version: 66.07
glider: 543
mission: 9
dive: 23
start: 12 4 113 15 7 38
data:
$ID,543
$MISSION,9
$DIVE,23
$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,-12471.468
$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,26
$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
$GPS1,041213,145834,-4250.930,849.596,31,0.8,32,-25.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-64.4
$GPS2,041213,150714,-4250.859,849.752,17,0.9,18,-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,262.8,31659,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.49,-146.1,0.0,0.0,0,65,0.00,0.00,-48.90,0.000,2,0.000,0.000,63,3278,2750,0,0,0,0,0,0
$GC,67,-0.49,-146.1,3.1,-4.4,6,85,5.65,1.12,-8.38,0.000,4,0.220,0.087,1514,3946,3073,0,0,0,0,0,0
$GC,93,-0.49,-146.1,8.7,-15.9,9,102,0.00,1.05,0.00,0.000,6,0.000,0.040,1517,3275,3075,0,0,0,0,0,0
$GC,151,-0.49,-146.1,20.3,-19.0,18,159,0.00,0.00,0.00,0.000,6,0.000,0.000,1517,3275,3076,0,0,0,0,0,0
$GC,299,-0.49,-146.1,49.2,-18.9,43,305,0.00,0.00,0.00,0.000,6,0.000,0.000,1518,3275,3077,0,0,0,0,0,0
$GC,650,-0.49,-146.1,110.0,-16.9,100,654,0.00,1.08,0.00,0.000,4,0.000,0.063,1514,3937,3078,0,0,0,0,0,0
$GC,763,-0.49,-146.1,130.7,-17.7,110,767,0.00,1.02,0.00,0.000,6,0.000,0.038,1514,3271,3078,0,0,0,0,0,0
$GC,1095,-0.49,-146.1,189.0,-17.6,141,1099,0.00,1.10,0.00,0.000,4,0.000,0.063,1509,3947,3079,0,0,0,0,0,0
$GC,1196,-0.49,-146.1,207.5,-18.3,150,1200,0.00,1.02,0.00,0.000,6,0.000,0.038,1509,3274,3079,0,0,0,0,0,0
$GC,1528,-0.49,-146.1,265.0,-17.1,181,1532,0.00,1.08,0.00,0.000,4,0.000,0.063,1504,3942,3079,0,0,0,0,0,0
$GC,1686,-0.49,-146.1,295.0,-19.2,195,1690,0.00,1.02,0.00,0.000,6,0.000,0.037,1504,3268,3079,0,0,0,0,0,0
$GC,2016,-0.49,-146.1,352.1,-16.3,226,2020,0.00,1.08,0.00,0.000,4,0.000,0.063,1499,3938,3079,0,0,0,0,0,0
$GC,2212,-0.49,-146.1,387.5,-18.8,243,2220,0.00,1.05,0.00,0.000,6,0.000,0.037,1499,3257,3079,0,0,0,0,0,0
$GC,2540,-0.49,-146.1,443.0,-17.1,263,2544,0.00,1.10,0.00,0.000,4,0.000,0.063,1494,3941,3079,0,0,0,0,0,0
$GC,2690,-0.49,-146.1,471.2,-18.7,269,2699,0.12,1.05,0.00,0.000,6,0.189,0.038,1524,3264,3079,0,0,0,0,0,0
$GC,3006,-0.49,-146.1,518.4,-14.9,285,3010,0.00,1.10,0.00,0.000,4,0.000,0.064,1520,3947,3079,0,0,0,0,0,0
$GC,3074,-0.49,-146.1,528.7,-15.0,288,3077,0.00,1.02,0.00,0.000,6,0.000,0.041,1520,3273,3079,0,0,0,0,0,0
$GC,3405,-0.49,-146.1,578.0,-14.7,304,3409,0.00,1.08,0.00,0.000,4,0.000,0.065,1516,3941,3079,0,0,0,0,0,0
$GC,3572,-0.49,-146.1,604.9,-15.6,311,3577,0.00,1.05,0.00,0.000,6,0.000,0.040,1515,3264,3079,0,0,0,0,0,0
$GC,3894,-0.49,-146.1,652.3,-14.7,327,3897,0.00,1.10,0.00,0.000,4,0.000,0.066,1510,3949,3078,0,0,0,0,0,0
$GC,3987,-0.49,-146.1,667.3,-15.0,331,3992,0.00,1.05,0.00,0.000,6,0.000,0.040,1510,3268,3078,0,0,0,0,0,0
$GC,4315,-0.49,-146.1,717.5,-15.1,347,4318,0.00,1.08,0.00,0.000,4,0.000,0.067,1505,3938,3078,0,0,0,0,0,0
$GC,4436,-0.49,-146.1,737.0,-15.3,352,4441,0.00,1.05,0.00,0.000,6,0.000,0.041,1506,3262,3077,0,0,0,0,0,0
$GC,4758,-0.49,-146.1,784.6,-15.3,368,4762,0.00,1.10,0.00,0.000,4,0.000,0.066,1501,3946,3076,0,0,0,0,0,0
$GC,4812,-0.49,-146.1,793.4,-15.7,370,4817,0.00,1.05,0.00,0.000,6,0.000,0.041,1501,3269,3076,0,0,0,0,0,0
$GC,5135,-0.49,-146.1,841.5,-15.1,386,5139,0.00,1.08,0.00,0.000,4,0.000,0.067,1496,3937,3076,0,0,0,0,0,0
$GC,5251,-0.49,-146.1,861.4,-16.0,391,5257,0.12,1.05,0.00,0.000,6,0.197,0.041,1526,3263,3076,0,0,0,0,0,0
$GC,5579,-0.49,-146.1,902.9,-12.8,407,5582,0.00,1.10,0.00,0.000,4,0.000,0.067,1522,3947,3075,0,0,0,0,0,0
$GC,5717,-0.49,-146.1,921.9,-12.9,413,5721,0.00,1.05,0.00,0.000,6,0.000,0.042,1522,3269,3075,0,0,0,0,0,0
$GC,6044,-0.49,-146.1,963.8,-12.9,429,6047,0.00,1.08,0.00,0.000,4,0.000,0.068,1517,3937,3074,0,0,0,0,0,0
$GC,6126,-0.49,-146.1,975.2,-14.0,432,6134,0.00,1.05,0.00,0.000,6,0.000,0.042,1516,3264,3074,0,0,0,0,0,0
$STATE,6255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6255,begin apogee
$GC,6259,-0.11,0.0,991.9,12.9,439,6403,0.43,0.00,140.18,1.864,6,0.157,0.000,1644,3137,2473,0,0,0,0,0,0
$STATE,6404,end apogee,CONTROL_FINISHED_OK
$STATE,6404,begin climb
$GC,6405,0.49,146.1,997.3,0.0,446,6557,0.62,2.50,141.98,1.807,4,0.111,0.039,1846,1729,1877,0,0,0,0,0,0
$GC,6622,0.49,146.1,980.2,10.7,456,6628,0.00,2.47,0.00,0.000,6,0.000,0.054,1846,3134,1873,0,0,0,0,0,0
$GC,6952,0.49,146.1,938.2,12.8,472,6955,0.00,1.38,0.00,0.000,4,0.000,0.064,1846,3950,1867,0,0,0,0,0,0
$GC,7006,0.49,146.1,930.1,15.2,474,7011,0.00,1.33,0.00,0.000,6,0.000,0.038,1852,3126,1866,0,0,0,0,0,0
$GC,7327,0.49,146.1,888.3,13.0,490,7331,0.00,1.38,0.00,0.000,4,0.000,0.064,1852,3947,1865,0,0,0,0,0,0
$GC,7418,0.49,146.1,875.0,15.2,494,7421,0.00,1.27,0.00,0.000,6,0.000,0.040,1858,3137,1865,0,0,0,0,0,0
$GC,7749,0.49,146.1,829.8,13.6,510,7750,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,3137,1864,0,0,0,0,0,0
$GC,8059,0.49,146.1,787.4,13.9,525,8062,0.00,1.35,0.00,0.000,4,0.000,0.065,1858,3954,1863,0,0,0,0,0,0
$GC,8113,0.49,146.1,779.2,15.5,527,8118,0.00,1.30,0.00,0.000,6,0.000,0.038,1864,3128,1863,0,0,0,0,0,0
$GC,8435,0.49,146.1,737.5,12.6,543,8436,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,3127,1862,0,0,0,0,0,0
$GC,8744,0.49,146.1,698.6,12.9,558,8748,0.00,1.35,0.00,0.000,4,0.000,0.065,1864,3950,1862,0,0,0,0,0,0
$GC,8811,0.49,146.1,688.6,15.0,561,8815,0.00,1.25,0.00,0.000,6,0.000,0.041,1870,3142,1862,0,0,0,0,0,0
$GC,9143,0.49,146.1,643.1,13.8,577,9147,0.00,1.30,0.00,0.000,4,0.000,0.064,1870,3942,1861,0,0,0,0,0,0
$GC,9203,0.49,146.1,633.6,16.3,579,9212,0.12,1.27,0.00,0.000,6,0.213,0.040,1849,3126,1861,0,0,0,0,0,0
$GC,9520,0.49,146.1,594.0,12.4,595,9524,0.00,1.35,0.00,0.000,4,0.000,0.065,1848,3954,1860,0,0,0,0,0,0
$GC,9642,0.49,146.1,576.1,14.9,600,9647,0.00,1.27,0.00,0.000,6,0.000,0.040,1853,3133,1861,0,0,0,0,0,0
$GC,9964,0.49,146.1,534.8,13.0,616,9965,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,3132,1860,0,0,0,0,0,0
$GC,10273,0.49,146.1,494.7,12.9,631,10277,0.00,1.33,0.00,0.000,4,0.000,0.065,1853,3949,1860,0,0,0,0,0,0
$GC,10327,0.49,146.1,486.3,15.4,633,10332,0.00,1.25,0.00,0.000,6,0.000,0.040,1859,3138,1860,0,0,0,0,0,0
$GC,10649,0.49,146.1,442.4,13.5,649,10650,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,3138,1860,0,0,0,0,0,0
$GC,10959,0.49,146.1,401.7,13.1,664,10962,0.00,1.33,0.00,0.000,4,0.000,0.065,1859,3956,1860,0,0,0,0,0,0
$GC,11037,0.49,146.1,390.6,15.0,670,11041,0.00,1.25,0.00,0.000,6,0.000,0.041,1865,3138,1860,0,0,0,0,0,0
$GC,11369,0.49,146.1,348.3,12.2,701,11372,0.00,1.33,0.00,0.000,4,0.000,0.065,1865,3954,1860,0,0,0,0,0,0
$GC,11463,0.49,146.1,334.1,15.1,709,11471,0.00,1.27,0.00,0.000,6,0.000,0.039,1872,3127,1860,0,0,0,0,0,0
$GC,11788,0.49,146.1,293.4,12.5,740,11792,0.00,1.33,0.00,0.000,4,0.000,0.065,1872,3946,1860,0,0,0,0,0,0
$GC,11892,0.49,146.1,279.3,14.4,749,11896,0.10,1.23,0.00,0.000,6,0.188,0.040,1850,3142,1860,0,0,0,0,0,0
$GC,12221,0.49,148.4,245.5,9.9,780,12225,0.00,1.30,0.00,0.000,4,0.000,0.064,1849,3948,1859,0,0,0,0,0,0
$GC,12300,0.49,148.4,236.3,12.0,787,12304,0.00,1.23,0.00,0.000,6,0.000,0.040,1854,3141,1859,0,0,0,0,0,0
$GC,12630,0.49,148.4,201.8,10.5,818,12631,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,3140,1859,0,0,0,0,0,0
$GC,12949,0.49,148.4,167.9,11.0,848,12950,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,3140,1859,0,0,0,0,0,0
$GC,13268,0.49,148.4,132.0,11.2,878,13271,0.00,1.30,0.00,0.000,4,0.000,0.063,1854,3954,1859,0,0,0,0,0,0
$GC,13381,0.49,148.4,117.5,13.1,888,13385,0.00,1.25,0.00,0.000,6,0.000,0.038,1860,3127,1859,0,0,0,0,0,0
$GC,13718,0.49,148.4,79.8,12.4,934,13724,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,3127,1859,0,0,0,0,0,0
$GC,14066,0.49,148.4,42.2,10.0,995,14072,0.00,2.15,0.00,0.000,4,0.000,0.038,1871,1726,1859,0,0,0,0,0,0
$GC,14162,0.49,148.4,33.4,10.4,1011,14169,0.00,2.28,0.00,0.000,6,0.000,0.054,1871,3151,1859,0,0,0,0,0,0
$GC,14310,0.49,148.4,15.3,10.9,1036,14318,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,3151,1859,0,0,0,0,0,0
$GC,14367,0.49,148.4,7.7,12.7,1045,14376,0.00,1.27,0.00,0.000,4,0.000,0.063,1871,3941,1859,0,0,0,0,0,0
$STATE,14401,end climb,SURFACE_DEPTH_REACHED
$STATE,14401,begin surface coast
$FINISH,0.6,1.015629
$STATE,14414,end surface coast,CONTROL_FINISHED_OK
$STATE,14414,begin surface
$SM_CCo,14426,23.95,0.763,0,0,1614,210.22
$SM_GC,1.73,0.00,0.00,23.95,0.000,0.000,0.763,68,3281,1614,-5.05,0.31,210.22
$IRIDIUM_FIX,-4236.17,847.67,041213,101025
$TT8_MAMPS,0.025466
$HUMID,61.14
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,22.8,4.582
$10V_AH,10.1,3.285
$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,12.025,72.900,282.150,23.950,0.000,28.445,44.503,339.525,0.000,0.000,20.680,2642.706,8759.286,408.432,3020.328,140.908,0.000,1498.982,0.000,2488.403,0.000,1.010,0.000
$DEVICE_MAMPS,220.320,87.210,1863.540,762.705,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,728.522,1794.979,706.349,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355192
$DATA_FILE_SIZE,70351,1052
$CAP_FILE_SIZE,140819,0
$CFSIZE,259252224,256716800
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,041213,190952,-4251.184,848.697,50,1.2,50,-25.1