version: 66.07
glider: 543
mission: 9
dive: 39
start: 12 7 113 10 32 23
data:
$ID,543
$MISSION,9
$DIVE,39
$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,-12518.673
$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,45
$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
$DEVICE3,35
$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
$GPS1,071213,102421,-4255.503,836.385,23,1.6,39,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-70.4
$GPS2,071213,103159,-4255.507,836.463,17,0.9,17,-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,251.6,12077,-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,-49.08,0.000,2,0.000,0.000,64,3319,2791,0,0,0,0,0,0
$GC,68,-0.47,-146.1,3.3,-4.1,6,86,5.97,1.05,-6.90,0.000,4,0.239,0.089,1525,3952,3072,0,0,0,0,0,0
$GC,260,-0.47,-146.1,47.2,-21.0,38,266,0.00,0.98,0.00,0.000,6,0.000,0.037,1525,3314,3076,0,0,0,0,0,0
$GC,606,-0.47,-146.1,107.4,-16.7,95,609,0.00,1.02,0.00,0.000,4,0.000,0.063,1520,3952,3078,0,0,0,0,0,0
$GC,824,-0.47,-146.1,148.3,-18.7,114,832,0.00,1.00,0.00,0.000,6,0.000,0.036,1520,3301,3078,0,0,0,0,0,0
$GC,1153,-0.47,-146.1,204.5,-17.4,145,1156,0.00,1.02,0.00,0.000,4,0.000,0.061,1515,3941,3079,0,0,0,0,0,0
$GC,1411,-0.47,-146.1,253.0,-18.9,168,1415,0.00,0.95,0.00,0.000,6,0.000,0.036,1516,3310,3079,0,0,0,0,0,0
$GC,1741,-0.47,-146.1,309.9,-16.4,199,1745,0.00,1.02,0.00,0.000,4,0.000,0.063,1511,3939,3079,0,0,0,0,0,0
$GC,2001,-0.47,-146.1,356.2,-17.9,222,2005,0.00,0.95,0.00,0.000,6,0.000,0.037,1511,3310,3079,0,0,0,0,0,0
$GC,2340,-0.47,-146.1,411.6,-16.3,251,2343,0.00,1.05,0.00,0.000,4,0.000,0.063,1506,3953,3079,0,0,0,0,0,0
$GC,2591,-0.47,-146.1,457.0,-18.4,262,2596,0.12,1.00,0.00,0.000,6,0.185,0.037,1537,3300,3079,0,0,0,0,0,0
$GC,2918,-0.47,-146.1,502.0,-13.9,278,2922,0.00,1.02,0.00,0.000,4,0.000,0.063,1533,3938,3079,0,0,0,0,0,0
$GC,3076,-0.47,-146.1,525.2,-14.6,285,3080,0.00,0.95,0.00,0.000,6,0.000,0.039,1533,3313,3079,0,0,0,0,0,0
$GC,3408,-0.47,-146.1,571.0,-13.5,301,3412,0.00,1.00,0.00,0.000,4,0.000,0.064,1529,3939,3079,0,0,0,0,0,0
$GC,3591,-0.47,-146.1,598.7,-14.4,309,3596,0.00,0.98,0.00,0.000,6,0.000,0.039,1529,3306,3079,0,0,0,0,0,0
$GC,3919,-0.47,-146.1,644.6,-14.0,325,3922,0.00,1.02,0.00,0.000,4,0.000,0.065,1524,3948,3078,0,0,0,0,0,0
$GC,4175,-0.47,-146.1,682.3,-14.7,336,4180,0.00,1.00,0.00,0.000,6,0.000,0.040,1524,3299,3078,0,0,0,0,0,0
$GC,4497,-0.47,-146.1,726.5,-13.9,352,4501,0.00,1.02,0.00,0.000,4,0.000,0.066,1520,3938,3076,0,0,0,0,0,0
$GC,4635,-0.47,-146.1,747.5,-14.6,358,4640,0.00,0.98,0.00,0.000,6,0.000,0.039,1520,3309,3076,0,0,0,0,0,0
$GC,4964,-0.47,-146.1,793.3,-13.9,374,4967,0.00,1.02,0.00,0.000,4,0.000,0.066,1515,3952,3076,0,0,0,0,0,0
$GC,5091,-0.47,-146.1,812.3,-14.3,379,5098,0.00,1.00,0.00,0.000,6,0.000,0.039,1515,3302,3076,0,0,0,0,0,0
$GC,5409,-0.47,-146.1,855.4,-13.5,395,5412,0.00,1.02,0.00,0.000,4,0.000,0.065,1510,3944,3075,0,0,0,0,0,0
$GC,5636,-0.47,-146.1,888.7,-14.4,405,5641,0.00,0.98,0.00,0.000,6,0.000,0.040,1510,3311,3074,0,0,0,0,0,0
$GC,5964,-0.47,-146.1,930.2,-12.8,421,5967,0.00,1.00,0.00,0.000,4,0.000,0.066,1505,3936,3074,0,0,0,0,0,0
$GC,6102,-0.47,-146.1,949.8,-13.8,427,6108,0.12,0.98,0.00,0.000,6,0.186,0.040,1536,3307,3073,0,0,0,0,0,0
$GC,6432,-0.47,-146.1,982.4,-9.9,443,6435,0.00,1.02,0.00,0.000,4,0.000,0.067,1532,3948,3073,0,0,0,0,0,0
$STATE,6501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6502,begin apogee
$GC,6507,-0.11,0.0,990.2,10.4,446,6651,0.35,0.00,140.82,1.910,6,0.146,0.000,1644,3154,2473,0,0,0,0,0,0
$STATE,6651,end apogee,CONTROL_FINISHED_OK
$STATE,6652,begin climb
$GC,6653,0.47,146.1,994.0,0.0,453,6805,0.62,2.45,143.77,1.854,4,0.109,0.037,1846,1777,1877,0,0,0,0,0,0
$GC,6899,0.47,146.1,973.0,11.3,464,6904,0.00,2.45,0.00,0.000,6,0.000,0.054,1846,3168,1872,0,0,0,0,0,0
$GC,7221,0.47,146.1,933.2,12.2,480,7225,0.00,2.25,0.00,0.000,4,0.000,0.039,1856,1773,1866,0,0,0,0,0,0
$GC,7263,0.47,146.1,928.1,11.1,482,7268,0.00,2.38,0.00,0.000,6,0.000,0.056,1857,3175,1865,0,0,0,0,0,0
$GC,7592,0.47,146.1,884.4,13.5,498,7593,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,3175,1864,0,0,0,0,0,0
$GC,7900,0.47,146.1,844.7,12.7,513,7901,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,3175,1864,0,0,0,0,0,0
$GC,8209,0.47,146.1,805.7,12.8,528,8210,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,3175,1862,0,0,0,0,0,0
$GC,8519,0.47,146.1,766.3,12.8,543,8523,0.00,2.20,0.00,0.000,4,0.000,0.043,1867,1773,1862,0,0,0,0,0,0
$GC,8573,0.47,146.1,759.8,10.7,545,8581,0.00,2.30,0.00,0.000,6,0.000,0.059,1867,3167,1861,0,0,0,0,0,0
$GC,8889,0.47,146.1,716.6,13.7,561,8893,0.00,2.20,0.00,0.000,4,0.000,0.043,1878,1768,1860,0,0,0,0,0,0
$GC,8928,0.47,146.1,711.7,12.4,563,8933,0.12,2.30,0.00,0.000,6,0.184,0.059,1848,3180,1860,0,0,0,0,0,0
$GC,9256,0.47,146.1,672.6,11.8,579,9257,0.00,0.00,0.00,0.000,6,0.000,0.000,1848,3180,1860,0,0,0,0,0,0
$GC,9564,0.47,146.1,635.9,12.0,594,9567,0.00,1.25,0.00,0.000,4,0.000,0.066,1848,3950,1860,0,0,0,0,0,0
$GC,9617,0.47,146.1,628.6,14.6,596,9622,0.00,1.23,0.00,0.000,6,0.000,0.041,1852,3167,1859,0,0,0,0,0,0
$GC,9940,0.47,146.1,589.0,12.4,612,9944,0.00,1.25,0.00,0.000,4,0.000,0.065,1852,3935,1860,0,0,0,0,0,0
$GC,9978,0.47,146.1,583.8,13.5,613,9986,0.00,1.20,0.00,0.000,6,0.000,0.041,1857,3169,1859,0,0,0,0,0,0
$GC,10294,0.47,146.1,542.7,13.2,629,10295,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,3169,1859,0,0,0,0,0,0
$GC,10603,0.47,146.1,503.9,12.1,644,10604,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,3169,1859,0,0,0,0,0,0
$GC,10913,0.47,146.1,466.4,12.3,659,10914,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,3169,1859,0,0,0,0,0,0
$GC,11222,0.47,146.1,428.8,12.3,674,11226,0.00,2.17,0.00,0.000,4,0.000,0.041,1869,1766,1859,0,0,0,0,0,0
$GC,11265,0.47,146.1,423.8,11.0,676,11270,0.00,2.28,0.00,0.000,6,0.000,0.055,1868,3168,1858,0,0,0,0,0,0
$GC,11588,0.47,146.1,381.2,13.7,697,11589,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,3167,1858,0,0,0,0,0,0
$GC,11904,0.47,146.1,336.9,14.3,727,11905,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,3167,1858,0,0,0,0,0,0
$GC,12225,0.47,146.1,291.8,14.3,757,12226,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,3167,1858,0,0,0,0,0,0
$GC,12541,0.47,146.1,246.7,13.7,787,12542,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,3167,1858,0,0,0,0,0,0
$GC,12862,0.47,146.1,204.1,13.0,817,12865,0.00,1.25,0.00,0.000,4,0.000,0.063,1869,3950,1858,0,0,0,0,0,0
$GC,12944,0.47,146.1,191.2,15.2,824,12955,0.12,1.23,0.00,0.000,6,0.200,0.039,1845,3154,1858,0,0,0,0,0,0
$GC,13269,0.47,146.2,156.5,10.0,855,13270,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,3154,1858,0,0,0,0,0,0
$GC,13591,0.47,146.2,123.3,10.4,885,13592,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,3154,1857,0,0,0,0,0,0
$GC,13914,0.48,158.7,91.4,9.4,922,13923,0.00,2.17,3.42,0.805,4,0.000,0.039,1854,1769,1824,0,0,0,0,0,0
$GC,13953,0.50,199.7,87.9,8.1,928,13980,0.00,2.25,17.40,1.099,6,0.000,0.055,1854,3185,1657,0,0,0,0,0,0
$GC,14321,0.50,199.7,48.8,10.1,992,14327,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,3185,1653,0,0,0,0,0,0
$GC,14676,0.50,199.7,10.6,10.9,1053,14684,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,3185,1653,0,0,0,0,0,0
$GC,14733,0.50,199.7,4.4,10.7,1062,14741,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,3185,1653,0,0,0,0,0,0
$STATE,14747,end climb,SURFACE_DEPTH_REACHED
$STATE,14748,begin surface coast
$FINISH,0.7,1.026140
$STATE,14779,end surface coast,CONTROL_FINISHED_OK
$STATE,14779,begin surface
$SM_CCo,14790,3.22,0.522,0,0,1616,210.22
$SM_GC,1.66,0.00,0.00,3.22,0.000,0.000,0.522,64,3311,1616,-5.08,0.03,210.22
$IRIDIUM_FIX,-4239.11,838.96,071213,010129
$TT8_MAMPS,0.026215
$HUMID,61.65
$INTERNAL_PRESSURE,9.56208
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.5,7.474
$10V_AH,10.1,5.032
$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,12.250,61.275,305.425,3.225,0.000,30.728,20.548,298.303,0.000,0.000,19.916,2668.604,9030.861,385.565,3021.977,146.085,0.000,1480.441,0.000,2551.907,0.000,1.010,0.000
$DEVICE_MAMPS,239.445,88.740,1910.205,522.495,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,740.782,1822.391,716.172,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355184
$DATA_FILE_SIZE,70264,1069
$CAP_FILE_SIZE,135158,0
$CFSIZE,259252224,255512576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,071213,144022,-4255.619,835.412,52,0.9,53,-25.1