version: 66.07
glider: 543
mission: 9
dive: 116
start: 12 18 113 19 0 50
data:
$ID,543
$MISSION,9
$DIVE,116
$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,-12876.925
$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,1700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,42
$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,3420
$C_ROLL_CLIMB,3280
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,24
$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
$DEVICE3,131
$DEVICE4,118
$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
$GPS1,181213,185611,-4259.015,830.145,17,1.4,17,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-62.3
$GPS2,181213,190029,-4258.958,830.160,16,1.5,16,-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,211.4,1942,-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,-0.68,-57.7,0.0,0.0,0,73,0.00,0.00,-55.25,0.000,6,0.000,0.000,78,3434,2712,0,0,0,0,0,0
$GC,75,-0.71,-109.0,3.1,-3.8,7,94,5.55,0.82,-5.30,0.000,4,0.230,0.085,1462,3953,2918,0,0,0,0,0,0
$GC,168,-0.71,-109.0,25.9,-23.7,21,174,0.00,0.82,0.00,0.000,6,0.000,0.037,1464,3408,2921,0,0,0,0,0,0
$GC,315,-0.71,-109.0,57.7,-23.3,46,321,0.00,0.00,0.00,0.000,6,0.000,0.000,1464,3408,2921,0,0,0,0,0,0
$GC,653,-0.71,-109.0,131.0,-21.9,94,657,0.00,0.85,0.00,0.000,4,0.000,0.058,1462,3940,2922,0,0,0,0,0,0
$GC,758,-0.71,-109.0,155.9,-23.6,103,766,0.00,0.80,0.00,0.000,6,0.000,0.036,1462,3420,2922,0,0,0,0,0,0
$GC,1083,-0.71,-109.0,227.7,-21.9,134,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3420,2922,0,0,0,0,0,0
$GC,1402,-0.71,-109.0,296.7,-21.6,164,1406,0.00,0.88,0.00,0.000,4,0.000,0.061,1458,3953,2922,0,0,0,0,0,0
$GC,1651,-0.71,-109.0,351.8,-22.6,186,1654,0.00,0.80,0.00,0.000,6,0.000,0.038,1458,3423,2922,0,0,0,0,0,0
$GC,1989,-0.71,-109.0,423.3,-21.2,213,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3422,2921,0,0,0,0,0,0
$GC,2297,-0.71,-109.0,488.5,-21.1,228,2301,0.00,0.82,0.00,0.000,4,0.000,0.062,1454,3940,2920,0,0,0,0,0,0
$GC,2500,-0.71,-109.0,534.0,-22.8,237,2503,0.00,0.80,0.00,0.000,6,0.000,0.039,1454,3415,2920,0,0,0,0,0,0
$GC,2831,-0.71,-109.0,604.5,-20.9,253,2835,0.00,0.85,0.00,0.000,4,0.000,0.062,1450,3947,2919,0,0,0,0,0,0
$GC,2936,-0.71,-109.0,628.2,-21.6,257,2944,0.00,0.82,0.00,0.000,6,0.000,0.039,1450,3414,2919,0,0,0,0,0,0
$GC,3254,-0.71,-109.0,693.4,-20.4,273,3258,0.00,0.85,0.00,0.000,4,0.000,0.063,1446,3946,2918,0,0,0,0,0,0
$GC,3376,-0.71,-109.0,720.8,-20.9,278,3380,0.00,0.82,0.00,0.000,6,0.000,0.040,1446,3415,2918,0,0,0,0,0,0
$GC,3699,-0.71,-109.0,786.5,-21.2,294,3703,0.00,0.85,0.00,0.000,4,0.000,0.062,1442,3949,2917,0,0,0,0,0,0
$GC,3871,-0.71,-109.0,825.0,-21.8,301,3879,0.00,0.82,0.00,0.000,6,0.000,0.038,1442,3413,2916,0,0,0,0,0,0
$GC,4189,-0.71,-109.0,889.0,-20.3,317,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,1442,3413,2915,0,0,0,0,0,0
$GC,4496,-0.71,-109.0,950.3,-19.2,332,4500,0.00,0.85,0.00,0.000,4,0.000,0.063,1438,3946,2914,0,0,0,0,0,0
$STATE,4684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4684,begin apogee
$GC,4689,-0.12,0.0,990.1,20.4,340,4795,0.73,0.00,102.70,1.867,6,0.172,0.000,1652,3278,2473,0,0,0,0,0,0
$STATE,4796,end apogee,CONTROL_FINISHED_OK
$STATE,4796,begin climb
$GC,4797,0.71,109.0,995.1,0.0,345,4914,0.85,2.40,108.22,1.812,4,0.102,0.034,1932,1869,2029,0,0,0,0,0,0
$GC,4980,0.71,109.0,975.0,14.4,353,4988,0.00,2.45,0.00,0.000,6,0.000,0.051,1932,3277,2023,0,0,0,0,0,0
$GC,5297,0.71,109.0,919.8,17.2,369,5300,0.00,1.10,0.00,0.000,4,0.000,0.060,1932,3941,2017,0,0,0,0,0,0
$GC,5458,0.71,109.0,888.2,19.8,376,5463,0.00,1.02,0.00,0.000,6,0.000,0.038,1937,3287,2016,0,0,0,0,0,0
$GC,5786,0.71,109.0,831.0,16.7,392,5787,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,3286,2014,0,0,0,0,0,0
$GC,6097,0.71,109.0,777.8,17.5,407,6098,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,3286,2013,0,0,0,0,0,0
$GC,6404,0.71,109.0,722.2,18.4,422,6405,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,3286,2012,0,0,0,0,0,0
$GC,6714,0.71,109.0,666.3,17.8,437,6717,0.00,1.08,0.00,0.000,4,0.000,0.063,1936,3955,2011,0,0,0,0,0,0
$GC,6759,0.71,109.0,657.6,19.1,439,6762,0.00,1.02,0.00,0.000,6,0.000,0.040,1942,3282,2011,0,0,0,0,0,0
$GC,7092,0.71,109.0,596.4,17.8,455,7093,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,3281,2010,0,0,0,0,0,0
$GC,7400,0.71,109.0,543.7,16.6,470,7404,0.00,1.08,0.00,0.000,4,0.000,0.060,1941,3955,2010,0,0,0,0,0,0
$GC,7438,0.71,109.0,536.6,18.4,471,7446,0.00,1.05,0.00,0.000,6,0.000,0.037,1946,3272,2010,0,0,0,0,0,0
$GC,7754,0.71,109.0,483.4,17.0,487,7755,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,3272,2010,0,0,0,0,0,0
$GC,8063,0.71,109.0,430.2,17.6,502,8067,0.00,1.10,0.00,0.000,4,0.000,0.060,1946,3955,2009,0,0,0,0,0,0
$GC,8134,0.71,109.0,416.2,19.9,505,8139,0.00,1.05,0.00,0.000,6,0.000,0.037,1952,3271,2009,0,0,0,0,0,0
$GC,8458,0.71,109.0,357.2,19.1,531,8462,0.00,1.10,0.00,0.000,4,0.000,0.060,1952,3956,2009,0,0,0,0,0,0
$GC,8518,0.71,109.0,344.6,20.2,536,8528,0.00,1.05,0.00,0.000,6,0.000,0.037,1957,3272,2009,0,0,0,0,0,0
$GC,8844,0.71,109.0,284.2,18.7,567,8845,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,3272,2008,0,0,0,0,0,0
$GC,9166,0.71,109.0,224.9,18.5,597,9169,0.00,1.08,0.00,0.000,4,0.000,0.061,1957,3944,2008,0,0,0,0,0,0
$GC,9225,0.71,109.0,212.1,20.4,602,9234,0.12,1.02,0.00,0.000,6,0.230,0.037,1934,3277,2008,0,0,0,0,0,0
$GC,9553,0.71,109.0,158.4,16.9,633,9557,0.00,1.08,0.00,0.000,4,0.000,0.059,1934,3950,2007,0,0,0,0,0,0
$GC,9646,0.71,109.0,141.6,18.1,641,9649,0.00,1.00,0.00,0.000,6,0.000,0.037,1938,3286,2007,0,0,0,0,0,0
$GC,9978,0.71,109.0,85.3,16.3,679,9985,0.00,1.08,0.00,0.000,4,0.000,0.060,1938,3958,2007,0,0,0,0,0,0
$GC,10017,0.71,109.0,78.7,18.2,685,10024,0.00,1.02,0.00,0.000,6,0.000,0.037,1943,3278,2007,0,0,0,0,0,0
$GC,10368,0.71,109.0,32.8,14.1,746,10377,0.00,1.08,0.00,0.000,4,0.000,0.060,1943,3953,2007,0,0,0,0,0,0
$GC,10394,0.71,109.0,29.0,14.0,750,10403,0.00,1.00,0.00,0.000,6,0.000,0.036,1948,3282,2007,0,0,0,0,0,0
$GC,10550,0.71,109.0,11.5,13.1,775,10558,0.00,2.15,0.00,0.000,4,0.000,0.034,1959,1869,2007,0,0,0,0,0,0
$STATE,10620,end climb,SURFACE_DEPTH_REACHED
$STATE,10620,begin surface coast
$FINISH,0.6,1.026307
$STATE,10646,end surface coast,CONTROL_FINISHED_OK
$STATE,10646,begin surface
$SM_CCo,10660,45.05,0.810,0,0,1551,225.18
$SM_GC,1.25,0.00,0.00,45.05,0.000,0.000,0.810,67,3427,1551,-5.10,0.20,225.18
$IRIDIUM_FIX,-4244.98,831.12,181213,181846
$TT8_MAMPS,0.026215
$HUMID,62.99
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.00
$XPDR_PINGS,0
$24V_AH,22.6,18.349
$10V_AH,10.1,12.517
$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,12.450,42.000,210.925,45.050,0.000,0.000,0.000,0.000,0.000,0.000,19.500,1973.067,6406.063,352.497,1951.158,96.914,0.000,1158.057,0.000,1855.349,0.000,1.012,0.000
$DEVICE_MAMPS,230.265,84.915,1866.600,810.135,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,547.465,1358.970,571.087,314.078,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354504
$DATA_FILE_SIZE,57124,790
$CAP_FILE_SIZE,107844,0
$CFSIZE,259252224,250597376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,181213,220028,-4259.862,830.387,39,1.0,39,-25.0