version: 66.07
glider: 543
mission: 9
dive: 28
start: 12 5 113 11 48 8
data:
$ID,543
$MISSION,9
$DIVE,28
$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,-12486.273
$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,1690
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,46
$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,3310
$C_ROLL_CLIMB,3170
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$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
$GPS1,051213,113952,-4251.804,845.248,42,1.1,43,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-66.5
$GPS2,051213,114744,-4251.727,845.379,21,1.4,21,-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,258.8,25858,-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,-0.47,-146.1,0.0,0.0,0,57,0.00,0.00,-40.97,0.000,2,0.000,0.000,65,3301,2534,0,0,0,0,0,0
$GC,59,-0.47,-146.1,3.1,-5.4,5,85,5.90,1.10,-15.40,0.000,4,0.236,0.096,1527,3948,3071,0,0,0,0,0,0
$GC,128,-0.47,-146.1,14.2,-19.2,15,137,0.00,0.98,0.00,0.000,6,0.000,0.040,1527,3320,3074,0,0,0,0,0,0
$GC,184,-0.47,-146.1,25.0,-19.4,24,192,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3321,3074,0,0,0,0,0,0
$GC,331,-0.47,-146.1,52.6,-18.9,49,336,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3321,3075,0,0,0,0,0,0
$GC,678,-0.47,-146.1,112.9,-16.5,104,682,0.00,1.00,0.00,0.000,4,0.000,0.063,1523,3940,3076,0,0,0,0,0,0
$GC,746,-0.47,-146.1,125.1,-18.5,110,750,0.00,0.98,0.00,0.000,6,0.000,0.039,1523,3304,3076,0,0,0,0,0,0
$GC,1078,-0.47,-146.1,182.7,-17.6,141,1082,0.00,1.02,0.00,0.000,4,0.000,0.063,1518,3938,3077,0,0,0,0,0,0
$GC,1226,-0.47,-146.1,210.2,-18.8,154,1229,0.00,0.98,0.00,0.000,6,0.000,0.039,1518,3300,3077,0,0,0,0,0,0
$GC,1558,-0.47,-146.1,267.4,-16.8,185,1561,0.00,1.02,0.00,0.000,4,0.000,0.064,1513,3938,3077,0,0,0,0,0,0
$GC,1674,-0.47,-146.1,288.5,-17.7,195,1682,0.00,0.98,0.00,0.000,6,0.000,0.038,1513,3306,3077,0,0,0,0,0,0
$GC,1999,-0.47,-146.1,343.4,-16.8,226,2003,0.00,1.02,0.00,0.000,4,0.000,0.063,1509,3948,3077,0,0,0,0,0,0
$GC,2093,-0.47,-146.1,360.2,-17.9,234,2101,0.00,1.00,0.00,0.000,6,0.000,0.038,1509,3296,3077,0,0,0,0,0,0
$GC,2427,-0.47,-146.1,415.5,-16.5,262,2431,0.00,1.02,0.00,0.000,4,0.000,0.063,1504,3939,3077,0,0,0,0,0,0
$GC,2562,-0.47,-146.1,439.4,-17.9,268,2566,0.08,0.95,0.00,0.000,6,0.171,0.039,1527,3314,3077,0,0,0,0,0,0
$GC,2893,-0.47,-146.1,487.7,-14.8,284,2897,0.00,1.00,0.00,0.000,4,0.000,0.064,1524,3943,3077,0,0,0,0,0,0
$GC,2947,-0.47,-146.1,496.7,-15.6,286,2952,0.00,0.98,0.00,0.000,6,0.000,0.039,1524,3309,3077,0,0,0,0,0,0
$GC,3269,-0.47,-146.1,545.8,-15.4,302,3272,0.00,1.00,0.00,0.000,4,0.000,0.065,1520,3934,3077,0,0,0,0,0,0
$GC,3329,-0.47,-146.1,555.9,-16.7,304,3337,0.00,0.98,0.00,0.000,6,0.000,0.040,1520,3304,3077,0,0,0,0,0,0
$GC,3645,-0.47,-146.1,604.0,-15.3,320,3649,0.00,1.02,0.00,0.000,4,0.000,0.065,1515,3948,3077,0,0,0,0,0,0
$GC,3772,-0.47,-146.1,625.3,-16.5,325,3780,0.00,1.00,0.00,0.000,6,0.000,0.040,1515,3298,3077,0,0,0,0,0,0
$GC,4088,-0.47,-146.1,673.8,-15.7,341,4092,0.00,1.02,0.00,0.000,4,0.000,0.066,1510,3940,3077,0,0,0,0,0,0
$GC,4177,-0.47,-146.1,689.0,-17.1,345,4181,0.00,0.95,0.00,0.000,6,0.000,0.041,1510,3314,3077,0,0,0,0,0,0
$GC,4509,-0.47,-146.1,742.3,-15.8,361,4511,0.00,0.00,0.00,0.000,6,0.000,0.000,1510,3314,3076,0,0,0,0,0,0
$GC,4818,-0.47,-146.1,791.1,-15.7,376,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,1510,3314,3075,0,0,0,0,0,0
$GC,5128,-0.47,-146.1,838.2,-15.2,391,5129,0.00,0.00,0.00,0.000,6,0.000,0.000,1510,3314,3074,0,0,0,0,0,0
$GC,5437,-0.47,-146.1,886.1,-15.4,406,5441,0.00,1.00,0.00,0.000,4,0.000,0.067,1506,3940,3073,0,0,0,0,0,0
$GC,5491,-0.47,-146.1,895.6,-16.2,408,5497,0.12,0.98,0.00,0.000,6,0.187,0.041,1537,3312,3073,0,0,0,0,0,0
$GC,5813,-0.47,-146.1,936.9,-12.4,424,5814,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3312,3073,0,0,0,0,0,0
$GC,6122,-0.47,-146.1,974.3,-12.1,439,6125,0.00,1.00,0.00,0.000,4,0.000,0.069,1533,3936,3073,0,0,0,0,0,0
$GC,6198,-0.47,-146.1,984.3,-12.3,442,6203,0.00,0.98,0.00,0.000,6,0.000,0.043,1533,3310,3072,0,0,0,0,0,0
$STATE,6251,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6251,begin apogee
$GC,6255,-0.11,0.0,990.4,12.0,445,6398,0.40,0.00,139.85,1.854,6,0.150,0.000,1653,3169,2473,0,0,0,0,0,0
$STATE,6399,end apogee,CONTROL_FINISHED_OK
$STATE,6399,begin climb
$GC,6400,0.47,146.1,996.0,0.0,452,6549,0.57,2.50,141.82,1.809,4,0.106,0.039,1843,1765,1878,0,0,0,0,0,0
$GC,6617,0.47,152.9,980.8,9.7,462,6631,0.00,2.45,7.18,1.519,6,0.000,0.054,1843,3165,1849,0,0,0,0,0,0
$GC,6947,0.47,152.9,941.2,12.4,478,6950,0.00,1.33,0.00,0.000,4,0.000,0.064,1843,3954,1844,0,0,0,0,0,0
$GC,7063,0.47,152.9,924.1,15.4,483,7068,0.00,1.27,0.00,0.000,6,0.000,0.038,1849,3157,1843,0,0,0,0,0,0
$GC,7390,0.47,152.9,880.9,13.0,499,7391,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,3157,1841,0,0,0,0,0,0
$GC,7700,0.47,152.9,839.3,13.4,514,7703,0.00,1.33,0.00,0.000,4,0.000,0.066,1849,3956,1840,0,0,0,0,0,0
$GC,7767,0.47,152.9,829.2,16.1,517,7770,0.00,1.23,0.00,0.000,6,0.000,0.040,1855,3169,1841,0,0,0,0,0,0
$GC,8098,0.47,152.9,784.5,12.9,533,8100,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,3170,1840,0,0,0,0,0,0
$GC,8409,0.47,152.9,745.1,12.9,548,8410,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,3169,1839,0,0,0,0,0,0
$GC,8717,0.47,152.9,706.6,12.2,563,8721,0.00,1.27,0.00,0.000,4,0.000,0.066,1854,3950,1838,0,0,0,0,0,0
$GC,8777,0.47,152.9,698.3,14.2,565,8785,0.00,1.23,0.00,0.000,6,0.000,0.040,1860,3164,1839,0,0,0,0,0,0
$GC,9094,0.47,152.9,659.0,12.6,581,9098,0.00,1.27,0.00,0.000,4,0.000,0.066,1860,3943,1838,0,0,0,0,0,0
$GC,9139,0.47,152.9,652.6,15.2,583,9143,0.00,1.20,0.00,0.000,6,0.000,0.039,1867,3162,1838,0,0,0,0,0,0
$GC,9471,0.47,152.9,607.0,13.9,599,9475,0.00,1.27,0.00,0.000,4,0.000,0.066,1866,3944,1837,0,0,0,0,0,0
$GC,9553,0.47,152.9,593.9,16.2,602,9561,0.00,1.20,0.00,0.000,6,0.000,0.039,1872,3170,1837,0,0,0,0,0,0
$GC,9871,0.47,152.9,550.0,14.0,618,9874,0.00,1.25,0.00,0.000,4,0.000,0.067,1872,3945,1837,0,0,0,0,0,0
$GC,9961,0.47,152.9,535.9,16.0,622,9965,0.10,1.17,0.00,0.000,6,0.189,0.040,1850,3179,1837,0,0,0,0,0,0
$GC,10292,0.47,152.9,495.6,11.8,638,10295,0.00,1.25,0.00,0.000,4,0.000,0.065,1850,3948,1836,0,0,0,0,0,0
$GC,10368,0.47,152.9,485.1,13.5,641,10373,0.00,1.23,0.00,0.000,6,0.000,0.040,1855,3157,1836,0,0,0,0,0,0
$GC,10690,0.47,152.9,448.0,11.2,657,10694,0.00,1.30,0.00,0.000,4,0.000,0.064,1854,3957,1836,0,0,0,0,0,0
$GC,10757,0.47,152.9,439.4,13.3,660,10761,0.00,1.20,0.00,0.000,6,0.000,0.040,1860,3173,1836,0,0,0,0,0,0
$GC,11089,0.47,152.9,402.1,11.1,676,11093,0.00,1.25,0.00,0.000,4,0.000,0.064,1860,3946,1836,0,0,0,0,0,0
$GC,11145,0.47,152.9,394.8,13.9,680,11149,0.00,1.20,0.00,0.000,6,0.000,0.040,1866,3160,1836,0,0,0,0,0,0
$GC,11475,0.47,152.9,353.9,12.5,711,11478,0.00,1.27,0.00,0.000,4,0.000,0.064,1866,3950,1836,0,0,0,0,0,0
$GC,11622,0.47,152.9,333.1,13.6,724,11626,0.08,1.20,0.00,0.000,6,0.189,0.039,1850,3159,1836,0,0,0,0,0,0
$GC,11951,0.47,152.9,297.7,10.9,755,11954,0.00,1.27,0.00,0.000,4,0.000,0.065,1850,3950,1836,0,0,0,0,0,0
$GC,12006,0.47,152.9,290.6,13.6,760,12010,0.00,1.17,0.00,0.000,6,0.000,0.039,1855,3176,1836,0,0,0,0,0,0
$GC,12337,0.47,152.9,250.8,11.7,791,12338,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,3175,1836,0,0,0,0,0,0
$GC,12658,0.47,152.9,212.4,12.4,821,12661,0.00,1.25,0.00,0.000,4,0.000,0.063,1855,3953,1836,0,0,0,0,0,0
$GC,12736,0.47,152.9,201.0,13.8,828,12740,0.00,1.17,0.00,0.000,6,0.000,0.039,1861,3177,1836,0,0,0,0,0,0
$GC,13066,0.47,152.9,159.9,11.9,859,13070,0.00,1.25,0.00,0.000,4,0.000,0.063,1860,3955,1836,0,0,0,0,0,0
$GC,13137,0.47,152.9,149.7,14.2,865,13145,0.00,1.23,0.00,0.000,6,0.000,0.037,1867,3155,1836,0,0,0,0,0,0
$GC,13463,0.47,152.9,110.3,11.8,896,13464,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,3155,1836,0,0,0,0,0,0
$GC,13797,0.47,152.9,72.9,11.1,947,13804,0.00,1.27,0.00,0.000,4,0.000,0.063,1866,3951,1836,0,0,0,0,0,0
$GC,13970,0.47,152.9,51.3,12.7,977,13977,0.00,1.17,0.00,0.000,6,0.000,0.037,1872,3171,1836,0,0,0,0,0,0
$GC,14324,0.47,152.9,11.0,13.6,1038,14333,0.00,2.15,0.00,0.000,4,0.000,0.037,1883,1780,1836,0,0,0,0,0,0
$GC,14382,0.47,152.9,4.4,11.6,1047,14391,0.10,2.22,0.00,0.000,6,0.154,0.052,1853,3170,1836,0,0,0,0,0,0
$STATE,14398,end climb,SURFACE_DEPTH_REACHED
$STATE,14398,begin surface coast
$FINISH,0.7,1.015699
$STATE,14430,end surface coast,CONTROL_FINISHED_OK
$STATE,14430,begin surface
$SM_CCo,14441,21.55,0.784,0,0,1612,210.22
$SM_GC,2.39,0.00,0.00,21.55,0.000,0.000,0.784,67,3325,1612,-5.07,0.42,210.22
$IRIDIUM_FIX,-4236.17,851.03,051213,070739
$TT8_MAMPS,0.025466
$HUMID,61.10
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,22.7,5.459
$10V_AH,10.1,3.821
$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,12.025,68.425,288.850,21.550,0.000,27.632,43.069,293.737,0.000,0.000,23.758,2625.435,8873.609,406.988,2912.322,120.347,0.000,1461.477,0.000,2419.180,0.000,1.010,0.000
$DEVICE_MAMPS,235.620,95.625,1854.360,784.125,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,730.022,1807.936,722.807,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355184
$DATA_FILE_SIZE,70396,1054
$CAP_FILE_SIZE,137144,0
$CFSIZE,259252224,256348160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,051213,155028,-4252.168,844.456,43,1.0,44,-25.1