version: 66.07
glider: 543
mission: 9
dive: 35
start: 12 6 113 17 37 17
data:
$ID,543
$MISSION,9
$DIVE,35
$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,-12506.906
$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,28
$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
$GPS1,061213,172834,-4254.834,839.556,41,1.2,42,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-70.7
$GPS2,061213,173653,-4254.847,839.687,24,0.9,24,-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,259.1,16225,-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,-146.1,0.0,0.0,0,66,0.00,0.00,-49.20,0.000,2,0.000,0.000,72,3328,2785,0,0,0,0,0,0
$GC,68,-0.47,-146.1,3.4,-4.4,6,86,5.95,1.05,-7.10,0.000,4,0.239,0.090,1525,3955,3072,0,0,0,0,0,0
$GC,153,-0.47,-146.1,24.1,-22.9,19,159,0.00,0.98,0.00,0.000,6,0.000,0.038,1524,3322,3075,0,0,0,0,0,0
$GC,297,-0.47,-146.1,54.4,-20.4,44,303,0.00,1.00,0.00,0.000,4,0.000,0.062,1520,3937,3077,0,0,0,0,0,0
$GC,400,-0.47,-146.1,74.2,-18.2,62,407,0.00,0.98,0.00,0.000,6,0.000,0.037,1520,3306,3077,0,0,0,0,0,0
$GC,737,-0.47,-146.1,135.6,-17.9,105,740,0.00,1.02,0.00,0.000,4,0.000,0.062,1515,3939,3078,0,0,0,0,0,0
$GC,808,-0.47,-146.1,149.8,-19.0,111,816,0.00,1.00,0.00,0.000,6,0.000,0.037,1516,3295,3078,0,0,0,0,0,0
$GC,1133,-0.47,-146.1,208.1,-17.6,142,1137,0.00,1.02,0.00,0.000,4,0.000,0.062,1511,3934,3079,0,0,0,0,0,0
$GC,1247,-0.47,-146.1,229.0,-17.9,152,1250,0.00,0.95,0.00,0.000,6,0.000,0.038,1511,3311,3079,0,0,0,0,0,0
$GC,1577,-0.47,-146.1,289.6,-17.2,183,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,1511,3311,3079,0,0,0,0,0,0
$GC,1898,-0.47,-146.1,345.9,-17.2,213,1902,0.00,1.02,0.00,0.000,4,0.000,0.063,1506,3937,3079,0,0,0,0,0,0
$GC,2011,-0.47,-146.1,366.6,-17.9,223,2015,0.08,0.95,0.00,0.000,6,0.168,0.038,1529,3314,3079,0,0,0,0,0,0
$GC,2337,-0.47,-146.1,415.5,-14.3,249,2341,0.00,1.00,0.00,0.000,4,0.000,0.063,1526,3938,3079,0,0,0,0,0,0
$GC,2404,-0.47,-146.1,426.0,-15.9,252,2408,0.00,0.98,0.00,0.000,6,0.000,0.038,1525,3297,3079,0,0,0,0,0,0
$GC,2736,-0.47,-146.1,475.4,-15.2,268,2739,0.00,1.02,0.00,0.000,4,0.000,0.064,1521,3937,3079,0,0,0,0,0,0
$GC,2803,-0.47,-146.1,486.2,-15.9,271,2807,0.00,0.95,0.00,0.000,6,0.000,0.039,1521,3313,3079,0,0,0,0,0,0
$GC,3135,-0.47,-146.1,538.1,-15.5,287,3136,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3314,3079,0,0,0,0,0,0
$GC,3444,-0.47,-146.1,586.1,-15.6,302,3448,0.00,1.00,0.00,0.000,4,0.000,0.064,1517,3940,3079,0,0,0,0,0,0
$GC,3499,-0.47,-146.1,595.3,-16.2,304,3503,0.00,0.98,0.00,0.000,6,0.000,0.039,1517,3307,3079,0,0,0,0,0,0
$GC,3820,-0.47,-146.1,644.9,-15.2,320,3824,0.00,1.00,0.00,0.000,4,0.000,0.065,1512,3931,3078,0,0,0,0,0,0
$GC,3914,-0.47,-146.1,660.2,-15.5,324,3918,0.00,0.98,0.00,0.000,6,0.000,0.039,1512,3302,3078,0,0,0,0,0,0
$GC,4241,-0.47,-146.1,709.1,-14.9,340,4245,0.00,1.02,0.00,0.000,4,0.000,0.065,1507,3942,3077,0,0,0,0,0,0
$GC,4295,-0.47,-146.1,718.3,-16.1,342,4301,0.10,0.98,0.00,0.000,6,0.194,0.040,1531,3311,3077,0,0,0,0,0,0
$GC,4616,-0.47,-146.1,759.8,-13.0,358,4620,0.00,1.00,0.00,0.000,4,0.000,0.066,1527,3937,3077,0,0,0,0,0,0
$GC,4676,-0.47,-146.1,768.3,-14.0,360,4684,0.00,0.98,0.00,0.000,6,0.000,0.041,1527,3307,3077,0,0,0,0,0,0
$GC,4993,-0.47,-146.1,810.3,-13.4,376,4997,0.00,1.00,0.00,0.000,4,0.000,0.066,1523,3930,3076,0,0,0,0,0,0
$GC,5061,-0.47,-146.1,820.1,-14.6,379,5065,0.00,0.95,0.00,0.000,6,0.000,0.041,1523,3307,3076,0,0,0,0,0,0
$GC,5393,-0.47,-146.1,864.6,-13.2,395,5396,0.00,1.00,0.00,0.000,4,0.000,0.066,1518,3932,3075,0,0,0,0,0,0
$GC,5476,-0.47,-146.1,876.4,-13.7,398,5483,0.00,0.95,0.00,0.000,6,0.000,0.041,1518,3310,3075,0,0,0,0,0,0
$GC,5791,-0.47,-146.1,916.8,-12.6,414,5792,0.00,0.00,0.00,0.000,6,0.000,0.000,1518,3310,3075,0,0,0,0,0,0
$GC,6100,-0.47,-146.1,956.2,-13.0,429,6104,0.00,1.02,0.00,0.000,4,0.000,0.067,1514,3935,3074,0,0,0,0,0,0
$GC,6213,-0.47,-146.1,972.0,-14.5,434,6216,0.00,0.95,0.00,0.000,6,0.000,0.041,1514,3311,3074,0,0,0,0,0,0
$STATE,6359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6359,begin apogee
$GC,6363,-0.11,0.0,991.9,13.5,441,6507,0.45,0.00,140.82,1.910,6,0.152,0.000,1649,3168,2474,0,0,0,0,0,0
$STATE,6508,end apogee,CONTROL_FINISHED_OK
$STATE,6508,begin climb
$GC,6509,0.47,146.1,997.7,0.0,448,6661,0.60,2.47,143.20,1.865,4,0.107,0.038,1844,1772,1878,0,0,0,0,0,0
$GC,6716,0.47,149.7,983.3,9.8,457,6725,0.00,2.47,4.05,1.255,6,0.000,0.054,1844,3166,1862,0,0,0,0,0,0
$GC,7034,0.47,149.7,944.8,12.7,473,7037,0.00,1.30,0.00,0.000,4,0.000,0.063,1844,3941,1858,0,0,0,0,0,0
$GC,7133,0.47,149.7,929.9,15.3,477,7138,0.00,1.25,0.00,0.000,6,0.000,0.037,1850,3163,1856,0,0,0,0,0,0
$GC,7455,0.47,149.7,885.7,13.5,493,7458,0.00,1.30,0.00,0.000,4,0.000,0.064,1850,3941,1856,0,0,0,0,0,0
$GC,7492,0.47,149.7,880.0,15.8,494,7500,0.00,1.23,0.00,0.000,6,0.000,0.037,1856,3167,1855,0,0,0,0,0,0
$GC,7809,0.47,149.7,836.2,13.8,510,7811,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,3168,1855,0,0,0,0,0,0
$GC,8117,0.47,149.7,794.3,13.3,525,8121,0.00,1.30,0.00,0.000,4,0.000,0.064,1856,3954,1854,0,0,0,0,0,0
$GC,8185,0.47,149.7,783.8,16.1,528,8188,0.00,1.23,0.00,0.000,6,0.000,0.040,1862,3163,1854,0,0,0,0,0,0
$GC,8516,0.47,149.7,738.6,13.2,544,8520,0.00,1.27,0.00,0.000,4,0.000,0.064,1862,3942,1853,0,0,0,0,0,0
$GC,8561,0.47,149.7,732.1,15.8,546,8565,0.00,1.20,0.00,0.000,6,0.000,0.040,1868,3166,1853,0,0,0,0,0,0
$GC,8894,0.47,149.7,686.5,13.8,562,8896,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,3166,1853,0,0,0,0,0,0
$GC,9202,0.47,149.7,643.8,13.9,577,9206,0.00,1.27,0.00,0.000,4,0.000,0.065,1868,3948,1852,0,0,0,0,0,0
$GC,9262,0.47,149.7,634.3,16.1,579,9270,0.00,1.23,0.00,0.000,6,0.000,0.039,1874,3161,1852,0,0,0,0,0,0
$GC,9580,0.47,149.7,590.1,13.6,595,9584,0.12,1.27,0.00,0.000,4,0.204,0.063,1844,3949,1852,0,0,0,0,0,0
$GC,9628,0.47,149.7,583.2,13.3,597,9633,0.00,1.23,0.00,0.000,6,0.000,0.039,1848,3160,1851,0,0,0,0,0,0
$GC,9955,0.47,149.7,545.1,11.7,613,9959,0.00,1.27,0.00,0.000,4,0.000,0.064,1848,3948,1851,0,0,0,0,0,0
$GC,10004,0.47,149.7,538.6,14.0,615,10009,0.00,1.23,0.00,0.000,6,0.000,0.038,1853,3158,1851,0,0,0,0,0,0
$GC,10331,0.47,149.7,499.5,12.2,631,10332,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,3157,1851,0,0,0,0,0,0
$GC,10640,0.47,149.7,462.9,11.8,646,10642,0.00,0.00,0.00,0.000,6,0.000,0.000,1854,3157,1851,0,0,0,0,0,0
$GC,10951,0.47,149.7,425.9,12.1,661,10955,0.00,1.27,0.00,0.000,4,0.000,0.064,1854,3942,1851,0,0,0,0,0,0
$GC,11056,0.47,149.7,410.5,15.8,665,11064,0.00,1.20,0.00,0.000,6,0.000,0.037,1860,3168,1851,0,0,0,0,0,0
$GC,11380,0.47,149.7,369.4,12.8,692,11383,0.00,1.27,0.00,0.000,4,0.000,0.064,1860,3953,1850,0,0,0,0,0,0
$GC,11428,0.47,149.7,362.2,15.4,696,11438,0.00,1.23,0.00,0.000,6,0.000,0.037,1866,3157,1851,0,0,0,0,0,0
$GC,11753,0.47,149.7,319.0,13.2,727,11756,0.00,1.27,0.00,0.000,4,0.000,0.064,1866,3942,1850,0,0,0,0,0,0
$GC,11801,0.47,149.7,311.6,15.8,731,11809,0.00,1.20,0.00,0.000,6,0.000,0.037,1872,3162,1850,0,0,0,0,0,0
$GC,12126,0.47,149.7,268.5,13.4,762,12130,0.00,1.27,0.00,0.000,4,0.000,0.063,1872,3951,1850,0,0,0,0,0,0
$GC,12220,0.47,149.7,254.0,15.5,770,12229,0.12,1.20,0.00,0.000,6,0.203,0.037,1849,3168,1850,0,0,0,0,0,0
$GC,12548,0.47,149.7,218.1,10.2,801,12549,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,3168,1850,0,0,0,0,0,0
$GC,12865,0.47,149.7,184.6,10.3,831,12869,0.00,1.27,0.00,0.000,4,0.000,0.063,1848,3956,1850,0,0,0,0,0,0
$GC,12910,0.47,149.7,179.5,11.9,835,12913,0.00,1.20,0.00,0.000,6,0.000,0.038,1853,3165,1850,0,0,0,0,0,0
$GC,13239,0.47,149.7,144.1,10.2,866,13243,0.00,1.25,0.00,0.000,4,0.000,0.063,1853,3943,1850,0,0,0,0,0,0
$GC,13295,0.47,149.7,137.3,12.1,871,13299,0.00,1.17,0.00,0.000,6,0.000,0.037,1859,3168,1850,0,0,0,0,0,0
$GC,13625,0.47,149.7,100.4,11.1,902,13626,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,3168,1850,0,0,0,0,0,0
$GC,13968,0.47,149.7,63.8,10.1,961,13974,0.00,1.27,0.00,0.000,4,0.000,0.063,1859,3957,1850,0,0,0,0,0,0
$GC,14091,0.47,149.7,49.3,12.1,982,14098,0.00,1.20,0.00,0.000,6,0.000,0.037,1865,3163,1850,0,0,0,0,0,0
$GC,14448,0.47,149.7,8.8,10.7,1043,14456,0.00,1.27,0.00,0.000,4,0.000,0.062,1865,3956,1850,0,0,0,0,0,0
$STATE,14493,end climb,SURFACE_DEPTH_REACHED
$STATE,14493,begin surface coast
$FINISH,0.6,1.026339
$STATE,14518,end surface coast,CONTROL_FINISHED_OK
$STATE,14518,begin surface
$SM_CCo,14530,23.08,0.779,0,0,1614,210.22
$SM_GC,2.71,0.00,0.00,23.08,0.000,0.000,0.779,67,3311,1614,-5.07,0.03,210.22
$IRIDIUM_FIX,-4236.17,841.87,061213,131329
$TT8_MAMPS,0.026215
$HUMID,61.10
$INTERNAL_PRESSURE,9.56208
$TCM_TEMP,14.50
$XPDR_PINGS,0
$24V_AH,22.6,6.764
$10V_AH,10.1,4.590
$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,12.125,70.000,288.075,23.075,0.000,27.873,48.891,305.953,0.000,0.000,26.920,2624.137,8997.669,416.392,2878.655,136.687,0.000,1454.312,0.000,2375.313,0.000,1.010,0.000
$DEVICE_MAMPS,239.445,90.270,1910.205,778.770,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,729.578,1801.126,703.042,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70384,1054
$CAP_FILE_SIZE,137513,0
$CFSIZE,259252224,255811584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,061213,214104,-4255.427,838.754,40,0.9,41,-25.1