version: 66.07
glider: 543
mission: 9
dive: 122
start: 12 19 113 16 20 50
data:
$ID,543
$MISSION,9
$DIVE,122
$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,-12896.451
$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,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
$DEVICE3,131
$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
$GPS1,191213,161255,-4300.737,830.419,35,0.7,35,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-68.8
$GPS2,191213,162029,-4300.745,830.478,14,1.7,14,-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,359.9,1524,-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,13,begin dive
$GC,15,-0.56,-57.7,0.0,0.0,0,66,0.00,0.00,-49.15,0.000,2,0.000,0.000,61,3435,2674,0,0,0,0,0,0
$GC,68,-0.58,-100.3,3.3,-4.8,6,87,5.93,2.22,-5.57,0.000,4,0.238,0.044,1506,2000,2885,0,0,0,0,0,0
$GC,156,-0.58,-100.3,19.9,-17.5,19,165,0.00,2.33,0.00,0.000,6,0.000,0.053,1497,3414,2888,0,0,0,0,0,0
$GC,212,-0.58,-100.3,30.9,-20.6,28,220,0.00,0.00,0.00,0.000,6,0.000,0.000,1497,3414,2888,0,0,0,0,0,0
$GC,359,-0.58,-100.3,60.6,-21.0,53,365,0.00,0.88,0.00,0.000,4,0.000,0.059,1493,3959,2889,0,0,0,0,0,0
$GC,480,-0.58,-100.3,88.7,-24.4,74,486,0.00,0.82,0.00,0.000,6,0.000,0.037,1493,3418,2889,0,0,0,0,0,0
$GC,813,-0.58,-100.3,156.9,-19.4,110,817,0.00,0.88,0.00,0.000,4,0.000,0.060,1489,3954,2891,0,0,0,0,0,0
$GC,997,-0.58,-100.3,193.4,-18.7,126,1005,0.00,0.82,0.00,0.000,6,0.000,0.035,1489,3415,2892,0,0,0,0,0,0
$GC,1325,-0.58,-100.3,252.0,-17.6,157,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,1489,3415,2892,0,0,0,0,0,0
$GC,1642,-0.58,-100.3,308.7,-17.2,187,1645,0.00,0.88,0.00,0.000,4,0.000,0.060,1485,3959,2892,0,0,0,0,0,0
$GC,1721,-0.58,-100.3,323.5,-18.7,194,1725,0.00,0.80,0.00,0.000,6,0.000,0.037,1485,3428,2893,0,0,0,0,0,0
$GC,2053,-0.58,-100.3,381.1,-18.0,225,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,1485,3428,2892,0,0,0,0,0,0
$GC,2363,-0.58,-100.3,439.1,-19.0,245,2367,0.00,0.82,0.00,0.000,4,0.000,0.061,1481,3947,2892,0,0,0,0,0,0
$GC,2521,-0.58,-100.3,471.6,-21.2,252,2525,0.00,0.80,0.00,0.000,6,0.000,0.038,1481,3416,2892,0,0,0,0,0,0
$GC,2855,-0.58,-100.3,536.6,-19.4,268,2859,0.12,0.88,0.00,0.000,4,0.196,0.062,1508,3956,2892,0,0,0,0,0,0
$GC,2925,-0.58,-100.3,550.4,-18.4,271,2930,0.00,0.82,0.00,0.000,6,0.000,0.038,1508,3418,2892,0,0,0,0,0,0
$GC,3253,-0.58,-100.3,606.1,-16.8,287,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,1507,3418,2892,0,0,0,0,0,0
$GC,3562,-0.58,-100.3,654.7,-14.9,302,3565,0.00,0.85,0.00,0.000,4,0.000,0.063,1504,3952,2891,0,0,0,0,0,0
$GC,3633,-0.58,-100.3,666.3,-16.2,305,3637,0.00,0.82,0.00,0.000,6,0.000,0.038,1504,3414,2891,0,0,0,0,0,0
$GC,3961,-0.58,-100.3,715.0,-14.8,321,3962,0.00,0.00,0.00,0.000,6,0.000,0.000,1504,3413,2890,0,0,0,0,0,0
$GC,4271,-0.58,-100.3,759.6,-13.9,336,4272,0.00,0.00,0.00,0.000,6,0.000,0.000,1504,3413,2890,0,0,0,0,0,0
$GC,4579,-0.58,-100.3,803.7,-14.4,351,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,1504,3413,2889,0,0,0,0,0,0
$GC,4888,-0.58,-100.3,846.0,-13.4,366,4889,0.00,0.00,0.00,0.000,6,0.000,0.000,1504,3413,2888,0,0,0,0,0,0
$GC,5197,-0.58,-100.3,888.7,-14.1,381,5199,0.00,0.00,0.00,0.000,6,0.000,0.000,1504,3413,2888,0,0,0,0,0,0
$GC,5507,-0.58,-100.3,931.4,-14.0,396,5508,0.00,0.00,0.00,0.000,6,0.000,0.000,1504,3413,2887,0,0,0,0,0,0
$GC,5818,-0.58,-100.3,975.0,-13.8,411,5822,0.00,2.12,0.00,0.000,4,0.000,0.034,1503,2004,2887,0,0,0,0,0,0
$GC,5859,-0.58,-100.3,980.1,-11.9,413,5863,0.00,2.28,0.00,0.000,6,0.000,0.055,1493,3431,2887,0,0,0,0,0,0
$STATE,5935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5936,begin apogee
$GC,5940,-0.10,0.0,990.8,13.9,417,6040,0.57,0.00,96.78,1.882,6,0.162,0.000,1661,3275,2474,0,0,0,0,0,0
$STATE,6041,end apogee,CONTROL_FINISHED_OK
$STATE,6041,begin climb
$GC,6042,0.58,100.3,995.0,0.0,422,6148,0.68,0.00,100.45,1.830,6,0.097,0.000,1879,3275,2064,0,0,0,0,0,0
$GC,6457,0.58,100.3,947.7,12.6,442,6461,0.00,2.25,0.00,0.000,4,0.000,0.035,1890,1863,2055,0,0,0,0,0,0
$GC,6505,0.58,100.3,942.0,11.5,444,6510,0.00,2.38,0.00,0.000,6,0.000,0.050,1890,3277,2052,0,0,0,0,0,0
$GC,6827,0.58,100.3,899.2,13.6,460,6828,0.00,0.00,0.00,0.000,6,0.000,0.000,1890,3277,2051,0,0,0,0,0,0
$GC,7138,0.58,100.3,857.6,13.5,475,7142,0.00,1.10,0.00,0.000,4,0.000,0.060,1889,3953,2050,0,0,0,0,0,0
$GC,7205,0.58,100.3,846.8,15.8,478,7209,0.00,1.05,0.00,0.000,6,0.000,0.037,1895,3273,2050,0,0,0,0,0,0
$GC,7537,0.58,100.3,797.2,14.9,494,7541,0.00,2.17,0.00,0.000,4,0.000,0.037,1905,1858,2048,0,0,0,0,0,0
$GC,7599,0.58,100.3,788.6,13.7,497,7604,0.00,2.30,0.00,0.000,6,0.000,0.052,1906,3286,2047,0,0,0,0,0,0
$GC,7926,0.58,100.3,739.3,15.1,513,7929,0.00,1.08,0.00,0.000,4,0.000,0.061,1906,3952,2047,0,0,0,0,0,0
$GC,7996,0.58,100.3,727.4,17.2,516,8001,0.00,1.05,0.00,0.000,6,0.000,0.037,1910,3276,2047,0,0,0,0,0,0
$GC,8324,0.58,100.3,678.1,14.6,532,8325,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3277,2046,0,0,0,0,0,0
$GC,8633,0.58,100.3,634.4,13.8,547,8634,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3276,2045,0,0,0,0,0,0
$GC,8943,0.58,100.3,592.5,13.5,562,8944,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3277,2045,0,0,0,0,0,0
$GC,9253,0.58,100.3,549.7,13.7,577,9257,0.00,1.10,0.00,0.000,4,0.000,0.062,1911,3953,2045,0,0,0,0,0,0
$GC,9433,0.58,100.3,520.9,16.4,585,9437,0.00,1.02,0.00,0.000,6,0.000,0.038,1916,3281,2045,0,0,0,0,0,0
$GC,9764,0.58,100.3,472.4,14.8,601,9768,0.00,1.08,0.00,0.000,4,0.000,0.062,1916,3949,2044,0,0,0,0,0,0
$GC,9900,0.58,100.3,450.2,16.2,607,9904,0.10,1.02,0.00,0.000,6,0.192,0.038,1893,3274,2044,0,0,0,0,0,0
$GC,10231,0.58,100.3,405.4,13.1,623,10235,0.00,1.10,0.00,0.000,4,0.000,0.061,1893,3956,2044,0,0,0,0,0,0
$GC,10291,0.58,100.3,396.5,15.4,626,10299,0.00,1.05,0.00,0.000,6,0.000,0.037,1897,3274,2043,0,0,0,0,0,0
$GC,10619,0.58,100.3,353.0,13.5,657,10620,0.00,0.00,0.00,0.000,6,0.000,0.000,1897,3275,2043,0,0,0,0,0,0
$GC,10936,0.58,100.3,310.8,13.3,687,10937,0.00,0.00,0.00,0.000,6,0.000,0.000,1897,3274,2043,0,0,0,0,0,0
$GC,11256,0.58,100.3,268.6,13.5,717,11257,0.00,0.00,0.00,0.000,6,0.000,0.000,1897,3274,2043,0,0,0,0,0,0
$GC,11572,0.58,100.3,228.7,12.3,747,11576,0.00,1.10,0.00,0.000,4,0.000,0.062,1897,3953,2043,0,0,0,0,0,0
$GC,11689,0.58,100.3,212.2,13.9,757,11697,0.00,1.05,0.00,0.000,6,0.000,0.036,1902,3270,2043,0,0,0,0,0,0
$GC,12015,0.58,100.3,170.8,12.9,788,12016,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3270,2043,0,0,0,0,0,0
$GC,12334,0.58,100.3,128.7,13.7,818,12338,0.00,1.10,0.00,0.000,4,0.000,0.060,1902,3955,2043,0,0,0,0,0,0
$GC,12401,0.58,100.3,118.7,15.1,824,12405,0.00,1.02,0.00,0.000,6,0.000,0.037,1907,3272,2043,0,0,0,0,0,0
$GC,12740,0.58,100.3,76.0,10.8,872,12747,0.00,1.08,0.00,0.000,4,0.000,0.060,1908,3943,2043,0,0,0,0,0,0
$GC,12966,0.58,100.3,49.2,11.8,911,12972,0.00,1.00,0.00,0.000,6,0.000,0.037,1913,3279,2043,0,0,0,0,0,0
$GC,13328,0.59,102.8,9.5,9.2,972,13337,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3279,2043,0,0,0,0,0,0
$GC,13388,0.59,102.8,3.3,11.8,981,13396,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3279,2043,0,0,0,0,0,0
$STATE,13403,end climb,SURFACE_DEPTH_REACHED
$STATE,13403,begin surface coast
$FINISH,0.6,1.025756
$STATE,13435,end surface coast,CONTROL_FINISHED_OK
$STATE,13435,begin surface
$SM_CCo,13447,48.38,0.809,0,0,1554,225.18
$SM_GC,1.03,0.00,0.00,48.38,0.000,0.000,0.809,62,3444,1554,-5.12,0.68,225.18
$IRIDIUM_FIX,-4236.17,1138.19,191213,121253
$TT8_MAMPS,0.026215
$HUMID,61.77
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.6,19.184
$10V_AH,10.0,13.100
$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,12.300,45.600,197.225,48.375,0.000,26.871,38.833,276.100,0.000,0.000,17.459,2436.698,8380.858,337.828,2633.364,160.877,0.000,1250.221,0.000,2174.638,0.000,1.011,0.000
$DEVICE_MAMPS,237.915,71.145,1881.900,809.370,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,685.961,1724.793,703.174,370.056,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354444
$DATA_FILE_SIZE,70390,988
$CAP_FILE_SIZE,117230,0
$CFSIZE,259252224,250191872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,191213,200658,-4259.395,830.366,38,0.9,38,-25.0