version: 66.07
glider: 543
mission: 9
dive: 129
start: 12 20 113 21 7 43
data:
$ID,543
$MISSION,9
$DIVE,129
$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,125
$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,-12919.144
$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,1720
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,58
$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,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$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
$GPS1,201213,205934,-4259.663,830.407,40,1.2,40,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-64.7
$GPS2,201213,210718,-4259.673,830.500,15,1.4,16,-25.0
$SPEED_LIMITS,0.163,0.235
$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,253.3,908,-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,14,-0.50,-57.7,0.0,0.0,0,58,0.00,0.00,-41.72,0.000,2,0.000,0.000,61,3412,2480,0,0,0,0,0,0
$GC,60,-0.53,-96.7,3.2,-5.2,5,86,6.15,0.88,-11.00,0.000,4,0.241,0.091,1537,3940,2871,0,0,0,0,0,0
$GC,179,-0.53,-96.7,23.5,-19.4,23,186,0.00,0.80,0.00,0.000,6,0.000,0.037,1537,3421,2873,0,0,0,0,0,0
$GC,326,-0.53,-96.7,47.8,-14.4,48,335,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3421,2874,0,0,0,0,0,0
$GC,679,-0.53,-96.7,97.9,-12.0,109,685,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3421,2876,0,0,0,0,0,0
$GC,1008,-0.53,-96.7,143.0,-14.4,141,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,3421,2878,0,0,0,0,0,0
$GC,1324,-0.53,-96.7,188.3,-14.2,171,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3421,2878,0,0,0,0,0,0
$GC,1644,-0.53,-96.7,234.1,-14.1,201,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3421,2878,0,0,0,0,0,0
$GC,1961,-0.53,-96.7,279.0,-14.5,231,1965,0.00,2.15,0.00,0.000,4,0.000,0.033,1537,1996,2878,0,0,0,0,0,0
$GC,1981,-0.53,-96.7,282.4,-14.7,232,1991,0.00,2.30,0.00,0.000,6,0.000,0.052,1526,3425,2878,0,0,0,0,0,0
$GC,2307,-0.53,-96.7,330.8,-15.2,263,2308,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3425,2878,0,0,0,0,0,0
$GC,2628,-0.53,-96.7,377.9,-14.6,293,2632,0.00,0.82,0.00,0.000,4,0.000,0.063,1522,3948,2878,0,0,0,0,0,0
$GC,2666,-0.53,-96.7,384.3,-15.4,296,2676,0.00,0.82,0.00,0.000,6,0.000,0.037,1522,3408,2878,0,0,0,0,0,0
$GC,2985,-0.53,-96.7,430.8,-14.3,317,2986,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3409,2878,0,0,0,0,0,0
$GC,3294,-0.53,-96.7,475.5,-14.4,332,3295,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3409,2878,0,0,0,0,0,0
$GC,3604,-0.53,-96.7,520.5,-14.7,347,3605,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3408,2877,0,0,0,0,0,0
$GC,3913,-0.53,-96.7,566.7,-15.1,362,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3408,2877,0,0,0,0,0,0
$GC,4222,-0.53,-96.7,610.9,-14.1,377,4223,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3408,2876,0,0,0,0,0,0
$GC,4533,-0.53,-96.7,653.6,-13.5,392,4535,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3408,2876,0,0,0,0,0,0
$GC,4841,-0.53,-96.7,695.4,-13.5,407,4842,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3408,2875,0,0,0,0,0,0
$GC,5150,-0.53,-96.7,736.8,-13.1,422,5151,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3408,2875,0,0,0,0,0,0
$GC,5460,-0.53,-96.7,777.8,-13.2,437,5461,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3408,2874,0,0,0,0,0,0
$GC,5769,-0.53,-96.7,818.9,-13.1,452,5770,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3408,2873,0,0,0,0,0,0
$GC,6080,-0.53,-96.7,859.4,-12.7,467,6081,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3408,2873,0,0,0,0,0,0
$GC,6388,-0.53,-96.7,896.3,-11.5,482,6392,0.00,2.12,0.00,0.000,4,0.000,0.035,1523,2003,2872,0,0,0,0,0,0
$GC,6408,-0.53,-96.7,898.9,-12.0,483,6414,0.10,2.30,0.00,0.000,6,0.137,0.057,1544,3417,2872,0,0,0,0,0,0
$GC,6735,-0.53,-96.7,931.1,-10.1,499,6737,0.00,0.00,0.00,0.000,6,0.000,0.000,1544,3417,2872,0,0,0,0,0,0
$GC,7045,-0.53,-96.7,961.7,-10.0,514,7046,0.00,0.00,0.00,0.000,6,0.000,0.000,1544,3417,2872,0,0,0,0,0,0
$STATE,7332,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7332,begin apogee
$GC,7336,-0.09,0.0,990.5,10.0,528,7435,0.47,0.00,94.03,1.890,6,0.148,0.000,1688,3282,2474,0,0,0,0,0,0
$STATE,7436,end apogee,CONTROL_FINISHED_OK
$STATE,7436,begin climb
$GC,7438,0.53,96.7,993.1,0.0,533,7545,0.57,2.45,97.18,1.828,4,0.070,0.037,1900,1865,2078,0,0,0,0,0,0
$GC,7561,0.53,96.7,984.7,11.0,538,7569,0.00,2.53,0.00,0.000,6,0.000,0.054,1900,3277,2075,0,0,0,0,0,0
$GC,7878,0.53,96.7,937.6,15.6,554,7881,0.00,1.12,0.00,0.000,4,0.000,0.061,1900,3945,2066,0,0,0,0,0,0
$GC,8050,0.53,96.7,907.8,16.8,561,8058,0.00,1.08,0.00,0.000,6,0.000,0.038,1905,3274,2066,0,0,0,0,0,0
$GC,8366,0.53,96.7,860.3,14.8,577,8367,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3274,2063,0,0,0,0,0,0
$GC,8677,0.53,96.7,816.5,13.9,592,8680,0.00,1.12,0.00,0.000,4,0.000,0.063,1905,3958,2062,0,0,0,0,0,0
$GC,8888,0.53,96.7,781.5,16.8,601,8893,0.00,1.08,0.00,0.000,6,0.000,0.038,1910,3276,2062,0,0,0,0,0,0
$GC,9212,0.53,96.7,731.5,15.5,617,9215,0.00,1.10,0.00,0.000,4,0.000,0.063,1910,3949,2062,0,0,0,0,0,0
$GC,9316,0.53,96.7,713.0,16.9,621,9324,0.00,1.05,0.00,0.000,6,0.000,0.038,1915,3278,2061,0,0,0,0,0,0
$GC,9633,0.53,96.7,664.7,15.4,637,9636,0.00,1.10,0.00,0.000,4,0.000,0.060,1915,3959,2060,0,0,0,0,0,0
$GC,9800,0.53,96.7,635.7,17.7,644,9804,0.00,1.08,0.00,0.000,6,0.000,0.037,1920,3271,2061,0,0,0,0,0,0
$GC,10122,0.53,96.7,585.6,15.3,660,10125,0.00,1.10,0.00,0.000,4,0.000,0.061,1920,3949,2060,0,0,0,0,0,0
$GC,10148,0.53,96.7,580.9,17.1,661,10153,0.12,1.05,0.00,0.000,6,0.220,0.039,1897,3275,2059,0,0,0,0,0,0
$GC,10477,0.53,96.7,535.4,13.1,677,10481,0.00,1.10,0.00,0.000,4,0.000,0.062,1897,3954,2059,0,0,0,0,0,0
$GC,10593,0.53,96.7,518.1,15.1,682,10598,0.00,1.05,0.00,0.000,6,0.000,0.038,1901,3279,2059,0,0,0,0,0,0
$GC,10922,0.53,96.7,474.4,13.3,698,10926,0.00,1.08,0.00,0.000,4,0.000,0.062,1901,3949,2058,0,0,0,0,0,0
$GC,10982,0.53,96.7,465.3,15.1,700,10990,0.00,1.05,0.00,0.000,6,0.000,0.037,1906,3265,2058,0,0,0,0,0,0
$GC,11298,0.53,96.7,423.2,13.2,716,11301,0.00,1.10,0.00,0.000,4,0.000,0.060,1906,3953,2058,0,0,0,0,0,0
$GC,11371,0.53,96.7,412.6,15.1,719,11374,0.00,1.02,0.00,0.000,6,0.000,0.037,1911,3277,2057,0,0,0,0,0,0
$GC,11695,0.53,96.7,369.0,13.2,745,11699,0.00,1.08,0.00,0.000,4,0.000,0.059,1911,3949,2057,0,0,0,0,0,0
$GC,11798,0.53,96.7,353.0,14.8,754,11802,0.08,1.02,0.00,0.000,6,0.206,0.037,1896,3274,2058,0,0,0,0,0,0
$GC,12130,0.53,96.7,310.5,12.6,785,12133,0.00,1.10,0.00,0.000,4,0.000,0.060,1896,3958,2057,0,0,0,0,0,0
$GC,12290,0.53,96.7,287.5,14.7,799,12298,0.00,1.05,0.00,0.000,6,0.000,0.037,1900,3278,2057,0,0,0,0,0,0
$GC,12616,0.53,96.7,246.5,12.6,830,12619,0.00,1.08,0.00,0.000,4,0.000,0.059,1900,3953,2057,0,0,0,0,0,0
$GC,12743,0.53,96.7,228.5,14.2,841,12751,0.00,1.05,0.00,0.000,6,0.000,0.036,1905,3268,2057,0,0,0,0,0,0
$GC,13069,0.53,96.7,186.5,12.4,872,13072,0.00,1.10,0.00,0.000,4,0.000,0.059,1905,3956,2057,0,0,0,0,0,0
$GC,13141,0.53,96.7,175.9,14.8,878,13149,0.00,1.05,0.00,0.000,6,0.000,0.036,1910,3269,2057,0,0,0,0,0,0
$GC,13469,0.53,96.7,130.9,13.6,909,13472,0.00,1.10,0.00,0.000,4,0.000,0.059,1910,3958,2057,0,0,0,0,0,0
$GC,13506,0.53,96.7,124.8,16.3,912,13516,0.00,1.05,0.00,0.000,6,0.000,0.036,1915,3269,2057,0,0,0,0,0,0
$GC,13842,0.53,96.7,80.0,11.3,956,13849,0.00,2.10,0.00,0.000,4,0.000,0.032,1927,1861,2057,0,0,0,0,0,0
$GC,13859,0.53,96.7,78.4,11.9,958,13866,0.12,2.25,0.00,0.000,6,0.192,0.050,1897,3292,2056,0,0,0,0,0,0
$GC,14213,0.53,96.7,41.9,10.2,1019,14219,0.00,1.02,0.00,0.000,4,0.000,0.059,1897,3941,2056,0,0,0,0,0,0
$GC,14489,0.53,96.8,14.6,9.4,1065,14498,0.00,1.00,0.00,0.000,6,0.000,0.036,1900,3276,2057,0,0,0,0,0,0
$GC,14549,0.53,96.8,8.4,10.0,1074,14558,0.00,1.08,0.00,0.000,4,0.000,0.058,1900,3950,2057,0,0,0,0,0,0
$STATE,14595,end climb,SURFACE_DEPTH_REACHED
$STATE,14595,begin surface coast
$FINISH,0.7,1.026285
$STATE,14627,end surface coast,CONTROL_FINISHED_OK
$STATE,14627,begin surface
$SM_CCo,14640,49.40,0.805,0,0,1554,225.18
$SM_GC,1.06,0.00,0.00,49.40,0.000,0.000,0.805,71,3413,1554,-5.15,-0.20,225.18
$IRIDIUM_FIX,-4244.98,831.12,201213,161637
$TT8_MAMPS,0.026215
$HUMID,62.36
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,22.6,20.132
$10V_AH,10.0,13.862
$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,12.500,53.575,191.200,49.400,0.000,26.460,18.745,302.628,0.000,0.000,18.309,2663.993,9103.841,368.386,2852.277,167.856,0.000,1358.776,0.000,2373.630,0.000,1.009,0.000
$DEVICE_MAMPS,240.975,91.035,1889.550,804.780,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,753.374,1873.694,775.987,393.080,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354404
$DATA_FILE_SIZE,77178,1086
$CAP_FILE_SIZE,127967,0
$CFSIZE,259252224,249667584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,211213,011335,-4300.297,830.051,29,1.2,29,-25.0