version: 66.07
glider: 543
mission: 9
dive: 117
start: 12 18 113 22 8 2
data:
$ID,543
$MISSION,9
$DIVE,117
$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,-12880.057
$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,45
$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
$DEVICE3,131
$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
$GPS1,181213,220028,-4259.862,830.387,39,1.0,39,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-63.4
$GPS2,181213,220741,-4259.845,830.392,17,1.0,17,-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,266.6,604,-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,-57.7,0.0,0.0,0,66,0.00,0.00,-49.92,0.000,2,0.000,0.000,62,3426,2671,0,0,0,0,0,0
$GC,68,-0.71,-106.4,3.3,-4.1,6,87,5.72,0.82,-6.32,0.000,4,0.239,0.089,1459,3956,2909,0,0,0,0,0,0
$GC,101,-0.71,-106.4,11.2,-19.4,10,110,0.00,0.82,0.00,0.000,6,0.000,0.039,1461,3423,2911,0,0,0,0,0,0
$GC,161,-0.71,-106.4,26.9,-26.3,19,168,0.00,2.20,0.00,0.000,4,0.000,0.037,1469,2005,2911,0,0,0,0,0,0
$GC,192,-0.71,-106.4,36.5,-28.4,24,201,0.00,2.33,0.00,0.000,6,0.000,0.054,1460,3420,2912,0,0,0,0,0,0
$GC,341,-0.71,-106.4,69.1,-22.0,49,347,0.00,0.85,0.00,0.000,4,0.000,0.059,1455,3956,2913,0,0,0,0,0,0
$GC,412,-0.71,-106.4,84.9,-22.1,61,419,0.00,0.82,0.00,0.000,6,0.000,0.038,1455,3415,2914,0,0,0,0,0,0
$GC,747,-0.71,-106.4,160.3,-23.5,98,751,0.00,0.85,0.00,0.000,4,0.000,0.060,1451,3948,2915,0,0,0,0,0,0
$GC,838,-0.71,-106.4,182.0,-24.3,106,841,0.00,0.80,0.00,0.000,6,0.000,0.038,1452,3421,2916,0,0,0,0,0,0
$GC,1170,-0.71,-106.4,257.8,-22.4,137,1173,0.00,0.88,0.00,0.000,4,0.000,0.060,1448,3954,2916,0,0,0,0,0,0
$GC,1275,-0.71,-106.4,283.3,-24.0,146,1283,0.00,0.82,0.00,0.000,6,0.000,0.036,1448,3414,2916,0,0,0,0,0,0
$GC,1603,-0.71,-106.4,355.7,-21.6,177,1606,0.00,0.85,0.00,0.000,4,0.000,0.060,1444,3951,2916,0,0,0,0,0,0
$GC,1704,-0.71,-106.4,379.7,-23.3,186,1708,0.00,0.80,0.00,0.000,6,0.000,0.037,1444,3416,2916,0,0,0,0,0,0
$GC,2028,-0.71,-106.4,451.8,-22.4,206,2029,0.00,0.00,0.00,0.000,6,0.000,0.000,1444,3416,2916,0,0,0,0,0,0
$GC,2337,-0.71,-106.4,520.0,-22.6,221,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,1444,3416,2916,0,0,0,0,0,0
$GC,2646,-0.71,-106.4,588.1,-22.0,236,2650,0.00,0.85,0.00,0.000,4,0.000,0.061,1440,3952,2916,0,0,0,0,0,0
$GC,2826,-0.71,-106.4,628.8,-22.3,244,2830,0.00,0.80,0.00,0.000,6,0.000,0.038,1440,3419,2916,0,0,0,0,0,0
$GC,3158,-0.71,-106.4,699.1,-20.9,260,3162,0.12,0.88,0.00,0.000,4,0.204,0.061,1465,3957,2916,0,0,0,0,0,0
$GC,3303,-0.71,-106.4,728.7,-19.2,266,3307,0.00,0.82,0.00,0.000,6,0.000,0.039,1465,3422,2916,0,0,0,0,0,0
$GC,3625,-0.71,-106.4,787.6,-17.9,282,3628,0.00,0.85,0.00,0.000,4,0.000,0.063,1461,3958,2915,0,0,0,0,0,0
$GC,3707,-0.71,-106.4,803.6,-19.0,285,3715,0.00,0.82,0.00,0.000,6,0.000,0.039,1462,3420,2915,0,0,0,0,0,0
$GC,4023,-0.71,-106.4,861.9,-18.9,301,4024,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3420,2914,0,0,0,0,0,0
$GC,4332,-0.71,-106.4,917.6,-17.6,316,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3420,2913,0,0,0,0,0,0
$GC,4642,-0.71,-106.4,971.2,-17.0,331,4643,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3420,2913,0,0,0,0,0,0
$STATE,4764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4764,begin apogee
$GC,4768,-0.12,0.0,991.6,16.4,337,4875,0.65,0.00,102.88,1.880,6,0.164,0.000,1652,3273,2473,0,0,0,0,0,0
$STATE,4875,end apogee,CONTROL_FINISHED_OK
$STATE,4875,begin climb
$GC,4877,0.71,106.4,996.1,0.0,342,4992,0.85,2.45,106.47,1.825,4,0.101,0.034,1931,1875,2039,0,0,0,0,0,0
$GC,5053,0.71,106.4,975.8,15.8,350,5057,0.00,2.45,0.00,0.000,6,0.000,0.050,1931,3281,2034,0,0,0,0,0,0
$GC,5382,0.71,106.4,913.4,19.4,366,5383,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,3281,2028,0,0,0,0,0,0
$GC,5689,0.71,106.4,853.7,19.0,381,5693,0.00,2.20,0.00,0.000,4,0.000,0.036,1942,1858,2026,0,0,0,0,0,0
$GC,5738,0.71,106.4,844.8,16.8,383,5743,0.00,2.35,0.00,0.000,6,0.000,0.053,1942,3282,2025,0,0,0,0,0,0
$GC,6062,0.71,106.4,785.2,18.4,399,6063,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,3281,2024,0,0,0,0,0,0
$GC,6369,0.71,106.4,729.6,17.4,414,6373,0.00,1.08,0.00,0.000,4,0.000,0.062,1942,3947,2024,0,0,0,0,0,0
$GC,6491,0.71,106.4,706.2,19.8,419,6496,0.00,1.05,0.00,0.000,6,0.000,0.038,1947,3273,2023,0,0,0,0,0,0
$GC,6813,0.71,106.4,650.7,17.4,435,6817,0.00,1.10,0.00,0.000,4,0.000,0.062,1946,3952,2022,0,0,0,0,0,0
$GC,6941,0.71,106.4,625.6,19.9,440,6948,0.00,1.05,0.00,0.000,6,0.000,0.038,1951,3279,2022,0,0,0,0,0,0
$GC,7257,0.71,106.4,569.5,17.9,456,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,3279,2021,0,0,0,0,0,0
$GC,7566,0.71,106.4,514.1,18.0,471,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,3279,2020,0,0,0,0,0,0
$GC,7876,0.71,106.4,459.8,17.4,486,7877,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,3279,2020,0,0,0,0,0,0
$GC,8185,0.71,106.4,406.6,17.1,501,8186,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,3279,2020,0,0,0,0,0,0
$GC,8505,0.71,106.4,353.8,16.3,529,8506,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,3279,2019,0,0,0,0,0,0
$GC,8821,0.71,106.4,299.5,16.7,559,8822,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,3279,2019,0,0,0,0,0,0
$GC,9142,0.71,106.4,247.0,16.7,589,9146,0.00,1.10,0.00,0.000,4,0.000,0.062,1951,3958,2019,0,0,0,0,0,0
$GC,9213,0.71,106.4,233.7,18.0,595,9221,0.00,1.08,0.00,0.000,6,0.000,0.039,1957,3270,2019,0,0,0,0,0,0
$GC,9539,0.71,106.4,180.7,16.6,626,9540,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,3270,2019,0,0,0,0,0,0
$GC,9858,0.71,106.4,128.1,16.1,656,9859,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,3270,2019,0,0,0,0,0,0
$GC,10187,0.71,106.4,76.6,15.1,699,10195,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,3270,2017,0,0,0,0,0,0
$GC,10540,0.71,106.4,29.4,11.1,760,10548,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,3270,2017,0,0,0,0,0,0
$GC,10694,0.71,106.4,8.6,14.5,785,10703,0.00,2.15,0.00,0.000,4,0.000,0.034,1968,1861,2017,0,0,0,0,0,0
$GC,10736,0.71,106.4,3.4,12.4,791,10745,0.10,2.28,0.00,0.000,6,0.193,0.054,1938,3283,2015,0,0,0,0,0,0
$STATE,10752,end climb,SURFACE_DEPTH_REACHED
$STATE,10752,begin surface coast
$FINISH,0.7,1.016208
$STATE,10779,end surface coast,CONTROL_FINISHED_OK
$STATE,10779,begin surface
$SM_CCo,10791,46.10,0.798,0,0,1552,225.18
$SM_GC,1.49,0.00,0.00,46.10,0.000,0.000,0.798,70,3428,1552,-5.09,0.23,225.18
$IRIDIUM_FIX,-4242.04,836.94,181213,181851
$TT8_MAMPS,0.026215
$HUMID,62.32
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.20
$XPDR_PINGS,0
$24V_AH,22.6,18.486
$10V_AH,10.0,12.601
$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,12.475,38.625,209.350,46.100,0.000,27.700,45.295,250.467,0.000,0.000,20.294,1963.922,6663.944,342.398,2185.236,118.448,0.000,1103.136,0.000,1757.167,0.000,1.010,0.000
$DEVICE_MAMPS,238.680,88.740,1879.605,797.895,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,552.463,1374.340,567.832,293.762,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354432
$DATA_FILE_SIZE,57079,797
$CAP_FILE_SIZE,97570,0
$CFSIZE,259252224,250548224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,191213,010952,-4259.825,829.450,39,0.9,39,-25.0