version: 66.07
glider: 543
mission: 9
dive: 113
start: 12 18 113 11 2 29
data:
$ID,543
$MISSION,9
$DIVE,113
$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,-12746.511
$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,52
$R_STBD_OVSHOOT,29
$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
$GPS1,181213,105458,-4258.925,829.844,40,1.1,40,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-58.2
$GPS2,181213,110208,-4258.908,829.986,15,1.1,16,-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,204.5,2022,-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,-48.47,0.000,2,0.000,0.000,68,3332,2635,0,0,0,0,0,0
$GC,67,-0.64,-99.9,3.2,-4.8,6,85,5.78,1.02,-6.68,0.000,4,0.237,0.088,1478,3943,2885,0,0,0,0,0,0
$GC,344,-0.64,-99.9,70.0,-23.3,53,350,0.00,0.95,0.00,0.000,6,0.000,0.036,1478,3323,2889,0,0,0,0,0,0
$GC,681,-0.64,-99.9,136.6,-20.0,97,684,0.00,1.00,0.00,0.000,4,0.000,0.059,1475,3938,2891,0,0,0,0,0,0
$GC,940,-0.64,-99.9,193.6,-21.3,120,944,0.00,0.95,0.00,0.000,6,0.000,0.035,1475,3314,2892,0,0,0,0,0,0
$GC,1270,-0.64,-99.9,259.9,-19.7,151,1274,0.00,1.00,0.00,0.000,4,0.000,0.058,1470,3944,2893,0,0,0,0,0,0
$GC,1529,-0.64,-99.9,315.3,-21.2,174,1533,0.00,0.95,0.00,0.000,6,0.000,0.035,1470,3315,2893,0,0,0,0,0,0
$GC,1862,-0.64,-99.9,380.5,-19.5,205,1865,0.00,1.00,0.00,0.000,4,0.000,0.058,1466,3947,2892,0,0,0,0,0,0
$GC,2119,-0.64,-99.9,434.5,-20.9,221,2124,0.00,0.98,0.00,0.000,6,0.000,0.035,1466,3309,2893,0,0,0,0,0,0
$GC,2441,-0.64,-99.9,493.7,-18.4,237,2444,0.00,1.00,0.00,0.000,4,0.000,0.060,1461,3939,2892,0,0,0,0,0,0
$GC,2697,-0.64,-99.9,546.6,-21.2,248,2702,0.00,0.95,0.00,0.000,6,0.000,0.036,1461,3320,2893,0,0,0,0,0,0
$GC,3019,-0.64,-99.9,609.6,-19.2,264,3022,0.00,0.98,0.00,0.000,4,0.000,0.060,1457,3932,2893,0,0,0,0,0,0
$GC,3275,-0.64,-99.9,663.0,-21.6,275,3280,0.12,0.95,0.00,0.000,6,0.197,0.037,1485,3317,2892,0,0,0,0,0,0
$GC,3597,-0.64,-99.9,715.8,-15.9,291,3601,0.00,0.98,0.00,0.000,4,0.000,0.062,1482,3930,2892,0,0,0,0,0,0
$GC,3854,-0.64,-99.9,761.5,-17.6,302,3858,0.00,0.95,0.00,0.000,6,0.000,0.037,1482,3317,2891,0,0,0,0,0,0
$GC,4177,-0.64,-99.9,813.1,-15.7,318,4180,0.00,1.00,0.00,0.000,4,0.000,0.061,1477,3947,2890,0,0,0,0,0,0
$GC,4433,-0.64,-99.9,856.8,-17.4,329,4437,0.00,0.98,0.00,0.000,6,0.000,0.038,1478,3315,2890,0,0,0,0,0,0
$GC,4755,-0.64,-99.9,907.1,-15.6,345,4759,0.00,1.00,0.00,0.000,4,0.000,0.061,1473,3942,2889,0,0,0,0,0,0
$GC,5012,-0.64,-99.9,953.3,-17.0,356,5016,0.00,0.98,0.00,0.000,6,0.000,0.038,1473,3312,2888,0,0,0,0,0,0
$STATE,5249,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5250,begin apogee
$GC,5254,-0.11,0.0,990.9,15.4,368,5354,0.62,0.00,97.18,1.864,6,0.163,0.000,1655,3182,2473,0,0,0,0,0,0
$STATE,5355,end apogee,CONTROL_FINISHED_OK
$STATE,5355,begin climb
$GC,5357,0.64,99.9,994.7,0.0,373,5465,0.75,2.47,100.03,1.815,4,0.098,0.034,1906,1778,2065,0,0,0,0,0,0
$GC,5716,0.64,99.9,952.6,13.5,389,5721,0.00,2.38,0.00,0.000,6,0.000,0.051,1906,3178,2056,0,0,0,0,0,0
$GC,6044,0.64,99.9,901.7,15.7,405,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3178,2053,0,0,0,0,0,0
$GC,6355,0.64,99.9,855.7,14.9,420,6356,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3178,2051,0,0,0,0,0,0
$GC,6662,0.64,99.9,809.7,15.0,435,6666,0.00,1.25,0.00,0.000,4,0.000,0.060,1906,3946,2049,0,0,0,0,0,0
$GC,6887,0.64,99.9,771.5,16.5,445,6891,0.00,1.20,0.00,0.000,6,0.000,0.037,1912,3168,2049,0,0,0,0,0,0
$GC,7219,0.64,99.9,721.6,15.4,461,7220,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3169,2048,0,0,0,0,0,0
$GC,7528,0.64,99.9,674.1,15.7,476,7532,0.00,1.25,0.00,0.000,4,0.000,0.060,1912,3937,2048,0,0,0,0,0,0
$GC,7650,0.64,99.9,652.7,17.8,481,7655,0.00,1.20,0.00,0.000,6,0.000,0.037,1918,3170,2047,0,0,0,0,0,0
$GC,7972,0.64,99.9,601.7,15.5,497,7976,0.00,1.25,0.00,0.000,4,0.000,0.060,1918,3945,2046,0,0,0,0,0,0
$GC,8130,0.64,99.9,573.7,18.5,504,8134,0.00,1.17,0.00,0.000,6,0.000,0.037,1924,3180,2047,0,0,0,0,0,0
$GC,8462,0.64,99.9,520.7,15.7,520,8464,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,3180,2046,0,0,0,0,0,0
$GC,8772,0.64,99.9,472.8,15.1,535,8775,0.00,1.23,0.00,0.000,4,0.000,0.060,1924,3947,2046,0,0,0,0,0,0
$GC,8876,0.64,99.9,455.0,16.8,539,8884,0.00,1.20,0.00,0.000,6,0.000,0.037,1930,3170,2046,0,0,0,0,0,0
$GC,9193,0.64,99.9,407.1,14.7,555,9196,0.00,1.25,0.00,0.000,4,0.000,0.060,1930,3945,2045,0,0,0,0,0,0
$GC,9306,0.64,99.9,388.3,16.5,563,9310,0.10,1.17,0.00,0.000,6,0.196,0.037,1908,3176,2046,0,0,0,0,0,0
$GC,9636,0.64,99.9,343.8,13.1,594,9637,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3176,2045,0,0,0,0,0,0
$GC,9955,0.64,99.9,302.5,12.9,624,9958,0.00,1.25,0.00,0.000,4,0.000,0.060,1907,3950,2045,0,0,0,0,0,0
$GC,10141,0.64,99.9,274.1,15.9,640,10149,0.00,1.17,0.00,0.000,6,0.000,0.037,1912,3175,2045,0,0,0,0,0,0
$GC,10465,0.64,99.9,229.1,13.3,671,10466,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3175,2045,0,0,0,0,0,0
$GC,10786,0.64,99.9,186.8,12.9,701,10790,0.00,1.25,0.00,0.000,4,0.000,0.060,1912,3953,2044,0,0,0,0,0,0
$GC,10846,0.64,99.9,177.3,15.3,706,10855,0.00,1.20,0.00,0.000,6,0.000,0.036,1918,3169,2045,0,0,0,0,0,0
$GC,11174,0.64,99.9,134.2,13.2,737,11175,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3168,2045,0,0,0,0,0,0
$GC,11496,0.64,99.9,92.2,12.9,772,11502,0.00,1.25,0.00,0.000,4,0.000,0.060,1918,3950,2045,0,0,0,0,0,0
$GC,11689,0.64,99.9,66.5,12.1,805,11695,0.00,1.15,0.00,0.000,6,0.000,0.037,1924,3188,2045,0,0,0,0,0,0
$GC,12037,0.64,99.9,26.2,13.1,866,12046,0.00,1.23,0.00,0.000,4,0.000,0.058,1924,3949,2045,0,0,0,0,0,0
$STATE,12253,end climb,SURFACE_DEPTH_REACHED
$STATE,12253,begin surface coast
$FINISH,0.6,1.026308
$STATE,12279,end surface coast,CONTROL_FINISHED_OK
$STATE,12279,begin surface
$SM_CCo,12291,48.67,0.799,0,0,1552,225.18
$SM_GC,0.84,0.00,0.00,48.67,0.000,0.000,0.799,59,3312,1552,-5.11,-0.23,225.18
$IRIDIUM_FIX,-4244.98,828.21,181213,070757
$TT8_MAMPS,0.026215
$HUMID,62.12
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.7,17.985
$10V_AH,10.0,12.293
$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,12.300,44.275,197.200,48.675,0.000,27.553,18.560,274.355,0.000,0.000,19.531,2303.581,7232.972,319.630,2781.541,134.848,0.000,1296.376,0.000,2346.538,0.000,1.011,0.000
$DEVICE_MAMPS,237.150,87.975,1863.540,798.660,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,628.945,1573.609,653.523,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355200
$DATA_FILE_SIZE,60413,906
$CAP_FILE_SIZE,115058,0
$CFSIZE,259252224,250703872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,181213,142923,-4258.876,830.203,40,0.9,40,-25.0