version: 66.07
glider: 543
mission: 9
dive: 29
start: 12 5 113 15 59 19
data:
$ID,543
$MISSION,9
$DIVE,29
$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,-12489.198
$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,48
$R_STBD_OVSHOOT,34
$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
$GPS1,051213,155028,-4252.168,844.456,43,1.0,44,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-65.7
$GPS2,051213,155855,-4252.092,844.504,16,1.0,17,-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,258.4,24503,-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,15,-0.47,-146.1,0.0,0.0,0,66,0.00,0.00,-49.08,0.000,2,0.000,0.000,63,3325,2780,0,0,0,0,0,0
$GC,68,-0.47,-146.1,3.4,-4.7,6,85,5.95,0.00,-7.18,0.000,6,0.238,0.000,1528,3325,3072,0,0,0,0,0,0
$GC,135,-0.47,-146.1,18.9,-21.1,16,143,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3325,3075,0,0,0,0,0,0
$GC,190,-0.47,-146.1,29.9,-20.2,25,196,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3326,3076,0,0,0,0,0,0
$GC,333,-0.47,-146.1,57.3,-18.5,50,339,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3325,3076,0,0,0,0,0,0
$GC,679,-0.47,-146.1,115.8,-15.9,103,683,0.00,0.98,0.00,0.000,4,0.000,0.064,1524,3927,3077,0,0,0,0,0,0
$GC,769,-0.47,-146.1,131.3,-17.4,111,772,0.00,0.95,0.00,0.000,6,0.000,0.039,1525,3311,3078,0,0,0,0,0,0
$GC,1098,-0.47,-146.1,186.7,-16.6,142,1102,0.00,1.00,0.00,0.000,4,0.000,0.063,1521,3931,3078,0,0,0,0,0,0
$GC,1200,-0.47,-146.1,204.7,-17.6,151,1204,0.00,0.95,0.00,0.000,6,0.000,0.039,1521,3310,3078,0,0,0,0,0,0
$GC,1530,-0.47,-146.1,259.8,-15.8,182,1533,0.00,1.02,0.00,0.000,4,0.000,0.064,1516,3933,3078,0,0,0,0,0,0
$GC,1620,-0.47,-146.1,275.1,-16.3,190,1624,0.00,0.95,0.00,0.000,6,0.000,0.039,1516,3310,3079,0,0,0,0,0,0
$GC,1952,-0.47,-146.1,328.0,-15.7,221,1956,0.00,1.00,0.00,0.000,4,0.000,0.063,1512,3930,3079,0,0,0,0,0,0
$GC,2053,-0.47,-146.1,346.1,-17.1,230,2057,0.00,0.95,0.00,0.000,6,0.000,0.038,1511,3309,3079,0,0,0,0,0,0
$GC,2386,-0.47,-146.1,398.8,-16.3,261,2389,0.00,1.00,0.00,0.000,4,0.000,0.063,1507,3931,3079,0,0,0,0,0,0
$GC,2475,-0.47,-146.1,414.9,-17.9,266,2479,0.08,0.95,0.00,0.000,6,0.164,0.039,1530,3311,3078,0,0,0,0,0,0
$GC,2807,-0.47,-146.1,463.5,-14.6,282,2811,0.00,1.02,0.00,0.000,4,0.000,0.065,1526,3938,3079,0,0,0,0,0,0
$GC,2897,-0.47,-146.1,477.2,-14.9,286,2900,0.00,0.95,0.00,0.000,6,0.000,0.039,1526,3311,3079,0,0,0,0,0,0
$GC,3228,-0.47,-146.1,527.6,-15.8,302,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3311,3079,0,0,0,0,0,0
$GC,3539,-0.47,-146.1,574.5,-14.9,317,3543,0.00,1.00,0.00,0.000,4,0.000,0.066,1522,3937,3079,0,0,0,0,0,0
$GC,3683,-0.47,-146.1,597.8,-16.0,323,3688,0.00,0.98,0.00,0.000,6,0.000,0.040,1522,3309,3079,0,0,0,0,0,0
$GC,4005,-0.47,-146.1,644.2,-14.1,339,4006,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3307,3078,0,0,0,0,0,0
$GC,4314,-0.47,-146.1,686.0,-13.4,354,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3307,3078,0,0,0,0,0,0
$GC,4625,-0.47,-146.1,727.0,-13.1,369,4629,0.00,1.00,0.00,0.000,4,0.000,0.067,1517,3930,3077,0,0,0,0,0,0
$GC,4670,-0.47,-146.1,733.3,-13.5,371,4674,0.00,0.95,0.00,0.000,6,0.000,0.042,1517,3310,3077,0,0,0,0,0,0
$GC,5002,-0.47,-146.1,777.6,-13.0,387,5003,0.00,0.00,0.00,0.000,6,0.000,0.000,1517,3310,3076,0,0,0,0,0,0
$GC,5313,-0.47,-146.1,817.2,-12.9,402,5316,0.00,1.02,0.00,0.000,4,0.000,0.068,1513,3930,3076,0,0,0,0,0,0
$GC,5380,-0.47,-146.1,827.2,-15.1,405,5384,0.00,0.95,0.00,0.000,6,0.000,0.043,1513,3310,3075,0,0,0,0,0,0
$GC,5712,-0.47,-146.1,873.4,-14.0,421,5716,0.00,1.02,0.00,0.000,4,0.000,0.068,1508,3930,3075,0,0,0,0,0,0
$GC,5802,-0.47,-146.1,887.1,-15.4,425,5805,0.00,0.95,0.00,0.000,6,0.000,0.043,1508,3312,3075,0,0,0,0,0,0
$GC,6134,-0.47,-146.1,935.0,-14.3,441,6137,0.00,1.00,0.00,0.000,4,0.000,0.068,1503,3939,3074,0,0,0,0,0,0
$GC,6261,-0.47,-146.1,954.8,-15.7,446,6270,0.12,0.98,0.00,0.000,6,0.191,0.042,1534,3309,3074,0,0,0,0,0,0
$STATE,6577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6577,begin apogee
$GC,6581,-0.11,0.0,991.5,11.5,462,6724,0.38,0.00,140.05,1.863,6,0.148,0.000,1649,3168,2474,0,0,0,0,0,0
$STATE,6725,end apogee,CONTROL_FINISHED_OK
$STATE,6725,begin climb
$GC,6727,0.47,146.1,996.9,0.0,469,6878,0.60,2.47,142.25,1.821,4,0.109,0.039,1845,1771,1878,0,0,0,0,0,0
$GC,6940,0.47,146.1,981.1,10.9,479,6945,0.00,2.42,0.00,0.000,6,0.000,0.056,1845,3154,1873,0,0,0,0,0,0
$GC,7267,0.47,146.1,940.6,12.6,495,7270,0.00,1.35,0.00,0.000,4,0.000,0.064,1845,3950,1867,0,0,0,0,0,0
$GC,7394,0.47,146.1,922.0,14.1,500,7402,0.00,1.27,0.00,0.000,6,0.000,0.039,1850,3158,1866,0,0,0,0,0,0
$GC,7710,0.47,146.1,878.9,13.6,516,7714,0.00,1.33,0.00,0.000,4,0.000,0.066,1850,3952,1865,0,0,0,0,0,0
$GC,7815,0.47,146.1,862.3,15.8,520,7823,0.00,1.25,0.00,0.000,6,0.000,0.040,1856,3167,1865,0,0,0,0,0,0
$GC,8131,0.47,146.1,819.3,13.3,536,8134,0.00,1.30,0.00,0.000,4,0.000,0.067,1857,3950,1863,0,0,0,0,0,0
$GC,8179,0.47,146.1,811.9,15.7,538,8184,0.00,1.25,0.00,0.000,6,0.000,0.039,1862,3157,1863,0,0,0,0,0,0
$GC,8508,0.47,146.1,768.5,12.9,554,8509,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,3157,1863,0,0,0,0,0,0
$GC,8816,0.47,146.1,729.8,12.1,569,8820,0.00,1.30,0.00,0.000,4,0.000,0.067,1862,3945,1862,0,0,0,0,0,0
$GC,8865,0.47,146.1,722.9,15.3,571,8869,0.00,1.23,0.00,0.000,6,0.000,0.040,1868,3167,1862,0,0,0,0,0,0
$GC,9193,0.47,146.1,682.0,12.3,587,9197,0.00,1.27,0.00,0.000,4,0.000,0.065,1868,3950,1862,0,0,0,0,0,0
$GC,9261,0.47,146.1,672.4,14.1,590,9265,0.08,1.20,0.00,0.000,6,0.187,0.041,1852,3173,1862,0,0,0,0,0,0
$GC,9592,0.47,146.1,635.0,11.1,606,9593,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,3173,1861,0,0,0,0,0,0
$GC,9901,0.47,146.1,600.0,11.4,621,9902,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,3173,1860,0,0,0,0,0,0
$GC,10211,0.47,146.1,564.9,11.3,636,10214,0.00,1.27,0.00,0.000,4,0.000,0.066,1852,3954,1860,0,0,0,0,0,0
$GC,10282,0.47,146.1,555.4,13.4,639,10286,0.00,1.23,0.00,0.000,6,0.000,0.041,1857,3170,1860,0,0,0,0,0,0
$GC,10611,0.47,146.1,516.9,12.2,655,10614,0.00,1.27,0.00,0.000,4,0.000,0.065,1857,3954,1860,0,0,0,0,0,0
$GC,10704,0.47,146.1,503.0,14.9,659,10709,0.00,1.23,0.00,0.000,6,0.000,0.040,1862,3165,1860,0,0,0,0,0,0
$GC,11031,0.47,146.1,460.0,13.1,675,11032,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,3165,1860,0,0,0,0,0,0
$GC,11341,0.47,146.1,420.0,13.0,690,11344,0.00,1.27,0.00,0.000,4,0.000,0.065,1863,3952,1859,0,0,0,0,0,0
$GC,11423,0.47,146.1,407.9,14.7,693,11431,0.00,1.23,0.00,0.000,6,0.000,0.040,1869,3161,1859,0,0,0,0,0,0
$GC,11749,0.47,146.1,365.3,13.0,721,11753,0.00,1.27,0.00,0.000,4,0.000,0.063,1869,3951,1859,0,0,0,0,0,0
$GC,11798,0.47,146.1,357.8,14.4,725,11807,0.12,1.23,0.00,0.000,6,0.203,0.039,1846,3159,1859,0,0,0,0,0,0
$GC,12123,0.47,146.1,321.0,10.8,756,12125,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,3159,1859,0,0,0,0,0,0
$GC,12442,0.47,146.1,286.0,10.4,786,12444,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,3159,1859,0,0,0,0,0,0
$GC,12761,0.47,146.1,252.1,10.4,816,12765,0.00,1.27,0.00,0.000,4,0.000,0.063,1845,3950,1859,0,0,0,0,0,0
$GC,12865,0.47,146.1,239.2,13.0,825,12868,0.00,1.17,0.00,0.000,6,0.000,0.040,1850,3179,1859,0,0,0,0,0,0
$GC,13194,0.47,146.1,202.7,10.9,856,13196,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,3178,1859,0,0,0,0,0,0
$GC,13514,0.47,146.1,168.8,10.4,886,13517,0.00,1.25,0.00,0.000,4,0.000,0.063,1850,3953,1859,0,0,0,0,0,0
$GC,13581,0.47,146.1,160.7,12.3,892,13584,0.00,1.20,0.00,0.000,6,0.000,0.038,1856,3161,1859,0,0,0,0,0,0
$GC,13910,0.47,146.1,123.9,11.7,923,13914,0.00,1.27,0.00,0.000,4,0.000,0.063,1856,3952,1859,0,0,0,0,0,0
$GC,13967,0.47,146.1,116.8,12.9,928,13970,0.00,1.17,0.00,0.000,6,0.000,0.037,1862,3172,1859,0,0,0,0,0,0
$GC,14303,0.47,146.1,78.6,11.5,975,14311,0.00,1.25,0.00,0.000,4,0.000,0.063,1862,3952,1859,0,0,0,0,0,0
$GC,14421,0.47,146.1,64.0,12.6,995,14428,0.00,1.17,0.00,0.000,6,0.000,0.037,1867,3173,1859,0,0,0,0,0,0
$GC,14769,0.47,146.1,27.6,10.1,1056,14777,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,3173,1859,0,0,0,0,0,0
$GC,14919,0.47,146.1,11.0,12.8,1081,14927,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,3173,1859,0,0,0,0,0,0
$GC,14977,0.47,146.1,4.2,10.5,1090,14985,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,3173,1859,0,0,0,0,0,0
$STATE,14991,end climb,SURFACE_DEPTH_REACHED
$STATE,14991,begin surface coast
$FINISH,0.6,1.026532
$STATE,15023,end surface coast,CONTROL_FINISHED_OK
$STATE,15023,begin surface
$SM_CCo,15034,23.88,0.755,0,0,1612,210.22
$SM_GC,2.23,0.00,0.00,23.88,0.000,0.000,0.755,70,3332,1612,-5.06,0.62,210.22
$IRIDIUM_FIX,-4239.11,806.56,051213,111111
$TT8_MAMPS,0.026215
$HUMID,60.82
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.7,5.632
$10V_AH,10.1,3.934
$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,12.100,59.450,282.300,23.875,0.000,26.678,51.532,312.312,0.000,0.000,19.502,2724.449,9299.014,400.714,3005.582,137.755,0.000,1479.707,0.000,2488.917,0.000,1.010,0.000
$DEVICE_MAMPS,237.915,76.500,1862.775,755.055,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,759.952,1883.115,739.259,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,73683,1097
$CAP_FILE_SIZE,138790,0
$CFSIZE,259252224,256270336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,051213,201128,-4252.669,843.493,37,0.9,38,-25.1