version: 66.07
glider: 543
mission: 9
dive: 105
start: 12 17 113 6 55 36
data:
$ID,543
$MISSION,9
$DIVE,105
$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,-12720.505
$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,49
$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
$GPS1,171213,064800,-4300.131,832.072,65,1.0,65,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-60.9
$GPS2,171213,065515,-4300.121,832.089,16,0.9,17,-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,299.6,2838,-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,-48.83,0.000,2,0.000,0.000,60,3328,2669,0,0,0,0,0,0
$GC,67,-0.64,-103.0,3.3,-4.5,6,85,5.72,2.25,-6.15,0.000,4,0.231,0.048,1483,1916,2897,0,0,0,0,0,0
$GC,117,-0.64,-103.0,13.4,-20.2,13,126,0.00,2.33,0.00,0.000,6,0.000,0.052,1474,3326,2900,0,0,0,0,0,0
$GC,173,-0.64,-103.0,26.9,-24.7,22,182,0.00,1.00,0.00,0.000,4,0.000,0.058,1469,3948,2900,0,0,0,0,0,0
$GC,222,-0.64,-103.0,39.3,-25.3,30,231,0.00,0.95,0.00,0.000,6,0.000,0.034,1469,3325,2900,0,0,0,0,0,0
$GC,370,-0.64,-103.0,74.3,-23.9,55,376,0.00,1.00,0.00,0.000,4,0.000,0.059,1464,3949,2901,0,0,0,0,0,0
$GC,496,-0.64,-103.0,104.9,-23.9,76,500,0.00,0.95,0.00,0.000,6,0.000,0.035,1464,3325,2902,0,0,0,0,0,0
$GC,826,-0.64,-103.0,176.6,-22.0,107,829,0.00,1.00,0.00,0.000,4,0.000,0.060,1461,3949,2903,0,0,0,0,0,0
$GC,1041,-0.64,-103.0,226.2,-22.5,126,1044,0.00,0.95,0.00,0.000,6,0.000,0.034,1461,3316,2903,0,0,0,0,0,0
$GC,1373,-0.64,-103.0,295.5,-20.1,157,1376,0.00,1.00,0.00,0.000,4,0.000,0.059,1456,3947,2903,0,0,0,0,0,0
$GC,1568,-0.64,-103.0,339.2,-22.1,174,1576,0.12,0.98,0.00,0.000,6,0.200,0.035,1485,3308,2904,0,0,0,0,0,0
$GC,1895,-0.64,-103.0,398.8,-18.3,205,1899,0.00,1.02,0.00,0.000,4,0.000,0.060,1481,3953,2904,0,0,0,0,0,0
$GC,2151,-0.64,-103.0,450.8,-20.0,217,2156,0.00,0.98,0.00,0.000,6,0.000,0.035,1481,3313,2904,0,0,0,0,0,0
$GC,2473,-0.64,-103.0,511.0,-18.7,233,2477,0.00,1.00,0.00,0.000,4,0.000,0.061,1477,3942,2904,0,0,0,0,0,0
$GC,2653,-0.64,-103.0,547.0,-19.8,241,2657,0.00,0.95,0.00,0.000,6,0.000,0.037,1477,3314,2904,0,0,0,0,0,0
$GC,2985,-0.64,-103.0,607.3,-17.6,257,2989,0.00,1.00,0.00,0.000,4,0.000,0.061,1472,3946,2904,0,0,0,0,0,0
$GC,3242,-0.64,-103.0,655.7,-18.4,268,3246,0.00,0.98,0.00,0.000,6,0.000,0.037,1472,3310,2903,0,0,0,0,0,0
$GC,3564,-0.64,-103.0,710.9,-17.2,284,3567,0.00,1.02,0.00,0.000,4,0.000,0.062,1467,3955,2902,0,0,0,0,0,0
$GC,3820,-0.64,-103.0,759.9,-19.2,295,3825,0.00,0.98,0.00,0.000,6,0.000,0.037,1467,3319,2903,0,0,0,0,0,0
$GC,4142,-0.64,-103.0,817.1,-17.6,311,4146,0.00,1.00,0.00,0.000,4,0.000,0.062,1463,3951,2902,0,0,0,0,0,0
$GC,4399,-0.64,-103.0,865.9,-17.7,322,4403,0.00,0.98,0.00,0.000,6,0.000,0.037,1463,3316,2902,0,0,0,0,0,0
$GC,4720,-0.64,-103.0,920.1,-16.9,338,4724,0.00,1.00,0.00,0.000,4,0.000,0.062,1458,3947,2901,0,0,0,0,0,0
$GC,4908,-0.64,-103.0,954.2,-18.6,346,4913,0.00,0.98,0.00,0.000,6,0.000,0.038,1458,3313,2900,0,0,0,0,0,0
$STATE,5125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5126,begin apogee
$GC,5130,-0.11,0.0,991.3,16.9,357,5233,0.68,0.00,100.12,1.871,6,0.163,0.000,1655,3183,2473,0,0,0,0,0,0
$STATE,5234,end apogee,CONTROL_FINISHED_OK
$STATE,5234,begin climb
$GC,5236,0.64,103.0,995.6,0.0,362,5346,0.75,2.42,102.90,1.821,4,0.096,0.034,1907,1772,2054,0,0,0,0,0,0
$GC,5418,0.64,103.0,976.9,13.5,370,5426,0.00,2.45,0.00,0.000,6,0.000,0.050,1907,3175,2047,0,0,0,0,0,0
$GC,5736,0.64,103.0,926.1,16.4,386,5740,0.00,1.27,0.00,0.000,4,0.000,0.059,1907,3934,2042,0,0,0,0,0,0
$GC,5871,0.64,103.0,900.6,19.4,392,5875,0.00,1.20,0.00,0.000,6,0.000,0.037,1912,3177,2041,0,0,0,0,0,0
$GC,6203,0.64,103.0,845.6,16.7,408,6206,0.00,1.27,0.00,0.000,4,0.000,0.059,1912,3950,2039,0,0,0,0,0,0
$GC,6274,0.64,103.0,832.4,18.7,411,6279,0.00,1.23,0.00,0.000,6,0.000,0.036,1919,3171,2039,0,0,0,0,0,0
$GC,6602,0.64,103.0,779.9,15.6,427,6603,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3170,2037,0,0,0,0,0,0
$GC,6912,0.64,103.0,733.5,14.9,442,6916,0.00,1.27,0.00,0.000,4,0.000,0.060,1918,3950,2037,0,0,0,0,0,0
$GC,7011,0.64,103.0,716.9,15.5,446,7016,0.00,1.20,0.00,0.000,6,0.000,0.037,1924,3179,2036,0,0,0,0,0,0
$GC,7334,0.64,103.0,670.3,14.2,462,7337,0.00,1.25,0.00,0.000,4,0.000,0.060,1924,3947,2036,0,0,0,0,0,0
$GC,7388,0.64,103.0,661.6,15.7,464,7393,0.00,1.20,0.00,0.000,6,0.000,0.036,1930,3173,2036,0,0,0,0,0,0
$GC,7709,0.64,103.0,614.0,14.8,480,7713,0.00,1.25,0.00,0.000,4,0.000,0.060,1930,3940,2035,0,0,0,0,0,0
$GC,7822,0.64,103.0,595.6,16.7,485,7826,0.12,1.17,0.00,0.000,6,0.192,0.037,1901,3173,2035,0,0,0,0,0,0
$GC,8153,0.64,103.0,551.3,13.1,501,8157,0.00,1.25,0.00,0.000,4,0.000,0.060,1901,3942,2034,0,0,0,0,0,0
$GC,8275,0.64,103.0,532.6,15.6,506,8280,0.00,1.17,0.00,0.000,6,0.000,0.037,1905,3182,2035,0,0,0,0,0,0
$GC,8597,0.64,103.0,488.2,13.8,522,8601,0.00,1.23,0.00,0.000,4,0.000,0.060,1905,3938,2034,0,0,0,0,0,0
$GC,8668,0.64,103.0,477.2,15.6,525,8673,0.00,1.17,0.00,0.000,6,0.000,0.036,1911,3181,2034,0,0,0,0,0,0
$GC,8996,0.64,103.0,431.6,13.9,541,8997,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3181,2033,0,0,0,0,0,0
$GC,9307,0.64,103.0,387.0,14.2,560,9311,0.00,1.23,0.00,0.000,4,0.000,0.060,1911,3938,2033,0,0,0,0,0,0
$GC,9421,0.64,103.0,368.3,16.4,570,9425,0.00,1.15,0.00,0.000,6,0.000,0.037,1917,3183,2033,0,0,0,0,0,0
$GC,9753,0.64,103.0,318.8,14.9,601,9757,0.00,1.23,0.00,0.000,4,0.000,0.059,1917,3938,2033,0,0,0,0,0,0
$GC,9890,0.64,103.0,296.5,16.4,613,9894,0.00,1.15,0.00,0.000,6,0.000,0.037,1923,3182,2033,0,0,0,0,0,0
$GC,10220,0.64,103.0,247.9,14.2,644,10221,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3182,2032,0,0,0,0,0,0
$GC,10540,0.64,103.0,202.6,14.2,674,10543,0.00,1.23,0.00,0.000,4,0.000,0.060,1923,3942,2033,0,0,0,0,0,0
$GC,10687,0.64,103.0,179.8,15.3,687,10691,0.00,1.15,0.00,0.000,6,0.000,0.037,1928,3180,2032,0,0,0,0,0,0
$GC,11017,0.64,103.0,135.5,12.9,718,11019,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,3180,2032,0,0,0,0,0,0
$GC,11339,0.64,103.0,93.6,13.1,752,11346,0.00,1.23,0.00,0.000,4,0.000,0.060,1929,3950,2033,0,0,0,0,0,0
$GC,11532,0.64,103.0,65.2,13.6,786,11542,0.10,1.15,0.00,0.000,6,0.189,0.037,1906,3183,2032,0,0,0,0,0,0
$GC,11887,0.64,103.0,28.7,10.1,847,11894,0.00,1.23,0.00,0.000,4,0.000,0.058,1906,3947,2032,0,0,0,0,0,0
$GC,12089,0.64,103.0,5.1,10.2,881,12098,0.00,1.15,0.00,0.000,6,0.000,0.036,1910,3185,2032,0,0,0,0,0,0
$STATE,12111,end climb,SURFACE_DEPTH_REACHED
$STATE,12111,begin surface coast
$FINISH,0.7,1.026158
$STATE,12142,end surface coast,CONTROL_FINISHED_OK
$STATE,12142,begin surface
$SM_CCo,12154,47.33,0.796,0,0,1552,225.18
$SM_GC,1.36,0.00,0.00,47.33,0.000,0.000,0.796,63,3324,1552,-5.10,0.11,225.18
$IRIDIUM_FIX,-4244.98,831.12,171213,030327
$TT8_MAMPS,0.026215
$HUMID,62.04
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.6,16.894
$10V_AH,10.0,11.507
$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,12.375,58.575,203.025,47.325,0.000,27.233,43.244,254.977,0.000,0.000,20.539,2270.662,7190.881,340.726,2703.518,133.236,0.000,1319.052,0.000,2269.231,0.000,1.010,0.000
$DEVICE_MAMPS,231.030,78.030,1871.190,795.600,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,616.838,1539.749,637.426,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355184
$DATA_FILE_SIZE,60247,889
$CAP_FILE_SIZE,120216,0
$CFSIZE,259252224,251219968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,171213,102004,-4259.654,831.229,33,1.0,33,-25.1