version: 66.07
glider: 543
mission: 9
dive: 114
start: 12 18 113 14 37 3
data:
$ID,543
$MISSION,9
$DIVE,114
$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,-12749.796
$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,44
$R_STBD_OVSHOOT,23
$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
$GPS1,181213,142923,-4258.876,830.203,40,0.9,40,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-57.5
$GPS2,181213,143642,-4258.845,830.369,17,1.6,17,-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,218.1,2197,-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,-48.85,0.000,2,0.000,0.000,58,3312,2655,0,0,0,0,0,0
$GC,67,-0.64,-103.7,3.3,-4.4,6,85,5.72,1.08,-6.43,0.000,4,0.230,0.087,1478,3954,2900,0,0,0,0,0,0
$GC,179,-0.64,-103.7,29.6,-20.9,24,188,0.00,0.98,0.00,0.000,6,0.000,0.037,1478,3325,2902,0,0,0,0,0,0
$GC,327,-0.64,-103.7,61.2,-22.1,49,333,0.00,1.00,0.00,0.000,4,0.000,0.058,1475,3948,2903,0,0,0,0,0,0
$GC,589,-0.64,-103.7,121.5,-21.5,87,592,0.00,0.98,0.00,0.000,6,0.000,0.036,1475,3307,2904,0,0,0,0,0,0
$GC,919,-0.64,-103.7,186.9,-19.6,118,922,0.00,1.02,0.00,0.000,4,0.000,0.059,1470,3948,2906,0,0,0,0,0,0
$GC,1181,-0.64,-103.7,243.1,-21.7,141,1184,0.00,0.95,0.00,0.000,6,0.000,0.036,1470,3319,2907,0,0,0,0,0,0
$GC,1511,-0.64,-103.7,312.3,-20.6,172,1514,0.00,1.00,0.00,0.000,4,0.000,0.059,1465,3950,2906,0,0,0,0,0,0
$GC,1770,-0.64,-103.7,371.0,-22.7,195,1774,0.00,0.95,0.00,0.000,6,0.000,0.035,1465,3317,2906,0,0,0,0,0,0
$GC,2095,-0.64,-103.7,439.1,-20.4,217,2098,0.00,1.00,0.00,0.000,4,0.000,0.060,1461,3949,2907,0,0,0,0,0,0
$GC,2351,-0.64,-103.7,495.6,-20.9,228,2356,0.00,0.98,0.00,0.000,6,0.000,0.036,1461,3311,2907,0,0,0,0,0,0
$GC,2673,-0.64,-103.7,560.7,-20.4,244,2677,0.00,1.00,0.00,0.000,4,0.000,0.060,1456,3939,2906,0,0,0,0,0,0
$GC,2929,-0.64,-103.7,615.7,-21.2,255,2935,0.12,0.95,0.00,0.000,6,0.196,0.037,1485,3320,2906,0,0,0,0,0,0
$GC,3251,-0.64,-103.7,669.8,-16.7,271,3255,0.00,1.02,0.00,0.000,4,0.000,0.063,1481,3949,2906,0,0,0,0,0,0
$GC,3508,-0.64,-103.7,717.4,-18.6,282,3513,0.00,0.98,0.00,0.000,6,0.000,0.037,1482,3314,2906,0,0,0,0,0,0
$GC,3830,-0.64,-103.7,773.6,-17.4,298,3833,0.00,1.00,0.00,0.000,4,0.000,0.062,1477,3942,2905,0,0,0,0,0,0
$GC,4087,-0.64,-103.7,820.2,-18.0,309,4091,0.00,0.98,0.00,0.000,6,0.000,0.037,1477,3310,2905,0,0,0,0,0,0
$GC,4410,-0.64,-103.7,871.9,-15.9,325,4413,0.00,1.02,0.00,0.000,4,0.000,0.063,1472,3952,2904,0,0,0,0,0,0
$GC,4666,-0.64,-103.7,917.0,-17.5,336,4670,0.00,0.98,0.00,0.000,6,0.000,0.038,1472,3318,2903,0,0,0,0,0,0
$GC,4987,-0.64,-103.7,968.2,-16.4,352,4991,0.00,1.00,0.00,0.000,4,0.000,0.063,1468,3947,2903,0,0,0,0,0,0
$STATE,5114,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5114,begin apogee
$GC,5119,-0.11,0.0,991.0,16.9,357,5226,0.62,0.00,100.38,1.867,6,0.165,0.000,1654,3169,2473,0,0,0,0,0,0
$STATE,5227,end apogee,CONTROL_FINISHED_OK
$STATE,5227,begin climb
$GC,5228,0.64,103.7,995.6,0.0,363,5340,0.75,2.40,103.40,1.818,4,0.098,0.034,1905,1772,2052,0,0,0,0,0,0
$GC,5518,0.64,103.7,964.0,12.7,376,5523,0.00,2.40,0.00,0.000,6,0.000,0.051,1905,3177,2042,0,0,0,0,0,0
$GC,5840,0.64,103.7,915.0,15.5,392,5844,0.00,1.27,0.00,0.000,4,0.000,0.059,1904,3949,2038,0,0,0,0,0,0
$GC,5911,0.64,103.7,902.9,16.8,395,5916,0.00,1.25,0.00,0.000,6,0.000,0.036,1911,3161,2038,0,0,0,0,0,0
$GC,6239,0.64,103.7,851.5,16.1,411,6243,0.00,1.30,0.00,0.000,4,0.000,0.060,1911,3949,2036,0,0,0,0,0,0
$GC,6496,0.64,103.7,803.3,18.1,422,6501,0.00,1.23,0.00,0.000,6,0.000,0.036,1917,3169,2036,0,0,0,0,0,0
$GC,6818,0.64,103.7,750.4,16.0,438,6819,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3169,2034,0,0,0,0,0,0
$GC,7127,0.64,103.7,703.1,15.1,453,7131,0.00,1.27,0.00,0.000,4,0.000,0.060,1916,3953,2033,0,0,0,0,0,0
$GC,7384,0.64,103.7,657.9,18.1,464,7388,0.00,1.20,0.00,0.000,6,0.000,0.036,1923,3181,2033,0,0,0,0,0,0
$GC,7706,0.64,103.7,606.0,16.1,480,7709,0.00,1.25,0.00,0.000,4,0.000,0.060,1923,3951,2032,0,0,0,0,0,0
$GC,7822,0.64,103.7,585.3,18.2,485,7827,0.00,1.20,0.00,0.000,6,0.000,0.036,1928,3181,2032,0,0,0,0,0,0
$GC,8149,0.64,103.7,532.4,16.1,501,8150,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,3180,2032,0,0,0,0,0,0
$GC,8459,0.64,103.7,482.9,15.6,516,8462,0.00,1.23,0.00,0.000,4,0.000,0.060,1928,3941,2031,0,0,0,0,0,0
$GC,8531,0.64,103.7,470.3,18.3,519,8535,0.10,1.17,0.00,0.000,6,0.197,0.037,1906,3181,2031,0,0,0,0,0,0
$GC,8857,0.64,103.7,424.5,13.7,535,8861,0.00,1.23,0.00,0.000,4,0.000,0.060,1906,3947,2031,0,0,0,0,0,0
$GC,9117,0.64,103.7,384.9,15.4,550,9120,0.00,1.17,0.00,0.000,6,0.000,0.037,1911,3177,2030,0,0,0,0,0,0
$GC,9449,0.64,103.7,340.5,13.3,581,9452,0.00,1.25,0.00,0.000,4,0.000,0.060,1911,3952,2030,0,0,0,0,0,0
$GC,9520,0.64,103.7,329.3,15.6,587,9528,0.00,1.20,0.00,0.000,6,0.000,0.036,1917,3172,2030,0,0,0,0,0,0
$GC,9846,0.64,103.7,284.7,14.1,618,9849,0.00,1.25,0.00,0.000,4,0.000,0.060,1917,3947,2030,0,0,0,0,0,0
$GC,10108,0.64,103.7,244.7,14.8,641,10112,0.00,1.17,0.00,0.000,6,0.000,0.037,1923,3174,2030,0,0,0,0,0,0
$GC,10438,0.64,103.7,198.2,13.5,672,10441,0.00,1.25,0.00,0.000,4,0.000,0.060,1923,3954,2030,0,0,0,0,0,0
$GC,10551,0.64,103.7,180.7,15.5,682,10555,0.00,1.17,0.00,0.000,6,0.000,0.035,1929,3175,2030,0,0,0,0,0,0
$GC,10883,0.64,103.7,135.5,13.9,713,10886,0.00,1.25,0.00,0.000,4,0.000,0.059,1929,3955,2030,0,0,0,0,0,0
$GC,11011,0.64,103.7,114.8,16.1,724,11021,0.12,1.20,0.00,0.000,6,0.214,0.034,1907,3169,2030,0,0,0,0,0,0
$GC,11349,0.64,103.7,74.4,11.0,774,11358,0.00,1.25,0.00,0.000,4,0.000,0.059,1905,3949,2029,0,0,0,0,0,0
$GC,11506,0.64,103.7,55.2,12.5,801,11515,0.00,1.15,0.00,0.000,6,0.000,0.036,1909,3188,2030,0,0,0,0,0,0
$GC,11862,0.64,103.7,17.3,10.5,862,11871,0.00,2.17,0.00,0.000,4,0.000,0.034,1920,1769,2029,0,0,0,0,0,0
$STATE,12038,end climb,SURFACE_DEPTH_REACHED
$STATE,12038,begin surface coast
$FINISH,0.7,1.014805
$STATE,12081,end surface coast,CONTROL_FINISHED_OK
$STATE,12081,begin surface
$SM_CCo,12096,47.30,0.804,0,0,1553,225.18
$SM_GC,1.38,0.00,0.00,47.30,0.000,0.000,0.804,57,3321,1553,-5.12,0.06,225.18
$IRIDIUM_FIX,-4244.98,831.12,181213,101022
$TT8_MAMPS,0.026215
$HUMID,62.36
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.6,18.120
$10V_AH,10.0,12.395
$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,12.425,56.450,203.775,47.300,0.000,28.497,34.518,263.169,0.000,0.000,20.342,2309.025,6927.056,333.543,2867.997,146.148,0.000,1360.023,0.000,2433.375,0.000,1.010,0.000
$DEVICE_MAMPS,229.500,87.210,1867.365,804.015,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,623.193,1568.027,680.669,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,60249,898
$CAP_FILE_SIZE,120438,0
$CFSIZE,259252224,250634240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,181213,180034,-4259.510,830.036,34,0.9,34,-25.0