version: 66.07
glider: 543
mission: 9
dive: 33
start: 12 6 113 9 19 53
data:
$ID,543
$MISSION,9
$DIVE,33
$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,-12501.009
$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,29
$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
$GPS1,061213,085805,-4254.143,840.967,32,1.4,32,-25.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-53.4
$GPS2,061213,091929,-4253.988,841.177,17,1.8,17,-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,258.8,18793,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.47,-146.1,0.0,0.0,0,120,0.00,0.00,-103.15,0.000,2,0.000,0.000,61,3323,3058,0,0,0,0,0,0
$GC,122,-0.47,-146.1,3.8,-4.4,13,132,5.93,1.02,-0.28,0.000,4,0.230,0.082,1530,3950,3072,0,0,0,0,0,0
$GC,198,-0.47,-146.1,27.0,-22.0,25,205,0.00,0.98,0.00,0.000,6,0.000,0.037,1529,3320,3074,0,0,0,0,0,0
$GC,343,-0.47,-146.1,54.1,-17.9,50,349,0.00,2.20,0.00,0.000,4,0.000,0.035,1529,1895,3075,0,0,0,0,0,0
$GC,374,-0.47,-146.1,59.0,-16.0,55,381,0.00,2.30,0.00,0.000,6,0.000,0.054,1519,3306,3075,0,0,0,0,0,0
$GC,713,-0.47,-146.1,118.6,-17.2,106,716,0.00,1.02,0.00,0.000,4,0.000,0.060,1514,3950,3075,0,0,0,0,0,0
$GC,803,-0.47,-146.1,135.3,-18.1,114,807,0.00,0.98,0.00,0.000,6,0.000,0.037,1514,3309,3075,0,0,0,0,0,0
$GC,1135,-0.47,-146.1,195.5,-18.8,145,1139,0.00,1.02,0.00,0.000,4,0.000,0.061,1509,3948,3075,0,0,0,0,0,0
$GC,1203,-0.47,-146.1,209.3,-20.8,151,1207,0.00,0.98,0.00,0.000,6,0.000,0.037,1509,3305,3075,0,0,0,0,0,0
$GC,1533,-0.47,-146.1,270.6,-18.5,182,1534,0.00,0.00,0.00,0.000,6,0.000,0.000,1509,3303,3075,0,0,0,0,0,0
$GC,1852,-0.47,-146.1,328.4,-18.5,212,1855,0.00,1.02,0.00,0.000,4,0.000,0.062,1505,3943,3075,0,0,0,0,0,0
$GC,2003,-0.47,-146.1,358.1,-19.3,225,2011,0.12,0.98,0.00,0.000,6,0.184,0.037,1535,3310,3075,0,0,0,0,0,0
$GC,2327,-0.47,-146.1,406.1,-14.6,254,2331,0.00,2.17,0.00,0.000,4,0.000,0.035,1535,1892,3075,0,0,0,0,0,0
$GC,2353,-0.47,-146.1,409.9,-13.6,255,2358,0.00,2.30,0.00,0.000,6,0.000,0.054,1526,3315,3075,0,0,0,0,0,0
$GC,2675,-0.47,-146.1,457.8,-15.2,271,2678,0.00,1.00,0.00,0.000,4,0.000,0.063,1521,3947,3075,0,0,0,0,0,0
$GC,2791,-0.47,-146.1,476.8,-16.4,276,2795,0.00,0.98,0.00,0.000,6,0.000,0.037,1521,3309,3075,0,0,0,0,0,0
$GC,3118,-0.47,-146.1,526.1,-14.7,292,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3309,3074,0,0,0,0,0,0
$GC,3429,-0.47,-146.1,572.0,-14.9,307,3432,0.00,1.02,0.00,0.000,4,0.000,0.064,1516,3950,3074,0,0,0,0,0,0
$GC,3489,-0.47,-146.1,582.1,-15.6,309,3497,0.00,1.00,0.00,0.000,6,0.000,0.038,1516,3299,3074,0,0,0,0,0,0
$GC,3805,-0.47,-146.1,629.7,-15.2,325,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,1516,3299,3073,0,0,0,0,0,0
$GC,4116,-0.47,-146.1,677.2,-15.6,340,4119,0.00,1.02,0.00,0.000,4,0.000,0.065,1511,3940,3072,0,0,0,0,0,0
$GC,4175,-0.47,-146.1,687.6,-16.4,342,4183,0.00,0.98,0.00,0.000,6,0.000,0.038,1511,3306,3072,0,0,0,0,0,0
$GC,4491,-0.47,-146.1,736.9,-15.6,358,4495,0.00,1.02,0.00,0.000,4,0.000,0.064,1507,3950,3071,0,0,0,0,0,0
$GC,4540,-0.47,-146.1,745.4,-16.4,360,4546,0.12,1.00,0.00,0.000,6,0.184,0.038,1538,3298,3071,0,0,0,0,0,0
$GC,4867,-0.47,-146.1,786.4,-12.3,376,4868,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,3298,3071,0,0,0,0,0,0
$GC,5176,-0.47,-146.1,823.2,-11.6,391,5179,0.00,1.02,0.00,0.000,4,0.000,0.067,1534,3939,3069,0,0,0,0,0,0
$GC,5213,-0.47,-146.1,828.0,-12.5,392,5221,0.00,0.98,0.00,0.000,6,0.000,0.040,1535,3309,3069,0,0,0,0,0,0
$GC,5531,-0.47,-146.1,864.8,-11.8,408,5532,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3309,3069,0,0,0,0,0,0
$GC,5839,-0.47,-146.1,901.1,-11.9,423,5840,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3309,3068,0,0,0,0,0,0
$GC,6148,-0.47,-146.1,937.5,-11.7,438,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3309,3067,0,0,0,0,0,0
$GC,6457,-0.47,-146.1,974.0,-11.9,453,6461,0.00,1.02,0.00,0.000,4,0.000,0.067,1530,3950,3067,0,0,0,0,0,0
$GC,6528,-0.47,-146.1,983.4,-13.5,456,6532,0.00,1.00,0.00,0.000,6,0.000,0.041,1529,3302,3067,0,0,0,0,0,0
$STATE,6586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6586,begin apogee
$GC,6590,-0.11,0.0,990.3,12.2,459,6729,0.40,0.00,134.00,1.847,6,0.150,0.000,1650,3158,2476,0,0,0,0,0,0
$STATE,6730,end apogee,CONTROL_FINISHED_OK
$STATE,6730,begin climb
$GC,6731,0.47,146.1,996.4,0.0,466,6883,0.60,2.45,142.52,1.846,4,0.106,0.038,1846,1771,1878,0,0,0,0,0,0
$GC,6938,0.48,168.1,982.2,9.0,475,6968,0.00,2.47,22.58,1.756,6,0.000,0.054,1846,3172,1787,0,0,0,0,0,0
$GC,7277,0.48,168.1,940.9,12.8,492,7280,0.00,1.30,0.00,0.000,4,0.000,0.063,1846,3944,1782,0,0,0,0,0,0
$GC,7427,0.48,168.1,917.7,14.7,498,7435,0.00,1.25,0.00,0.000,6,0.000,0.037,1852,3155,1780,0,0,0,0,0,0
$GC,7743,0.48,168.1,873.9,14.2,514,7744,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,3155,1779,0,0,0,0,0,0
$GC,8053,0.48,168.1,829.3,14.9,529,8057,0.00,1.33,0.00,0.000,4,0.000,0.064,1852,3954,1778,0,0,0,0,0,0
$GC,8136,0.48,168.1,815.0,17.1,532,8144,0.00,1.25,0.00,0.000,6,0.000,0.038,1858,3159,1778,0,0,0,0,0,0
$GC,8452,0.48,168.1,766.9,15.2,548,8456,0.00,1.30,0.00,0.000,4,0.000,0.063,1859,3950,1778,0,0,0,0,0,0
$GC,8523,0.48,168.1,754.6,16.7,551,8528,0.00,1.23,0.00,0.000,6,0.000,0.038,1864,3170,1777,0,0,0,0,0,0
$GC,8851,0.48,168.1,704.8,15.2,567,8854,0.00,1.27,0.00,0.000,4,0.000,0.063,1864,3948,1777,0,0,0,0,0,0
$GC,8922,0.48,168.1,692.8,16.9,570,8927,0.00,1.23,0.00,0.000,6,0.000,0.038,1870,3164,1776,0,0,0,0,0,0
$GC,9248,0.48,168.1,643.6,14.8,586,9252,0.00,1.27,0.00,0.000,4,0.000,0.063,1870,3945,1776,0,0,0,0,0,0
$GC,9319,0.48,168.1,631.3,17.0,589,9325,0.00,1.23,0.00,0.000,6,0.000,0.038,1876,3157,1776,0,0,0,0,0,0
$GC,9647,0.48,168.1,582.0,15.0,605,9650,0.00,1.27,0.00,0.000,4,0.000,0.064,1876,3943,1775,0,0,0,0,0,0
$GC,9746,0.48,168.1,565.3,17.3,609,9751,0.15,1.20,0.00,0.000,6,0.204,0.039,1846,3170,1776,0,0,0,0,0,0
$GC,10069,0.48,168.1,526.4,12.1,625,10073,0.00,1.27,0.00,0.000,4,0.000,0.064,1846,3953,1774,0,0,0,0,0,0
$GC,10152,0.48,168.1,514.5,15.3,628,10160,0.00,1.23,0.00,0.000,6,0.000,0.039,1851,3164,1774,0,0,0,0,0,0
$GC,10468,0.48,168.1,473.8,13.0,644,10471,0.00,1.27,0.00,0.000,4,0.000,0.063,1851,3953,1774,0,0,0,0,0,0
$GC,10572,0.48,168.1,457.6,15.3,648,10580,0.00,1.23,0.00,0.000,6,0.000,0.039,1856,3160,1775,0,0,0,0,0,0
$GC,10889,0.48,168.1,414.1,14.0,664,10892,0.00,1.27,0.00,0.000,4,0.000,0.063,1856,3950,1774,0,0,0,0,0,0
$GC,10978,0.48,168.1,400.0,15.3,668,10982,0.00,1.20,0.00,0.000,6,0.000,0.039,1862,3164,1774,0,0,0,0,0,0
$GC,11309,0.48,168.1,353.2,14.2,698,11312,0.00,1.27,0.00,0.000,4,0.000,0.063,1862,3950,1774,0,0,0,0,0,0
$GC,11380,0.48,168.1,341.8,16.4,704,11390,0.00,1.23,0.00,0.000,6,0.000,0.038,1868,3155,1774,0,0,0,0,0,0
$GC,11706,0.48,168.1,296.5,13.8,735,11709,0.00,1.27,0.00,0.000,4,0.000,0.064,1869,3947,1774,0,0,0,0,0,0
$GC,11855,0.48,168.1,272.5,15.9,748,11865,0.00,1.20,0.00,0.000,6,0.000,0.037,1874,3165,1774,0,0,0,0,0,0
$GC,12179,0.48,168.1,225.8,14.4,779,12181,0.00,0.00,0.00,0.000,6,0.000,0.000,1875,3165,1774,0,0,0,0,0,0
$GC,12501,0.48,168.1,181.5,13.5,809,12504,0.00,1.27,0.00,0.000,4,0.000,0.063,1874,3955,1774,0,0,0,0,0,0
$GC,12638,0.48,168.1,159.8,17.0,821,12643,0.10,1.17,0.00,0.000,6,0.183,0.038,1851,3176,1774,0,0,0,0,0,0
$GC,12968,0.48,168.1,120.9,11.1,852,12972,0.00,1.25,0.00,0.000,4,0.000,0.063,1851,3954,1774,0,0,0,0,0,0
$GC,13017,0.48,168.1,114.5,12.6,856,13027,0.00,1.20,0.00,0.000,6,0.000,0.037,1856,3167,1774,0,0,0,0,0,0
$GC,13356,0.48,168.1,76.1,11.1,905,13363,0.00,1.25,0.00,0.000,4,0.000,0.062,1856,3946,1774,0,0,0,0,0,0
$GC,13443,0.48,168.1,65.9,12.0,920,13450,0.00,1.17,0.00,0.000,6,0.000,0.037,1861,3168,1774,0,0,0,0,0,0
$GC,13796,0.48,168.1,26.2,10.9,981,13802,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,3168,1774,0,0,0,0,0,0
$GC,13944,0.48,168.1,8.9,11.7,1006,13953,0.00,1.25,0.00,0.000,4,0.000,0.061,1862,3948,1774,0,0,0,0,0,0
$GC,13984,0.48,168.1,3.8,13.7,1012,13993,0.00,1.17,0.00,0.000,6,0.000,0.036,1867,3163,1774,0,0,0,0,0,0
$STATE,14001,end climb,SURFACE_DEPTH_REACHED
$STATE,14001,begin surface coast
$FINISH,0.6,1.025342
$STATE,14027,end surface coast,CONTROL_FINISHED_OK
$STATE,14027,begin surface
$SM_CCo,14038,15.48,0.779,0,0,1613,210.22
$SM_GC,2.82,0.00,0.00,15.48,0.000,0.000,0.779,64,3320,1613,-5.08,0.28,210.22
$IRIDIUM_FIX,-4239.11,839.41,061213,090929
$TT8_MAMPS,0.026215
$HUMID,61.30
$INTERNAL_PRESSURE,9.56208
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.7,6.406
$10V_AH,10.1,4.374
$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,12.275,71.725,299.100,15.475,0.000,95.312,183.044,750.744,0.000,0.000,19.534,2517.871,8725.326,459.088,3494.338,143.714,0.000,1509.097,0.000,2332.035,0.000,1.013,0.000
$DEVICE_MAMPS,230.265,81.855,1846.710,778.770,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,703.247,1737.805,693.163,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355088
$DATA_FILE_SIZE,66939,1018
$CAP_FILE_SIZE,142482,0
$CFSIZE,259252224,255971328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,061213,131505,-4254.442,840.319,24,0.9,25,-25.1