version: 66.07
glider: 543
mission: 9
dive: 40
start: 12 7 113 14 53 24
data:
$ID,543
$MISSION,9
$DIVE,40
$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,220
$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,-12521.718
$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,1695
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,47
$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,3320
$C_ROLL_CLIMB,3190
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,25
$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
$GPS1,071213,144022,-4255.619,835.412,52,0.9,53,-25.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-71.4
$GPS2,071213,145300,-4255.559,835.522,13,0.8,14,-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,247.4,11117,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.46,-146.1,0.0,0.0,0,65,0.00,0.00,-48.58,0.000,2,0.000,0.000,63,3314,2777,0,0,0,0,0,0
$GC,67,-0.46,-146.1,3.1,-3.4,6,86,6.07,2.28,-7.40,0.000,4,0.240,0.054,1545,1902,3072,0,0,0,0,0,0
$GC,123,-0.46,-146.1,14.8,-16.4,14,132,0.00,2.35,0.00,0.000,6,0.000,0.057,1536,3310,3076,0,0,0,0,0,0
$GC,182,-0.46,-146.1,23.5,-16.5,23,189,0.00,1.05,0.00,0.000,4,0.000,0.063,1531,3953,3076,0,0,0,0,0,0
$GC,267,-0.46,-146.1,39.1,-19.1,37,273,0.00,0.98,0.00,0.000,6,0.000,0.040,1531,3324,3076,0,0,0,0,0,0
$GC,409,-0.46,-146.1,65.9,-16.3,62,416,0.00,1.02,0.00,0.000,4,0.000,0.063,1526,3956,3077,0,0,0,0,0,0
$GC,441,-0.46,-146.1,71.3,-18.4,67,448,0.00,0.98,0.00,0.000,6,0.000,0.040,1526,3321,3077,0,0,0,0,0,0
$GC,779,-0.46,-146.1,127.3,-16.7,113,783,0.00,1.00,0.00,0.000,4,0.000,0.064,1522,3941,3078,0,0,0,0,0,0
$GC,861,-0.46,-146.1,142.5,-17.3,120,871,0.00,0.98,0.00,0.000,6,0.000,0.038,1521,3314,3078,0,0,0,0,0,0
$GC,1186,-0.46,-146.1,197.9,-16.9,151,1190,0.00,1.02,0.00,0.000,4,0.000,0.064,1517,3942,3079,0,0,0,0,0,0
$GC,1288,-0.46,-146.1,216.5,-17.5,160,1292,0.05,0.95,0.00,0.000,6,0.180,0.039,1532,3322,3078,0,0,0,0,0,0
$GC,1617,-0.46,-146.1,267.3,-15.1,191,1621,0.00,1.00,0.00,0.000,4,0.000,0.064,1529,3948,3079,0,0,0,0,0,0
$GC,1696,-0.46,-146.1,280.0,-16.2,198,1700,0.00,0.95,0.00,0.000,6,0.000,0.040,1529,3323,3079,0,0,0,0,0,0
$GC,2028,-0.46,-146.1,329.4,-15.2,229,2032,0.00,1.00,0.00,0.000,4,0.000,0.065,1525,3950,3079,0,0,0,0,0,0
$GC,2130,-0.46,-146.1,345.7,-15.9,238,2134,0.00,0.95,0.00,0.000,6,0.000,0.041,1525,3325,3079,0,0,0,0,0,0
$GC,2462,-0.46,-146.1,395.5,-14.9,269,2465,0.00,1.00,0.00,0.000,4,0.000,0.065,1520,3950,3079,0,0,0,0,0,0
$GC,2510,-0.46,-146.1,403.9,-15.6,273,2515,0.00,0.98,0.00,0.000,6,0.000,0.040,1520,3315,3079,0,0,0,0,0,0
$GC,2838,-0.46,-146.1,455.3,-15.8,289,2841,0.00,1.00,0.00,0.000,4,0.000,0.066,1515,3941,3078,0,0,0,0,0,0
$GC,2908,-0.46,-146.1,467.8,-16.6,292,2914,0.10,0.98,0.00,0.000,6,0.197,0.041,1539,3313,3078,0,0,0,0,0,0
$GC,3235,-0.46,-146.1,511.0,-13.2,308,3239,0.00,1.02,0.00,0.000,4,0.000,0.067,1535,3954,3079,0,0,0,0,0,0
$GC,3324,-0.46,-146.1,523.7,-14.7,312,3328,0.00,0.98,0.00,0.000,6,0.000,0.042,1535,3314,3078,0,0,0,0,0,0
$GC,3656,-0.46,-146.1,568.6,-13.6,328,3660,0.00,1.02,0.00,0.000,4,0.000,0.067,1530,3954,3078,0,0,0,0,0,0
$GC,3727,-0.46,-146.1,579.3,-14.8,331,3732,0.00,1.00,0.00,0.000,6,0.000,0.042,1531,3311,3078,0,0,0,0,0,0
$GC,4054,-0.46,-146.1,623.9,-13.2,347,4058,0.00,1.02,0.00,0.000,4,0.000,0.067,1526,3950,3077,0,0,0,0,0,0
$GC,4131,-0.46,-146.1,635.0,-14.6,350,4136,0.00,0.98,0.00,0.000,6,0.000,0.042,1526,3317,3077,0,0,0,0,0,0
$GC,4453,-0.46,-146.1,678.7,-13.7,366,4456,0.00,1.02,0.00,0.000,4,0.000,0.068,1522,3954,3076,0,0,0,0,0,0
$GC,4565,-0.46,-146.1,695.0,-14.9,371,4569,0.00,0.98,0.00,0.000,6,0.000,0.044,1522,3317,3076,0,0,0,0,0,0
$GC,4896,-0.46,-146.1,743.1,-14.6,387,4900,0.00,1.00,0.00,0.000,4,0.000,0.068,1517,3942,3075,0,0,0,0,0,0
$GC,4964,-0.46,-146.1,753.5,-15.0,390,4967,0.00,0.95,0.00,0.000,6,0.000,0.044,1517,3322,3075,0,0,0,0,0,0
$GC,5296,-0.46,-146.1,801.4,-14.1,406,5299,0.00,1.00,0.00,0.000,4,0.000,0.067,1512,3950,3074,0,0,0,0,0,0
$GC,5378,-0.46,-146.1,814.3,-15.4,409,5386,0.12,0.98,0.00,0.000,6,0.187,0.041,1543,3317,3074,0,0,0,0,0,0
$GC,5695,-0.46,-146.1,849.7,-10.7,425,5699,0.00,1.00,0.00,0.000,4,0.000,0.067,1539,3944,3074,0,0,0,0,0,0
$GC,5749,-0.46,-146.1,856.4,-11.8,427,5754,0.00,0.98,0.00,0.000,6,0.000,0.042,1539,3315,3073,0,0,0,0,0,0
$GC,6071,-0.46,-146.1,892.4,-11.5,443,6074,0.00,1.02,0.00,0.000,4,0.000,0.067,1535,3954,3073,0,0,0,0,0,0
$GC,6138,-0.46,-146.1,900.9,-13.5,446,6142,0.00,0.98,0.00,0.000,6,0.000,0.042,1535,3314,3073,0,0,0,0,0,0
$GC,6470,-0.46,-146.1,941.5,-12.1,462,6474,0.00,1.02,0.00,0.000,4,0.000,0.068,1530,3956,3072,0,0,0,0,0,0
$GC,6530,-0.46,-146.1,949.4,-12.5,464,6538,0.00,0.98,0.00,0.000,6,0.000,0.042,1530,3318,3072,0,0,0,0,0,0
$GC,6846,-0.46,-146.1,989.9,-12.8,480,6850,0.00,1.00,0.00,0.000,4,0.000,0.068,1526,3946,3072,0,0,0,0,0,0
$STATE,6854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6854,begin apogee
$GC,6858,-0.11,0.0,991.4,12.6,480,7002,0.40,0.00,140.18,1.899,6,0.151,0.000,1650,3191,2473,0,0,0,0,0,0
$STATE,7003,end apogee,CONTROL_FINISHED_OK
$STATE,7003,begin climb
$GC,7004,0.46,146.1,997.6,0.0,487,7155,0.60,2.47,142.98,1.838,4,0.106,0.039,1848,1789,1877,0,0,0,0,0,0
$GC,7233,0.48,167.5,982.4,9.0,497,7263,0.00,2.45,21.38,1.739,6,0.000,0.057,1848,3184,1791,0,0,0,0,0,0
$GC,7572,0.48,167.5,942.2,12.4,514,7575,0.00,1.30,0.00,0.000,4,0.000,0.067,1848,3950,1784,0,0,0,0,0,0
$GC,7639,0.48,167.5,932.2,15.2,517,7642,0.00,1.23,0.00,0.000,6,0.000,0.042,1854,3192,1783,0,0,0,0,0,0
$GC,7971,0.48,167.5,886.8,13.9,533,7972,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,3192,1782,0,0,0,0,0,0
$GC,8280,0.48,167.5,843.5,14.2,548,8281,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,3192,1781,0,0,0,0,0,0
$GC,8589,0.48,167.5,799.3,14.1,563,8590,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,3192,1780,0,0,0,0,0,0
$GC,8899,0.48,167.5,754.1,14.4,578,8900,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,3192,1779,0,0,0,0,0,0
$GC,9209,0.48,167.5,708.7,14.8,593,9210,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,3192,1779,0,0,0,0,0,0
$GC,9517,0.48,167.5,664.5,14.3,608,9521,0.00,1.25,0.00,0.000,4,0.000,0.069,1854,3946,1779,0,0,0,0,0,0
$GC,9566,0.48,167.5,656.4,17.5,610,9571,0.00,1.23,0.00,0.000,6,0.000,0.043,1860,3174,1779,0,0,0,0,0,0
$GC,9894,0.48,167.5,608.1,14.6,626,9896,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,3174,1778,0,0,0,0,0,0
$GC,10203,0.48,167.5,562.8,14.3,641,10204,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,3174,1777,0,0,0,0,0,0
$GC,10512,0.48,167.5,519.2,14.0,656,10513,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,3173,1777,0,0,0,0,0,0
$GC,10821,0.48,167.5,477.9,13.3,671,10825,0.00,1.27,0.00,0.000,4,0.000,0.068,1859,3951,1777,0,0,0,0,0,0
$GC,10892,0.48,167.5,467.3,15.3,674,10898,0.00,1.20,0.00,0.000,6,0.000,0.043,1866,3188,1777,0,0,0,0,0,0
$GC,11220,0.48,167.5,425.5,12.3,690,11223,0.00,1.25,0.00,0.000,4,0.000,0.067,1865,3952,1777,0,0,0,0,0,0
$GC,11258,0.48,167.5,420.2,14.4,691,11265,0.00,1.17,0.00,0.000,6,0.000,0.044,1871,3195,1777,0,0,0,0,0,0
$GC,11578,0.48,167.5,379.7,12.1,714,11579,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,3195,1777,0,0,0,0,0,0
$GC,11897,0.48,167.5,338.6,13.1,744,11898,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,3195,1776,0,0,0,0,0,0
$GC,12215,0.48,167.5,298.0,13.0,774,12219,0.00,1.23,0.00,0.000,4,0.000,0.067,1871,3947,1776,0,0,0,0,0,0
$GC,12251,0.48,167.5,293.4,14.8,777,12255,0.00,1.17,0.00,0.000,6,0.000,0.042,1877,3184,1776,0,0,0,0,0,0
$GC,12580,0.48,167.5,248.2,13.8,808,12584,0.00,1.25,0.00,0.000,4,0.000,0.067,1877,3948,1776,0,0,0,0,0,0
$GC,12659,0.48,167.5,235.8,15.8,815,12664,0.10,1.17,0.00,0.000,6,0.182,0.043,1853,3185,1776,0,0,0,0,0,0
$GC,12989,0.48,167.5,195.4,12.3,846,12990,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,3186,1776,0,0,0,0,0,0
$GC,13308,0.48,167.5,157.2,11.9,876,13310,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,3186,1776,0,0,0,0,0,0
$GC,13627,0.48,167.5,119.9,11.4,906,13631,0.00,1.25,0.00,0.000,4,0.000,0.066,1853,3952,1776,0,0,0,0,0,0
$GC,13666,0.48,167.5,114.8,13.5,909,13673,0.00,1.17,0.00,0.000,6,0.000,0.042,1858,3187,1776,0,0,0,0,0,0
$GC,14005,0.48,167.5,74.3,12.3,958,14012,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,3187,1776,0,0,0,0,0,0
$GC,14354,0.48,167.5,35.9,11.1,1019,14361,0.00,1.23,0.00,0.000,4,0.000,0.064,1858,3945,1776,0,0,0,0,0,0
$GC,14449,0.48,167.5,23.7,12.7,1035,14456,0.00,1.15,0.00,0.000,6,0.000,0.041,1863,3190,1776,0,0,0,0,0,0
$GC,14601,0.48,172.2,6.1,9.8,1060,14609,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,3190,1776,0,0,0,0,0,0
$STATE,14633,end climb,SURFACE_DEPTH_REACHED
$STATE,14633,begin surface coast
$FINISH,0.7,1.026097
$STATE,14664,end surface coast,CONTROL_FINISHED_OK
$STATE,14665,begin surface
$SM_CCo,14676,19.70,0.778,0,0,1573,220.03
$SM_GC,2.97,0.00,0.00,19.70,0.000,0.000,0.778,66,3330,1573,-5.09,0.28,220.03
$IRIDIUM_FIX,-4239.11,833.59,071213,101049
$TT8_MAMPS,0.026215
$HUMID,61.34
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.6,7.675
$10V_AH,10.1,5.144
$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,12.275,65.225,304.525,19.700,0.000,26.016,49.004,578.552,0.000,0.000,17.514,2649.654,9111.959,415.686,3139.411,138.634,0.000,1455.625,0.000,2379.703,0.000,1.010,0.000
$DEVICE_MAMPS,240.210,82.620,1899.495,778.005,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,741.302,1839.627,729.432,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355404
$DATA_FILE_SIZE,70281,1070
$CAP_FILE_SIZE,140794,0
$CFSIZE,259252224,255422464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,071213,185933,-4256.343,834.712,36,2.0,40,-25.1