version: 66.07
glider: 543
mission: 9
dive: 24
start: 12 4 113 19 20 52
data:
$ID,543
$MISSION,9
$DIVE,24
$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,-12474.767
$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,35
$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
$GPS1,041213,190952,-4251.184,848.697,50,1.2,50,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-60.2
$GPS2,041213,192028,-4251.093,848.893,22,1.8,22,-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,262.3,30445,-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,-146.1,0.0,0.0,0,74,0.00,0.00,-57.12,0.000,2,0.000,0.000,66,3282,3009,0,0,0,0,0,0
$GC,76,-0.49,-146.1,3.9,-5.3,7,93,5.82,1.08,-1.40,0.000,4,0.233,0.083,1514,3949,3073,0,0,0,0,0,0
$GC,215,-0.49,-146.1,41.3,-20.8,30,224,0.00,1.05,0.00,0.000,6,0.000,0.039,1514,3273,3075,0,0,0,0,0,0
$GC,568,-0.49,-146.1,108.4,-18.7,88,569,0.00,0.00,0.00,0.000,6,0.000,0.000,1515,3273,3076,0,0,0,0,0,0
$GC,886,-0.49,-146.1,166.7,-18.2,118,890,0.00,1.08,0.00,0.000,4,0.000,0.063,1510,3936,3077,0,0,0,0,0,0
$GC,1133,-0.49,-146.1,216.1,-20.1,140,1137,0.00,1.02,0.00,0.000,6,0.000,0.038,1510,3269,3077,0,0,0,0,0,0
$GC,1463,-0.49,-146.1,277.5,-17.3,171,1466,0.00,1.08,0.00,0.000,4,0.000,0.063,1505,3939,3077,0,0,0,0,0,0
$GC,1577,-0.49,-146.1,298.4,-18.2,181,1581,0.00,1.02,0.00,0.000,6,0.000,0.039,1505,3269,3077,0,0,0,0,0,0
$GC,1907,-0.49,-146.1,357.3,-17.7,212,1910,0.00,1.08,0.00,0.000,4,0.000,0.063,1500,3938,3077,0,0,0,0,0,0
$GC,2088,-0.49,-146.1,391.2,-18.5,228,2092,0.00,1.02,0.00,0.000,6,0.000,0.039,1500,3267,3077,0,0,0,0,0,0
$GC,2409,-0.49,-146.1,447.1,-17.2,246,2413,0.00,1.08,0.00,0.000,4,0.000,0.063,1495,3938,3078,0,0,0,0,0,0
$GC,2493,-0.49,-146.1,462.7,-18.6,249,2500,0.08,1.02,0.00,0.000,6,0.175,0.039,1517,3271,3078,0,0,0,0,0,0
$GC,2808,-0.49,-146.1,511.9,-15.3,265,2811,0.00,1.10,0.00,0.000,4,0.000,0.065,1513,3942,3078,0,0,0,0,0,0
$GC,2958,-0.49,-146.1,537.0,-16.9,271,2966,0.00,1.05,0.00,0.000,6,0.000,0.040,1513,3263,3077,0,0,0,0,0,0
$GC,3274,-0.49,-146.1,584.3,-14.8,287,3277,0.00,1.08,0.00,0.000,4,0.000,0.065,1508,3934,3077,0,0,0,0,0,0
$GC,3418,-0.49,-146.1,608.2,-16.2,293,3423,0.00,1.02,0.00,0.000,6,0.000,0.041,1508,3269,3077,0,0,0,0,0,0
$GC,3740,-0.49,-146.1,659.6,-15.6,309,3743,0.00,1.08,0.00,0.000,4,0.000,0.066,1503,3939,3077,0,0,0,0,0,0
$GC,3829,-0.49,-146.1,675.0,-17.6,313,3833,0.00,1.02,0.00,0.000,6,0.000,0.041,1504,3267,3077,0,0,0,0,0,0
$GC,4161,-0.49,-146.1,727.6,-15.7,329,4165,0.00,1.08,0.00,0.000,4,0.000,0.067,1499,3939,3075,0,0,0,0,0,0
$GC,4277,-0.49,-146.1,747.3,-17.0,334,4282,0.00,1.05,0.00,0.000,6,0.000,0.041,1499,3262,3075,0,0,0,0,0,0
$GC,4605,-0.49,-146.1,801.6,-17.2,350,4608,0.00,1.10,0.00,0.000,4,0.000,0.067,1494,3946,3075,0,0,0,0,0,0
$GC,4687,-0.49,-146.1,816.7,-17.7,353,4695,0.12,1.05,0.00,0.000,6,0.193,0.041,1524,3269,3074,0,0,0,0,0,0
$GC,5004,-0.49,-146.1,858.2,-12.8,369,5005,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3269,3074,0,0,0,0,0,0
$GC,5312,-0.49,-146.1,896.4,-11.9,384,5316,0.00,1.08,0.00,0.000,4,0.000,0.067,1520,3938,3073,0,0,0,0,0,0
$GC,5428,-0.49,-146.1,911.4,-12.4,389,5433,0.00,1.05,0.00,0.000,6,0.000,0.042,1520,3265,3073,0,0,0,0,0,0
$GC,5756,-0.49,-146.1,950.3,-12.0,405,5759,0.00,1.08,0.00,0.000,4,0.000,0.067,1515,3932,3073,0,0,0,0,0,0
$GC,5913,-0.49,-146.1,970.7,-12.7,412,5917,0.00,1.02,0.00,0.000,6,0.000,0.043,1515,3266,3072,0,0,0,0,0,0
$STATE,6079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6079,begin apogee
$GC,6083,-0.11,0.0,991.0,12.0,420,6226,0.43,0.00,139.55,1.850,6,0.155,0.000,1642,3139,2474,0,0,0,0,0,0
$STATE,6226,end apogee,CONTROL_FINISHED_OK
$STATE,6226,begin climb
$GC,6228,0.49,146.1,994.8,0.0,427,6379,0.62,2.50,142.15,1.800,4,0.112,0.040,1844,1733,1877,0,0,0,0,0,0
$GC,6423,0.49,146.1,978.2,11.0,436,6428,0.00,2.47,0.00,0.000,6,0.000,0.054,1844,3128,1873,0,0,0,0,0,0
$GC,6750,0.49,146.1,934.4,13.5,452,6754,0.00,1.38,0.00,0.000,4,0.000,0.064,1844,3947,1867,0,0,0,0,0,0
$GC,6855,0.49,146.1,917.9,15.9,456,6863,0.00,1.30,0.00,0.000,6,0.000,0.038,1850,3133,1866,0,0,0,0,0,0
$GC,7171,0.49,146.1,873.7,13.8,472,7173,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,3133,1865,0,0,0,0,0,0
$GC,7481,0.49,146.1,831.0,13.5,487,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,3133,1864,0,0,0,0,0,0
$GC,7790,0.49,146.1,790.0,13.1,502,7791,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,3133,1863,0,0,0,0,0,0
$GC,8101,0.49,146.1,750.1,13.0,517,8102,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,3134,1862,0,0,0,0,0,0
$GC,8409,0.49,146.1,711.4,12.3,532,8410,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,3133,1861,0,0,0,0,0,0
$GC,8718,0.49,146.1,674.9,11.7,547,8719,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,3134,1861,0,0,0,0,0,0
$GC,9027,0.49,146.1,640.8,10.6,562,9029,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,3134,1861,0,0,0,0,0,0
$GC,9337,0.49,146.1,607.5,11.0,577,9340,0.00,1.35,0.00,0.000,4,0.000,0.067,1850,3957,1860,0,0,0,0,0,0
$GC,9495,0.49,146.1,586.8,12.9,584,9498,0.00,1.25,0.00,0.000,6,0.000,0.041,1856,3145,1860,0,0,0,0,0,0
$GC,9826,0.49,146.1,549.0,11.4,600,9827,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,3144,1860,0,0,0,0,0,0
$GC,10137,0.49,146.1,513.8,11.7,615,10140,0.00,1.30,0.00,0.000,4,0.000,0.066,1855,3946,1860,0,0,0,0,0,0
$GC,10191,0.49,146.1,506.3,13.4,617,10196,0.00,1.25,0.00,0.000,6,0.000,0.040,1862,3140,1860,0,0,0,0,0,0
$GC,10513,0.49,146.1,467.7,12.2,633,10516,0.00,1.33,0.00,0.000,4,0.000,0.065,1862,3956,1860,0,0,0,0,0,0
$GC,10580,0.49,146.1,458.5,14.3,636,10584,0.00,1.25,0.00,0.000,6,0.000,0.041,1868,3141,1860,0,0,0,0,0,0
$GC,10911,0.49,146.1,415.3,13.5,652,10913,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,3141,1859,0,0,0,0,0,0
$GC,11227,0.49,146.1,372.6,13.4,676,11228,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,3141,1860,0,0,0,0,0,0
$GC,11546,0.49,146.1,328.9,13.4,706,11549,0.00,1.33,0.00,0.000,4,0.000,0.066,1869,3955,1859,0,0,0,0,0,0
$GC,11594,0.49,146.1,321.1,15.9,710,11603,0.12,1.27,0.00,0.000,6,0.206,0.039,1845,3133,1859,0,0,0,0,0,0
$GC,11922,0.49,146.1,282.7,11.2,741,11923,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,3134,1858,0,0,0,0,0,0
$GC,12239,0.49,146.1,245.5,11.8,771,12242,0.00,1.33,0.00,0.000,4,0.000,0.065,1845,3953,1858,0,0,0,0,0,0
$GC,12287,0.49,146.1,238.8,13.8,775,12295,0.00,1.25,0.00,0.000,6,0.000,0.039,1850,3141,1858,0,0,0,0,0,0
$GC,12613,0.49,146.1,199.6,11.6,806,12614,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,3141,1858,0,0,0,0,0,0
$GC,12932,0.49,146.1,162.2,11.7,836,12933,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,3141,1858,0,0,0,0,0,0
$GC,13251,0.49,146.1,127.2,10.8,866,13254,0.00,1.30,0.00,0.000,4,0.000,0.063,1850,3952,1858,0,0,0,0,0,0
$GC,13299,0.49,146.1,121.0,12.5,870,13307,0.00,1.25,0.00,0.000,6,0.000,0.038,1856,3135,1858,0,0,0,0,0,0
$GC,13634,0.49,146.1,83.3,10.5,914,13641,0.00,1.30,0.00,0.000,4,0.000,0.063,1856,3950,1858,0,0,0,0,0,0
$GC,13734,0.49,146.1,72.3,10.7,931,13741,0.00,1.23,0.00,0.000,6,0.000,0.039,1862,3140,1858,0,0,0,0,0,0
$GC,14081,0.49,146.1,35.6,11.4,992,14090,0.00,2.17,0.00,0.000,4,0.000,0.037,1873,1732,1858,0,0,0,0,0,0
$GC,14151,0.49,146.1,28.2,10.3,1003,14158,0.00,2.25,0.00,0.000,6,0.000,0.053,1873,3150,1858,0,0,0,0,0,0
$GC,14300,0.49,146.1,10.9,12.6,1028,14308,0.00,0.00,0.00,0.000,6,0.000,0.000,1873,3151,1858,0,0,0,0,0,0
$GC,14357,0.49,146.1,4.2,12.6,1037,14365,0.00,0.00,0.00,0.000,6,0.000,0.000,1873,3151,1858,0,0,0,0,0,0
$STATE,14372,end climb,SURFACE_DEPTH_REACHED
$STATE,14372,begin surface coast
$FINISH,0.6,1.025938
$STATE,14397,end surface coast,CONTROL_FINISHED_OK
$STATE,14398,begin surface
$SM_CCo,14409,23.80,0.770,0,0,1616,210.22
$SM_GC,2.46,0.00,0.00,23.80,0.000,0.000,0.770,69,3277,1616,-5.05,0.20,210.22
$IRIDIUM_FIX,-4236.17,847.67,041213,141459
$TT8_MAMPS,0.026215
$HUMID,60.71
$INTERNAL_PRESSURE,9.56208
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.8,4.756
$10V_AH,10.1,3.393
$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,12.000,55.775,281.700,23.800,0.000,55.727,99.406,304.558,0.000,0.000,25.599,2578.087,9010.461,401.378,2958.445,121.656,0.000,1426.297,0.000,2372.684,0.000,1.010,0.000
$DEVICE_MAMPS,233.325,83.385,1849.770,769.590,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,722.166,1775.702,693.992,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70331,1043
$CAP_FILE_SIZE,130409,0
$CFSIZE,259252224,256655360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,041213,232234,-4251.237,847.837,36,0.8,37,-25.1