version: 66.07
glider: 543
mission: 9
dive: 79
start: 12 13 113 10 50 52
data:
$ID,543
$MISSION,9
$DIVE,79
$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,-12639.2
$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,46
$R_STBD_OVSHOOT,21
$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
$GPS1,131213,103805,-4258.930,832.220,34,0.9,34,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-70.9
$GPS2,131213,105031,-4258.885,832.347,16,0.8,17,-25.1
$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,262.1,3791,-24.5,-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,14,-0.57,-70.2,0.0,0.0,0,66,0.00,0.00,-48.95,0.000,2,0.000,0.000,57,3321,2697,0,0,0,0,0,0
$GC,68,-0.60,-122.9,3.3,-4.7,6,86,5.82,1.05,-7.40,0.000,4,0.233,0.084,1490,3957,2977,0,0,0,0,0,0
$GC,141,-0.60,-122.9,21.8,-28.2,17,148,0.00,0.98,0.00,0.000,6,0.000,0.037,1490,3327,2981,0,0,0,0,0,0
$GC,284,-0.60,-122.9,52.5,-19.8,42,293,0.00,2.22,0.00,0.000,4,0.000,0.034,1490,1896,2982,0,0,0,0,0,0
$GC,551,-0.60,-122.9,92.9,-13.7,88,558,0.00,2.30,0.00,0.000,6,0.000,0.056,1479,3324,2983,0,0,0,0,0,0
$GC,879,-0.60,-122.9,157.2,-20.6,122,883,0.00,1.00,0.00,0.000,4,0.000,0.061,1474,3948,2984,0,0,0,0,0,0
$GC,1074,-0.60,-122.9,200.9,-22.1,139,1082,0.00,0.98,0.00,0.000,6,0.000,0.036,1474,3310,2985,0,0,0,0,0,0
$GC,1400,-0.60,-122.9,267.8,-20.1,170,1403,0.00,1.00,0.00,0.000,4,0.000,0.061,1470,3938,2985,0,0,0,0,0,0
$GC,1660,-0.60,-122.9,325.7,-21.3,193,1665,0.08,0.93,0.00,0.000,6,0.180,0.037,1491,3327,2985,0,0,0,0,0,0
$GC,1990,-0.60,-122.9,389.2,-19.1,224,1994,0.00,0.98,0.00,0.000,4,0.000,0.063,1488,3938,2985,0,0,0,0,0,0
$GC,2216,-0.60,-122.9,434.7,-19.0,237,2219,0.00,0.95,0.00,0.000,6,0.000,0.037,1488,3311,2985,0,0,0,0,0,0
$GC,2547,-0.60,-122.9,494.6,-17.9,253,2551,0.00,1.00,0.00,0.000,4,0.000,0.063,1484,3939,2984,0,0,0,0,0,0
$GC,2759,-0.60,-122.9,537.8,-20.4,262,2764,0.00,0.95,0.00,0.000,6,0.000,0.037,1484,3317,2985,0,0,0,0,0,0
$GC,3081,-0.60,-122.9,597.9,-18.5,278,3084,0.00,1.00,0.00,0.000,4,0.000,0.063,1479,3947,2985,0,0,0,0,0,0
$GC,3297,-0.60,-122.9,642.4,-19.6,287,3305,0.00,0.98,0.00,0.000,6,0.000,0.037,1479,3312,2984,0,0,0,0,0,0
$GC,3615,-0.60,-122.9,700.8,-18.6,303,3619,0.00,1.00,0.00,0.000,4,0.000,0.064,1474,3940,2984,0,0,0,0,0,0
$GC,3727,-0.60,-122.9,723.3,-19.3,308,3731,0.00,0.95,0.00,0.000,6,0.000,0.040,1474,3315,2983,0,0,0,0,0,0
$GC,4059,-0.60,-122.9,783.8,-17.7,324,4063,0.00,1.00,0.00,0.000,4,0.000,0.064,1470,3943,2983,0,0,0,0,0,0
$GC,4226,-0.60,-122.9,816.5,-18.8,331,4232,0.12,0.98,0.00,0.000,6,0.194,0.039,1499,3314,2983,0,0,0,0,0,0
$GC,4548,-0.60,-122.9,864.1,-14.3,347,4552,0.00,1.00,0.00,0.000,4,0.000,0.065,1496,3943,2982,0,0,0,0,0,0
$GC,4796,-0.60,-122.9,901.9,-14.6,358,4799,0.00,0.95,0.00,0.000,6,0.000,0.041,1496,3319,2981,0,0,0,0,0,0
$GC,5129,-0.60,-122.9,948.4,-14.0,374,5133,0.00,1.00,0.00,0.000,4,0.000,0.067,1491,3945,2980,0,0,0,0,0,0
$GC,5319,-0.60,-122.9,977.8,-15.6,382,5323,0.00,0.98,0.00,0.000,6,0.000,0.040,1491,3314,2980,0,0,0,0,0,0
$STATE,5412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5412,begin apogee
$GC,5416,-0.11,0.0,991.4,14.4,387,5538,0.55,0.00,118.62,1.889,6,0.156,0.000,1655,3173,2473,0,0,0,0,0,0
$STATE,5539,end apogee,CONTROL_FINISHED_OK
$STATE,5539,begin climb
$GC,5540,0.60,122.9,995.3,0.0,393,5672,0.73,2.47,122.43,1.824,4,0.100,0.037,1893,1777,1971,0,0,0,0,0,0
$GC,5704,0.60,122.9,979.3,13.6,400,5712,0.00,2.50,0.00,0.000,6,0.000,0.052,1893,3181,1966,0,0,0,0,0,0
$GC,6022,0.60,122.9,928.2,16.0,416,6026,0.00,1.27,0.00,0.000,4,0.000,0.059,1893,3944,1960,0,0,0,0,0,0
$GC,6126,0.60,122.9,908.7,18.4,420,6134,0.00,1.23,0.00,0.000,6,0.000,0.036,1898,3172,1958,0,0,0,0,0,0
$GC,6443,0.60,122.9,856.1,16.3,436,6444,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,3172,1957,0,0,0,0,0,0
$GC,6754,0.60,122.9,805.5,16.1,451,6757,0.00,1.27,0.00,0.000,4,0.000,0.060,1898,3945,1955,0,0,0,0,0,0
$GC,6915,0.60,122.9,775.3,18.2,458,6919,0.00,1.17,0.00,0.000,6,0.000,0.037,1904,3185,1955,0,0,0,0,0,0
$GC,7243,0.60,122.9,722.1,16.0,474,7245,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3186,1953,0,0,0,0,0,0
$GC,7551,0.60,122.9,672.4,16.1,489,7552,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3186,1953,0,0,0,0,0,0
$GC,7860,0.60,122.9,623.9,15.6,504,7861,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3186,1952,0,0,0,0,0,0
$GC,8170,0.60,122.9,576.6,15.0,519,8174,0.00,1.25,0.00,0.000,4,0.000,0.063,1904,3953,1952,0,0,0,0,0,0
$GC,8241,0.60,122.9,564.0,18.1,522,8246,0.00,1.20,0.00,0.000,6,0.000,0.037,1910,3179,1952,0,0,0,0,0,0
$GC,8568,0.60,122.9,512.2,15.8,538,8572,0.00,1.25,0.00,0.000,4,0.000,0.061,1911,3951,1951,0,0,0,0,0,0
$GC,8640,0.60,122.9,499.3,18.2,541,8645,0.00,1.20,0.00,0.000,6,0.000,0.037,1916,3175,1951,0,0,0,0,0,0
$GC,8967,0.60,122.9,445.7,16.2,557,8968,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3175,1951,0,0,0,0,0,0
$GC,9280,0.60,122.9,396.1,15.8,573,9283,0.00,1.25,0.00,0.000,4,0.000,0.060,1916,3948,1950,0,0,0,0,0,0
$GC,9372,0.60,122.9,379.6,18.3,581,9376,0.10,1.17,0.00,0.000,6,0.193,0.037,1894,3173,1951,0,0,0,0,0,0
$GC,9701,0.60,122.9,330.5,14.0,612,9702,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,3173,1950,0,0,0,0,0,0
$GC,10020,0.60,122.9,286.2,13.4,642,10021,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,3173,1950,0,0,0,0,0,0
$GC,10339,0.60,122.9,242.7,13.9,672,10343,0.00,1.25,0.00,0.000,4,0.000,0.060,1894,3953,1950,0,0,0,0,0,0
$GC,10479,0.60,122.9,220.2,16.2,684,10489,0.00,1.20,0.00,0.000,6,0.000,0.036,1899,3167,1950,0,0,0,0,0,0
$GC,10803,0.60,122.9,172.7,14.6,715,10805,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3167,1950,0,0,0,0,0,0
$GC,11125,0.60,122.9,126.8,14.5,745,11129,0.00,1.25,0.00,0.000,4,0.000,0.060,1899,3942,1950,0,0,0,0,0,0
$GC,11172,0.60,122.9,119.3,16.9,749,11176,0.00,1.15,0.00,0.000,6,0.000,0.036,1905,3181,1950,0,0,0,0,0,0
$GC,11509,0.60,122.9,71.2,13.2,797,11515,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3180,1950,0,0,0,0,0,0
$GC,11858,0.60,122.9,24.3,13.7,858,11867,0.00,1.23,0.00,0.000,4,0.000,0.060,1905,3948,1950,0,0,0,0,0,0
$GC,11928,0.60,122.9,14.1,14.8,869,11937,0.00,1.15,0.00,0.000,6,0.000,0.036,1910,3184,1950,0,0,0,0,0,0
$GC,11987,0.60,122.9,7.2,10.9,878,11996,0.00,2.15,0.00,0.000,4,0.000,0.035,1922,1778,1949,0,0,0,0,0,0
$STATE,12032,end climb,SURFACE_DEPTH_REACHED
$STATE,12032,begin surface coast
$FINISH,0.7,1.026081
$STATE,12069,end surface coast,CONTROL_FINISHED_OK
$STATE,12070,begin surface
$SM_CCo,12084,38.92,0.801,0,0,1552,225.18
$SM_GC,1.24,0.00,0.00,38.92,0.000,0.000,0.801,69,3330,1552,-5.08,0.28,225.18
$IRIDIUM_FIX,-4242.04,836.50,131213,101025
$TT8_MAMPS,0.026215
$HUMID,62.56
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.5,13.371
$10V_AH,10.0,8.931
$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,12.450,53.475,241.050,38.925,0.000,54.589,65.949,436.222,0.000,0.000,20.325,2243.860,7247.479,367.834,2875.141,137.950,0.000,1311.709,0.000,2196.564,0.000,1.011,0.000
$DEVICE_MAMPS,233.325,84.150,1888.785,800.955,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,617.420,1537.982,640.235,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355172
$DATA_FILE_SIZE,60428,891
$CAP_FILE_SIZE,120519,0
$CFSIZE,259252224,252911616
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131213,141350,-4259.197,831.956,21,0.8,22,-25.1