version: 66.07
glider: 543
mission: 9
dive: 72
start: 12 12 113 9 42 40
data:
$ID,543
$MISSION,9
$DIVE,72
$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,-12617.654
$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,45
$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
$GPS1,121213,093504,-4259.420,831.930,31,0.8,31,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-65.9
$GPS2,121213,094219,-4259.415,832.100,14,1.0,14,-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,274.2,3043,-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,-57.7,0.0,0.0,0,57,0.00,0.00,-41.20,0.000,2,0.000,0.000,60,3322,2480,0,0,0,0,0,0
$GC,59,-0.64,-97.4,3.0,-5.1,5,85,5.75,1.02,-11.10,0.000,4,0.235,0.088,1478,3946,2872,0,0,0,0,0,0
$GC,123,-0.64,-97.4,14.7,-20.6,14,131,0.00,0.98,0.00,0.000,6,0.000,0.037,1480,3313,2874,0,0,0,0,0,0
$GC,180,-0.64,-97.4,27.3,-21.8,23,186,0.00,1.02,0.00,0.000,4,0.000,0.059,1476,3948,2875,0,0,0,0,0,0
$GC,219,-0.64,-97.4,35.8,-22.8,29,226,0.00,0.98,0.00,0.000,6,0.000,0.036,1477,3314,2875,0,0,0,0,0,0
$GC,362,-0.64,-97.4,66.9,-19.7,54,371,0.00,1.02,0.00,0.000,4,0.000,0.060,1474,3951,2877,0,0,0,0,0,0
$GC,451,-0.64,-97.4,85.4,-21.2,69,460,0.00,0.95,0.00,0.000,6,0.000,0.036,1474,3326,2877,0,0,0,0,0,0
$GC,783,-0.64,-97.4,150.3,-19.6,106,786,0.00,1.00,0.00,0.000,4,0.000,0.060,1469,3951,2878,0,0,0,0,0,0
$GC,987,-0.64,-97.4,194.4,-21.7,124,990,0.00,0.95,0.00,0.000,6,0.000,0.036,1469,3319,2879,0,0,0,0,0,0
$GC,1316,-0.64,-97.4,260.0,-18.6,155,1320,0.00,1.00,0.00,0.000,4,0.000,0.061,1465,3947,2879,0,0,0,0,0,0
$GC,1373,-0.64,-97.4,271.2,-20.9,160,1376,0.00,0.95,0.00,0.000,6,0.000,0.036,1465,3317,2879,0,0,0,0,0,0
$GC,1703,-0.64,-97.4,334.3,-19.0,191,1706,0.00,1.00,0.00,0.000,4,0.000,0.060,1460,3949,2879,0,0,0,0,0,0
$GC,1927,-0.64,-97.4,380.9,-20.9,211,1931,0.00,0.95,0.00,0.000,6,0.000,0.037,1460,3314,2879,0,0,0,0,0,0
$GC,2260,-0.64,-97.4,444.8,-19.1,232,2264,0.00,1.00,0.00,0.000,4,0.000,0.060,1456,3947,2879,0,0,0,0,0,0
$GC,2388,-0.64,-97.4,471.3,-20.5,237,2396,0.12,0.95,0.00,0.000,6,0.200,0.036,1484,3321,2880,0,0,0,0,0,0
$GC,2704,-0.64,-97.4,524.0,-16.7,253,2708,0.00,1.00,0.00,0.000,4,0.000,0.061,1481,3953,2880,0,0,0,0,0,0
$GC,2771,-0.64,-97.4,535.7,-18.2,256,2775,0.00,0.95,0.00,0.000,6,0.000,0.037,1481,3321,2880,0,0,0,0,0,0
$GC,3104,-0.64,-97.4,591.8,-16.4,272,3108,0.00,1.00,0.00,0.000,4,0.000,0.062,1476,3954,2880,0,0,0,0,0,0
$GC,3175,-0.64,-97.4,605.0,-18.0,275,3180,0.00,0.98,0.00,0.000,6,0.000,0.037,1476,3315,2879,0,0,0,0,0,0
$GC,3503,-0.64,-97.4,658.6,-16.1,291,3506,0.00,1.00,0.00,0.000,4,0.000,0.063,1472,3945,2880,0,0,0,0,0,0
$GC,3638,-0.64,-97.4,682.7,-17.8,297,3641,0.00,0.95,0.00,0.000,6,0.000,0.038,1472,3315,2879,0,0,0,0,0,0
$GC,3970,-0.64,-97.4,737.8,-16.4,313,3973,0.00,1.00,0.00,0.000,4,0.000,0.063,1467,3944,2878,0,0,0,0,0,0
$GC,4046,-0.64,-97.4,751.4,-17.4,316,4051,0.00,0.98,0.00,0.000,6,0.000,0.037,1467,3309,2878,0,0,0,0,0,0
$GC,4368,-0.64,-97.4,805.0,-16.7,332,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,1467,3309,2878,0,0,0,0,0,0
$GC,4679,-0.64,-97.4,855.7,-16.1,347,4683,0.00,1.00,0.00,0.000,4,0.000,0.063,1462,3940,2877,0,0,0,0,0,0
$GC,4716,-0.64,-97.4,862.8,-17.6,348,4724,0.00,0.95,0.00,0.000,6,0.000,0.039,1462,3319,2877,0,0,0,0,0,0
$GC,5032,-0.64,-97.4,914.4,-16.5,364,5033,0.00,0.00,0.00,0.000,6,0.000,0.000,1462,3319,2876,0,0,0,0,0,0
$GC,5342,-0.64,-97.4,964.0,-15.8,379,5345,0.00,1.00,0.00,0.000,4,0.000,0.063,1458,3947,2876,0,0,0,0,0,0
$STATE,5491,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5491,begin apogee
$GC,5496,-0.11,0.0,990.4,17.9,385,5594,0.62,0.00,94.57,1.863,6,0.168,0.000,1645,3168,2473,0,0,0,0,0,0
$STATE,5595,end apogee,CONTROL_FINISHED_OK
$STATE,5595,begin climb
$GC,5596,0.64,97.4,994.7,0.0,390,5704,0.80,2.38,97.30,1.815,4,0.108,0.037,1904,1780,2075,0,0,0,0,0,0
$GC,5731,0.64,97.4,982.7,13.1,396,5736,0.00,2.45,0.00,0.000,6,0.000,0.052,1904,3177,2072,0,0,0,0,0,0
$GC,6059,0.64,97.4,931.6,15.5,412,6062,0.00,1.30,0.00,0.000,4,0.000,0.061,1904,3953,2064,0,0,0,0,0,0
$GC,6242,0.64,97.4,899.5,18.2,420,6247,0.00,1.23,0.00,0.000,6,0.000,0.036,1910,3170,2063,0,0,0,0,0,0
$GC,6570,0.64,97.4,848.3,15.5,436,6571,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3170,2061,0,0,0,0,0,0
$GC,6879,0.64,97.4,800.0,15.3,451,6880,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3170,2059,0,0,0,0,0,0
$GC,7190,0.64,97.4,752.7,15.0,466,7191,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3170,2059,0,0,0,0,0,0
$GC,7498,0.64,97.4,706.6,14.9,481,7501,0.00,1.27,0.00,0.000,4,0.000,0.063,1910,3953,2058,0,0,0,0,0,0
$GC,7591,0.64,97.4,690.4,18.1,485,7596,0.00,1.20,0.00,0.000,6,0.000,0.037,1915,3179,2058,0,0,0,0,0,0
$GC,7919,0.64,97.4,638.5,15.9,501,7922,0.00,1.25,0.00,0.000,4,0.000,0.062,1916,3950,2057,0,0,0,0,0,0
$GC,8057,0.64,97.4,614.5,16.7,507,8062,0.00,1.20,0.00,0.000,6,0.000,0.037,1921,3174,2057,0,0,0,0,0,0
$GC,8385,0.64,97.4,565.1,14.8,523,8389,0.00,1.27,0.00,0.000,4,0.000,0.061,1922,3957,2057,0,0,0,0,0,0
$GC,8546,0.64,97.4,538.2,16.7,530,8551,0.00,1.20,0.00,0.000,6,0.000,0.037,1927,3182,2057,0,0,0,0,0,0
$GC,8874,0.64,97.4,490.6,14.4,546,8877,0.00,1.25,0.00,0.000,4,0.000,0.061,1927,3953,2056,0,0,0,0,0,0
$GC,8922,0.64,97.4,482.6,15.8,548,8928,0.12,1.20,0.00,0.000,6,0.215,0.037,1905,3176,2056,0,0,0,0,0,0
$GC,9249,0.64,97.4,438.0,13.8,564,9250,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3176,2055,0,0,0,0,0,0
$GC,9560,0.64,97.4,394.7,14.1,580,9563,0.00,1.25,0.00,0.000,4,0.000,0.060,1904,3951,2055,0,0,0,0,0,0
$GC,9819,0.64,97.4,352.1,17.0,603,9823,0.00,1.17,0.00,0.000,6,0.000,0.037,1909,3179,2055,0,0,0,0,0,0
$GC,10149,0.64,97.4,305.3,13.9,634,10153,0.00,1.25,0.00,0.000,4,0.000,0.061,1909,3956,2055,0,0,0,0,0,0
$GC,10230,0.64,97.4,292.9,16.1,641,10233,0.00,1.17,0.00,0.000,6,0.000,0.037,1915,3180,2054,0,0,0,0,0,0
$GC,10560,0.64,97.4,245.6,13.8,672,10563,0.00,1.25,0.00,0.000,4,0.000,0.063,1915,3956,2054,0,0,0,0,0,0
$GC,10699,0.64,97.4,224.0,15.7,684,10709,0.00,1.17,0.00,0.000,6,0.000,0.037,1921,3181,2054,0,0,0,0,0,0
$GC,11024,0.64,97.4,181.0,12.9,715,11028,0.00,1.25,0.00,0.000,4,0.000,0.062,1921,3955,2054,0,0,0,0,0,0
$GC,11125,0.64,97.4,166.3,15.7,724,11129,0.00,1.17,0.00,0.000,6,0.000,0.037,1927,3179,2054,0,0,0,0,0,0
$GC,11455,0.64,97.4,120.4,14.2,755,11459,0.00,1.25,0.00,0.000,4,0.000,0.061,1927,3957,2054,0,0,0,0,0,0
$GC,11659,0.64,97.4,87.4,16.0,779,11666,0.10,1.17,0.00,0.000,6,0.194,0.037,1904,3179,2054,0,0,0,0,0,0
$GC,12009,0.64,97.4,48.9,9.8,840,12017,0.00,1.25,0.00,0.000,4,0.000,0.061,1904,3956,2054,0,0,0,0,0,0
$GC,12057,0.64,97.4,43.3,11.8,848,12064,0.00,1.17,0.00,0.000,6,0.000,0.037,1909,3178,2054,0,0,0,0,0,0
$GC,12416,0.64,108.4,5.3,8.2,909,12426,0.00,2.10,2.28,0.360,4,0.000,0.033,1921,1770,2027,0,0,0,0,0,0
$STATE,12450,end climb,SURFACE_DEPTH_REACHED
$STATE,12450,begin surface coast
$FINISH,0.7,1.025223
$STATE,12499,end surface coast,CONTROL_FINISHED_OK
$STATE,12500,begin surface
$SM_CCo,12514,46.92,0.805,0,0,1554,225.18
$SM_GC,1.45,0.00,0.00,46.92,0.000,0.000,0.805,68,3335,1554,-5.08,0.42,225.18
$IRIDIUM_FIX,-4242.04,830.68,121213,060656
$TT8_MAMPS,0.026215
$HUMID,61.49
$INTERNAL_PRESSURE,9.53279
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.9,12.403
$10V_AH,10.1,8.243
$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,12.475,62.150,194.150,46.925,0.000,25.308,41.779,264.189,0.000,0.000,17.230,2327.717,7520.203,342.905,2666.794,140.393,0.000,1302.948,0.000,2236.345,0.000,1.010,0.000
$DEVICE_MAMPS,234.855,87.975,1862.775,804.780,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,639.124,1598.128,676.774,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355208
$DATA_FILE_SIZE,63732,922
$CAP_FILE_SIZE,121476,0
$CFSIZE,259252224,253362176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,121213,131304,-4259.531,831.846,30,0.9,30,-25.1