version: 66.07
glider: 543
mission: 9
dive: 15
start: 12 3 113 2 51 53
data:
$ID,543
$MISSION,9
$DIVE,15
$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,-12447.973
$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,42
$R_STBD_OVSHOOT,20
$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
$GPS1,031213,024334,-4257.597,851.053,25,0.9,26,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-64.9
$GPS2,031213,025129,-4257.568,851.191,23,1.8,23,-25.2
$SPEED_LIMITS,0.143,0.243
$TGT_NAME,HEADING
$TGT_LATLONG,-4257.568,836.435
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.46,-146.1,0.0,0.0,0,74,0.00,0.00,-56.58,0.000,2,0.000,0.000,73,3003,2926,0,0,0,0,0,0
$GC,76,-0.46,-146.1,3.4,-4.2,7,93,5.75,1.58,-3.38,0.000,4,0.228,0.075,1523,3951,3072,0,0,0,0,0,0
$GC,169,-0.46,-146.1,27.6,-20.0,22,178,0.00,1.50,0.00,0.000,6,0.000,0.040,1523,3005,3075,0,0,0,0,0,0
$GC,318,-0.46,-146.1,53.1,-16.6,47,324,0.00,1.58,0.00,0.000,4,0.000,0.066,1516,3952,3076,0,0,0,0,0,0
$GC,405,-0.46,-146.1,69.9,-19.0,62,414,0.00,1.50,0.00,0.000,6,0.000,0.039,1516,2996,3076,0,0,0,0,0,0
$GC,753,-0.46,-146.1,125.2,-15.2,109,757,0.00,1.58,0.00,0.000,4,0.000,0.065,1508,3951,3076,0,0,0,0,0,0
$GC,1019,-0.46,-146.1,172.5,-18.3,132,1023,0.00,1.48,0.00,0.000,6,0.000,0.039,1509,3002,3077,0,0,0,0,0,0
$GC,1351,-0.46,-146.1,228.6,-17.2,163,1355,0.00,1.55,0.00,0.000,4,0.000,0.065,1502,3949,3078,0,0,0,0,0,0
$GC,1617,-0.46,-146.1,281.0,-19.5,186,1621,0.10,1.48,0.00,0.000,6,0.167,0.039,1532,3002,3078,0,0,0,0,0,0
$GC,1948,-0.46,-146.1,327.2,-12.5,217,1952,0.00,1.55,0.00,0.000,4,0.000,0.066,1526,3952,3078,0,0,0,0,0,0
$GC,2213,-0.46,-146.1,363.3,-12.6,240,2217,0.00,1.48,0.00,0.000,6,0.000,0.039,1526,2995,3078,0,0,0,0,0,0
$GC,2542,-0.46,-146.1,403.5,-12.3,270,2546,0.00,1.55,0.00,0.000,4,0.000,0.066,1519,3945,3078,0,0,0,0,0,0
$GC,2551,-0.46,-146.1,404.9,-12.1,270,2556,0.00,1.48,0.00,0.000,6,0.000,0.041,1519,3003,3078,0,0,0,0,0,0
$GC,2873,-0.46,-146.1,449.2,-14.1,286,2877,0.00,2.17,0.00,0.000,4,0.000,0.040,1519,1581,3078,0,0,0,0,0,0
$GC,2972,-0.46,-146.1,461.3,-10.9,290,2983,0.00,2.33,0.00,0.000,6,0.000,0.057,1508,3004,3078,0,0,0,0,0,0
$GC,3292,-0.46,-146.1,508.5,-15.4,306,3296,0.00,1.52,0.00,0.000,4,0.000,0.065,1501,3948,3078,0,0,0,0,0,0
$GC,3550,-0.46,-146.1,555.5,-17.3,317,3556,0.12,1.48,0.00,0.000,6,0.187,0.040,1531,2999,3078,0,0,0,0,0,0
$GC,3875,-0.46,-146.1,597.4,-12.9,333,3879,0.00,1.55,0.00,0.000,4,0.000,0.067,1526,3945,3078,0,0,0,0,0,0
$GC,4133,-0.46,-146.1,634.4,-13.9,344,4139,0.00,1.48,0.00,0.000,6,0.000,0.041,1525,2997,3077,0,0,0,0,0,0
$GC,4459,-0.46,-146.1,675.9,-13.0,360,4462,0.00,1.55,0.00,0.000,4,0.000,0.069,1518,3946,3077,0,0,0,0,0,0
$GC,4717,-0.46,-146.1,715.6,-14.9,371,4723,0.00,1.48,0.00,0.000,6,0.000,0.041,1518,3002,3077,0,0,0,0,0,0
$GC,5043,-0.46,-146.1,760.0,-13.8,387,5046,0.00,1.55,0.00,0.000,4,0.000,0.070,1511,3951,3076,0,0,0,0,0,0
$GC,5301,-0.46,-146.1,802.0,-16.9,398,5306,0.00,1.50,0.00,0.000,6,0.000,0.041,1511,2994,3075,0,0,0,0,0,0
$GC,5626,-0.46,-146.1,849.6,-14.5,414,5630,0.00,1.55,0.00,0.000,4,0.000,0.070,1504,3941,3075,0,0,0,0,0,0
$GC,5885,-0.46,-146.1,891.5,-15.4,425,5891,0.12,1.48,0.00,0.000,6,0.190,0.041,1535,3003,3074,0,0,0,0,0,0
$GC,6210,-0.46,-146.1,925.7,-10.0,441,6214,0.00,1.55,0.00,0.000,4,0.000,0.070,1529,3948,3075,0,0,0,0,0,0
$GC,6468,-0.46,-146.1,954.7,-11.1,452,6473,0.00,1.50,0.00,0.000,6,0.000,0.043,1529,2993,3074,0,0,0,0,0,0
$GC,6793,-0.46,-146.1,984.7,-9.1,468,6797,0.00,1.55,0.00,0.000,4,0.000,0.070,1522,3941,3074,0,0,0,0,0,0
$STATE,6841,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6841,begin apogee
$GC,6846,-0.13,0.0,990.4,10.8,470,6989,0.35,0.00,140.27,1.844,6,0.153,0.000,1631,2934,2473,0,0,0,0,0,0
$STATE,6990,end apogee,CONTROL_FINISHED_OK
$STATE,6990,begin climb
$GC,6991,0.46,146.1,994.2,0.0,477,7143,0.65,1.85,142.55,1.795,4,0.116,0.066,1825,3947,1877,0,0,0,0,0,0
$GC,7400,0.46,146.1,947.9,13.8,495,7403,0.00,1.62,0.00,0.000,6,0.000,0.042,1833,2958,1868,0,0,0,0,0,0
$GC,7733,0.46,146.1,908.3,11.7,511,7737,0.00,1.65,0.00,0.000,4,0.000,0.068,1833,3950,1865,0,0,0,0,0,0
$GC,7991,0.46,146.1,872.6,13.8,522,7997,0.00,1.62,0.00,0.000,6,0.000,0.041,1840,2940,1864,0,0,0,0,0,0
$GC,8315,0.46,146.1,836.3,11.1,538,8319,0.00,1.67,0.00,0.000,4,0.000,0.066,1840,3957,1863,0,0,0,0,0,0
$GC,8511,0.46,146.1,810.4,13.3,546,8522,0.00,1.60,0.00,0.000,6,0.000,0.041,1848,2946,1863,0,0,0,0,0,0
$GC,8830,0.46,146.1,775.7,10.6,562,8834,0.00,1.65,0.00,0.000,4,0.000,0.066,1848,3937,1862,0,0,0,0,0,0
$GC,8993,0.46,146.1,754.2,13.6,569,8997,0.00,1.55,0.00,0.000,6,0.000,0.041,1855,2951,1862,0,0,0,0,0,0
$GC,9322,0.46,146.1,716.9,11.4,585,9325,0.00,1.62,0.00,0.000,4,0.000,0.067,1855,3946,1861,0,0,0,0,0,0
$GC,9414,0.46,146.1,704.3,14.4,589,9418,0.00,1.55,0.00,0.000,6,0.000,0.041,1863,2956,1861,0,0,0,0,0,0
$GC,9749,0.46,146.1,664.1,12.0,605,9753,0.00,1.62,0.00,0.000,4,0.000,0.066,1863,3938,1861,0,0,0,0,0,0
$GC,9968,0.46,146.1,631.2,14.8,614,9979,0.15,1.58,0.00,0.000,6,0.207,0.041,1835,2942,1861,0,0,0,0,0,0
$GC,10286,0.46,146.1,596.8,11.2,630,10290,0.00,1.65,0.00,0.000,4,0.000,0.067,1835,3942,1860,0,0,0,0,0,0
$GC,10469,0.46,146.1,572.3,14.5,638,10472,0.00,1.55,0.00,0.000,6,0.000,0.042,1841,2951,1860,0,0,0,0,0,0
$GC,10803,0.46,146.1,532.5,11.9,654,10806,0.00,1.62,0.00,0.000,4,0.000,0.067,1841,3970,1860,0,0,0,0,0,0
$GC,11038,0.46,146.1,498.4,13.8,664,11044,0.00,1.62,0.00,0.000,6,0.000,0.041,1849,2940,1860,0,0,0,0,0,0
$GC,11361,0.46,146.1,459.0,12.0,680,11364,0.00,1.65,0.00,0.000,4,0.000,0.066,1849,3943,1859,0,0,0,0,0,0
$GC,11499,0.46,146.1,439.2,14.4,686,11504,0.00,1.55,0.00,0.000,6,0.000,0.041,1857,2946,1859,0,0,0,0,0,0
$GC,11828,0.46,146.1,400.6,11.3,702,11832,0.00,1.65,0.00,0.000,4,0.000,0.067,1857,3978,1859,0,0,0,0,0,0
$GC,12061,0.46,146.1,368.0,14.0,721,12071,0.00,1.62,0.00,0.000,6,0.000,0.041,1865,2943,1859,0,0,0,0,0,0
$GC,12389,0.46,146.1,330.1,11.4,752,12393,0.00,1.65,0.00,0.000,4,0.000,0.067,1865,3952,1859,0,0,0,0,0,0
$GC,12496,0.46,146.1,315.3,13.1,761,12506,0.10,1.58,0.00,0.000,6,0.190,0.041,1843,2944,1859,0,0,0,0,0,0
$GC,12823,0.46,146.1,283.9,9.2,792,12826,0.00,1.65,0.00,0.000,4,0.000,0.066,1843,3954,1859,0,0,0,0,0,0
$GC,12997,0.46,146.1,263.4,12.8,807,13001,0.00,1.55,0.00,0.000,6,0.000,0.041,1850,2952,1859,0,0,0,0,0,0
$GC,13329,0.46,146.1,227.0,11.4,838,13332,0.00,1.62,0.00,0.000,4,0.000,0.066,1850,3942,1859,0,0,0,0,0,0
$GC,13560,0.46,146.1,195.4,14.1,858,13564,0.00,1.52,0.00,0.000,6,0.000,0.040,1857,2953,1859,0,0,0,0,0,0
$GC,13892,0.46,146.1,154.2,12.0,889,13896,0.00,1.62,0.00,0.000,4,0.000,0.066,1857,3953,1859,0,0,0,0,0,0
$GC,14078,0.46,146.1,127.4,14.7,905,14083,0.08,1.55,0.00,0.000,6,0.186,0.040,1843,2946,1859,0,0,0,0,0,0
$GC,14408,0.46,146.1,91.5,10.4,942,14417,0.00,1.62,0.00,0.000,4,0.000,0.065,1842,3947,1859,0,0,0,0,0,0
$GC,14583,0.46,146.1,69.5,13.1,972,14592,0.00,1.52,0.00,0.000,6,0.000,0.039,1849,2952,1859,0,0,0,0,0,0
$GC,14941,0.47,151.1,36.5,8.1,1033,14947,0.00,1.62,0.00,0.000,4,0.000,0.065,1848,3953,1859,0,0,0,0,0,0
$GC,14970,0.47,151.1,33.1,9.7,1038,14979,0.00,1.55,0.00,0.000,6,0.000,0.040,1856,2945,1859,0,0,0,0,0,0
$GC,15120,0.47,151.1,19.1,10.4,1063,15129,0.00,2.17,0.00,0.000,4,0.000,0.042,1867,1542,1859,0,0,0,0,0,0
$GC,15139,0.47,151.1,17.4,9.8,1065,15148,0.08,2.28,0.00,0.000,6,0.155,0.054,1843,2946,1860,0,0,0,0,0,0
$GC,15198,0.47,156.7,12.1,8.0,1074,15207,0.00,1.60,2.58,0.459,4,0.000,0.063,1843,3957,1831,0,0,0,0,0,0
$GC,15263,0.47,156.7,4.7,13.8,1084,15271,0.00,1.55,0.00,0.000,6,0.000,0.039,1849,2950,1831,0,0,0,0,0,0
$STATE,15278,end climb,SURFACE_DEPTH_REACHED
$STATE,15278,begin surface coast
$FINISH,0.5,1.003417
$STATE,15304,end surface coast,CONTROL_FINISHED_OK
$STATE,15304,begin surface
$SM_CCo,15315,21.42,0.793,0,0,1615,210.22
$SM_GC,2.04,0.00,0.00,21.42,0.000,0.000,0.793,65,3016,1615,-5.06,0.45,210.22
$IRIDIUM_FIX,-4242.04,848.57,021213,222242
$TT8_MAMPS,0.025466
$HUMID,61.14
$INTERNAL_PRESSURE,9.52302
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.8,3.156
$10V_AH,10.1,2.148
$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,12.200,103.375,285.400,21.425,0.000,44.646,19.485,297.139,0.000,0.000,26.201,2832.381,7502.350,396.054,4886.455,194.032,0.000,1742.128,0.000,4511.510,0.000,1.010,0.000
$DEVICE_MAMPS,227.970,115.515,1843.650,792.540,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,755.897,750.541,3121.621,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355256
$DATA_FILE_SIZE,66999,1090
$CAP_FILE_SIZE,155373,0
$CFSIZE,259252224,257376256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,031213,070834,-4256.558,851.943,31,1.0,31,-25.2