version: 66.07
glider: 543
mission: 9
dive: 47
start: 12 8 113 19 6 42
data:
$ID,543
$MISSION,9
$DIVE,47
$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,-12542.532
$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,45
$R_STBD_OVSHOOT,28
$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
$GPS1,081213,185934,-4259.827,831.461,30,0.9,30,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-72.7
$GPS2,081213,190618,-4259.846,831.533,18,1.1,18,-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,287.3,2096,-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,-63.0,0.0,0.0,0,65,0.00,0.00,-48.80,0.000,2,0.000,0.000,70,3333,2724,0,0,0,0,0,0
$GC,67,-0.65,-121.5,3.2,-3.8,6,85,5.72,1.02,-6.40,0.000,4,0.239,0.085,1472,3955,2972,0,0,0,0,0,0
$GC,343,-0.65,-121.5,76.9,-25.2,53,350,0.00,0.98,0.00,0.000,6,0.000,0.036,1471,3313,2977,0,0,0,0,0,0
$GC,683,-0.65,-121.5,152.5,-22.1,93,686,0.00,1.00,0.00,0.000,4,0.000,0.060,1467,3934,2978,0,0,0,0,0,0
$GC,799,-0.65,-121.5,180.7,-22.9,103,807,0.00,0.95,0.00,0.000,6,0.000,0.036,1469,3317,2979,0,0,0,0,0,0
$GC,1124,-0.65,-121.5,249.4,-20.8,134,1128,0.00,1.00,0.00,0.000,4,0.000,0.060,1466,3944,2979,0,0,0,0,0,0
$GC,1332,-0.65,-121.5,296.0,-21.4,152,1341,0.00,0.98,0.00,0.000,6,0.000,0.035,1466,3309,2979,0,0,0,0,0,0
$GC,1657,-0.65,-121.5,362.1,-20.8,183,1660,0.00,1.00,0.00,0.000,4,0.000,0.060,1461,3934,2980,0,0,0,0,0,0
$GC,1762,-0.65,-121.5,386.3,-22.1,192,1771,0.00,0.95,0.00,0.000,6,0.000,0.037,1461,3314,2980,0,0,0,0,0,0
$GC,2079,-0.65,-121.5,454.1,-21.6,211,2083,0.00,1.00,0.00,0.000,4,0.000,0.060,1456,3944,2980,0,0,0,0,0,0
$GC,2230,-0.65,-121.5,488.5,-23.8,217,2237,0.00,0.95,0.00,0.000,6,0.000,0.037,1456,3319,2980,0,0,0,0,0,0
$GC,2547,-0.65,-121.5,557.0,-22.1,233,2551,0.00,1.00,0.00,0.000,4,0.000,0.061,1452,3949,2980,0,0,0,0,0,0
$GC,2719,-0.65,-121.5,597.8,-24.2,240,2728,0.12,0.98,0.00,0.000,6,0.209,0.037,1480,3313,2980,0,0,0,0,0,0
$GC,3037,-0.65,-121.5,657.4,-18.6,256,3040,0.00,1.00,0.00,0.000,4,0.000,0.063,1476,3946,2980,0,0,0,0,0,0
$GC,3149,-0.65,-121.5,679.5,-19.3,261,3153,0.00,0.95,0.00,0.000,6,0.000,0.039,1476,3314,2979,0,0,0,0,0,0
$GC,3482,-0.65,-121.5,742.1,-18.4,277,3483,0.00,0.00,0.00,0.000,6,0.000,0.000,1476,3314,2979,0,0,0,0,0,0
$GC,3790,-0.65,-121.5,797.0,-17.6,292,3794,0.00,1.00,0.00,0.000,4,0.000,0.063,1472,3941,2978,0,0,0,0,0,0
$GC,3926,-0.65,-121.5,821.8,-17.8,298,3929,0.00,0.95,0.00,0.000,6,0.000,0.040,1472,3315,2978,0,0,0,0,0,0
$GC,4257,-0.65,-121.5,879.3,-16.8,314,4261,0.00,1.00,0.00,0.000,4,0.000,0.063,1467,3941,2977,0,0,0,0,0,0
$GC,4325,-0.65,-121.5,891.3,-18.7,317,4328,0.00,0.95,0.00,0.000,6,0.000,0.040,1467,3315,2978,0,0,0,0,0,0
$GC,4657,-0.65,-121.5,949.9,-17.4,333,4660,0.00,1.00,0.00,0.000,4,0.000,0.064,1462,3942,2977,0,0,0,0,0,0
$GC,4705,-0.65,-121.5,959.5,-19.2,335,4710,0.00,0.98,0.00,0.000,6,0.000,0.040,1462,3311,2977,0,0,0,0,0,0
$STATE,4887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4887,begin apogee
$GC,4891,-0.11,0.0,992.0,18.2,344,5012,0.65,0.00,117.85,1.879,6,0.169,0.000,1652,3186,2473,0,0,0,0,0,0
$STATE,5013,end apogee,CONTROL_FINISHED_OK
$STATE,5013,begin climb
$GC,5014,0.65,121.5,997.9,0.0,350,5143,0.80,2.47,120.38,1.833,4,0.104,0.037,1910,1788,1977,0,0,0,0,0,0
$GC,5175,0.65,121.5,983.0,13.9,357,5180,0.00,2.47,0.00,0.000,6,0.000,0.053,1910,3182,1972,0,0,0,0,0,0
$GC,5497,0.65,121.5,929.2,16.8,373,5501,0.00,1.30,0.00,0.000,4,0.000,0.063,1910,3954,1965,0,0,0,0,0,0
$GC,5613,0.65,121.5,907.2,19.0,378,5618,0.00,1.25,0.00,0.000,6,0.000,0.040,1916,3180,1964,0,0,0,0,0,0
$GC,5940,0.65,121.5,848.7,18.3,394,5944,0.00,1.27,0.00,0.000,4,0.000,0.063,1916,3947,1962,0,0,0,0,0,0
$GC,6114,0.65,121.5,812.8,20.4,401,6121,0.00,1.20,0.00,0.000,6,0.000,0.041,1923,3184,1962,0,0,0,0,0,0
$GC,6429,0.65,121.5,755.2,18.0,417,6433,0.00,1.27,0.00,0.000,4,0.000,0.063,1922,3956,1960,0,0,0,0,0,0
$GC,6551,0.65,121.5,730.6,20.0,422,6555,0.00,1.23,0.00,0.000,6,0.000,0.040,1928,3182,1960,0,0,0,0,0,0
$GC,6872,0.65,121.5,671.7,18.5,438,6876,0.00,1.25,0.00,0.000,4,0.000,0.063,1927,3948,1959,0,0,0,0,0,0
$GC,6921,0.65,121.5,661.7,21.4,440,6926,0.00,1.20,0.00,0.000,6,0.000,0.040,1933,3185,1959,0,0,0,0,0,0
$GC,7248,0.65,121.5,603.2,17.7,456,7252,0.00,1.25,0.00,0.000,4,0.000,0.063,1933,3951,1959,0,0,0,0,0,0
$GC,7496,0.65,121.5,555.4,19.6,467,7500,0.10,1.17,0.00,0.000,6,0.212,0.041,1912,3189,1958,0,0,0,0,0,0
$GC,7827,0.65,121.5,503.7,15.6,483,7830,0.00,1.25,0.00,0.000,4,0.000,0.063,1911,3956,1957,0,0,0,0,0,0
$GC,8078,0.65,121.5,460.2,17.8,494,8083,0.00,1.20,0.00,0.000,6,0.000,0.040,1916,3188,1957,0,0,0,0,0,0
$GC,8405,0.65,121.5,410.1,15.3,510,8409,0.00,1.25,0.00,0.000,4,0.000,0.063,1916,3956,1956,0,0,0,0,0,0
$GC,8506,0.65,121.5,392.4,18.0,516,8510,0.00,1.17,0.00,0.000,6,0.000,0.041,1922,3193,1957,0,0,0,0,0,0
$GC,8836,0.65,121.5,340.6,16.9,547,8840,0.00,1.23,0.00,0.000,4,0.000,0.062,1922,3951,1956,0,0,0,0,0,0
$GC,9096,0.65,121.5,293.1,17.6,570,9100,0.00,1.15,0.00,0.000,6,0.000,0.038,1928,3195,1956,0,0,0,0,0,0
$GC,9428,0.65,121.5,242.0,15.3,601,9432,0.00,1.23,0.00,0.000,4,0.000,0.062,1928,3951,1955,0,0,0,0,0,0
$GC,9687,0.65,121.5,196.8,16.6,624,9691,0.00,1.15,0.00,0.000,6,0.000,0.037,1934,3195,1955,0,0,0,0,0,0
$GC,10017,0.65,121.5,146.6,15.1,655,10021,0.00,1.23,0.00,0.000,4,0.000,0.060,1933,3955,1955,0,0,0,0,0,0
$GC,10278,0.65,121.5,100.8,18.6,678,10282,0.10,1.15,0.00,0.000,6,0.206,0.037,1912,3193,1955,0,0,0,0,0,0
$GC,10622,0.65,121.5,54.7,12.7,738,10631,0.00,1.23,0.00,0.000,4,0.000,0.062,1909,3956,1955,0,0,0,0,0,0
$GC,10781,0.65,121.5,32.1,15.5,765,10788,0.00,1.15,0.00,0.000,6,0.000,0.038,1914,3193,1955,0,0,0,0,0,0
$GC,10930,0.65,121.5,12.7,12.4,790,10939,0.00,1.23,0.00,0.000,4,0.000,0.061,1914,3957,1955,0,0,0,0,0,0
$STATE,10999,end climb,SURFACE_DEPTH_REACHED
$STATE,10999,begin surface coast
$FINISH,0.7,1.025560
$STATE,11019,end surface coast,CONTROL_FINISHED_OK
$STATE,11019,begin surface
$SM_CCo,11031,37.92,0.819,0,0,1573,220.03
$SM_GC,1.15,0.00,0.00,37.92,0.000,0.000,0.819,61,3313,1573,-5.11,-0.20,220.03
$IRIDIUM_FIX,-4244.98,836.94,081213,151517
$TT8_MAMPS,0.026215
$HUMID,62.24
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,22.7,8.925
$10V_AH,10.1,5.864
$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,12.450,53.725,238.225,37.925,0.000,27.571,18.652,254.232,0.000,0.000,21.225,2060.699,6460.799,357.370,2495.067,106.901,0.000,1265.795,0.000,2085.275,0.000,1.010,0.000
$DEVICE_MAMPS,239.445,84.915,1878.840,819.315,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,556.983,1384.267,565.037,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355244
$DATA_FILE_SIZE,53807,804
$CAP_FILE_SIZE,110706,0
$CFSIZE,259252224,254959616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,081213,221220,-4259.798,831.141,34,0.8,35,-25.0