version: 66.07
glider: 543
mission: 9
dive: 120
start: 12 19 113 8 35 56
data:
$ID,543
$MISSION,9
$DIVE,120
$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,-12889.761
$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,42
$R_STBD_OVSHOOT,30
$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
$GPS1,191213,082701,-4259.842,831.004,41,1.1,41,-25.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-66.5
$GPS2,191213,083535,-4259.783,831.102,17,1.1,17,-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,279.9,1545,-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,-49.70,0.000,2,0.000,0.000,62,3432,2686,0,0,0,0,0,0
$GC,68,-0.59,-106.5,3.1,-4.1,6,87,5.90,0.80,-6.10,0.000,4,0.238,0.091,1498,3954,2910,0,0,0,0,0,0
$GC,107,-0.59,-106.5,11.9,-20.9,11,116,0.00,0.82,0.00,0.000,6,0.000,0.038,1499,3422,2912,0,0,0,0,0,0
$GC,164,-0.59,-106.5,26.0,-23.8,20,172,0.00,0.00,0.00,0.000,6,0.000,0.000,1499,3422,2913,0,0,0,0,0,0
$GC,311,-0.59,-106.5,56.0,-19.7,45,320,0.00,2.20,0.00,0.000,4,0.000,0.034,1499,1999,2914,0,0,0,0,0,0
$GC,342,-0.59,-106.5,62.2,-19.6,50,349,0.00,2.28,0.00,0.000,6,0.000,0.054,1488,3412,2914,0,0,0,0,0,0
$GC,686,-0.59,-106.5,130.1,-20.0,98,689,0.00,0.85,0.00,0.000,4,0.000,0.059,1484,3947,2916,0,0,0,0,0,0
$GC,767,-0.59,-106.5,146.5,-21.2,105,771,0.00,0.80,0.00,0.000,6,0.000,0.036,1484,3415,2916,0,0,0,0,0,0
$GC,1097,-0.59,-106.5,211.2,-19.4,136,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,1484,3415,2917,0,0,0,0,0,0
$GC,1416,-0.59,-106.5,272.5,-19.0,166,1420,0.00,0.85,0.00,0.000,4,0.000,0.060,1480,3949,2918,0,0,0,0,0,0
$GC,1544,-0.59,-106.5,299.8,-20.5,177,1552,0.00,0.82,0.00,0.000,6,0.000,0.035,1480,3408,2918,0,0,0,0,0,0
$GC,1870,-0.59,-106.5,363.4,-19.6,208,1873,0.00,0.85,0.00,0.000,4,0.000,0.061,1476,3941,2918,0,0,0,0,0,0
$GC,1953,-0.59,-106.5,381.3,-20.7,215,1961,0.12,0.80,0.00,0.000,6,0.194,0.037,1505,3419,2918,0,0,0,0,0,0
$GC,2273,-0.59,-106.5,434.5,-16.6,236,2276,0.00,0.85,0.00,0.000,4,0.000,0.062,1503,3953,2918,0,0,0,0,0,0
$GC,2350,-0.59,-106.5,448.4,-16.9,239,2354,0.00,0.82,0.00,0.000,6,0.000,0.036,1503,3410,2918,0,0,0,0,0,0
$GC,2671,-0.59,-106.5,499.4,-15.7,255,2675,0.00,0.85,0.00,0.000,4,0.000,0.061,1499,3942,2918,0,0,0,0,0,0
$GC,2730,-0.59,-106.5,509.8,-17.0,257,2738,0.00,0.80,0.00,0.000,6,0.000,0.037,1499,3421,2918,0,0,0,0,0,0
$GC,3046,-0.59,-106.5,559.5,-16.1,273,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,1499,3421,2917,0,0,0,0,0,0
$GC,3356,-0.59,-106.5,607.5,-15.4,288,3359,0.00,0.85,0.00,0.000,4,0.000,0.063,1495,3955,2917,0,0,0,0,0,0
$GC,3423,-0.59,-106.5,618.7,-16.3,291,3427,0.00,0.80,0.00,0.000,6,0.000,0.039,1495,3421,2917,0,0,0,0,0,0
$GC,3755,-0.59,-106.5,670.8,-15.4,307,3759,0.00,0.85,0.00,0.000,4,0.000,0.063,1491,3954,2916,0,0,0,0,0,0
$GC,3832,-0.59,-106.5,683.6,-16.9,310,3836,0.00,0.82,0.00,0.000,6,0.000,0.039,1491,3416,2916,0,0,0,0,0,0
$GC,4154,-0.59,-106.5,733.3,-15.4,326,4157,0.00,0.85,0.00,0.000,4,0.000,0.063,1487,3948,2915,0,0,0,0,0,0
$GC,4225,-0.59,-106.5,745.4,-16.2,329,4229,0.00,0.82,0.00,0.000,6,0.000,0.038,1487,3411,2915,0,0,0,0,0,0
$GC,4552,-0.59,-106.5,796.9,-15.6,345,4555,0.00,0.85,0.00,0.000,4,0.000,0.063,1483,3946,2915,0,0,0,0,0,0
$GC,4606,-0.59,-106.5,806.1,-16.8,347,4611,0.00,0.82,0.00,0.000,6,0.000,0.038,1483,3410,2914,0,0,0,0,0,0
$GC,4927,-0.59,-106.5,854.7,-15.2,363,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,1483,3410,2914,0,0,0,0,0,0
$GC,5237,-0.59,-106.5,900.5,-14.6,378,5238,0.00,0.00,0.00,0.000,6,0.000,0.000,1483,3410,2913,0,0,0,0,0,0
$GC,5546,-0.59,-106.5,946.1,-14.8,393,5550,0.00,0.85,0.00,0.000,4,0.000,0.063,1479,3942,2913,0,0,0,0,0,0
$GC,5741,-0.59,-106.5,979.1,-16.7,401,5750,0.12,0.80,0.00,0.000,6,0.189,0.040,1509,3422,2912,0,0,0,0,0,0
$STATE,5829,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5829,begin apogee
$GC,5834,-0.10,0.0,991.2,13.6,406,5939,0.52,0.00,102.72,1.875,6,0.155,0.000,1666,3274,2474,0,0,0,0,0,0
$STATE,5940,end apogee,CONTROL_FINISHED_OK
$STATE,5940,begin climb
$GC,5942,0.59,106.5,994.7,0.0,411,6052,0.68,0.00,106.80,1.822,6,0.091,0.000,1883,3274,2039,0,0,0,0,0,0
$GC,6356,0.59,106.5,943.4,14.5,431,6360,0.00,1.15,0.00,0.000,4,0.000,0.061,1883,3952,2028,0,0,0,0,0,0
$GC,6428,0.59,106.5,931.1,17.1,434,6432,0.00,1.10,0.00,0.000,6,0.000,0.037,1889,3268,2028,0,0,0,0,0,0
$GC,6755,0.59,106.5,881.6,15.1,450,6759,0.00,1.12,0.00,0.000,4,0.000,0.060,1888,3950,2024,0,0,0,0,0,0
$GC,6854,0.59,106.5,864.7,16.8,454,6859,0.00,1.08,0.00,0.000,6,0.000,0.037,1894,3268,2024,0,0,0,0,0,0
$GC,7178,0.59,106.5,816.7,14.9,470,7179,0.00,0.00,0.00,0.000,6,0.000,0.000,1893,3268,2022,0,0,0,0,0,0
$GC,7486,0.59,106.5,772.6,13.7,485,7489,0.00,1.12,0.00,0.000,4,0.000,0.062,1894,3954,2022,0,0,0,0,0,0
$GC,7562,0.59,106.5,760.7,15.4,488,7567,0.00,1.05,0.00,0.000,6,0.000,0.037,1899,3281,2022,0,0,0,0,0,0
$GC,7884,0.59,106.5,716.1,14.1,504,7885,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3281,2021,0,0,0,0,0,0
$GC,8193,0.59,106.5,673.4,13.7,519,8197,0.00,1.10,0.00,0.000,4,0.000,0.063,1898,3958,2021,0,0,0,0,0,0
$GC,8287,0.59,106.5,658.9,15.6,523,8292,0.00,1.05,0.00,0.000,6,0.000,0.037,1904,3280,2021,0,0,0,0,0,0
$GC,8615,0.59,106.5,610.8,14.9,539,8616,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3279,2020,0,0,0,0,0,0
$GC,8924,0.59,106.5,563.7,15.2,554,8927,0.00,1.08,0.00,0.000,4,0.000,0.063,1904,3952,2020,0,0,0,0,0,0
$GC,9018,0.59,106.5,548.0,17.2,558,9022,0.00,1.05,0.00,0.000,6,0.000,0.037,1908,3271,2019,0,0,0,0,0,0
$GC,9347,0.59,106.5,497.1,15.5,574,9348,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3272,2019,0,0,0,0,0,0
$GC,9654,0.59,106.5,450.1,15.3,589,9656,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3271,2019,0,0,0,0,0,0
$GC,9964,0.59,106.5,403.9,14.7,604,9965,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3272,2018,0,0,0,0,0,0
$GC,10282,0.59,106.5,358.6,14.4,632,10283,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3271,2019,0,0,0,0,0,0
$GC,10601,0.59,106.5,312.7,14.5,662,10602,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3271,2018,0,0,0,0,0,0
$GC,10919,0.59,106.5,266.7,14.2,692,10920,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3272,2018,0,0,0,0,0,0
$GC,11238,0.59,106.5,220.5,13.6,722,11239,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3272,2018,0,0,0,0,0,0
$GC,11556,0.59,106.5,177.5,12.8,752,11560,0.00,1.10,0.00,0.000,4,0.000,0.061,1909,3953,2018,0,0,0,0,0,0
$GC,11685,0.59,106.5,158.6,15.1,763,11692,0.00,1.05,0.00,0.000,6,0.000,0.037,1914,3267,2018,0,0,0,0,0,0
$GC,12010,0.59,106.5,115.3,12.6,794,12011,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3267,2018,0,0,0,0,0,0
$GC,12343,0.59,106.5,74.9,12.7,842,12350,0.00,2.12,0.00,0.000,4,0.000,0.034,1925,1856,2018,0,0,0,0,0,0
$GC,12375,0.59,106.5,71.5,11.1,847,12382,0.12,2.25,0.00,0.000,6,0.192,0.051,1895,3291,2016,0,0,0,0,0,0
$GC,12726,0.59,106.5,31.9,11.8,908,12736,0.00,1.02,0.00,0.000,4,0.000,0.058,1895,3935,2016,0,0,0,0,0,0
$GC,12773,0.59,106.5,26.2,12.9,915,12780,0.00,1.00,0.00,0.000,6,0.000,0.037,1899,3276,2016,0,0,0,0,0,0
$GC,12929,0.59,106.5,10.5,9.7,940,12938,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3275,2016,0,0,0,0,0,0
$GC,12989,0.59,106.5,4.1,10.7,949,12998,0.00,2.15,0.00,0.000,4,0.000,0.033,1910,1851,2016,0,0,0,0,0,0
$STATE,13005,end climb,SURFACE_DEPTH_REACHED
$STATE,13005,begin surface coast
$FINISH,0.8,1.026207
$STATE,13019,end surface coast,CONTROL_FINISHED_OK
$STATE,13019,begin surface
$SM_CCo,13033,45.90,0.806,0,0,1554,225.18
$SM_GC,1.54,0.00,0.00,45.90,0.000,0.000,0.806,68,3421,1554,-5.09,0.03,225.18
$IRIDIUM_FIX,-4242.04,833.59,191213,040445
$TT8_MAMPS,0.026215
$HUMID,62.24
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.5,18.915
$10V_AH,10.0,12.891
$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,12.300,47.050,209.525,45.900,0.000,25.524,40.879,338.006,0.000,0.000,19.833,2358.571,8092.224,368.390,2623.554,152.298,0.000,1274.710,0.000,2103.370,0.000,1.010,0.000
$DEVICE_MAMPS,237.915,91.035,1875.015,806.310,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,661.059,1631.501,660.191,335.830,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354436
$DATA_FILE_SIZE,67183,953
$CAP_FILE_SIZE,118430,0
$CFSIZE,259252224,250335232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,191213,121505,-4259.632,830.056,37,0.8,37,-25.0