version: 66.07
glider: 543
mission: 9
dive: 46
start: 12 8 113 15 54 12
data:
$ID,543
$MISSION,9
$DIVE,46
$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,330
$T_MISSION,370
$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,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,-12539.565
$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,3190
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$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
$DEVICE3,35
$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
$GPS1,081213,154705,-4259.300,831.706,20,1.5,20,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-71.9
$GPS2,081213,155348,-4259.306,831.734,20,1.2,20,-25.1
$SPEED_LIMITS,0.173,0.260
$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,266.4,2678,-27.2,-10.000
$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,-0.62,-63.0,0.0,0.0,0,64,0.00,0.00,-48.85,0.000,6,0.000,0.000,69,3341,2731,0,0,0,0,0,0
$GC,67,-0.66,-122.6,3.3,-3.7,6,84,5.75,0.00,-6.28,0.000,6,0.242,0.000,1474,3341,2977,0,0,0,0,0,0
$GC,133,-0.66,-122.6,18.9,-25.0,16,141,0.00,0.00,0.00,0.000,6,0.000,0.000,1474,3340,2979,0,0,0,0,0,0
$GC,189,-0.66,-122.6,33.0,-25.2,25,196,0.00,2.22,0.00,0.000,4,0.000,0.037,1480,1913,2979,0,0,0,0,0,0
$GC,207,-0.66,-122.6,37.9,-24.4,28,216,0.00,2.30,0.00,0.000,6,0.000,0.055,1471,3308,2980,0,0,0,0,0,0
$GC,352,-0.66,-122.6,72.1,-24.7,53,359,0.00,1.02,0.00,0.000,4,0.000,0.060,1466,3949,2980,0,0,0,0,0,0
$GC,528,-0.66,-122.6,116.4,-24.3,78,536,0.00,0.98,0.00,0.000,6,0.000,0.037,1466,3320,2981,0,0,0,0,0,0
$GC,855,-0.66,-122.6,192.8,-24.5,109,859,0.00,1.02,0.00,0.000,4,0.000,0.062,1462,3942,2982,0,0,0,0,0,0
$GC,957,-0.66,-122.6,218.2,-24.5,118,960,0.00,0.95,0.00,0.000,6,0.000,0.038,1461,3321,2983,0,0,0,0,0,0
$GC,1289,-0.66,-122.6,294.9,-22.0,149,1293,0.00,1.00,0.00,0.000,4,0.000,0.062,1457,3947,2983,0,0,0,0,0,0
$GC,1507,-0.66,-122.6,346.7,-23.2,168,1517,0.00,0.98,0.00,0.000,6,0.000,0.037,1457,3315,2983,0,0,0,0,0,0
$GC,1840,-0.66,-122.6,419.4,-22.1,196,1844,0.00,1.00,0.00,0.000,4,0.000,0.062,1452,3940,2984,0,0,0,0,0,0
$GC,1979,-0.66,-122.6,451.3,-22.8,202,1985,0.12,0.98,0.00,0.000,6,0.204,0.038,1480,3314,2984,0,0,0,0,0,0
$GC,2306,-0.66,-122.6,513.4,-18.8,218,2310,0.00,1.00,0.00,0.000,4,0.000,0.063,1477,3940,2984,0,0,0,0,0,0
$GC,2457,-0.66,-122.6,543.4,-20.4,224,2464,0.00,0.98,0.00,0.000,6,0.000,0.040,1479,3311,2984,0,0,0,0,0,0
$GC,2774,-0.66,-122.6,600.6,-17.6,240,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,1480,3311,2984,0,0,0,0,0,0
$GC,3082,-0.66,-122.6,657.1,-18.2,255,3086,0.00,1.02,0.00,0.000,4,0.000,0.065,1476,3952,2983,0,0,0,0,0,0
$GC,3149,-0.66,-122.6,669.9,-18.8,258,3153,0.00,0.98,0.00,0.000,6,0.000,0.041,1476,3313,2983,0,0,0,0,0,0
$GC,3481,-0.66,-122.6,731.1,-18.3,274,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,1476,3312,2982,0,0,0,0,0,0
$GC,3791,-0.66,-122.6,788.2,-18.5,289,3794,0.00,1.02,0.00,0.000,4,0.000,0.066,1471,3952,2981,0,0,0,0,0,0
$GC,3918,-0.66,-122.6,813.3,-20.8,294,3925,0.00,1.00,0.00,0.000,6,0.000,0.041,1471,3310,2981,0,0,0,0,0,0
$GC,4234,-0.66,-122.6,870.9,-18.4,310,4237,0.00,1.02,0.00,0.000,4,0.000,0.063,1467,3953,2981,0,0,0,0,0,0
$GC,4462,-0.66,-122.6,916.2,-20.5,320,4467,0.00,1.00,0.00,0.000,6,0.000,0.039,1467,3305,2981,0,0,0,0,0,0
$GC,4789,-0.66,-122.6,975.4,-18.0,336,4793,0.00,1.02,0.00,0.000,4,0.000,0.065,1462,3948,2980,0,0,0,0,0,0
$STATE,4865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4865,begin apogee
$GC,4869,-0.11,0.0,990.3,19.0,339,4991,0.62,0.00,118.65,1.870,6,0.171,0.000,1649,3183,2473,0,0,0,0,0,0
$STATE,4992,end apogee,CONTROL_FINISHED_OK
$STATE,4992,begin climb
$GC,4994,0.66,122.6,995.9,0.0,345,5127,0.82,2.47,120.72,1.811,4,0.105,0.038,1911,1789,1972,0,0,0,0,0,0
$GC,5137,0.66,122.6,983.3,14.2,352,5142,0.00,2.50,0.00,0.000,6,0.000,0.052,1911,3187,1970,0,0,0,0,0,0
$GC,5459,0.66,122.6,929.1,17.1,368,5463,0.00,1.27,0.00,0.000,4,0.000,0.062,1911,3940,1961,0,0,0,0,0,0
$GC,5642,0.66,122.6,892.8,19.5,376,5647,0.00,1.23,0.00,0.000,6,0.000,0.037,1917,3179,1960,0,0,0,0,0,0
$GC,5970,0.66,122.6,835.8,17.0,392,5974,0.00,1.27,0.00,0.000,4,0.000,0.062,1917,3946,1958,0,0,0,0,0,0
$GC,6226,0.66,122.6,785.3,19.0,403,6231,0.00,1.20,0.00,0.000,6,0.000,0.037,1922,3186,1957,0,0,0,0,0,0
$GC,6550,0.66,122.6,728.4,18.3,419,6553,0.00,1.25,0.00,0.000,4,0.000,0.062,1922,3944,1956,0,0,0,0,0,0
$GC,6784,0.66,122.6,681.9,19.9,429,6789,0.00,1.20,0.00,0.000,6,0.000,0.038,1926,3181,1955,0,0,0,0,0,0
$GC,7105,0.66,122.6,625.5,17.6,445,7109,0.00,1.25,0.00,0.000,4,0.000,0.063,1926,3942,1954,0,0,0,0,0,0
$GC,7204,0.66,122.6,606.0,20.2,449,7209,0.00,1.17,0.00,0.000,6,0.000,0.038,1932,3190,1954,0,0,0,0,0,0
$GC,7528,0.66,122.6,549.5,17.7,465,7531,0.00,1.23,0.00,0.000,4,0.000,0.062,1932,3950,1953,0,0,0,0,0,0
$GC,7604,0.66,122.6,534.3,19.6,468,7610,0.12,1.20,0.00,0.000,6,0.227,0.038,1910,3180,1954,0,0,0,0,0,0
$GC,7927,0.66,122.6,483.9,15.4,484,7930,0.00,1.25,0.00,0.000,4,0.000,0.063,1910,3947,1953,0,0,0,0,0,0
$GC,8183,0.66,122.6,439.8,17.1,495,8188,0.00,1.17,0.00,0.000,6,0.000,0.038,1914,3190,1953,0,0,0,0,0,0
$GC,8508,0.66,122.6,392.4,14.1,513,8512,0.00,1.23,0.00,0.000,4,0.000,0.063,1914,3949,1952,0,0,0,0,0,0
$GC,8636,0.66,122.6,371.6,15.9,524,8646,0.00,1.17,0.00,0.000,6,0.000,0.038,1920,3190,1952,0,0,0,0,0,0
$GC,8962,0.66,122.6,326.0,14.2,555,8965,0.00,1.23,0.00,0.000,4,0.000,0.063,1920,3953,1952,0,0,0,0,0,0
$GC,9220,0.66,122.6,281.8,17.7,578,9224,0.00,1.17,0.00,0.000,6,0.000,0.037,1926,3184,1952,0,0,0,0,0,0
$GC,9552,0.66,122.6,230.6,16.5,609,9556,0.00,1.25,0.00,0.000,4,0.000,0.063,1926,3954,1951,0,0,0,0,0,0
$GC,9812,0.66,122.6,182.8,17.8,632,9816,0.00,1.17,0.00,0.000,6,0.000,0.038,1932,3182,1952,0,0,0,0,0,0
$GC,10142,0.66,122.6,129.2,16.0,663,10146,0.00,1.25,0.00,0.000,4,0.000,0.061,1932,3956,1952,0,0,0,0,0,0
$GC,10405,0.66,122.6,82.9,17.2,694,10412,0.10,1.17,0.00,0.000,6,0.206,0.037,1910,3181,1951,0,0,0,0,0,0
$GC,10754,0.66,122.6,34.7,12.5,755,10761,0.00,1.25,0.00,0.000,4,0.000,0.061,1910,3956,1951,0,0,0,0,0,0
$GC,10927,0.66,122.6,10.5,14.2,784,10935,0.00,1.15,0.00,0.000,6,0.000,0.037,1914,3193,1952,0,0,0,0,0,0
$STATE,10984,end climb,SURFACE_DEPTH_REACHED
$STATE,10984,begin surface coast
$FINISH,0.7,1.013454
$STATE,11009,end surface coast,CONTROL_FINISHED_OK
$STATE,11010,begin surface
$SM_CCo,11021,37.33,0.807,0,0,1573,220.03
$SM_GC,1.39,0.00,0.00,37.33,0.000,0.000,0.807,70,3334,1573,-5.08,0.40,220.03
$IRIDIUM_FIX,-4242.04,833.59,081213,121228
$TT8_MAMPS,0.026215
$HUMID,61.85
$INTERNAL_PRESSURE,9.53279
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.7,8.775
$10V_AH,10.1,5.776
$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,12.500,54.625,239.375,37.325,0.000,25.419,18.569,252.402,0.000,0.000,23.182,2043.170,6444.341,372.495,2490.166,120.057,0.000,1287.602,0.000,2088.707,0.000,1.012,0.000
$DEVICE_MAMPS,241.740,81.090,1870.425,807.075,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,551.732,1378.459,561.837,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355212
$DATA_FILE_SIZE,53712,797
$CAP_FILE_SIZE,111082,0
$CFSIZE,259252224,255021056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,081213,185934,-4259.827,831.461,30,0.9,30,-25.1