version: 66.07
glider: 543
mission: 9
dive: 34
start: 12 6 113 13 23 18
data:
$ID,543
$MISSION,9
$DIVE,34
$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,330
$T_MISSION,370
$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,210
$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,-12503.995
$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,1690
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,46
$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,3310
$C_ROLL_CLIMB,3170
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,27
$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
$DEVICE3,35
$DEVICE4,-1
$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
$GPS1,061213,131505,-4254.442,840.319,24,0.9,25,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-71.2
$GPS2,061213,132254,-4254.433,840.364,16,1.6,16,-25.1
$SPEED_LIMITS,0.173,0.260
$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,258.8,17417,-17.5,-10.000
$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,-146.1,0.0,0.0,0,73,0.00,0.00,-56.28,0.000,2,0.000,0.000,64,3321,2994,0,0,0,0,0,0
$GC,75,-0.47,-146.1,3.8,-4.3,7,92,5.95,1.02,-1.73,0.000,4,0.239,0.086,1527,3953,3073,0,0,0,0,0,0
$GC,118,-0.47,-146.1,18.7,-33.6,13,127,0.00,0.98,0.00,0.000,6,0.000,0.037,1530,3317,3075,0,0,0,0,0,0
$GC,173,-0.47,-146.1,31.8,-20.8,22,181,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3317,3076,0,0,0,0,0,0
$GC,318,-0.47,-146.1,59.8,-18.5,47,324,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3317,3076,0,0,0,0,0,0
$GC,662,-0.47,-146.1,118.8,-16.8,99,665,0.00,1.00,0.00,0.000,4,0.000,0.063,1526,3939,3077,0,0,0,0,0,0
$GC,809,-0.47,-146.1,144.2,-16.7,112,812,0.00,0.95,0.00,0.000,6,0.000,0.037,1526,3313,3077,0,0,0,0,0,0
$GC,1138,-0.47,-146.1,198.5,-16.0,143,1142,0.00,1.02,0.00,0.000,4,0.000,0.062,1521,3947,3078,0,0,0,0,0,0
$GC,1229,-0.47,-146.1,214.2,-17.0,151,1233,0.00,0.98,0.00,0.000,6,0.000,0.037,1521,3301,3078,0,0,0,0,0,0
$GC,1559,-0.47,-146.1,270.6,-16.6,182,1562,0.00,1.02,0.00,0.000,4,0.000,0.062,1517,3942,3079,0,0,0,0,0,0
$GC,1672,-0.47,-146.1,290.3,-16.5,192,1675,0.00,0.95,0.00,0.000,6,0.000,0.037,1517,3313,3079,0,0,0,0,0,0
$GC,2002,-0.47,-146.1,343.9,-16.1,223,2005,0.00,1.00,0.00,0.000,4,0.000,0.062,1512,3941,3079,0,0,0,0,0,0
$GC,2118,-0.47,-146.1,364.9,-17.1,233,2126,0.00,0.98,0.00,0.000,6,0.000,0.037,1512,3305,3079,0,0,0,0,0,0
$GC,2451,-0.47,-146.1,422.9,-17.5,259,2455,0.00,1.02,0.00,0.000,4,0.000,0.062,1507,3950,3079,0,0,0,0,0,0
$GC,2601,-0.47,-146.1,451.0,-18.2,265,2609,0.10,0.98,0.00,0.000,6,0.191,0.037,1531,3311,3079,0,0,0,0,0,0
$GC,2917,-0.47,-146.1,497.0,-14.3,281,2921,0.00,1.00,0.00,0.000,4,0.000,0.063,1528,3940,3079,0,0,0,0,0,0
$GC,3000,-0.47,-146.1,509.8,-14.6,284,3008,0.00,0.98,0.00,0.000,6,0.000,0.038,1528,3305,3079,0,0,0,0,0,0
$GC,3316,-0.47,-146.1,557.0,-14.9,300,3319,0.00,1.02,0.00,0.000,4,0.000,0.064,1523,3950,3079,0,0,0,0,0,0
$GC,3384,-0.47,-146.1,567.5,-16.3,303,3387,0.00,0.98,0.00,0.000,6,0.000,0.039,1523,3305,3079,0,0,0,0,0,0
$GC,3715,-0.47,-146.1,618.9,-15.5,319,3719,0.00,1.00,0.00,0.000,4,0.000,0.064,1518,3931,3078,0,0,0,0,0,0
$GC,3831,-0.47,-146.1,638.0,-16.2,324,3836,0.00,0.98,0.00,0.000,6,0.000,0.039,1518,3299,3078,0,0,0,0,0,0
$GC,4159,-0.47,-146.1,687.8,-14.9,340,4162,0.00,1.02,0.00,0.000,4,0.000,0.064,1514,3943,3077,0,0,0,0,0,0
$GC,4257,-0.47,-146.1,703.7,-16.5,344,4262,0.00,0.98,0.00,0.000,6,0.000,0.040,1514,3309,3077,0,0,0,0,0,0
$GC,4579,-0.47,-146.1,752.8,-15.2,360,4582,0.00,1.00,0.00,0.000,4,0.000,0.065,1509,3936,3076,0,0,0,0,0,0
$GC,4669,-0.47,-146.1,767.4,-15.1,364,4672,0.00,0.95,0.00,0.000,6,0.000,0.041,1509,3313,3076,0,0,0,0,0,0
$GC,5002,-0.47,-146.1,818.4,-15.1,380,5006,0.00,1.00,0.00,0.000,4,0.000,0.065,1505,3937,3075,0,0,0,0,0,0
$GC,5047,-0.47,-146.1,825.7,-15.5,382,5051,0.08,0.98,0.00,0.000,6,0.171,0.041,1528,3299,3076,0,0,0,0,0,0
$GC,5378,-0.47,-146.1,866.7,-11.9,398,5382,0.00,1.02,0.00,0.000,4,0.000,0.065,1524,3939,3075,0,0,0,0,0,0
$GC,5494,-0.47,-146.1,881.8,-12.6,403,5499,0.00,0.98,0.00,0.000,6,0.000,0.040,1524,3310,3074,0,0,0,0,0,0
$GC,5821,-0.47,-146.1,921.9,-12.4,419,5825,0.00,1.00,0.00,0.000,4,0.000,0.066,1520,3934,3074,0,0,0,0,0,0
$GC,5892,-0.47,-146.1,931.6,-12.5,422,5897,0.00,0.98,0.00,0.000,6,0.000,0.041,1520,3304,3074,0,0,0,0,0,0
$GC,6220,-0.47,-146.1,973.8,-12.6,438,6223,0.00,1.02,0.00,0.000,4,0.000,0.067,1515,3945,3073,0,0,0,0,0,0
$GC,6324,-0.47,-146.1,988.0,-13.2,442,6332,0.00,1.00,0.00,0.000,6,0.000,0.040,1515,3297,3073,0,0,0,0,0,0
$STATE,6350,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6351,begin apogee
$GC,6354,-0.11,0.0,991.2,12.8,444,6497,0.45,0.00,139.57,1.912,6,0.151,0.000,1650,3170,2473,0,0,0,0,0,0
$STATE,6498,end apogee,CONTROL_FINISHED_OK
$STATE,6498,begin climb
$GC,6499,0.47,146.1,996.3,0.0,451,6651,0.60,2.47,143.38,1.859,4,0.105,0.038,1847,1771,1877,0,0,0,0,0,0
$GC,6717,0.48,154.3,980.6,9.6,461,6735,0.00,2.45,8.25,1.575,6,0.000,0.054,1847,3159,1844,0,0,0,0,0,0
$GC,7044,0.48,154.3,941.5,12.1,477,7048,0.00,1.33,0.00,0.000,4,0.000,0.063,1847,3950,1840,0,0,0,0,0,0
$GC,7143,0.48,154.3,926.9,14.6,481,7148,0.00,1.27,0.00,0.000,6,0.000,0.037,1853,3157,1839,0,0,0,0,0,0
$GC,7465,0.48,154.3,886.7,12.3,497,7466,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,3157,1837,0,0,0,0,0,0
$GC,7776,0.48,154.3,849.2,12.1,512,7779,0.00,1.30,0.00,0.000,4,0.000,0.064,1853,3942,1836,0,0,0,0,0,0
$GC,7888,0.48,154.3,833.2,14.9,517,7892,0.00,1.20,0.00,0.000,6,0.000,0.038,1859,3173,1836,0,0,0,0,0,0
$GC,8220,0.48,154.3,789.1,12.9,533,8221,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,3174,1835,0,0,0,0,0,0
$GC,8529,0.48,154.3,750.3,12.4,548,8530,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,3173,1835,0,0,0,0,0,0
$GC,8839,0.48,154.3,712.2,12.0,563,8842,0.00,1.27,0.00,0.000,4,0.000,0.065,1859,3950,1834,0,0,0,0,0,0
$GC,8928,0.48,154.3,699.9,14.2,567,8932,0.00,1.20,0.00,0.000,6,0.000,0.040,1864,3170,1834,0,0,0,0,0,0
$GC,9260,0.48,154.3,659.6,11.9,583,9261,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,3170,1834,0,0,0,0,0,0
$GC,9570,0.48,154.3,621.9,12.0,598,9573,0.00,1.27,0.00,0.000,4,0.000,0.065,1864,3956,1833,0,0,0,0,0,0
$GC,9637,0.48,154.3,612.7,14.0,601,9640,0.00,1.20,0.00,0.000,6,0.000,0.039,1870,3173,1833,0,0,0,0,0,0
$GC,9969,0.48,154.3,571.6,12.3,617,9972,0.00,1.27,0.00,0.000,4,0.000,0.064,1871,3958,1833,0,0,0,0,0,0
$GC,10006,0.48,154.3,566.2,13.9,618,10015,0.12,1.23,0.00,0.000,6,0.207,0.038,1847,3168,1833,0,0,0,0,0,0
$GC,10322,0.48,154.3,532.8,10.7,634,10323,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,3168,1832,0,0,0,0,0,0
$GC,10633,0.48,154.3,498.5,11.5,649,10637,0.00,1.27,0.00,0.000,4,0.000,0.063,1847,3955,1832,0,0,0,0,0,0
$GC,10693,0.48,154.3,490.1,13.5,651,10701,0.00,1.23,0.00,0.000,6,0.000,0.037,1852,3164,1832,0,0,0,0,0,0
$GC,11009,0.48,154.3,451.8,12.1,667,11011,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,3164,1832,0,0,0,0,0,0
$GC,11319,0.48,154.3,413.0,12.7,682,11322,0.00,1.27,0.00,0.000,4,0.000,0.063,1852,3951,1832,0,0,0,0,0,0
$GC,11367,0.48,154.3,405.8,14.8,684,11372,0.00,1.23,0.00,0.000,6,0.000,0.037,1858,3159,1832,0,0,0,0,0,0
$GC,11692,0.48,154.3,363.1,13.0,712,11696,0.00,1.27,0.00,0.000,4,0.000,0.064,1858,3949,1832,0,0,0,0,0,0
$GC,11764,0.48,154.3,351.9,15.9,718,11772,0.00,1.20,0.00,0.000,6,0.000,0.037,1864,3170,1832,0,0,0,0,0,0
$GC,12091,0.48,154.3,308.5,13.1,749,12095,0.00,1.25,0.00,0.000,4,0.000,0.064,1864,3950,1832,0,0,0,0,0,0
$GC,12151,0.48,154.3,299.2,15.0,754,12159,0.00,1.20,0.00,0.000,6,0.000,0.037,1870,3167,1832,0,0,0,0,0,0
$GC,12479,0.48,154.3,255.1,13.9,785,12483,0.00,2.15,0.00,0.000,4,0.000,0.037,1881,1767,1832,0,0,0,0,0,0
$GC,12507,0.48,154.3,251.2,12.2,787,12512,0.12,2.25,0.00,0.000,6,0.177,0.053,1850,3178,1831,0,0,0,0,0,0
$GC,12833,0.48,154.3,213.1,11.5,817,12837,0.00,1.23,0.00,0.000,4,0.000,0.061,1850,3942,1831,0,0,0,0,0,0
$GC,12927,0.48,154.3,200.1,13.2,825,12935,0.00,1.20,0.00,0.000,6,0.000,0.037,1854,3159,1830,0,0,0,0,0,0
$GC,13253,0.48,154.3,162.1,11.4,856,13254,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,3159,1831,0,0,0,0,0,0
$GC,13572,0.48,154.3,123.9,11.9,886,13573,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,3159,1831,0,0,0,0,0,0
$GC,13898,0.48,154.3,84.4,11.6,927,13907,0.00,1.27,0.00,0.000,4,0.000,0.063,1854,3949,1831,0,0,0,0,0,0
$GC,13926,0.48,154.3,81.0,13.0,931,13933,0.00,1.17,0.00,0.000,6,0.000,0.037,1860,3171,1831,0,0,0,0,0,0
$GC,14273,0.48,154.3,39.1,10.6,992,14282,0.00,1.25,0.00,0.000,4,0.000,0.063,1860,3947,1831,0,0,0,0,0,0
$GC,14399,0.48,154.3,23.6,12.2,1013,14406,0.00,1.17,0.00,0.000,6,0.000,0.037,1866,3167,1830,0,0,0,0,0,0
$GC,14550,0.48,154.3,6.3,11.8,1038,14558,0.00,0.00,0.00,0.000,6,0.000,0.000,1866,3167,1831,0,0,0,0,0,0
$STATE,14576,end climb,SURFACE_DEPTH_REACHED
$STATE,14576,begin surface coast
$FINISH,0.7,1.019393
$STATE,14608,end surface coast,CONTROL_FINISHED_OK
$STATE,14608,begin surface
$SM_CCo,14619,21.20,0.776,0,0,1615,210.22
$SM_GC,2.44,0.00,0.00,21.20,0.000,0.000,0.776,72,3323,1615,-5.05,0.37,210.22
$IRIDIUM_FIX,-4236.17,838.96,061213,090914
$TT8_MAMPS,0.026215
$HUMID,61.41
$INTERNAL_PRESSURE,9.56208
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.6,6.585
$10V_AH,10.1,4.482
$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,12.100,69.300,291.200,21.200,0.000,28.224,41.870,291.194,0.000,0.000,19.226,2614.643,9023.516,429.519,2907.332,136.578,0.000,1509.486,0.000,2425.567,0.000,1.010,0.000
$DEVICE_MAMPS,238.680,85.680,1911.735,775.710,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,724.436,1787.566,689.761,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355140
$DATA_FILE_SIZE,70555,1047
$CAP_FILE_SIZE,140255,0
$CFSIZE,259252224,255885312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,061213,172834,-4254.834,839.556,41,1.2,42,-25.1