version: 66.07
glider: 543
mission: 9
dive: 58
start: 12 10 113 8 7 57
data:
$ID,543
$MISSION,9
$DIVE,58
$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,-12575.378
$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,44
$R_STBD_OVSHOOT,28
$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
$GPS1,101213,080034,-4259.103,830.834,37,0.9,37,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-72.5
$GPS2,101213,080736,-4259.118,830.946,19,0.9,19,-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,243.1,2076,-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,-48.83,0.000,2,0.000,0.000,64,3319,2694,0,0,0,0,0,0
$GC,67,-0.64,-106.5,3.3,-4.1,6,85,5.72,0.98,-5.68,0.000,4,0.236,0.080,1476,3957,2910,0,0,0,0,0,0
$GC,345,-0.64,-106.5,71.0,-23.7,53,352,0.00,0.98,0.00,0.000,6,0.000,0.038,1479,3321,2914,0,0,0,0,0,0
$GC,687,-0.64,-106.5,136.9,-19.1,97,691,0.00,1.00,0.00,0.000,4,0.000,0.060,1475,3949,2916,0,0,0,0,0,0
$GC,946,-0.64,-106.5,191.3,-21.2,120,950,0.00,0.95,0.00,0.000,6,0.000,0.037,1475,3318,2916,0,0,0,0,0,0
$GC,1276,-0.64,-106.5,248.1,-20.4,151,1280,0.00,2.12,0.00,0.000,4,0.000,0.035,1475,1908,2918,0,0,0,0,0,0
$GC,1442,-0.64,-106.5,273.7,-15.2,165,1447,0.00,2.28,0.00,0.000,6,0.000,0.055,1464,3325,2918,0,0,0,0,0,0
$GC,1766,-0.64,-106.5,337.0,-19.3,195,1770,0.00,0.98,0.00,0.000,4,0.000,0.061,1460,3943,2918,0,0,0,0,0,0
$GC,1895,-0.64,-106.5,365.1,-21.9,206,1903,0.00,0.95,0.00,0.000,6,0.000,0.037,1460,3321,2918,0,0,0,0,0,0
$GC,2216,-0.64,-106.5,430.9,-20.7,230,2219,0.00,1.00,0.00,0.000,4,0.000,0.060,1455,3951,2918,0,0,0,0,0,0
$GC,2315,-0.64,-106.5,453.5,-23.3,234,2320,0.12,0.98,0.00,0.000,6,0.202,0.037,1483,3316,2918,0,0,0,0,0,0
$GC,2636,-0.64,-106.5,516.6,-20.1,250,2640,0.00,1.00,0.00,0.000,4,0.000,0.063,1480,3945,2918,0,0,0,0,0,0
$GC,2730,-0.64,-106.5,536.9,-21.0,254,2735,0.00,0.98,0.00,0.000,6,0.000,0.038,1480,3313,2918,0,0,0,0,0,0
$GC,3057,-0.64,-106.5,600.8,-19.2,270,3061,0.00,1.00,0.00,0.000,4,0.000,0.063,1475,3940,2918,0,0,0,0,0,0
$GC,3236,-0.64,-106.5,637.5,-20.3,278,3240,0.00,0.95,0.00,0.000,6,0.000,0.040,1475,3316,2918,0,0,0,0,0,0
$GC,3568,-0.64,-106.5,699.3,-18.2,294,3572,0.00,1.00,0.00,0.000,4,0.000,0.064,1471,3945,2917,0,0,0,0,0,0
$GC,3617,-0.64,-106.5,708.7,-18.8,296,3621,0.00,0.98,0.00,0.000,6,0.000,0.040,1471,3314,2917,0,0,0,0,0,0
$GC,3944,-0.64,-106.5,766.7,-17.2,312,3948,0.00,1.00,0.00,0.000,4,0.000,0.063,1466,3944,2917,0,0,0,0,0,0
$GC,4015,-0.64,-106.5,780.0,-18.2,315,4020,0.00,0.98,0.00,0.000,6,0.000,0.039,1466,3313,2916,0,0,0,0,0,0
$GC,4342,-0.64,-106.5,834.9,-16.1,331,4346,0.00,1.00,0.00,0.000,4,0.000,0.065,1461,3939,2916,0,0,0,0,0,0
$GC,4458,-0.64,-106.5,855.8,-17.9,336,4463,0.00,0.98,0.00,0.000,6,0.000,0.040,1461,3309,2916,0,0,0,0,0,0
$GC,4786,-0.64,-106.5,909.4,-16.6,352,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,1461,3309,2915,0,0,0,0,0,0
$GC,5097,-0.64,-106.5,961.6,-17.0,367,5100,0.00,1.02,0.00,0.000,4,0.000,0.065,1457,3950,2914,0,0,0,0,0,0
$GC,5235,-0.64,-106.5,987.2,-17.4,373,5240,0.12,0.98,0.00,0.000,6,0.200,0.041,1485,3320,2914,0,0,0,0,0,0
$STATE,5272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5272,begin apogee
$GC,5275,-0.11,0.0,993.1,16.4,375,5382,0.57,0.00,103.05,1.844,6,0.161,0.000,1657,3179,2474,0,0,0,0,0,0
$STATE,5382,end apogee,CONTROL_FINISHED_OK
$STATE,5383,begin climb
$GC,5384,0.64,106.5,996.9,0.0,380,5499,0.75,2.45,105.20,1.790,4,0.099,0.037,1905,1777,2039,0,0,0,0,0,0
$GC,5514,0.64,106.5,985.8,13.2,386,5519,0.00,2.47,0.00,0.000,6,0.000,0.053,1905,3170,2037,0,0,0,0,0,0
$GC,5843,0.64,106.5,932.3,16.7,402,5847,0.00,1.30,0.00,0.000,4,0.000,0.063,1905,3944,2028,0,0,0,0,0,0
$GC,5959,0.64,106.5,910.3,20.1,407,5964,0.00,1.25,0.00,0.000,6,0.000,0.038,1910,3168,2027,0,0,0,0,0,0
$GC,6287,0.64,106.5,854.9,16.4,423,6290,0.00,1.30,0.00,0.000,4,0.000,0.063,1910,3955,2025,0,0,0,0,0,0
$GC,6376,0.64,106.5,838.2,18.9,427,6380,0.00,1.23,0.00,0.000,6,0.000,0.039,1916,3171,2025,0,0,0,0,0,0
$GC,6708,0.64,106.5,781.8,17.0,443,6712,0.00,1.27,0.00,0.000,4,0.000,0.063,1916,3949,2024,0,0,0,0,0,0
$GC,6813,0.64,106.5,761.3,19.3,447,6821,0.00,1.23,0.00,0.000,6,0.000,0.039,1922,3167,2023,0,0,0,0,0,0
$GC,7129,0.64,106.5,707.5,16.4,463,7131,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3167,2023,0,0,0,0,0,0
$GC,7439,0.64,106.5,657.4,15.9,478,7442,0.00,1.27,0.00,0.000,4,0.000,0.063,1922,3950,2021,0,0,0,0,0,0
$GC,7484,0.64,106.5,649.6,18.2,480,7487,0.00,1.17,0.00,0.000,6,0.000,0.041,1927,3188,2022,0,0,0,0,0,0
$GC,7816,0.64,106.5,595.2,15.9,496,7819,0.00,1.25,0.00,0.000,4,0.000,0.061,1927,3956,2021,0,0,0,0,0,0
$GC,8063,0.64,106.5,551.0,18.3,507,8067,0.08,1.20,0.00,0.000,6,0.203,0.037,1912,3169,2020,0,0,0,0,0,0
$GC,8394,0.64,106.5,501.4,14.3,523,8397,0.00,1.25,0.00,0.000,4,0.000,0.061,1911,3944,2018,0,0,0,0,0,0
$GC,8461,0.64,106.5,490.9,15.4,526,8465,0.00,1.17,0.00,0.000,6,0.000,0.038,1916,3179,2018,0,0,0,0,0,0
$GC,8793,0.64,106.5,442.4,14.6,542,8797,0.00,1.25,0.00,0.000,4,0.000,0.061,1916,3953,2018,0,0,0,0,0,0
$GC,8920,0.64,106.5,421.1,15.8,547,8928,0.00,1.20,0.00,0.000,6,0.000,0.037,1922,3177,2018,0,0,0,0,0,0
$GC,9241,0.64,106.5,374.6,14.2,571,9245,0.00,1.25,0.00,0.000,4,0.000,0.061,1922,3951,2018,0,0,0,0,0,0
$GC,9356,0.64,106.5,356.8,16.7,581,9360,0.00,1.17,0.00,0.000,6,0.000,0.038,1928,3180,2018,0,0,0,0,0,0
$GC,9686,0.64,106.5,309.8,14.5,612,9687,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,3180,2018,0,0,0,0,0,0
$GC,10005,0.64,106.5,265.9,14.0,642,10009,0.00,1.23,0.00,0.000,4,0.000,0.061,1928,3942,2018,0,0,0,0,0,0
$GC,10266,0.64,106.5,225.8,15.9,665,10270,0.08,1.17,0.00,0.000,6,0.203,0.037,1912,3173,2018,0,0,0,0,0,0
$GC,10595,0.64,106.5,184.2,12.2,696,10599,0.00,1.25,0.00,0.000,4,0.000,0.061,1910,3950,2018,0,0,0,0,0,0
$GC,10791,0.64,106.5,156.4,14.5,713,10799,0.00,1.20,0.00,0.000,6,0.000,0.037,1914,3166,2018,0,0,0,0,0,0
$GC,11116,0.64,106.5,114.7,13.4,744,11120,0.00,1.25,0.00,0.000,4,0.000,0.060,1915,3944,2018,0,0,0,0,0,0
$GC,11175,0.64,106.5,106.2,15.7,749,11178,0.00,1.15,0.00,0.000,6,0.000,0.037,1920,3185,2018,0,0,0,0,0,0
$GC,11519,0.64,106.5,55.1,13.2,806,11526,0.00,2.15,0.00,0.000,4,0.000,0.036,1932,1767,2018,0,0,0,0,0,0
$GC,11595,0.64,106.5,46.7,11.0,819,11604,0.00,2.28,0.00,0.000,6,0.000,0.052,1932,3184,2016,0,0,0,0,0,0
$GC,11954,0.64,106.5,3.5,13.4,880,11963,0.00,1.20,0.00,0.000,4,0.000,0.061,1932,3935,2016,0,0,0,0,0,0
$STATE,11970,end climb,SURFACE_DEPTH_REACHED
$STATE,11970,begin surface coast
$FINISH,0.7,1.015995
$STATE,12001,end surface coast,CONTROL_FINISHED_OK
$STATE,12001,begin surface
$SM_CCo,12014,45.85,0.783,0,0,1555,225.18
$SM_GC,1.34,0.00,0.00,45.85,0.000,0.000,0.783,71,3315,1555,-5.07,-0.14,225.18
$IRIDIUM_FIX,-4247.91,828.21,101213,040416
$TT8_MAMPS,0.025466
$HUMID,61.41
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.9,10.495
$10V_AH,10.1,6.882
$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,12.425,62.775,208.250,45.850,0.000,37.909,19.317,258.099,0.000,0.000,22.401,2259.760,7115.126,340.493,2650.101,119.623,0.000,1291.280,0.000,2224.313,0.000,1.011,0.000
$DEVICE_MAMPS,235.620,79.560,1843.650,782.595,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,615.264,1550.921,650.160,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,60486,887
$CAP_FILE_SIZE,119212,0
$CFSIZE,259252224,254263296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,101213,113004,-4259.574,831.039,34,1.3,34,-25.0