version: 66.07
glider: 543
mission: 9
dive: 84
start: 12 14 113 4 15 56
data:
$ID,543
$MISSION,9
$DIVE,84
$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,-12654.605
$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,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
$GPS1,141213,040822,-4259.384,831.549,38,1.2,38,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-69.2
$GPS2,141213,041535,-4259.309,831.533,16,1.5,16,-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,263.5,2439,-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,-57.7,0.0,0.0,0,72,0.00,0.00,-50.90,0.000,6,0.000,0.000,65,3328,2712,0,0,0,0,0,0
$GC,74,-0.64,-104.8,3.6,-4.3,7,92,5.68,2.20,-4.65,0.000,4,0.230,0.048,1491,1902,2903,0,0,0,0,0,0
$GC,203,-0.64,-104.8,29.9,-15.8,28,212,0.00,2.35,0.00,0.000,6,0.000,0.057,1482,3318,2907,0,0,0,0,0,0
$GC,351,-0.64,-104.8,60.1,-21.7,53,357,0.00,0.00,0.00,0.000,6,0.000,0.000,1482,3318,2908,0,0,0,0,0,0
$GC,690,-0.64,-104.8,126.5,-19.2,101,691,0.00,0.00,0.00,0.000,6,0.000,0.000,1482,3318,2908,0,0,0,0,0,0
$GC,1007,-0.64,-104.8,189.2,-20.6,131,1011,0.00,1.02,0.00,0.000,4,0.000,0.062,1478,3953,2910,0,0,0,0,0,0
$GC,1085,-0.64,-104.8,205.7,-20.9,138,1089,0.00,0.95,0.00,0.000,6,0.000,0.037,1477,3325,2910,0,0,0,0,0,0
$GC,1418,-0.64,-104.8,269.6,-18.3,169,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,1477,3325,2910,0,0,0,0,0,0
$GC,1734,-0.64,-104.8,326.0,-17.6,199,1738,0.00,1.00,0.00,0.000,4,0.000,0.061,1473,3954,2910,0,0,0,0,0,0
$GC,1914,-0.64,-104.8,360.8,-19.2,215,1917,0.00,0.95,0.00,0.000,6,0.000,0.037,1473,3321,2910,0,0,0,0,0,0
$GC,2241,-0.64,-104.8,420.4,-18.5,241,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,1473,3320,2910,0,0,0,0,0,0
$GC,2550,-0.64,-104.8,476.2,-17.9,256,2554,0.00,1.00,0.00,0.000,4,0.000,0.062,1468,3952,2910,0,0,0,0,0,0
$GC,2666,-0.64,-104.8,499.4,-20.1,261,2671,0.00,0.98,0.00,0.000,6,0.000,0.036,1468,3311,2910,0,0,0,0,0,0
$GC,2993,-0.64,-104.8,560.1,-18.8,277,2997,0.00,1.02,0.00,0.000,4,0.000,0.062,1463,3954,2910,0,0,0,0,0,0
$GC,3132,-0.64,-104.8,589.0,-20.7,283,3137,0.00,0.98,0.00,0.000,6,0.000,0.037,1463,3319,2910,0,0,0,0,0,0
$GC,3459,-0.64,-104.8,650.9,-18.3,299,3463,0.00,1.00,0.00,0.000,4,0.000,0.063,1459,3950,2910,0,0,0,0,0,0
$GC,3643,-0.64,-104.8,687.4,-19.6,307,3647,0.00,0.98,0.00,0.000,6,0.000,0.037,1459,3315,2909,0,0,0,0,0,0
$GC,3970,-0.64,-104.8,744.9,-17.1,323,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,1459,3314,2909,0,0,0,0,0,0
$GC,4279,-0.64,-104.8,799.1,-17.9,338,4283,0.00,1.00,0.00,0.000,4,0.000,0.063,1454,3947,2908,0,0,0,0,0,0
$GC,4505,-0.64,-104.8,843.1,-19.3,348,4509,0.08,0.95,0.00,0.000,6,0.184,0.040,1476,3322,2908,0,0,0,0,0,0
$GC,4836,-0.64,-104.8,898.1,-16.5,364,4839,0.00,1.00,0.00,0.000,4,0.000,0.063,1472,3951,2907,0,0,0,0,0,0
$GC,4903,-0.64,-104.8,909.6,-17.5,367,4907,0.00,0.95,0.00,0.000,6,0.000,0.040,1472,3324,2907,0,0,0,0,0,0
$GC,5235,-0.64,-104.8,962.6,-16.1,383,5239,0.00,1.00,0.00,0.000,4,0.000,0.064,1468,3953,2906,0,0,0,0,0,0
$GC,5334,-0.64,-104.8,979.7,-17.0,387,5339,0.00,0.98,0.00,0.000,6,0.000,0.039,1468,3317,2906,0,0,0,0,0,0
$STATE,5407,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5407,begin apogee
$GC,5412,-0.11,0.0,991.1,15.9,391,5517,0.62,0.00,101.68,1.872,6,0.162,0.000,1652,3175,2473,0,0,0,0,0,0
$STATE,5517,end apogee,CONTROL_FINISHED_OK
$STATE,5518,begin climb
$GC,5519,0.64,104.8,995.2,0.0,396,5633,0.77,2.40,104.55,1.819,4,0.101,0.034,1906,1772,2046,0,0,0,0,0,0
$GC,5654,0.64,104.8,983.0,13.1,402,5659,0.00,2.50,0.00,0.000,6,0.000,0.050,1906,3182,2044,0,0,0,0,0,0
$GC,5977,0.64,104.8,931.1,16.1,418,5981,0.00,1.27,0.00,0.000,4,0.000,0.060,1906,3940,2035,0,0,0,0,0,0
$GC,6135,0.64,104.8,901.8,19.2,425,6139,0.00,1.23,0.00,0.000,6,0.000,0.038,1912,3168,2034,0,0,0,0,0,0
$GC,6469,0.64,104.8,847.9,15.9,441,6472,0.00,1.30,0.00,0.000,4,0.000,0.061,1912,3954,2032,0,0,0,0,0,0
$GC,6596,0.64,104.8,824.2,18.2,446,6604,0.00,1.23,0.00,0.000,6,0.000,0.037,1918,3175,2032,0,0,0,0,0,0
$GC,6912,0.64,104.8,773.2,16.1,462,6915,0.00,1.27,0.00,0.000,4,0.000,0.063,1918,3951,2030,0,0,0,0,0,0
$GC,7050,0.64,104.8,747.8,18.4,468,7055,0.00,1.23,0.00,0.000,6,0.000,0.038,1924,3168,2030,0,0,0,0,0,0
$GC,7380,0.64,104.8,694.4,16.1,484,7383,0.00,1.27,0.00,0.000,4,0.000,0.062,1924,3952,2028,0,0,0,0,0,0
$GC,7447,0.64,104.8,681.9,18.5,487,7451,0.00,1.20,0.00,0.000,6,0.000,0.040,1929,3175,2028,0,0,0,0,0,0
$GC,7779,0.64,104.8,629.0,15.5,503,7783,0.00,1.27,0.00,0.000,4,0.000,0.061,1929,3955,2027,0,0,0,0,0,0
$GC,7946,0.64,104.8,599.2,18.3,510,7952,0.10,1.20,0.00,0.000,6,0.194,0.038,1907,3174,2027,0,0,0,0,0,0
$GC,8267,0.64,104.8,553.2,14.1,526,8271,0.00,1.27,0.00,0.000,4,0.000,0.063,1907,3956,2027,0,0,0,0,0,0
$GC,8485,0.64,104.8,518.1,16.3,535,8492,0.00,1.20,0.00,0.000,6,0.000,0.038,1912,3180,2027,0,0,0,0,0,0
$GC,8801,0.64,104.8,473.3,14.3,551,8802,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3181,2027,0,0,0,0,0,0
$GC,9110,0.64,104.8,428.6,14.6,566,9114,0.00,1.25,0.00,0.000,4,0.000,0.063,1912,3952,2026,0,0,0,0,0,0
$GC,9294,0.64,104.8,398.6,16.1,574,9302,0.00,1.20,0.00,0.000,6,0.000,0.038,1917,3179,2026,0,0,0,0,0,0
$GC,9622,0.64,104.8,353.0,13.7,605,9625,0.00,1.25,0.00,0.000,4,0.000,0.062,1918,3952,2026,0,0,0,0,0,0
$GC,9824,0.64,104.8,320.5,15.8,623,9827,0.00,1.17,0.00,0.000,6,0.000,0.039,1924,3181,2026,0,0,0,0,0,0
$GC,10154,0.64,104.8,274.7,14.0,654,10157,0.00,1.25,0.00,0.000,4,0.000,0.063,1924,3955,2026,0,0,0,0,0,0
$GC,10379,0.64,104.8,238.0,16.5,674,10383,0.00,1.17,0.00,0.000,6,0.000,0.039,1930,3185,2026,0,0,0,0,0,0
$GC,10712,0.64,104.8,190.7,13.7,705,10713,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3184,2025,0,0,0,0,0,0
$GC,11029,0.64,104.8,145.2,14.6,735,11032,0.00,1.23,0.00,0.000,4,0.000,0.062,1930,3941,2025,0,0,0,0,0,0
$GC,11290,0.64,104.8,101.2,16.5,758,11294,0.10,1.17,0.00,0.000,6,0.192,0.038,1907,3168,2026,0,0,0,0,0,0
$GC,11636,0.64,104.8,56.8,11.7,818,11643,0.00,1.25,0.00,0.000,4,0.000,0.062,1907,3943,2026,0,0,0,0,0,0
$GC,11828,0.64,104.8,31.1,13.1,851,11835,0.00,1.15,0.00,0.000,6,0.000,0.037,1912,3183,2025,0,0,0,0,0,0
$GC,11980,0.64,104.8,13.6,10.3,876,11988,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3184,2026,0,0,0,0,0,0
$GC,12038,0.64,107.6,7.7,9.1,885,12046,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3184,2025,0,0,0,0,0,0
$STATE,12094,end climb,SURFACE_DEPTH_REACHED
$STATE,12094,begin surface coast
$FINISH,0.7,1.004958
$STATE,12137,end surface coast,CONTROL_FINISHED_OK
$STATE,12137,begin surface
$SM_CCo,12149,46.67,0.800,0,0,1553,225.18
$SM_GC,1.40,0.00,0.00,46.67,0.000,0.000,0.800,69,3335,1553,-5.08,0.42,225.18
$IRIDIUM_FIX,-4242.04,836.94,141213,000033
$TT8_MAMPS,0.026215
$HUMID,61.97
$INTERNAL_PRESSURE,9.53279
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,22.7,14.060
$10V_AH,10.1,9.421
$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,12.375,52.675,206.225,46.675,0.000,24.803,42.424,258.184,0.000,0.000,18.642,2290.970,7142.122,339.091,2716.143,142.492,0.000,1312.198,0.000,2289.361,0.000,1.010,0.000
$DEVICE_MAMPS,230.265,75.735,1871.955,800.190,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,624.911,1572.668,670.576,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,60344,901
$CAP_FILE_SIZE,119046,0
$CFSIZE,259252224,252588032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,141213,074022,-4300.036,830.933,36,1.6,36,-25.0