version: 66.07
glider: 543
mission: 9
dive: 50
start: 12 9 113 4 40 18
data:
$ID,543
$MISSION,9
$DIVE,50
$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,-12551.461
$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,24
$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
$GPS1,091213,043258,-4300.308,829.992,38,0.9,38,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-71.0
$GPS2,091213,043954,-4300.294,830.067,15,0.8,16,-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,15.6,553,-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,-48.85,0.000,2,0.000,0.000,65,3330,2704,0,0,0,0,0,0
$GC,67,-0.66,-125.5,3.1,-3.3,6,85,5.78,2.28,-7.47,0.000,4,0.242,0.050,1483,1910,2988,0,0,0,0,0,0
$GC,99,-0.66,-125.5,10.5,-20.8,10,108,0.00,2.33,0.00,0.000,6,0.000,0.054,1474,3315,2990,0,0,0,0,0,0
$GC,158,-0.66,-125.5,23.9,-25.1,19,164,0.00,0.00,0.00,0.000,6,0.000,0.000,1474,3315,2991,0,0,0,0,0,0
$GC,301,-0.66,-125.5,60.3,-24.8,44,307,0.00,0.00,0.00,0.000,6,0.000,0.000,1474,3315,2991,0,0,0,0,0,0
$GC,638,-0.66,-125.5,139.1,-22.4,89,642,0.00,1.00,0.00,0.000,4,0.000,0.060,1470,3944,2993,0,0,0,0,0,0
$GC,709,-0.66,-125.5,156.9,-24.1,95,717,0.00,0.98,0.00,0.000,6,0.000,0.036,1472,3312,2994,0,0,0,0,0,0
$GC,1035,-0.66,-125.5,232.3,-23.6,126,1039,0.00,1.02,0.00,0.000,4,0.000,0.061,1469,3953,2995,0,0,0,0,0,0
$GC,1152,-0.66,-125.5,260.9,-24.3,136,1161,0.00,0.98,0.00,0.000,6,0.000,0.037,1469,3316,2994,0,0,0,0,0,0
$GC,1477,-0.66,-125.5,335.6,-22.8,167,1480,0.00,1.00,0.00,0.000,4,0.000,0.061,1464,3945,2995,0,0,0,0,0,0
$GC,1591,-0.66,-125.5,361.8,-23.3,177,1595,0.00,0.95,0.00,0.000,6,0.000,0.037,1464,3315,2995,0,0,0,0,0,0
$GC,1927,-0.66,-125.5,438.2,-21.9,201,1931,0.00,1.00,0.00,0.000,4,0.000,0.060,1459,3945,2995,0,0,0,0,0,0
$GC,2107,-0.66,-125.5,479.3,-22.5,209,2110,0.00,0.95,0.00,0.000,6,0.000,0.037,1459,3316,2995,0,0,0,0,0,0
$GC,2439,-0.66,-125.5,550.5,-21.5,225,2442,0.00,1.00,0.00,0.000,4,0.000,0.061,1454,3943,2994,0,0,0,0,0,0
$GC,2532,-0.66,-125.5,571.7,-21.9,229,2537,0.00,0.98,0.00,0.000,6,0.000,0.037,1455,3311,2995,0,0,0,0,0,0
$GC,2859,-0.66,-125.5,640.1,-21.0,245,2863,0.00,1.00,0.00,0.000,4,0.000,0.062,1450,3941,2995,0,0,0,0,0,0
$GC,3062,-0.66,-125.5,685.0,-21.1,254,3066,0.08,0.95,0.00,0.000,6,0.190,0.039,1471,3318,2994,0,0,0,0,0,0
$GC,3393,-0.66,-125.5,746.9,-18.4,270,3397,0.00,1.00,0.00,0.000,4,0.000,0.063,1468,3947,2994,0,0,0,0,0,0
$GC,3447,-0.66,-125.5,758.2,-19.9,272,3452,0.00,0.98,0.00,0.000,6,0.000,0.039,1468,3314,2994,0,0,0,0,0,0
$GC,3771,-0.66,-125.5,819.3,-19.1,288,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,1468,3314,2994,0,0,0,0,0,0
$GC,4078,-0.66,-125.5,877.1,-18.9,303,4082,0.00,1.00,0.00,0.000,4,0.000,0.063,1463,3941,2993,0,0,0,0,0,0
$GC,4251,-0.66,-125.5,911.6,-18.9,310,4259,0.00,0.98,0.00,0.000,6,0.000,0.040,1463,3313,2992,0,0,0,0,0,0
$GC,4567,-0.66,-125.5,969.7,-18.1,326,4571,0.00,1.00,0.00,0.000,4,0.000,0.063,1458,3945,2992,0,0,0,0,0,0
$STATE,4671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4671,begin apogee
$GC,4675,-0.11,0.0,991.1,20.9,330,4803,0.65,0.00,122.00,1.905,6,0.172,0.000,1651,3182,2473,0,0,0,0,0,0
$STATE,4804,end apogee,CONTROL_FINISHED_OK
$STATE,4804,begin climb
$GC,4805,0.66,125.5,996.4,0.0,337,4938,0.77,2.42,124.75,1.859,4,0.103,0.037,1905,1792,1961,0,0,0,0,0,0
$GC,4987,0.66,125.5,978.8,13.3,345,4995,0.00,2.47,0.00,0.000,6,0.000,0.054,1905,3189,1955,0,0,0,0,0,0
$GC,5303,0.66,125.5,927.4,16.2,361,5307,0.00,1.27,0.00,0.000,4,0.000,0.063,1905,3943,1949,0,0,0,0,0,0
$GC,5492,0.66,125.5,892.2,17.8,369,5497,0.00,1.23,0.00,0.000,6,0.000,0.037,1910,3179,1947,0,0,0,0,0,0
$GC,5814,0.66,125.5,841.8,15.6,385,5818,0.00,1.27,0.00,0.000,4,0.000,0.062,1910,3948,1946,0,0,0,0,0,0
$GC,5972,0.66,125.5,813.8,18.4,392,5975,0.00,1.17,0.00,0.000,6,0.000,0.039,1916,3194,1945,0,0,0,0,0,0
$GC,6303,0.66,125.5,759.1,16.5,408,6304,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3194,1944,0,0,0,0,0,0
$GC,6614,0.66,125.5,705.6,17.8,423,6616,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3194,1943,0,0,0,0,0,0
$GC,6922,0.66,125.5,651.2,17.5,438,6926,0.00,1.25,0.00,0.000,4,0.000,0.063,1916,3956,1943,0,0,0,0,0,0
$GC,7106,0.66,125.5,615.6,19.9,446,7111,0.00,1.20,0.00,0.000,6,0.000,0.038,1922,3188,1942,0,0,0,0,0,0
$GC,7433,0.66,125.5,558.1,17.8,462,7434,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3188,1942,0,0,0,0,0,0
$GC,7742,0.66,125.5,505.4,16.4,477,7746,0.00,1.23,0.00,0.000,4,0.000,0.063,1921,3942,1942,0,0,0,0,0,0
$GC,7900,0.66,125.5,476.0,19.7,484,7904,0.00,1.15,0.00,0.000,6,0.000,0.040,1927,3194,1942,0,0,0,0,0,0
$GC,8232,0.66,125.5,420.8,16.5,500,8233,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,3194,1941,0,0,0,0,0,0
$GC,8546,0.66,125.5,371.0,15.5,523,8550,0.00,1.23,0.00,0.000,4,0.000,0.063,1927,3948,1941,0,0,0,0,0,0
$GC,8739,0.66,125.5,335.3,18.2,540,8749,0.00,1.17,0.00,0.000,6,0.000,0.038,1933,3186,1941,0,0,0,0,0,0
$GC,9065,0.66,125.5,282.3,16.7,571,9066,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,3187,1940,0,0,0,0,0,0
$GC,9386,0.66,125.5,230.3,15.9,601,9390,0.00,1.23,0.00,0.000,4,0.000,0.063,1933,3940,1940,0,0,0,0,0,0
$GC,9511,0.66,125.5,207.0,18.6,612,9515,0.10,1.15,0.00,0.000,6,0.202,0.038,1910,3188,1940,0,0,0,0,0,0
$GC,9840,0.66,125.5,155.8,14.8,643,9844,0.00,1.23,0.00,0.000,4,0.000,0.063,1909,3947,1939,0,0,0,0,0,0
$GC,9955,0.66,125.5,136.9,17.5,653,9959,0.00,1.15,0.00,0.000,6,0.000,0.038,1914,3191,1939,0,0,0,0,0,0
$GC,10284,0.66,125.5,89.8,12.6,690,10293,0.00,1.23,0.00,0.000,4,0.000,0.063,1914,3949,1939,0,0,0,0,0,0
$GC,10346,0.66,125.5,81.2,15.7,700,10352,0.00,1.15,0.00,0.000,6,0.000,0.038,1919,3190,1940,0,0,0,0,0,0
$GC,10698,0.66,125.5,35.5,13.6,761,10704,0.00,1.20,0.00,0.000,4,0.000,0.062,1919,3941,1940,0,0,0,0,0,0
$GC,10853,0.66,125.5,12.4,15.6,787,10861,0.00,1.15,0.00,0.000,6,0.000,0.037,1925,3183,1940,0,0,0,0,0,0
$GC,10911,0.66,125.5,3.9,12.3,796,10920,0.00,2.15,0.00,0.000,4,0.000,0.036,1936,1785,1939,0,0,0,0,0,0
$STATE,10927,end climb,SURFACE_DEPTH_REACHED
$STATE,10927,begin surface coast
$FINISH,0.8,1.014383
$STATE,10952,end surface coast,CONTROL_FINISHED_OK
$STATE,10952,begin surface
$SM_CCo,10966,36.25,0.760,0,0,1575,220.03
$SM_GC,1.39,0.00,0.00,36.25,0.000,0.000,0.760,68,3323,1575,-5.09,0.08,220.03
$IRIDIUM_FIX,-4242.04,831.12,091213,010108
$TT8_MAMPS,0.026215
$HUMID,62.04
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.6,9.389
$10V_AH,10.1,6.122
$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,12.375,53.700,246.750,36.250,0.000,27.312,41.536,246.913,0.000,0.000,18.921,2019.013,6530.688,370.622,2387.708,118.972,0.000,1239.500,0.000,1978.301,0.000,1.010,0.000
$DEVICE_MAMPS,241.740,63.495,1904.850,760.410,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,555.148,1384.158,567.909,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355200
$DATA_FILE_SIZE,53827,802
$CAP_FILE_SIZE,106418,0
$CFSIZE,259252224,254787584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,091213,074452,-4258.785,830.872,39,1.0,39,-25.0