.000,6,0.000,0.038,1477,3315,2911,0,0,0,0,0,0
$GC,4215,-0.64,-105.1,829.7,-16.3,316,4218,0.00,1.00,0.00,0.000,4,0.000,0.062,1472,3950,2910,0,0,0,0,0,0
$GC,4455,-0.64,-105.1,872.2,-17.2,326,4462,0.00,0.98,0.00,0.000,6,0.000,0.038,1472,3313,2910,0,0,0,0,0,0
$GC,4771,-0.64,-105.1,921.3,-15.4,342,4775,0.00,1.00,0.00,0.000,4,0.000,0.063,1467,3942,2909,0,0,0,0,0,0
$GC,4973,-0.64,-105.1,954.6,-15.4,351,4977,0.00,0.95,0.00,0.000,6,0.000,0.039,1467,3316,2908,0,0,0,0,0,0
$STATE,5221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5222,begin apogee
$GC,5226,-0.11,0.0,991.8,14.8,363,5330,0.62,0.00,101.53,1.857,6,0.161,0.000,1651,3173,2473,0,0,0,0,0,0
$STATE,5331,end apogee,CONTROL_FINISHED_OK
$STATE,5331,begin climb
$GC,5333,0.64,105.1,994.8,0.0,368,5448,0.75,2.47,105.40,1.810,4,0.099,0.034,1901,1772,2044,0,0,0,0,0,0
$GC,5519,0.64,105.1,974.0,13.5,376,5528,0.00,2.45,0.00,0.000,6,0.000,0.050,1901,3175,2037,0,0,0,0,0,0
$GC,5837,0.64,105.1,923.0,15.8,392,5841,0.00,1.30,0.00,0.000,4,0.000,0.060,1901,3953,2031,0,0,0,0,0,0
$GC,5897,0.64,105.1,911.8,18.3,394,5905,0.00,1.25,0.00,0.000,6,0.000,0.036,1907,3172,2031,0,0,0,0,0,0
$GC,6214,0.64,105.1,862.7,15.3,410,6215,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3172,2029,0,0,0,0,0,0
$GC,6524,0.64,105.1,816.3,14.7,425,6528,0.00,1.27,0.00,0.000,4,0.000,0.061,1907,3947,2028,0,0,0,0,0,0
$GC,6686,0.64,105.1,788.9,17.1,432,6690,0.00,1.20,0.00,0.000,6,0.000,0.037,1912,3169,2028,0,0,0,0,0,0
$GC,7015,0.64,105.1,740.2,14.7,448,7018,0.00,1.27,0.00,0.000,4,0.000,0.060,1912,3953,2027,0,0,0,0,0,0
$GC,7108,0.64,105.1,724.6,16.4,452,7113,0.00,1.23,0.00,0.000,6,0.000,0.036,1918,3166,2027,0,0,0,0,0,0
$GC,7436,0.64,105.1,676.3,14.8,468,7439,0.00,1.27,0.00,0.000,4,0.000,0.060,1919,3953,2026,0,0,0,0,0,0
$GC,7558,0.64,105.1,655.7,17.0,473,7562,0.00,1.20,0.00,0.000,6,0.000,0.037,1924,3180,2026,0,0,0,0,0,0
$GC,7880,0.64,105.1,605.8,15.5,489,7881,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,3180,2025,0,0,0,0,0,0
$GC,8190,0.64,105.1,556.4,16.0,504,8194,0.00,1.25,0.00,0.000,4,0.000,0.060,1924,3957,2025,0,0,0,0,0,0
$GC,8267,0.64,105.1,542.2,18.3,507,8272,0.00,1.23,0.00,0.000,6,0.000,0.037,1930,3168,2025,0,0,0,0,0,0
$GC,8589,0.64,105.1,490.3,15.9,523,8593,0.00,1.27,0.00,0.000,4,0.000,0.061,1930,3956,2025,0,0,0,0,0,0
$GC,8846,0.64,105.1,443.3,17.5,534,8851,0.12,1.20,0.00,0.000,6,0.217,0.037,1907,3181,2025,0,0,0,0,0,0
$GC,9168,0.64,105.1,395.4,14.7,551,9169,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3181,2024,0,0,0,0,0,0
$GC,9489,0.64,105.1,349.5,14.3,581,9493,0.00,1.25,0.00,0.000,4,0.000,0.061,1907,3957,2023,0,0,0,0,0,0
$GC,9606,0.64,105.1,330.5,15.7,591,9614,0.00,1.20,0.00,0.000,6,0.000,0.036,1912,3178,2023,0,0,0,0,0,0
$GC,9931,0.64,105.1,284.6,13.8,622,9935,0.00,1.25,0.00,0.000,4,0.000,0.060,1912,3955,2023,0,0,0,0,0,0
$GC,10057,0.64,105.1,266.2,14.7,633,10061,0.00,1.17,0.00,0.000,6,0.000,0.037,1918,3180,2023,0,0,0,0,0,0
$GC,10387,0.64,105.1,219.7,14.6,664,10391,0.00,1.23,0.00,0.000,4,0.000,0.059,1918,3949,2023,0,0,0,0,0,0
$GC,10467,0.64,105.1,207.0,16.0,671,10470,0.00,1.17,0.00,0.000,6,0.000,0.037,1924,3170,2023,0,0,0,0,0,0
$GC,10796,0.64,105.1,158.7,14.7,702,10800,0.00,1.25,0.00,0.000,4,0.000,0.060,1924,3950,2022,0,0,0,0,0,0
$GC,10898,0.64,105.1,142.1,15.8,711,10902,0.00,1.15,0.00,0.000,6,0.000,0.036,1930,3188,2022,0,0,0,0,0,0
$GC,11227,0.64,105.1,92.4,15.2,745,11234,0.00,1.23,0.00,0.000,4,0.000,0.059,1930,3956,2022,0,0,0,0,0,0
$GC,11291,0.64,105.1,82.3,15.3,756,11300,0.10,1.17,0.00,0.000,6,0.193,0.035,1907,3173,2022,0,0,0,0,0,0
$GC,11645,0.64,105.1,36.9,12.9,817,11652,0.00,1.25,0.00,0.000,4,0.000,0.060,1907,3953,2022,0,0,0,0,0,0
$GC,11717,0.64,105.1,27.9,12.3,829,11724,0.00,1.15,0.00,0.000,6,0.000,0.035,1912,3186,2022,0,0,0,0,0,0
$GC,11866,0.65,111.3,15.3,8.8,854,11875,0.00,2.15,0.00,0.000,4,0.000,0.033,1924,1772,2022,0,0,0,0,0,0
$STATE,12006,end climb,SURFACE_DEPTH_REACHED
$STATE,12006,begin surface coast
$FINISH,0.8,1.016770
$STATE,12050,end surface coast,CONTROL_FINISHED_OK
$STATE,12050,begin surface
$SM_CCo,12064,46.38,0.789,0,0,1554,225.18
$SM_GC,1.48,0.00,0.00,46.38,0.000,0.000,0.789,63,3336,1554,-5.09,0.45,225.18
$IRIDIUM_FIX,-4244.98,816.55,161213,202047
$TT8_MAMPS,0.026215
$HUMID,62.12
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.7,16.619
$10V_AH,10.1,11.314
$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,12.450,58.850,206.925,46.375,0.000,28.366,53.685,291.747,0.000,0.000,20.565,2265.026,7062.112,350.398,2789.348,129.929,0.000,1337.125,0.000,2308.884,0.000,1.010,0.000
$DEVICE_MAMPS,236.385,88.740,1856.655,789.480,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,613.124,1552.495,661.268,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355368
$DATA_FILE_SIZE,60363,884
$CAP_FILE_SIZE,120430,0
$CFSIZE,259252224,251346944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,171213,031905,-4300.079,829.560,39,1.1,39,-25.0