version: 66.07
glider: 543
mission: 9
dive: 388
start: 2 8 114 21 57 43
data:
$ID,543
$MISSION,9
$DIVE,388
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$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,133
$T_MISSION,148
$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,125
$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,220
$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,-13742.887
$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,1720
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,53
$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,3380
$C_ROLL_CLIMB,3285
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,30
$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
$GPS1,080214,214934,-4256.622,749.620,31,1.4,31,-24.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-59.3
$GPS2,080214,215719,-4256.563,749.630,17,1.7,17,-24.8
$SPEED_LIMITS,0.174,0.239
$TGT_NAME,SAZ
$TGT_LATLONG,-4300.000,750.000
$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,200.3,6385,-19.4,-10.025
$D_GRID,400
$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,15,-0.44,-121.7,0.0,0.0,0,58,0.00,0.00,-41.62,0.000,2,0.000,0.000,62,3394,2518,0,0,0,0,0,0
$GC,61,-0.44,-121.7,3.0,-4.6,5,88,6.22,0.90,-12.20,0.000,4,0.231,0.087,1565,3943,2972,0,0,0,0,0,0
$GC,356,-0.44,-121.7,45.4,-13.6,53,362,0.00,0.85,0.00,0.000,6,0.000,0.034,1566,3375,2975,0,0,0,0,0,0
$GC,704,-0.44,-121.7,94.7,-11.4,114,712,0.00,0.90,0.00,0.000,4,0.000,0.057,1562,3942,2976,0,0,0,0,0,0
$GC,803,-0.44,-121.7,105.9,-11.0,126,810,0.00,0.82,0.00,0.000,6,0.000,0.032,1561,3376,2976,0,0,0,0,0,0
$GC,1130,-0.44,-121.7,142.4,-11.0,157,1134,0.00,2.08,0.00,0.000,4,0.000,0.026,1562,1963,2978,0,0,0,0,0,0
$GC,1171,-0.44,-121.7,146.7,-9.4,160,1175,0.00,2.25,0.00,0.000,6,0.000,0.049,1551,3376,2978,0,0,0,0,0,0
$GC,1496,-0.44,-121.7,183.5,-11.6,190,1499,0.00,0.90,0.00,0.000,4,0.000,0.057,1547,3945,2979,0,0,0,0,0,0
$GC,1580,-0.44,-121.7,193.4,-11.3,197,1587,0.00,0.82,0.00,0.000,6,0.000,0.031,1547,3381,2979,0,0,0,0,0,0
$GC,1905,-0.44,-121.7,228.2,-10.6,228,1910,0.10,0.90,0.00,0.000,4,0.175,0.058,1569,3938,2979,0,0,0,0,0,0
$GC,2000,-0.44,-121.7,237.3,-9.0,236,2009,0.00,0.82,0.00,0.000,6,0.000,0.031,1570,3381,2979,0,0,0,0,0,0
$GC,2325,-0.44,-121.7,264.2,-8.5,267,2328,0.00,0.90,0.00,0.000,4,0.000,0.058,1565,3952,2979,0,0,0,0,0,0
$GC,2441,-0.44,-121.7,274.3,-9.0,277,2444,0.00,0.85,0.00,0.000,6,0.000,0.034,1565,3377,2979,0,0,0,0,0,0
$GC,2771,-0.44,-121.7,304.7,-9.5,308,2775,0.00,0.90,0.00,0.000,4,0.000,0.057,1561,3945,2978,0,0,0,0,0,0
$GC,2886,-0.44,-121.7,316.1,-9.9,318,2890,0.00,0.82,0.00,0.000,6,0.000,0.033,1561,3383,2978,0,0,0,0,0,0
$GC,3219,-0.44,-121.7,347.4,-9.0,349,3222,0.00,0.90,0.00,0.000,4,0.000,0.059,1557,3953,2978,0,0,0,0,0,0
$GC,3314,-0.44,-121.7,357.3,-9.7,357,3321,0.00,0.85,0.00,0.000,6,0.000,0.034,1557,3380,2978,0,0,0,0,0,0
$GC,3640,-0.44,-121.7,389.3,-9.9,388,3644,0.00,0.93,0.00,0.000,4,0.000,0.061,1553,3946,2978,0,0,0,0,0,0
$GC,3713,-0.44,-121.7,397.5,-10.9,394,3719,0.00,0.85,0.00,0.000,6,0.000,0.033,1552,3376,2978,0,0,0,0,0,0
$STATE,3740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3740,begin apogee
$GC,3746,-0.09,0.0,400.1,10.4,397,3862,0.43,0.00,111.97,1.454,6,0.132,0.000,1682,3284,2474,0,0,0,0,0,0
$STATE,3863,end apogee,CONTROL_FINISHED_OK
$STATE,3863,begin climb
$GC,3865,0.44,121.7,405.1,0.0,403,3993,0.50,2.40,115.35,1.414,4,0.074,0.025,1868,1875,1976,0,0,0,0,0,0
$GC,4032,0.46,152.5,398.9,8.3,410,4067,0.00,2.42,29.52,1.381,6,0.000,0.046,1868,3283,1851,0,0,0,0,0,0
$GC,4392,0.46,152.5,356.2,11.9,444,4393,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,3283,1843,0,0,0,0,0,0
$GC,4713,0.46,152.5,317.1,12.4,474,4717,0.00,2.17,0.00,0.000,4,0.000,0.028,1879,1860,1842,0,0,0,0,0,0
$GC,4744,0.46,152.5,312.9,11.6,476,4755,0.00,2.30,0.00,0.000,6,0.000,0.047,1879,3277,1841,0,0,0,0,0,0
$GC,5070,0.46,152.5,271.8,12.3,507,5071,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,3277,1840,0,0,0,0,0,0
$GC,5392,0.46,152.5,230.7,13.1,537,5396,0.00,1.08,0.00,0.000,4,0.000,0.057,1879,3950,1839,0,0,0,0,0,0
$GC,5419,0.46,152.5,226.3,13.6,539,5427,0.00,1.00,0.00,0.000,6,0.000,0.031,1884,3274,1839,0,0,0,0,0,0
$GC,5745,0.46,152.5,181.8,13.8,570,5749,0.00,2.10,0.00,0.000,4,0.000,0.028,1895,1877,1839,0,0,0,0,0,0
$GC,5807,0.46,152.5,174.2,11.9,575,5811,0.00,2.28,0.00,0.000,6,0.000,0.049,1895,3294,1837,0,0,0,0,0,0
$GC,6134,0.46,152.5,129.5,13.1,605,6138,0.00,1.05,0.00,0.000,4,0.000,0.056,1895,3951,1837,0,0,0,0,0,0
$GC,6182,0.46,152.5,123.0,14.1,609,6186,0.10,0.98,0.00,0.000,6,0.186,0.031,1872,3288,1837,0,0,0,0,0,0
$GC,6516,0.47,176.9,90.2,8.7,648,6532,0.00,2.12,9.43,1.050,4,0.000,0.026,1881,1876,1749,0,0,0,0,0,0
$GC,6736,0.49,204.6,72.4,8.5,685,6757,0.00,2.28,11.95,1.003,6,0.000,0.048,1881,3294,1635,0,0,0,0,0,0
$GC,7104,0.49,204.6,29.1,14.6,748,7112,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,3294,1632,0,0,0,0,0,0
$GC,7259,0.49,204.6,7.6,15.2,773,7268,0.00,1.02,0.00,0.000,4,0.000,0.055,1881,3947,1631,0,0,0,0,0,0
$GC,7295,0.49,209.5,3.9,9.8,778,7305,0.00,0.98,1.20,0.177,6,0.000,0.030,1887,3285,1615,0,0,0,0,0,0
$STATE,7312,end climb,SURFACE_DEPTH_REACHED
$STATE,7312,begin surface coast
$FINISH,0.5,1.025452
$STATE,7338,end surface coast,CONTROL_FINISHED_OK
$STATE,7338,begin surface
$SM_CCo,7352,3.45,0.529,0,0,1573,220.03
$SM_GC,2.00,0.00,0.00,3.45,0.000,0.000,0.529,46,3386,1573,-5.23,0.17,220.03
$IRIDIUM_FIX,-4239.11,748.69,080214,191904
$TT8_MAMPS,0.026215
$HUMID,63.78
$INTERNAL_PRESSURE,9.59138
$TCM_TEMP,14.60
$XPDR_PINGS,0
$24V_AH,22.3,56.283
$10V_AH,9.7,45.275
$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,12.225,42.675,279.425,3.450,0.000,25.022,39.388,267.124,0.000,0.000,20.157,1876.340,3148.767,343.375,2248.595,209.183,0.000,1067.197,0.000,1838.899,0.000,1.012,0.000
$DEVICE_MAMPS,231.030,91.035,1453.500,529.380,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,539.920,1483.592,834.839,374.075,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354404
$DATA_FILE_SIZE,56973,784
$CAP_FILE_SIZE,88803,0
$CFSIZE,259252224,228659200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090214,000118,-4256.715,749.426,22,1.5,22,-24.8