version: 66.07
glider: 543
mission: 9
dive: 71
start: 12 12 113 6 12 13
data:
$ID,543
$MISSION,9
$DIVE,71
$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,-12614.598
$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,49
$R_STBD_OVSHOOT,23
$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
$GPS1,121213,060435,-4258.822,831.701,28,1.4,28,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-68.0
$GPS2,121213,061152,-4258.846,831.813,18,0.9,19,-25.1
$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,254.1,3255,-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,-48.95,0.000,2,0.000,0.000,63,3316,2687,0,0,0,0,0,0
$GC,67,-0.64,-106.3,3.3,-4.1,6,85,5.85,1.00,-5.82,0.000,4,0.243,0.083,1479,3956,2910,0,0,0,0,0,0
$GC,293,-0.64,-106.3,57.8,-24.2,44,300,0.00,0.98,0.00,0.000,6,0.000,0.037,1479,3321,2914,0,0,0,0,0,0
$GC,635,-0.64,-106.3,131.7,-20.9,92,639,0.00,1.00,0.00,0.000,4,0.000,0.060,1474,3950,2915,0,0,0,0,0,0
$GC,739,-0.64,-106.3,154.1,-21.7,101,743,0.00,0.95,0.00,0.000,6,0.000,0.036,1474,3321,2916,0,0,0,0,0,0
$GC,1069,-0.64,-106.3,220.9,-20.0,132,1072,0.00,1.00,0.00,0.000,4,0.000,0.060,1470,3948,2917,0,0,0,0,0,0
$GC,1194,-0.64,-106.3,246.9,-20.8,143,1198,0.00,0.95,0.00,0.000,6,0.000,0.037,1470,3316,2917,0,0,0,0,0,0
$GC,1524,-0.64,-106.3,311.1,-19.5,174,1527,0.00,1.00,0.00,0.000,4,0.000,0.060,1465,3947,2917,0,0,0,0,0,0
$GC,1641,-0.64,-106.3,335.9,-20.9,184,1650,0.00,0.98,0.00,0.000,6,0.000,0.036,1465,3309,2917,0,0,0,0,0,0
$GC,1966,-0.64,-106.3,398.0,-18.8,215,1969,0.00,1.02,0.00,0.000,4,0.000,0.060,1460,3953,2917,0,0,0,0,0,0
$GC,2033,-0.64,-106.3,411.8,-20.5,219,2037,0.00,0.95,0.00,0.000,6,0.000,0.037,1461,3319,2917,0,0,0,0,0,0
$GC,2365,-0.64,-106.3,475.7,-19.1,235,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,1460,3319,2917,0,0,0,0,0,0
$GC,2675,-0.64,-106.3,533.7,-18.8,250,2678,0.00,1.00,0.00,0.000,4,0.000,0.061,1456,3950,2917,0,0,0,0,0,0
$GC,2810,-0.64,-106.3,561.2,-19.8,256,2813,0.00,0.95,0.00,0.000,6,0.000,0.037,1456,3317,2917,0,0,0,0,0,0
$GC,3141,-0.64,-106.3,623.8,-18.7,272,3143,0.12,0.00,0.00,0.000,6,0.196,0.000,1485,3317,2917,0,0,0,0,0,0
$GC,3452,-0.64,-106.3,673.9,-16.0,287,3456,0.00,1.00,0.00,0.000,4,0.000,0.063,1482,3947,2916,0,0,0,0,0,0
$GC,3591,-0.64,-106.3,698.5,-16.9,293,3596,0.00,0.98,0.00,0.000,6,0.000,0.037,1482,3311,2917,0,0,0,0,0,0
$GC,3919,-0.64,-106.3,751.5,-16.1,309,3922,0.00,1.00,0.00,0.000,4,0.000,0.063,1477,3940,2917,0,0,0,0,0,0
$GC,3978,-0.64,-106.3,762.3,-17.2,311,3986,0.00,0.95,0.00,0.000,6,0.000,0.038,1477,3319,2916,0,0,0,0,0,0
$GC,4294,-0.64,-106.3,815.4,-17.1,327,4295,0.00,0.00,0.00,0.000,6,0.000,0.000,1477,3319,2915,0,0,0,0,0,0
$GC,4604,-0.64,-106.3,868.0,-16.4,342,4607,0.00,1.00,0.00,0.000,4,0.000,0.064,1472,3950,2915,0,0,0,0,0,0
$GC,4680,-0.64,-106.3,881.9,-17.7,345,4685,0.00,0.98,0.00,0.000,6,0.000,0.039,1472,3314,2914,0,0,0,0,0,0
$GC,5002,-0.64,-106.3,934.8,-16.3,361,5003,0.00,0.00,0.00,0.000,6,0.000,0.000,1472,3313,2914,0,0,0,0,0,0
$GC,5313,-0.64,-106.3,983.9,-15.2,376,5317,0.00,2.12,0.00,0.000,4,0.000,0.037,1473,1908,2913,0,0,0,0,0,0
$GC,5339,-0.64,-106.3,988.3,-15.0,377,5344,0.00,2.28,0.00,0.000,6,0.000,0.055,1462,3324,2913,0,0,0,0,0,0
$STATE,5371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5371,begin apogee
$GC,5375,-0.11,0.0,992.7,14.2,379,5481,0.65,0.00,103.07,1.854,6,0.169,0.000,1651,3183,2473,0,0,0,0,0,0
$STATE,5482,end apogee,CONTROL_FINISHED_OK
$STATE,5482,begin climb
$GC,5484,0.64,106.3,996.6,0.0,384,5598,0.77,2.45,105.28,1.805,4,0.103,0.035,1906,1775,2040,0,0,0,0,0,0
$GC,5614,0.64,106.3,984.6,12.9,390,5619,0.00,2.47,0.00,0.000,6,0.000,0.050,1906,3178,2037,0,0,0,0,0,0
$GC,5943,0.64,106.3,932.3,15.6,406,5944,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3178,2028,0,0,0,0,0,0
$GC,6251,0.64,106.3,883.5,15.3,421,6254,0.00,1.27,0.00,0.000,4,0.000,0.060,1906,3952,2026,0,0,0,0,0,0
$GC,6401,0.64,106.3,856.5,17.9,427,6409,0.00,1.23,0.00,0.000,6,0.000,0.037,1911,3169,2026,0,0,0,0,0,0
$GC,6717,0.64,106.3,807.6,14.9,443,6720,0.00,1.27,0.00,0.000,4,0.000,0.061,1911,3946,2024,0,0,0,0,0,0
$GC,6884,0.64,106.3,777.8,18.0,450,6888,0.00,1.20,0.00,0.000,6,0.000,0.037,1917,3169,2024,0,0,0,0,0,0
$GC,7205,0.64,106.3,725.2,16.1,466,7209,0.00,1.27,0.00,0.000,4,0.000,0.062,1917,3949,2023,0,0,0,0,0,0
$GC,7377,0.64,106.3,693.9,17.8,473,7385,0.00,1.20,0.00,0.000,6,0.000,0.037,1923,3180,2023,0,0,0,0,0,0
$GC,7694,0.64,106.3,643.1,16.0,489,7697,0.00,1.25,0.00,0.000,4,0.000,0.062,1923,3953,2022,0,0,0,0,0,0
$GC,7809,0.64,106.3,622.2,19.1,494,7814,0.00,1.20,0.00,0.000,6,0.000,0.037,1929,3179,2022,0,0,0,0,0,0
$GC,8137,0.64,106.3,569.4,16.0,510,8140,0.00,1.23,0.00,0.000,4,0.000,0.061,1929,3942,2021,0,0,0,0,0,0
$GC,8241,0.64,106.3,550.6,17.9,514,8250,0.12,1.20,0.00,0.000,6,0.217,0.037,1907,3167,2021,0,0,0,0,0,0
$GC,8558,0.64,106.3,506.5,13.6,530,8561,0.00,1.25,0.00,0.000,4,0.000,0.061,1906,3941,2020,0,0,0,0,0,0
$GC,8663,0.64,106.3,489.7,15.9,534,8671,0.00,1.17,0.00,0.000,6,0.000,0.037,1911,3182,2020,0,0,0,0,0,0
$GC,8979,0.64,106.3,444.1,14.4,550,8982,0.00,1.25,0.00,0.000,4,0.000,0.062,1911,3953,2018,0,0,0,0,0,0
$GC,9185,0.64,106.3,409.4,16.8,559,9189,0.00,1.20,0.00,0.000,6,0.000,0.037,1917,3175,2018,0,0,0,0,0,0
$GC,9509,0.64,106.3,359.6,15.2,586,9512,0.00,1.25,0.00,0.000,4,0.000,0.062,1917,3947,2018,0,0,0,0,0,0
$GC,9626,0.64,106.3,339.0,18.8,596,9636,0.00,1.20,0.00,0.000,6,0.000,0.037,1923,3167,2018,0,0,0,0,0,0
$GC,9951,0.64,106.3,290.1,14.8,627,9955,0.00,1.25,0.00,0.000,4,0.000,0.061,1923,3941,2018,0,0,0,0,0,0
$GC,10034,0.64,106.3,276.9,16.2,634,10042,0.00,1.17,0.00,0.000,6,0.000,0.037,1929,3180,2018,0,0,0,0,0,0
$GC,10362,0.64,106.3,231.2,13.4,665,10365,0.00,1.23,0.00,0.000,4,0.000,0.062,1928,3943,2017,0,0,0,0,0,0
$GC,10621,0.64,106.3,189.4,16.4,688,10625,0.10,1.15,0.00,0.000,6,0.194,0.037,1906,3183,2018,0,0,0,0,0,0
$GC,10950,0.64,106.3,147.1,13.0,719,10954,0.00,1.23,0.00,0.000,4,0.000,0.062,1904,3940,2017,0,0,0,0,0,0
$GC,11169,0.64,106.3,114.6,15.1,738,11177,0.00,1.17,0.00,0.000,6,0.000,0.036,1909,3173,2018,0,0,0,0,0,0
$GC,11509,0.64,106.3,69.1,12.9,789,11518,0.00,1.25,0.00,0.000,4,0.000,0.062,1909,3950,2017,0,0,0,0,0,0
$GC,11755,0.64,106.3,35.7,14.8,831,11761,0.00,1.15,0.00,0.000,6,0.000,0.037,1915,3183,2017,0,0,0,0,0,0
$GC,11902,0.64,106.3,17.3,9.8,856,11910,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3183,2018,0,0,0,0,0,0
$GC,11960,0.64,106.3,10.4,13.4,865,11968,0.00,1.23,0.00,0.000,4,0.000,0.060,1915,3947,2018,0,0,0,0,0,0
$STATE,12017,end climb,SURFACE_DEPTH_REACHED
$STATE,12017,begin surface coast
$FINISH,0.7,1.026053
$STATE,12048,end surface coast,CONTROL_FINISHED_OK
$STATE,12048,begin surface
$SM_CCo,12060,45.85,0.811,0,0,1555,225.18
$SM_GC,1.12,0.00,0.00,45.85,0.000,0.000,0.811,59,3322,1555,-5.11,0.06,225.18
$IRIDIUM_FIX,-4244.98,831.12,121213,020253
$TT8_MAMPS,0.026215
$HUMID,62.40
$INTERNAL_PRESSURE,9.53279
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.8,12.274
$10V_AH,10.1,8.143
$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,12.625,58.625,208.350,45.850,0.000,28.103,41.598,258.451,0.000,0.000,20.781,2220.148,7257.006,363.308,2586.107,119.031,0.000,1296.791,0.000,2146.695,0.000,1.012,0.000
$DEVICE_MAMPS,242.505,83.385,1853.595,810.900,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,608.940,1512.344,614.285,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,60417,879
$CAP_FILE_SIZE,117339,0
$CFSIZE,259252224,253435904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,121213,093504,-4259.420,831.930,31,0.8,31,-25.1