version: 66.07
glider: 543
mission: 9
dive: 17
start: 12 3 113 11 49 6
data:
$ID,543
$MISSION,9
$DIVE,17
$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,-12453.695
$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,50
$R_STBD_OVSHOOT,35
$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
$GPS1,031213,114029,-4255.397,852.683,35,0.9,35,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-60.7
$GPS2,031213,114842,-4255.333,852.804,17,1.3,18,-25.2
$SPEED_LIMITS,0.143,0.243
$TGT_NAME,HEADING
$TGT_LATLONG,-4255.333,838.057
$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,-56.95,0.000,2,0.000,0.000,70,3029,2930,0,0,0,0,0,0
$GC,77,-0.46,-146.1,3.3,-3.9,7,94,5.82,1.50,-3.35,0.000,4,0.231,0.070,1522,3939,3073,0,0,0,0,0,0
$GC,181,-0.46,-146.1,32.2,-21.0,24,190,0.00,1.48,0.00,0.000,6,0.000,0.040,1522,3012,3076,0,0,0,0,0,0
$GC,330,-0.46,-146.1,58.4,-17.1,49,336,0.00,1.52,0.00,0.000,4,0.000,0.066,1515,3923,3076,0,0,0,0,0,0
$GC,517,-0.46,-146.1,92.6,-18.5,81,523,0.00,1.45,0.00,0.000,6,0.000,0.041,1515,3004,3076,0,0,0,0,0,0
$GC,847,-0.46,-146.1,148.2,-17.5,115,851,0.00,1.52,0.00,0.000,4,0.000,0.067,1509,3926,3078,0,0,0,0,0,0
$GC,1112,-0.46,-146.1,199.9,-19.2,138,1116,0.00,1.45,0.00,0.000,6,0.000,0.040,1508,2999,3077,0,0,0,0,0,0
$GC,1444,-0.46,-146.1,259.4,-17.2,169,1448,0.00,1.52,0.00,0.000,4,0.000,0.066,1502,3925,3078,0,0,0,0,0,0
$GC,1710,-0.46,-146.1,311.5,-19.4,192,1714,0.08,1.45,0.00,0.000,6,0.173,0.040,1525,2996,3078,0,0,0,0,0,0
$GC,2041,-0.46,-146.1,359.7,-13.7,223,2044,0.00,1.52,0.00,0.000,4,0.000,0.066,1519,3927,3078,0,0,0,0,0,0
$GC,2306,-0.46,-146.1,401.5,-16.0,246,2310,0.00,1.45,0.00,0.000,6,0.000,0.039,1519,2994,3078,0,0,0,0,0,0
$GC,2627,-0.46,-146.1,450.1,-15.0,262,2631,0.00,1.52,0.00,0.000,4,0.000,0.067,1512,3924,3078,0,0,0,0,0,0
$GC,2886,-0.46,-146.1,493.6,-16.5,273,2891,0.00,1.45,0.00,0.000,6,0.000,0.040,1512,2999,3078,0,0,0,0,0,0
$GC,3210,-0.46,-146.1,542.3,-15.0,289,3214,0.00,1.52,0.00,0.000,4,0.000,0.067,1505,3931,3078,0,0,0,0,0,0
$GC,3468,-0.46,-146.1,587.3,-16.3,300,3474,0.10,1.45,0.00,0.000,6,0.196,0.040,1529,3003,3078,0,0,0,0,0,0
$GC,3792,-0.46,-146.1,628.9,-12.5,316,3795,0.00,1.52,0.00,0.000,4,0.000,0.067,1523,3934,3078,0,0,0,0,0,0
$GC,4050,-0.46,-146.1,667.1,-14.5,327,4055,0.00,1.48,0.00,0.000,6,0.000,0.041,1523,2990,3078,0,0,0,0,0,0
$GC,4374,-0.46,-146.1,707.2,-11.8,343,4377,0.00,1.52,0.00,0.000,4,0.000,0.067,1516,3921,3077,0,0,0,0,0,0
$GC,4388,-0.46,-146.1,709.6,-12.0,343,4399,0.00,1.45,0.00,0.000,6,0.000,0.041,1516,2999,3077,0,0,0,0,0,0
$GC,4707,-0.46,-146.1,748.9,-12.4,359,4711,0.00,2.15,0.00,0.000,4,0.000,0.041,1516,1593,3076,0,0,0,0,0,0
$GC,4801,-0.46,-146.1,759.7,-10.7,363,4807,0.08,2.28,0.00,0.000,6,0.146,0.058,1529,2986,3076,0,0,0,0,0,0
$GC,5126,-0.46,-146.1,796.9,-12.1,379,5130,0.00,1.55,0.00,0.000,4,0.000,0.067,1524,3945,3076,0,0,0,0,0,0
$GC,5384,-0.46,-146.1,835.0,-13.8,390,5389,0.00,1.48,0.00,0.000,6,0.000,0.041,1524,2997,3075,0,0,0,0,0,0
$GC,5710,-0.46,-146.1,877.7,-13.1,406,5713,0.00,1.55,0.00,0.000,4,0.000,0.068,1517,3943,3075,0,0,0,0,0,0
$GC,5967,-0.46,-146.1,917.1,-15.5,417,5973,0.00,1.48,0.00,0.000,6,0.000,0.041,1517,3001,3075,0,0,0,0,0,0
$GC,6292,-0.46,-146.1,959.4,-13.2,433,6295,0.00,1.55,0.00,0.000,4,0.000,0.068,1509,3950,3074,0,0,0,0,0,0
$STATE,6504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6504,begin apogee
$GC,6509,-0.13,0.0,990.4,14.8,442,6652,0.40,0.00,140.65,1.866,6,0.161,0.000,1632,2937,2474,0,0,0,0,0,0
$STATE,6653,end apogee,CONTROL_FINISHED_OK
$STATE,6653,begin climb
$GC,6655,0.46,146.1,996.2,0.0,449,6806,0.65,2.40,142.73,1.808,4,0.119,0.043,1837,1557,1877,0,0,0,0,0,0
$GC,6907,0.46,146.1,977.3,10.2,460,6912,0.00,2.45,0.00,0.000,6,0.000,0.057,1837,2947,1873,0,0,0,0,0,0
$GC,7237,0.46,146.1,939.8,11.6,476,7240,0.00,1.67,0.00,0.000,4,0.000,0.067,1837,3949,1867,0,0,0,0,0,0
$GC,7456,0.46,146.1,907.5,14.8,485,7466,0.00,1.62,0.00,0.000,6,0.000,0.041,1845,2945,1866,0,0,0,0,0,0
$GC,7774,0.46,146.1,866.9,12.6,501,7778,0.00,1.67,0.00,0.000,4,0.000,0.067,1845,3953,1866,0,0,0,0,0,0
$GC,7897,0.46,146.1,848.7,14.6,506,7902,0.00,1.62,0.00,0.000,6,0.000,0.040,1852,2936,1865,0,0,0,0,0,0
$GC,8222,0.46,146.1,807.7,12.8,522,8226,0.00,1.67,0.00,0.000,4,0.000,0.067,1852,3954,1864,0,0,0,0,0,0
$GC,8395,0.46,146.1,780.9,14.9,529,8405,0.00,1.60,0.00,0.000,6,0.000,0.040,1860,2946,1864,0,0,0,0,0,0
$GC,8714,0.46,146.1,738.9,12.8,545,8718,0.00,1.67,0.00,0.000,4,0.000,0.066,1860,3965,1863,0,0,0,0,0,0
$GC,8875,0.46,146.1,715.1,15.4,552,8879,0.08,1.60,0.00,0.000,6,0.197,0.041,1839,2946,1863,0,0,0,0,0,0
$GC,9208,0.46,146.1,680.6,9.7,568,9212,0.00,1.67,0.00,0.000,4,0.000,0.067,1839,3969,1863,0,0,0,0,0,0
$GC,9369,0.46,146.1,661.3,12.4,575,9372,0.00,1.60,0.00,0.000,6,0.000,0.041,1845,2952,1863,0,0,0,0,0,0
$GC,9703,0.46,146.1,626.5,10.5,591,9706,0.00,1.65,0.00,0.000,4,0.000,0.067,1845,3947,1862,0,0,0,0,0,0
$GC,9863,0.46,146.1,606.1,13.1,598,9867,0.00,1.55,0.00,0.000,6,0.000,0.042,1853,2952,1862,0,0,0,0,0,0
$GC,10197,0.46,146.1,569.6,10.9,614,10201,0.00,1.65,0.00,0.000,4,0.000,0.067,1853,3951,1862,0,0,0,0,0,0
$GC,10291,0.46,146.1,556.8,14.5,618,10297,0.00,1.60,0.00,0.000,6,0.000,0.041,1860,2934,1862,0,0,0,0,0,0
$GC,10622,0.46,146.1,518.9,11.4,634,10625,0.00,1.65,0.00,0.000,4,0.000,0.067,1861,3964,1862,0,0,0,0,0,0
$GC,10880,0.46,146.1,481.1,15.6,645,10886,0.12,1.60,0.00,0.000,6,0.217,0.041,1840,2947,1862,0,0,0,0,0,0
$GC,11204,0.46,146.1,446.8,10.5,661,11208,0.00,1.65,0.00,0.000,4,0.000,0.067,1840,3951,1862,0,0,0,0,0,0
$GC,11362,0.46,146.1,426.7,12.9,668,11366,0.00,1.55,0.00,0.000,6,0.000,0.042,1846,2954,1862,0,0,0,0,0,0
$GC,11688,0.46,146.1,392.7,10.2,686,11691,0.00,1.62,0.00,0.000,4,0.000,0.067,1846,3944,1862,0,0,0,0,0,0
$GC,11792,0.46,146.1,379.7,12.1,695,11796,0.00,1.55,0.00,0.000,6,0.000,0.041,1854,2946,1862,0,0,0,0,0,0
$GC,12124,0.46,146.1,343.7,10.5,726,12128,0.00,1.65,0.00,0.000,4,0.000,0.067,1854,3951,1861,0,0,0,0,0,0
$GC,12381,0.46,146.1,308.5,13.9,748,12391,0.00,1.58,0.00,0.000,6,0.000,0.040,1862,2943,1862,0,0,0,0,0,0
$GC,12709,0.46,146.1,271.3,10.5,779,12712,0.00,1.65,0.00,0.000,4,0.000,0.067,1862,3950,1862,0,0,0,0,0,0
$GC,12837,0.46,146.1,254.3,13.4,790,12841,0.10,1.55,0.00,0.000,6,0.190,0.040,1841,2945,1861,0,0,0,0,0,0
$GC,13168,0.46,146.1,224.5,8.3,821,13171,0.00,1.65,0.00,0.000,4,0.000,0.066,1841,3954,1862,0,0,0,0,0,0
$GC,13284,0.46,146.1,212.5,11.4,831,13288,0.00,1.55,0.00,0.000,6,0.000,0.040,1847,2949,1862,0,0,0,0,0,0
$GC,13616,0.46,146.1,184.0,8.4,862,13620,0.00,1.65,0.00,0.000,4,0.000,0.065,1847,3956,1862,0,0,0,0,0,0
$GC,13779,0.46,146.1,166.1,11.0,876,13782,0.00,1.55,0.00,0.000,6,0.000,0.040,1854,2950,1862,0,0,0,0,0,0
$GC,14111,0.46,146.1,133.3,10.3,907,14114,0.00,1.65,0.00,0.000,4,0.000,0.065,1855,3956,1862,0,0,0,0,0,0
$GC,14342,0.46,146.1,103.7,13.3,927,14345,0.00,1.55,0.00,0.000,6,0.000,0.039,1863,2950,1862,0,0,0,0,0,0
$GC,14692,0.46,146.1,67.4,9.4,985,14699,0.00,1.62,0.00,0.000,4,0.000,0.066,1862,3944,1862,0,0,0,0,0,0
$GC,14891,0.46,146.1,43.1,12.5,1019,14898,0.10,1.52,0.00,0.000,6,0.183,0.038,1841,2950,1862,0,0,0,0,0,0
$GC,15249,0.52,242.8,15.4,4.6,1080,15298,0.00,1.67,38.55,0.813,4,0.000,0.066,1841,3946,1479,0,0,0,0,0,0
$GC,15318,0.52,242.8,9.6,9.4,1089,15327,0.00,1.55,0.00,0.000,6,0.000,0.038,1847,2959,1477,0,0,0,0,0,0
$STATE,15370,end climb,SURFACE_DEPTH_REACHED
$STATE,15370,begin surface coast
$FINISH,0.4,1.026573
$STATE,15395,end surface coast,CONTROL_FINISHED_OK
$STATE,15395,begin surface
$SM_CCo,15467,0.00,0.000,0,0,1470,246.28
$SM_GC,1.31,4.75,0.00,0.00,0.040,0.000,0.000,74,3007,1470,-4.96,0.20,246.28
$IRIDIUM_FIX,-4242.04,851.93,031213,070755
$TT8_MAMPS,0.025466
$HUMID,60.67
$INTERNAL_PRESSURE,9.52302
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.8,3.506
$10V_AH,10.1,2.561
$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,12.275,100.225,321.925,0.000,0.000,25.532,47.023,309.714,0.000,0.000,20.550,2832.610,7630.503,380.348,4919.131,194.608,0.000,1711.119,0.000,4535.079,0.000,1.011,0.000
$DEVICE_MAMPS,231.030,132.345,1865.835,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,763.424,777.208,3167.793,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70276,1101
$CAP_FILE_SIZE,153156,0
$CFSIZE,259252224,257208320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,031213,160804,-4254.295,853.401,39,1.1,40,-25.2