version: 66.07
glider: 543
mission: 9
dive: 73
start: 12 12 113 13 20 21
data:
$ID,543
$MISSION,9
$DIVE,73
$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,-12620.782
$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,46
$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
$GPS1,121213,131304,-4259.531,831.846,30,0.9,30,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-65.8
$GPS2,121213,132000,-4259.438,831.938,17,1.8,17,-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,273.5,2825,-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,-41.28,0.000,2,0.000,0.000,63,3338,2476,0,0,0,0,0,0
$GC,59,-0.64,-102.7,3.0,-4.5,5,85,5.85,2.20,-12.18,0.000,4,0.244,0.048,1480,1914,2894,0,0,0,0,0,0
$GC,158,-0.64,-102.7,18.6,-16.4,20,167,0.00,2.30,0.00,0.000,6,0.000,0.054,1471,3312,2897,0,0,0,0,0,0
$GC,215,-0.64,-102.7,28.7,-19.3,29,221,0.00,0.00,0.00,0.000,6,0.000,0.000,1471,3312,2898,0,0,0,0,0,0
$GC,358,-0.64,-102.7,60.2,-21.0,54,367,0.00,1.02,0.00,0.000,4,0.000,0.058,1466,3953,2898,0,0,0,0,0,0
$GC,544,-0.64,-102.7,103.3,-21.6,85,548,0.00,0.95,0.00,0.000,6,0.000,0.036,1466,3324,2900,0,0,0,0,0,0
$GC,874,-0.64,-102.7,169.8,-20.0,116,878,0.00,1.00,0.00,0.000,4,0.000,0.060,1461,3950,2900,0,0,0,0,0,0
$GC,1083,-0.64,-102.7,216.4,-22.1,134,1090,0.00,0.95,0.00,0.000,6,0.000,0.036,1461,3318,2901,0,0,0,0,0,0
$GC,1410,-0.64,-102.7,280.0,-19.1,165,1413,0.00,1.00,0.00,0.000,4,0.000,0.060,1456,3949,2901,0,0,0,0,0,0
$GC,1477,-0.64,-102.7,294.3,-22.1,171,1481,0.00,0.95,0.00,0.000,6,0.000,0.036,1457,3316,2901,0,0,0,0,0,0
$GC,1807,-0.64,-102.7,360.6,-19.8,202,1811,0.12,1.02,0.00,0.000,4,0.197,0.060,1482,3953,2901,0,0,0,0,0,0
$GC,1990,-0.64,-102.7,397.2,-20.3,218,1998,0.00,0.98,0.00,0.000,6,0.000,0.036,1482,3313,2902,0,0,0,0,0,0
$GC,2317,-0.64,-102.7,457.5,-18.7,235,2321,0.00,1.00,0.00,0.000,4,0.000,0.061,1477,3945,2901,0,0,0,0,0,0
$GC,2399,-0.64,-102.7,474.4,-21.2,238,2407,0.00,0.95,0.00,0.000,6,0.000,0.037,1477,3321,2902,0,0,0,0,0,0
$GC,2715,-0.64,-102.7,532.9,-18.0,254,2719,0.00,1.00,0.00,0.000,4,0.000,0.061,1473,3952,2901,0,0,0,0,0,0
$GC,2827,-0.64,-102.7,554.6,-20.1,259,2830,0.00,0.95,0.00,0.000,6,0.000,0.037,1473,3319,2901,0,0,0,0,0,0
$GC,3160,-0.64,-102.7,613.0,-16.8,275,3164,0.00,1.00,0.00,0.000,4,0.000,0.063,1468,3952,2901,0,0,0,0,0,0
$GC,3355,-0.64,-102.7,649.6,-18.2,283,3362,0.00,0.98,0.00,0.000,6,0.000,0.037,1468,3312,2901,0,0,0,0,0,0
$GC,3671,-0.64,-102.7,701.1,-16.1,299,3675,0.00,1.00,0.00,0.000,4,0.000,0.063,1464,3942,2900,0,0,0,0,0,0
$GC,3776,-0.64,-102.7,719.7,-17.9,303,3784,0.00,0.95,0.00,0.000,6,0.000,0.038,1464,3322,2900,0,0,0,0,0,0
$GC,4094,-0.64,-102.7,772.9,-17.2,319,4097,0.00,1.00,0.00,0.000,4,0.000,0.063,1459,3951,2900,0,0,0,0,0,0
$GC,4273,-0.64,-102.7,807.3,-19.4,327,4276,0.00,0.95,0.00,0.000,6,0.000,0.039,1459,3320,2900,0,0,0,0,0,0
$GC,4605,-0.64,-102.7,864.0,-16.8,343,4608,0.00,1.00,0.00,0.000,4,0.000,0.064,1454,3951,2898,0,0,0,0,0,0
$GC,4665,-0.64,-102.7,875.3,-18.6,345,4673,0.12,0.98,0.00,0.000,6,0.200,0.039,1483,3315,2899,0,0,0,0,0,0
$GC,4982,-0.64,-102.7,922.3,-14.4,361,4983,0.00,0.00,0.00,0.000,6,0.000,0.000,1483,3315,2898,0,0,0,0,0,0
$GC,5290,-0.64,-102.7,966.9,-14.3,376,5294,0.00,1.00,0.00,0.000,4,0.000,0.066,1480,3948,2898,0,0,0,0,0,0
$GC,5412,-0.64,-102.7,986.8,-16.7,381,5417,0.00,0.98,0.00,0.000,6,0.000,0.041,1479,3315,2897,0,0,0,0,0,0
$STATE,5443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5444,begin apogee
$GC,5448,-0.11,0.0,991.5,15.7,383,5551,0.60,0.00,99.75,1.879,6,0.162,0.000,1657,3172,2474,0,0,0,0,0,0
$STATE,5551,end apogee,CONTROL_FINISHED_OK
$STATE,5552,begin climb
$GC,5553,0.64,102.7,995.4,0.0,388,5663,0.75,2.42,102.60,1.822,4,0.098,0.036,1906,1778,2054,0,0,0,0,0,0
$GC,5684,0.64,102.7,984.0,13.0,394,5689,0.00,2.47,0.00,0.000,6,0.000,0.050,1906,3176,2052,0,0,0,0,0,0
$GC,6013,0.64,102.7,930.5,16.5,410,6017,0.00,1.30,0.00,0.000,4,0.000,0.061,1906,3952,2044,0,0,0,0,0,0
$GC,6130,0.64,102.7,908.4,18.8,415,6135,0.00,1.25,0.00,0.000,6,0.000,0.036,1912,3166,2043,0,0,0,0,0,0
$GC,6457,0.64,102.7,854.6,16.3,431,6461,0.00,2.17,0.00,0.000,4,0.000,0.037,1923,1782,2040,0,0,0,0,0,0
$GC,6496,0.64,102.7,848.4,15.3,433,6500,0.00,2.30,0.00,0.000,6,0.000,0.052,1923,3191,2039,0,0,0,0,0,0
$GC,6821,0.64,102.7,792.5,16.7,449,6823,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3191,2038,0,0,0,0,0,0
$GC,7132,0.64,102.7,741.7,16.2,464,7136,0.00,1.23,0.00,0.000,4,0.000,0.061,1923,3945,2037,0,0,0,0,0,0
$GC,7181,0.64,102.7,732.5,18.5,466,7185,0.00,1.20,0.00,0.000,6,0.000,0.037,1929,3176,2037,0,0,0,0,0,0
$GC,7508,0.64,102.7,677.1,17.0,482,7509,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,3176,2037,0,0,0,0,0,0
$GC,7819,0.64,102.7,626.2,16.7,497,7822,0.00,1.25,0.00,0.000,4,0.000,0.061,1929,3949,2036,0,0,0,0,0,0
$GC,7890,0.64,102.7,612.6,19.0,500,7895,0.12,1.20,0.00,0.000,6,0.220,0.037,1907,3175,2036,0,0,0,0,0,0
$GC,8218,0.64,102.7,564.1,14.1,516,8219,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3174,2035,0,0,0,0,0,0
$GC,8527,0.64,102.7,519.5,14.9,531,8530,0.00,1.25,0.00,0.000,4,0.000,0.062,1906,3942,2035,0,0,0,0,0,0
$GC,8609,0.64,102.7,505.6,17.0,534,8617,0.00,1.20,0.00,0.000,6,0.000,0.037,1911,3170,2035,0,0,0,0,0,0
$GC,8925,0.64,102.7,459.1,14.5,550,8926,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3169,2034,0,0,0,0,0,0
$GC,9235,0.64,102.7,412.6,15.2,565,9236,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3169,2034,0,0,0,0,0,0
$GC,9551,0.64,102.7,364.7,15.8,590,9552,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3169,2033,0,0,0,0,0,0
$GC,9869,0.64,102.7,317.6,14.9,620,9873,0.00,1.25,0.00,0.000,4,0.000,0.063,1911,3940,2033,0,0,0,0,0,0
$GC,9975,0.64,102.7,300.0,16.6,629,9983,0.00,1.17,0.00,0.000,6,0.000,0.037,1917,3179,2033,0,0,0,0,0,0
$GC,10300,0.64,102.7,250.9,15.0,660,10302,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3179,2033,0,0,0,0,0,0
$GC,10620,0.64,102.7,205.0,14.1,690,10621,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3180,2033,0,0,0,0,0,0
$GC,10938,0.64,102.7,160.6,14.1,720,10942,0.00,1.23,0.00,0.000,4,0.000,0.062,1917,3939,2033,0,0,0,0,0,0
$GC,11042,0.64,102.7,144.4,15.8,729,11046,0.00,1.15,0.00,0.000,6,0.000,0.037,1923,3179,2033,0,0,0,0,0,0
$GC,11368,0.64,102.7,96.3,14.5,761,11375,0.00,2.12,0.00,0.000,4,0.000,0.035,1934,1778,2033,0,0,0,0,0,0
$GC,11409,0.64,102.7,90.5,13.2,768,11418,0.08,2.25,0.00,0.000,6,0.165,0.051,1910,3184,2032,0,0,0,0,0,0
$GC,11763,0.64,102.7,47.0,11.8,829,11769,0.00,1.20,0.00,0.000,4,0.000,0.059,1910,3939,2032,0,0,0,0,0,0
$GC,11926,0.64,102.7,26.4,13.2,857,11933,0.00,1.15,0.00,0.000,6,0.000,0.036,1915,3176,2032,0,0,0,0,0,0
$GC,12077,0.65,123.0,11.3,7.2,882,12095,0.00,2.15,6.15,0.747,4,0.000,0.034,1926,1775,1968,0,0,0,0,0,0
$GC,12168,0.67,155.8,5.1,5.8,896,12193,0.00,2.25,13.00,0.777,6,0.000,0.053,1926,3172,1833,0,0,0,0,0,0
$STATE,12200,end climb,SURFACE_DEPTH_REACHED
$STATE,12200,begin surface coast
$FINISH,0.7,1.018364
$STATE,12237,end surface coast,CONTROL_FINISHED_OK
$STATE,12237,begin surface
$SM_CCo,12249,26.92,0.781,0,0,1554,225.18
$SM_GC,1.70,0.00,0.00,26.92,0.000,0.000,0.781,71,3339,1554,-5.07,0.54,225.18
$IRIDIUM_FIX,-4242.04,830.68,121213,090922
$TT8_MAMPS,0.026215
$HUMID,61.14
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.8,12.536
$10V_AH,10.1,8.339
$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,12.650,61.725,221.500,26.925,0.000,28.238,18.226,263.062,0.000,0.000,20.143,2256.703,7413.988,355.705,2537.083,130.323,0.000,1274.209,0.000,2130.179,0.000,1.011,0.000
$DEVICE_MAMPS,244.035,74.970,1878.840,781.065,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,627.139,1591.761,680.158,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355204
$DATA_FILE_SIZE,60382,906
$CAP_FILE_SIZE,117915,0
$CFSIZE,259252224,253304832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,121213,164603,-4259.449,831.271,32,1.2,32,-25.1