version: 66.07
glider: 543
mission: 9
dive: 53
start: 12 9 113 14 39 14
data:
$ID,543
$MISSION,9
$DIVE,53
$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,-12560.485
$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,45
$R_STBD_OVSHOOT,22
$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
$GPS1,091213,143204,-4259.675,830.399,27,1.1,27,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-71.9
$GPS2,091213,143853,-4259.691,830.450,17,1.2,17,-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,251.8,836,-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,-57.7,0.0,0.0,0,65,0.00,0.00,-48.95,0.000,2,0.000,0.000,70,3332,2703,0,0,0,0,0,0
$GC,67,-0.65,-113.0,3.3,-3.4,6,85,5.95,1.02,-6.05,0.000,4,0.253,0.086,1474,3954,2937,0,0,0,0,0,0
$GC,343,-0.65,-113.0,72.0,-23.9,53,350,0.00,0.98,0.00,0.000,6,0.000,0.037,1476,3313,2941,0,0,0,0,0,0
$GC,682,-0.65,-113.0,140.7,-19.4,96,686,0.00,1.02,0.00,0.000,4,0.000,0.060,1473,3949,2943,0,0,0,0,0,0
$GC,942,-0.65,-113.0,197.3,-21.6,119,946,0.00,0.95,0.00,0.000,6,0.000,0.037,1476,3318,2944,0,0,0,0,0,0
$GC,1272,-0.65,-113.0,262.4,-19.4,150,1276,0.00,1.00,0.00,0.000,4,0.000,0.060,1472,3947,2944,0,0,0,0,0,0
$GC,1408,-0.65,-113.0,290.6,-21.1,162,1411,0.00,0.95,0.00,0.000,6,0.000,0.037,1473,3317,2944,0,0,0,0,0,0
$GC,1740,-0.65,-113.0,356.5,-20.0,193,1744,0.00,1.00,0.00,0.000,4,0.000,0.062,1469,3944,2944,0,0,0,0,0,0
$GC,1975,-0.65,-113.0,407.8,-22.0,212,1979,0.00,0.98,0.00,0.000,6,0.000,0.037,1469,3310,2944,0,0,0,0,0,0
$GC,2296,-0.65,-113.0,472.0,-19.9,228,2300,0.00,1.02,0.00,0.000,4,0.000,0.061,1465,3955,2944,0,0,0,0,0,0
$GC,2491,-0.65,-113.0,514.0,-21.5,236,2499,0.00,0.98,0.00,0.000,6,0.000,0.037,1465,3316,2944,0,0,0,0,0,0
$GC,2807,-0.65,-113.0,576.3,-19.8,252,2811,0.00,1.00,0.00,0.000,4,0.000,0.062,1460,3948,2944,0,0,0,0,0,0
$GC,3002,-0.65,-113.0,617.6,-21.2,260,3009,0.00,0.98,0.00,0.000,6,0.000,0.038,1460,3312,2944,0,0,0,0,0,0
$GC,3319,-0.65,-113.0,676.1,-17.8,276,3323,0.00,1.00,0.00,0.000,4,0.000,0.062,1455,3940,2944,0,0,0,0,0,0
$GC,3413,-0.65,-113.0,695.0,-19.8,280,3418,0.12,0.98,0.00,0.000,6,0.209,0.038,1483,3310,2944,0,0,0,0,0,0
$GC,3740,-0.65,-113.0,748.1,-16.1,296,3743,0.00,1.02,0.00,0.000,4,0.000,0.063,1480,3953,2943,0,0,0,0,0,0
$GC,3929,-0.65,-113.0,781.5,-17.9,304,3933,0.00,0.98,0.00,0.000,6,0.000,0.039,1480,3314,2943,0,0,0,0,0,0
$GC,4251,-0.65,-113.0,834.2,-16.2,320,4254,0.00,1.00,0.00,0.000,4,0.000,0.063,1475,3945,2942,0,0,0,0,0,0
$GC,4322,-0.65,-113.0,847.0,-17.4,323,4326,0.00,0.98,0.00,0.000,6,0.000,0.039,1475,3313,2942,0,0,0,0,0,0
$GC,4649,-0.65,-113.0,901.7,-16.9,339,4652,0.00,1.00,0.00,0.000,4,0.000,0.063,1471,3944,2942,0,0,0,0,0,0
$GC,4764,-0.65,-113.0,922.9,-19.1,344,4769,0.00,0.98,0.00,0.000,6,0.000,0.039,1471,3313,2941,0,0,0,0,0,0
$GC,5091,-0.65,-113.0,979.6,-17.3,360,5095,0.00,1.00,0.00,0.000,4,0.000,0.064,1466,3940,2941,0,0,0,0,0,0
$STATE,5150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5150,begin apogee
$GC,5155,-0.11,0.0,991.0,18.9,362,5267,0.62,0.00,109.22,1.846,6,0.175,0.000,1650,3166,2474,0,0,0,0,0,0
$STATE,5268,end apogee,CONTROL_FINISHED_OK
$STATE,5268,begin climb
$GC,5269,0.65,113.0,996.5,0.0,368,5390,0.77,2.42,111.53,1.789,4,0.108,0.038,1902,1781,2012,0,0,0,0,0,0
$GC,5418,0.65,113.0,984.1,13.5,375,5422,0.00,2.45,0.00,0.000,6,0.000,0.053,1902,3182,2008,0,0,0,0,0,0
$GC,5744,0.65,113.0,932.4,16.1,391,5747,0.00,1.27,0.00,0.000,4,0.000,0.061,1902,3941,2000,0,0,0,0,0,0
$GC,5826,0.65,113.0,917.6,18.0,394,5834,0.00,1.25,0.00,0.000,6,0.000,0.037,1908,3162,2000,0,0,0,0,0,0
$GC,6142,0.65,113.0,866.8,15.5,410,6146,0.00,1.30,0.00,0.000,4,0.000,0.061,1908,3948,1997,0,0,0,0,0,0
$GC,6219,0.65,113.0,852.6,18.5,413,6224,0.00,1.23,0.00,0.000,6,0.000,0.037,1914,3173,1997,0,0,0,0,0,0
$GC,6541,0.65,113.0,798.8,16.3,429,6542,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3174,1996,0,0,0,0,0,0
$GC,6850,0.65,113.0,749.5,15.7,444,6854,0.00,1.27,0.00,0.000,4,0.000,0.062,1914,3951,1994,0,0,0,0,0,0
$GC,7097,0.65,113.0,705.3,17.9,455,7101,0.00,1.17,0.00,0.000,6,0.000,0.039,1920,3189,1994,0,0,0,0,0,0
$GC,7429,0.65,113.0,652.5,15.8,471,7430,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3189,1993,0,0,0,0,0,0
$GC,7738,0.65,113.0,603.3,15.7,486,7739,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3189,1993,0,0,0,0,0,0
$GC,8048,0.65,113.0,553.4,16.2,501,8051,0.00,1.23,0.00,0.000,4,0.000,0.063,1920,3942,1993,0,0,0,0,0,0
$GC,8251,0.65,113.0,515.7,18.5,510,8255,0.00,1.17,0.00,0.000,6,0.000,0.038,1926,3179,1993,0,0,0,0,0,0
$GC,8583,0.65,113.0,459.9,16.7,526,8586,0.00,1.25,0.00,0.000,4,0.000,0.062,1926,3947,1992,0,0,0,0,0,0
$GC,8682,0.65,113.0,441.6,18.5,530,8687,0.00,1.20,0.00,0.000,6,0.000,0.038,1931,3174,1992,0,0,0,0,0,0
$GC,9008,0.65,113.0,388.6,15.6,549,9011,0.00,1.25,0.00,0.000,4,0.000,0.061,1931,3950,1992,0,0,0,0,0,0
$GC,9245,0.65,113.0,345.1,19.0,570,9249,0.10,1.17,0.00,0.000,6,0.203,0.038,1909,3180,1992,0,0,0,0,0,0
$GC,9576,0.65,113.0,295.6,14.3,601,9580,0.00,1.23,0.00,0.000,4,0.000,0.062,1908,3943,1991,0,0,0,0,0,0
$GC,9782,0.65,113.0,261.2,15.9,619,9790,0.00,1.17,0.00,0.000,6,0.000,0.037,1914,3180,1991,0,0,0,0,0,0
$GC,10107,0.65,113.0,214.8,14.0,650,10111,0.00,1.23,0.00,0.000,4,0.000,0.063,1914,3939,1991,0,0,0,0,0,0
$GC,10235,0.65,113.0,193.9,16.5,661,10243,0.00,1.17,0.00,0.000,6,0.000,0.037,1919,3177,1991,0,0,0,0,0,0
$GC,10561,0.65,113.0,148.0,14.3,692,10564,0.00,1.25,0.00,0.000,4,0.000,0.061,1919,3954,1991,0,0,0,0,0,0
$GC,10598,0.65,113.0,141.9,16.3,695,10606,0.00,1.20,0.00,0.000,6,0.000,0.037,1925,3169,1991,0,0,0,0,0,0
$GC,10926,0.65,113.0,94.5,14.2,729,10935,0.00,1.25,0.00,0.000,4,0.000,0.062,1925,3946,1991,0,0,0,0,0,0
$GC,11193,0.65,113.0,55.1,14.6,775,11199,0.00,1.15,0.00,0.000,6,0.000,0.037,1931,3184,1991,0,0,0,0,0,0
$GC,11548,0.65,113.0,8.1,13.4,836,11556,0.00,1.23,0.00,0.000,4,0.000,0.059,1931,3947,1991,0,0,0,0,0,0
$STATE,11581,end climb,SURFACE_DEPTH_REACHED
$STATE,11581,begin surface coast
$FINISH,0.9,1.025876
$STATE,11600,end surface coast,CONTROL_FINISHED_OK
$STATE,11601,begin surface
$SM_CCo,11613,43.10,0.795,0,0,1552,225.18
$SM_GC,1.33,0.00,0.00,43.10,0.000,0.000,0.795,67,3322,1552,-5.09,0.03,225.18
$IRIDIUM_FIX,-4244.98,825.29,091213,111159
$TT8_MAMPS,0.026215
$HUMID,61.57
$INTERNAL_PRESSURE,9.53279
$TCM_TEMP,13.30
$XPDR_PINGS,0
$24V_AH,22.8,9.816
$10V_AH,10.1,6.399
$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,12.600,53.475,220.750,43.100,0.000,24.636,18.650,260.982,0.000,0.000,20.464,2145.311,6914.742,350.101,2544.629,113.753,0.000,1271.671,0.000,2132.943,0.000,1.010,0.000
$DEVICE_MAMPS,253.215,86.445,1845.945,794.835,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,585.068,1452.019,584.282,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355212
$DATA_FILE_SIZE,56963,844
$CAP_FILE_SIZE,112974,0
$CFSIZE,259252224,254590976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,091213,175434,-4300.095,830.149,30,0.9,30,-25.0