version: 66.07
glider: 543
mission: 9
dive: 26
start: 12 5 113 3 41 35
data:
$ID,543
$MISSION,9
$DIVE,26
$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,-12480.556
$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,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
$GPS1,051213,033304,-4251.393,846.870,37,1.0,38,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-58.7
$GPS2,051213,034111,-4251.372,846.942,18,1.3,18,-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,260.2,27962,-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,-49.33,0.000,2,0.000,0.000,69,3302,2775,0,0,0,0,0,0
$GC,68,-0.49,-146.1,3.2,-4.5,6,86,5.70,2.28,-7.57,0.000,4,0.225,0.051,1532,1876,3073,0,0,0,0,0,0
$GC,124,-0.49,-146.1,14.0,-14.9,14,132,0.00,2.35,0.00,0.000,6,0.000,0.056,1522,3288,3076,0,0,0,0,0,0
$GC,183,-0.49,-146.1,24.2,-20.3,23,189,0.00,1.08,0.00,0.000,4,0.000,0.061,1517,3953,3076,0,0,0,0,0,0
$GC,233,-0.49,-146.1,35.3,-21.4,31,240,0.00,1.00,0.00,0.000,6,0.000,0.037,1517,3299,3076,0,0,0,0,0,0
$GC,376,-0.49,-146.1,65.9,-18.9,56,382,0.00,0.00,0.00,0.000,6,0.000,0.000,1517,3299,3076,0,0,0,0,0,0
$GC,712,-0.49,-146.1,126.8,-17.4,103,716,0.00,1.05,0.00,0.000,4,0.000,0.063,1513,3953,3077,0,0,0,0,0,0
$GC,886,-0.49,-146.1,159.6,-18.7,118,894,0.00,1.02,0.00,0.000,6,0.000,0.037,1513,3287,3078,0,0,0,0,0,0
$GC,1213,-0.49,-146.1,217.8,-18.1,149,1217,0.00,1.08,0.00,0.000,4,0.000,0.063,1508,3956,3078,0,0,0,0,0,0
$GC,1353,-0.49,-146.1,245.9,-20.1,161,1361,0.00,1.02,0.00,0.000,6,0.000,0.037,1508,3292,3078,0,0,0,0,0,0
$GC,1679,-0.49,-146.1,306.2,-19.1,192,1682,0.00,1.05,0.00,0.000,4,0.000,0.063,1503,3950,3078,0,0,0,0,0,0
$GC,1784,-0.49,-146.1,328.1,-20.4,201,1792,0.00,1.02,0.00,0.000,6,0.000,0.037,1503,3282,3078,0,0,0,0,0,0
$GC,2109,-0.49,-146.1,389.2,-18.8,232,2113,0.00,1.08,0.00,0.000,4,0.000,0.063,1498,3954,3079,0,0,0,0,0,0
$GC,2216,-0.49,-146.1,410.7,-20.2,239,2223,0.00,1.00,0.00,0.000,6,0.000,0.039,1498,3295,3079,0,0,0,0,0,0
$GC,2531,-0.49,-146.1,470.9,-19.3,255,2535,0.00,1.05,0.00,0.000,4,0.000,0.064,1493,3951,3079,0,0,0,0,0,0
$GC,2653,-0.49,-146.1,495.9,-21.0,260,2658,0.12,1.02,0.00,0.000,6,0.190,0.038,1523,3287,3078,0,0,0,0,0,0
$GC,2975,-0.49,-146.1,547.0,-15.5,276,2979,0.00,1.05,0.00,0.000,4,0.000,0.065,1520,3944,3079,0,0,0,0,0,0
$GC,3046,-0.49,-146.1,559.1,-16.7,279,3051,0.00,1.02,0.00,0.000,6,0.000,0.039,1520,3280,3079,0,0,0,0,0,0
$GC,3374,-0.49,-146.1,611.6,-16.5,295,3377,0.00,1.08,0.00,0.000,4,0.000,0.066,1515,3953,3078,0,0,0,0,0,0
$GC,3463,-0.49,-146.1,627.4,-18.0,299,3467,0.00,1.00,0.00,0.000,6,0.000,0.041,1515,3292,3078,0,0,0,0,0,0
$GC,3797,-0.49,-146.1,683.6,-16.7,315,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,1515,3291,3078,0,0,0,0,0,0
$GC,4105,-0.49,-146.1,733.7,-16.1,330,4108,0.00,1.05,0.00,0.000,4,0.000,0.067,1510,3950,3077,0,0,0,0,0,0
$GC,4286,-0.49,-146.1,764.1,-16.3,338,4289,0.00,1.00,0.00,0.000,6,0.000,0.041,1510,3291,3077,0,0,0,0,0,0
$GC,4618,-0.49,-146.1,815.9,-15.1,354,4621,0.00,1.08,0.00,0.000,4,0.000,0.068,1505,3949,3076,0,0,0,0,0,0
$GC,4678,-0.49,-146.1,825.8,-16.2,356,4685,0.00,1.02,0.00,0.000,6,0.000,0.041,1505,3283,3076,0,0,0,0,0,0
$GC,4994,-0.49,-146.1,871.5,-14.4,372,4997,0.00,1.08,0.00,0.000,4,0.000,0.067,1501,3954,3076,0,0,0,0,0,0
$GC,5161,-0.49,-146.1,897.7,-15.9,379,5165,0.00,1.02,0.00,0.000,6,0.000,0.041,1500,3291,3075,0,0,0,0,0,0
$GC,5482,-0.49,-146.1,943.1,-14.0,395,5486,0.00,1.05,0.00,0.000,4,0.000,0.068,1495,3948,3075,0,0,0,0,0,0
$GC,5542,-0.49,-146.1,952.1,-14.6,397,5551,0.12,1.02,0.00,0.000,6,0.196,0.041,1526,3285,3074,0,0,0,0,0,0
$GC,5858,-0.49,-146.1,986.9,-10.5,413,5862,0.00,1.05,0.00,0.000,4,0.000,0.067,1522,3943,3074,0,0,0,0,0,0
$STATE,5883,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5884,begin apogee
$GC,5889,-0.11,0.0,990.4,12.7,414,6032,0.38,0.00,139.95,1.863,6,0.153,0.000,1639,3153,2473,0,0,0,0,0,0
$STATE,6033,end apogee,CONTROL_FINISHED_OK
$STATE,6033,begin climb
$GC,6034,0.49,146.1,994.6,0.0,421,6186,0.65,2.45,142.35,1.812,4,0.115,0.040,1846,1770,1878,0,0,0,0,0,0
$GC,6225,0.49,146.1,978.5,11.0,430,6229,0.00,2.45,0.00,0.000,6,0.000,0.056,1846,3160,1874,0,0,0,0,0,0
$GC,6551,0.49,146.1,935.2,13.3,446,6555,0.00,1.33,0.00,0.000,4,0.000,0.064,1846,3951,1867,0,0,0,0,0,0
$GC,6588,0.49,146.1,929.7,15.1,447,6597,0.00,1.27,0.00,0.000,6,0.000,0.038,1852,3158,1866,0,0,0,0,0,0
$GC,6905,0.49,146.1,887.7,13.0,463,6906,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,3158,1864,0,0,0,0,0,0
$GC,7214,0.49,146.1,848.5,12.6,478,7218,0.00,1.30,0.00,0.000,4,0.000,0.065,1852,3942,1864,0,0,0,0,0,0
$GC,7326,0.49,146.1,832.2,15.2,483,7330,0.00,1.23,0.00,0.000,6,0.000,0.040,1858,3157,1863,0,0,0,0,0,0
$GC,7658,0.49,146.1,788.3,13.0,499,7659,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,3157,1863,0,0,0,0,0,0
$GC,7969,0.49,146.1,748.7,12.7,514,7970,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,3157,1862,0,0,0,0,0,0
$GC,8277,0.49,146.1,709.3,12.9,529,8280,0.00,1.30,0.00,0.000,4,0.000,0.066,1858,3948,1862,0,0,0,0,0,0
$GC,8370,0.49,146.1,695.2,15.4,533,8375,0.00,1.25,0.00,0.000,6,0.000,0.039,1864,3150,1861,0,0,0,0,0,0
$GC,8697,0.49,146.1,650.1,13.6,549,8699,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,3150,1861,0,0,0,0,0,0
$GC,9008,0.49,146.1,609.5,12.8,564,9009,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,3150,1860,0,0,0,0,0,0
$GC,9316,0.49,146.1,569.2,13.1,579,9317,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,3150,1860,0,0,0,0,0,0
$GC,9626,0.49,146.1,527.8,13.3,594,9629,0.00,1.30,0.00,0.000,4,0.000,0.067,1864,3947,1860,0,0,0,0,0,0
$GC,9702,0.49,146.1,516.1,15.6,597,9707,0.00,1.23,0.00,0.000,6,0.000,0.039,1870,3157,1859,0,0,0,0,0,0
$GC,10024,0.49,146.1,472.9,13.4,613,10028,0.00,1.30,0.00,0.000,4,0.000,0.065,1870,3956,1859,0,0,0,0,0,0
$GC,10078,0.49,146.1,464.6,16.0,615,10084,0.12,1.25,0.00,0.000,6,0.207,0.040,1847,3154,1859,0,0,0,0,0,0
$GC,10400,0.49,146.1,428.3,11.0,631,10403,0.00,1.27,0.00,0.000,4,0.000,0.065,1847,3943,1859,0,0,0,0,0,0
$GC,10437,0.49,146.1,423.5,12.6,632,10445,0.00,1.23,0.00,0.000,6,0.000,0.040,1851,3155,1858,0,0,0,0,0,0
$GC,10760,0.49,146.1,387.8,11.0,653,10761,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,3155,1858,0,0,0,0,0,0
$GC,11075,0.49,146.1,352.4,11.2,683,11076,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,3155,1859,0,0,0,0,0,0
$GC,11396,0.49,146.1,315.9,11.4,713,11399,0.00,1.30,0.00,0.000,4,0.000,0.063,1851,3957,1859,0,0,0,0,0,0
$GC,11442,0.49,146.1,309.9,13.8,717,11446,0.00,1.23,0.00,0.000,6,0.000,0.040,1858,3155,1859,0,0,0,0,0,0
$GC,11772,0.49,146.1,268.9,11.8,748,11776,0.00,1.27,0.00,0.000,4,0.000,0.064,1857,3943,1859,0,0,0,0,0,0
$GC,11820,0.49,146.1,262.4,13.6,752,11831,0.00,1.23,0.00,0.000,6,0.000,0.038,1864,3151,1859,0,0,0,0,0,0
$GC,12146,0.49,146.1,222.5,12.5,783,12149,0.00,1.27,0.00,0.000,4,0.000,0.063,1863,3942,1859,0,0,0,0,0,0
$GC,12201,0.49,146.1,214.8,14.4,788,12205,0.00,1.20,0.00,0.000,6,0.000,0.039,1870,3154,1859,0,0,0,0,0,0
$GC,12531,0.49,146.1,172.4,12.6,819,12532,0.00,0.00,0.00,0.000,6,0.000,0.000,1870,3153,1859,0,0,0,0,0,0
$GC,12852,0.49,146.1,131.0,13.2,849,12856,0.00,1.27,0.00,0.000,4,0.000,0.063,1870,3949,1859,0,0,0,0,0,0
$GC,12899,0.49,146.1,124.2,15.3,853,12904,0.10,1.20,0.00,0.000,6,0.177,0.038,1846,3156,1859,0,0,0,0,0,0
$GC,13231,0.49,146.1,85.2,11.7,894,13239,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,3156,1859,0,0,0,0,0,0
$GC,13582,0.49,156.3,49.9,9.5,955,13590,0.00,1.33,2.35,0.479,4,0.000,0.063,1846,3962,1834,0,0,0,0,0,0
$GC,13704,0.49,156.3,36.0,11.9,976,13713,0.00,1.23,0.00,0.000,6,0.000,0.037,1851,3150,1833,0,0,0,0,0,0
$GC,13854,0.49,156.3,21.1,10.4,1001,13860,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,3150,1834,0,0,0,0,0,0
$GC,14004,0.49,156.3,5.5,12.5,1026,14012,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,3150,1833,0,0,0,0,0,0
$STATE,14024,end climb,SURFACE_DEPTH_REACHED
$STATE,14025,begin surface coast
$FINISH,0.7,1.026550
$STATE,14050,end surface coast,CONTROL_FINISHED_OK
$STATE,14050,begin surface
$SM_CCo,14061,21.12,0.765,0,0,1614,210.22
$SM_GC,2.27,0.00,0.00,21.12,0.000,0.000,0.765,71,3314,1614,-5.04,0.68,210.22
$IRIDIUM_FIX,-4236.17,847.67,041213,232359
$TT8_MAMPS,0.026215
$HUMID,60.71
$INTERNAL_PRESSURE,9.56208
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,22.7,5.098
$10V_AH,10.1,3.608
$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,11.950,64.775,284.650,21.125,0.000,26.658,47.179,300.281,0.000,0.000,20.700,2564.857,8607.699,413.927,2858.317,127.497,0.000,1441.395,0.000,2361.296,0.000,1.011,0.000
$DEVICE_MAMPS,224.910,73.440,1862.775,765.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,714.788,1779.432,722.920,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355200
$DATA_FILE_SIZE,70262,1033
$CAP_FILE_SIZE,133381,0
$CFSIZE,259252224,256499712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,051213,073734,-4251.724,846.052,42,1.1,43,-25.1