version: 66.07
glider: 543
mission: 9
dive: 389
start: 2 9 114 0 10 5
data:
$ID,543
$MISSION,9
$DIVE,389
$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,-13745.758
$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,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
$DEVICE3,131
$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
$GPS1,090214,000118,-4256.715,749.426,22,1.5,22,-24.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-59.3
$GPS2,090214,000941,-4256.677,749.458,36,0.9,36,-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,198.0,6198,-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,-121.7,0.0,0.0,0,66,0.00,0.00,-49.33,0.000,2,0.000,0.000,46,3389,2735,0,0,0,0,0,0
$GC,69,-0.44,-121.7,3.5,-5.6,6,88,6.12,0.85,-5.75,0.000,4,0.220,0.080,1567,3952,2971,0,0,0,0,0,0
$GC,333,-0.44,-121.7,45.1,-13.5,49,339,0.00,0.85,0.00,0.000,6,0.000,0.033,1566,3382,2974,0,0,0,0,0,0
$GC,682,-0.44,-121.7,88.8,-10.0,110,688,0.00,0.88,0.00,0.000,4,0.000,0.057,1563,3932,2975,0,0,0,0,0,0
$GC,702,-0.44,-121.7,91.0,-10.6,113,709,0.00,0.82,0.00,0.000,6,0.000,0.033,1562,3380,2975,0,0,0,0,0,0
$GC,1039,-0.44,-121.7,130.0,-11.1,151,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,1563,3380,2977,0,0,0,0,0,0
$GC,1362,-0.44,-121.7,164.9,-11.2,181,1366,0.00,0.93,0.00,0.000,4,0.000,0.059,1558,3947,2977,0,0,0,0,0,0
$GC,1487,-0.44,-121.7,179.8,-12.0,192,1491,0.00,0.85,0.00,0.000,6,0.000,0.032,1558,3370,2977,0,0,0,0,0,0
$GC,1817,-0.44,-121.7,215.6,-10.6,223,1821,0.00,0.90,0.00,0.000,4,0.000,0.058,1554,3932,2978,0,0,0,0,0,0
$GC,1896,-0.44,-121.7,224.6,-11.0,230,1899,0.00,0.82,0.00,0.000,6,0.000,0.033,1554,3378,2978,0,0,0,0,0,0
$GC,2228,-0.44,-121.7,259.4,-10.2,261,2232,0.00,0.90,0.00,0.000,4,0.000,0.059,1550,3945,2978,0,0,0,0,0,0
$GC,2376,-0.44,-121.7,276.5,-11.8,274,2380,0.00,0.82,0.00,0.000,6,0.000,0.033,1550,3386,2978,0,0,0,0,0,0
$GC,2709,-0.44,-121.7,313.2,-10.9,305,2712,0.00,0.90,0.00,0.000,4,0.000,0.059,1546,3949,2977,0,0,0,0,0,0
$GC,2815,-0.44,-121.7,326.0,-11.6,314,2823,0.12,0.88,0.00,0.000,6,0.165,0.032,1578,3367,2977,0,0,0,0,0,0
$GC,3143,-0.44,-121.7,352.9,-8.4,345,3147,0.00,0.90,0.00,0.000,4,0.000,0.059,1575,3931,2977,0,0,0,0,0,0
$GC,3204,-0.44,-121.7,358.6,-8.9,350,3211,0.00,0.82,0.00,0.000,6,0.000,0.034,1575,3378,2977,0,0,0,0,0,0
$GC,3532,-0.44,-121.7,386.1,-8.6,381,3536,0.00,0.90,0.00,0.000,4,0.000,0.059,1571,3941,2977,0,0,0,0,0,0
$GC,3626,-0.44,-121.7,394.6,-9.0,389,3629,0.00,0.82,0.00,0.000,6,0.000,0.034,1571,3386,2977,0,0,0,0,0,0
$STATE,3689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3689,begin apogee
$GC,3695,-0.09,0.0,400.6,8.9,395,3812,0.38,0.00,112.05,1.468,6,0.128,0.000,1687,3282,2473,0,0,0,0,0,0
$STATE,3813,end apogee,CONTROL_FINISHED_OK
$STATE,3813,begin climb
$GC,3815,0.44,121.7,405.3,0.0,401,3943,0.47,2.40,115.55,1.427,4,0.066,0.025,1873,1873,1976,0,0,0,0,0,0
$GC,3967,0.47,162.4,400.4,7.8,408,4012,0.00,2.45,39.35,1.392,6,0.000,0.046,1872,3285,1811,0,0,0,0,0,0
$GC,4332,0.47,162.4,355.9,12.7,441,4338,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,3285,1801,0,0,0,0,0,0
$GC,4658,0.47,162.4,314.9,12.6,472,4662,0.00,2.15,0.00,0.000,4,0.000,0.028,1883,1860,1800,0,0,0,0,0,0
$GC,4681,0.47,162.4,311.9,11.5,474,4685,0.00,2.30,0.00,0.000,6,0.000,0.047,1883,3292,1799,0,0,0,0,0,0
$GC,5006,0.47,162.4,269.0,13.5,504,5010,0.00,1.05,0.00,0.000,4,0.000,0.057,1883,3951,1798,0,0,0,0,0,0
$GC,5044,0.47,162.4,263.1,15.0,507,5052,0.00,1.02,0.00,0.000,6,0.000,0.031,1888,3270,1798,0,0,0,0,0,0
$GC,5370,0.47,162.4,216.3,13.9,538,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,1888,3270,1797,0,0,0,0,0,0
$GC,5690,0.47,162.4,173.6,13.7,568,5694,0.00,2.12,0.00,0.000,4,0.000,0.028,1899,1860,1796,0,0,0,0,0,0
$GC,5736,0.47,162.4,167.8,11.8,572,5740,0.00,2.28,0.00,0.000,6,0.000,0.049,1899,3285,1796,0,0,0,0,0,0
$GC,6061,0.47,162.4,123.2,13.7,602,6062,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3285,1796,0,0,0,0,0,0
$GC,6388,0.47,162.4,84.0,11.2,644,6395,0.00,2.12,0.00,0.000,4,0.000,0.028,1910,1867,1795,0,0,0,0,0,0
$GC,6569,0.47,162.4,66.0,10.1,675,6578,0.10,2.30,0.00,0.000,6,0.153,0.049,1879,3290,1794,0,0,0,0,0,0
$GC,6924,0.47,162.4,28.5,14.9,736,6933,0.00,1.05,0.00,0.000,4,0.000,0.056,1879,3952,1793,0,0,0,0,0,0
$GC,7092,0.47,162.4,8.8,11.2,763,7101,0.00,0.98,0.00,0.000,6,0.000,0.032,1882,3291,1793,0,0,0,0,0,0
$STATE,7132,end climb,SURFACE_DEPTH_REACHED
$STATE,7132,begin surface coast
$FINISH,0.5,1.026195
$STATE,7158,end surface coast,CONTROL_FINISHED_OK
$STATE,7159,begin surface
$SM_CCo,7172,22.38,0.761,0,0,1574,220.03
$SM_GC,1.78,0.00,0.00,22.38,0.000,0.000,0.761,46,3410,1574,-5.23,0.82,220.03
$IRIDIUM_FIX,-4239.11,752.00,080214,212118
$TT8_MAMPS,0.026215
$HUMID,63.70
$INTERNAL_PRESSURE,9.59138
$TCM_TEMP,14.50
$XPDR_PINGS,0
$24V_AH,22.3,56.415
$10V_AH,9.7,45.366
$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,12.050,36.350,266.950,22.375,0.000,31.505,41.537,278.108,0.000,0.000,38.683,1844.523,3058.218,346.265,2248.078,207.047,0.000,1031.879,0.000,1801.227,0.000,1.010,0.000
$DEVICE_MAMPS,220.320,82.620,1468.035,761.175,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,533.184,1459.474,831.560,380.470,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354400
$DATA_FILE_SIZE,57012,773
$CAP_FILE_SIZE,83616,0
$CFSIZE,259252224,228605952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090214,021128,-4257.038,749.525,48,0.8,51,-24.8