version: 66.07
glider: 543
mission: 9
dive: 30
start: 12 5 113 20 22 23
data:
$ID,543
$MISSION,9
$DIVE,30
$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,-12492.223
$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,44
$R_STBD_OVSHOOT,27
$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
$GPS1,051213,201128,-4252.669,843.493,37,0.9,38,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-67.1
$GPS2,051213,202159,-4252.639,843.549,14,1.2,14,-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,258.5,22860,-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,-146.1,0.0,0.0,0,65,0.00,0.00,-48.53,0.000,2,0.000,0.000,66,3332,2750,0,0,0,0,0,0
$GC,67,-0.47,-146.1,3.2,-4.6,6,93,5.85,2.30,-8.38,0.000,4,0.232,0.051,1537,1895,3073,0,0,0,0,0,0
$GC,112,-0.47,-146.1,12.2,-18.5,12,121,0.00,2.33,0.00,0.000,6,0.000,0.055,1527,3297,3074,0,0,0,0,0,0
$GC,171,-0.47,-146.1,22.3,-18.2,21,177,0.00,1.05,0.00,0.000,4,0.000,0.061,1523,3944,3075,0,0,0,0,0,0
$GC,208,-0.47,-146.1,30.3,-22.4,27,215,0.00,0.98,0.00,0.000,6,0.000,0.037,1523,3313,3075,0,0,0,0,0,0
$GC,355,-0.47,-146.1,60.3,-19.9,52,362,0.00,1.02,0.00,0.000,4,0.000,0.062,1518,3949,3076,0,0,0,0,0,0
$GC,426,-0.47,-146.1,75.9,-22.1,64,433,0.00,0.98,0.00,0.000,6,0.000,0.037,1518,3311,3076,0,0,0,0,0,0
$GC,760,-0.47,-146.1,135.6,-17.2,106,763,0.00,1.02,0.00,0.000,4,0.000,0.063,1513,3947,3076,0,0,0,0,0,0
$GC,842,-0.47,-146.1,151.6,-18.5,113,850,0.00,1.00,0.00,0.000,6,0.000,0.037,1513,3302,3076,0,0,0,0,0,0
$GC,1167,-0.47,-146.1,208.6,-17.2,144,1171,0.00,1.02,0.00,0.000,4,0.000,0.062,1509,3942,3077,0,0,0,0,0,0
$GC,1263,-0.47,-146.1,226.6,-18.3,152,1272,0.00,0.98,0.00,0.000,6,0.000,0.038,1509,3302,3076,0,0,0,0,0,0
$GC,1587,-0.47,-146.1,282.6,-16.6,183,1591,0.00,1.02,0.00,0.000,4,0.000,0.062,1504,3943,3077,0,0,0,0,0,0
$GC,1657,-0.47,-146.1,294.6,-17.6,189,1661,0.08,0.98,0.00,0.000,6,0.168,0.038,1527,3305,3077,0,0,0,0,0,0
$GC,1986,-0.47,-146.1,345.0,-15.4,220,1989,0.00,1.02,0.00,0.000,4,0.000,0.063,1524,3946,3077,0,0,0,0,0,0
$GC,2044,-0.47,-146.1,354.2,-17.0,225,2048,0.00,0.98,0.00,0.000,6,0.000,0.039,1523,3302,3077,0,0,0,0,0,0
$GC,2383,-0.47,-146.1,407.8,-15.4,255,2387,0.00,1.02,0.00,0.000,4,0.000,0.063,1519,3946,3077,0,0,0,0,0,0
$GC,2496,-0.47,-146.1,426.6,-16.9,260,2499,0.00,0.98,0.00,0.000,6,0.000,0.038,1519,3301,3078,0,0,0,0,0,0
$GC,2828,-0.47,-146.1,479.3,-15.8,276,2831,0.00,1.02,0.00,0.000,4,0.000,0.063,1515,3944,3078,0,0,0,0,0,0
$GC,2872,-0.47,-146.1,486.7,-16.1,278,2876,0.00,0.98,0.00,0.000,6,0.000,0.039,1514,3301,3078,0,0,0,0,0,0
$GC,3204,-0.47,-146.1,538.7,-15.6,294,3208,0.00,1.02,0.00,0.000,4,0.000,0.064,1510,3946,3077,0,0,0,0,0,0
$GC,3264,-0.47,-146.1,548.8,-16.3,296,3272,0.00,1.00,0.00,0.000,6,0.000,0.038,1510,3296,3077,0,0,0,0,0,0
$GC,3580,-0.47,-146.1,598.4,-15.8,312,3581,0.00,0.00,0.00,0.000,6,0.000,0.000,1510,3296,3077,0,0,0,0,0,0
$GC,3889,-0.47,-146.1,647.9,-16.0,327,3893,0.00,1.05,0.00,0.000,4,0.000,0.065,1505,3951,3076,0,0,0,0,0,0
$GC,3966,-0.47,-146.1,661.8,-18.2,330,3971,0.12,1.00,0.00,0.000,6,0.187,0.038,1536,3303,3076,0,0,0,0,0,0
$GC,4289,-0.47,-146.1,706.4,-13.7,346,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3302,3076,0,0,0,0,0,0
$GC,4597,-0.47,-146.1,749.4,-13.9,361,4598,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3302,3076,0,0,0,0,0,0
$GC,4906,-0.47,-146.1,791.9,-13.8,376,4910,0.00,1.02,0.00,0.000,4,0.000,0.067,1532,3944,3075,0,0,0,0,0,0
$GC,4966,-0.47,-146.1,800.5,-14.2,378,4974,0.00,1.00,0.00,0.000,6,0.000,0.041,1532,3299,3075,0,0,0,0,0,0
$GC,5284,-0.47,-146.1,841.4,-12.9,394,5287,0.00,1.02,0.00,0.000,4,0.000,0.067,1527,3939,3074,0,0,0,0,0,0
$GC,5354,-0.47,-146.1,851.4,-13.2,397,5359,0.00,0.98,0.00,0.000,6,0.000,0.041,1528,3311,3074,0,0,0,0,0,0
$GC,5681,-0.47,-146.1,892.3,-12.3,413,5682,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3310,3073,0,0,0,0,0,0
$GC,5991,-0.47,-146.1,930.1,-12.0,428,5994,0.00,1.05,0.00,0.000,4,0.000,0.069,1523,3950,3073,0,0,0,0,0,0
$GC,6050,-0.47,-146.1,938.2,-12.9,430,6058,0.00,1.00,0.00,0.000,6,0.000,0.041,1523,3304,3073,0,0,0,0,0,0
$GC,6368,-0.47,-146.1,975.7,-12.0,446,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3304,3072,0,0,0,0,0,0
$STATE,6489,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6489,begin apogee
$GC,6493,-0.11,0.0,990.5,12.1,452,6636,0.43,0.00,139.88,1.864,6,0.149,0.000,1652,3161,2473,0,0,0,0,0,0
$STATE,6637,end apogee,CONTROL_FINISHED_OK
$STATE,6637,begin climb
$GC,6638,0.47,146.1,994.7,0.0,459,6790,0.60,2.47,142.00,1.820,4,0.108,0.038,1846,1770,1878,0,0,0,0,0,0
$GC,6852,0.47,146.1,977.4,10.6,469,6857,0.00,2.45,0.00,0.000,6,0.000,0.054,1846,3178,1873,0,0,0,0,0,0
$GC,7178,0.47,146.1,934.9,13.4,485,7181,0.00,1.30,0.00,0.000,4,0.000,0.064,1846,3942,1867,0,0,0,0,0,0
$GC,7277,0.47,146.1,919.9,15.9,489,7282,0.00,1.25,0.00,0.000,6,0.000,0.039,1852,3170,1866,0,0,0,0,0,0
$GC,7599,0.47,146.1,874.2,14.3,505,7600,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,3170,1865,0,0,0,0,0,0
$GC,7908,0.47,146.1,830.5,14.4,520,7912,0.00,1.27,0.00,0.000,4,0.000,0.066,1852,3941,1864,0,0,0,0,0,0
$GC,7990,0.47,146.1,817.6,16.2,523,7999,0.00,1.23,0.00,0.000,6,0.000,0.039,1857,3167,1864,0,0,0,0,0,0
$GC,8307,0.47,146.1,773.8,13.5,539,8308,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,3167,1862,0,0,0,0,0,0
$GC,8617,0.47,146.1,733.4,13.1,554,8621,0.00,1.27,0.00,0.000,4,0.000,0.065,1858,3944,1862,0,0,0,0,0,0
$GC,8671,0.47,146.1,725.0,15.1,556,8676,0.00,1.23,0.00,0.000,6,0.000,0.039,1864,3165,1862,0,0,0,0,0,0
$GC,8993,0.47,146.1,682.2,13.0,572,8997,0.00,1.27,0.00,0.000,4,0.000,0.065,1863,3944,1861,0,0,0,0,0,0
$GC,9048,0.47,146.1,674.2,15.0,574,9053,0.00,1.23,0.00,0.000,6,0.000,0.038,1869,3159,1861,0,0,0,0,0,0
$GC,9369,0.47,146.1,631.2,13.4,590,9372,0.00,1.27,0.00,0.000,4,0.000,0.064,1869,3937,1861,0,0,0,0,0,0
$GC,9428,0.47,146.1,621.8,15.6,592,9437,0.12,1.20,0.00,0.000,6,0.210,0.039,1847,3169,1861,0,0,0,0,0,0
$GC,9746,0.47,146.1,585.7,11.0,608,9747,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,3170,1860,0,0,0,0,0,0
$GC,10054,0.47,146.1,549.7,12.1,623,10058,0.00,1.25,0.00,0.000,4,0.000,0.064,1847,3946,1860,0,0,0,0,0,0
$GC,10103,0.47,146.1,543.2,13.8,625,10108,0.00,1.20,0.00,0.000,6,0.000,0.039,1851,3174,1860,0,0,0,0,0,0
$GC,10432,0.47,146.1,504.5,11.7,641,10435,0.00,1.25,0.00,0.000,4,0.000,0.064,1851,3942,1860,0,0,0,0,0,0
$GC,10502,0.47,146.1,494.8,13.6,644,10507,0.00,1.23,0.00,0.000,6,0.000,0.040,1857,3156,1860,0,0,0,0,0,0
$GC,10830,0.47,146.1,455.9,12.1,660,10834,0.00,1.27,0.00,0.000,4,0.000,0.064,1857,3942,1860,0,0,0,0,0,0
$GC,10942,0.47,146.1,440.2,14.2,665,10945,0.00,1.17,0.00,0.000,6,0.000,0.041,1863,3174,1860,0,0,0,0,0,0
$GC,11265,0.47,146.1,398.5,13.1,681,11269,0.00,1.25,0.00,0.000,4,0.000,0.063,1863,3947,1860,0,0,0,0,0,0
$GC,11327,0.47,146.1,388.9,15.9,686,11333,0.00,1.20,0.00,0.000,6,0.000,0.039,1869,3160,1859,0,0,0,0,0,0
$GC,11653,0.47,146.1,345.8,13.2,717,11657,0.00,1.27,0.00,0.000,4,0.000,0.064,1869,3947,1860,0,0,0,0,0,0
$GC,11769,0.47,146.1,327.5,14.8,727,11778,0.12,1.23,0.00,0.000,6,0.203,0.038,1846,3155,1860,0,0,0,0,0,0
$GC,12095,0.47,146.1,289.6,12.0,758,12098,0.00,1.27,0.00,0.000,4,0.000,0.063,1846,3943,1859,0,0,0,0,0,0
$GC,12176,0.47,146.1,278.9,13.2,765,12179,0.00,1.17,0.00,0.000,6,0.000,0.038,1850,3171,1858,0,0,0,0,0,0
$GC,12506,0.47,146.1,237.5,11.6,796,12507,0.00,0.00,0.00,0.000,6,0.000,0.000,1851,3171,1859,0,0,0,0,0,0
$GC,12825,0.47,146.1,199.4,12.0,826,12828,0.00,1.25,0.00,0.000,4,0.000,0.064,1850,3949,1859,0,0,0,0,0,0
$GC,12908,0.47,146.1,187.8,13.3,833,12916,0.00,1.20,0.00,0.000,6,0.000,0.037,1856,3165,1859,0,0,0,0,0,0
$GC,13233,0.47,146.1,148.1,12.0,864,13237,0.00,1.25,0.00,0.000,4,0.000,0.063,1856,3944,1859,0,0,0,0,0,0
$GC,13294,0.47,146.1,139.8,13.4,869,13301,0.00,1.20,0.00,0.000,6,0.000,0.037,1862,3160,1859,0,0,0,0,0,0
$GC,13619,0.47,146.1,100.9,11.6,900,13620,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,3160,1859,0,0,0,0,0,0
$GC,13958,0.48,161.7,66.2,9.3,959,13973,0.00,1.27,4.62,0.850,4,0.000,0.063,1862,3948,1812,0,0,0,0,0,0
$GC,14103,0.48,161.7,48.7,12.9,984,14112,0.00,1.17,0.00,0.000,6,0.000,0.037,1868,3171,1812,0,0,0,0,0,0
$GC,14462,0.48,161.7,6.2,12.9,1045,14471,0.00,1.25,0.00,0.000,4,0.000,0.062,1868,3952,1812,0,0,0,0,0,0
$STATE,14483,end climb,SURFACE_DEPTH_REACHED
$STATE,14483,begin surface coast
$FINISH,0.8,1.026500
$STATE,14509,end surface coast,CONTROL_FINISHED_OK
$STATE,14509,begin surface
$SM_CCo,14520,18.90,0.776,0,0,1614,210.22
$SM_GC,2.54,0.00,0.00,18.90,0.000,0.000,0.776,64,3311,1614,-5.08,0.03,210.22
$IRIDIUM_FIX,-4233.25,914.23,051213,151552
$TT8_MAMPS,0.026964
$HUMID,60.90
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.7,5.808
$10V_AH,10.1,4.043
$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,12.075,72.825,286.500,18.900,0.000,61.436,99.154,304.000,0.000,0.000,17.599,2607.539,9064.897,430.365,2933.707,135.360,0.000,1472.389,0.000,2357.281,0.000,1.010,0.000
$DEVICE_MAMPS,231.795,68.850,1864.305,775.710,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,727.716,1803.817,709.677,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355180
$DATA_FILE_SIZE,70254,1052
$CAP_FILE_SIZE,138080,0
$CFSIZE,259252224,256192512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,061213,002552,-4253.039,842.519,35,1.0,36,-25.1