version: 66.07
glider: 543
mission: 9
dive: 51
start: 12 9 113 7 52 30
data:
$ID,543
$MISSION,9
$DIVE,51
$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,-12554.37
$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
$GPS1,091213,074452,-4258.785,830.872,39,1.0,39,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-71.5
$GPS2,091213,075206,-4258.754,830.967,16,0.9,17,-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,234.6,2653,-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,-63.0,0.0,0.0,0,57,0.00,0.00,-41.28,0.000,2,0.000,0.000,67,3323,2513,0,0,0,0,0,0
$GC,59,-0.65,-119.0,3.1,-4.0,5,85,5.70,1.00,-13.07,0.000,4,0.237,0.086,1472,3956,2961,0,0,0,0,0,0
$GC,310,-0.65,-119.0,62.0,-25.3,47,316,0.00,0.98,0.00,0.000,6,0.000,0.037,1474,3315,2965,0,0,0,0,0,0
$GC,653,-0.65,-119.0,138.6,-22.2,93,657,0.00,1.02,0.00,0.000,4,0.000,0.060,1471,3955,2966,0,0,0,0,0,0
$GC,826,-0.65,-119.0,179.0,-23.7,108,836,0.00,0.98,0.00,0.000,6,0.000,0.036,1471,3320,2967,0,0,0,0,0,0
$GC,1151,-0.65,-119.0,247.8,-20.7,139,1154,0.00,1.02,0.00,0.000,4,0.000,0.061,1466,3946,2968,0,0,0,0,0,0
$GC,1241,-0.65,-119.0,267.7,-22.3,147,1244,0.00,0.95,0.00,0.000,6,0.000,0.037,1466,3317,2967,0,0,0,0,0,0
$GC,1571,-0.65,-119.0,336.2,-20.3,178,1574,0.00,1.00,0.00,0.000,4,0.000,0.060,1462,3947,2967,0,0,0,0,0,0
$GC,1776,-0.65,-119.0,381.5,-21.8,196,1786,0.00,0.98,0.00,0.000,6,0.000,0.036,1462,3309,2967,0,0,0,0,0,0
$GC,2095,-0.65,-119.0,445.8,-19.8,216,2098,0.00,1.02,0.00,0.000,4,0.000,0.060,1457,3956,2968,0,0,0,0,0,0
$GC,2171,-0.65,-119.0,462.3,-21.0,219,2176,0.00,0.98,0.00,0.000,6,0.000,0.037,1457,3315,2968,0,0,0,0,0,0
$GC,2494,-0.65,-119.0,527.7,-20.9,235,2498,0.00,1.00,0.00,0.000,4,0.000,0.061,1452,3948,2968,0,0,0,0,0,0
$GC,2685,-0.65,-119.0,569.2,-21.6,243,2689,0.08,0.95,0.00,0.000,6,0.190,0.037,1474,3315,2967,0,0,0,0,0,0
$GC,3005,-0.65,-119.0,628.9,-18.8,259,3009,0.00,1.00,0.00,0.000,4,0.000,0.061,1470,3948,2967,0,0,0,0,0,0
$GC,3065,-0.65,-119.0,641.4,-21.1,261,3073,0.00,0.98,0.00,0.000,6,0.000,0.037,1470,3310,2967,0,0,0,0,0,0
$GC,3381,-0.65,-119.0,700.6,-18.3,277,3384,0.00,1.02,0.00,0.000,4,0.000,0.062,1466,3956,2967,0,0,0,0,0,0
$GC,3542,-0.65,-119.0,732.8,-20.4,284,3547,0.00,0.98,0.00,0.000,6,0.000,0.038,1466,3318,2967,0,0,0,0,0,0
$GC,3870,-0.65,-119.0,791.6,-17.1,300,3871,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3317,2966,0,0,0,0,0,0
$GC,4179,-0.65,-119.0,844.5,-17.1,315,4182,0.00,1.00,0.00,0.000,4,0.000,0.063,1461,3949,2965,0,0,0,0,0,0
$GC,4413,-0.65,-119.0,888.0,-18.8,325,4417,0.00,0.98,0.00,0.000,6,0.000,0.039,1461,3316,2965,0,0,0,0,0,0
$GC,4734,-0.65,-119.0,942.9,-17.2,341,4738,0.00,1.00,0.00,0.000,4,0.000,0.063,1456,3945,2964,0,0,0,0,0,0
$GC,4913,-0.65,-119.0,977.3,-18.4,349,4917,0.00,0.95,0.00,0.000,6,0.000,0.040,1456,3320,2964,0,0,0,0,0,0
$STATE,4996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4997,begin apogee
$GC,5000,-0.11,0.0,992.4,17.7,353,5120,0.68,0.00,115.22,1.886,6,0.169,0.000,1653,3195,2474,0,0,0,0,0,0
$STATE,5121,end apogee,CONTROL_FINISHED_OK
$STATE,5121,begin climb
$GC,5122,0.65,119.0,996.5,0.0,359,5250,0.75,0.00,117.62,1.819,6,0.103,0.000,1890,3195,1987,0,0,0,0,0,0
$GC,5558,0.65,119.0,936.8,15.6,380,5559,0.00,0.00,0.00,0.000,6,0.000,0.000,1891,3195,1976,0,0,0,0,0,0
$GC,5867,0.65,119.0,888.1,15.8,395,5870,0.00,1.25,0.00,0.000,4,0.000,0.063,1891,3941,1973,0,0,0,0,0,0
$GC,6016,0.65,119.0,861.4,17.9,401,6024,0.00,1.23,0.00,0.000,6,0.000,0.038,1896,3176,1973,0,0,0,0,0,0
$GC,6333,0.65,119.0,810.6,16.2,417,6336,0.00,1.27,0.00,0.000,4,0.000,0.063,1896,3949,1972,0,0,0,0,0,0
$GC,6561,0.65,119.0,767.4,18.6,427,6566,0.00,1.20,0.00,0.000,6,0.000,0.038,1902,3187,1971,0,0,0,0,0,0
$GC,6890,0.65,119.0,713.8,15.6,443,6891,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3186,1970,0,0,0,0,0,0
$GC,7198,0.65,119.0,667.2,14.3,458,7201,0.00,1.25,0.00,0.000,4,0.000,0.063,1902,3950,1969,0,0,0,0,0,0
$GC,7325,0.65,119.0,646.4,16.3,463,7333,0.00,1.20,0.00,0.000,6,0.000,0.038,1908,3181,1969,0,0,0,0,0,0
$GC,7641,0.65,119.0,600.1,14.9,479,7642,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3180,1968,0,0,0,0,0,0
$GC,7951,0.65,119.0,554.1,14.9,494,7955,0.00,1.25,0.00,0.000,4,0.000,0.063,1908,3951,1968,0,0,0,0,0,0
$GC,8067,0.65,119.0,534.3,17.3,499,8072,0.00,1.17,0.00,0.000,6,0.000,0.038,1913,3190,1968,0,0,0,0,0,0
$GC,8395,0.65,119.0,484.2,15.0,515,8398,0.00,1.23,0.00,0.000,4,0.000,0.063,1913,3952,1968,0,0,0,0,0,0
$GC,8589,0.65,119.0,450.1,16.5,523,8597,0.00,1.17,0.00,0.000,6,0.000,0.038,1919,3192,1968,0,0,0,0,0,0
$GC,8905,0.65,119.0,400.9,15.4,539,8909,0.00,1.23,0.00,0.000,4,0.000,0.062,1919,3946,1967,0,0,0,0,0,0
$GC,8986,0.65,119.0,387.7,16.8,545,8989,0.00,1.15,0.00,0.000,6,0.000,0.039,1925,3194,1967,0,0,0,0,0,0
$GC,9316,0.65,119.0,338.2,14.0,576,9319,0.00,1.23,0.00,0.000,4,0.000,0.063,1925,3950,1967,0,0,0,0,0,0
$GC,9421,0.65,119.0,321.0,16.3,585,9429,0.00,1.17,0.00,0.000,6,0.000,0.038,1931,3188,1967,0,0,0,0,0,0
$GC,9747,0.65,119.0,273.1,14.7,616,9750,0.00,1.23,0.00,0.000,4,0.000,0.062,1931,3949,1966,0,0,0,0,0,0
$GC,9949,0.65,119.0,238.1,18.5,634,9954,0.08,1.15,0.00,0.000,6,0.206,0.039,1915,3191,1966,0,0,0,0,0,0
$GC,10281,0.65,119.0,191.3,14.3,665,10282,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3191,1966,0,0,0,0,0,0
$GC,10597,0.65,119.0,145.2,15.1,695,10601,0.00,1.23,0.00,0.000,4,0.000,0.063,1913,3951,1966,0,0,0,0,0,0
$GC,10802,0.65,119.0,110.5,18.1,713,10806,0.00,1.15,0.00,0.000,6,0.000,0.037,1917,3192,1966,0,0,0,0,0,0
$GC,11145,0.65,119.0,62.5,13.4,768,11154,0.00,1.23,0.00,0.000,4,0.000,0.061,1917,3953,1966,0,0,0,0,0,0
$GC,11262,0.65,119.0,44.4,16.7,788,11269,0.00,1.15,0.00,0.000,6,0.000,0.037,1923,3190,1966,0,0,0,0,0,0
$STATE,11567,end climb,SURFACE_DEPTH_REACHED
$STATE,11567,begin surface coast
$FINISH,0.8,1.012569
$STATE,11592,end surface coast,CONTROL_FINISHED_OK
$STATE,11592,begin surface
$SM_CCo,11604,38.65,0.786,0,0,1574,220.03
$SM_GC,1.46,0.00,0.00,38.65,0.000,0.000,0.786,69,3331,1574,-5.08,0.31,220.03
$IRIDIUM_FIX,-4244.98,831.12,091213,040412
$TT8_MAMPS,0.026215
$HUMID,62.52
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,22.7,9.537
$10V_AH,10.1,6.214
$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,12.300,44.300,232.850,38.650,0.000,30.492,41.424,261.870,0.000,0.000,19.573,2138.076,6916.580,354.445,2554.409,121.565,0.000,1265.857,0.000,2121.937,0.000,1.010,0.000
$DEVICE_MAMPS,237.150,86.445,1886.490,786.420,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,584.925,1459.804,594.176,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355188
$DATA_FILE_SIZE,57153,844
$CAP_FILE_SIZE,110685,0
$CFSIZE,259252224,254717952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,091213,110734,-4259.505,830.966,28,1.0,28,-25.0