version: 66.07
glider: 543
mission: 9
dive: 153
start: 12 25 113 4 44 38
data:
$ID,543
$MISSION,9
$DIVE,153
$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,-12999.32
$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,42
$R_STBD_OVSHOOT,19
$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
$GPS1,251213,043600,-4257.883,829.948,39,0.9,39,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-63.8
$GPS2,251213,044413,-4257.965,830.115,17,0.9,19,-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,207.4,3772,-24.7,-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,-0.47,-69.5,0.0,0.0,0,66,0.00,0.00,-49.58,0.000,2,0.000,0.000,62,3423,2670,0,0,0,0,0,0
$GC,68,-0.50,-121.7,3.3,-4.6,6,87,6.25,0.90,-7.78,0.000,4,0.244,0.093,1547,3960,2973,0,0,0,0,0,0
$GC,351,-0.50,-121.7,58.9,-17.2,53,357,0.00,0.82,0.00,0.000,6,0.000,0.037,1546,3419,2978,0,0,0,0,0,0
$GC,695,-0.50,-121.7,111.3,-15.1,107,699,0.00,0.85,0.00,0.000,4,0.000,0.062,1543,3947,2980,0,0,0,0,0,0
$GC,945,-0.50,-121.7,149.1,-14.9,129,948,0.00,0.80,0.00,0.000,6,0.000,0.038,1543,3419,2981,0,0,0,0,0,0
$GC,1275,-0.50,-121.7,200.8,-15.5,160,1276,0.00,0.00,0.00,0.000,6,0.000,0.000,1543,3419,2981,0,0,0,0,0,0
$GC,1594,-0.50,-121.7,251.2,-16.2,190,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,1543,3419,2981,0,0,0,0,0,0
$GC,1913,-0.50,-121.7,299.5,-14.5,220,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,1543,3419,2981,0,0,0,0,0,0
$GC,2231,-0.50,-121.7,347.4,-14.8,250,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,1543,3419,2981,0,0,0,0,0,0
$GC,2550,-0.50,-121.7,394.5,-14.7,280,2551,0.00,0.00,0.00,0.000,6,0.000,0.000,1543,3419,2981,0,0,0,0,0,0
$GC,2860,-0.50,-121.7,441.3,-15.3,297,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,1543,3419,2981,0,0,0,0,0,0
$GC,3169,-0.50,-121.7,488.4,-14.9,312,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,1543,3419,2981,0,0,0,0,0,0
$GC,3478,-0.50,-121.7,533.0,-14.2,327,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,1543,3419,2981,0,0,0,0,0,0
$GC,3788,-0.50,-121.7,576.3,-14.1,342,3789,0.00,0.00,0.00,0.000,6,0.000,0.000,1543,3419,2981,0,0,0,0,0,0
$GC,4097,-0.50,-121.7,618.8,-13.7,357,4101,0.00,2.12,0.00,0.000,4,0.000,0.034,1543,2002,2980,0,0,0,0,0,0
$GC,4118,-0.50,-121.7,621.8,-13.6,358,4123,0.00,2.30,0.00,0.000,6,0.000,0.056,1532,3423,2980,0,0,0,0,0,0
$GC,4447,-0.50,-121.7,668.2,-14.1,374,4451,0.00,0.85,0.00,0.000,4,0.000,0.063,1528,3958,2979,0,0,0,0,0,0
$GC,4530,-0.50,-121.7,681.3,-14.9,377,4537,0.00,0.82,0.00,0.000,6,0.000,0.040,1528,3420,2979,0,0,0,0,0,0
$GC,4846,-0.50,-121.7,725.6,-13.5,393,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3421,2978,0,0,0,0,0,0
$GC,5155,-0.50,-121.7,767.9,-13.6,408,5156,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3421,2978,0,0,0,0,0,0
$GC,5465,-0.50,-121.7,809.9,-13.6,423,5469,0.00,2.15,0.00,0.000,4,0.000,0.035,1528,1995,2976,0,0,0,0,0,0
$GC,5491,-0.50,-121.7,813.6,-13.3,424,5496,0.10,2.30,0.00,0.000,6,0.133,0.057,1550,3418,2976,0,0,0,0,0,0
$GC,5815,-0.50,-121.7,849.0,-11.0,440,5816,0.00,0.00,0.00,0.000,6,0.000,0.000,1550,3417,2976,0,0,0,0,0,0
$GC,6122,-0.50,-121.7,880.4,-10.1,455,6126,0.00,0.82,0.00,0.000,4,0.000,0.063,1547,3942,2976,0,0,0,0,0,0
$GC,6176,-0.50,-121.7,886.8,-11.0,457,6181,0.00,0.80,0.00,0.000,6,0.000,0.039,1547,3419,2976,0,0,0,0,0,0
$GC,6498,-0.50,-121.7,921.4,-11.0,473,6500,0.00,0.00,0.00,0.000,6,0.000,0.000,1546,3418,2975,0,0,0,0,0,0
$GC,6809,-0.50,-121.7,956.2,-11.4,488,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,3418,2975,0,0,0,0,0,0
$GC,7117,-0.50,-121.7,990.0,-10.6,503,7118,0.00,0.00,0.00,0.000,6,0.000,0.000,1548,3418,2975,0,0,0,0,0,0
$STATE,7136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7136,begin apogee
$GC,7141,-0.09,0.0,992.3,10.7,504,7259,0.47,0.00,113.88,1.847,6,0.147,0.000,1690,3286,2475,0,0,0,0,0,0
$STATE,7260,end apogee,CONTROL_FINISHED_OK
$STATE,7260,begin climb
$GC,7262,0.50,121.7,996.1,0.0,510,7393,0.55,2.50,122.00,1.817,4,0.049,0.033,1900,1860,1976,0,0,0,0,0,0
$GC,7454,0.50,121.7,980.7,13.3,519,7459,0.00,2.47,0.00,0.000,6,0.000,0.050,1900,3280,1971,0,0,0,0,0,0
$GC,7783,0.50,121.7,927.5,16.4,535,7786,0.00,1.12,0.00,0.000,4,0.000,0.059,1900,3958,1966,0,0,0,0,0,0
$GC,8039,0.50,121.7,879.9,17.8,546,8044,0.00,1.08,0.00,0.000,6,0.000,0.036,1905,3273,1964,0,0,0,0,0,0
$GC,8363,0.50,121.7,829.4,15.2,562,8367,0.00,1.12,0.00,0.000,4,0.000,0.060,1906,3958,1963,0,0,0,0,0,0
$GC,8521,0.50,121.7,802.6,15.6,569,8525,0.00,1.05,0.00,0.000,6,0.000,0.037,1911,3276,1963,0,0,0,0,0,0
$GC,8855,0.50,121.7,750.2,16.0,585,8856,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3276,1962,0,0,0,0,0,0
$GC,9163,0.50,121.7,701.6,15.2,600,9166,0.00,1.10,0.00,0.000,4,0.000,0.060,1911,3954,1961,0,0,0,0,0,0
$GC,9344,0.50,121.7,671.0,16.8,608,9348,0.10,1.02,0.00,0.000,6,0.201,0.037,1889,3279,1961,0,0,0,0,0,0
$GC,9676,0.50,121.7,623.8,14.1,624,9677,0.00,0.00,0.00,0.000,6,0.000,0.000,1889,3279,1960,0,0,0,0,0,0
$GC,9986,0.50,121.7,579.5,14.2,639,9987,0.00,0.00,0.00,0.000,6,0.000,0.000,1889,3279,1959,0,0,0,0,0,0
$GC,10294,0.50,121.7,535.7,14.1,654,10295,0.00,0.00,0.00,0.000,6,0.000,0.000,1889,3279,1959,0,0,0,0,0,0
$GC,10604,0.50,121.7,492.4,13.8,669,10607,0.00,1.08,0.00,0.000,4,0.000,0.060,1888,3950,1959,0,0,0,0,0,0
$GC,10821,0.50,121.7,458.8,15.5,678,10829,0.00,1.05,0.00,0.000,6,0.000,0.037,1892,3267,1959,0,0,0,0,0,0
$GC,11137,0.50,121.7,415.9,13.7,694,11138,0.00,0.00,0.00,0.000,6,0.000,0.000,1892,3267,1958,0,0,0,0,0,0
$GC,11452,0.50,121.7,373.6,13.1,718,11456,0.00,1.10,0.00,0.000,4,0.000,0.060,1892,3948,1958,0,0,0,0,0,0
$GC,11512,0.50,121.7,364.7,14.7,723,11520,0.00,1.02,0.00,0.000,6,0.000,0.037,1897,3280,1958,0,0,0,0,0,0
$GC,11838,0.50,121.7,319.9,13.8,754,11841,0.00,1.08,0.00,0.000,4,0.000,0.060,1897,3956,1958,0,0,0,0,0,0
$GC,11921,0.50,121.7,306.7,16.1,761,11929,0.00,1.05,0.00,0.000,6,0.000,0.036,1902,3269,1958,0,0,0,0,0,0
$GC,12247,0.50,121.7,258.0,15.2,792,12250,0.00,1.10,0.00,0.000,4,0.000,0.060,1902,3955,1958,0,0,0,0,0,0
$GC,12486,0.50,121.7,219.6,15.6,813,12489,0.00,1.02,0.00,0.000,6,0.000,0.037,1908,3273,1958,0,0,0,0,0,0
$GC,12816,0.50,121.7,172.2,13.9,844,12819,0.00,1.10,0.00,0.000,4,0.000,0.058,1908,3955,1958,0,0,0,0,0,0
$GC,12921,0.50,121.7,155.0,16.2,853,12930,0.12,1.05,0.00,0.000,6,0.212,0.035,1885,3268,1958,0,0,0,0,0,0
$GC,13247,0.50,121.7,113.4,12.4,884,13251,0.00,1.10,0.00,0.000,4,0.000,0.059,1885,3953,1958,0,0,0,0,0,0
$GC,13319,0.50,121.7,103.3,14.1,890,13327,0.00,1.02,0.00,0.000,6,0.000,0.034,1888,3280,1958,0,0,0,0,0,0
$GC,13672,0.50,121.7,62.3,11.1,949,13678,0.00,1.08,0.00,0.000,4,0.000,0.060,1888,3951,1958,0,0,0,0,0,0
$GC,13939,0.50,121.7,31.8,9.8,995,13946,0.00,1.00,0.00,0.000,6,0.000,0.036,1893,3285,1958,0,0,0,0,0,0
$GC,14091,0.50,121.7,16.3,10.1,1020,14101,0.00,1.08,0.00,0.000,4,0.000,0.059,1893,3953,1958,0,0,0,0,0,0
$STATE,14204,end climb,SURFACE_DEPTH_REACHED
$STATE,14205,begin surface coast
$FINISH,0.5,1.022399
$STATE,14237,end surface coast,CONTROL_FINISHED_OK
$STATE,14238,begin surface
$SM_CCo,14250,41.92,0.799,0,0,1554,225.18
$SM_GC,1.42,0.00,0.00,41.92,0.000,0.000,0.799,62,3413,1554,-5.18,-0.17,225.18
$IRIDIUM_FIX,-4244.98,831.12,251213,000039
$TT8_MAMPS,0.026215
$HUMID,62.79
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.4,23.540
$10V_AH,10.0,16.558
$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,12.575,43.925,235.875,41.925,0.000,25.487,45.583,300.648,0.000,0.000,21.448,2574.321,8864.392,363.663,2819.125,166.226,0.000,1326.646,0.000,2315.013,0.000,1.011,0.000
$DEVICE_MAMPS,244.035,92.565,1847.475,799.425,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,724.117,1777.437,716.180,356.176,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354416
$DATA_FILE_SIZE,73880,1043
$CAP_FILE_SIZE,122158,0
$CFSIZE,259252224,247844864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,251213,084403,-4259.115,830.782,36,1.1,38,-25.0