version: 66.07
glider: 543
mission: 9
dive: 49
start: 12 9 113 1 32 18
data:
$ID,543
$MISSION,9
$DIVE,49
$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,-12548.507
$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,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
$GPS1,091213,012451,-4259.725,830.426,20,1.4,33,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-72.1
$GPS2,091213,013154,-4259.695,830.503,18,0.9,18,-25.0
$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,255.4,885,-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,-48.88,0.000,2,0.000,0.000,64,3313,2721,0,0,0,0,0,0
$GC,67,-0.66,-124.5,3.3,-3.5,6,85,5.70,1.08,-6.78,0.000,4,0.234,0.088,1472,3956,2984,0,0,0,0,0,0
$GC,237,-0.66,-124.5,47.6,-26.2,34,244,0.00,0.98,0.00,0.000,6,0.000,0.037,1471,3318,2988,0,0,0,0,0,0
$GC,577,-0.66,-124.5,126.3,-22.8,84,580,0.00,1.02,0.00,0.000,4,0.000,0.060,1467,3956,2990,0,0,0,0,0,0
$GC,637,-0.66,-124.5,141.4,-24.0,89,645,0.00,1.00,0.00,0.000,6,0.000,0.035,1467,3306,2989,0,0,0,0,0,0
$GC,963,-0.66,-124.5,216.5,-21.9,120,967,0.00,1.02,0.00,0.000,4,0.000,0.061,1462,3948,2991,0,0,0,0,0,0
$GC,1076,-0.66,-124.5,244.0,-24.7,130,1080,0.00,0.95,0.00,0.000,6,0.000,0.036,1462,3315,2991,0,0,0,0,0,0
$GC,1407,-0.66,-124.5,319.1,-22.9,161,1411,0.00,1.00,0.00,0.000,4,0.000,0.060,1457,3943,2991,0,0,0,0,0,0
$GC,1486,-0.66,-124.5,338.1,-24.5,168,1490,0.00,0.93,0.00,0.000,6,0.000,0.037,1457,3326,2991,0,0,0,0,0,0
$GC,1817,-0.66,-124.5,408.8,-21.2,197,1820,0.00,1.00,0.00,0.000,4,0.000,0.061,1453,3954,2991,0,0,0,0,0,0
$GC,1854,-0.66,-124.5,418.3,-23.5,198,1863,0.12,0.98,0.00,0.000,6,0.202,0.036,1481,3316,2992,0,0,0,0,0,0
$GC,2170,-0.66,-124.5,477.6,-18.8,214,2174,0.00,1.00,0.00,0.000,4,0.000,0.062,1478,3947,2991,0,0,0,0,0,0
$GC,2270,-0.66,-124.5,497.6,-19.6,218,2274,0.00,0.98,0.00,0.000,6,0.000,0.037,1478,3310,2991,0,0,0,0,0,0
$GC,2591,-0.66,-124.5,557.8,-19.1,234,2595,0.00,1.02,0.00,0.000,4,0.000,0.063,1473,3955,2991,0,0,0,0,0,0
$GC,2673,-0.66,-124.5,574.8,-20.2,237,2681,0.00,0.98,0.00,0.000,6,0.000,0.038,1473,3316,2991,0,0,0,0,0,0
$GC,2989,-0.66,-124.5,634.5,-19.0,253,2992,0.00,1.00,0.00,0.000,4,0.000,0.063,1468,3946,2991,0,0,0,0,0,0
$GC,3038,-0.66,-124.5,644.3,-19.5,255,3042,0.00,0.98,0.00,0.000,6,0.000,0.038,1468,3311,2991,0,0,0,0,0,0
$GC,3365,-0.66,-124.5,707.0,-19.7,271,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3311,2991,0,0,0,0,0,0
$GC,3674,-0.66,-124.5,767.0,-19.4,286,3678,0.00,1.02,0.00,0.000,4,0.000,0.063,1464,3956,2990,0,0,0,0,0,0
$GC,3773,-0.66,-124.5,787.9,-21.2,290,3778,0.00,0.98,0.00,0.000,6,0.000,0.040,1464,3321,2990,0,0,0,0,0,0
$GC,4095,-0.66,-124.5,850.8,-19.5,306,4099,0.00,1.00,0.00,0.000,4,0.000,0.063,1459,3948,2989,0,0,0,0,0,0
$GC,4133,-0.66,-124.5,859.0,-21.2,307,4140,0.00,0.98,0.00,0.000,6,0.000,0.039,1459,3315,2989,0,0,0,0,0,0
$GC,4449,-0.66,-124.5,919.7,-19.5,323,4452,0.00,1.00,0.00,0.000,4,0.000,0.064,1454,3942,2989,0,0,0,0,0,0
$GC,4520,-0.66,-124.5,935.4,-22.3,326,4524,0.00,0.98,0.00,0.000,6,0.000,0.039,1454,3311,2989,0,0,0,0,0,0
$STATE,4804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4805,begin apogee
$GC,4809,-0.11,0.0,990.8,18.4,340,4933,0.68,0.00,120.97,1.897,6,0.169,0.000,1650,3187,2474,0,0,0,0,0,0
$STATE,4934,end apogee,CONTROL_FINISHED_OK
$STATE,4934,begin climb
$GC,4935,0.66,124.5,996.8,0.0,346,5068,0.82,0.00,124.43,1.836,6,0.103,0.000,1903,3187,1965,0,0,0,0,0,0
$GC,5378,0.66,124.5,932.2,17.2,368,5379,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3187,1953,0,0,0,0,0,0
$GC,5685,0.66,124.5,878.5,17.7,383,5688,0.00,1.27,0.00,0.000,4,0.000,0.064,1903,3943,1951,0,0,0,0,0,0
$GC,5856,0.66,124.5,843.8,19.0,390,5865,0.00,1.23,0.00,0.000,6,0.000,0.038,1909,3175,1950,0,0,0,0,0,0
$GC,6173,0.66,124.5,787.4,17.8,406,6176,0.00,1.27,0.00,0.000,4,0.000,0.063,1909,3946,1949,0,0,0,0,0,0
$GC,6232,0.66,124.5,775.6,19.5,408,6240,0.00,1.20,0.00,0.000,6,0.000,0.038,1915,3187,1949,0,0,0,0,0,0
$GC,6550,0.66,124.5,718.6,17.7,424,6554,0.00,1.25,0.00,0.000,4,0.000,0.063,1915,3950,1947,0,0,0,0,0,0
$GC,6807,0.66,124.5,666.5,21.0,435,6812,0.00,1.20,0.00,0.000,6,0.000,0.037,1920,3181,1947,0,0,0,0,0,0
$GC,7130,0.66,124.5,607.6,18.3,451,7132,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3181,1946,0,0,0,0,0,0
$GC,7438,0.66,124.5,551.0,18.1,466,7442,0.00,1.25,0.00,0.000,4,0.000,0.063,1921,3949,1946,0,0,0,0,0,0
$GC,7633,0.66,124.5,511.1,19.7,474,7640,0.00,1.17,0.00,0.000,6,0.000,0.038,1926,3190,1946,0,0,0,0,0,0
$GC,7949,0.66,124.5,454.9,17.8,490,7952,0.00,1.23,0.00,0.000,4,0.000,0.062,1926,3950,1945,0,0,0,0,0,0
$GC,8107,0.66,124.5,425.1,19.3,497,8110,0.00,1.17,0.00,0.000,6,0.000,0.038,1932,3183,1945,0,0,0,0,0,0
$GC,8436,0.66,124.5,369.7,16.3,521,8437,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,3183,1944,0,0,0,0,0,0
$GC,8752,0.66,124.5,320.1,15.5,551,8756,0.00,1.25,0.00,0.000,4,0.000,0.063,1932,3952,1945,0,0,0,0,0,0
$GC,8945,0.66,124.5,285.0,17.7,568,8949,0.08,1.17,0.00,0.000,6,0.209,0.038,1916,3181,1945,0,0,0,0,0,0
$GC,9274,0.66,124.5,234.7,14.6,599,9277,0.00,1.25,0.00,0.000,4,0.000,0.062,1916,3952,1944,0,0,0,0,0,0
$GC,9457,0.66,124.5,202.1,17.7,615,9465,0.00,1.17,0.00,0.000,6,0.000,0.037,1921,3191,1944,0,0,0,0,0,0
$GC,9782,0.66,124.5,150.7,15.5,646,9786,0.00,1.23,0.00,0.000,4,0.000,0.063,1921,3948,1944,0,0,0,0,0,0
$GC,9863,0.66,124.5,137.4,18.0,653,9867,0.00,1.15,0.00,0.000,6,0.000,0.038,1927,3194,1944,0,0,0,0,0,0
$GC,10195,0.66,124.5,84.8,15.3,691,10202,0.00,1.23,0.00,0.000,4,0.000,0.063,1927,3953,1944,0,0,0,0,0,0
$GC,10459,0.66,124.5,40.4,16.2,737,10466,0.00,1.15,0.00,0.000,6,0.000,0.037,1932,3192,1944,0,0,0,0,0,0
$STATE,10695,end climb,SURFACE_DEPTH_REACHED
$STATE,10695,begin surface coast
$FINISH,0.7,1.012749
$STATE,10720,end surface coast,CONTROL_FINISHED_OK
$STATE,10720,begin surface
$SM_CCo,10732,36.58,0.809,0,0,1575,220.03
$SM_GC,1.75,0.00,0.00,36.58,0.000,0.000,0.809,66,3331,1575,-5.09,0.31,220.03
$IRIDIUM_FIX,-4244.98,831.12,081213,222235
$TT8_MAMPS,0.026215
$HUMID,62.12
$INTERNAL_PRESSURE,9.53279
$TCM_TEMP,13.10
$XPDR_PINGS,0
$24V_AH,22.6,9.233
$10V_AH,10.1,6.035
$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,12.425,44.100,245.400,36.575,0.000,25.168,45.782,248.024,0.000,0.000,21.548,1963.146,6465.408,392.214,2259.785,118.898,0.000,1180.662,0.000,1852.978,0.000,1.014,0.000
$DEVICE_MAMPS,234.090,87.975,1897.200,809.370,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,540.957,1354.311,541.625,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355204
$DATA_FILE_SIZE,53639,781
$CAP_FILE_SIZE,101292,0
$CFSIZE,259252224,254849024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,091213,043258,-4300.308,829.992,38,0.9,38,-25.0