version: 66.07
glider: 543
mission: 9
dive: 19
start: 12 3 113 20 54 35
data:
$ID,543
$MISSION,9
$DIVE,19
$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,-12459.709
$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,42
$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
$GPS1,031213,204235,-4252.898,852.873,28,1.1,28,-25.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-46.9
$GPS2,031213,205411,-4252.711,853.070,19,1.0,19,-25.2
$SPEED_LIMITS,0.143,0.243
$TGT_NAME,HEADING
$TGT_LATLONG,-4252.711,838.334
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.45,-146.1,0.0,0.0,0,82,0.00,0.00,-64.88,0.000,2,0.000,0.000,69,3161,2755,0,0,0,0,0,0
$GC,84,-0.45,-146.1,3.1,-4.2,8,110,5.88,2.30,-8.35,0.000,4,0.233,0.058,1540,1745,3074,0,0,0,0,0,0
$GC,129,-0.45,-146.1,12.1,-19.4,14,138,0.00,2.35,0.00,0.000,6,0.000,0.054,1530,3154,3076,0,0,0,0,0,0
$GC,188,-0.45,-146.1,20.5,-15.1,23,194,0.00,1.33,0.00,0.000,4,0.000,0.064,1524,3953,3076,0,0,0,0,0,0
$GC,225,-0.45,-146.1,26.7,-16.3,29,232,0.00,1.25,0.00,0.000,6,0.000,0.040,1525,3156,3076,0,0,0,0,0,0
$GC,369,-0.45,-146.1,51.7,-19.4,54,377,0.00,1.30,0.00,0.000,4,0.000,0.064,1519,3945,3076,0,0,0,0,0,0
$GC,451,-0.45,-146.1,69.2,-21.7,68,458,0.00,1.25,0.00,0.000,6,0.000,0.040,1519,3141,3076,0,0,0,0,0,0
$GC,787,-0.45,-146.1,124.3,-16.1,115,791,0.00,1.33,0.00,0.000,4,0.000,0.065,1513,3952,3077,0,0,0,0,0,0
$GC,912,-0.45,-146.1,146.7,-18.6,126,915,0.00,1.23,0.00,0.000,6,0.000,0.039,1513,3156,3077,0,0,0,0,0,0
$GC,1244,-0.45,-146.1,201.1,-16.0,157,1247,0.00,1.27,0.00,0.000,4,0.000,0.066,1507,3943,3077,0,0,0,0,0,0
$GC,1405,-0.45,-146.1,231.0,-17.8,171,1414,0.12,1.25,0.00,0.000,6,0.187,0.038,1537,3138,3078,0,0,0,0,0,0
$GC,1731,-0.45,-146.1,273.6,-12.4,202,1734,0.00,1.30,0.00,0.000,4,0.000,0.066,1532,3943,3078,0,0,0,0,0,0
$GC,1948,-0.45,-146.1,303.3,-13.4,221,1951,0.00,1.23,0.00,0.000,6,0.000,0.039,1532,3143,3078,0,0,0,0,0,0
$GC,2278,-0.45,-146.1,344.4,-12.1,252,2281,0.00,1.30,0.00,0.000,4,0.000,0.067,1526,3946,3078,0,0,0,0,0,0
$GC,2427,-0.45,-146.1,364.2,-14.1,265,2430,0.00,1.23,0.00,0.000,6,0.000,0.041,1526,3150,3078,0,0,0,0,0,0
$GC,2765,-0.45,-146.1,409.2,-13.3,294,2768,0.00,1.30,0.00,0.000,4,0.000,0.067,1520,3953,3078,0,0,0,0,0,0
$GC,2959,-0.45,-146.1,440.5,-17.3,302,2967,0.00,1.25,0.00,0.000,6,0.000,0.040,1521,3145,3078,0,0,0,0,0,0
$GC,3275,-0.45,-146.1,490.5,-16.2,318,3279,0.00,1.30,0.00,0.000,4,0.000,0.067,1514,3951,3078,0,0,0,0,0,0
$GC,3459,-0.45,-146.1,523.6,-17.2,326,3464,0.00,1.25,0.00,0.000,6,0.000,0.040,1514,3141,3077,0,0,0,0,0,0
$GC,3786,-0.45,-146.1,575.1,-15.2,342,3790,0.00,1.30,0.00,0.000,4,0.000,0.067,1508,3946,3077,0,0,0,0,0,0
$GC,3959,-0.45,-146.1,603.9,-16.7,349,3966,0.00,1.20,0.00,0.000,6,0.000,0.041,1508,3158,3077,0,0,0,0,0,0
$GC,4274,-0.45,-146.1,652.4,-15.1,365,4278,0.12,1.30,0.00,0.000,4,0.187,0.067,1535,3954,3076,0,0,0,0,0,0
$GC,4432,-0.45,-146.1,673.8,-13.5,372,4436,0.00,1.23,0.00,0.000,6,0.000,0.042,1535,3154,3076,0,0,0,0,0,0
$GC,4764,-0.45,-146.1,716.7,-13.1,388,4767,0.00,1.27,0.00,0.000,4,0.000,0.069,1529,3942,3076,0,0,0,0,0,0
$GC,4946,-0.45,-146.1,743.2,-14.3,396,4951,0.00,1.25,0.00,0.000,6,0.000,0.042,1529,3139,3076,0,0,0,0,0,0
$GC,5274,-0.45,-146.1,785.5,-12.1,412,5277,0.00,1.30,0.00,0.000,4,0.000,0.069,1523,3943,3075,0,0,0,0,0,0
$GC,5457,-0.45,-146.1,811.5,-13.9,420,5462,0.00,1.25,0.00,0.000,6,0.000,0.042,1523,3140,3075,0,0,0,0,0,0
$GC,5784,-0.45,-146.1,852.7,-12.4,436,5788,0.00,1.30,0.00,0.000,4,0.000,0.069,1517,3946,3074,0,0,0,0,0,0
$GC,5967,-0.45,-146.1,877.8,-13.5,444,5972,0.00,1.25,0.00,0.000,6,0.000,0.042,1517,3141,3074,0,0,0,0,0,0
$GC,6294,-0.45,-146.1,919.5,-13.3,460,6298,0.00,1.30,0.00,0.000,4,0.000,0.069,1511,3947,3073,0,0,0,0,0,0
$GC,6519,-0.45,-146.1,953.3,-15.1,470,6522,0.00,1.23,0.00,0.000,6,0.000,0.043,1511,3147,3073,0,0,0,0,0,0
$STATE,6788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6788,begin apogee
$GC,6792,-0.12,0.0,990.6,13.3,483,6935,0.45,0.00,140.38,1.867,6,0.159,0.000,1644,3063,2473,0,0,0,0,0,0
$STATE,6936,end apogee,CONTROL_FINISHED_OK
$STATE,6936,begin climb
$GC,6937,0.45,146.1,996.2,0.0,490,7087,0.57,2.50,142.35,1.813,4,0.114,0.043,1830,1634,1878,0,0,0,0,0,0
$GC,7178,0.45,146.1,979.0,10.0,501,7182,0.00,2.47,0.00,0.000,6,0.000,0.057,1830,3057,1873,0,0,0,0,0,0
$GC,7503,0.45,146.1,941.4,11.7,517,7507,0.00,1.52,0.00,0.000,4,0.000,0.067,1830,3954,1867,0,0,0,0,0,0
$GC,7597,0.45,146.1,927.9,14.5,521,7602,0.00,1.50,0.00,0.000,6,0.000,0.040,1837,3028,1866,0,0,0,0,0,0
$GC,7925,0.45,146.1,886.0,12.5,537,7929,0.00,1.55,0.00,0.000,4,0.000,0.067,1838,3944,1865,0,0,0,0,0,0
$GC,8070,0.45,146.1,864.9,15.1,543,8075,0.00,1.42,0.00,0.000,6,0.000,0.041,1844,3055,1865,0,0,0,0,0,0
$GC,8391,0.45,146.1,825.1,12.0,559,8395,0.00,1.50,0.00,0.000,4,0.000,0.067,1844,3954,1863,0,0,0,0,0,0
$GC,8496,0.45,146.1,810.8,13.2,563,8504,0.00,1.45,0.00,0.000,6,0.000,0.041,1851,3044,1863,0,0,0,0,0,0
$GC,8813,0.45,146.1,774.2,11.1,579,8816,0.00,1.50,0.00,0.000,4,0.000,0.066,1851,3946,1863,0,0,0,0,0,0
$GC,8940,0.45,146.1,757.5,12.7,584,8948,0.00,1.42,0.00,0.000,6,0.000,0.041,1858,3049,1863,0,0,0,0,0,0
$GC,9256,0.45,146.1,721.3,11.7,600,9260,0.00,1.50,0.00,0.000,4,0.000,0.067,1858,3954,1863,0,0,0,0,0,0
$GC,9333,0.45,146.1,710.5,14.5,603,9339,0.12,1.45,0.00,0.000,6,0.210,0.041,1837,3039,1862,0,0,0,0,0,0
$GC,9655,0.45,146.1,678.7,9.6,619,9658,0.00,1.50,0.00,0.000,4,0.000,0.067,1837,3946,1862,0,0,0,0,0,0
$GC,9754,0.45,146.1,666.6,12.2,623,9759,0.00,1.42,0.00,0.000,6,0.000,0.041,1842,3046,1862,0,0,0,0,0,0
$GC,10076,0.45,146.1,632.8,10.4,639,10080,0.00,1.50,0.00,0.000,4,0.000,0.067,1842,3954,1862,0,0,0,0,0,0
$GC,10192,0.45,146.1,618.1,12.7,644,10197,0.00,1.42,0.00,0.000,6,0.000,0.041,1849,3047,1862,0,0,0,0,0,0
$GC,10519,0.45,146.1,580.1,11.7,660,10521,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,3047,1861,0,0,0,0,0,0
$GC,10829,0.45,146.1,544.1,11.6,675,10833,0.00,1.48,0.00,0.000,4,0.000,0.067,1849,3944,1861,0,0,0,0,0,0
$GC,11018,0.45,146.1,517.9,13.9,683,11023,0.00,1.40,0.00,0.000,6,0.000,0.041,1856,3051,1861,0,0,0,0,0,0
$GC,11340,0.45,146.1,479.1,12.1,699,11344,0.00,1.48,0.00,0.000,4,0.000,0.067,1856,3953,1861,0,0,0,0,0,0
$GC,11440,0.45,146.1,465.0,14.5,703,11444,0.10,1.40,0.00,0.000,6,0.190,0.041,1834,3048,1861,0,0,0,0,0,0
$GC,11760,0.45,146.1,431.7,10.3,719,11764,0.00,1.48,0.00,0.000,4,0.000,0.066,1834,3948,1860,0,0,0,0,0,0
$GC,11949,0.45,146.1,408.3,12.5,727,11954,0.00,1.40,0.00,0.000,6,0.000,0.041,1839,3048,1860,0,0,0,0,0,0
$GC,12278,0.45,146.1,372.5,11.0,754,12281,0.00,1.48,0.00,0.000,4,0.000,0.067,1839,3947,1859,0,0,0,0,0,0
$GC,12372,0.45,146.1,360.6,12.6,762,12380,0.00,1.40,0.00,0.000,6,0.000,0.041,1846,3051,1860,0,0,0,0,0,0
$GC,12700,0.45,146.1,325.0,10.9,793,12701,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,3051,1860,0,0,0,0,0,0
$GC,13016,0.45,146.1,290.4,10.9,823,13019,0.00,1.48,0.00,0.000,4,0.000,0.067,1846,3951,1860,0,0,0,0,0,0
$GC,13242,0.45,146.1,261.0,13.3,843,13246,0.00,1.38,0.00,0.000,6,0.000,0.041,1853,3059,1860,0,0,0,0,0,0
$GC,13572,0.45,146.1,221.8,12.4,874,13575,0.00,1.45,0.00,0.000,4,0.000,0.067,1853,3946,1860,0,0,0,0,0,0
$GC,13733,0.45,146.1,198.8,13.8,888,13745,0.00,1.40,0.00,0.000,6,0.000,0.039,1859,3043,1860,0,0,0,0,0,0
$GC,14058,0.45,146.1,160.2,11.7,919,14062,0.00,1.48,0.00,0.000,4,0.000,0.066,1860,3949,1860,0,0,0,0,0,0
$GC,14231,0.45,146.1,135.6,14.8,934,14240,0.12,1.40,0.00,0.000,6,0.202,0.039,1837,3047,1860,0,0,0,0,0,0
$GC,14559,0.45,146.1,103.3,9.3,965,14562,0.00,1.48,0.00,0.000,4,0.000,0.065,1837,3951,1860,0,0,0,0,0,0
$GC,14644,0.45,146.1,94.6,10.2,977,14651,0.00,1.38,0.00,0.000,6,0.000,0.040,1843,3051,1860,0,0,0,0,0,0
$GC,14993,0.48,196.4,66.7,6.3,1038,15022,0.00,1.50,19.45,1.012,4,0.000,0.063,1842,3954,1670,0,0,0,0,0,0
$GC,15041,0.51,239.4,63.7,6.6,1045,15063,0.00,1.40,17.45,0.976,6,0.000,0.039,1849,3051,1497,0,0,0,0,0,0
$GC,15406,0.52,254.1,27.6,7.7,1108,15416,0.00,2.28,5.00,0.740,4,0.000,0.041,1860,1633,1435,0,0,0,0,0,0
$GC,15445,0.57,344.8,25.8,4.8,1114,15487,0.00,2.35,37.22,0.842,6,0.000,0.054,1860,3060,1066,0,0,0,0,0,0
$GC,15632,0.57,344.8,5.7,13.2,1144,15641,0.00,1.48,0.00,0.000,4,0.000,0.062,1861,3944,1057,0,0,0,0,0,0
$STATE,15654,end climb,SURFACE_DEPTH_REACHED
$STATE,15654,begin surface coast
$FINISH,0.4,1.001957
$STATE,15679,end surface coast,CONTROL_FINISHED_OK
$STATE,15679,begin surface
$SM_CCo,15752,0.00,0.000,0,0,1054,348.32
$SM_GC,1.22,4.82,0.00,0.00,0.040,0.000,0.000,75,3139,1054,-4.95,-0.31,348.32
$IRIDIUM_FIX,-4239.11,853.93,031213,202057
$TT8_MAMPS,0.025466
$HUMID,61.02
$INTERNAL_PRESSURE,9.49372
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.8,3.878
$10V_AH,10.1,2.810
$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,12.325,99.150,361.850,0.000,0.000,55.977,110.489,347.552,0.000,0.000,22.023,2906.847,9285.035,468.435,3628.979,155.247,0.000,1777.385,0.000,2970.586,0.000,1.010,0.000
$DEVICE_MAMPS,232.560,80.325,1867.365,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,795.851,1974.850,808.913,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355244
$DATA_FILE_SIZE,77079,1151
$CAP_FILE_SIZE,159580,0
$CFSIZE,259252224,257036288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,041213,011805,-4251.428,852.002,26,0.9,26,-25.2