version: 66.07
glider: 543
mission: 9
dive: 110
start: 12 18 113 0 28 46
data:
$ID,543
$MISSION,9
$DIVE,110
$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,-12736.472
$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,21
$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
$GPS1,181213,002058,-4259.373,831.128,34,0.9,34,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-57.5
$GPS2,181213,002825,-4259.428,831.190,18,1.3,18,-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,261.7,1928,-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,-48.78,0.000,2,0.000,0.000,62,3322,2675,0,0,0,0,0,0
$GC,67,-0.65,-111.6,3.3,-3.5,6,85,5.70,1.05,-6.85,0.000,4,0.230,0.085,1477,3955,2932,0,0,0,0,0,0
$GC,345,-0.65,-111.6,74.0,-25.8,53,352,0.00,0.98,0.00,0.000,6,0.000,0.034,1480,3316,2937,0,0,0,0,0,0
$GC,683,-0.65,-111.6,144.4,-20.6,95,687,0.00,1.00,0.00,0.000,4,0.000,0.058,1477,3945,2939,0,0,0,0,0,0
$GC,941,-0.65,-111.6,201.4,-22.3,118,945,0.00,0.95,0.00,0.000,6,0.000,0.035,1476,3318,2940,0,0,0,0,0,0
$GC,1274,-0.65,-111.6,268.9,-20.2,149,1277,0.00,1.00,0.00,0.000,4,0.000,0.060,1472,3949,2941,0,0,0,0,0,0
$GC,1533,-0.65,-111.6,324.3,-20.3,172,1537,0.00,0.95,0.00,0.000,6,0.000,0.036,1472,3314,2941,0,0,0,0,0,0
$GC,1863,-0.65,-111.6,389.5,-19.7,203,1867,0.00,1.00,0.00,0.000,4,0.000,0.060,1467,3945,2941,0,0,0,0,0,0
$GC,2103,-0.65,-111.6,441.5,-21.9,216,2111,0.00,0.98,0.00,0.000,6,0.000,0.035,1468,3308,2940,0,0,0,0,0,0
$GC,2419,-0.65,-111.6,507.5,-21.2,232,2423,0.00,1.02,0.00,0.000,4,0.000,0.060,1463,3953,2941,0,0,0,0,0,0
$GC,2676,-0.65,-111.6,564.4,-22.4,243,2681,0.00,0.98,0.00,0.000,6,0.000,0.036,1463,3315,2941,0,0,0,0,0,0
$GC,3000,-0.65,-111.6,629.8,-19.9,259,3003,0.00,1.00,0.00,0.000,4,0.000,0.060,1458,3949,2941,0,0,0,0,0,0
$GC,3250,-0.65,-111.6,683.0,-20.2,270,3255,0.00,0.98,0.00,0.000,6,0.000,0.036,1458,3310,2940,0,0,0,0,0,0
$GC,3578,-0.65,-111.6,743.2,-18.1,286,3581,0.00,1.00,0.00,0.000,4,0.000,0.061,1453,3939,2939,0,0,0,0,0,0
$GC,3835,-0.65,-111.6,794.5,-20.1,297,3840,0.12,0.95,0.00,0.000,6,0.195,0.037,1483,3324,2939,0,0,0,0,0,0
$GC,4156,-0.65,-111.6,845.7,-15.8,313,4159,0.00,1.00,0.00,0.000,4,0.000,0.062,1479,3955,2937,0,0,0,0,0,0
$GC,4412,-0.65,-111.6,888.5,-16.4,324,4417,0.00,0.98,0.00,0.000,6,0.000,0.037,1479,3317,2937,0,0,0,0,0,0
$GC,4734,-0.65,-111.6,938.2,-15.6,340,4738,0.00,1.00,0.00,0.000,4,0.000,0.063,1474,3948,2937,0,0,0,0,0,0
$GC,4990,-0.65,-111.6,982.3,-16.8,351,4994,0.00,0.98,0.00,0.000,6,0.000,0.038,1475,3314,2936,0,0,0,0,0,0
$STATE,5042,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5042,begin apogee
$GC,5046,-0.11,0.0,990.6,16.0,354,5158,0.60,0.00,108.05,1.864,6,0.159,0.000,1652,3184,2474,0,0,0,0,0,0
$STATE,5159,end apogee,CONTROL_FINISHED_OK
$STATE,5159,begin climb
$GC,5160,0.65,111.6,995.0,0.0,359,5280,0.75,2.45,112.05,1.816,4,0.096,0.034,1903,1779,2018,0,0,0,0,0,0
$GC,5346,0.65,111.6,975.9,13.3,367,5354,0.00,2.45,0.00,0.000,6,0.000,0.051,1903,3178,2011,0,0,0,0,0,0
$GC,5663,0.65,111.6,923.7,16.5,383,5666,0.00,1.30,0.00,0.000,4,0.000,0.059,1903,3956,2006,0,0,0,0,0,0
$GC,5909,0.65,111.6,878.2,18.6,394,5913,0.00,1.23,0.00,0.000,6,0.000,0.036,1909,3173,2004,0,0,0,0,0,0
$GC,6241,0.65,111.6,822.4,17.0,410,6242,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3173,2003,0,0,0,0,0,0
$GC,6551,0.65,111.6,772.6,15.8,425,6554,0.00,1.27,0.00,0.000,4,0.000,0.060,1910,3953,2002,0,0,0,0,0,0
$GC,6689,0.65,111.6,747.2,18.7,431,6694,0.00,1.23,0.00,0.000,6,0.000,0.037,1915,3169,2001,0,0,0,0,0,0
$GC,7017,0.65,111.6,695.9,15.6,447,7021,0.00,1.27,0.00,0.000,4,0.000,0.060,1915,3957,2000,0,0,0,0,0,0
$GC,7184,0.65,111.6,666.6,17.7,454,7189,0.00,1.17,0.00,0.000,6,0.000,0.036,1921,3188,2000,0,0,0,0,0,0
$GC,7506,0.65,111.6,619.4,14.6,470,7510,0.00,1.25,0.00,0.000,4,0.000,0.060,1921,3958,2000,0,0,0,0,0,0
$GC,7605,0.65,111.6,603.2,16.1,474,7610,0.00,1.23,0.00,0.000,6,0.000,0.036,1927,3170,2000,0,0,0,0,0,0
$GC,7927,0.65,111.6,556.9,14.7,490,7931,0.00,1.27,0.00,0.000,4,0.000,0.060,1927,3957,1999,0,0,0,0,0,0
$GC,7988,0.65,111.6,546.9,17.3,492,7995,0.00,1.17,0.00,0.000,6,0.000,0.036,1933,3189,1998,0,0,0,0,0,0
$GC,8303,0.65,111.6,498.2,15.2,508,8305,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,3189,1998,0,0,0,0,0,0
$GC,8613,0.65,111.6,449.3,16.3,523,8617,0.00,1.25,0.00,0.000,4,0.000,0.060,1932,3956,1998,0,0,0,0,0,0
$GC,8697,0.65,111.6,434.3,17.4,526,8704,0.10,1.20,0.00,0.000,6,0.194,0.037,1910,3178,1998,0,0,0,0,0,0
$GC,9014,0.65,111.6,385.8,15.3,546,9015,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3178,1998,0,0,0,0,0,0
$GC,9334,0.65,111.6,337.4,15.0,576,9335,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3178,1998,0,0,0,0,0,0
$GC,9652,0.65,111.6,287.8,15.6,606,9656,0.00,1.25,0.00,0.000,4,0.000,0.060,1910,3950,1997,0,0,0,0,0,0
$GC,9723,0.65,111.6,275.3,17.7,612,9734,0.00,1.20,0.00,0.000,6,0.000,0.036,1915,3171,1997,0,0,0,0,0,0
$GC,10049,0.65,111.6,225.7,15.2,643,10053,0.00,1.27,0.00,0.000,4,0.000,0.060,1915,3961,1997,0,0,0,0,0,0
$GC,10173,0.65,111.6,205.0,17.0,654,10177,0.00,1.17,0.00,0.000,6,0.000,0.036,1921,3188,1997,0,0,0,0,0,0
$GC,10506,0.65,111.6,155.7,14.5,685,10507,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3187,1997,0,0,0,0,0,0
$GC,10822,0.65,111.6,110.6,14.0,715,10823,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3188,1997,0,0,0,0,0,0
$GC,11156,0.65,111.6,63.8,13.1,768,11165,0.00,1.25,0.00,0.000,4,0.000,0.059,1921,3961,1997,0,0,0,0,0,0
$GC,11279,0.65,111.6,45.9,15.5,789,11288,0.00,1.17,0.00,0.000,6,0.000,0.035,1927,3181,1997,0,0,0,0,0,0
$STATE,11615,end climb,SURFACE_DEPTH_REACHED
$STATE,11615,begin surface coast
$FINISH,1.5,1.026189
$STATE,11641,end surface coast,CONTROL_FINISHED_OK
$STATE,11641,begin surface
$SM_CCo,11653,43.55,0.812,0,0,1553,225.18
$SM_GC,1.12,0.00,0.00,43.55,0.000,0.000,0.812,51,3338,1553,-5.14,0.59,225.18
$IRIDIUM_FIX,-4244.98,831.12,171213,202032
$TT8_MAMPS,0.025466
$HUMID,62.44
$INTERNAL_PRESSURE,9.53279
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,22.5,17.570
$10V_AH,10.0,11.993
$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,12.600,45.275,220.100,43.550,0.000,27.778,41.534,265.692,0.000,0.000,21.276,2170.333,6850.710,337.740,2657.119,129.117,0.000,1279.177,0.000,2213.302,0.000,1.011,0.000
$DEVICE_MAMPS,229.500,84.915,1864.305,812.430,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,589.884,1475.516,600.795,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,56858,850
$CAP_FILE_SIZE,112082,0
$CFSIZE,259252224,250904576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,181213,034454,-4259.457,830.273,38,1.0,38,-25.0