version: 66.07
glider: 543
mission: 9
dive: 106
start: 12 17 113 10 27 56
data:
$ID,543
$MISSION,9
$DIVE,106
$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,-12723.707
$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,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
$GPS1,171213,102004,-4259.654,831.229,33,1.0,33,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-67.4
$GPS2,171213,102735,-4259.663,831.291,23,1.4,23,-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,275.5,1856,-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,-57.7,0.0,0.0,0,57,0.00,0.00,-41.12,0.000,2,0.000,0.000,63,3328,2466,0,0,0,0,0,0
$GC,59,-0.64,-103.0,3.0,-4.5,5,84,5.62,0.00,-13.48,0.000,6,0.226,0.000,1481,3328,2895,0,0,0,0,0,0
$GC,134,-0.64,-103.0,14.9,-20.8,16,142,0.00,0.00,0.00,0.000,6,0.000,0.000,1481,3328,2898,0,0,0,0,0,0
$GC,190,-0.64,-103.0,27.3,-21.0,25,197,0.00,1.00,0.00,0.000,4,0.000,0.059,1478,3945,2898,0,0,0,0,0,0
$GC,374,-0.64,-103.0,72.0,-25.2,57,383,0.00,0.95,0.00,0.000,6,0.000,0.036,1480,3318,2899,0,0,0,0,0,0
$GC,711,-0.64,-103.0,138.6,-19.4,100,714,0.00,1.00,0.00,0.000,4,0.000,0.059,1477,3947,2901,0,0,0,0,0,0
$GC,971,-0.64,-103.0,195.7,-21.8,123,975,0.00,0.95,0.00,0.000,6,0.000,0.036,1477,3319,2901,0,0,0,0,0,0
$GC,1301,-0.64,-103.0,262.9,-20.4,154,1305,0.00,1.00,0.00,0.000,4,0.000,0.059,1472,3947,2902,0,0,0,0,0,0
$GC,1564,-0.64,-103.0,318.2,-21.3,177,1568,0.00,0.95,0.00,0.000,6,0.000,0.036,1472,3316,2901,0,0,0,0,0,0
$GC,1894,-0.64,-103.0,382.1,-19.1,208,1898,0.00,1.00,0.00,0.000,4,0.000,0.060,1468,3948,2901,0,0,0,0,0,0
$GC,2129,-0.64,-103.0,429.5,-19.3,222,2133,0.00,0.98,0.00,0.000,6,0.000,0.036,1467,3310,2901,0,0,0,0,0,0
$GC,2451,-0.64,-103.0,488.3,-18.2,238,2454,0.00,1.00,0.00,0.000,4,0.000,0.060,1463,3939,2901,0,0,0,0,0,0
$GC,2707,-0.64,-103.0,541.1,-20.9,249,2712,0.00,0.95,0.00,0.000,6,0.000,0.037,1462,3319,2902,0,0,0,0,0,0
$GC,3029,-0.64,-103.0,604.5,-19.6,265,3032,0.00,1.00,0.00,0.000,4,0.000,0.061,1458,3950,2901,0,0,0,0,0,0
$GC,3179,-0.64,-103.0,637.2,-20.6,271,3187,0.00,0.95,0.00,0.000,6,0.000,0.037,1458,3321,2901,0,0,0,0,0,0
$GC,3497,-0.64,-103.0,700.1,-19.7,287,3500,0.00,1.00,0.00,0.000,4,0.000,0.061,1453,3951,2901,0,0,0,0,0,0
$GC,3753,-0.64,-103.0,754.4,-21.3,298,3758,0.12,0.98,0.00,0.000,6,0.196,0.037,1482,3316,2900,0,0,0,0,0,0
$GC,4075,-0.64,-103.0,807.3,-15.8,314,4079,0.00,1.00,0.00,0.000,4,0.000,0.062,1479,3946,2900,0,0,0,0,0,0
$GC,4332,-0.64,-103.0,852.6,-18.1,325,4336,0.00,0.98,0.00,0.000,6,0.000,0.037,1479,3313,2900,0,0,0,0,0,0
$GC,4654,-0.64,-103.0,904.9,-16.3,341,4657,0.00,1.00,0.00,0.000,4,0.000,0.063,1474,3941,2899,0,0,0,0,0,0
$GC,4901,-0.64,-103.0,946.1,-16.6,352,4904,0.00,0.95,0.00,0.000,6,0.000,0.039,1474,3314,2899,0,0,0,0,0,0
$STATE,5192,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5192,begin apogee
$GC,5196,-0.11,0.0,990.7,14.8,366,5299,0.60,0.00,99.30,1.868,6,0.157,0.000,1652,3181,2473,0,0,0,0,0,0
$STATE,5299,end apogee,CONTROL_FINISHED_OK
$STATE,5299,begin climb
$GC,5301,0.64,103.0,994.6,0.0,371,5412,0.75,2.42,102.97,1.815,4,0.097,0.035,1903,1782,2054,0,0,0,0,0,0
$GC,5495,0.64,103.0,973.1,14.8,380,5500,0.00,2.42,0.00,0.000,6,0.000,0.051,1903,3171,2047,0,0,0,0,0,0
$GC,5823,0.64,103.0,920.2,16.0,396,5826,0.00,1.30,0.00,0.000,4,0.000,0.060,1903,3954,2041,0,0,0,0,0,0
$GC,5967,0.64,103.0,894.0,19.2,402,5972,0.00,1.23,0.00,0.000,6,0.000,0.035,1908,3175,2041,0,0,0,0,0,0
$GC,6290,0.64,103.0,842.6,15.6,418,6292,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3175,2038,0,0,0,0,0,0
$GC,6598,0.64,103.0,795.7,14.8,433,6602,0.00,1.27,0.00,0.000,4,0.000,0.060,1909,3956,2037,0,0,0,0,0,0
$GC,6760,0.64,103.0,768.6,16.6,440,6764,0.00,1.20,0.00,0.000,6,0.000,0.037,1915,3179,2037,0,0,0,0,0,0
$GC,7087,0.64,103.0,719.5,14.8,456,7091,0.00,1.25,0.00,0.000,4,0.000,0.060,1915,3948,2036,0,0,0,0,0,0
$GC,7226,0.64,103.0,696.0,17.2,462,7231,0.00,1.20,0.00,0.000,6,0.000,0.037,1920,3177,2036,0,0,0,0,0,0
$GC,7554,0.64,103.0,644.4,16.4,478,7557,0.00,1.25,0.00,0.000,4,0.000,0.060,1921,3949,2035,0,0,0,0,0,0
$GC,7698,0.64,103.0,618.1,18.8,484,7703,0.00,1.20,0.00,0.000,6,0.000,0.037,1926,3174,2035,0,0,0,0,0,0
$GC,8020,0.64,103.0,564.7,17.1,500,8021,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,3174,2034,0,0,0,0,0,0
$GC,8329,0.64,103.0,514.1,16.2,515,8333,0.00,1.25,0.00,0.000,4,0.000,0.060,1926,3947,2034,0,0,0,0,0,0
$GC,8411,0.64,103.0,499.6,17.6,518,8420,0.00,1.20,0.00,0.000,6,0.000,0.037,1932,3173,2034,0,0,0,0,0,0
$GC,8728,0.64,103.0,451.4,15.3,534,8731,0.00,1.25,0.00,0.000,4,0.000,0.060,1932,3949,2033,0,0,0,0,0,0
$GC,8886,0.64,103.0,425.2,16.4,541,8891,0.10,1.17,0.00,0.000,6,0.196,0.037,1909,3180,2033,0,0,0,0,0,0
$GC,9213,0.64,103.0,380.2,14.2,563,9216,0.00,1.23,0.00,0.000,4,0.000,0.060,1909,3948,2033,0,0,0,0,0,0
$GC,9426,0.64,103.0,346.6,16.1,582,9430,0.00,1.17,0.00,0.000,6,0.000,0.037,1914,3178,2033,0,0,0,0,0,0
$GC,9758,0.64,103.0,299.9,14.7,613,9759,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3179,2032,0,0,0,0,0,0
$GC,10075,0.64,103.0,254.4,14.1,643,10079,0.00,1.25,0.00,0.000,4,0.000,0.060,1914,3955,2032,0,0,0,0,0,0
$GC,10154,0.64,103.0,242.4,16.0,650,10158,0.00,1.17,0.00,0.000,6,0.000,0.036,1920,3180,2032,0,0,0,0,0,0
$GC,10486,0.64,103.0,194.3,14.5,681,10490,0.00,1.23,0.00,0.000,4,0.000,0.060,1920,3948,2032,0,0,0,0,0,0
$GC,10715,0.64,103.0,157.4,16.6,701,10718,0.00,1.17,0.00,0.000,6,0.000,0.037,1926,3169,2032,0,0,0,0,0,0
$GC,11045,0.64,103.0,110.3,14.3,732,11048,0.00,1.25,0.00,0.000,4,0.000,0.060,1926,3948,2032,0,0,0,0,0,0
$GC,11190,0.64,103.0,87.7,15.4,751,11197,0.08,1.15,0.00,0.000,6,0.199,0.036,1911,3184,2032,0,0,0,0,0,0
$GC,11540,0.64,103.0,45.2,11.7,812,11546,0.00,1.23,0.00,0.000,4,0.000,0.059,1909,3947,2032,0,0,0,0,0,0
$GC,11640,0.64,103.0,32.2,12.7,829,11647,0.00,1.17,0.00,0.000,6,0.000,0.036,1914,3168,2032,0,0,0,0,0,0
$GC,11789,0.64,103.0,14.7,10.8,854,11798,0.00,2.12,0.00,0.000,4,0.000,0.033,1925,1776,2031,0,0,0,0,0,0
$STATE,11923,end climb,SURFACE_DEPTH_REACHED
$STATE,11923,begin surface coast
$FINISH,1.8,1.026120
$STATE,11931,end surface coast,CONTROL_FINISHED_OK
$STATE,11931,begin surface
$SM_CCo,11946,47.42,0.799,0,0,1554,225.18
$SM_GC,1.35,0.00,0.00,47.42,0.000,0.000,0.799,60,3326,1554,-5.11,0.17,225.18
$IRIDIUM_FIX,-4244.98,834.03,171213,060626
$TT8_MAMPS,0.025466
$HUMID,62.48
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.7,17.028
$10V_AH,10.0,11.605
$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,12.450,54.075,202.275,47.425,0.000,27.768,40.184,267.464,0.000,0.000,26.171,2249.473,6951.648,334.228,2756.707,153.548,0.000,1317.665,0.000,2312.961,0.000,1.010,0.000
$DEVICE_MAMPS,225.675,62.730,1868.130,799.425,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,608.545,1525.948,637.535,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,60216,877
$CAP_FILE_SIZE,118327,0
$CFSIZE,259252224,251158528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,171213,134858,-4259.499,830.479,35,0.9,35,-25.0