version: 66.07
glider: 543
mission: 9
dive: 98
start: 12 16 113 6 5 28
data:
$ID,543
$MISSION,9
$DIVE,98
$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,-12698.343
$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,56
$R_STBD_OVSHOOT,22
$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
$GPS1,161213,055758,-4300.812,830.881,39,0.9,39,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-68.0
$GPS2,161213,060507,-4300.762,830.989,18,1.1,18,-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,341.6,1945,-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,-41.25,0.000,2,0.000,0.000,63,3302,2471,0,0,0,0,0,0
$GC,59,-0.64,-97.3,3.1,-5.1,5,85,5.72,2.15,-12.32,0.000,4,0.233,0.047,1480,1915,2869,0,0,0,0,0,0
$GC,158,-0.64,-97.3,19.6,-21.7,20,167,0.00,2.30,0.00,0.000,6,0.000,0.053,1471,3313,2872,0,0,0,0,0,0
$GC,215,-0.64,-97.3,30.6,-19.5,29,221,0.00,2.15,0.00,0.000,4,0.000,0.031,1471,1916,2872,0,0,0,0,0,0
$GC,241,-0.64,-97.3,35.7,-19.1,33,248,0.00,2.25,0.00,0.000,6,0.000,0.052,1461,3321,2872,0,0,0,0,0,0
$GC,387,-0.64,-97.3,67.4,-22.4,58,394,0.00,1.00,0.00,0.000,4,0.000,0.057,1456,3949,2873,0,0,0,0,0,0
$GC,494,-0.64,-97.3,93.2,-24.7,76,502,0.10,0.95,0.00,0.000,6,0.185,0.034,1483,3325,2874,0,0,0,0,0,0
$GC,825,-0.64,-97.3,156.2,-18.8,109,828,0.00,1.00,0.00,0.000,4,0.000,0.059,1479,3953,2876,0,0,0,0,0,0
$GC,892,-0.64,-97.3,170.0,-21.0,115,896,0.00,0.95,0.00,0.000,6,0.000,0.034,1479,3321,2877,0,0,0,0,0,0
$GC,1222,-0.64,-97.3,234.2,-18.7,146,1225,0.00,1.00,0.00,0.000,4,0.000,0.060,1475,3952,2877,0,0,0,0,0,0
$GC,1384,-0.64,-97.3,266.4,-20.6,160,1394,0.00,0.95,0.00,0.000,6,0.000,0.034,1475,3315,2877,0,0,0,0,0,0
$GC,1709,-0.64,-97.3,327.9,-19.3,191,1713,0.00,1.00,0.00,0.000,4,0.000,0.058,1470,3947,2877,0,0,0,0,0,0
$GC,1869,-0.64,-97.3,359.6,-20.7,205,1873,0.00,0.95,0.00,0.000,6,0.000,0.035,1470,3314,2877,0,0,0,0,0,0
$GC,2206,-0.64,-97.3,425.1,-19.2,231,2210,0.00,1.00,0.00,0.000,4,0.000,0.059,1466,3947,2877,0,0,0,0,0,0
$GC,2334,-0.64,-97.3,451.5,-19.9,236,2342,0.00,0.98,0.00,0.000,6,0.000,0.034,1466,3309,2877,0,0,0,0,0,0
$GC,2650,-0.64,-97.3,513.4,-19.8,252,2654,0.00,1.02,0.00,0.000,4,0.000,0.060,1461,3955,2877,0,0,0,0,0,0
$GC,2853,-0.64,-97.3,556.6,-21.8,261,2856,0.00,0.95,0.00,0.000,6,0.000,0.037,1461,3322,2877,0,0,0,0,0,0
$GC,3186,-0.64,-97.3,623.2,-19.7,277,3189,0.00,1.00,0.00,0.000,4,0.000,0.060,1456,3952,2876,0,0,0,0,0,0
$GC,3369,-0.64,-97.3,662.7,-20.8,285,3375,0.12,0.98,0.00,0.000,6,0.197,0.037,1485,3318,2876,0,0,0,0,0,0
$GC,3696,-0.64,-97.3,717.9,-16.5,301,3700,0.00,1.00,0.00,0.000,4,0.000,0.063,1482,3949,2876,0,0,0,0,0,0
$GC,3831,-0.64,-97.3,741.2,-17.7,307,3834,0.00,0.95,0.00,0.000,6,0.000,0.038,1482,3318,2876,0,0,0,0,0,0
$GC,4164,-0.64,-97.3,794.0,-15.5,323,4168,0.00,1.00,0.00,0.000,4,0.000,0.063,1477,3949,2875,0,0,0,0,0,0
$GC,4326,-0.64,-97.3,822.0,-17.4,330,4330,0.00,0.95,0.00,0.000,6,0.000,0.037,1477,3317,2875,0,0,0,0,0,0
$GC,4654,-0.64,-97.3,873.1,-16.0,346,4658,0.00,1.00,0.00,0.000,4,0.000,0.063,1472,3945,2874,0,0,0,0,0,0
$GC,4911,-0.64,-97.3,918.1,-17.6,357,4916,0.00,0.98,0.00,0.000,6,0.000,0.038,1472,3314,2873,0,0,0,0,0,0
$GC,5233,-0.64,-97.3,967.7,-15.2,373,5236,0.00,1.00,0.00,0.000,4,0.000,0.063,1468,3940,2873,0,0,0,0,0,0
$STATE,5366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5366,begin apogee
$GC,5372,-0.11,0.0,990.3,16.4,379,5470,0.62,0.00,94.05,1.893,6,0.162,0.000,1652,3165,2474,0,0,0,0,0,0
$STATE,5471,end apogee,CONTROL_FINISHED_OK
$STATE,5471,begin climb
$GC,5472,0.64,97.3,995.1,0.0,384,5580,0.75,2.38,97.57,1.851,4,0.099,0.034,1902,1784,2078,0,0,0,0,0,0
$GC,5603,0.64,97.3,984.1,12.1,390,5607,0.00,2.45,0.00,0.000,6,0.000,0.050,1902,3183,2075,0,0,0,0,0,0
$GC,5930,0.64,97.3,935.2,14.8,406,5933,0.00,1.27,0.00,0.000,4,0.000,0.060,1903,3942,2067,0,0,0,0,0,0
$GC,6029,0.64,97.3,918.2,15.6,410,6033,0.00,1.23,0.00,0.000,6,0.000,0.036,1908,3180,2066,0,0,0,0,0,0
$GC,6350,0.64,97.3,868.9,15.4,426,6354,0.00,1.25,0.00,0.000,4,0.000,0.060,1908,3942,2064,0,0,0,0,0,0
$GC,6478,0.64,97.3,847.2,17.1,431,6486,0.00,1.23,0.00,0.000,6,0.000,0.037,1914,3168,2063,0,0,0,0,0,0
$GC,6794,0.64,97.3,798.5,15.3,447,6798,0.00,1.27,0.00,0.000,4,0.000,0.060,1914,3947,2062,0,0,0,0,0,0
$GC,6933,0.64,97.3,774.8,16.1,453,6938,0.00,1.23,0.00,0.000,6,0.000,0.037,1920,3164,2062,0,0,0,0,0,0
$GC,7260,0.64,97.3,724.9,14.8,469,7264,0.00,1.27,0.00,0.000,4,0.000,0.060,1920,3947,2061,0,0,0,0,0,0
$GC,7382,0.64,97.3,703.4,17.8,474,7387,0.00,1.20,0.00,0.000,6,0.000,0.036,1925,3179,2061,0,0,0,0,0,0
$GC,7704,0.64,97.3,653.0,15.7,490,7708,0.00,1.25,0.00,0.000,4,0.000,0.060,1926,3951,2060,0,0,0,0,0,0
$GC,7877,0.64,97.3,621.8,18.4,497,7884,0.00,1.17,0.00,0.000,6,0.000,0.037,1931,3185,2060,0,0,0,0,0,0
$GC,8193,0.64,97.3,571.0,15.9,513,8196,0.00,1.23,0.00,0.000,4,0.000,0.060,1931,3942,2059,0,0,0,0,0,0
$GC,8286,0.64,97.3,554.4,17.4,517,8291,0.12,1.20,0.00,0.000,6,0.217,0.037,1908,3170,2060,0,0,0,0,0,0
$GC,8614,0.64,97.3,507.7,14.1,533,8617,0.00,1.25,0.00,0.000,4,0.000,0.060,1907,3943,2058,0,0,0,0,0,0
$GC,8719,0.64,97.3,491.2,15.8,537,8726,0.00,1.20,0.00,0.000,6,0.000,0.037,1913,3172,2058,0,0,0,0,0,0
$GC,9035,0.64,97.3,447.3,13.9,553,9039,0.00,1.25,0.00,0.000,4,0.000,0.060,1913,3943,2058,0,0,0,0,0,0
$GC,9291,0.64,97.3,407.7,14.6,564,9296,0.00,1.20,0.00,0.000,6,0.000,0.037,1918,3169,2058,0,0,0,0,0,0
$GC,9622,0.64,97.3,364.3,13.4,592,9625,0.00,1.25,0.00,0.000,4,0.000,0.060,1918,3947,2057,0,0,0,0,0,0
$GC,9825,0.64,97.3,333.3,14.9,610,9829,0.00,1.17,0.00,0.000,6,0.000,0.037,1925,3176,2058,0,0,0,0,0,0
$GC,10157,0.64,97.3,290.7,12.4,641,10161,0.00,2.12,0.00,0.000,4,0.000,0.034,1935,1774,2057,0,0,0,0,0,0
$GC,10334,0.64,97.3,269.9,12.0,656,10345,0.10,2.28,0.00,0.000,6,0.169,0.052,1906,3187,2056,0,0,0,0,0,0
$GC,10659,0.64,97.3,227.7,12.9,687,10663,0.00,1.23,0.00,0.000,4,0.000,0.059,1906,3954,2055,0,0,0,0,0,0
$GC,10919,0.64,97.3,189.8,14.1,710,10923,0.00,1.17,0.00,0.000,6,0.000,0.036,1910,3176,2056,0,0,0,0,0,0
$GC,11251,0.64,97.3,146.0,13.5,741,11252,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3176,2056,0,0,0,0,0,0
$GC,11568,0.64,97.3,104.0,13.0,771,11572,0.00,1.25,0.00,0.000,4,0.000,0.060,1910,3953,2056,0,0,0,0,0,0
$GC,11831,0.64,97.3,68.7,11.8,814,11838,0.00,1.17,0.00,0.000,6,0.000,0.037,1917,3173,2056,0,0,0,0,0,0
$GC,12183,0.64,97.3,30.5,11.0,875,12189,0.00,1.23,0.00,0.000,4,0.000,0.060,1916,3938,2056,0,0,0,0,0,0
$GC,12290,0.64,97.3,17.4,12.1,893,12298,0.00,1.15,0.00,0.000,6,0.000,0.035,1922,3176,2056,0,0,0,0,0,0
$GC,12349,0.65,117.6,12.7,7.2,902,12359,0.00,1.27,6.25,0.738,4,0.000,0.059,1922,3954,1991,0,0,0,0,0,0
$GC,12390,0.65,117.6,8.7,9.7,908,12399,0.00,1.17,0.00,0.000,6,0.000,0.035,1928,3175,1991,0,0,0,0,0,0
$STATE,12441,end climb,SURFACE_DEPTH_REACHED
$STATE,12442,begin surface coast
$FINISH,0.8,1.014741
$STATE,12467,end surface coast,CONTROL_FINISHED_OK
$STATE,12468,begin surface
$SM_CCo,12480,43.08,0.776,0,0,1551,225.18
$SM_GC,1.06,0.00,0.00,43.08,0.000,0.000,0.776,67,3341,1551,-5.08,0.51,225.18
$IRIDIUM_FIX,-4244.98,831.12,151213,222222
$TT8_MAMPS,0.025466
$HUMID,61.53
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,22.7,15.941
$10V_AH,10.0,10.816
$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,12.625,71.900,197.875,43.075,0.000,37.318,18.944,263.035,0.000,0.000,21.230,2359.466,7241.390,355.582,2838.106,159.756,0.000,1395.857,0.000,2411.266,0.000,1.011,0.000
$DEVICE_MAMPS,232.560,67.320,1892.610,775.710,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,637.589,1613.320,677.033,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355196
$DATA_FILE_SIZE,63674,920
$CAP_FILE_SIZE,128133,0
$CFSIZE,259252224,251666432
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,161213,093522,-4259.704,830.588,37,0.9,37,-25.0