version: 66.07
glider: 543
mission: 9
dive: 38
start: 12 7 113 6 14 26
data:
$ID,543
$MISSION,9
$DIVE,38
$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,-12515.714
$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,43
$R_STBD_OVSHOOT,26
$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
$GPS1,071213,060604,-4255.922,836.780,39,0.9,40,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-71.7
$GPS2,071213,061402,-4255.907,836.854,20,1.3,20,-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,255.9,11985,-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,-146.1,0.0,0.0,0,66,0.00,0.00,-49.15,0.000,2,0.000,0.000,60,3315,2776,0,0,0,0,0,0
$GC,68,-0.47,-146.1,3.3,-3.9,6,86,5.93,1.05,-7.40,0.000,4,0.235,0.088,1526,3948,3073,0,0,0,0,0,0
$GC,226,-0.47,-146.1,41.3,-22.8,32,233,0.00,0.98,0.00,0.000,6,0.000,0.036,1526,3312,3075,0,0,0,0,0,0
$GC,572,-0.47,-146.1,103.7,-17.3,91,575,0.00,1.02,0.00,0.000,4,0.000,0.062,1521,3947,3078,0,0,0,0,0,0
$GC,832,-0.47,-146.1,151.6,-18.6,114,835,0.00,0.98,0.00,0.000,6,0.000,0.037,1521,3305,3078,0,0,0,0,0,0
$GC,1164,-0.47,-146.1,210.4,-18.0,145,1168,0.00,1.02,0.00,0.000,4,0.000,0.062,1517,3943,3078,0,0,0,0,0,0
$GC,1422,-0.47,-146.1,261.3,-19.8,168,1426,0.00,0.95,0.00,0.000,6,0.000,0.037,1517,3314,3079,0,0,0,0,0,0
$GC,1752,-0.47,-146.1,317.3,-15.5,199,1755,0.00,1.00,0.00,0.000,4,0.000,0.063,1512,3940,3079,0,0,0,0,0,0
$GC,2012,-0.47,-146.1,362.8,-16.8,222,2016,0.00,0.95,0.00,0.000,6,0.000,0.037,1512,3312,3079,0,0,0,0,0,0
$GC,2350,-0.47,-146.1,417.6,-16.2,249,2354,0.00,1.00,0.00,0.000,4,0.000,0.063,1507,3941,3079,0,0,0,0,0,0
$GC,2606,-0.47,-146.1,464.2,-17.9,260,2611,0.00,0.98,0.00,0.000,6,0.000,0.037,1507,3305,3079,0,0,0,0,0,0
$GC,2930,-0.47,-146.1,519.7,-17.4,276,2934,0.10,1.02,0.00,0.000,4,0.194,0.063,1527,3937,3079,0,0,0,0,0,0
$GC,3185,-0.47,-146.1,562.5,-16.2,287,3190,0.00,0.98,0.00,0.000,6,0.000,0.039,1527,3305,3079,0,0,0,0,0,0
$GC,3507,-0.47,-146.1,610.2,-14.8,303,3511,0.00,1.02,0.00,0.000,4,0.000,0.065,1523,3946,3079,0,0,0,0,0,0
$GC,3764,-0.47,-146.1,652.2,-16.7,314,3769,0.00,0.98,0.00,0.000,6,0.000,0.039,1523,3312,3078,0,0,0,0,0,0
$GC,4086,-0.47,-146.1,701.2,-15.5,330,4090,0.00,2.15,0.00,0.000,4,0.000,0.036,1522,1883,3078,0,0,0,0,0,0
$GC,4268,-0.47,-146.1,723.0,-11.2,338,4274,0.00,2.30,0.00,0.000,6,0.000,0.057,1512,3307,3077,0,0,0,0,0,0
$GC,4592,-0.47,-146.1,770.9,-14.9,354,4596,0.00,1.02,0.00,0.000,4,0.000,0.065,1507,3956,3077,0,0,0,0,0,0
$GC,4849,-0.47,-146.1,813.2,-16.3,365,4854,0.10,1.00,0.00,0.000,6,0.195,0.039,1531,3303,3077,0,0,0,0,0,0
$GC,5172,-0.47,-146.1,851.7,-11.7,381,5175,0.00,1.02,0.00,0.000,4,0.000,0.066,1527,3944,3076,0,0,0,0,0,0
$GC,5428,-0.47,-146.1,884.1,-12.1,392,5433,0.00,1.00,0.00,0.000,6,0.000,0.040,1528,3297,3076,0,0,0,0,0,0
$GC,5751,-0.47,-146.1,920.7,-11.5,408,5755,0.00,1.02,0.00,0.000,4,0.000,0.067,1523,3936,3075,0,0,0,0,0,0
$GC,5985,-0.47,-146.1,950.9,-12.4,418,5990,0.00,0.98,0.00,0.000,6,0.000,0.041,1523,3307,3075,0,0,0,0,0,0
$STATE,6306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6306,begin apogee
$GC,6310,-0.11,0.0,990.3,12.5,434,6454,0.43,0.00,141.18,1.909,6,0.150,0.000,1651,3163,2473,0,0,0,0,0,0
$STATE,6455,end apogee,CONTROL_FINISHED_OK
$STATE,6455,begin climb
$GC,6456,0.47,146.1,995.5,0.0,441,6608,0.57,2.47,143.90,1.861,4,0.106,0.037,1839,1768,1877,0,0,0,0,0,0
$GC,6738,0.47,146.1,973.3,10.4,454,6742,0.00,2.42,0.00,0.000,6,0.000,0.054,1840,3173,1871,0,0,0,0,0,0
$GC,7064,0.47,146.1,932.7,12.8,470,7065,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,3173,1866,0,0,0,0,0,0
$GC,7373,0.47,146.1,894.4,12.4,485,7374,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,3173,1865,0,0,0,0,0,0
$GC,7682,0.47,146.1,855.9,12.5,500,7683,0.00,0.00,0.00,0.000,6,0.000,0.000,1839,3173,1864,0,0,0,0,0,0
$GC,7993,0.47,146.1,818.4,12.2,515,7994,0.00,0.00,0.00,0.000,6,0.000,0.000,1840,3174,1863,0,0,0,0,0,0
$GC,8301,0.47,146.1,781.3,11.6,530,8305,0.00,2.20,0.00,0.000,4,0.000,0.039,1850,1767,1862,0,0,0,0,0,0
$GC,8343,0.47,146.1,776.6,10.3,532,8348,0.00,2.30,0.00,0.000,6,0.000,0.054,1850,3165,1862,0,0,0,0,0,0
$GC,8672,0.47,146.1,735.4,12.7,548,8676,0.00,1.27,0.00,0.000,4,0.000,0.063,1850,3950,1861,0,0,0,0,0,0
$GC,8698,0.47,146.1,731.5,13.5,549,8703,0.00,1.23,0.00,0.000,6,0.000,0.038,1856,3165,1861,0,0,0,0,0,0
$GC,9026,0.47,146.1,688.4,13.1,565,9027,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,3165,1861,0,0,0,0,0,0
$GC,9335,0.47,146.1,648.4,12.8,580,9339,0.00,2.17,0.00,0.000,4,0.000,0.040,1867,1769,1860,0,0,0,0,0,0
$GC,9374,0.47,146.1,643.8,11.1,582,9379,0.00,2.28,0.00,0.000,6,0.000,0.055,1867,3179,1860,0,0,0,0,0,0
$GC,9701,0.47,146.1,601.4,13.1,598,9702,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,3179,1860,0,0,0,0,0,0
$GC,10010,0.47,146.1,561.8,12.7,613,10011,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,3179,1860,0,0,0,0,0,0
$GC,10319,0.47,146.1,522.4,12.8,628,10323,0.00,2.20,0.00,0.000,4,0.000,0.040,1878,1766,1860,0,0,0,0,0,0
$GC,10385,0.47,146.1,514.7,12.1,631,10390,0.10,2.30,0.00,0.000,6,0.157,0.056,1848,3173,1859,0,0,0,0,0,0
$GC,10712,0.47,146.1,478.0,11.6,647,10714,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,3172,1859,0,0,0,0,0,0
$GC,11021,0.47,146.1,442.1,11.4,662,11025,0.00,2.17,0.00,0.000,4,0.000,0.039,1857,1767,1859,0,0,0,0,0,0
$GC,11060,0.47,146.1,438.0,10.4,664,11065,0.00,2.28,0.00,0.000,6,0.000,0.056,1857,3181,1859,0,0,0,0,0,0
$GC,11387,0.47,146.1,398.3,12.3,680,11388,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,3181,1859,0,0,0,0,0,0
$GC,11706,0.47,146.1,357.8,13.1,710,11707,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,3181,1859,0,0,0,0,0,0
$GC,12024,0.47,146.1,316.7,13.0,740,12026,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,3181,1859,0,0,0,0,0,0
$GC,12343,0.47,146.1,276.3,12.3,770,12344,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,3181,1858,0,0,0,0,0,0
$GC,12662,0.47,146.1,238.6,11.3,800,12666,0.00,2.17,0.00,0.000,4,0.000,0.041,1868,1771,1859,0,0,0,0,0,0
$GC,12694,0.48,155.4,235.2,9.6,802,12705,0.00,2.28,5.97,1.263,6,0.000,0.057,1868,3167,1839,0,0,0,0,0,0
$GC,13030,0.48,155.4,193.7,12.8,834,13031,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,3167,1839,0,0,0,0,0,0
$GC,13349,0.48,155.4,153.9,12.3,864,13353,0.00,2.15,0.00,0.000,4,0.000,0.041,1879,1770,1839,0,0,0,0,0,0
$GC,13388,0.48,155.4,149.4,10.2,867,13393,0.12,2.28,0.00,0.000,6,0.173,0.057,1848,3181,1839,0,0,0,0,0,0
$GC,13714,0.48,155.4,115.5,10.3,897,13715,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,3181,1839,0,0,0,0,0,0
$GC,14041,0.48,155.4,82.0,10.6,942,14049,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,3181,1839,0,0,0,0,0,0
$GC,14391,0.48,166.4,50.1,9.5,1003,14404,0.00,2.22,4.57,0.793,4,0.000,0.040,1857,1766,1792,0,0,0,0,0,0
$GC,14430,0.51,207.6,46.8,8.1,1009,14457,0.00,2.28,17.15,0.946,6,0.000,0.056,1857,3177,1624,0,0,0,0,0,0
$GC,14808,0.51,207.6,4.4,12.3,1073,14816,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,3177,1620,0,0,0,0,0,0
$STATE,14822,end climb,SURFACE_DEPTH_REACHED
$STATE,14822,begin surface coast
$FINISH,0.8,1.016122
$STATE,14854,end surface coast,CONTROL_FINISHED_OK
$STATE,14854,begin surface
$SM_CCo,14925,0.00,0.000,0,0,1617,210.22
$SM_GC,2.22,4.82,0.00,0.00,0.050,0.000,0.000,65,3319,1617,-4.98,0.25,210.22
$IRIDIUM_FIX,-4239.11,838.96,071213,010129
$TT8_MAMPS,0.026215
$HUMID,61.10
$INTERNAL_PRESSURE,9.56208
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.5,7.297
$10V_AH,10.1,4.920
$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,12.175,63.525,312.775,0.000,0.000,26.400,41.986,299.518,0.000,0.000,23.078,2693.671,9105.298,368.820,3093.321,142.448,0.000,1468.783,0.000,2596.630,0.000,1.010,0.000
$DEVICE_MAMPS,234.855,87.975,1909.440,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,748.721,1843.128,726.065,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355200
$DATA_FILE_SIZE,73629,1080
$CAP_FILE_SIZE,133751,0
$CFSIZE,259252224,255590400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,071213,102421,-4255.503,836.385,23,1.6,39,-25.1