version: 66.07
glider: 543
mission: 9
dive: 104
start: 12 17 113 3 27 11
data:
$ID,543
$MISSION,9
$DIVE,104
$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,-12717.354
$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,52
$R_STBD_OVSHOOT,26
$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
$GPS1,171213,031905,-4300.079,829.560,39,1.1,39,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-66.7
$GPS2,171213,032650,-4259.998,829.547,31,1.9,31,-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,115.4,614,-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,-48.75,0.000,2,0.000,0.000,63,3335,2677,0,0,0,0,0,0
$GC,67,-0.64,-109.1,3.2,-3.8,6,86,5.65,2.25,-6.53,0.000,4,0.230,0.047,1478,1922,2922,0,0,0,0,0,0
$GC,223,-0.64,-109.1,33.5,-15.7,31,230,0.00,2.28,0.00,0.000,6,0.000,0.053,1469,3321,2926,0,0,0,0,0,0
$GC,367,-0.64,-109.1,65.1,-22.4,56,374,0.00,1.02,0.00,0.000,4,0.000,0.059,1465,3946,2926,0,0,0,0,0,0
$GC,618,-0.64,-109.1,121.8,-22.5,92,622,0.00,0.95,0.00,0.000,6,0.000,0.035,1465,3320,2928,0,0,0,0,0,0
$GC,948,-0.64,-109.1,193.0,-21.7,123,952,0.00,1.00,0.00,0.000,4,0.000,0.060,1460,3945,2929,0,0,0,0,0,0
$GC,1076,-0.64,-109.1,221.6,-21.6,134,1084,0.00,0.98,0.00,0.000,6,0.000,0.034,1460,3308,2929,0,0,0,0,0,0
$GC,1404,-0.64,-109.1,288.9,-20.8,165,1407,0.00,1.02,0.00,0.000,4,0.000,0.059,1456,3952,2929,0,0,0,0,0,0
$GC,1563,-0.64,-109.1,324.4,-21.7,179,1567,0.08,0.95,0.00,0.000,6,0.184,0.036,1477,3322,2929,0,0,0,0,0,0
$GC,1892,-0.64,-109.1,388.7,-19.1,210,1896,0.00,1.00,0.00,0.000,4,0.000,0.060,1474,3954,2929,0,0,0,0,0,0
$GC,2028,-0.64,-109.1,417.0,-21.1,219,2032,0.00,0.95,0.00,0.000,6,0.000,0.035,1474,3316,2929,0,0,0,0,0,0
$GC,2359,-0.64,-109.1,484.7,-20.2,235,2363,0.00,1.00,0.00,0.000,4,0.000,0.060,1469,3946,2929,0,0,0,0,0,0
$GC,2588,-0.64,-109.1,534.1,-21.2,245,2592,0.00,0.98,0.00,0.000,6,0.000,0.036,1469,3309,2929,0,0,0,0,0,0
$GC,2915,-0.64,-109.1,597.0,-19.2,261,2919,0.00,1.02,0.00,0.000,4,0.000,0.061,1464,3953,2929,0,0,0,0,0,0
$GC,3031,-0.64,-109.1,620.9,-19.8,266,3036,0.00,0.98,0.00,0.000,6,0.000,0.037,1464,3316,2929,0,0,0,0,0,0
$GC,3359,-0.64,-109.1,681.9,-18.8,282,3362,0.00,1.00,0.00,0.000,4,0.000,0.061,1460,3947,2928,0,0,0,0,0,0
$GC,3615,-0.64,-109.1,733.4,-20.4,293,3619,0.00,0.98,0.00,0.000,6,0.000,0.037,1460,3311,2928,0,0,0,0,0,0
$GC,3937,-0.64,-109.1,791.5,-17.7,309,3940,0.00,1.00,0.00,0.000,4,0.000,0.061,1455,3942,2927,0,0,0,0,0,0
$GC,4193,-0.64,-109.1,842.5,-20.2,320,4198,0.12,0.95,0.00,0.000,6,0.197,0.037,1484,3325,2926,0,0,0,0,0,0
$GC,4516,-0.64,-109.1,894.5,-15.7,336,4520,0.00,0.98,0.00,0.000,4,0.000,0.063,1481,3938,2926,0,0,0,0,0,0
$GC,4616,-0.64,-109.1,912.1,-17.4,340,4620,0.00,0.98,0.00,0.000,6,0.000,0.037,1481,3307,2926,0,0,0,0,0,0
$GC,4937,-0.64,-109.1,963.9,-16.2,356,4941,0.00,1.02,0.00,0.000,4,0.000,0.064,1476,3952,2925,0,0,0,0,0,0
$STATE,5094,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5095,begin apogee
$GC,5099,-0.11,0.0,990.7,17.5,363,5208,0.60,0.00,105.43,1.860,6,0.158,0.000,1653,3172,2473,0,0,0,0,0,0
$STATE,5209,end apogee,CONTROL_FINISHED_OK
$STATE,5209,begin climb
$GC,5210,0.64,109.1,995.4,0.0,368,5323,0.75,0.00,109.20,1.819,6,0.096,0.000,1894,3172,2028,0,0,0,0,0,0
$GC,5625,0.64,109.1,940.8,15.2,388,5628,0.00,1.33,0.00,0.000,4,0.000,0.062,1894,3951,2018,0,0,0,0,0,0
$GC,5707,0.64,109.1,926.2,18.3,391,5716,0.00,1.25,0.00,0.000,6,0.000,0.036,1900,3175,2018,0,0,0,0,0,0
$GC,6023,0.64,109.1,876.9,15.5,407,6024,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,3175,2015,0,0,0,0,0,0
$GC,6332,0.64,109.1,830.5,14.5,422,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,3175,2013,0,0,0,0,0,0
$GC,6642,0.64,109.1,786.1,14.5,437,6645,0.00,1.25,0.00,0.000,4,0.000,0.062,1900,3938,2012,0,0,0,0,0,0
$GC,6786,0.64,109.1,762.4,16.6,443,6790,0.00,1.20,0.00,0.000,6,0.000,0.037,1906,3173,2012,0,0,0,0,0,0
$GC,7108,0.64,109.1,713.0,15.2,459,7111,0.00,1.25,0.00,0.000,4,0.000,0.061,1905,3940,2011,0,0,0,0,0,0
$GC,7246,0.64,109.1,688.8,17.8,465,7251,0.00,1.20,0.00,0.000,6,0.000,0.036,1911,3169,2011,0,0,0,0,0,0
$GC,7574,0.64,109.1,638.8,14.8,481,7577,0.00,1.27,0.00,0.000,4,0.000,0.060,1911,3955,2010,0,0,0,0,0,0
$GC,7732,0.64,109.1,613.0,17.0,488,7735,0.00,1.17,0.00,0.000,6,0.000,0.036,1917,3182,2010,0,0,0,0,0,0
$GC,8064,0.64,109.1,566.8,13.7,504,8065,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3181,2010,0,0,0,0,0,0
$GC,8375,0.64,109.1,524.0,13.9,519,8378,0.00,1.25,0.00,0.000,4,0.000,0.062,1918,3953,2009,0,0,0,0,0,0
$GC,8486,0.64,109.1,505.7,17.5,524,8490,0.00,1.17,0.00,0.000,6,0.000,0.037,1924,3181,2009,0,0,0,0,0,0
$GC,8818,0.64,109.1,456.3,15.0,540,8822,0.00,1.25,0.00,0.000,4,0.000,0.060,1924,3955,2009,0,0,0,0,0,0
$GC,8919,0.64,109.1,439.4,17.2,544,8923,0.00,1.17,0.00,0.000,6,0.000,0.037,1929,3182,2009,0,0,0,0,0,0
$GC,9242,0.64,109.1,388.8,16.0,563,9243,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,3181,2008,0,0,0,0,0,0
$GC,9563,0.64,109.1,338.4,16.2,593,9567,0.00,1.25,0.00,0.000,4,0.000,0.061,1929,3954,2008,0,0,0,0,0,0
$GC,9676,0.64,109.1,318.0,17.4,603,9680,0.10,1.17,0.00,0.000,6,0.190,0.037,1907,3180,2008,0,0,0,0,0,0
$GC,10005,0.64,109.1,271.6,13.2,634,10009,0.00,1.23,0.00,0.000,4,0.000,0.061,1906,3943,2007,0,0,0,0,0,0
$GC,10119,0.64,109.1,254.6,14.9,644,10122,0.00,1.17,0.00,0.000,6,0.000,0.036,1911,3167,2008,0,0,0,0,0,0
$GC,10448,0.64,109.1,208.6,13.9,675,10452,0.00,1.25,0.00,0.000,4,0.000,0.060,1912,3944,2008,0,0,0,0,0,0
$GC,10610,0.64,109.1,183.0,16.5,689,10617,0.00,1.15,0.00,0.000,6,0.000,0.035,1917,3181,2008,0,0,0,0,0,0
$GC,10935,0.64,109.1,136.1,14.7,720,10938,0.00,1.23,0.00,0.000,4,0.000,0.060,1917,3945,2009,0,0,0,0,0,0
$GC,11031,0.64,109.1,120.4,17.1,728,11039,0.00,1.15,0.00,0.000,6,0.000,0.035,1923,3185,2008,0,0,0,0,0,0
$GC,11367,0.64,109.1,69.4,14.3,777,11376,0.00,1.23,0.00,0.000,4,0.000,0.060,1924,3948,2008,0,0,0,0,0,0
$GC,11516,0.64,109.1,47.8,15.2,802,11523,0.00,1.15,0.00,0.000,6,0.000,0.036,1929,3184,2008,0,0,0,0,0,0
$STATE,11861,end climb,SURFACE_DEPTH_REACHED
$STATE,11861,begin surface coast
$FINISH,0.8,1.012917
$STATE,11893,end surface coast,CONTROL_FINISHED_OK
$STATE,11893,begin surface
$SM_CCo,11905,44.85,0.809,0,0,1555,225.18
$SM_GC,1.21,0.00,0.00,44.85,0.000,0.000,0.809,60,3331,1555,-5.11,0.31,225.18
$IRIDIUM_FIX,-4247.91,831.55,161213,232300
$TT8_MAMPS,0.026215
$HUMID,61.81
$INTERNAL_PRESSURE,9.53279
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,22.6,16.760
$10V_AH,10.0,11.409
$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,12.200,51.450,214.625,44.850,0.000,26.587,45.197,270.824,0.000,0.000,33.732,2207.915,7084.810,341.923,2649.704,132.067,0.000,1272.851,0.000,2189.973,0.000,1.012,0.000
$DEVICE_MAMPS,230.265,74.205,1859.715,809.370,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,601.177,1505.107,617.972,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355208
$DATA_FILE_SIZE,56984,866
$CAP_FILE_SIZE,114502,0
$CFSIZE,259252224,251293696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,171213,064800,-4300.131,832.072,65,1.0,65,-25.1