version: 66.07
glider: 543
mission: 9
dive: 54
start: 12 9 113 18 2 4
data:
$ID,543
$MISSION,9
$DIVE,54
$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,-12563.488
$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,48
$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
$GPS1,091213,175434,-4300.095,830.149,30,0.9,30,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-72.3
$GPS2,091213,180143,-4300.109,830.262,14,0.8,15,-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,324.6,409,-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,-48.65,0.000,2,0.000,0.000,66,3324,2706,0,0,0,0,0,0
$GC,67,-0.65,-110.8,3.3,-3.6,6,85,5.88,0.98,-5.60,0.000,4,0.247,0.082,1474,3955,2926,0,0,0,0,0,0
$GC,190,-0.65,-110.8,34.9,-22.6,26,199,0.00,0.98,0.00,0.000,6,0.000,0.037,1476,3322,2930,0,0,0,0,0,0
$GC,336,-0.65,-110.8,68.7,-23.0,51,344,0.00,1.00,0.00,0.000,4,0.000,0.060,1473,3940,2931,0,0,0,0,0,0
$GC,441,-0.65,-110.8,92.9,-23.5,69,450,0.00,0.95,0.00,0.000,6,0.000,0.037,1475,3319,2931,0,0,0,0,0,0
$GC,776,-0.65,-110.8,163.1,-21.8,103,780,0.00,1.00,0.00,0.000,4,0.000,0.060,1472,3946,2932,0,0,0,0,0,0
$GC,981,-0.65,-110.8,209.0,-23.0,121,985,0.00,0.95,0.00,0.000,6,0.000,0.037,1472,3314,2932,0,0,0,0,0,0
$GC,1311,-0.65,-110.8,279.3,-21.5,152,1314,0.00,1.00,0.00,0.000,4,0.000,0.060,1468,3944,2933,0,0,0,0,0,0
$GC,1481,-0.65,-110.8,316.0,-22.5,167,1484,0.00,0.95,0.00,0.000,6,0.000,0.037,1468,3315,2933,0,0,0,0,0,0
$GC,1811,-0.65,-110.8,383.0,-19.4,198,1814,0.00,1.00,0.00,0.000,4,0.000,0.060,1463,3945,2933,0,0,0,0,0,0
$GC,1905,-0.65,-110.8,402.7,-21.2,206,1909,0.00,0.98,0.00,0.000,6,0.000,0.036,1463,3311,2933,0,0,0,0,0,0
$GC,2232,-0.65,-110.8,466.8,-19.7,222,2236,0.00,1.00,0.00,0.000,4,0.000,0.061,1459,3939,2933,0,0,0,0,0,0
$GC,2449,-0.65,-110.8,512.3,-21.8,231,2457,0.00,0.95,0.00,0.000,6,0.000,0.037,1458,3319,2933,0,0,0,0,0,0
$GC,2765,-0.65,-110.8,574.6,-19.8,247,2769,0.00,1.00,0.00,0.000,4,0.000,0.060,1454,3950,2933,0,0,0,0,0,0
$GC,2887,-0.65,-110.8,600.8,-21.2,252,2893,0.12,0.98,0.00,0.000,6,0.210,0.037,1481,3316,2933,0,0,0,0,0,0
$GC,3209,-0.65,-110.8,658.4,-18.2,268,3213,0.00,1.00,0.00,0.000,4,0.000,0.063,1478,3943,2932,0,0,0,0,0,0
$GC,3466,-0.65,-110.8,707.8,-18.7,279,3470,0.00,0.98,0.00,0.000,6,0.000,0.037,1478,3310,2933,0,0,0,0,0,0
$GC,3787,-0.65,-110.8,764.0,-17.1,295,3791,0.00,1.00,0.00,0.000,4,0.000,0.063,1474,3939,2932,0,0,0,0,0,0
$GC,3836,-0.65,-110.8,773.4,-19.3,297,3841,0.00,0.95,0.00,0.000,6,0.000,0.038,1473,3318,2932,0,0,0,0,0,0
$GC,4163,-0.65,-110.8,831.5,-17.6,313,4167,0.00,1.00,0.00,0.000,4,0.000,0.063,1469,3949,2931,0,0,0,0,0,0
$GC,4420,-0.65,-110.8,881.9,-18.6,324,4424,0.00,0.98,0.00,0.000,6,0.000,0.038,1469,3314,2931,0,0,0,0,0,0
$GC,4741,-0.65,-110.8,936.6,-16.7,340,4745,0.00,1.00,0.00,0.000,4,0.000,0.064,1464,3943,2930,0,0,0,0,0,0
$GC,4998,-0.65,-110.8,982.8,-17.8,351,5003,0.00,0.98,0.00,0.000,6,0.000,0.039,1464,3312,2929,0,0,0,0,0,0
$STATE,5050,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5050,begin apogee
$GC,5054,-0.11,0.0,991.2,16.7,354,5164,0.65,0.00,106.57,1.837,6,0.175,0.000,1651,3182,2474,0,0,0,0,0,0
$STATE,5164,end apogee,CONTROL_FINISHED_OK
$STATE,5165,begin climb
$GC,5166,0.65,110.8,995.2,0.0,359,5285,0.77,2.47,109.40,1.786,4,0.104,0.037,1904,1775,2021,0,0,0,0,0,0
$GC,5323,0.65,110.8,979.3,14.5,366,5328,0.00,2.47,0.00,0.000,6,0.000,0.052,1904,3179,2015,0,0,0,0,0,0
$GC,5645,0.65,110.8,925.4,16.9,382,5649,0.00,1.30,0.00,0.000,4,0.000,0.062,1904,3951,2009,0,0,0,0,0,0
$GC,5727,0.65,110.8,909.6,19.4,385,5735,0.00,1.25,0.00,0.000,6,0.000,0.038,1910,3174,2008,0,0,0,0,0,0
$GC,6043,0.65,110.8,856.2,16.2,401,6047,0.00,1.27,0.00,0.000,4,0.000,0.061,1910,3945,2006,0,0,0,0,0,0
$GC,6137,0.65,110.8,839.1,18.5,405,6142,0.00,1.23,0.00,0.000,6,0.000,0.037,1916,3168,2005,0,0,0,0,0,0
$GC,6466,0.65,110.8,786.0,16.3,421,6469,0.00,1.27,0.00,0.000,4,0.000,0.061,1916,3951,2004,0,0,0,0,0,0
$GC,6638,0.65,110.8,752.6,18.9,428,6646,0.00,1.20,0.00,0.000,6,0.000,0.037,1922,3181,2004,0,0,0,0,0,0
$GC,6956,0.65,110.8,699.4,17.1,444,6959,0.00,1.25,0.00,0.000,4,0.000,0.060,1922,3955,2003,0,0,0,0,0,0
$GC,7090,0.65,110.8,673.8,19.0,450,7094,0.00,1.20,0.00,0.000,6,0.000,0.038,1927,3175,2003,0,0,0,0,0,0
$GC,7422,0.65,110.8,618.0,16.5,466,7426,0.00,1.25,0.00,0.000,4,0.000,0.061,1927,3949,2002,0,0,0,0,0,0
$GC,7493,0.65,110.8,604.5,19.6,469,7498,0.00,1.20,0.00,0.000,6,0.000,0.038,1933,3178,2002,0,0,0,0,0,0
$GC,7821,0.65,110.8,547.4,17.5,485,7822,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,3177,2002,0,0,0,0,0,0
$GC,8130,0.65,110.8,493.9,17.3,500,8134,0.00,1.25,0.00,0.000,4,0.000,0.062,1933,3950,2002,0,0,0,0,0,0
$GC,8386,0.65,110.8,444.8,18.4,511,8392,0.15,1.20,0.00,0.000,6,0.219,0.038,1904,3177,2001,0,0,0,0,0,0
$GC,8708,0.65,110.8,397.6,14.6,527,8709,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3176,2000,0,0,0,0,0,0
$GC,9029,0.65,110.8,351.8,13.5,557,9031,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3176,2000,0,0,0,0,0,0
$GC,9346,0.65,110.8,308.3,13.3,587,9349,0.00,1.25,0.00,0.000,4,0.000,0.062,1904,3948,2000,0,0,0,0,0,0
$GC,9417,0.65,110.8,296.8,16.7,593,9425,0.00,1.20,0.00,0.000,6,0.000,0.037,1908,3170,2000,0,0,0,0,0,0
$GC,9743,0.65,110.8,251.7,13.5,624,9744,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3170,2000,0,0,0,0,0,0
$GC,10062,0.65,110.8,210.2,13.0,654,10065,0.00,1.25,0.00,0.000,4,0.000,0.062,1909,3942,2000,0,0,0,0,0,0
$GC,10233,0.65,110.8,183.7,16.4,669,10237,0.00,1.15,0.00,0.000,6,0.000,0.037,1914,3186,2000,0,0,0,0,0,0
$GC,10563,0.65,110.8,137.0,13.6,700,10566,0.00,1.23,0.00,0.000,4,0.000,0.061,1914,3952,2000,0,0,0,0,0,0
$GC,10634,0.65,110.8,125.9,15.3,706,10642,0.00,1.20,0.00,0.000,6,0.000,0.036,1921,3166,2000,0,0,0,0,0,0
$GC,10970,0.65,110.8,80.7,13.5,750,10978,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3166,2000,0,0,0,0,0,0
$GC,11321,0.65,110.8,34.5,12.6,811,11328,0.00,1.25,0.00,0.000,4,0.000,0.060,1921,3949,2000,0,0,0,0,0,0
$GC,11470,0.65,110.8,10.6,17.4,836,11478,0.00,1.15,0.00,0.000,6,0.000,0.037,1926,3187,2000,0,0,0,0,0,0
$GC,11528,0.65,116.6,4.3,8.8,845,11537,0.00,1.20,0.00,0.000,4,0.000,0.061,1926,3940,2000,0,0,0,0,0,0
$STATE,11544,end climb,SURFACE_DEPTH_REACHED
$STATE,11544,begin surface coast
$FINISH,0.7,1.012428
$STATE,11581,end surface coast,CONTROL_FINISHED_OK
$STATE,11581,begin surface
$SM_CCo,11593,44.08,0.793,0,0,1554,225.18
$SM_GC,1.32,0.00,0.00,44.08,0.000,0.000,0.793,65,3315,1554,-5.10,-0.17,225.18
$IRIDIUM_FIX,-4242.04,830.68,091213,141419
$TT8_MAMPS,0.026964
$HUMID,61.38
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.9,9.954
$10V_AH,10.1,6.492
$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,12.575,53.400,215.975,44.075,0.000,28.700,46.849,251.799,0.000,0.000,18.239,2171.234,6827.919,358.217,2597.133,115.437,0.000,1301.270,0.000,2165.330,0.000,1.010,0.000
$DEVICE_MAMPS,247.095,81.855,1836.765,792.540,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,591.013,1478.402,607.413,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355192
$DATA_FILE_SIZE,56916,853
$CAP_FILE_SIZE,115466,0
$CFSIZE,259252224,254525440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,091213,211705,-4259.140,830.043,30,1.0,30,-25.0