version: 66.07
glider: 543
mission: 9
dive: 109
start: 12 17 113 20 55 38
data:
$ID,543
$MISSION,9
$DIVE,109
$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,-12733.315
$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,51
$R_STBD_OVSHOOT,25
$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
$GPS1,171213,204804,-4259.254,831.918,26,1.0,26,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-62.6
$GPS2,171213,205517,-4259.254,831.961,18,1.1,18,-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,267.6,2994,-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,-41.20,0.000,2,0.000,0.000,58,3329,2474,0,0,0,0,0,0
$GC,59,-0.64,-99.2,3.0,-4.9,5,85,5.72,1.02,-12.38,0.000,4,0.229,0.086,1480,3949,2880,0,0,0,0,0,0
$GC,210,-0.64,-99.2,35.3,-25.2,29,216,0.00,0.95,0.00,0.000,6,0.000,0.036,1480,3330,2883,0,0,0,0,0,0
$GC,353,-0.64,-99.2,68.1,-22.8,54,361,0.00,0.00,0.00,0.000,6,0.000,0.000,1480,3330,2884,0,0,0,0,0,0
$GC,695,-0.64,-99.2,139.0,-19.9,98,698,0.00,1.00,0.00,0.000,4,0.000,0.058,1476,3953,2886,0,0,0,0,0,0
$GC,890,-0.64,-99.2,181.1,-20.9,115,898,0.00,1.00,0.00,0.000,6,0.000,0.034,1476,3302,2887,0,0,0,0,0,0
$GC,1216,-0.64,-99.2,245.6,-19.6,146,1220,0.00,1.02,0.00,0.000,4,0.000,0.058,1471,3943,2887,0,0,0,0,0,0
$GC,1477,-0.64,-99.2,297.8,-20.9,169,1481,0.00,0.95,0.00,0.000,6,0.000,0.036,1471,3316,2888,0,0,0,0,0,0
$GC,1807,-0.64,-99.2,359.5,-18.5,200,1810,0.00,1.00,0.00,0.000,4,0.000,0.059,1466,3945,2887,0,0,0,0,0,0
$GC,2064,-0.64,-99.2,412.6,-20.8,220,2069,0.00,0.98,0.00,0.000,6,0.000,0.035,1467,3310,2887,0,0,0,0,0,0
$GC,2386,-0.64,-99.2,474.6,-19.7,236,2390,0.00,1.00,0.00,0.000,4,0.000,0.059,1462,3939,2887,0,0,0,0,0,0
$GC,2557,-0.64,-99.2,511.5,-20.5,243,2565,0.00,0.95,0.00,0.000,6,0.000,0.036,1462,3319,2887,0,0,0,0,0,0
$GC,2874,-0.64,-99.2,574.6,-19.8,259,2877,0.00,1.00,0.00,0.000,4,0.000,0.060,1457,3951,2887,0,0,0,0,0,0
$GC,3008,-0.64,-99.2,603.1,-20.3,265,3013,0.08,0.95,0.00,0.000,6,0.178,0.037,1479,3324,2887,0,0,0,0,0,0
$GC,3341,-0.64,-99.2,662.1,-17.6,281,3344,0.00,1.00,0.00,0.000,4,0.000,0.060,1476,3952,2887,0,0,0,0,0,0
$GC,3597,-0.64,-99.2,710.9,-18.3,292,3602,0.00,0.98,0.00,0.000,6,0.000,0.036,1476,3315,2886,0,0,0,0,0,0
$GC,3919,-0.64,-99.2,764.8,-16.9,308,3923,0.00,1.00,0.00,0.000,4,0.000,0.061,1471,3946,2886,0,0,0,0,0,0
$GC,4121,-0.64,-99.2,802.1,-17.8,317,4125,0.00,0.95,0.00,0.000,6,0.000,0.037,1471,3315,2885,0,0,0,0,0,0
$GC,4455,-0.64,-99.2,858.4,-16.6,333,4458,0.00,1.00,0.00,0.000,4,0.000,0.061,1466,3947,2885,0,0,0,0,0,0
$GC,4537,-0.64,-99.2,873.8,-19.0,336,4545,0.00,0.98,0.00,0.000,6,0.000,0.037,1466,3314,2885,0,0,0,0,0,0
$GC,4854,-0.64,-99.2,925.7,-16.6,352,4857,0.00,1.00,0.00,0.000,4,0.000,0.061,1462,3942,2884,0,0,0,0,0,0
$GC,5110,-0.64,-99.2,972.0,-18.1,363,5115,0.00,0.98,0.00,0.000,6,0.000,0.037,1462,3309,2884,0,0,0,0,0,0
$STATE,5225,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5225,begin apogee
$GC,5229,-0.11,0.0,991.5,17.1,369,5328,0.65,0.00,96.07,1.870,6,0.164,0.000,1652,3181,2473,0,0,0,0,0,0
$STATE,5329,end apogee,CONTROL_FINISHED_OK
$STATE,5329,begin climb
$GC,5330,0.64,99.2,996.5,0.0,374,5439,0.75,2.47,99.50,1.821,4,0.096,0.034,1904,1777,2069,0,0,0,0,0,0
$GC,5488,0.64,99.2,983.2,11.9,381,5493,0.00,2.45,0.00,0.000,6,0.000,0.050,1904,3177,2063,0,0,0,0,0,0
$GC,5816,0.64,99.2,935.6,15.1,397,5819,0.00,1.27,0.00,0.000,4,0.000,0.060,1903,3938,2057,0,0,0,0,0,0
$GC,5973,0.64,99.2,909.9,16.7,404,5977,0.00,1.20,0.00,0.000,6,0.000,0.036,1909,3178,2056,0,0,0,0,0,0
$GC,6305,0.64,99.2,858.7,15.4,420,6309,0.00,1.27,0.00,0.000,4,0.000,0.059,1909,3955,2054,0,0,0,0,0,0
$GC,6473,0.64,99.2,828.8,18.1,427,6477,0.00,1.23,0.00,0.000,6,0.000,0.036,1915,3164,2054,0,0,0,0,0,0
$GC,6794,0.64,99.2,776.0,16.4,443,6795,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3165,2052,0,0,0,0,0,0
$GC,7103,0.64,99.2,726.0,15.9,458,7107,0.00,1.27,0.00,0.000,4,0.000,0.060,1915,3947,2052,0,0,0,0,0,0
$GC,7197,0.64,99.2,709.0,18.3,462,7202,0.00,1.20,0.00,0.000,6,0.000,0.037,1921,3179,2051,0,0,0,0,0,0
$GC,7525,0.64,99.2,656.8,15.6,478,7528,0.00,1.25,0.00,0.000,4,0.000,0.060,1921,3950,2051,0,0,0,0,0,0
$GC,7708,0.64,99.2,623.2,18.8,486,7713,0.00,1.20,0.00,0.000,6,0.000,0.037,1927,3176,2051,0,0,0,0,0,0
$GC,8036,0.64,99.2,569.4,16.1,502,8040,0.00,1.25,0.00,0.000,4,0.000,0.060,1927,3952,2050,0,0,0,0,0,0
$GC,8085,0.64,99.2,560.3,18.9,504,8091,0.12,1.20,0.00,0.000,6,0.218,0.037,1905,3178,2050,0,0,0,0,0,0
$GC,8412,0.64,99.2,512.1,14.5,520,8415,0.00,1.25,0.00,0.000,4,0.000,0.060,1904,3951,2049,0,0,0,0,0,0
$GC,8547,0.64,99.2,490.6,15.1,526,8550,0.00,1.17,0.00,0.000,6,0.000,0.037,1909,3183,2049,0,0,0,0,0,0
$GC,8878,0.64,99.2,445.7,13.0,542,8882,0.00,1.25,0.00,0.000,4,0.000,0.060,1909,3957,2049,0,0,0,0,0,0
$GC,8961,0.64,99.2,433.1,16.0,545,8969,0.00,1.20,0.00,0.000,6,0.000,0.037,1915,3175,2049,0,0,0,0,0,0
$GC,9279,0.64,99.2,389.8,13.5,564,9283,0.00,1.25,0.00,0.000,4,0.000,0.060,1915,3951,2048,0,0,0,0,0,0
$GC,9351,0.64,99.2,378.8,15.3,570,9359,0.00,1.20,0.00,0.000,6,0.000,0.036,1921,3172,2048,0,0,0,0,0,0
$GC,9679,0.64,99.2,332.7,14.6,601,9682,0.00,1.25,0.00,0.000,4,0.000,0.060,1921,3949,2048,0,0,0,0,0,0
$GC,9873,0.64,99.2,299.7,16.5,618,9881,0.00,1.17,0.00,0.000,6,0.000,0.036,1927,3180,2048,0,0,0,0,0,0
$GC,10201,0.64,99.2,252.1,14.6,649,10205,0.00,1.23,0.00,0.000,4,0.000,0.060,1927,3948,2048,0,0,0,0,0,0
$GC,10329,0.64,99.2,230.5,16.5,660,10340,0.12,1.17,0.00,0.000,6,0.216,0.035,1904,3180,2048,0,0,0,0,0,0
$GC,10655,0.64,99.2,190.4,12.1,691,10658,0.00,1.23,0.00,0.000,4,0.000,0.060,1904,3950,2048,0,0,0,0,0,0
$GC,10738,0.64,99.2,178.9,13.8,698,10746,0.00,1.17,0.00,0.000,6,0.000,0.035,1909,3179,2048,0,0,0,0,0,0
$GC,11066,0.64,99.2,137.9,12.4,729,11067,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3179,2048,0,0,0,0,0,0
$GC,11386,0.64,99.2,97.2,13.4,760,11392,0.00,1.25,0.00,0.000,4,0.000,0.059,1909,3955,2048,0,0,0,0,0,0
$GC,11602,0.64,99.2,66.0,12.8,798,11611,0.00,1.17,0.00,0.000,6,0.000,0.036,1915,3179,2048,0,0,0,0,0,0
$GC,11956,0.64,100.0,26.7,9.3,859,11962,0.00,1.23,0.00,0.000,4,0.000,0.060,1915,3943,2048,0,0,0,0,0,0
$STATE,12165,end climb,SURFACE_DEPTH_REACHED
$STATE,12165,begin surface coast
$FINISH,0.8,1.026303
$STATE,12190,end surface coast,CONTROL_FINISHED_OK
$STATE,12190,begin surface
$SM_CCo,12203,48.75,0.806,0,0,1553,225.18
$SM_GC,1.11,0.00,0.00,48.75,0.000,0.000,0.806,62,3322,1553,-5.10,0.06,225.18
$IRIDIUM_FIX,-4244.98,831.12,171213,171724
$TT8_MAMPS,0.025466
$HUMID,62.04
$INTERNAL_PRESSURE,9.53279
$TCM_TEMP,13.30
$XPDR_PINGS,0
$24V_AH,22.7,17.428
$10V_AH,10.0,11.899
$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,12.400,56.300,195.575,48.750,0.000,31.733,21.557,265.776,0.000,0.000,21.494,2285.933,7152.199,349.543,2756.042,142.521,0.000,1340.011,0.000,2324.121,0.000,1.011,0.000
$DEVICE_MAMPS,228.735,85.680,1870.425,806.310,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,622.699,1560.577,653.675,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355152
$DATA_FILE_SIZE,60253,898
$CAP_FILE_SIZE,120315,0
$CFSIZE,259252224,250957824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,181213,002058,-4259.373,831.128,34,0.9,34,-25.0