version: 66.07
glider: 543
mission: 9
dive: 52
start: 12 9 113 11 14 57
data:
$ID,543
$MISSION,9
$DIVE,52
$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,350
$T_MISSION,390
$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,225
$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,-12557.392
$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,3180
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,29
$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
$GPS1,091213,110734,-4259.505,830.966,28,1.0,28,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-71.5
$GPS2,091213,111436,-4259.485,831.034,19,1.4,19,-25.0
$SPEED_LIMITS,0.163,0.255
$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,260.8,1694,-27.2,-9.429
$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,-0.61,-57.7,0.0,0.0,0,64,0.00,0.00,-48.65,0.000,6,0.000,0.000,69,3333,2711,0,0,0,0,0,0
$GC,66,-0.65,-110.7,3.3,-3.6,6,85,5.68,0.95,-5.72,0.000,4,0.236,0.086,1474,3945,2927,0,0,0,0,0,0
$GC,344,-0.65,-110.7,71.6,-24.1,53,350,0.00,0.95,0.00,0.000,6,0.000,0.037,1477,3324,2931,0,0,0,0,0,0
$GC,678,-0.65,-110.7,141.3,-20.6,95,681,0.00,1.00,0.00,0.000,4,0.000,0.060,1474,3945,2932,0,0,0,0,0,0
$GC,794,-0.65,-110.7,166.6,-21.3,105,802,0.00,0.98,0.00,0.000,6,0.000,0.037,1476,3314,2933,0,0,0,0,0,0
$GC,1119,-0.65,-110.7,233.5,-19.7,136,1123,0.00,1.00,0.00,0.000,4,0.000,0.060,1473,3938,2934,0,0,0,0,0,0
$GC,1254,-0.65,-110.7,262.2,-20.4,148,1258,0.00,0.95,0.00,0.000,6,0.000,0.037,1473,3313,2934,0,0,0,0,0,0
$GC,1584,-0.65,-110.7,328.1,-20.1,179,1588,0.00,1.00,0.00,0.000,4,0.000,0.060,1468,3939,2934,0,0,0,0,0,0
$GC,1701,-0.65,-110.7,353.4,-21.9,189,1709,0.00,0.98,0.00,0.000,6,0.000,0.037,1469,3306,2935,0,0,0,0,0,0
$GC,2034,-0.65,-110.7,421.8,-20.9,216,2038,0.00,1.00,0.00,0.000,4,0.000,0.061,1463,3934,2935,0,0,0,0,0,0
$GC,2239,-0.65,-110.7,467.5,-21.8,225,2244,0.00,0.95,0.00,0.000,6,0.000,0.037,1463,3317,2934,0,0,0,0,0,0
$GC,2567,-0.65,-110.7,535.2,-20.7,241,2570,0.00,1.00,0.00,0.000,4,0.000,0.062,1459,3946,2934,0,0,0,0,0,0
$GC,2694,-0.65,-110.7,562.8,-21.8,246,2702,0.00,0.98,0.00,0.000,6,0.000,0.037,1459,3313,2935,0,0,0,0,0,0
$GC,3010,-0.65,-110.7,626.7,-19.8,262,3014,0.00,1.00,0.00,0.000,4,0.000,0.061,1454,3942,2934,0,0,0,0,0,0
$GC,3267,-0.65,-110.7,680.3,-20.8,273,3272,0.12,0.98,0.00,0.000,6,0.207,0.038,1482,3311,2934,0,0,0,0,0,0
$GC,3588,-0.65,-110.7,730.9,-15.5,289,3591,0.00,1.00,0.00,0.000,4,0.000,0.063,1479,3938,2934,0,0,0,0,0,0
$GC,3738,-0.65,-110.7,755.9,-16.8,295,3745,0.00,0.98,0.00,0.000,6,0.000,0.038,1479,3306,2933,0,0,0,0,0,0
$GC,4053,-0.65,-110.7,805.1,-15.6,311,4057,0.00,1.00,0.00,0.000,4,0.000,0.063,1474,3932,2932,0,0,0,0,0,0
$GC,4175,-0.65,-110.7,826.0,-17.0,316,4180,0.00,0.95,0.00,0.000,6,0.000,0.039,1474,3317,2932,0,0,0,0,0,0
$GC,4497,-0.65,-110.7,876.1,-15.6,332,4500,0.00,1.00,0.00,0.000,4,0.000,0.064,1470,3944,2932,0,0,0,0,0,0
$GC,4664,-0.65,-110.7,905.5,-16.9,339,4668,0.00,0.98,0.00,0.000,6,0.000,0.039,1470,3313,2931,0,0,0,0,0,0
$GC,4985,-0.65,-110.7,957.4,-16.0,355,4989,0.00,1.00,0.00,0.000,4,0.000,0.064,1465,3939,2931,0,0,0,0,0,0
$GC,5075,-0.65,-110.7,973.6,-17.7,359,5079,0.00,0.95,0.00,0.000,6,0.000,0.041,1465,3314,2931,0,0,0,0,0,0
$STATE,5179,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5179,begin apogee
$GC,5183,-0.11,0.0,991.5,17.0,364,5294,0.65,0.00,106.85,1.854,6,0.171,0.000,1654,3171,2473,0,0,0,0,0,0
$STATE,5294,end apogee,CONTROL_FINISHED_OK
$STATE,5294,begin climb
$GC,5296,0.65,110.7,995.8,0.0,369,5413,0.77,2.38,109.30,1.791,4,0.103,0.037,1908,1779,2020,0,0,0,0,0,0
$GC,5445,0.65,110.7,981.8,14.3,376,5450,0.00,2.45,0.00,0.000,6,0.000,0.052,1908,3166,2016,0,0,0,0,0,0
$GC,5773,0.65,110.7,925.9,17.6,392,5776,0.00,1.30,0.00,0.000,4,0.000,0.061,1908,3942,2009,0,0,0,0,0,0
$GC,5862,0.65,110.7,908.8,20.4,396,5866,0.00,1.23,0.00,0.000,6,0.000,0.037,1914,3171,2008,0,0,0,0,0,0
$GC,6195,0.65,110.7,851.2,17.2,412,6199,0.00,1.30,0.00,0.000,4,0.000,0.061,1914,3957,2006,0,0,0,0,0,0
$GC,6353,0.65,110.7,819.6,20.1,419,6357,0.00,1.23,0.00,0.000,6,0.000,0.039,1920,3170,2005,0,0,0,0,0,0
$GC,6686,0.65,110.7,763.1,16.2,435,6687,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3169,2004,0,0,0,0,0,0
$GC,6994,0.65,110.7,712.3,16.5,450,6998,0.00,1.27,0.00,0.000,4,0.000,0.062,1920,3952,2003,0,0,0,0,0,0
$GC,7138,0.65,110.7,685.5,18.2,456,7143,0.00,1.20,0.00,0.000,6,0.000,0.038,1925,3179,2003,0,0,0,0,0,0
$GC,7460,0.65,110.7,634.1,15.5,472,7464,0.00,1.25,0.00,0.000,4,0.000,0.062,1925,3949,2002,0,0,0,0,0,0
$GC,7716,0.65,110.7,588.7,17.4,483,7721,0.00,1.20,0.00,0.000,6,0.000,0.039,1931,3180,2002,0,0,0,0,0,0
$GC,8038,0.65,110.7,539.4,15.5,499,8042,0.00,1.25,0.00,0.000,4,0.000,0.062,1931,3955,2001,0,0,0,0,0,0
$GC,8137,0.65,110.7,521.9,17.8,503,8142,0.12,1.20,0.00,0.000,6,0.224,0.039,1909,3179,2001,0,0,0,0,0,0
$GC,8459,0.65,110.7,475.9,14.3,519,8463,0.00,1.25,0.00,0.000,4,0.000,0.062,1908,3953,2001,0,0,0,0,0,0
$GC,8549,0.65,110.7,461.4,16.0,523,8553,0.00,1.17,0.00,0.000,6,0.000,0.039,1913,3185,2001,0,0,0,0,0,0
$GC,8880,0.65,110.7,412.6,14.7,539,8884,0.00,1.25,0.00,0.000,4,0.000,0.062,1913,3955,2001,0,0,0,0,0,0
$GC,9019,0.65,110.7,389.0,17.8,547,9027,0.00,1.20,0.00,0.000,6,0.000,0.038,1919,3179,2000,0,0,0,0,0,0
$GC,9344,0.65,110.7,340.3,14.7,578,9348,0.00,1.25,0.00,0.000,4,0.000,0.061,1919,3953,2000,0,0,0,0,0,0
$GC,9425,0.65,110.7,327.4,16.9,585,9429,0.00,1.17,0.00,0.000,6,0.000,0.038,1925,3180,2000,0,0,0,0,0,0
$GC,9755,0.65,110.7,277.1,15.1,616,9759,0.00,1.25,0.00,0.000,4,0.000,0.063,1925,3953,2000,0,0,0,0,0,0
$GC,9846,0.65,110.7,262.0,17.1,624,9849,0.00,1.17,0.00,0.000,6,0.000,0.038,1931,3181,2000,0,0,0,0,0,0
$GC,10175,0.65,110.7,210.7,15.2,655,10179,0.00,1.25,0.00,0.000,4,0.000,0.062,1931,3956,2000,0,0,0,0,0,0
$GC,10232,0.65,110.7,201.5,17.2,660,10236,0.10,1.17,0.00,0.000,6,0.202,0.037,1909,3180,2000,0,0,0,0,0,0
$GC,10561,0.65,110.7,154.7,13.7,691,10565,0.00,1.25,0.00,0.000,4,0.000,0.062,1905,3955,2000,0,0,0,0,0,0
$GC,10631,0.65,110.7,144.1,16.0,697,10635,0.00,1.17,0.00,0.000,6,0.000,0.037,1910,3179,2000,0,0,0,0,0,0
$GC,10957,0.65,110.7,96.2,14.6,729,10965,0.00,1.25,0.00,0.000,4,0.000,0.062,1910,3957,2000,0,0,0,0,0,0
$GC,11002,0.65,110.7,89.5,15.5,736,11009,0.00,1.17,0.00,0.000,6,0.000,0.037,1915,3179,2000,0,0,0,0,0,0
$GC,11350,0.65,110.7,45.8,12.5,797,11356,0.00,1.25,0.00,0.000,4,0.000,0.061,1916,3958,2000,0,0,0,0,0,0
$GC,11608,0.65,110.7,11.2,13.6,841,11617,0.00,1.17,0.00,0.000,6,0.000,0.037,1922,3182,1999,0,0,0,0,0,0
$GC,11667,0.65,110.7,3.3,13.9,850,11675,0.00,2.17,0.00,0.000,4,0.000,0.035,1932,1768,1999,0,0,0,0,0,0
$STATE,11682,end climb,SURFACE_DEPTH_REACHED
$STATE,11683,begin surface coast
$FINISH,0.7,1.012964
$STATE,11708,end surface coast,CONTROL_FINISHED_OK
$STATE,11708,begin surface
$SM_CCo,11722,44.45,0.788,0,0,1552,225.18
$SM_GC,1.34,0.00,0.00,44.45,0.000,0.000,0.788,71,3328,1552,-5.08,0.23,225.18
$IRIDIUM_FIX,-4242.04,833.59,091213,070710
$TT8_MAMPS,0.025466
$HUMID,62.12
$INTERNAL_PRESSURE,9.53279
$TCM_TEMP,13.30
$XPDR_PINGS,0
$24V_AH,22.9,9.676
$10V_AH,10.1,6.307
$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,12.475,63.125,216.150,44.450,0.000,27.728,27.201,261.807,0.000,0.000,22.191,2190.562,6916.146,355.868,2605.719,124.148,0.000,1304.910,0.000,2185.757,0.000,1.011,0.000
$DEVICE_MAMPS,235.620,85.680,1853.595,787.950,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,593.354,1480.903,607.355,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355164
$DATA_FILE_SIZE,57198,856
$CAP_FILE_SIZE,118493,0
$CFSIZE,259252224,254652416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,091213,143204,-4259.675,830.399,27,1.1,27,-25.0