version: 66.07
glider: 543
mission: 9
dive: 93
start: 12 15 113 12 21 21
data:
$ID,543
$MISSION,9
$DIVE,93
$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,-12682.593
$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,53
$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
$GPS1,151213,121334,-4259.465,830.076,26,0.8,26,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-62.7
$GPS2,151213,122100,-4259.447,830.188,15,1.4,15,-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,219.0,1056,-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,-57.7,0.0,0.0,0,57,0.00,0.00,-41.20,0.000,2,0.000,0.000,73,3325,2486,0,0,0,0,0,0
$GC,59,-0.63,-92.7,3.2,-5.6,5,85,5.72,1.02,-10.68,0.000,4,0.235,0.084,1482,3952,2854,0,0,0,0,0,0
$GC,324,-0.63,-92.7,56.5,-21.6,49,331,0.00,0.95,0.00,0.000,6,0.000,0.035,1482,3326,2858,0,0,0,0,0,0
$GC,669,-0.63,-92.7,122.2,-18.6,100,672,0.00,1.00,0.00,0.000,4,0.000,0.060,1478,3951,2860,0,0,0,0,0,0
$GC,820,-0.63,-92.7,152.9,-20.0,113,828,0.00,0.98,0.00,0.000,6,0.000,0.034,1477,3314,2860,0,0,0,0,0,0
$GC,1146,-0.63,-92.7,214.5,-18.0,144,1149,0.00,1.00,0.00,0.000,4,0.000,0.059,1473,3943,2862,0,0,0,0,0,0
$GC,1354,-0.63,-92.7,257.3,-21.1,162,1361,0.00,0.95,0.00,0.000,6,0.000,0.035,1473,3313,2862,0,0,0,0,0,0
$GC,1681,-0.63,-92.7,318.0,-18.8,193,1684,0.00,1.00,0.00,0.000,4,0.000,0.060,1468,3947,2862,0,0,0,0,0,0
$GC,1843,-0.63,-92.7,351.7,-19.8,207,1851,0.00,0.98,0.00,0.000,6,0.000,0.035,1468,3306,2862,0,0,0,0,0,0
$GC,2167,-0.63,-92.7,412.3,-18.5,235,2171,0.00,1.02,0.00,0.000,4,0.000,0.060,1464,3952,2862,0,0,0,0,0,0
$GC,2379,-0.63,-92.7,454.7,-20.2,244,2383,0.00,0.98,0.00,0.000,6,0.000,0.035,1463,3312,2862,0,0,0,0,0,0
$GC,2701,-0.63,-92.7,515.0,-19.0,260,2704,0.00,1.00,0.00,0.000,4,0.000,0.060,1459,3943,2862,0,0,0,0,0,0
$GC,2884,-0.63,-92.7,552.8,-20.0,268,2890,0.12,0.95,0.00,0.000,6,0.198,0.036,1488,3322,2861,0,0,0,0,0,0
$GC,3214,-0.63,-92.7,607.9,-16.6,284,3217,0.00,0.98,0.00,0.000,4,0.000,0.062,1484,3937,2861,0,0,0,0,0,0
$GC,3375,-0.63,-92.7,636.7,-17.0,291,3379,0.00,0.95,0.00,0.000,6,0.000,0.037,1484,3318,2861,0,0,0,0,0,0
$GC,3704,-0.63,-92.7,688.1,-15.2,307,3707,0.00,1.00,0.00,0.000,4,0.000,0.063,1480,3948,2860,0,0,0,0,0,0
$GC,3786,-0.63,-92.7,702.3,-16.4,310,3794,0.00,0.98,0.00,0.000,6,0.000,0.037,1480,3312,2860,0,0,0,0,0,0
$GC,4102,-0.63,-92.7,751.3,-15.7,326,4106,0.00,1.00,0.00,0.000,4,0.000,0.063,1475,3942,2859,0,0,0,0,0,0
$GC,4276,-0.63,-92.7,780.2,-16.9,333,4283,0.00,0.95,0.00,0.000,6,0.000,0.039,1475,3317,2859,0,0,0,0,0,0
$GC,4591,-0.63,-92.7,830.6,-15.9,349,4594,0.00,1.00,0.00,0.000,4,0.000,0.063,1470,3947,2858,0,0,0,0,0,0
$GC,4758,-0.63,-92.7,860.0,-17.2,356,4763,0.00,0.95,0.00,0.000,6,0.000,0.039,1471,3319,2858,0,0,0,0,0,0
$GC,5079,-0.63,-92.7,911.4,-15.8,372,5083,0.00,1.00,0.00,0.000,4,0.000,0.063,1466,3949,2858,0,0,0,0,0,0
$GC,5192,-0.63,-92.7,930.1,-16.5,377,5196,0.00,0.95,0.00,0.000,6,0.000,0.039,1466,3320,2857,0,0,0,0,0,0
$GC,5525,-0.63,-92.7,980.9,-14.8,393,5528,0.00,1.00,0.00,0.000,4,0.000,0.063,1461,3948,2857,0,0,0,0,0,0
$STATE,5583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5583,begin apogee
$GC,5589,-0.11,0.0,990.9,16.6,395,5683,0.62,0.00,90.43,1.886,6,0.167,0.000,1649,3171,2474,0,0,0,0,0,0
$STATE,5683,end apogee,CONTROL_FINISHED_OK
$STATE,5683,begin climb
$GC,5685,0.63,92.7,994.4,0.0,400,5786,0.75,2.38,93.12,1.831,4,0.102,0.034,1898,1785,2096,0,0,0,0,0,0
$GC,5809,0.63,92.7,983.7,12.2,405,5813,0.00,2.45,0.00,0.000,6,0.000,0.051,1899,3187,2093,0,0,0,0,0,0
$GC,6136,0.63,92.7,933.0,15.5,421,6140,0.00,1.27,0.00,0.000,4,0.000,0.060,1898,3950,2085,0,0,0,0,0,0
$GC,6241,0.63,92.7,914.2,17.9,425,6249,0.00,1.23,0.00,0.000,6,0.000,0.036,1904,3179,2085,0,0,0,0,0,0
$GC,6557,0.63,92.7,863.2,16.0,441,6561,0.00,1.25,0.00,0.000,4,0.000,0.060,1903,3944,2082,0,0,0,0,0,0
$GC,6656,0.63,92.7,845.1,18.1,445,6662,0.00,1.23,0.00,0.000,6,0.000,0.036,1910,3168,2082,0,0,0,0,0,0
$GC,6979,0.63,92.7,793.4,15.6,461,6982,0.00,1.27,0.00,0.000,4,0.000,0.060,1910,3950,2080,0,0,0,0,0,0
$GC,7207,0.63,92.7,753.6,16.7,471,7212,0.00,1.23,0.00,0.000,6,0.000,0.036,1916,3163,2080,0,0,0,0,0,0
$GC,7535,0.63,92.7,706.3,14.1,487,7538,0.00,1.27,0.00,0.000,4,0.000,0.060,1916,3949,2079,0,0,0,0,0,0
$GC,7714,0.63,92.7,677.9,16.4,495,7718,0.00,1.17,0.00,0.000,6,0.000,0.037,1922,3184,2079,0,0,0,0,0,0
$GC,8046,0.63,92.7,632.0,13.9,511,8049,0.00,1.25,0.00,0.000,4,0.000,0.060,1922,3952,2078,0,0,0,0,0,0
$GC,8113,0.63,92.7,621.7,15.9,514,8117,0.00,1.17,0.00,0.000,6,0.000,0.037,1928,3181,2078,0,0,0,0,0,0
$GC,8445,0.63,92.7,576.6,13.8,530,8449,0.00,1.23,0.00,0.000,4,0.000,0.061,1927,3936,2077,0,0,0,0,0,0
$GC,8573,0.63,92.7,556.7,14.6,535,8581,0.12,1.17,0.00,0.000,6,0.219,0.037,1905,3181,2077,0,0,0,0,0,0
$GC,8889,0.63,92.7,516.8,12.5,551,8893,0.00,1.25,0.00,0.000,4,0.000,0.060,1905,3955,2077,0,0,0,0,0,0
$GC,9140,0.63,92.7,479.5,15.0,562,9145,0.00,1.20,0.00,0.000,6,0.000,0.037,1910,3178,2077,0,0,0,0,0,0
$GC,9468,0.63,92.7,437.2,12.8,578,9471,0.00,1.25,0.00,0.000,4,0.000,0.060,1910,3954,2076,0,0,0,0,0,0
$GC,9584,0.63,92.7,419.9,15.2,583,9589,0.00,1.20,0.00,0.000,6,0.000,0.037,1916,3173,2076,0,0,0,0,0,0
$GC,9906,0.63,92.7,376.9,13.3,606,9909,0.00,1.25,0.00,0.000,4,0.000,0.060,1916,3950,2076,0,0,0,0,0,0
$GC,10097,0.63,92.7,348.8,14.1,623,10100,0.00,1.17,0.00,0.000,6,0.000,0.037,1922,3178,2076,0,0,0,0,0,0
$GC,10427,0.63,92.7,304.6,13.7,654,10430,0.00,1.23,0.00,0.000,4,0.000,0.060,1922,3940,2076,0,0,0,0,0,0
$GC,10598,0.63,92.7,279.3,15.7,669,10601,0.00,1.15,0.00,0.000,6,0.000,0.037,1928,3181,2075,0,0,0,0,0,0
$GC,10927,0.63,92.7,234.7,12.9,700,10931,0.00,1.23,0.00,0.000,4,0.000,0.060,1928,3943,2075,0,0,0,0,0,0
$GC,11131,0.63,92.7,204.6,15.3,718,11136,0.10,1.15,0.00,0.000,6,0.195,0.037,1905,3181,2075,0,0,0,0,0,0
$GC,11462,0.63,92.7,165.8,12.4,749,11466,0.00,1.23,0.00,0.000,4,0.000,0.060,1905,3942,2074,0,0,0,0,0,0
$GC,11557,0.63,92.7,152.1,14.3,757,11565,0.00,1.17,0.00,0.000,6,0.000,0.036,1909,3177,2074,0,0,0,0,0,0
$GC,11882,0.63,92.7,111.4,12.0,788,11886,0.00,1.23,0.00,0.000,4,0.000,0.060,1909,3942,2074,0,0,0,0,0,0
$GC,11927,0.63,92.7,105.5,12.3,792,11931,0.00,1.15,0.00,0.000,6,0.000,0.037,1915,3180,2075,0,0,0,0,0,0
$GC,12272,0.63,92.7,65.5,10.0,848,12278,0.00,1.23,0.00,0.000,4,0.000,0.059,1916,3952,2074,0,0,0,0,0,0
$GC,12492,0.63,92.7,39.7,12.0,886,12501,0.00,1.15,0.00,0.000,6,0.000,0.037,1922,3180,2074,0,0,0,0,0,0
$GC,12642,0.63,92.7,24.5,9.9,911,12648,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3180,2074,0,0,0,0,0,0
$GC,12792,0.63,92.7,8.1,11.5,936,12801,0.00,2.15,0.00,0.000,4,0.000,0.035,1933,1772,2074,0,0,0,0,0,0
$STATE,12855,end climb,SURFACE_DEPTH_REACHED
$STATE,12855,begin surface coast
$FINISH,0.7,1.022056
$STATE,12892,end surface coast,CONTROL_FINISHED_OK
$STATE,12892,begin surface
$SM_CCo,12906,51.47,0.803,0,0,1553,225.18
$SM_GC,1.66,0.00,0.00,51.47,0.000,0.000,0.803,61,3319,1553,-5.11,-0.03,225.18
$IRIDIUM_FIX,-4242.04,836.94,151213,080853
$TT8_MAMPS,0.026215
$HUMID,61.22
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.9,15.261
$10V_AH,10.1,10.327
$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,12.375,67.225,183.550,51.475,0.000,34.200,41.458,263.395,0.000,0.000,18.265,2442.892,7514.902,345.147,2946.872,154.985,0.000,1406.852,0.000,2498.661,0.000,1.011,0.000
$DEVICE_MAMPS,234.855,84.150,1885.725,803.250,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,660.400,1654.681,703.596,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355196
$DATA_FILE_SIZE,63722,952
$CAP_FILE_SIZE,130334,0
$CFSIZE,259252224,251994112
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151213,155829,-4300.640,830.335,36,0.8,36,-25.0