version: 66.07
glider: 543
mission: 9
dive: 14
start: 12 2 113 22 22 0
data:
$ID,543
$MISSION,9
$DIVE,14
$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,400
$T_MISSION,470
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,270
$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,210
$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,-12445.087
$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,1685
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,39
$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,3000
$C_ROLL_CLIMB,2950
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$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
$GPS1,021213,221534,-4258.668,850.483,31,1.1,31,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-69.0
$GPS2,021213,222136,-4258.649,850.563,16,1.3,16,-25.2
$SPEED_LIMITS,0.143,0.243
$TGT_NAME,HEADING
$TGT_LATLONG,-4258.649,835.802
$TGT_RADIUS,1852.000
$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,295.2,20000,-14.5,-8.250
$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,13,begin dive
$GC,14,-0.46,-146.1,0.0,0.0,0,80,0.00,0.00,-62.90,0.000,6,0.000,0.000,72,2796,3070,0,0,0,0,0,0
$GC,82,-0.46,-146.1,4.3,-5.4,8,92,5.78,1.92,0.00,0.000,4,0.231,0.053,1519,3951,3072,0,0,0,0,0,0
$GC,199,-0.46,-146.1,37.8,-20.7,27,205,0.00,1.50,0.00,0.000,6,0.000,0.041,1519,3007,3076,0,0,0,0,0,0
$GC,343,-0.46,-146.1,64.3,-17.3,52,352,0.00,1.55,0.00,0.000,4,0.000,0.067,1512,3938,3077,0,0,0,0,0,0
$GC,480,-0.46,-146.1,89.8,-18.9,75,487,0.00,1.48,0.00,0.000,6,0.000,0.041,1512,3004,3077,0,0,0,0,0,0
$GC,817,-0.46,-146.1,145.6,-16.6,111,820,0.00,1.55,0.00,0.000,4,0.000,0.066,1505,3944,3077,0,0,0,0,0,0
$GC,1081,-0.46,-146.1,195.2,-18.3,134,1085,0.00,1.50,0.00,0.000,6,0.000,0.040,1505,2984,3078,0,0,0,0,0,0
$GC,1413,-0.46,-146.1,250.7,-15.9,165,1417,0.10,1.60,0.00,0.000,4,0.186,0.066,1523,3957,3078,0,0,0,0,0,0
$GC,1678,-0.46,-146.1,291.7,-15.1,188,1681,0.00,1.48,0.00,0.000,6,0.000,0.040,1523,3008,3078,0,0,0,0,0,0
$GC,2009,-0.46,-146.1,337.5,-12.9,219,2013,0.00,1.52,0.00,0.000,4,0.000,0.067,1517,3940,3078,0,0,0,0,0,0
$GC,2274,-0.46,-146.1,379.1,-16.0,242,2277,0.00,1.48,0.00,0.000,6,0.000,0.041,1516,2991,3078,0,0,0,0,0,0
$GC,2611,-0.46,-146.1,426.1,-13.5,265,2614,0.00,1.55,0.00,0.000,4,0.000,0.067,1509,3938,3078,0,0,0,0,0,0
$GC,2869,-0.46,-146.1,467.0,-15.2,276,2874,0.00,1.48,0.00,0.000,6,0.000,0.040,1509,3002,3078,0,0,0,0,0,0
$GC,3194,-0.46,-146.1,511.4,-13.7,292,3198,0.00,1.55,0.00,0.000,4,0.000,0.068,1502,3950,3078,0,0,0,0,0,0
$GC,3452,-0.46,-146.1,553.1,-15.9,303,3458,0.12,1.50,0.00,0.000,6,0.184,0.041,1533,2995,3078,0,0,0,0,0,0
$GC,3777,-0.46,-146.1,590.0,-11.3,319,3781,0.00,1.55,0.00,0.000,4,0.000,0.069,1527,3945,3077,0,0,0,0,0,0
$GC,4035,-0.46,-146.1,625.6,-14.3,330,4040,0.00,1.48,0.00,0.000,6,0.000,0.041,1527,3001,3077,0,0,0,0,0,0
$GC,4360,-0.46,-146.1,668.2,-13.2,346,4364,0.00,1.58,0.00,0.000,4,0.000,0.070,1521,3948,3077,0,0,0,0,0,0
$GC,4618,-0.46,-146.1,707.5,-15.0,357,4623,0.00,1.50,0.00,0.000,6,0.000,0.043,1521,2992,3077,0,0,0,0,0,0
$GC,4944,-0.46,-146.1,749.4,-12.5,373,4947,0.00,1.55,0.00,0.000,4,0.000,0.069,1513,3940,3076,0,0,0,0,0,0
$GC,5201,-0.46,-146.1,785.7,-13.1,384,5207,0.00,1.48,0.00,0.000,6,0.000,0.043,1513,3001,3076,0,0,0,0,0,0
$GC,5527,-0.46,-146.1,824.9,-12.0,400,5530,0.00,1.55,0.00,0.000,4,0.000,0.070,1506,3948,3075,0,0,0,0,0,0
$GC,5785,-0.46,-146.1,862.8,-14.3,411,5790,0.00,1.50,0.00,0.000,6,0.000,0.043,1506,2993,3075,0,0,0,0,0,0
$GC,6110,-0.46,-146.1,908.9,-14.8,427,6114,0.00,2.15,0.00,0.000,4,0.000,0.043,1506,1591,3075,0,0,0,0,0,0
$GC,6278,-0.46,-146.1,931.2,-12.0,434,6289,0.10,2.33,0.00,0.000,6,0.146,0.061,1528,3006,3074,0,0,0,0,0,0
$GC,6596,-0.46,-146.1,970.6,-12.8,450,6600,0.00,1.52,0.00,0.000,4,0.000,0.071,1522,3942,3074,0,0,0,0,0,0
$STATE,6733,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6733,begin apogee
$GC,6738,-0.13,0.0,990.6,14.6,456,6881,0.40,0.00,140.12,1.822,6,0.150,0.000,1643,2938,2473,0,0,0,0,0,0
$STATE,6882,end apogee,CONTROL_FINISHED_OK
$STATE,6882,begin climb
$GC,6883,0.46,146.1,998.7,0.0,463,7035,0.60,2.47,142.07,1.776,4,0.111,0.045,1835,1550,1878,0,0,0,0,0,0
$GC,7164,0.46,150.4,982.1,8.1,475,7180,0.00,2.45,4.45,1.305,6,0.000,0.060,1835,2942,1860,0,0,0,0,0,0
$GC,7487,0.46,150.4,949.1,10.6,491,7491,0.00,1.65,0.00,0.000,4,0.000,0.069,1835,3944,1857,0,0,0,0,0,0
$GC,7715,0.46,150.4,918.5,14.2,501,7719,0.00,1.60,0.00,0.000,6,0.000,0.043,1843,2949,1855,0,0,0,0,0,0
$GC,8049,0.46,150.4,879.6,11.2,517,8053,0.00,1.65,0.00,0.000,4,0.000,0.069,1843,3948,1854,0,0,0,0,0,0
$GC,8194,0.46,150.4,858.8,13.8,523,8199,0.00,1.62,0.00,0.000,6,0.000,0.042,1850,2933,1854,0,0,0,0,0,0
$GC,8518,0.46,150.4,819.9,12.1,539,8521,0.00,1.67,0.00,0.000,4,0.000,0.068,1850,3957,1853,0,0,0,0,0,0
$GC,8702,0.46,150.4,792.8,15.6,547,8708,0.00,1.60,0.00,0.000,6,0.000,0.043,1858,2950,1853,0,0,0,0,0,0
$GC,9032,0.46,150.4,751.5,12.5,563,9035,0.00,1.65,0.00,0.000,4,0.000,0.069,1858,3961,1853,0,0,0,0,0,0
$GC,9201,0.46,150.4,726.1,15.7,570,9205,0.00,1.60,0.00,0.000,6,0.000,0.042,1866,2947,1853,0,0,0,0,0,0
$GC,9524,0.46,150.4,683.9,12.5,586,9528,0.12,1.65,0.00,0.000,4,0.207,0.068,1836,3956,1853,0,0,0,0,0,0
$GC,9686,0.46,150.4,662.0,13.6,593,9692,0.00,1.60,0.00,0.000,6,0.000,0.042,1843,2942,1852,0,0,0,0,0,0
$GC,10016,0.46,150.4,625.3,11.2,609,10019,0.00,1.65,0.00,0.000,4,0.000,0.067,1843,3945,1852,0,0,0,0,0,0
$GC,10167,0.46,150.4,604.2,14.0,615,10177,0.00,1.55,0.00,0.000,6,0.000,0.043,1850,2953,1851,0,0,0,0,0,0
$GC,10485,0.46,150.4,566.7,11.7,631,10489,0.00,1.65,0.00,0.000,4,0.000,0.068,1850,3953,1851,0,0,0,0,0,0
$GC,10647,0.46,150.4,544.9,14.1,638,10650,0.00,1.58,0.00,0.000,6,0.000,0.043,1858,2946,1851,0,0,0,0,0,0
$GC,10980,0.46,150.4,504.8,11.6,654,10984,0.00,1.65,0.00,0.000,4,0.000,0.067,1858,3947,1851,0,0,0,0,0,0
$GC,11186,0.46,150.4,476.1,13.8,663,11190,0.08,1.55,0.00,0.000,6,0.195,0.043,1844,2954,1851,0,0,0,0,0,0
$GC,11519,0.46,150.4,441.7,9.9,679,11523,0.00,1.62,0.00,0.000,4,0.000,0.068,1844,3942,1851,0,0,0,0,0,0
$GC,11681,0.46,150.4,422.1,12.0,686,11686,0.00,1.55,0.00,0.000,6,0.000,0.043,1850,2948,1851,0,0,0,0,0,0
$GC,12003,0.46,150.4,390.8,9.5,706,12006,0.00,1.65,0.00,0.000,4,0.000,0.067,1850,3953,1851,0,0,0,0,0,0
$GC,12142,0.46,150.4,374.1,11.9,718,12146,0.00,1.55,0.00,0.000,6,0.000,0.043,1858,2954,1851,0,0,0,0,0,0
$GC,12473,0.46,150.4,339.7,10.3,749,12476,0.00,1.62,0.00,0.000,4,0.000,0.067,1858,3946,1851,0,0,0,0,0,0
$GC,12647,0.46,150.4,317.3,13.0,764,12652,0.08,1.55,0.00,0.000,6,0.192,0.043,1844,2948,1851,0,0,0,0,0,0
$GC,12979,0.46,150.4,286.0,9.7,795,12983,0.00,1.65,0.00,0.000,4,0.000,0.067,1844,3953,1851,0,0,0,0,0,0
$GC,13223,0.46,150.4,257.1,13.4,816,13226,0.00,1.55,0.00,0.000,6,0.000,0.043,1850,2952,1851,0,0,0,0,0,0
$GC,13555,0.46,150.4,222.5,10.1,847,13558,0.00,1.62,0.00,0.000,4,0.000,0.067,1850,3943,1851,0,0,0,0,0,0
$GC,13694,0.46,150.4,205.3,12.3,859,13698,0.00,1.52,0.00,0.000,6,0.000,0.042,1857,2957,1851,0,0,0,0,0,0
$GC,14026,0.46,150.4,169.3,10.6,890,14030,0.00,1.62,0.00,0.000,4,0.000,0.067,1857,3950,1851,0,0,0,0,0,0
$GC,14177,0.46,150.4,150.1,12.9,903,14180,0.00,1.55,0.00,0.000,6,0.000,0.041,1865,2948,1851,0,0,0,0,0,0
$GC,14509,0.46,150.4,113.7,10.7,934,14512,0.00,1.65,0.00,0.000,4,0.000,0.067,1865,3954,1851,0,0,0,0,0,0
$GC,14657,0.46,150.4,94.2,13.4,950,14667,0.10,1.55,0.00,0.000,6,0.186,0.041,1844,2949,1851,0,0,0,0,0,0
$GC,15013,0.46,150.4,60.9,8.8,1011,15020,0.00,1.62,0.00,0.000,4,0.000,0.067,1844,3948,1851,0,0,0,0,0,0
$GC,15131,0.46,150.4,47.8,11.6,1031,15138,0.00,1.55,0.00,0.000,6,0.000,0.041,1850,2940,1851,0,0,0,0,0,0
$GC,15487,0.46,150.4,13.0,11.2,1092,15495,0.00,1.65,0.00,0.000,4,0.000,0.066,1850,3953,1851,0,0,0,0,0,0
$STATE,15574,end climb,SURFACE_DEPTH_REACHED
$STATE,15574,begin surface coast
$FINISH,0.3,1.024537
$STATE,15599,end surface coast,CONTROL_FINISHED_OK
$STATE,15599,begin surface
$SM_CCo,15611,23.38,0.789,0,0,1615,210.22
$SM_GC,1.81,0.00,0.00,23.38,0.000,0.000,0.789,74,3003,1615,-5.04,0.06,210.22
$IRIDIUM_FIX,-4242.04,848.57,021213,191943
$TT8_MAMPS,0.026215
$HUMID,61.45
$INTERNAL_PRESSURE,9.53279
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.8,2.985
$10V_AH,10.1,1.947
$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,12.175,100.825,286.650,23.375,0.000,26.066,16.695,225.637,0.000,0.000,19.424,2881.197,7675.105,380.316,4888.929,181.124,0.000,1721.511,0.000,4611.050,0.000,1.009,0.000
$DEVICE_MAMPS,231.030,71.145,1822.230,788.715,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,770.459,749.943,3200.846,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355264
$DATA_FILE_SIZE,70409,1110
$CAP_FILE_SIZE,153161,0
$CFSIZE,259252224,257449984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,031213,024334,-4257.597,851.053,25,0.9,26,-25.2