version: 66.07
glider: 543
mission: 9
dive: 60
start: 12 10 113 15 4 15
data:
$ID,543
$MISSION,9
$DIVE,60
$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,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,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,-12581.533
$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,3180
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,30
$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
$GPS1,101213,145634,-4259.748,830.417,24,1.4,24,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-70.1
$GPS2,101213,150354,-4259.759,830.473,16,0.9,17,-25.0
$SPEED_LIMITS,0.163,0.255
$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,260.1,781,-27.2,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.61,-57.7,0.0,0.0,0,65,0.00,0.00,-48.72,0.000,2,0.000,0.000,64,3334,2701,0,0,0,0,0,0
$GC,67,-0.64,-106.8,3.3,-4.1,6,85,5.78,0.95,-5.43,0.000,4,0.238,0.086,1477,3941,2909,0,0,0,0,0,0
$GC,345,-0.64,-106.8,66.3,-21.1,53,352,0.00,0.95,0.00,0.000,6,0.000,0.037,1480,3322,2913,0,0,0,0,0,0
$GC,681,-0.64,-106.8,132.8,-19.2,98,685,0.00,2.17,0.00,0.000,4,0.000,0.034,1480,1902,2915,0,0,0,0,0,0
$GC,712,-0.64,-106.8,138.9,-17.7,100,722,0.00,2.30,0.00,0.000,6,0.000,0.053,1470,3312,2916,0,0,0,0,0,0
$GC,1037,-0.64,-106.8,203.2,-20.0,131,1041,0.00,1.02,0.00,0.000,4,0.000,0.059,1466,3956,2916,0,0,0,0,0,0
$GC,1250,-0.64,-106.8,248.5,-21.4,150,1254,0.00,0.98,0.00,0.000,6,0.000,0.035,1466,3310,2916,0,0,0,0,0,0
$GC,1582,-0.64,-106.8,314.6,-19.9,181,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,1466,3310,2916,0,0,0,0,0,0
$GC,1899,-0.64,-106.8,375.1,-19.0,211,1903,0.00,1.02,0.00,0.000,4,0.000,0.061,1460,3953,2916,0,0,0,0,0,0
$GC,2104,-0.64,-106.8,415.4,-19.4,226,2109,0.00,0.98,0.00,0.000,6,0.000,0.036,1461,3315,2916,0,0,0,0,0,0
$GC,2432,-0.64,-106.8,473.3,-17.4,242,2435,0.00,1.00,0.00,0.000,4,0.000,0.061,1456,3944,2916,0,0,0,0,0,0
$GC,2508,-0.64,-106.8,488.4,-18.9,245,2513,0.12,0.98,0.00,0.000,6,0.201,0.037,1485,3310,2916,0,0,0,0,0,0
$GC,2831,-0.64,-106.8,539.5,-16.2,261,2835,0.00,1.02,0.00,0.000,4,0.000,0.062,1481,3955,2917,0,0,0,0,0,0
$GC,2931,-0.64,-106.8,557.4,-16.9,265,2935,0.00,0.98,0.00,0.000,6,0.000,0.037,1481,3315,2916,0,0,0,0,0,0
$GC,3252,-0.64,-106.8,613.5,-17.8,281,3256,0.00,1.00,0.00,0.000,4,0.000,0.063,1477,3945,2916,0,0,0,0,0,0
$GC,3365,-0.64,-106.8,634.9,-19.2,286,3368,0.00,0.95,0.00,0.000,6,0.000,0.039,1477,3317,2916,0,0,0,0,0,0
$GC,3696,-0.64,-106.8,691.9,-17.0,302,3700,0.00,1.00,0.00,0.000,4,0.000,0.063,1472,3945,2916,0,0,0,0,0,0
$GC,3779,-0.64,-106.8,706.6,-17.5,305,3787,0.00,0.98,0.00,0.000,6,0.000,0.038,1472,3312,2915,0,0,0,0,0,0
$GC,4096,-0.64,-106.8,759.9,-17.5,321,4100,0.00,1.02,0.00,0.000,4,0.000,0.064,1467,3954,2915,0,0,0,0,0,0
$GC,4280,-0.64,-106.8,795.8,-19.3,329,4284,0.00,0.98,0.00,0.000,6,0.000,0.039,1467,3320,2914,0,0,0,0,0,0
$GC,4607,-0.64,-106.8,853.3,-17.2,345,4610,0.00,1.00,0.00,0.000,4,0.000,0.064,1463,3949,2914,0,0,0,0,0,0
$GC,4706,-0.64,-106.8,872.2,-19.4,349,4711,0.00,0.98,0.00,0.000,6,0.000,0.039,1463,3315,2913,0,0,0,0,0,0
$GC,5029,-0.64,-106.8,928.5,-17.5,365,5033,0.00,1.00,0.00,0.000,4,0.000,0.064,1458,3943,2913,0,0,0,0,0,0
$GC,5235,-0.64,-106.8,967.0,-18.3,374,5240,0.00,0.98,0.00,0.000,6,0.000,0.039,1458,3311,2912,0,0,0,0,0,0
$STATE,5377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5377,begin apogee
$GC,5381,-0.11,0.0,990.4,16.7,381,5487,0.68,0.00,102.62,1.843,6,0.169,0.000,1654,3182,2473,0,0,0,0,0,0
$STATE,5488,end apogee,CONTROL_FINISHED_OK
$STATE,5488,begin climb
$GC,5489,0.64,106.8,994.9,0.0,386,5604,0.75,2.42,105.78,1.795,4,0.100,0.036,1903,1785,2037,0,0,0,0,0,0
$GC,5638,0.64,106.8,981.6,12.9,393,5643,0.00,2.42,0.00,0.000,6,0.000,0.051,1903,3184,2033,0,0,0,0,0,0
$GC,5964,0.64,106.8,929.2,15.9,409,5967,0.00,1.27,0.00,0.000,4,0.000,0.061,1903,3945,2025,0,0,0,0,0,0
$GC,6054,0.64,106.8,912.7,19.0,413,6057,0.00,1.23,0.00,0.000,6,0.000,0.038,1909,3171,2025,0,0,0,0,0,0
$GC,6387,0.64,106.8,858.8,15.6,429,6391,0.00,1.27,0.00,0.000,4,0.000,0.061,1909,3941,2023,0,0,0,0,0,0
$GC,6526,0.64,106.8,832.7,19.1,435,6530,0.00,1.20,0.00,0.000,6,0.000,0.037,1915,3180,2023,0,0,0,0,0,0
$GC,6853,0.64,106.8,779.9,15.6,451,6857,0.00,1.25,0.00,0.000,4,0.000,0.061,1915,3942,2021,0,0,0,0,0,0
$GC,6997,0.64,106.8,753.6,18.6,457,7002,0.00,1.20,0.00,0.000,6,0.000,0.037,1921,3178,2020,0,0,0,0,0,0
$GC,7321,0.64,106.8,699.6,16.2,473,7324,0.00,1.25,0.00,0.000,4,0.000,0.061,1921,3940,2019,0,0,0,0,0,0
$GC,7448,0.64,106.8,676.1,18.2,478,7456,0.00,1.20,0.00,0.000,6,0.000,0.038,1926,3174,2019,0,0,0,0,0,0
$GC,7766,0.64,106.8,625.4,15.9,494,7769,0.00,1.25,0.00,0.000,4,0.000,0.061,1926,3940,2018,0,0,0,0,0,0
$GC,7826,0.64,106.8,614.4,17.7,496,7834,0.00,1.20,0.00,0.000,6,0.000,0.038,1931,3171,2018,0,0,0,0,0,0
$GC,8142,0.64,106.8,564.3,15.9,512,8145,0.00,1.25,0.00,0.000,4,0.000,0.060,1932,3947,2018,0,0,0,0,0,0
$GC,8246,0.64,106.8,544.9,18.5,516,8255,0.12,1.20,0.00,0.000,6,0.223,0.038,1909,3174,2018,0,0,0,0,0,0
$GC,8563,0.64,106.8,498.9,14.5,532,8567,0.00,1.25,0.00,0.000,4,0.000,0.062,1909,3948,2017,0,0,0,0,0,0
$GC,8707,0.64,106.8,474.6,17.0,538,8712,0.00,1.20,0.00,0.000,6,0.000,0.038,1914,3175,2017,0,0,0,0,0,0
$GC,9029,0.64,106.8,427.7,14.4,554,9030,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3175,2016,0,0,0,0,0,0
$GC,9341,0.64,106.8,384.3,13.5,574,9345,0.00,1.25,0.00,0.000,4,0.000,0.062,1914,3950,2016,0,0,0,0,0,0
$GC,9568,0.64,106.8,348.4,16.8,594,9572,0.00,1.17,0.00,0.000,6,0.000,0.039,1920,3181,2016,0,0,0,0,0,0
$GC,9900,0.64,106.8,301.9,13.5,625,9903,0.00,1.23,0.00,0.000,4,0.000,0.062,1919,3944,2016,0,0,0,0,0,0
$GC,10091,0.64,106.8,270.4,16.4,642,10095,0.00,1.17,0.00,0.000,6,0.000,0.038,1925,3173,2016,0,0,0,0,0,0
$GC,10423,0.64,106.8,221.0,15.1,673,10427,0.00,2.15,0.00,0.000,4,0.000,0.037,1936,1771,2016,0,0,0,0,0,0
$GC,10462,0.64,106.8,215.5,12.4,676,10467,0.12,2.25,0.00,0.000,6,0.197,0.051,1907,3187,2015,0,0,0,0,0,0
$GC,10787,0.64,106.8,173.6,12.9,706,10790,0.00,1.20,0.00,0.000,4,0.000,0.061,1906,3938,2014,0,0,0,0,0,0
$GC,11047,0.64,106.8,137.4,14.0,729,11051,0.00,1.15,0.00,0.000,6,0.000,0.037,1911,3182,2014,0,0,0,0,0,0
$GC,11374,0.64,106.8,94.9,13.7,762,11382,0.00,1.23,0.00,0.000,4,0.000,0.061,1911,3940,2014,0,0,0,0,0,0
$GC,11513,0.64,106.8,75.2,13.3,786,11522,0.00,1.15,0.00,0.000,6,0.000,0.037,1917,3184,2014,0,0,0,0,0,0
$GC,11865,0.64,106.8,32.7,12.0,847,11872,0.00,1.23,0.00,0.000,4,0.000,0.060,1917,3950,2014,0,0,0,0,0,0
$GC,11906,0.64,106.8,26.8,14.2,854,11915,0.00,1.17,0.00,0.000,6,0.000,0.037,1923,3168,2014,0,0,0,0,0,0
$GC,12059,0.64,106.8,7.1,14.0,879,12068,0.00,1.25,0.00,0.000,4,0.000,0.060,1923,3952,2014,0,0,0,0,0,0
$STATE,12087,end climb,SURFACE_DEPTH_REACHED
$STATE,12087,begin surface coast
$FINISH,0.7,1.026245
$STATE,12106,end surface coast,CONTROL_FINISHED_OK
$STATE,12106,begin surface
$SM_CCo,12119,45.78,0.802,0,0,1553,225.18
$SM_GC,1.15,0.00,0.00,45.78,0.000,0.000,0.802,65,3324,1553,-5.09,0.11,225.18
$IRIDIUM_FIX,-4244.98,834.03,101213,111123
$TT8_MAMPS,0.026215
$HUMID,62.08
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.9,10.770
$10V_AH,10.1,7.073
$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,12.625,65.025,208.400,45.775,0.000,28.117,48.912,259.105,0.000,0.000,19.636,2264.987,7191.375,354.218,2676.068,121.272,0.000,1323.195,0.000,2227.583,0.000,1.010,0.000
$DEVICE_MAMPS,237.915,86.445,1842.885,801.720,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,614.180,1522.643,620.898,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355220
$DATA_FILE_SIZE,60559,886
$CAP_FILE_SIZE,121216,0
$CFSIZE,259252224,254136320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,101213,182805,-4300.263,830.082,32,0.9,32,-25.0