version: 66.07
glider: 543
mission: 9
dive: 121
start: 12 19 113 12 26 20
data:
$ID,543
$MISSION,9
$DIVE,121
$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,-12893.061
$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,41
$R_STBD_OVSHOOT,20
$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
$GPS1,191213,121505,-4259.632,830.056,37,0.8,37,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-66.2
$GPS2,191213,122559,-4259.598,830.121,17,1.3,17,-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,217.4,763,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.56,-57.7,0.0,0.0,0,59,0.00,0.00,-42.20,0.000,2,0.000,0.000,62,3419,2501,0,0,0,0,0,0
$GC,61,-0.58,-96.3,3.1,-5.2,5,88,5.80,0.88,-10.88,0.000,4,0.230,0.089,1501,3954,2866,0,0,0,0,0,0
$GC,351,-0.58,-96.3,64.7,-20.4,53,358,0.00,0.82,0.00,0.000,6,0.000,0.037,1501,3411,2871,0,0,0,0,0,0
$GC,694,-0.58,-96.3,128.7,-17.8,100,698,0.00,0.88,0.00,0.000,4,0.000,0.060,1497,3955,2872,0,0,0,0,0,0
$GC,788,-0.58,-96.3,146.6,-18.7,108,797,0.00,0.82,0.00,0.000,6,0.000,0.037,1497,3418,2873,0,0,0,0,0,0
$GC,1113,-0.58,-96.3,206.8,-19.1,139,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,1496,3418,2874,0,0,0,0,0,0
$GC,1434,-0.58,-96.3,266.5,-18.8,169,1438,0.00,0.85,0.00,0.000,4,0.000,0.060,1493,3950,2874,0,0,0,0,0,0
$GC,1529,-0.58,-96.3,286.0,-20.1,177,1536,0.00,0.82,0.00,0.000,6,0.000,0.036,1493,3411,2873,0,0,0,0,0,0
$GC,1854,-0.58,-96.3,344.6,-17.3,208,1858,0.00,0.88,0.00,0.000,4,0.000,0.060,1489,3960,2874,0,0,0,0,0,0
$GC,1914,-0.58,-96.3,356.0,-18.3,213,1922,0.00,0.82,0.00,0.000,6,0.000,0.037,1489,3422,2873,0,0,0,0,0,0
$GC,2240,-0.58,-96.3,411.4,-17.0,241,2243,0.00,0.85,0.00,0.000,4,0.000,0.062,1485,3954,2873,0,0,0,0,0,0
$GC,2311,-0.58,-96.3,424.7,-17.9,244,2316,0.00,0.82,0.00,0.000,6,0.000,0.037,1485,3418,2873,0,0,0,0,0,0
$GC,2638,-0.58,-96.3,479.5,-16.7,260,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,1485,3418,2874,0,0,0,0,0,0
$GC,2948,-0.58,-96.3,532.0,-17.3,275,2949,0.00,0.00,0.00,0.000,6,0.000,0.000,1485,3418,2873,0,0,0,0,0,0
$GC,3258,-0.58,-96.3,585.1,-17.2,290,3262,0.00,0.85,0.00,0.000,4,0.000,0.063,1481,3950,2873,0,0,0,0,0,0
$GC,3358,-0.58,-96.3,603.7,-18.1,294,3363,0.12,0.82,0.00,0.000,6,0.194,0.038,1510,3417,2873,0,0,0,0,0,0
$GC,3679,-0.58,-96.3,651.4,-14.6,310,3683,0.00,2.10,0.00,0.000,4,0.000,0.034,1510,1998,2872,0,0,0,0,0,0
$GC,3705,-0.58,-96.3,655.2,-14.0,311,3709,0.00,2.30,0.00,0.000,6,0.000,0.054,1501,3425,2872,0,0,0,0,0,0
$GC,4028,-0.58,-96.3,703.5,-15.0,327,4032,0.00,0.82,0.00,0.000,4,0.000,0.062,1497,3954,2871,0,0,0,0,0,0
$GC,4156,-0.58,-96.3,724.5,-15.9,332,4163,0.00,0.82,0.00,0.000,6,0.000,0.038,1497,3414,2871,0,0,0,0,0,0
$GC,4473,-0.58,-96.3,772.0,-15.1,348,4474,0.00,0.00,0.00,0.000,6,0.000,0.000,1497,3414,2870,0,0,0,0,0,0
$GC,4781,-0.58,-96.3,818.3,-14.4,363,4785,0.00,0.85,0.00,0.000,4,0.000,0.063,1493,3952,2870,0,0,0,0,0,0
$GC,4920,-0.58,-96.3,840.8,-15.6,369,4924,0.00,0.82,0.00,0.000,6,0.000,0.039,1493,3414,2870,0,0,0,0,0,0
$GC,5247,-0.58,-96.3,889.7,-14.9,385,5251,0.00,0.85,0.00,0.000,4,0.000,0.063,1489,3947,2869,0,0,0,0,0,0
$GC,5284,-0.58,-96.3,895.9,-15.9,386,5292,0.00,0.82,0.00,0.000,6,0.000,0.039,1489,3413,2869,0,0,0,0,0,0
$GC,5602,-0.58,-96.3,941.6,-14.0,402,5603,0.00,0.00,0.00,0.000,6,0.000,0.000,1489,3413,2868,0,0,0,0,0,0
$GC,5910,-0.58,-96.3,985.7,-14.7,417,5913,0.00,0.85,0.00,0.000,4,0.000,0.064,1485,3945,2868,0,0,0,0,0,0
$STATE,5935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5935,begin apogee
$GC,5939,-0.10,0.0,990.3,16.8,418,6037,0.57,0.00,92.50,1.876,6,0.164,0.000,1657,3279,2474,0,0,0,0,0,0
$STATE,6038,end apogee,CONTROL_FINISHED_OK
$STATE,6038,begin climb
$GC,6039,0.58,96.3,994.2,0.0,423,6147,0.70,2.45,96.38,1.831,4,0.099,0.034,1892,1871,2080,0,0,0,0,0,0
$GC,6196,0.58,96.3,981.0,11.3,430,6202,0.00,2.47,0.00,0.000,6,0.000,0.053,1892,3280,2075,0,0,0,0,0,0
$GC,6524,0.58,96.3,931.8,15.7,446,6528,0.00,1.12,0.00,0.000,4,0.000,0.062,1892,3957,2069,0,0,0,0,0,0
$GC,6781,0.58,96.3,887.1,17.4,457,6786,0.00,1.08,0.00,0.000,6,0.000,0.038,1897,3280,2067,0,0,0,0,0,0
$GC,7103,0.58,96.3,837.9,14.9,473,7104,0.00,0.00,0.00,0.000,6,0.000,0.000,1897,3280,2065,0,0,0,0,0,0
$GC,7412,0.58,96.3,792.8,14.2,488,7415,0.00,1.10,0.00,0.000,4,0.000,0.062,1897,3953,2063,0,0,0,0,0,0
$GC,7629,0.58,96.3,759.5,15.6,497,7637,0.00,1.05,0.00,0.000,6,0.000,0.037,1902,3277,2063,0,0,0,0,0,0
$GC,7945,0.58,96.3,715.9,13.4,513,7947,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3277,2062,0,0,0,0,0,0
$GC,8255,0.58,96.3,674.1,13.8,528,8258,0.00,1.10,0.00,0.000,4,0.000,0.061,1902,3955,2062,0,0,0,0,0,0
$GC,8461,0.58,96.3,642.1,15.3,537,8466,0.00,1.05,0.00,0.000,6,0.000,0.037,1907,3275,2062,0,0,0,0,0,0
$GC,8788,0.58,96.3,595.2,14.5,553,8790,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3275,2062,0,0,0,0,0,0
$GC,9098,0.58,96.3,550.8,14.2,568,9102,0.00,1.10,0.00,0.000,4,0.000,0.061,1907,3958,2061,0,0,0,0,0,0
$GC,9152,0.58,96.3,542.3,15.5,570,9157,0.00,1.05,0.00,0.000,6,0.000,0.037,1912,3277,2061,0,0,0,0,0,0
$GC,9474,0.58,96.3,500.3,13.3,586,9475,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3276,2061,0,0,0,0,0,0
$GC,9783,0.58,96.3,461.3,12.5,601,9785,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3276,2061,0,0,0,0,0,0
$GC,10092,0.58,96.3,422.6,12.6,616,10094,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3277,2060,0,0,0,0,0,0
$GC,10408,0.58,96.3,383.7,12.9,637,10409,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3277,2060,0,0,0,0,0,0
$GC,10725,0.58,96.3,341.5,14.0,667,10726,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3276,2060,0,0,0,0,0,0
$GC,11045,0.58,96.3,297.7,13.5,697,11049,0.00,1.10,0.00,0.000,4,0.000,0.062,1912,3958,2060,0,0,0,0,0,0
$GC,11226,0.58,96.3,269.4,15.7,713,11230,0.00,1.02,0.00,0.000,6,0.000,0.037,1917,3280,2060,0,0,0,0,0,0
$GC,11556,0.58,96.3,221.0,14.7,744,11560,0.00,1.08,0.00,0.000,4,0.000,0.061,1917,3951,2059,0,0,0,0,0,0
$GC,11817,0.58,96.3,180.4,15.2,767,11821,0.10,1.02,0.00,0.000,6,0.191,0.037,1894,3270,2059,0,0,0,0,0,0
$GC,12146,0.58,96.3,139.8,11.7,798,12147,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,3270,2060,0,0,0,0,0,0
$GC,12466,0.58,96.3,104.0,10.8,828,12469,0.00,1.10,0.00,0.000,4,0.000,0.060,1894,3956,2060,0,0,0,0,0,0
$GC,12567,0.58,96.3,92.2,12.6,841,12573,0.00,1.02,0.00,0.000,6,0.000,0.037,1898,3277,2059,0,0,0,0,0,0
$GC,12914,0.58,96.3,53.7,10.5,902,12921,0.00,1.08,0.00,0.000,4,0.000,0.059,1898,3950,2059,0,0,0,0,0,0
$GC,13032,0.58,96.3,40.2,11.9,922,13039,0.00,1.00,0.00,0.000,6,0.000,0.037,1903,3283,2060,0,0,0,0,0,0
$GC,13399,0.58,96.3,5.3,10.0,983,13407,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3283,2059,0,0,0,0,0,0
$STATE,13426,end climb,SURFACE_DEPTH_REACHED
$STATE,13426,begin surface coast
$FINISH,0.6,1.026282
$STATE,13464,end surface coast,CONTROL_FINISHED_OK
$STATE,13464,begin surface
$SM_CCo,13476,49.20,0.815,0,0,1553,225.18
$SM_GC,1.39,0.00,0.00,49.20,0.000,0.000,0.815,64,3439,1553,-5.10,0.54,225.18
$IRIDIUM_FIX,-4244.98,837.38,191213,121238
$TT8_MAMPS,0.025466
$HUMID,61.65
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.7,19.050
$10V_AH,10.0,12.997
$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,12.275,43.650,188.875,49.200,0.000,52.952,45.527,360.404,0.000,0.000,20.292,2468.259,8335.634,334.746,2892.612,149.779,0.000,1292.504,0.000,2285.710,0.000,1.011,0.000
$DEVICE_MAMPS,229.500,88.740,1875.780,815.490,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,689.449,1715.797,713.132,383.211,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354460
$DATA_FILE_SIZE,70369,993
$CAP_FILE_SIZE,122949,0
$CFSIZE,259252224,250253312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,191213,161255,-4300.737,830.419,35,0.7,35,-25.0