version: 66.07
glider: 543
mission: 9
dive: 56
start: 12 10 113 1 0 19
data:
$ID,543
$MISSION,9
$DIVE,56
$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,-12569.415
$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,23
$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
$GPS1,101213,005234,-4259.871,830.654,25,1.0,25,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-70.7
$GPS2,101213,005959,-4259.806,830.670,19,1.0,19,-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,273.4,977,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.61,-57.7,0.0,0.0,0,58,0.00,0.00,-41.28,0.000,2,0.000,0.000,64,3318,2486,0,0,0,0,0,0
$GC,60,-0.64,-103.9,3.1,-4.4,5,86,5.80,1.05,-12.45,0.000,4,0.241,0.088,1475,3952,2899,0,0,0,0,0,0
$GC,344,-0.64,-103.9,66.0,-22.1,53,351,0.00,0.98,0.00,0.000,6,0.000,0.037,1475,3314,2902,0,0,0,0,0,0
$GC,686,-0.64,-103.9,133.2,-19.5,99,687,0.00,0.00,0.00,0.000,6,0.000,0.000,1475,3314,2903,0,0,0,0,0,0
$GC,1008,-0.64,-103.9,193.4,-18.9,129,1011,0.00,1.00,0.00,0.000,4,0.000,0.060,1471,3941,2904,0,0,0,0,0,0
$GC,1086,-0.64,-103.9,209.9,-20.4,136,1090,0.00,0.95,0.00,0.000,6,0.000,0.037,1471,3313,2904,0,0,0,0,0,0
$GC,1416,-0.64,-103.9,274.9,-19.3,167,1417,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3313,2905,0,0,0,0,0,0
$GC,1738,-0.64,-103.9,336.3,-19.6,197,1741,0.00,1.00,0.00,0.000,4,0.000,0.060,1466,3946,2905,0,0,0,0,0,0
$GC,1787,-0.64,-103.9,347.1,-20.4,201,1795,0.00,0.98,0.00,0.000,6,0.000,0.036,1466,3306,2905,0,0,0,0,0,0
$GC,2121,-0.64,-103.9,412.9,-20.0,230,2124,0.00,1.02,0.00,0.000,4,0.000,0.061,1461,3953,2905,0,0,0,0,0,0
$GC,2248,-0.64,-103.9,439.9,-20.7,235,2256,0.00,0.98,0.00,0.000,6,0.000,0.037,1461,3313,2905,0,0,0,0,0,0
$GC,2564,-0.64,-103.9,500.2,-19.0,251,2565,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3314,2905,0,0,0,0,0,0
$GC,2873,-0.64,-103.9,560.0,-19.5,266,2877,0.00,1.00,0.00,0.000,4,0.000,0.063,1457,3944,2905,0,0,0,0,0,0
$GC,2950,-0.64,-103.9,576.7,-21.3,269,2956,0.12,0.98,0.00,0.000,6,0.205,0.037,1484,3312,2905,0,0,0,0,0,0
$GC,3273,-0.64,-103.9,631.4,-16.5,285,3275,0.00,0.00,0.00,0.000,6,0.000,0.000,1484,3312,2905,0,0,0,0,0,0
$GC,3581,-0.64,-103.9,680.8,-15.8,300,3585,0.00,1.00,0.00,0.000,4,0.000,0.063,1481,3940,2904,0,0,0,0,0,0
$GC,3697,-0.64,-103.9,700.9,-16.3,305,3702,0.00,0.98,0.00,0.000,6,0.000,0.039,1481,3309,2904,0,0,0,0,0,0
$GC,4025,-0.64,-103.9,752.0,-15.8,321,4028,0.00,1.02,0.00,0.000,4,0.000,0.064,1477,3953,2903,0,0,0,0,0,0
$GC,4107,-0.64,-103.9,766.8,-18.5,324,4115,0.00,0.98,0.00,0.000,6,0.000,0.039,1477,3315,2903,0,0,0,0,0,0
$GC,4423,-0.64,-103.9,816.4,-15.7,340,4424,0.00,0.00,0.00,0.000,6,0.000,0.000,1476,3315,2903,0,0,0,0,0,0
$GC,4732,-0.64,-103.9,863.5,-15.0,355,4736,0.00,1.00,0.00,0.000,4,0.000,0.065,1472,3944,2902,0,0,0,0,0,0
$GC,4826,-0.64,-103.9,879.5,-17.7,359,4831,0.00,0.98,0.00,0.000,6,0.000,0.039,1472,3312,2901,0,0,0,0,0,0
$GC,5153,-0.64,-103.9,930.6,-15.4,375,5157,0.00,1.00,0.00,0.000,4,0.000,0.064,1467,3942,2902,0,0,0,0,0,0
$GC,5221,-0.64,-103.9,942.1,-17.3,378,5224,0.00,0.95,0.00,0.000,6,0.000,0.040,1467,3314,2901,0,0,0,0,0,0
$STATE,5531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5531,begin apogee
$GC,5535,-0.11,0.0,992.1,16.3,393,5638,0.65,0.00,100.38,1.849,6,0.172,0.000,1655,3173,2473,0,0,0,0,0,0
$STATE,5639,end apogee,CONTROL_FINISHED_OK
$STATE,5639,begin climb
$GC,5641,0.64,103.9,996.4,0.0,398,5752,0.75,2.40,103.45,1.805,4,0.100,0.037,1903,1775,2048,0,0,0,0,0,0
$GC,5778,0.64,103.9,985.0,11.9,404,5787,0.00,2.47,0.00,0.000,6,0.000,0.052,1903,3179,2044,0,0,0,0,0,0
$GC,6096,0.64,103.9,935.1,16.4,420,6100,0.00,1.27,0.00,0.000,4,0.000,0.061,1903,3936,2037,0,0,0,0,0,0
$GC,6240,0.64,103.9,907.7,18.6,426,6245,0.00,1.23,0.00,0.000,6,0.000,0.037,1908,3173,2036,0,0,0,0,0,0
$GC,6562,0.64,103.9,853.5,16.8,442,6566,0.00,1.27,0.00,0.000,4,0.000,0.061,1908,3946,2034,0,0,0,0,0,0
$GC,6819,0.64,103.9,805.2,18.0,453,6824,0.00,1.23,0.00,0.000,6,0.000,0.037,1914,3167,2033,0,0,0,0,0,0
$GC,7140,0.64,103.9,753.3,15.4,469,7144,0.00,1.27,0.00,0.000,4,0.000,0.061,1914,3947,2032,0,0,0,0,0,0
$GC,7320,0.64,103.9,721.5,19.0,477,7324,0.00,1.17,0.00,0.000,6,0.000,0.038,1920,3186,2031,0,0,0,0,0,0
$GC,7652,0.64,103.9,667.1,16.2,493,7655,0.00,1.23,0.00,0.000,4,0.000,0.060,1920,3941,2030,0,0,0,0,0,0
$GC,7879,0.64,103.9,625.4,19.2,503,7884,0.00,1.20,0.00,0.000,6,0.000,0.037,1926,3169,2030,0,0,0,0,0,0
$GC,8208,0.64,103.9,572.4,15.7,519,8212,0.00,1.25,0.00,0.000,4,0.000,0.060,1925,3940,2029,0,0,0,0,0,0
$GC,8353,0.64,103.9,546.3,18.8,525,8357,0.00,1.17,0.00,0.000,6,0.000,0.037,1931,3180,2029,0,0,0,0,0,0
$GC,8675,0.64,103.9,492.8,16.4,541,8678,0.00,1.25,0.00,0.000,4,0.000,0.061,1931,3957,2028,0,0,0,0,0,0
$GC,8798,0.64,103.9,470.8,18.0,546,8802,0.10,1.17,0.00,0.000,6,0.203,0.038,1909,3188,2028,0,0,0,0,0,0
$GC,9118,0.64,103.9,424.0,14.2,562,9121,0.00,1.23,0.00,0.000,4,0.000,0.061,1905,3944,2028,0,0,0,0,0,0
$GC,9207,0.64,103.9,410.0,15.9,566,9211,0.00,1.17,0.00,0.000,6,0.000,0.039,1910,3177,2028,0,0,0,0,0,0
$GC,9539,0.64,103.9,366.2,12.7,593,9542,0.00,1.25,0.00,0.000,4,0.000,0.062,1910,3950,2028,0,0,0,0,0,0
$GC,9798,0.64,103.9,328.5,14.2,616,9801,0.00,1.17,0.00,0.000,6,0.000,0.038,1917,3177,2028,0,0,0,0,0,0
$GC,10128,0.64,103.9,287.0,12.6,647,10131,0.00,1.25,0.00,0.000,4,0.000,0.060,1916,3954,2027,0,0,0,0,0,0
$GC,10388,0.64,103.9,249.6,14.9,670,10392,0.00,1.17,0.00,0.000,6,0.000,0.037,1922,3178,2027,0,0,0,0,0,0
$GC,10720,0.64,103.9,205.2,13.9,701,10724,0.00,1.23,0.00,0.000,4,0.000,0.061,1922,3939,2027,0,0,0,0,0,0
$GC,10978,0.64,103.9,163.5,15.8,724,10982,0.00,1.15,0.00,0.000,6,0.000,0.036,1927,3178,2027,0,0,0,0,0,0
$GC,11308,0.64,103.9,115.2,14.1,755,11312,0.00,1.25,0.00,0.000,4,0.000,0.060,1927,3955,2027,0,0,0,0,0,0
$GC,11571,0.64,103.9,74.0,14.8,793,11578,0.10,1.17,0.00,0.000,6,0.200,0.036,1905,3173,2027,0,0,0,0,0,0
$GC,11920,0.64,103.9,35.5,10.6,854,11928,0.00,2.15,0.00,0.000,4,0.000,0.036,1915,1776,2027,0,0,0,0,0,0
$GC,11967,0.64,103.9,31.1,9.5,861,11973,0.00,2.22,0.00,0.000,6,0.000,0.050,1915,3185,2027,0,0,0,0,0,0
$GC,12116,0.64,103.9,14.6,10.4,886,12124,0.00,2.15,0.00,0.000,4,0.000,0.035,1926,1776,2027,0,0,0,0,0,0
$GC,12145,0.65,113.2,12.2,8.4,890,12154,0.00,2.25,1.50,0.201,6,0.000,0.052,1926,3181,2008,0,0,0,0,0,0
$GC,12204,0.65,113.9,6.7,9.4,899,12213,0.00,1.20,0.00,0.000,4,0.000,0.060,1926,3941,2008,0,0,0,0,0,0
$STATE,12237,end climb,SURFACE_DEPTH_REACHED
$STATE,12238,begin surface coast
$FINISH,0.6,1.013639
$STATE,12269,end surface coast,CONTROL_FINISHED_OK
$STATE,12269,begin surface
$SM_CCo,12281,44.97,0.787,0,0,1552,225.18
$SM_GC,1.31,0.00,0.00,44.97,0.000,0.000,0.787,66,3313,1552,-5.09,-0.20,225.18
$IRIDIUM_FIX,-4242.04,830.68,091213,212147
$TT8_MAMPS,0.026215
$HUMID,61.41
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.9,10.228
$10V_AH,10.1,6.689
$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,12.550,60.600,205.325,44.975,0.000,24.746,45.494,266.623,0.000,0.000,22.026,2303.899,7284.618,340.928,2715.812,127.291,0.000,1305.705,0.000,2267.549,0.000,1.010,0.000
$DEVICE_MAMPS,240.975,87.975,1849.005,787.185,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,630.175,1579.875,663.556,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355204
$DATA_FILE_SIZE,60212,909
$CAP_FILE_SIZE,120105,0
$CFSIZE,259252224,254390272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,101213,042658,-4259.987,830.022,39,0.9,39,-25.0