version: 66.07
glider: 543
mission: 9
dive: 25
start: 12 4 113 23 30 36
data:
$ID,543
$MISSION,9
$DIVE,25
$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,-12477.649
$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,3290
$C_ROLL_CLIMB,3160
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,28
$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
$GPS1,041213,232234,-4251.237,847.837,36,0.8,37,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-62.6
$GPS2,041213,233012,-4251.203,847.916,16,1.1,16,-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,261.2,29228,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.49,-146.1,0.0,0.0,0,59,0.00,0.00,-41.62,0.000,2,0.000,0.000,65,3279,2568,0,0,0,0,0,0
$GC,61,-0.49,-146.1,3.2,-5.5,5,87,5.88,1.08,-13.15,0.000,4,0.235,0.087,1518,3952,3068,0,0,0,0,0,0
$GC,192,-0.49,-146.1,30.9,-22.1,26,200,0.00,1.02,0.00,0.000,6,0.000,0.039,1521,3288,3071,0,0,0,0,0,0
$GC,337,-0.49,-146.1,60.0,-20.5,51,345,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3288,3072,0,0,0,0,0,0
$GC,682,-0.49,-146.1,125.4,-18.4,100,685,0.00,1.05,0.00,0.000,4,0.000,0.063,1517,3938,3073,0,0,0,0,0,0
$GC,800,-0.49,-146.1,148.9,-19.1,110,807,0.00,0.98,0.00,0.000,6,0.000,0.039,1517,3295,3073,0,0,0,0,0,0
$GC,1126,-0.49,-146.1,209.6,-18.7,141,1130,0.00,1.02,0.00,0.000,4,0.000,0.063,1512,3933,3073,0,0,0,0,0,0
$GC,1277,-0.49,-146.1,239.8,-19.5,154,1285,0.00,1.00,0.00,0.000,6,0.000,0.038,1512,3286,3073,0,0,0,0,0,0
$GC,1605,-0.49,-146.1,298.3,-17.8,185,1608,0.00,1.05,0.00,0.000,4,0.000,0.063,1508,3940,3074,0,0,0,0,0,0
$GC,1729,-0.49,-146.1,321.8,-18.6,196,1732,0.00,1.00,0.00,0.000,6,0.000,0.039,1508,3285,3074,0,0,0,0,0,0
$GC,2059,-0.49,-146.1,378.1,-16.4,227,2062,0.00,1.05,0.00,0.000,4,0.000,0.063,1503,3939,3074,0,0,0,0,0,0
$GC,2161,-0.49,-146.1,396.0,-18.2,236,2164,0.00,1.00,0.00,0.000,6,0.000,0.039,1503,3282,3074,0,0,0,0,0,0
$GC,2482,-0.49,-146.1,449.2,-16.6,253,2486,0.00,1.05,0.00,0.000,4,0.000,0.063,1498,3940,3074,0,0,0,0,0,0
$GC,2593,-0.49,-146.1,468.6,-17.5,258,2597,0.00,1.00,0.00,0.000,6,0.000,0.040,1498,3281,3074,0,0,0,0,0,0
$GC,2925,-0.49,-146.1,522.2,-16.3,274,2929,0.00,1.05,0.00,0.000,4,0.000,0.065,1493,3939,3074,0,0,0,0,0,0
$GC,3097,-0.49,-146.1,552.4,-16.9,281,3105,0.12,1.00,0.00,0.000,6,0.189,0.039,1524,3291,3074,0,0,0,0,0,0
$GC,3413,-0.49,-146.1,593.8,-12.8,297,3414,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3291,3074,0,0,0,0,0,0
$GC,3722,-0.49,-146.1,634.5,-13.2,312,3726,0.00,1.05,0.00,0.000,4,0.000,0.067,1520,3948,3074,0,0,0,0,0,0
$GC,3771,-0.49,-146.1,641.8,-14.4,314,3775,0.00,1.02,0.00,0.000,6,0.000,0.041,1520,3284,3074,0,0,0,0,0,0
$GC,4098,-0.49,-146.1,685.6,-13.4,330,4102,0.00,1.05,0.00,0.000,4,0.000,0.067,1515,3937,3073,0,0,0,0,0,0
$GC,4233,-0.49,-146.1,705.3,-14.8,336,4236,0.00,1.00,0.00,0.000,6,0.000,0.042,1515,3286,3073,0,0,0,0,0,0
$GC,4565,-0.49,-146.1,751.2,-14.0,352,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,1515,3286,3072,0,0,0,0,0,0
$GC,4875,-0.49,-146.1,793.7,-13.4,367,4879,0.00,1.05,0.00,0.000,4,0.000,0.067,1510,3942,3071,0,0,0,0,0,0
$GC,5065,-0.49,-146.1,822.0,-15.1,375,5069,0.00,1.02,0.00,0.000,6,0.000,0.041,1511,3279,3071,0,0,0,0,0,0
$GC,5386,-0.49,-146.1,866.0,-14.0,391,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,1511,3279,3070,0,0,0,0,0,0
$GC,5696,-0.49,-146.1,908.1,-13.7,406,5699,0.00,1.05,0.00,0.000,4,0.000,0.067,1506,3933,3070,0,0,0,0,0,0
$GC,5840,-0.49,-146.1,929.6,-14.7,412,5844,0.00,1.00,0.00,0.000,6,0.000,0.042,1505,3291,3069,0,0,0,0,0,0
$GC,6161,-0.49,-146.1,974.4,-14.5,428,6165,0.00,1.05,0.00,0.000,4,0.000,0.068,1501,3945,3068,0,0,0,0,0,0
$STATE,6259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6260,begin apogee
$GC,6265,-0.11,0.0,990.1,15.7,432,6407,0.45,0.00,138.90,1.854,6,0.157,0.000,1639,3155,2473,0,0,0,0,0,0
$STATE,6408,end apogee,CONTROL_FINISHED_OK
$STATE,6408,begin climb
$GC,6409,0.49,146.1,996.3,0.0,439,6559,0.65,2.47,142.32,1.812,4,0.112,0.040,1847,1766,1877,0,0,0,0,0,0
$GC,6597,0.49,146.1,983.3,10.6,447,6605,0.00,2.47,0.00,0.000,6,0.000,0.054,1847,3153,1873,0,0,0,0,0,0
$GC,6914,0.49,146.1,945.2,12.1,463,6918,0.00,1.35,0.00,0.000,4,0.000,0.064,1847,3950,1867,0,0,0,0,0,0
$GC,7072,0.49,146.1,922.1,15.7,470,7076,0.00,1.25,0.00,0.000,6,0.000,0.040,1852,3164,1866,0,0,0,0,0,0
$GC,7405,0.49,146.1,876.4,14.2,486,7406,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,3163,1865,0,0,0,0,0,0
$GC,7713,0.49,146.1,833.4,13.6,501,7714,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,3163,1864,0,0,0,0,0,0
$GC,8022,0.49,146.1,791.1,13.7,516,8026,0.00,1.30,0.00,0.000,4,0.000,0.066,1852,3953,1863,0,0,0,0,0,0
$GC,8099,0.49,146.1,779.0,16.0,519,8104,0.00,1.25,0.00,0.000,6,0.000,0.040,1859,3155,1863,0,0,0,0,0,0
$GC,8421,0.49,146.1,734.8,13.5,535,8422,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,3155,1862,0,0,0,0,0,0
$GC,8730,0.49,146.1,692.8,13.7,550,8731,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,3155,1862,0,0,0,0,0,0
$GC,9041,0.49,146.1,652.0,12.9,565,9045,0.00,1.30,0.00,0.000,4,0.000,0.067,1858,3951,1861,0,0,0,0,0,0
$GC,9108,0.49,146.1,642.2,14.3,568,9112,0.00,1.23,0.00,0.000,6,0.000,0.041,1864,3156,1861,0,0,0,0,0,0
$GC,9440,0.49,146.1,600.0,12.5,584,9441,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,3156,1861,0,0,0,0,0,0
$GC,9749,0.49,146.1,562.5,12.0,599,9753,0.00,2.15,0.00,0.000,4,0.000,0.041,1875,1758,1860,0,0,0,0,0,0
$GC,9798,0.49,146.9,557.0,10.0,601,9804,0.10,2.30,0.00,0.000,6,0.159,0.055,1845,3171,1860,0,0,0,0,0,0
$GC,10121,0.49,146.9,523.4,10.5,617,10125,0.00,1.25,0.00,0.000,4,0.000,0.064,1845,3945,1859,0,0,0,0,0,0
$GC,10249,0.49,146.9,507.4,12.9,622,10257,0.00,1.23,0.00,0.000,6,0.000,0.040,1849,3156,1859,0,0,0,0,0,0
$GC,10565,0.49,146.9,472.1,11.3,638,10569,0.00,1.27,0.00,0.000,4,0.000,0.064,1849,3941,1859,0,0,0,0,0,0
$GC,10614,0.49,146.9,466.0,13.1,640,10618,0.00,1.20,0.00,0.000,6,0.000,0.041,1855,3160,1859,0,0,0,0,0,0
$GC,10940,0.49,146.9,428.2,11.6,656,10941,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,3160,1859,0,0,0,0,0,0
$GC,11252,0.49,146.9,390.1,12.8,674,11253,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,3160,1859,0,0,0,0,0,0
$GC,11571,0.49,146.9,349.4,12.7,704,11574,0.00,1.27,0.00,0.000,4,0.000,0.066,1855,3952,1859,0,0,0,0,0,0
$GC,11631,0.49,146.9,340.4,14.4,709,11639,0.00,1.23,0.00,0.000,6,0.000,0.040,1861,3157,1859,0,0,0,0,0,0
$GC,11956,0.49,146.9,295.7,13.4,740,11958,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,3158,1859,0,0,0,0,0,0
$GC,12275,0.49,146.9,254.4,12.4,770,12277,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,3158,1859,0,0,0,0,0,0
$GC,12594,0.49,146.9,217.0,10.6,800,12598,0.00,1.27,0.00,0.000,4,0.000,0.065,1862,3947,1859,0,0,0,0,0,0
$GC,12639,0.49,146.9,211.3,13.7,804,12643,0.00,1.20,0.00,0.000,6,0.000,0.039,1867,3159,1859,0,0,0,0,0,0
$GC,12969,0.49,146.9,173.9,10.9,835,12973,0.00,1.27,0.00,0.000,4,0.000,0.063,1867,3952,1859,0,0,0,0,0,0
$GC,13041,0.49,146.9,164.8,13.4,841,13049,0.00,1.23,0.00,0.000,6,0.000,0.038,1873,3156,1859,0,0,0,0,0,0
$GC,13366,0.49,146.9,127.0,11.6,872,13367,0.00,0.00,0.00,0.000,6,0.000,0.000,1873,3156,1859,0,0,0,0,0,0
$GC,13692,0.49,146.9,87.8,12.8,910,13698,0.00,0.00,0.00,0.000,6,0.000,0.000,1873,3156,1859,0,0,0,0,0,0
$GC,14040,0.49,146.9,45.2,12.8,971,14047,0.00,1.27,0.00,0.000,4,0.000,0.062,1873,3954,1859,0,0,0,0,0,0
$GC,14088,0.49,146.9,38.1,16.0,979,14096,0.10,1.20,0.00,0.000,6,0.177,0.038,1850,3160,1859,0,0,0,0,0,0
$GC,14235,0.50,172.9,22.2,8.8,1004,14249,0.00,0.00,9.12,0.825,6,0.000,0.000,1850,3160,1766,0,0,0,0,0,0
$GC,14394,0.51,177.4,7.2,9.8,1030,14402,0.00,0.00,1.38,0.249,6,0.000,0.000,1850,3159,1747,0,0,0,0,0,0
$STATE,14427,end climb,SURFACE_DEPTH_REACHED
$STATE,14427,begin surface coast
$FINISH,0.9,1.026545
$STATE,14452,end surface coast,CONTROL_FINISHED_OK
$STATE,14453,begin surface
$SM_CCo,14463,12.60,0.770,0,0,1613,210.22
$SM_GC,3.06,0.00,0.00,12.60,0.000,0.000,0.770,73,3303,1613,-5.03,0.40,210.22
$IRIDIUM_FIX,-4236.17,847.67,041213,191903
$TT8_MAMPS,0.025466
$HUMID,61.93
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.8,4.926
$10V_AH,10.1,3.500
$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,12.025,57.075,291.725,12.600,0.000,27.435,26.748,298.942,0.000,0.000,19.378,2581.104,8979.783,390.357,2855.054,131.370,0.000,1423.358,0.000,2384.367,0.000,1.011,0.000
$DEVICE_MAMPS,234.855,87.210,1854.360,770.355,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,719.568,1784.539,696.784,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355168
$DATA_FILE_SIZE,70343,1039
$CAP_FILE_SIZE,131837,0
$CFSIZE,259252224,256577536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,051213,033304,-4251.393,846.870,37,1.0,38,-25.1