version: 66.07
glider: 543
mission: 9
dive: 18
start: 12 3 113 16 16 3
data:
$ID,543
$MISSION,9
$DIVE,18
$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,-12456.602
$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,40
$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,3150
$C_ROLL_CLIMB,3050
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,23
$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
$GPS1,031213,160804,-4254.295,853.401,39,1.1,40,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-59.7
$GPS2,031213,161539,-4254.230,853.526,17,1.0,18,-25.2
$SPEED_LIMITS,0.143,0.243
$TGT_NAME,HEADING
$TGT_LATLONG,-4254.230,838.783
$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,-0.45,-146.1,0.0,0.0,0,83,0.00,0.00,-65.05,0.000,2,0.000,0.000,66,3012,2938,0,0,0,0,0,0
$GC,85,-0.45,-146.1,3.1,-3.6,8,102,5.78,0.00,-3.17,0.000,6,0.226,0.000,1530,3011,3071,0,0,0,0,0,0
$GC,151,-0.45,-146.1,20.7,-21.7,18,160,0.00,1.58,0.00,0.000,4,0.000,0.065,1524,3945,3074,0,0,0,0,0,0
$GC,200,-0.45,-146.1,30.5,-20.0,26,209,0.00,1.25,0.00,0.000,6,0.000,0.040,1524,3154,3074,0,0,0,0,0,0
$GC,345,-0.45,-146.1,57.8,-19.4,51,353,0.00,1.30,0.00,0.000,4,0.000,0.067,1518,3941,3075,0,0,0,0,0,0
$GC,530,-0.45,-146.1,91.3,-17.8,83,537,0.00,1.25,0.00,0.000,6,0.000,0.040,1519,3139,3075,0,0,0,0,0,0
$GC,859,-0.45,-146.1,146.7,-16.8,118,862,0.00,1.33,0.00,0.000,4,0.000,0.067,1513,3949,3075,0,0,0,0,0,0
$GC,1031,-0.45,-146.1,178.6,-19.3,133,1034,0.00,1.23,0.00,0.000,6,0.000,0.040,1513,3153,3076,0,0,0,0,0,0
$GC,1361,-0.45,-146.1,236.2,-16.6,164,1364,0.00,1.30,0.00,0.000,4,0.000,0.067,1507,3950,3076,0,0,0,0,0,0
$GC,1569,-0.45,-146.1,273.9,-17.5,182,1576,0.10,1.23,0.00,0.000,6,0.162,0.039,1537,3154,3076,0,0,0,0,0,0
$GC,1895,-0.45,-146.1,316.6,-13.1,213,1899,0.00,1.27,0.00,0.000,4,0.000,0.067,1532,3939,3076,0,0,0,0,0,0
$GC,2122,-0.45,-146.1,349.8,-15.0,233,2126,0.00,1.23,0.00,0.000,6,0.000,0.040,1533,3142,3076,0,0,0,0,0,0
$GC,2452,-0.45,-146.1,397.5,-14.4,264,2455,0.00,1.30,0.00,0.000,4,0.000,0.067,1527,3944,3076,0,0,0,0,0,0
$GC,2703,-0.45,-146.1,436.1,-14.6,276,2708,0.00,1.25,0.00,0.000,6,0.000,0.040,1526,3139,3076,0,0,0,0,0,0
$GC,3030,-0.45,-146.1,478.3,-12.5,292,3034,0.00,1.30,0.00,0.000,4,0.000,0.067,1521,3942,3076,0,0,0,0,0,0
$GC,3242,-0.45,-146.1,507.8,-13.3,301,3246,0.00,1.23,0.00,0.000,6,0.000,0.041,1521,3152,3076,0,0,0,0,0,0
$GC,3565,-0.45,-146.1,548.7,-12.9,317,3568,0.00,1.27,0.00,0.000,4,0.000,0.067,1515,3942,3076,0,0,0,0,0,0
$GC,3812,-0.45,-146.1,586.0,-15.5,328,3815,0.00,1.23,0.00,0.000,6,0.000,0.041,1515,3142,3076,0,0,0,0,0,0
$GC,4144,-0.45,-146.1,632.5,-13.8,344,4147,0.00,1.30,0.00,0.000,4,0.000,0.068,1509,3946,3075,0,0,0,0,0,0
$GC,4350,-0.45,-146.1,665.7,-16.1,353,4355,0.00,1.25,0.00,0.000,6,0.000,0.041,1509,3140,3075,0,0,0,0,0,0
$GC,4677,-0.45,-146.1,714.1,-14.7,369,4681,0.10,1.33,0.00,0.000,4,0.200,0.068,1527,3950,3074,0,0,0,0,0,0
$GC,4916,-0.45,-146.1,748.7,-14.6,379,4924,0.00,1.25,0.00,0.000,6,0.000,0.042,1526,3146,3074,0,0,0,0,0,0
$GC,5234,-0.45,-146.1,789.6,-12.5,395,5237,0.00,1.30,0.00,0.000,4,0.000,0.070,1520,3951,3074,0,0,0,0,0,0
$GC,5413,-0.45,-146.1,814.3,-13.9,403,5417,0.00,1.23,0.00,0.000,6,0.000,0.042,1521,3152,3073,0,0,0,0,0,0
$GC,5745,-0.45,-146.1,856.4,-12.5,419,5748,0.00,1.27,0.00,0.000,4,0.000,0.069,1515,3940,3073,0,0,0,0,0,0
$GC,5970,-0.45,-146.1,886.2,-12.6,429,5973,0.00,1.23,0.00,0.000,6,0.000,0.044,1515,3146,3073,0,0,0,0,0,0
$GC,6302,-0.45,-146.1,924.5,-11.2,445,6305,0.00,1.30,0.00,0.000,4,0.000,0.070,1509,3951,3072,0,0,0,0,0,0
$GC,6463,-0.45,-146.1,945.5,-12.8,452,6468,0.00,1.25,0.00,0.000,6,0.000,0.042,1509,3145,3072,0,0,0,0,0,0
$GC,6790,-0.45,-146.1,985.2,-12.7,468,6794,0.00,1.30,0.00,0.000,4,0.000,0.070,1503,3949,3071,0,0,0,0,0,0
$STATE,6827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6827,begin apogee
$GC,6832,-0.12,0.0,990.8,15.0,469,6979,0.43,0.00,139.80,1.852,6,0.159,0.000,1634,3054,2474,0,0,0,0,0,0
$STATE,6980,end apogee,CONTROL_FINISHED_OK
$STATE,6980,begin climb
$GC,6981,0.45,146.1,996.7,0.0,477,7133,0.62,2.50,142.32,1.795,4,0.118,0.043,1834,1636,1878,0,0,0,0,0,0
$GC,7199,0.45,146.1,981.9,8.5,487,7204,0.00,2.47,0.00,0.000,6,0.000,0.057,1834,3040,1873,0,0,0,0,0,0
$GC,7528,0.45,146.1,948.2,10.6,503,7531,0.00,1.55,0.00,0.000,4,0.000,0.067,1834,3946,1867,0,0,0,0,0,0
$GC,7671,0.45,146.1,929.1,14.2,509,7676,0.00,1.45,0.00,0.000,6,0.000,0.041,1841,3048,1867,0,0,0,0,0,0
$GC,7993,0.45,146.1,891.8,11.6,525,7997,0.00,1.52,0.00,0.000,4,0.000,0.067,1841,3948,1865,0,0,0,0,0,0
$GC,8042,0.45,146.1,885.3,13.5,527,8047,0.00,1.45,0.00,0.000,6,0.000,0.041,1848,3048,1865,0,0,0,0,0,0
$GC,8369,0.45,146.1,846.5,11.3,543,8373,0.00,1.52,0.00,0.000,4,0.000,0.067,1848,3956,1864,0,0,0,0,0,0
$GC,8474,0.45,146.1,832.2,12.8,547,8482,0.00,1.45,0.00,0.000,6,0.000,0.041,1855,3047,1864,0,0,0,0,0,0
$GC,8792,0.45,146.1,795.0,11.7,563,8795,0.00,1.50,0.00,0.000,4,0.000,0.066,1855,3946,1863,0,0,0,0,0,0
$GC,8859,0.45,146.1,785.7,14.0,566,8863,0.10,1.40,0.00,0.000,6,0.186,0.042,1833,3055,1864,0,0,0,0,0,0
$GC,9190,0.45,146.1,752.3,9.9,582,9194,0.00,1.48,0.00,0.000,4,0.000,0.067,1833,3945,1863,0,0,0,0,0,0
$GC,9250,0.45,146.1,745.1,12.6,584,9258,0.00,1.42,0.00,0.000,6,0.000,0.041,1839,3048,1863,0,0,0,0,0,0
$GC,9568,0.45,146.1,714.0,9.7,600,9571,0.00,1.50,0.00,0.000,4,0.000,0.067,1838,3952,1862,0,0,0,0,0,0
$GC,9706,0.45,146.1,697.6,12.0,606,9711,0.00,1.42,0.00,0.000,6,0.000,0.041,1845,3050,1862,0,0,0,0,0,0
$GC,10033,0.45,146.1,664.8,10.3,622,10037,0.00,1.50,0.00,0.000,4,0.000,0.067,1845,3956,1862,0,0,0,0,0,0
$GC,10110,0.45,146.1,655.0,13.7,625,10115,0.00,1.42,0.00,0.000,6,0.000,0.041,1852,3049,1862,0,0,0,0,0,0
$GC,10432,0.45,146.1,618.9,11.4,641,10436,0.00,1.48,0.00,0.000,4,0.000,0.067,1852,3943,1862,0,0,0,0,0,0
$GC,10537,0.45,146.1,604.7,14.1,645,10545,0.00,1.40,0.00,0.000,6,0.000,0.041,1859,3049,1862,0,0,0,0,0,0
$GC,10853,0.45,146.1,565.9,12.5,661,10857,0.00,1.48,0.00,0.000,4,0.000,0.067,1859,3945,1862,0,0,0,0,0,0
$GC,10981,0.45,146.1,547.0,15.5,666,10989,0.10,1.40,0.00,0.000,6,0.192,0.041,1838,3044,1862,0,0,0,0,0,0
$GC,11296,0.45,146.1,511.4,11.3,682,11300,0.00,1.50,0.00,0.000,4,0.000,0.067,1837,3955,1861,0,0,0,0,0,0
$GC,11435,0.45,146.1,493.0,13.3,688,11440,0.00,1.42,0.00,0.000,6,0.000,0.041,1843,3048,1861,0,0,0,0,0,0
$GC,11762,0.45,146.1,456.8,10.9,704,11766,0.00,1.48,0.00,0.000,4,0.000,0.067,1843,3946,1860,0,0,0,0,0,0
$GC,11839,0.45,146.1,447.0,13.0,707,11844,0.00,1.40,0.00,0.000,6,0.000,0.041,1850,3051,1861,0,0,0,0,0,0
$GC,12161,0.45,146.1,412.1,10.7,723,12165,0.00,1.48,0.00,0.000,4,0.000,0.067,1850,3949,1861,0,0,0,0,0,0
$GC,12311,0.45,146.1,392.9,13.0,731,12319,0.00,1.42,0.00,0.000,6,0.000,0.041,1857,3039,1861,0,0,0,0,0,0
$GC,12637,0.45,146.1,355.6,11.7,762,12640,0.00,1.50,0.00,0.000,4,0.000,0.067,1857,3953,1861,0,0,0,0,0,0
$GC,12727,0.45,146.1,343.3,13.1,770,12731,0.10,1.38,0.00,0.000,6,0.189,0.041,1835,3059,1860,0,0,0,0,0,0
$GC,13058,0.45,146.1,311.4,9.5,801,13062,0.00,1.45,0.00,0.000,4,0.000,0.068,1835,3942,1861,0,0,0,0,0,0
$GC,13198,0.45,146.1,295.5,11.9,813,13205,0.00,1.38,0.00,0.000,6,0.000,0.041,1840,3051,1861,0,0,0,0,0,0
$GC,13523,0.45,146.1,263.6,9.7,844,13526,0.00,1.48,0.00,0.000,4,0.000,0.067,1840,3951,1860,0,0,0,0,0,0
$GC,13581,0.45,146.1,257.3,11.3,849,13585,0.00,1.38,0.00,0.000,6,0.000,0.041,1847,3055,1861,0,0,0,0,0,0
$GC,13911,0.45,146.1,222.4,10.5,880,13915,0.00,1.48,0.00,0.000,4,0.000,0.067,1847,3956,1861,0,0,0,0,0,0
$GC,14001,0.45,146.1,211.3,13.5,888,14005,0.00,1.40,0.00,0.000,6,0.000,0.040,1854,3048,1861,0,0,0,0,0,0
$GC,14331,0.45,146.1,174.6,11.4,919,14335,0.00,1.48,0.00,0.000,4,0.000,0.066,1854,3951,1861,0,0,0,0,0,0
$GC,14482,0.45,146.1,153.8,13.5,932,14492,0.00,1.38,0.00,0.000,6,0.000,0.040,1860,3054,1861,0,0,0,0,0,0
$GC,14807,0.45,146.1,115.1,12.0,963,14808,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,3054,1861,0,0,0,0,0,0
$GC,15139,0.45,146.1,75.5,11.9,1011,15148,0.00,1.45,0.00,0.000,4,0.000,0.066,1861,3943,1861,0,0,0,0,0,0
$GC,15302,0.45,146.1,52.8,12.1,1039,15310,0.10,1.38,0.00,0.000,6,0.176,0.039,1838,3046,1861,0,0,0,0,0,0
$GC,15657,0.45,146.1,16.4,11.9,1100,15665,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,3046,1861,0,0,0,0,0,0
$GC,15714,0.45,146.1,10.1,10.6,1109,15722,0.00,0.00,0.00,0.000,6,0.000,0.000,1838,3045,1861,0,0,0,0,0,0
$GC,15772,0.57,341.5,8.0,0.8,1118,15829,0.00,0.00,54.35,0.800,2,0.000,0.000,1837,3046,1318,0,0,0,0,0,0
$STATE,15829,end climb,SURFACE_DEPTH_REACHED
$STATE,15829,begin surface coast
$FINISH,0.6,1.015310
$STATE,15861,end surface coast,CONTROL_FINISHED_OK
$STATE,15861,begin surface
$SM_CCo,15932,0.00,0.000,0,0,1310,285.52
$SM_GC,1.34,4.78,0.00,0.00,0.041,0.000,0.000,75,3155,1310,-4.96,0.14,285.52
$IRIDIUM_FIX,-4242.04,851.93,031213,070755
$TT8_MAMPS,0.025466
$HUMID,60.43
$INTERNAL_PRESSURE,9.51325
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.8,3.683
$10V_AH,10.1,2.683
$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,12.200,93.250,336.475,0.000,0.000,33.688,18.922,293.609,0.000,0.000,21.378,2875.123,9495.776,446.741,3414.678,153.345,0.000,1756.605,0.000,2935.383,0.000,1.010,0.000
$DEVICE_MAMPS,225.675,91.035,1852.065,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,782.738,1949.441,762.704,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355260
$DATA_FILE_SIZE,77048,1130
$CAP_FILE_SIZE,157345,0
$CFSIZE,259252224,257118208
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,031213,204235,-4252.898,852.873,28,1.1,28,-25.2