version: 66.07
glider: 543
mission: 9
dive: 102
start: 12 16 113 20 14 28
data:
$ID,543
$MISSION,9
$DIVE,102
$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,-12711.024
$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,25
$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
$GPS1,161213,200622,-4259.776,831.025,38,0.9,38,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-63.3
$GPS2,161213,201407,-4259.743,831.128,15,1.3,16,-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,277.7,1601,-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,-41.17,0.000,2,0.000,0.000,62,3341,2475,0,0,0,0,0,0
$GC,59,-0.64,-92.9,3.1,-5.6,5,84,5.78,0.00,-11.07,0.000,6,0.236,0.000,1481,3342,2854,0,0,0,0,0,0
$GC,134,-0.64,-92.9,16.0,-21.3,16,142,0.00,2.25,0.00,0.000,4,0.000,0.035,1481,1907,2856,0,0,0,0,0,0
$GC,156,-0.64,-92.9,20.5,-20.7,19,163,0.00,2.30,0.00,0.000,6,0.000,0.052,1472,3317,2857,0,0,0,0,0,0
$GC,301,-0.64,-92.9,50.0,-20.9,44,308,0.00,1.00,0.00,0.000,4,0.000,0.057,1467,3942,2857,0,0,0,0,0,0
$GC,393,-0.64,-92.9,70.4,-22.5,60,402,0.00,0.95,0.00,0.000,6,0.000,0.036,1467,3320,2858,0,0,0,0,0,0
$GC,730,-0.64,-92.9,141.0,-20.2,103,733,0.00,1.02,0.00,0.000,4,0.000,0.060,1463,3945,2860,0,0,0,0,0,0
$GC,982,-0.64,-92.9,198.2,-22.6,125,990,0.00,0.98,0.00,0.000,6,0.000,0.035,1462,3312,2860,0,0,0,0,0,0
$GC,1308,-0.64,-92.9,264.9,-20.1,156,1311,0.00,1.00,0.00,0.000,4,0.000,0.058,1458,3943,2861,0,0,0,0,0,0
$GC,1533,-0.64,-92.9,314.1,-21.0,176,1537,0.08,0.95,0.00,0.000,6,0.182,0.037,1479,3316,2861,0,0,0,0,0,0
$GC,1863,-0.64,-92.9,374.4,-17.8,207,1867,0.00,1.00,0.00,0.000,4,0.000,0.060,1476,3948,2861,0,0,0,0,0,0
$GC,2035,-0.64,-92.9,407.4,-18.9,221,2043,0.00,0.98,0.00,0.000,6,0.000,0.035,1476,3309,2861,0,0,0,0,0,0
$GC,2352,-0.64,-92.9,463.4,-17.6,237,2355,0.00,1.00,0.00,0.000,4,0.000,0.060,1471,3937,2861,0,0,0,0,0,0
$GC,2576,-0.64,-92.9,506.2,-19.3,247,2579,0.00,0.93,0.00,0.000,6,0.000,0.037,1472,3322,2861,0,0,0,0,0,0
$GC,2908,-0.64,-92.9,565.3,-17.6,263,2911,0.00,1.00,0.00,0.000,4,0.000,0.061,1467,3951,2860,0,0,0,0,0,0
$GC,3046,-0.64,-92.9,592.4,-18.9,269,3051,0.00,0.98,0.00,0.000,6,0.000,0.037,1467,3315,2861,0,0,0,0,0,0
$GC,3374,-0.64,-92.9,650.5,-17.6,285,3377,0.00,1.00,0.00,0.000,4,0.000,0.060,1462,3946,2860,0,0,0,0,0,0
$GC,3620,-0.64,-92.9,697.8,-18.5,296,3624,0.00,0.95,0.00,0.000,6,0.000,0.038,1462,3319,2859,0,0,0,0,0,0
$GC,3952,-0.64,-92.9,756.9,-17.8,312,3956,0.00,1.00,0.00,0.000,4,0.000,0.062,1457,3947,2859,0,0,0,0,0,0
$GC,4209,-0.64,-92.9,806.7,-19.5,323,4214,0.12,0.98,0.00,0.000,6,0.197,0.037,1486,3314,2859,0,0,0,0,0,0
$GC,4531,-0.64,-92.9,855.8,-15.1,339,4535,0.00,1.00,0.00,0.000,4,0.000,0.062,1483,3947,2858,0,0,0,0,0,0
$GC,4787,-0.64,-92.9,898.5,-16.2,350,4792,0.00,0.98,0.00,0.000,6,0.000,0.038,1483,3313,2858,0,0,0,0,0,0
$GC,5111,-0.64,-92.9,946.5,-15.0,366,5114,0.00,1.00,0.00,0.000,4,0.000,0.063,1478,3942,2857,0,0,0,0,0,0
$GC,5283,-0.64,-92.9,974.5,-15.3,373,5291,0.00,0.98,0.00,0.000,6,0.000,0.038,1478,3311,2857,0,0,0,0,0,0
$STATE,5393,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5393,begin apogee
$GC,5397,-0.11,0.0,990.0,14.2,379,5495,0.60,0.00,89.78,1.874,6,0.157,0.000,1656,3180,2474,0,0,0,0,0,0
$STATE,5495,end apogee,CONTROL_FINISHED_OK
$STATE,5496,begin climb
$GC,5497,0.64,92.9,993.5,0.0,384,5598,0.73,2.38,93.15,1.824,4,0.096,0.033,1901,1779,2094,0,0,0,0,0,0
$GC,5666,0.64,92.9,976.9,13.3,391,5670,0.00,2.42,0.00,0.000,6,0.000,0.051,1901,3186,2089,0,0,0,0,0,0
$GC,5993,0.64,92.9,926.3,15.6,407,5997,0.00,1.27,0.00,0.000,4,0.000,0.060,1901,3955,2082,0,0,0,0,0,0
$GC,6061,0.64,92.9,914.6,17.2,410,6064,0.00,1.23,0.00,0.000,6,0.000,0.037,1907,3177,2082,0,0,0,0,0,0
$GC,6392,0.64,92.9,863.7,14.8,426,6394,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3177,2080,0,0,0,0,0,0
$GC,6702,0.64,92.9,819.7,14.1,441,6706,0.00,1.25,0.00,0.000,4,0.000,0.061,1907,3941,2079,0,0,0,0,0,0
$GC,6841,0.64,92.9,797.5,15.7,447,6845,0.00,1.20,0.00,0.000,6,0.000,0.037,1913,3179,2079,0,0,0,0,0,0
$GC,7168,0.64,92.9,750.8,14.3,463,7172,0.00,1.25,0.00,0.000,4,0.000,0.060,1912,3950,2078,0,0,0,0,0,0
$GC,7284,0.64,92.9,731.6,17.2,468,7289,0.00,1.20,0.00,0.000,6,0.000,0.037,1919,3180,2078,0,0,0,0,0,0
$GC,7612,0.64,92.9,683.6,14.6,484,7616,0.00,1.25,0.00,0.000,4,0.000,0.060,1919,3952,2077,0,0,0,0,0,0
$GC,7846,0.64,92.9,645.7,16.2,494,7851,0.00,1.20,0.00,0.000,6,0.000,0.037,1924,3179,2076,0,0,0,0,0,0
$GC,8168,0.64,92.9,600.0,14.3,510,8171,0.00,1.25,0.00,0.000,4,0.000,0.060,1925,3954,2075,0,0,0,0,0,0
$GC,8262,0.64,92.9,585.1,16.2,514,8267,0.00,1.20,0.00,0.000,6,0.000,0.037,1930,3175,2075,0,0,0,0,0,0
$GC,8589,0.64,92.9,537.8,14.5,530,8590,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3174,2075,0,0,0,0,0,0
$GC,8899,0.64,92.9,493.7,14.5,545,8902,0.00,1.25,0.00,0.000,4,0.000,0.060,1930,3948,2074,0,0,0,0,0,0
$GC,9056,0.64,92.9,468.6,17.1,552,9060,0.10,1.17,0.00,0.000,6,0.195,0.037,1908,3180,2074,0,0,0,0,0,0
$GC,9388,0.64,92.9,423.9,13.5,568,9392,0.00,1.23,0.00,0.000,4,0.000,0.060,1908,3950,2073,0,0,0,0,0,0
$GC,9455,0.64,92.9,413.9,15.0,571,9458,0.00,1.17,0.00,0.000,6,0.000,0.038,1912,3179,2073,0,0,0,0,0,0
$GC,9786,0.64,92.9,367.6,14.5,597,9790,0.00,1.23,0.00,0.000,4,0.000,0.060,1912,3948,2073,0,0,0,0,0,0
$GC,9981,0.64,92.9,335.4,16.3,614,9989,0.00,1.20,0.00,0.000,6,0.000,0.037,1919,3170,2073,0,0,0,0,0,0
$GC,10309,0.64,92.9,289.6,13.9,645,10313,0.00,1.25,0.00,0.000,4,0.000,0.060,1919,3951,2073,0,0,0,0,0,0
$GC,10343,0.64,92.9,284.3,15.4,648,10347,0.00,1.17,0.00,0.000,6,0.000,0.037,1925,3176,2073,0,0,0,0,0,0
$GC,10673,0.64,92.9,239.1,13.9,679,10677,0.00,1.25,0.00,0.000,4,0.000,0.060,1925,3954,2073,0,0,0,0,0,0
$GC,10820,0.64,92.9,216.5,15.9,692,10824,0.00,1.17,0.00,0.000,6,0.000,0.037,1930,3175,2073,0,0,0,0,0,0
$GC,11150,0.64,92.9,172.0,13.2,723,11153,0.00,1.23,0.00,0.000,4,0.000,0.060,1930,3940,2073,0,0,0,0,0,0
$GC,11194,0.64,92.9,165.5,14.5,727,11199,0.10,1.15,0.00,0.000,6,0.191,0.037,1908,3181,2073,0,0,0,0,0,0
$GC,11524,0.64,92.9,126.3,11.6,758,11528,0.00,1.23,0.00,0.000,4,0.000,0.060,1907,3953,2073,0,0,0,0,0,0
$GC,11785,0.64,92.9,92.8,12.3,786,11794,0.00,1.17,0.00,0.000,6,0.000,0.036,1912,3170,2073,0,0,0,0,0,0
$GC,12139,0.64,92.9,53.0,11.2,847,12146,0.00,1.25,0.00,0.000,4,0.000,0.060,1912,3955,2073,0,0,0,0,0,0
$GC,12400,0.64,92.9,21.4,11.4,892,12409,0.00,1.15,0.00,0.000,6,0.000,0.035,1918,3187,2073,0,0,0,0,0,0
$GC,12555,0.64,106.1,9.1,8.0,917,12565,0.00,2.12,3.30,0.564,4,0.000,0.031,1929,1771,2036,0,0,0,0,0,0
$STATE,12625,end climb,SURFACE_DEPTH_REACHED
$STATE,12625,begin surface coast
$FINISH,1.0,1.026178
$STATE,12663,end surface coast,CONTROL_FINISHED_OK
$STATE,12663,begin surface
$SM_CCo,12677,47.80,0.783,0,0,1553,225.18
$SM_GC,1.57,0.00,0.00,47.80,0.000,0.000,0.783,66,3331,1553,-5.09,0.31,225.18
$IRIDIUM_FIX,-4244.98,828.21,161213,161604
$TT8_MAMPS,0.025466
$HUMID,61.97
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.9,16.481
$10V_AH,10.0,11.214
$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,12.375,65.375,186.225,47.800,0.000,24.925,45.765,285.192,0.000,0.000,18.373,2398.871,7363.195,338.210,2929.238,162.622,0.000,1381.935,0.000,2461.991,0.000,1.011,0.000
$DEVICE_MAMPS,236.385,64.260,1874.250,782.595,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,647.936,1636.889,696.972,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355224
$DATA_FILE_SIZE,63643,934
$CAP_FILE_SIZE,127841,0
$CFSIZE,259252224,251400192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,161213,234735,-4259.653,830.307,29,1.3,29,-25.0