version: 66.07
glider: 543
mission: 9
dive: 111
start: 12 18 113 3 57 8
data:
$ID,543
$MISSION,9
$DIVE,111
$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,-12740.104
$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,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
$GPS1,181213,034454,-4259.457,830.273,38,1.0,38,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-64.5
$GPS2,181213,035647,-4259.444,830.539,18,1.9,18,-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,240.4,1262,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.61,-57.7,0.0,0.0,0,65,0.00,0.00,-48.20,0.000,2,0.000,0.000,51,3339,2653,0,0,0,0,0,0
$GC,67,-0.64,-100.8,3.2,-4.7,6,85,5.75,2.25,-6.12,0.000,4,0.230,0.045,1482,1902,2887,0,0,0,0,0,0
$GC,345,-0.64,-100.8,56.2,-15.1,53,352,0.00,2.30,0.00,0.000,6,0.000,0.053,1472,3326,2891,0,0,0,0,0,0
$GC,684,-0.64,-100.8,124.8,-20.6,103,688,0.00,1.00,0.00,0.000,4,0.000,0.057,1468,3957,2893,0,0,0,0,0,0
$GC,934,-0.64,-100.8,180.4,-23.7,125,937,0.00,0.95,0.00,0.000,6,0.000,0.034,1467,3319,2895,0,0,0,0,0,0
$GC,1263,-0.64,-100.8,250.6,-20.0,156,1267,0.00,1.00,0.00,0.000,4,0.000,0.058,1463,3950,2895,0,0,0,0,0,0
$GC,1481,-0.64,-100.8,298.1,-20.7,175,1489,0.00,0.95,0.00,0.000,6,0.000,0.034,1463,3319,2895,0,0,0,0,0,0
$GC,1807,-0.64,-100.8,361.7,-19.8,206,1810,0.00,1.00,0.00,0.000,4,0.000,0.058,1458,3950,2895,0,0,0,0,0,0
$GC,1957,-0.64,-100.8,393.8,-21.2,219,1965,0.08,0.98,0.00,0.000,6,0.176,0.034,1480,3312,2895,0,0,0,0,0,0
$GC,2284,-0.64,-100.8,453.3,-18.4,237,2287,0.00,1.00,0.00,0.000,4,0.000,0.059,1476,3945,2895,0,0,0,0,0,0
$GC,2501,-0.64,-100.8,496.0,-18.7,246,2509,0.00,0.98,0.00,0.000,6,0.000,0.035,1476,3307,2895,0,0,0,0,0,0
$GC,2818,-0.64,-100.8,552.9,-17.7,262,2821,0.00,1.02,0.00,0.000,4,0.000,0.060,1472,3953,2895,0,0,0,0,0,0
$GC,3057,-0.64,-100.8,598.9,-19.8,272,3065,0.00,0.98,0.00,0.000,6,0.000,0.036,1472,3315,2894,0,0,0,0,0,0
$GC,3375,-0.64,-100.8,653.7,-17.4,288,3379,0.00,1.00,0.00,0.000,4,0.000,0.060,1467,3944,2894,0,0,0,0,0,0
$GC,3497,-0.64,-100.8,677.4,-18.7,293,3502,0.00,0.98,0.00,0.000,6,0.000,0.037,1467,3309,2893,0,0,0,0,0,0
$GC,3819,-0.64,-100.8,733.9,-17.6,309,3823,0.00,1.00,0.00,0.000,4,0.000,0.061,1462,3936,2892,0,0,0,0,0,0
$GC,4021,-0.64,-100.8,773.0,-18.9,318,4025,0.00,0.93,0.00,0.000,6,0.000,0.038,1462,3325,2892,0,0,0,0,0,0
$GC,4355,-0.64,-100.8,835.0,-18.6,334,4359,0.00,0.98,0.00,0.000,4,0.000,0.061,1457,3940,2891,0,0,0,0,0,0
$GC,4611,-0.64,-100.8,887.2,-19.7,345,4616,0.12,0.98,0.00,0.000,6,0.192,0.038,1487,3311,2890,0,0,0,0,0,0
$GC,4935,-0.64,-100.8,938.9,-16.1,361,4938,0.00,1.00,0.00,0.000,4,0.000,0.062,1484,3938,2890,0,0,0,0,0,0
$GC,5191,-0.64,-100.8,982.6,-16.6,372,5196,0.00,0.98,0.00,0.000,6,0.000,0.038,1483,3310,2889,0,0,0,0,0,0
$STATE,5243,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5243,begin apogee
$GC,5247,-0.11,0.0,990.8,16.0,375,5348,0.57,0.00,97.55,1.879,6,0.158,0.000,1653,3180,2474,0,0,0,0,0,0
$STATE,5349,end apogee,CONTROL_FINISHED_OK
$STATE,5349,begin climb
$GC,5351,0.64,100.8,995.3,0.0,380,5461,0.75,2.45,101.22,1.831,4,0.096,0.034,1905,1782,2062,0,0,0,0,0,0
$GC,5523,0.64,100.8,978.9,13.0,388,5528,0.00,2.42,0.00,0.000,6,0.000,0.051,1904,3180,2057,0,0,0,0,0,0
$GC,5849,0.64,100.8,927.2,16.0,404,5853,0.00,1.27,0.00,0.000,4,0.000,0.060,1905,3938,2051,0,0,0,0,0,0
$GC,6106,0.64,100.8,880.3,17.8,415,6111,0.00,1.23,0.00,0.000,6,0.000,0.035,1911,3169,2049,0,0,0,0,0,0
$GC,6428,0.64,100.8,830.7,15.4,431,6429,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3169,2047,0,0,0,0,0,0
$GC,6738,0.64,100.8,783.3,16.0,446,6741,0.00,1.27,0.00,0.000,4,0.000,0.061,1910,3945,2046,0,0,0,0,0,0
$GC,6995,0.64,100.8,737.5,17.4,457,6999,0.00,1.20,0.00,0.000,6,0.000,0.036,1917,3180,2046,0,0,0,0,0,0
$GC,7316,0.64,100.8,687.4,15.7,473,7320,0.00,1.25,0.00,0.000,4,0.000,0.060,1916,3949,2045,0,0,0,0,0,0
$GC,7545,0.64,100.8,647.6,16.8,483,7550,0.00,1.20,0.00,0.000,6,0.000,0.037,1922,3181,2045,0,0,0,0,0,0
$GC,7874,0.64,100.8,597.1,15.5,499,7877,0.00,1.25,0.00,0.000,4,0.000,0.060,1922,3956,2044,0,0,0,0,0,0
$GC,7973,0.64,100.8,580.8,16.1,503,7978,0.00,1.23,0.00,0.000,6,0.000,0.036,1928,3164,2044,0,0,0,0,0,0
$GC,8295,0.64,100.8,534.3,14.4,519,8299,0.00,1.27,0.00,0.000,4,0.000,0.060,1928,3954,2044,0,0,0,0,0,0
$GC,8490,0.64,100.8,502.7,16.1,527,8499,0.12,1.20,0.00,0.000,6,0.212,0.037,1905,3181,2044,0,0,0,0,0,0
$GC,8808,0.64,100.8,462.2,12.6,543,8811,0.00,1.25,0.00,0.000,4,0.000,0.060,1905,3955,2042,0,0,0,0,0,0
$GC,8958,0.64,100.8,440.1,14.3,549,8965,0.00,1.17,0.00,0.000,6,0.000,0.036,1910,3182,2042,0,0,0,0,0,0
$GC,9273,0.64,100.8,398.7,13.0,565,9274,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3183,2042,0,0,0,0,0,0
$GC,9593,0.64,100.8,357.0,12.8,595,9596,0.00,1.23,0.00,0.000,4,0.000,0.060,1910,3939,2041,0,0,0,0,0,0
$GC,9732,0.64,100.8,335.9,15.2,607,9740,0.00,1.17,0.00,0.000,6,0.000,0.036,1916,3179,2041,0,0,0,0,0,0
$GC,10057,0.64,100.8,291.6,13.8,638,10058,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3179,2041,0,0,0,0,0,0
$GC,10377,0.64,100.8,248.8,13.5,668,10380,0.00,1.25,0.00,0.000,4,0.000,0.060,1916,3954,2041,0,0,0,0,0,0
$GC,10557,0.64,100.8,221.3,15.8,684,10561,0.00,1.17,0.00,0.000,6,0.000,0.036,1922,3179,2041,0,0,0,0,0,0
$GC,10887,0.64,100.8,176.4,13.7,715,10891,0.00,1.25,0.00,0.000,4,0.000,0.060,1922,3955,2041,0,0,0,0,0,0
$GC,11068,0.64,100.8,148.3,16.4,731,11072,0.00,1.17,0.00,0.000,6,0.000,0.036,1927,3179,2041,0,0,0,0,0,0
$GC,11398,0.64,100.8,98.5,15.7,762,11407,0.00,1.23,0.00,0.000,4,0.000,0.060,1928,3944,2041,0,0,0,0,0,0
$GC,11614,0.64,100.8,65.6,14.7,799,11621,0.10,1.17,0.00,0.000,6,0.192,0.035,1905,3163,2041,0,0,0,0,0,0
$GC,11965,0.64,100.8,24.5,13.0,860,11974,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3163,2040,0,0,0,0,0,0
$GC,12117,0.65,123.3,9.6,7.0,885,12135,0.00,1.27,7.05,0.764,4,0.000,0.058,1905,3951,1967,0,0,0,0,0,0
$STATE,12195,end climb,SURFACE_DEPTH_REACHED
$STATE,12195,begin surface coast
$FINISH,0.7,1.013157
$STATE,12226,end surface coast,CONTROL_FINISHED_OK
$STATE,12227,begin surface
$SM_CCo,12239,40.50,0.805,0,0,1552,225.18
$SM_GC,1.16,0.00,0.00,40.50,0.000,0.000,0.805,66,3328,1552,-5.09,0.23,225.18
$IRIDIUM_FIX,-4244.98,828.21,181213,030317
$TT8_MAMPS,0.026215
$HUMID,61.77
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.7,17.714
$10V_AH,10.0,12.097
$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,12.475,53.950,205.825,40.500,0.000,73.836,42.458,405.096,0.000,0.000,21.260,2310.432,7127.534,339.565,3067.140,151.342,0.000,1359.984,0.000,2416.805,0.000,1.010,0.000
$DEVICE_MAMPS,229.500,62.730,1878.840,804.780,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,625.400,1575.017,673.465,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355192
$DATA_FILE_SIZE,60418,902
$CAP_FILE_SIZE,124552,0
$CFSIZE,259252224,250826752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,181213,072329,-4300.147,830.119,67,0.9,67,-25.0