version: 66.07
glider: 543
mission: 9
dive: 112
start: 12 18 113 7 31 27
data:
$ID,543
$MISSION,9
$DIVE,112
$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,-12743.252
$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,47
$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
$GPS1,181213,072329,-4300.147,830.119,67,0.9,67,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-55.6
$GPS2,181213,073106,-4300.129,830.213,20,1.1,20,-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,334.7,375,-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,-48.55,0.000,2,0.000,0.000,62,3327,2648,0,0,0,0,0,0
$GC,67,-0.64,-108.6,3.3,-3.9,6,85,5.72,0.00,-7.30,0.000,6,0.233,0.000,1481,3328,2918,0,0,0,0,0,0
$GC,134,-0.64,-108.6,19.6,-27.0,16,143,0.00,1.00,0.00,0.000,4,0.000,0.059,1478,3940,2922,0,0,0,0,0,0
$GC,149,-0.64,-108.6,24.0,-25.9,18,158,0.00,0.95,0.00,0.000,6,0.000,0.035,1478,3325,2922,0,0,0,0,0,0
$GC,297,-0.64,-108.6,57.3,-23.2,43,303,0.00,0.00,0.00,0.000,6,0.000,0.000,1478,3325,2923,0,0,0,0,0,0
$GC,633,-0.64,-108.6,128.1,-20.1,91,637,0.00,1.00,0.00,0.000,4,0.000,0.058,1475,3953,2924,0,0,0,0,0,0
$GC,716,-0.64,-108.6,146.7,-21.9,98,724,0.00,0.98,0.00,0.000,6,0.000,0.034,1475,3314,2924,0,0,0,0,0,0
$GC,1044,-0.64,-108.6,214.0,-20.7,129,1048,0.00,1.00,0.00,0.000,4,0.000,0.059,1470,3943,2926,0,0,0,0,0,0
$GC,1258,-0.64,-108.6,260.1,-20.5,148,1262,0.00,0.95,0.00,0.000,6,0.000,0.036,1470,3315,2926,0,0,0,0,0,0
$GC,1588,-0.64,-108.6,324.7,-19.3,179,1592,0.00,1.00,0.00,0.000,4,0.000,0.059,1466,3951,2926,0,0,0,0,0,0
$GC,1762,-0.64,-108.6,361.0,-19.9,194,1769,0.00,0.98,0.00,0.000,6,0.000,0.035,1466,3311,2926,0,0,0,0,0,0
$GC,2095,-0.64,-108.6,426.0,-19.6,220,2098,0.00,1.00,0.00,0.000,4,0.000,0.060,1461,3939,2926,0,0,0,0,0,0
$GC,2346,-0.64,-108.6,480.7,-20.7,231,2350,0.00,0.95,0.00,0.000,6,0.000,0.036,1461,3318,2926,0,0,0,0,0,0
$GC,2673,-0.64,-108.6,545.9,-19.8,247,2677,0.00,1.00,0.00,0.000,4,0.000,0.060,1456,3948,2926,0,0,0,0,0,0
$GC,2840,-0.64,-108.6,582.2,-21.2,254,2845,0.12,0.98,0.00,0.000,6,0.193,0.037,1485,3315,2925,0,0,0,0,0,0
$GC,3162,-0.64,-108.6,637.5,-16.8,270,3166,0.00,1.00,0.00,0.000,4,0.000,0.062,1482,3949,2926,0,0,0,0,0,0
$GC,3368,-0.64,-108.6,675.1,-18.1,279,3373,0.00,0.98,0.00,0.000,6,0.000,0.037,1482,3314,2925,0,0,0,0,0,0
$GC,3696,-0.64,-108.6,729.4,-16.4,295,3699,0.00,1.00,0.00,0.000,4,0.000,0.062,1478,3943,2924,0,0,0,0,0,0
$GC,3913,-0.64,-108.6,768.9,-19.0,304,3921,0.00,0.98,0.00,0.000,6,0.000,0.037,1477,3312,2924,0,0,0,0,0,0
$GC,4229,-0.64,-108.6,822.0,-16.3,320,4233,0.00,1.00,0.00,0.000,4,0.000,0.061,1473,3942,2924,0,0,0,0,0,0
$GC,4319,-0.64,-108.6,837.2,-17.2,324,4323,0.00,0.95,0.00,0.000,6,0.000,0.039,1473,3317,2923,0,0,0,0,0,0
$GC,4651,-0.64,-108.6,889.5,-15.4,340,4655,0.00,1.00,0.00,0.000,4,0.000,0.063,1468,3949,2923,0,0,0,0,0,0
$GC,4908,-0.64,-108.6,934.9,-18.0,351,4913,0.00,0.98,0.00,0.000,6,0.000,0.037,1468,3315,2922,0,0,0,0,0,0
$GC,5231,-0.64,-108.6,989.4,-17.2,367,5235,0.00,1.00,0.00,0.000,4,0.000,0.062,1464,3945,2922,0,0,0,0,0,0
$STATE,5240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5240,begin apogee
$GC,5245,-0.11,0.0,991.8,17.2,367,5357,0.62,0.00,104.82,1.873,6,0.165,0.000,1650,3171,2475,0,0,0,0,0,0
$STATE,5358,end apogee,CONTROL_FINISHED_OK
$STATE,5358,begin climb
$GC,5360,0.64,108.6,997.4,0.0,373,5476,0.77,2.38,108.85,1.824,4,0.099,0.033,1907,1784,2030,0,0,0,0,0,0
$GC,5577,0.64,108.6,977.3,12.0,383,5581,0.00,2.42,0.00,0.000,6,0.000,0.050,1907,3181,2023,0,0,0,0,0,0
$GC,5904,0.64,108.6,929.8,14.8,399,5907,0.00,1.27,0.00,0.000,4,0.000,0.059,1907,3948,2017,0,0,0,0,0,0
$GC,5958,0.64,108.6,920.6,16.8,401,5963,0.00,1.23,0.00,0.000,6,0.000,0.035,1913,3179,2017,0,0,0,0,0,0
$GC,6280,0.64,108.6,871.1,15.2,417,6284,0.00,1.27,0.00,0.000,4,0.000,0.059,1913,3955,2015,0,0,0,0,0,0
$GC,6379,0.64,108.6,853.5,17.9,421,6384,0.00,1.23,0.00,0.000,6,0.000,0.036,1919,3177,2015,0,0,0,0,0,0
$GC,6703,0.64,108.6,802.1,15.9,437,6704,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3178,2013,0,0,0,0,0,0
$GC,7011,0.64,108.6,755.1,15.1,452,7014,0.00,1.25,0.00,0.000,4,0.000,0.060,1919,3947,2013,0,0,0,0,0,0
$GC,7093,0.64,108.6,740.7,17.4,455,7101,0.00,1.20,0.00,0.000,6,0.000,0.035,1924,3174,2013,0,0,0,0,0,0
$GC,7410,0.64,108.6,691.4,15.2,471,7411,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,3175,2012,0,0,0,0,0,0
$GC,7719,0.64,108.6,643.3,15.5,486,7722,0.00,1.25,0.00,0.000,4,0.000,0.060,1924,3944,2012,0,0,0,0,0,0
$GC,7899,0.64,108.6,611.5,18.3,494,7902,0.00,1.17,0.00,0.000,6,0.000,0.037,1930,3180,2012,0,0,0,0,0,0
$GC,8232,0.64,108.6,557.8,15.8,510,8233,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3180,2011,0,0,0,0,0,0
$GC,8540,0.64,108.6,508.6,15.8,525,8541,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3180,2010,0,0,0,0,0,0
$GC,8850,0.64,108.6,460.8,15.3,540,8853,0.00,1.25,0.00,0.000,4,0.000,0.060,1930,3957,2010,0,0,0,0,0,0
$GC,8963,0.64,108.6,441.9,17.3,545,8967,0.10,1.17,0.00,0.000,6,0.192,0.037,1907,3186,2010,0,0,0,0,0,0
$GC,9294,0.64,108.6,397.3,13.0,561,9298,0.00,1.23,0.00,0.000,4,0.000,0.060,1908,3949,2009,0,0,0,0,0,0
$GC,9411,0.64,108.6,380.1,15.5,571,9419,0.00,1.20,0.00,0.000,6,0.000,0.037,1912,3173,2010,0,0,0,0,0,0
$GC,9737,0.64,108.6,336.2,13.1,602,9740,0.00,1.25,0.00,0.000,4,0.000,0.060,1912,3951,2009,0,0,0,0,0,0
$GC,9850,0.64,108.6,319.2,15.1,612,9854,0.00,1.17,0.00,0.000,6,0.000,0.037,1919,3175,2009,0,0,0,0,0,0
$GC,10180,0.64,108.6,274.3,13.9,643,10184,0.00,1.25,0.00,0.000,4,0.000,0.061,1918,3950,2009,0,0,0,0,0,0
$GC,10343,0.64,108.6,249.3,15.4,657,10351,0.00,1.20,0.00,0.000,6,0.000,0.035,1924,3166,2009,0,0,0,0,0,0
$GC,10668,0.64,108.6,204.8,13.7,688,10672,0.00,1.25,0.00,0.000,4,0.000,0.060,1924,3942,2009,0,0,0,0,0,0
$GC,10809,0.64,108.6,182.6,15.8,700,10819,0.00,1.15,0.00,0.000,6,0.000,0.035,1930,3183,2009,0,0,0,0,0,0
$GC,11134,0.64,108.6,135.1,15.0,731,11135,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3182,2008,0,0,0,0,0,0
$GC,11459,0.64,108.6,84.0,14.6,770,11466,0.00,1.23,0.00,0.000,4,0.000,0.059,1930,3947,2009,0,0,0,0,0,0
$GC,11670,0.64,108.6,50.2,15.9,807,11679,0.10,1.17,0.00,0.000,6,0.191,0.036,1908,3167,2009,0,0,0,0,0,0
$GC,12031,0.64,108.6,4.8,12.7,868,12040,0.00,2.12,0.00,0.000,4,0.000,0.033,1917,1780,2008,0,0,0,0,0,0
$STATE,12047,end climb,SURFACE_DEPTH_REACHED
$STATE,12047,begin surface coast
$FINISH,0.5,1.026184
$STATE,12078,end surface coast,CONTROL_FINISHED_OK
$STATE,12078,begin surface
$SM_CCo,12092,45.00,0.799,0,0,1552,225.18
$SM_GC,1.66,0.00,0.00,45.00,0.000,0.000,0.799,74,3331,1552,-5.06,0.31,225.18
$IRIDIUM_FIX,-4244.98,827.77,181213,030310
$TT8_MAMPS,0.025466
$HUMID,61.73
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.5,17.854
$10V_AH,10.0,12.193
$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,12.325,55.650,213.675,45.000,0.000,27.034,43.579,271.246,0.000,0.000,23.484,2217.021,7224.673,361.138,2644.681,147.612,0.000,1314.314,0.000,2198.260,0.000,1.010,0.000
$DEVICE_MAMPS,232.560,62.730,1872.720,798.660,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,606.595,1520.620,610.614,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355212
$DATA_FILE_SIZE,57025,875
$CAP_FILE_SIZE,116900,0
$CFSIZE,259252224,250773504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,181213,105458,-4258.925,829.844,40,1.1,40,-25.0