version: 66.07
glider: 543
mission: 9
dive: 48
start: 12 8 113 22 20 5
data:
$ID,543
$MISSION,9
$DIVE,48
$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,-12545.483
$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,47
$R_STBD_OVSHOOT,20
$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
$GPS1,081213,221220,-4259.798,831.141,34,0.8,35,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-69.9
$GPS2,081213,221941,-4259.849,831.188,18,1.6,18,-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,285.2,1633,-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,-63.0,0.0,0.0,0,72,0.00,0.00,-49.97,0.000,6,0.000,0.000,61,3313,2731,0,0,0,0,0,0
$GC,74,-0.65,-121.5,3.6,-3.8,7,92,5.70,1.08,-5.80,0.000,4,0.235,0.087,1472,3959,2975,0,0,0,0,0,0
$GC,188,-0.65,-121.5,34.6,-25.5,25,195,0.00,0.98,0.00,0.000,6,0.000,0.037,1472,3322,2978,0,0,0,0,0,0
$GC,332,-0.65,-121.5,69.5,-23.2,50,338,0.00,1.00,0.00,0.000,4,0.000,0.060,1467,3942,2979,0,0,0,0,0,0
$GC,390,-0.65,-121.5,84.0,-25.2,60,398,0.00,0.95,0.00,0.000,6,0.000,0.037,1467,3319,2979,0,0,0,0,0,0
$GC,729,-0.65,-121.5,160.5,-22.1,97,732,0.00,1.00,0.00,0.000,4,0.000,0.060,1463,3946,2980,0,0,0,0,0,0
$GC,796,-0.65,-121.5,176.7,-23.1,103,800,0.00,0.95,0.00,0.000,6,0.000,0.036,1463,3317,2981,0,0,0,0,0,0
$GC,1126,-0.65,-121.5,250.2,-21.7,134,1129,0.00,1.00,0.00,0.000,4,0.000,0.060,1458,3948,2981,0,0,0,0,0,0
$GC,1284,-0.65,-121.5,286.6,-24.0,148,1288,0.00,0.95,0.00,0.000,6,0.000,0.036,1458,3313,2981,0,0,0,0,0,0
$GC,1614,-0.65,-121.5,360.3,-21.4,179,1615,0.00,0.00,0.00,0.000,6,0.000,0.000,1458,3313,2982,0,0,0,0,0,0
$GC,1929,-0.65,-121.5,428.7,-21.7,203,1932,0.00,1.02,0.00,0.000,4,0.000,0.060,1453,3956,2982,0,0,0,0,0,0
$GC,2124,-0.65,-121.5,474.6,-23.0,211,2132,0.12,0.98,0.00,0.000,6,0.203,0.036,1481,3319,2982,0,0,0,0,0,0
$GC,2440,-0.65,-121.5,534.8,-18.9,227,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,1481,3319,2982,0,0,0,0,0,0
$GC,2749,-0.65,-121.5,593.1,-18.7,242,2753,0.00,1.00,0.00,0.000,4,0.000,0.063,1478,3950,2982,0,0,0,0,0,0
$GC,2912,-0.65,-121.5,625.5,-19.2,249,2916,0.00,0.95,0.00,0.000,6,0.000,0.037,1478,3318,2982,0,0,0,0,0,0
$GC,3238,-0.65,-121.5,688.9,-19.2,265,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,1478,3318,2981,0,0,0,0,0,0
$GC,3548,-0.65,-121.5,748.8,-19.1,280,3552,0.00,1.00,0.00,0.000,4,0.000,0.064,1473,3949,2981,0,0,0,0,0,0
$GC,3675,-0.65,-121.5,774.9,-20.5,285,3683,0.00,0.98,0.00,0.000,6,0.000,0.037,1473,3311,2981,0,0,0,0,0,0
$GC,3991,-0.65,-121.5,834.6,-18.8,301,3995,0.00,1.02,0.00,0.000,4,0.000,0.063,1469,3956,2979,0,0,0,0,0,0
$GC,4058,-0.65,-121.5,847.8,-20.3,304,4062,0.00,0.95,0.00,0.000,6,0.000,0.039,1469,3324,2980,0,0,0,0,0,0
$GC,4390,-0.65,-121.5,906.2,-17.4,320,4391,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3324,2979,0,0,0,0,0,0
$GC,4701,-0.65,-121.5,959.0,-16.5,335,4705,0.00,1.00,0.00,0.000,4,0.000,0.064,1463,3954,2978,0,0,0,0,0,0
$GC,4761,-0.65,-121.5,970.0,-16.9,337,4769,0.00,0.98,0.00,0.000,6,0.000,0.039,1464,3316,2978,0,0,0,0,0,0
$STATE,4892,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4892,begin apogee
$GC,4896,-0.11,0.0,990.4,15.9,344,5018,0.65,0.00,118.95,1.902,6,0.169,0.000,1653,3193,2473,0,0,0,0,0,0
$STATE,5019,end apogee,CONTROL_FINISHED_OK
$STATE,5019,begin climb
$GC,5020,0.65,121.5,994.4,0.0,350,5145,0.80,0.00,120.97,1.838,6,0.099,0.000,1899,3193,1977,0,0,0,0,0,0
$GC,5445,0.65,121.5,928.3,18.1,371,5448,0.00,1.30,0.00,0.000,4,0.000,0.063,1899,3951,1965,0,0,0,0,0,0
$GC,5490,0.65,121.5,919.5,19.8,373,5493,0.00,1.23,0.00,0.000,6,0.000,0.038,1905,3190,1965,0,0,0,0,0,0
$GC,5821,0.65,121.5,860.0,17.6,389,5825,0.00,1.25,0.00,0.000,4,0.000,0.063,1905,3944,1962,0,0,0,0,0,0
$GC,5926,0.65,121.5,839.2,20.4,393,5935,0.00,1.23,0.00,0.000,6,0.000,0.038,1911,3175,1962,0,0,0,0,0,0
$GC,6242,0.65,121.5,785.3,16.4,409,6246,0.00,1.27,0.00,0.000,4,0.000,0.063,1911,3950,1961,0,0,0,0,0,0
$GC,6319,0.65,121.5,770.8,19.3,412,6324,0.00,1.20,0.00,0.000,6,0.000,0.039,1916,3190,1961,0,0,0,0,0,0
$GC,6641,0.65,121.5,716.7,16.5,428,6645,0.00,1.23,0.00,0.000,4,0.000,0.063,1916,3941,1959,0,0,0,0,0,0
$GC,6830,0.65,121.5,681.0,19.7,436,6835,0.00,1.17,0.00,0.000,6,0.000,0.039,1922,3190,1959,0,0,0,0,0,0
$GC,7153,0.65,121.5,626.5,17.1,452,7157,0.00,1.25,0.00,0.000,4,0.000,0.063,1922,3953,1958,0,0,0,0,0,0
$GC,7365,0.65,121.5,586.2,18.8,461,7370,0.00,1.20,0.00,0.000,6,0.000,0.038,1927,3183,1958,0,0,0,0,0,0
$GC,7688,0.65,121.5,532.9,16.6,477,7692,0.00,1.25,0.00,0.000,4,0.000,0.063,1928,3954,1958,0,0,0,0,0,0
$GC,7849,0.65,121.5,502.3,19.1,484,7854,0.00,1.20,0.00,0.000,6,0.000,0.039,1933,3181,1957,0,0,0,0,0,0
$GC,8176,0.65,121.5,446.5,17.2,500,8180,0.00,1.25,0.00,0.000,4,0.000,0.063,1933,3949,1957,0,0,0,0,0,0
$GC,8360,0.65,121.5,410.8,19.3,508,8365,0.12,1.17,0.00,0.000,6,0.227,0.039,1911,3194,1957,0,0,0,0,0,0
$GC,8684,0.65,121.5,359.8,16.0,535,8688,0.00,1.23,0.00,0.000,4,0.000,0.063,1909,3949,1955,0,0,0,0,0,0
$GC,8890,0.65,121.5,324.0,17.9,553,8898,0.00,1.17,0.00,0.000,6,0.000,0.038,1913,3187,1955,0,0,0,0,0,0
$GC,9215,0.65,121.5,273.1,15.4,584,9219,0.00,1.23,0.00,0.000,4,0.000,0.063,1914,3942,1955,0,0,0,0,0,0
$GC,9321,0.65,121.5,254.4,18.7,593,9329,0.00,1.17,0.00,0.000,6,0.000,0.038,1919,3186,1955,0,0,0,0,0,0
$GC,9646,0.65,121.5,203.9,15.2,624,9650,0.00,1.23,0.00,0.000,4,0.000,0.063,1919,3949,1955,0,0,0,0,0,0
$GC,9860,0.65,121.5,166.9,17.4,643,9864,0.00,1.15,0.00,0.000,6,0.000,0.038,1925,3192,1955,0,0,0,0,0,0
$GC,10190,0.65,121.5,117.6,15.2,674,10193,0.00,1.23,0.00,0.000,4,0.000,0.062,1925,3952,1955,0,0,0,0,0,0
$GC,10362,0.65,121.5,89.3,17.8,694,10368,0.00,1.15,0.00,0.000,6,0.000,0.037,1931,3191,1955,0,0,0,0,0,0
$GC,10708,0.65,121.5,40.4,14.0,755,10715,0.00,1.23,0.00,0.000,4,0.000,0.062,1931,3953,1955,0,0,0,0,0,0
$STATE,10950,end climb,SURFACE_DEPTH_REACHED
$STATE,10950,begin surface coast
$FINISH,0.8,1.008442
$STATE,10969,end surface coast,CONTROL_FINISHED_OK
$STATE,10969,begin surface
$SM_CCo,10981,37.83,0.809,0,0,1572,220.03
$SM_GC,1.64,0.00,0.00,37.83,0.000,0.000,0.809,64,3312,1572,-5.10,-0.23,220.03
$IRIDIUM_FIX,-4242.04,830.68,081213,191950
$TT8_MAMPS,0.025466
$HUMID,62.20
$INTERNAL_PRESSURE,9.53279
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,22.7,9.078
$10V_AH,10.1,5.951
$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,12.500,46.900,239.925,37.825,0.000,25.981,41.984,269.968,0.000,0.000,20.642,2024.770,6556.694,374.548,2407.819,103.886,0.000,1223.308,0.000,1969.669,0.000,1.010,0.000
$DEVICE_MAMPS,234.855,87.210,1901.790,808.605,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,553.414,1375.794,554.930,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355192
$DATA_FILE_SIZE,53702,799
$CAP_FILE_SIZE,106265,0
$CFSIZE,259252224,254906368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,091213,012451,-4259.725,830.426,20,1.4,33,-25.0