version: 66.07
glider: 543
mission: 9
dive: 118
start: 12 19 113 1 17 5
data:
$ID,543
$MISSION,9
$DIVE,118
$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,-12883.351
$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,1700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,52
$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,3420
$C_ROLL_CLIMB,3280
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$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
$DEVICE3,131
$DEVICE4,118
$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
$GPS1,191213,010952,-4259.825,829.450,39,0.9,39,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-67.2
$GPS2,191213,011644,-4259.833,829.477,20,1.5,20,-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,138.7,773,-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,-0.56,-57.7,0.0,0.0,0,66,0.00,0.00,-49.83,0.000,2,0.000,0.000,63,3428,2670,0,0,0,0,0,0
$GC,68,-0.59,-112.9,3.0,-3.4,6,87,5.93,0.90,-7.40,0.000,4,0.240,0.094,1499,3962,2938,0,0,0,0,0,0
$GC,351,-0.59,-112.9,72.3,-22.8,53,358,0.00,0.82,0.00,0.000,6,0.000,0.039,1499,3426,2942,0,0,0,0,0,0
$GC,685,-0.59,-112.9,138.9,-19.1,95,689,0.00,0.85,0.00,0.000,4,0.000,0.063,1495,3946,2944,0,0,0,0,0,0
$GC,877,-0.59,-112.9,177.2,-19.8,112,881,0.00,0.80,0.00,0.000,6,0.000,0.038,1495,3420,2944,0,0,0,0,0,0
$GC,1207,-0.59,-112.9,240.6,-19.2,143,1211,0.00,0.85,0.00,0.000,4,0.000,0.061,1491,3953,2945,0,0,0,0,0,0
$GC,1291,-0.59,-112.9,257.1,-19.3,150,1298,0.00,0.82,0.00,0.000,6,0.000,0.037,1492,3411,2945,0,0,0,0,0,0
$GC,1618,-0.59,-112.9,318.9,-19.0,181,1619,0.00,0.00,0.00,0.000,6,0.000,0.000,1492,3412,2945,0,0,0,0,0,0
$GC,1935,-0.59,-112.9,377.4,-18.1,211,1938,0.00,0.85,0.00,0.000,4,0.000,0.060,1488,3947,2945,0,0,0,0,0,0
$GC,2017,-0.59,-112.9,393.4,-18.9,218,2025,0.00,0.80,0.00,0.000,6,0.000,0.037,1488,3424,2945,0,0,0,0,0,0
$GC,2345,-0.59,-112.9,454.5,-18.5,236,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,1488,3424,2945,0,0,0,0,0,0
$GC,2654,-0.59,-112.9,511.7,-18.4,251,2655,0.00,0.00,0.00,0.000,6,0.000,0.000,1488,3424,2945,0,0,0,0,0,0
$GC,2963,-0.59,-112.9,568.8,-18.4,266,2967,0.00,0.82,0.00,0.000,4,0.000,0.063,1483,3941,2945,0,0,0,0,0,0
$GC,3056,-0.59,-112.9,586.6,-18.4,270,3061,0.00,0.80,0.00,0.000,6,0.000,0.039,1483,3421,2945,0,0,0,0,0,0
$GC,3384,-0.59,-112.9,645.6,-18.2,286,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,1484,3420,2945,0,0,0,0,0,0
$GC,3693,-0.59,-112.9,702.3,-18.4,301,3697,0.00,0.88,0.00,0.000,4,0.000,0.063,1480,3956,2944,0,0,0,0,0,0
$GC,3861,-0.59,-112.9,734.9,-18.5,308,3865,0.00,0.80,0.00,0.000,6,0.000,0.040,1480,3423,2943,0,0,0,0,0,0
$GC,4181,-0.59,-112.9,791.2,-17.2,324,4185,0.00,0.82,0.00,0.000,4,0.000,0.063,1476,3941,2943,0,0,0,0,0,0
$GC,4281,-0.59,-112.9,809.8,-18.4,328,4286,0.12,0.82,0.00,0.000,6,0.193,0.040,1505,3410,2943,0,0,0,0,0,0
$GC,4604,-0.59,-112.9,856.6,-14.3,344,4605,0.00,0.00,0.00,0.000,6,0.000,0.000,1505,3410,2943,0,0,0,0,0,0
$GC,4912,-0.59,-112.9,901.7,-14.2,359,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,1505,3410,2942,0,0,0,0,0,0
$GC,5221,-0.59,-112.9,944.6,-14.4,374,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,1505,3410,2941,0,0,0,0,0,0
$GC,5530,-0.59,-112.9,987.0,-13.6,389,5534,0.00,0.88,0.00,0.000,4,0.000,0.065,1503,3958,2940,0,0,0,0,0,0
$STATE,5552,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5552,begin apogee
$GC,5557,-0.10,0.0,990.0,13.7,390,5675,0.55,0.00,109.50,1.873,6,0.158,0.000,1665,3276,2473,0,0,0,0,0,0
$STATE,5675,end apogee,CONTROL_FINISHED_OK
$STATE,5675,begin climb
$GC,5677,0.59,112.9,993.4,0.0,396,5797,0.68,2.42,112.50,1.821,4,0.092,0.034,1894,1874,2013,0,0,0,0,0,0
$GC,5835,0.59,112.9,977.9,13.9,403,5840,0.00,2.47,0.00,0.000,6,0.000,0.052,1894,3277,2008,0,0,0,0,0,0
$GC,6157,0.59,112.9,926.6,16.0,419,6161,0.00,1.12,0.00,0.000,4,0.000,0.060,1894,3954,2001,0,0,0,0,0,0
$GC,6273,0.59,112.9,905.8,17.9,424,6278,0.00,1.08,0.00,0.000,6,0.000,0.037,1899,3277,2000,0,0,0,0,0,0
$GC,6601,0.59,112.9,855.8,15.2,440,6602,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3276,1999,0,0,0,0,0,0
$GC,6910,0.59,112.9,807.8,15.5,455,6911,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3276,1997,0,0,0,0,0,0
$GC,7219,0.59,112.9,760.0,15.5,470,7220,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3276,1995,0,0,0,0,0,0
$GC,7530,0.59,112.9,712.2,15.1,485,7534,0.00,1.10,0.00,0.000,4,0.000,0.062,1899,3957,1995,0,0,0,0,0,0
$GC,7575,0.59,112.9,704.8,16.7,487,7579,0.00,1.02,0.00,0.000,6,0.000,0.039,1904,3287,1994,0,0,0,0,0,0
$GC,7907,0.59,112.9,657.3,14.0,503,7911,0.00,1.08,0.00,0.000,4,0.000,0.061,1904,3954,1994,0,0,0,0,0,0
$GC,8046,0.59,112.9,635.9,15.1,509,8050,0.00,1.05,0.00,0.000,6,0.000,0.038,1909,3275,1994,0,0,0,0,0,0
$GC,8374,0.59,112.9,589.0,14.7,525,8375,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3275,1994,0,0,0,0,0,0
$GC,8683,0.59,112.9,544.1,14.6,540,8686,0.00,1.10,0.00,0.000,4,0.000,0.062,1909,3958,1993,0,0,0,0,0,0
$GC,8765,0.59,112.9,530.1,17.4,543,8773,0.00,1.05,0.00,0.000,6,0.000,0.037,1914,3279,1993,0,0,0,0,0,0
$GC,9081,0.59,112.9,482.4,14.9,559,9082,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3279,1993,0,0,0,0,0,0
$GC,9391,0.59,112.9,437.2,14.5,574,9392,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3279,1992,0,0,0,0,0,0
$GC,9702,0.59,112.9,390.5,15.4,591,9703,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3279,1993,0,0,0,0,0,0
$GC,10023,0.59,112.9,341.4,15.9,621,10024,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3279,1992,0,0,0,0,0,0
$GC,10339,0.59,112.9,292.8,15.4,651,10340,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3279,1992,0,0,0,0,0,0
$GC,10660,0.59,112.9,245.5,14.0,681,10663,0.00,1.10,0.00,0.000,4,0.000,0.061,1914,3958,1992,0,0,0,0,0,0
$GC,10762,0.59,112.9,229.2,16.1,690,10765,0.00,1.02,0.00,0.000,6,0.000,0.037,1919,3282,1992,0,0,0,0,0,0
$GC,11094,0.59,112.9,180.4,14.9,721,11098,0.00,1.08,0.00,0.000,4,0.000,0.060,1919,3956,1992,0,0,0,0,0,0
$GC,11297,0.59,112.9,146.7,16.7,739,11301,0.10,1.02,0.00,0.000,6,0.189,0.037,1896,3278,1992,0,0,0,0,0,0
$GC,11627,0.59,112.9,104.7,12.6,770,11628,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,3278,1991,0,0,0,0,0,0
$GC,11968,0.59,112.9,64.7,11.3,826,11975,0.00,2.15,0.00,0.000,4,0.000,0.034,1906,1839,1992,0,0,0,0,0,0
$GC,12006,0.59,112.9,60.5,11.1,832,12014,0.00,2.30,0.00,0.000,6,0.000,0.051,1906,3285,1991,0,0,0,0,0,0
$GC,12363,0.59,112.9,19.8,10.1,893,12372,0.00,1.05,0.00,0.000,4,0.000,0.059,1906,3951,1991,0,0,0,0,0,0
$STATE,12495,end climb,SURFACE_DEPTH_REACHED
$STATE,12495,begin surface coast
$FINISH,0.6,1.026361
$STATE,12521,end surface coast,CONTROL_FINISHED_OK
$STATE,12522,begin surface
$SM_CCo,12534,43.00,0.805,0,0,1552,225.18
$SM_GC,1.62,0.00,0.00,43.00,0.000,0.000,0.805,70,3418,1552,-5.09,-0.08,225.18
$IRIDIUM_FIX,-4233.25,505.56,181213,222255
$TT8_MAMPS,0.026215
$HUMID,62.12
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.20
$XPDR_PINGS,0
$24V_AH,22.5,18.628
$10V_AH,10.0,12.696
$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,12.275,37.600,222.000,43.000,0.000,26.160,22.545,253.045,0.000,0.000,22.812,2261.158,7800.795,336.963,2440.938,155.103,0.000,1187.420,0.000,2027.832,0.000,1.011,0.000
$DEVICE_MAMPS,240.210,94.095,1872.720,804.780,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,637.560,1580.558,637.055,320.945,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354480
$DATA_FILE_SIZE,63834,918
$CAP_FILE_SIZE,107413,0
$CFSIZE,259252224,250470400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,191213,044822,-4300.390,832.019,65,1.1,65,-25.1