version: 66.07
glider: 543
mission: 9
dive: 22
start: 12 4 113 10 59 48
data:
$ID,543
$MISSION,9
$DIVE,22
$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,330
$T_MISSION,370
$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,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$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,-12468.471
$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,44
$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,3270
$C_ROLL_CLIMB,3140
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,29
$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
$GPS1,041213,105058,-4250.961,850.399,37,0.8,37,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-65.0
$GPS2,041213,105924,-4250.911,850.541,14,1.7,14,-25.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SAZ
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,500.000
$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,263.9,32518,-17.5,-10.000
$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,14,-0.49,-146.1,0.0,0.0,0,66,0.00,0.00,-49.05,0.000,2,0.000,0.000,64,3257,2778,0,0,0,0,0,0
$GC,68,-0.49,-146.1,3.6,-6.3,6,86,5.88,2.25,-7.05,0.000,4,0.234,0.055,1521,1861,3072,0,0,0,0,0,0
$GC,112,-0.49,-146.1,14.3,-22.8,12,121,0.00,2.33,0.00,0.000,6,0.000,0.055,1511,3263,3075,0,0,0,0,0,0
$GC,169,-0.49,-146.1,25.2,-20.2,21,176,0.00,1.12,0.00,0.000,4,0.000,0.061,1506,3954,3075,0,0,0,0,0,0
$GC,218,-0.49,-146.1,35.9,-22.4,29,225,0.00,1.05,0.00,0.000,6,0.000,0.037,1506,3275,3076,0,0,0,0,0,0
$GC,361,-0.49,-146.1,66.6,-20.5,54,370,0.00,1.10,0.00,0.000,4,0.000,0.063,1501,3951,3076,0,0,0,0,0,0
$GC,511,-0.49,-146.1,96.0,-19.4,80,518,0.00,1.05,0.00,0.000,6,0.000,0.036,1501,3265,3076,0,0,0,0,0,0
$GC,846,-0.49,-146.1,157.3,-18.3,113,849,0.00,1.10,0.00,0.000,4,0.000,0.063,1496,3947,3077,0,0,0,0,0,0
$GC,962,-0.49,-146.1,180.8,-19.3,123,971,0.12,1.05,0.00,0.000,6,0.193,0.036,1526,3269,3077,0,0,0,0,0,0
$GC,1288,-0.49,-146.1,230.0,-15.0,154,1291,0.00,1.10,0.00,0.000,4,0.000,0.063,1522,3953,3077,0,0,0,0,0,0
$GC,1434,-0.49,-146.1,253.5,-16.8,167,1438,0.00,1.02,0.00,0.000,6,0.000,0.038,1522,3276,3078,0,0,0,0,0,0
$GC,1764,-0.49,-146.1,304.7,-14.8,198,1767,0.00,1.08,0.00,0.000,4,0.000,0.063,1517,3946,3078,0,0,0,0,0,0
$GC,1877,-0.49,-146.1,322.7,-15.6,208,1880,0.00,1.02,0.00,0.000,6,0.000,0.038,1517,3270,3078,0,0,0,0,0,0
$GC,2207,-0.49,-146.1,372.5,-14.7,239,2210,0.00,1.10,0.00,0.000,4,0.000,0.064,1512,3940,3078,0,0,0,0,0,0
$GC,2353,-0.49,-146.1,395.8,-15.9,252,2357,0.00,1.02,0.00,0.000,6,0.000,0.039,1512,3263,3078,0,0,0,0,0,0
$GC,2674,-0.49,-146.1,444.5,-15.3,269,2678,0.00,1.10,0.00,0.000,4,0.000,0.063,1507,3950,3078,0,0,0,0,0,0
$GC,2836,-0.49,-146.1,471.6,-17.3,276,2840,0.00,1.05,0.00,0.000,6,0.000,0.037,1507,3265,3078,0,0,0,0,0,0
$GC,3163,-0.49,-146.1,524.5,-16.2,292,3167,0.00,1.10,0.00,0.000,4,0.000,0.065,1502,3952,3078,0,0,0,0,0,0
$GC,3211,-0.49,-146.1,533.4,-18.5,294,3216,0.00,1.05,0.00,0.000,6,0.000,0.038,1502,3267,3078,0,0,0,0,0,0
$GC,3539,-0.49,-146.1,589.5,-17.1,310,3542,0.00,1.10,0.00,0.000,4,0.000,0.065,1497,3954,3078,0,0,0,0,0,0
$GC,3677,-0.49,-146.1,614.7,-18.6,316,3682,0.00,1.05,0.00,0.000,6,0.000,0.038,1496,3270,3078,0,0,0,0,0,0
$GC,4004,-0.49,-146.1,669.5,-16.9,332,4008,0.00,1.10,0.00,0.000,4,0.000,0.066,1492,3942,3077,0,0,0,0,0,0
$GC,4132,-0.49,-146.1,692.9,-18.7,337,4140,0.12,1.05,0.00,0.000,6,0.192,0.039,1522,3262,3076,0,0,0,0,0,0
$GC,4449,-0.49,-146.1,736.8,-13.2,353,4453,0.00,1.10,0.00,0.000,4,0.000,0.065,1518,3949,3076,0,0,0,0,0,0
$GC,4571,-0.49,-146.1,754.8,-15.0,358,4575,0.00,1.05,0.00,0.000,6,0.000,0.039,1518,3267,3076,0,0,0,0,0,0
$GC,4894,-0.49,-146.1,797.6,-12.9,374,4897,0.00,1.10,0.00,0.000,4,0.000,0.067,1513,3953,3075,0,0,0,0,0,0
$GC,5015,-0.49,-146.1,816.0,-15.0,379,5020,0.00,1.05,0.00,0.000,6,0.000,0.040,1513,3269,3075,0,0,0,0,0,0
$GC,5338,-0.49,-146.1,863.3,-15.1,395,5342,0.00,1.08,0.00,0.000,4,0.000,0.066,1509,3942,3074,0,0,0,0,0,0
$GC,5387,-0.49,-146.1,871.6,-16.6,397,5392,0.00,1.05,0.00,0.000,6,0.000,0.040,1508,3261,3074,0,0,0,0,0,0
$GC,5714,-0.49,-146.1,920.8,-15.0,413,5718,0.00,1.10,0.00,0.000,4,0.000,0.067,1503,3947,3074,0,0,0,0,0,0
$GC,5804,-0.49,-146.1,934.7,-16.0,417,5808,0.00,1.02,0.00,0.000,6,0.000,0.041,1503,3272,3074,0,0,0,0,0,0
$GC,6136,-0.49,-146.1,983.3,-14.1,433,6139,0.00,1.08,0.00,0.000,4,0.000,0.067,1498,3943,3072,0,0,0,0,0,0
$STATE,6183,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6183,begin apogee
$GC,6188,-0.11,0.0,990.6,15.2,435,6331,0.45,0.00,139.75,1.854,6,0.159,0.000,1637,3131,2474,0,0,0,0,0,0
$STATE,6332,end apogee,CONTROL_FINISHED_OK
$STATE,6332,begin climb
$GC,6333,0.49,146.1,995.7,0.0,442,6483,0.65,2.47,142.07,1.809,4,0.116,0.039,1845,1739,1878,0,0,0,0,0,0
$GC,6515,0.49,146.1,981.4,10.8,450,6520,0.00,2.47,0.00,0.000,6,0.000,0.054,1845,3131,1875,0,0,0,0,0,0
$GC,6837,0.49,146.1,940.5,12.7,466,6841,0.00,1.38,0.00,0.000,4,0.000,0.065,1845,3941,1867,0,0,0,0,0,0
$GC,6886,0.49,146.1,933.4,14.7,468,6891,0.00,1.30,0.00,0.000,6,0.000,0.040,1851,3137,1867,0,0,0,0,0,0
$GC,7215,0.49,146.1,889.8,13.3,484,7218,0.00,1.35,0.00,0.000,4,0.000,0.065,1851,3945,1865,0,0,0,0,0,0
$GC,7252,0.49,146.1,884.0,14.7,485,7260,0.00,1.30,0.00,0.000,6,0.000,0.039,1857,3132,1865,0,0,0,0,0,0
$GC,7568,0.49,146.1,841.8,13.0,501,7569,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,3131,1865,0,0,0,0,0,0
$GC,7878,0.49,146.1,802.9,12.6,516,7881,0.00,1.35,0.00,0.000,4,0.000,0.067,1857,3949,1863,0,0,0,0,0,0
$GC,7945,0.49,146.1,793.2,14.3,519,7948,0.00,1.25,0.00,0.000,6,0.000,0.041,1863,3148,1863,0,0,0,0,0,0
$GC,8277,0.49,146.1,746.4,14.4,535,8280,0.00,1.33,0.00,0.000,4,0.000,0.066,1863,3951,1863,0,0,0,0,0,0
$GC,8370,0.49,146.1,730.7,17.2,539,8375,0.00,1.27,0.00,0.000,6,0.000,0.041,1869,3139,1863,0,0,0,0,0,0
$GC,8698,0.49,146.1,682.9,14.1,555,8699,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,3138,1862,0,0,0,0,0,0
$GC,9007,0.49,146.1,639.1,14.4,570,9011,0.00,1.33,0.00,0.000,4,0.000,0.066,1869,3950,1861,0,0,0,0,0,0
$GC,9056,0.49,146.1,631.2,15.7,572,9061,0.12,1.27,0.00,0.000,6,0.213,0.039,1847,3132,1861,0,0,0,0,0,0
$GC,9382,0.49,146.1,589.9,12.2,588,9386,0.00,1.33,0.00,0.000,4,0.000,0.065,1847,3948,1861,0,0,0,0,0,0
$GC,9427,0.49,146.1,583.9,14.0,590,9431,0.00,1.25,0.00,0.000,6,0.000,0.041,1851,3135,1860,0,0,0,0,0,0
$GC,9760,0.49,146.1,543.2,12.2,606,9764,0.00,1.33,0.00,0.000,4,0.000,0.065,1851,3951,1860,0,0,0,0,0,0
$GC,9820,0.49,146.1,534.5,14.0,608,9828,0.00,1.27,0.00,0.000,6,0.000,0.039,1858,3130,1860,0,0,0,0,0,0
$GC,10136,0.49,146.1,494.2,12.7,624,10140,0.00,2.17,0.00,0.000,4,0.000,0.041,1868,1727,1860,0,0,0,0,0,0
$GC,10175,0.49,146.1,489.5,11.3,626,10180,0.00,2.28,0.00,0.000,6,0.000,0.054,1868,3145,1859,0,0,0,0,0,0
$GC,10501,0.49,146.1,446.7,13.5,642,10505,0.00,1.30,0.00,0.000,4,0.000,0.064,1868,3947,1859,0,0,0,0,0,0
$GC,10617,0.49,146.1,428.4,16.2,647,10623,0.12,1.25,0.00,0.000,6,0.210,0.040,1846,3140,1859,0,0,0,0,0,0
$GC,10938,0.49,146.1,390.5,11.7,666,10942,0.00,1.27,0.00,0.000,4,0.000,0.065,1846,3932,1859,0,0,0,0,0,0
$GC,10995,0.49,146.1,382.8,13.2,671,10998,0.00,1.23,0.00,0.000,6,0.000,0.041,1850,3133,1859,0,0,0,0,0,0
$GC,11324,0.49,146.1,343.2,12.1,702,11328,0.00,1.30,0.00,0.000,4,0.000,0.064,1850,3938,1859,0,0,0,0,0,0
$GC,11405,0.49,146.1,332.5,14.5,709,11409,0.00,1.23,0.00,0.000,6,0.000,0.039,1856,3134,1859,0,0,0,0,0,0
$GC,11735,0.49,146.1,292.3,11.7,740,11739,0.00,1.30,0.00,0.000,4,0.000,0.064,1856,3938,1859,0,0,0,0,0,0
$GC,11780,0.49,146.1,286.5,13.9,744,11784,0.00,1.20,0.00,0.000,6,0.000,0.038,1862,3147,1859,0,0,0,0,0,0
$GC,12110,0.49,146.1,248.3,11.6,775,12113,0.00,1.30,0.00,0.000,4,0.000,0.063,1862,3952,1859,0,0,0,0,0,0
$GC,12170,0.49,146.1,240.3,12.7,780,12180,0.00,1.25,0.00,0.000,6,0.000,0.037,1868,3137,1859,0,0,0,0,0,0
$GC,12494,0.49,146.1,201.4,12.1,811,12496,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,3138,1859,0,0,0,0,0,0
$GC,12816,0.49,146.1,160.1,13.0,841,12819,0.00,1.30,0.00,0.000,4,0.000,0.063,1868,3944,1859,0,0,0,0,0,0
$GC,12853,0.49,146.1,154.3,14.1,844,12864,0.12,1.25,0.00,0.000,6,0.205,0.037,1845,3127,1858,0,0,0,0,0,0
$GC,13178,0.49,146.1,117.3,11.2,875,13179,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,3127,1859,0,0,0,0,0,0
$GC,13508,0.49,146.1,80.7,10.9,920,13514,0.00,1.30,0.00,0.000,4,0.000,0.063,1845,3936,1859,0,0,0,0,0,0
$GC,13548,0.49,146.1,75.8,12.8,927,13557,0.00,1.20,0.00,0.000,6,0.000,0.037,1850,3141,1859,0,0,0,0,0,0
$GC,13898,0.50,158.1,37.0,9.4,988,13908,0.00,1.27,2.97,0.598,4,0.000,0.061,1850,3956,1828,0,0,0,0,0,0
$GC,13980,0.50,158.1,27.6,12.0,1001,13987,0.00,1.23,0.00,0.000,6,0.000,0.037,1856,3144,1827,0,0,0,0,0,0
$GC,14130,0.50,158.1,10.8,11.5,1026,14139,0.00,2.17,0.00,0.000,4,0.000,0.037,1867,1739,1827,0,0,0,0,0,0
$GC,14177,0.52,199.2,7.1,8.1,1033,14202,0.00,2.25,16.85,0.784,6,0.000,0.051,1866,3140,1656,0,0,0,0,0,0
$STATE,14215,end climb,SURFACE_DEPTH_REACHED
$STATE,14215,begin surface coast
$FINISH,0.8,1.026523
$STATE,14246,end surface coast,CONTROL_FINISHED_OK
$STATE,14246,begin surface
$SM_CCo,14258,3.35,0.536,0,0,1612,210.22
$SM_GC,1.98,0.00,0.00,3.35,0.000,0.000,0.536,67,3274,1612,-5.06,0.11,210.22
$IRIDIUM_FIX,-4236.17,851.03,041213,060654
$TT8_MAMPS,0.026215
$HUMID,60.90
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,22.8,4.408
$10V_AH,10.1,3.175
$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,12.475,89.375,301.650,3.350,0.000,27.032,39.831,328.340,0.000,0.000,17.214,2621.649,8634.595,413.227,2959.850,135.055,0.000,1509.459,0.000,2450.773,0.000,1.011,0.000
$DEVICE_MAMPS,234.090,81.855,1853.595,536.265,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,721.638,1798.917,720.147,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355220
$DATA_FILE_SIZE,70441,1043
$CAP_FILE_SIZE,144215,0
$CFSIZE,259252224,256790528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,041213,145834,-4250.930,849.596,31,0.8,32,-25.1