version: 66.07
glider: 543
mission: 9
dive: 16
start: 12 3 113 7 16 42
data:
$ID,543
$MISSION,9
$DIVE,16
$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,-12450.806
$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,46
$R_STBD_OVSHOOT,30
$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
$GPS1,031213,070834,-4256.558,851.943,31,1.0,31,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-59.9
$GPS2,031213,071618,-4256.486,852.042,18,1.6,18,-25.2
$SPEED_LIMITS,0.143,0.243
$TGT_NAME,HEADING
$TGT_LATLONG,-4256.486,837.290
$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,-146.1,0.0,0.0,0,75,0.00,0.00,-57.22,0.000,2,0.000,0.000,64,3017,2961,0,0,0,0,0,0
$GC,77,-0.46,-146.1,3.7,-4.7,7,94,5.78,1.52,-2.47,0.000,4,0.227,0.073,1520,3943,3073,0,0,0,0,0,0
$GC,132,-0.46,-146.1,21.5,-29.9,15,138,0.00,1.50,0.00,0.000,6,0.000,0.040,1521,3004,3075,0,0,0,0,0,0
$GC,276,-0.46,-146.1,48.8,-19.3,40,285,0.00,1.58,0.00,0.000,4,0.000,0.064,1514,3944,3076,0,0,0,0,0,0
$GC,368,-0.46,-146.1,67.7,-21.8,55,374,0.00,1.50,0.00,0.000,6,0.000,0.041,1513,2995,3076,0,0,0,0,0,0
$GC,708,-0.46,-146.1,124.3,-16.2,102,711,0.00,1.55,0.00,0.000,4,0.000,0.065,1506,3927,3077,0,0,0,0,0,0
$GC,974,-0.46,-146.1,173.7,-18.5,125,977,0.00,1.45,0.00,0.000,6,0.000,0.040,1507,3001,3077,0,0,0,0,0,0
$GC,1306,-0.46,-146.1,227.1,-15.4,156,1309,0.00,1.52,0.00,0.000,4,0.000,0.065,1500,3929,3078,0,0,0,0,0,0
$GC,1571,-0.46,-146.1,275.4,-18.1,179,1575,0.10,1.45,0.00,0.000,6,0.172,0.039,1529,3004,3078,0,0,0,0,0,0
$GC,1903,-0.46,-146.1,317.9,-12.7,210,1907,0.00,1.52,0.00,0.000,4,0.000,0.066,1523,3933,3078,0,0,0,0,0,0
$GC,2169,-0.46,-146.1,358.6,-15.7,233,2173,0.00,1.45,0.00,0.000,6,0.000,0.040,1523,3002,3078,0,0,0,0,0,0
$GC,2497,-0.46,-146.1,406.5,-14.8,262,2501,0.00,1.52,0.00,0.000,4,0.000,0.066,1516,3932,3078,0,0,0,0,0,0
$GC,2757,-0.46,-146.1,450.3,-16.5,273,2762,0.00,1.48,0.00,0.000,6,0.000,0.039,1517,2989,3079,0,0,0,0,0,0
$GC,3081,-0.46,-146.1,494.9,-13.5,289,3085,0.00,2.12,0.00,0.000,4,0.000,0.041,1516,1596,3078,0,0,0,0,0,0
$GC,3235,-0.46,-146.1,512.9,-11.5,296,3239,0.00,2.25,0.00,0.000,6,0.000,0.058,1506,2994,3078,0,0,0,0,0,0
$GC,3563,-0.46,-146.1,560.4,-14.7,312,3567,0.10,1.55,0.00,0.000,4,0.200,0.066,1523,3944,3078,0,0,0,0,0,0
$GC,3821,-0.46,-146.1,600.1,-15.0,323,3826,0.00,1.48,0.00,0.000,6,0.000,0.040,1523,2999,3078,0,0,0,0,0,0
$GC,4145,-0.46,-146.1,643.3,-13.2,339,4149,0.00,1.55,0.00,0.000,4,0.000,0.067,1516,3948,3078,0,0,0,0,0,0
$GC,4403,-0.46,-146.1,682.3,-14.1,350,4409,0.00,1.48,0.00,0.000,6,0.000,0.040,1516,3003,3077,0,0,0,0,0,0
$GC,4727,-0.46,-146.1,722.7,-12.3,366,4731,0.00,1.52,0.00,0.000,4,0.000,0.067,1509,3934,3077,0,0,0,0,0,0
$GC,4986,-0.46,-146.1,762.4,-14.8,377,4992,0.00,1.48,0.00,0.000,6,0.000,0.041,1509,2992,3077,0,0,0,0,0,0
$GC,5310,-0.46,-146.1,805.8,-13.6,393,5314,0.00,2.15,0.00,0.000,4,0.000,0.041,1509,1586,3076,0,0,0,0,0,0
$GC,5478,-0.46,-146.1,825.6,-11.1,400,5489,0.10,2.33,0.00,0.000,6,0.149,0.060,1530,3006,3076,0,0,0,0,0,0
$GC,5797,-0.46,-146.1,861.0,-11.1,416,5800,0.00,1.52,0.00,0.000,4,0.000,0.068,1524,3946,3075,0,0,0,0,0,0
$GC,6055,-0.46,-146.1,894.2,-13.0,427,6061,0.00,1.48,0.00,0.000,6,0.000,0.041,1524,3002,3075,0,0,0,0,0,0
$GC,6379,-0.46,-146.1,929.7,-11.0,443,6383,0.00,1.55,0.00,0.000,4,0.000,0.068,1517,3949,3075,0,0,0,0,0,0
$GC,6638,-0.46,-146.1,964.5,-13.4,454,6643,0.00,1.50,0.00,0.000,6,0.000,0.041,1517,2990,3075,0,0,0,0,0,0
$STATE,6857,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6858,begin apogee
$GC,6861,-0.13,0.0,991.1,12.1,465,7005,0.40,0.00,141.25,1.877,6,0.156,0.000,1636,2989,2473,0,0,0,0,0,0
$STATE,7006,end apogee,CONTROL_FINISHED_OK
$STATE,7006,begin climb
$GC,7007,0.46,146.1,997.6,0.0,472,7159,0.62,1.77,143.27,1.828,4,0.118,0.066,1823,3939,1878,0,0,0,0,0,0
$GC,7416,0.46,146.1,960.2,11.9,490,7420,0.00,1.62,0.00,0.000,6,0.000,0.041,1830,2947,1869,0,0,0,0,0,0
$GC,7750,0.46,146.1,925.3,10.6,506,7753,0.00,1.67,0.00,0.000,4,0.000,0.066,1831,3955,1866,0,0,0,0,0,0
$GC,8008,0.46,146.1,890.6,13.7,517,8014,0.00,1.62,0.00,0.000,6,0.000,0.041,1838,2944,1865,0,0,0,0,0,0
$GC,8332,0.46,146.1,853.8,11.6,533,8336,0.00,1.67,0.00,0.000,4,0.000,0.067,1838,3957,1863,0,0,0,0,0,0
$GC,8506,0.46,146.1,828.9,14.7,540,8516,0.00,1.58,0.00,0.000,6,0.000,0.041,1846,2955,1864,0,0,0,0,0,0
$GC,8825,0.46,146.1,789.8,12.1,556,8828,0.00,1.65,0.00,0.000,4,0.000,0.067,1846,3943,1863,0,0,0,0,0,0
$GC,8970,0.46,146.1,768.6,14.0,562,8975,0.00,1.58,0.00,0.000,6,0.000,0.041,1853,2948,1863,0,0,0,0,0,0
$GC,9294,0.46,146.1,729.2,12.1,578,9297,0.00,1.65,0.00,0.000,4,0.000,0.067,1853,3945,1863,0,0,0,0,0,0
$GC,9439,0.46,146.1,708.1,14.9,584,9444,0.00,1.58,0.00,0.000,6,0.000,0.041,1861,2950,1863,0,0,0,0,0,0
$GC,9763,0.46,146.1,667.8,12.6,600,9766,0.00,1.65,0.00,0.000,4,0.000,0.067,1861,3946,1862,0,0,0,0,0,0
$GC,9885,0.46,146.1,648.5,15.7,605,9891,0.12,1.58,0.00,0.000,6,0.214,0.041,1840,2948,1862,0,0,0,0,0,0
$GC,10209,0.46,146.1,610.5,11.8,621,10212,0.00,1.65,0.00,0.000,4,0.000,0.067,1840,3952,1862,0,0,0,0,0,0
$GC,10354,0.46,146.1,590.1,14.0,627,10359,0.00,1.58,0.00,0.000,6,0.000,0.041,1846,2952,1862,0,0,0,0,0,0
$GC,10678,0.46,146.1,552.7,11.4,643,10682,0.00,1.62,0.00,0.000,4,0.000,0.067,1846,3939,1861,0,0,0,0,0,0
$GC,10906,0.46,146.1,521.6,13.3,653,10910,0.00,1.55,0.00,0.000,6,0.000,0.042,1854,2946,1862,0,0,0,0,0,0
$GC,11240,0.46,146.1,482.4,11.7,669,11244,0.00,1.65,0.00,0.000,4,0.000,0.066,1854,3947,1861,0,0,0,0,0,0
$GC,11397,0.46,146.1,460.0,14.7,676,11401,0.00,1.55,0.00,0.000,6,0.000,0.041,1862,2951,1861,0,0,0,0,0,0
$GC,11729,0.46,146.1,419.4,11.9,692,11733,0.00,1.62,0.00,0.000,4,0.000,0.066,1862,3948,1861,0,0,0,0,0,0
$GC,11994,0.46,146.1,382.3,13.4,708,11998,0.10,1.55,0.00,0.000,6,0.194,0.042,1833,2947,1861,0,0,0,0,0,0
$GC,12325,0.46,148.3,353.4,8.2,739,12329,0.00,1.65,0.00,0.000,4,0.000,0.067,1833,3951,1861,0,0,0,0,0,0
$GC,12511,0.46,148.3,334.4,9.7,755,12515,0.00,1.55,0.00,0.000,6,0.000,0.041,1839,2952,1861,0,0,0,0,0,0
$GC,12843,0.46,148.3,304.6,9.0,786,12846,0.00,1.62,0.00,0.000,4,0.000,0.067,1839,3940,1860,0,0,0,0,0,0
$GC,12984,0.46,148.3,288.5,11.6,798,12994,0.00,1.52,0.00,0.000,6,0.000,0.041,1847,2952,1861,0,0,0,0,0,0
$GC,13311,0.46,148.3,256.1,9.7,829,13315,0.00,1.62,0.00,0.000,4,0.000,0.066,1847,3944,1861,0,0,0,0,0,0
$GC,13487,0.46,148.3,233.4,12.9,844,13497,0.00,1.55,0.00,0.000,6,0.000,0.039,1855,2946,1861,0,0,0,0,0,0
$GC,13814,0.46,148.3,197.1,11.1,875,13818,0.00,1.62,0.00,0.000,4,0.000,0.066,1855,3942,1861,0,0,0,0,0,0
$GC,14023,0.46,148.3,168.7,13.0,893,14027,0.00,1.52,0.00,0.000,6,0.000,0.040,1862,2954,1861,0,0,0,0,0,0
$GC,14355,0.46,148.3,130.2,11.3,924,14358,0.00,1.62,0.00,0.000,4,0.000,0.065,1862,3949,1861,0,0,0,0,0,0
$GC,14563,0.46,148.3,101.6,13.7,942,14567,0.10,1.55,0.00,0.000,6,0.188,0.039,1833,2940,1861,0,0,0,0,0,0
$GC,14913,0.46,148.3,69.8,8.9,1002,14922,0.00,1.62,0.00,0.000,4,0.000,0.063,1833,3942,1861,0,0,0,0,0,0
$GC,15177,0.46,148.3,45.2,8.7,1047,15184,0.00,1.52,0.00,0.000,6,0.000,0.039,1839,2948,1861,0,0,0,0,0,0
$GC,15531,0.47,159.3,17.2,7.8,1108,15541,0.00,1.65,3.78,0.646,4,0.000,0.063,1839,3949,1820,0,0,0,0,0,0
$GC,15644,0.47,159.3,6.5,11.4,1126,15653,0.00,1.52,0.00,0.000,6,0.000,0.038,1846,2951,1820,0,0,0,0,0,0
$STATE,15683,end climb,SURFACE_DEPTH_REACHED
$STATE,15683,begin surface coast
$FINISH,0.5,1.026531
$STATE,15726,end surface coast,CONTROL_FINISHED_OK
$STATE,15726,begin surface
$SM_CCo,15737,20.08,0.767,0,0,1614,210.22
$SM_GC,1.93,0.00,0.00,20.08,0.000,0.000,0.767,72,3029,1614,-5.04,0.82,210.22
$IRIDIUM_FIX,-4242.04,848.57,031213,020212
$TT8_MAMPS,0.025466
$HUMID,61.69
$INTERNAL_PRESSURE,9.53279
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.7,3.329
$10V_AH,10.1,2.358
$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,12.100,96.675,288.300,20.075,0.000,27.716,21.617,300.186,0.000,0.000,20.921,2942.455,7597.152,380.345,5094.680,207.466,0.000,1757.398,0.000,4743.957,0.000,1.011,0.000
$DEVICE_MAMPS,227.205,111.690,1877.310,766.530,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,790.593,818.110,3260.139,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355288
$DATA_FILE_SIZE,70323,1139
$CAP_FILE_SIZE,156852,0
$CFSIZE,259252224,257290240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,031213,114029,-4255.397,852.683,35,0.9,35,-25.2