version: 66.07
glider: 543
mission: 9
dive: 37
start: 12 7 113 2 2 35
data:
$ID,543
$MISSION,9
$DIVE,37
$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,-12512.771
$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,49
$R_STBD_OVSHOOT,25
$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
$GPS1,071213,015352,-4255.636,837.716,36,0.9,37,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-71.0
$GPS2,071213,020211,-4255.604,837.788,13,2.0,13,-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,257.4,13325,-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,-49.25,0.000,2,0.000,0.000,66,3315,2779,0,0,0,0,0,0
$GC,68,-0.47,-146.1,3.3,-4.1,6,86,6.00,1.08,-7.30,0.000,4,0.241,0.090,1528,3957,3072,0,0,0,0,0,0
$GC,187,-0.47,-146.1,30.4,-20.9,25,194,0.00,0.98,0.00,0.000,6,0.000,0.037,1528,3321,3075,0,0,0,0,0,0
$GC,330,-0.47,-146.1,57.0,-18.5,50,337,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3321,3076,0,0,0,0,0,0
$GC,672,-0.47,-146.1,114.9,-16.4,103,676,0.00,1.00,0.00,0.000,4,0.000,0.062,1524,3941,3077,0,0,0,0,0,0
$GC,797,-0.47,-146.1,136.6,-17.5,114,800,0.00,0.98,0.00,0.000,6,0.000,0.037,1523,3302,3077,0,0,0,0,0,0
$GC,1129,-0.47,-146.1,192.0,-16.8,145,1132,0.00,1.05,0.00,0.000,4,0.000,0.062,1519,3947,3078,0,0,0,0,0,0
$GC,1286,-0.47,-146.1,220.6,-17.7,159,1290,0.00,0.98,0.00,0.000,6,0.000,0.037,1519,3303,3078,0,0,0,0,0,0
$GC,1616,-0.47,-146.1,277.1,-17.6,190,1620,0.00,1.02,0.00,0.000,4,0.000,0.062,1514,3942,3078,0,0,0,0,0,0
$GC,1767,-0.47,-146.1,305.3,-18.3,203,1774,0.00,0.98,0.00,0.000,6,0.000,0.036,1514,3307,3079,0,0,0,0,0,0
$GC,2092,-0.47,-146.1,363.5,-17.3,234,2096,0.00,1.02,0.00,0.000,4,0.000,0.062,1509,3950,3079,0,0,0,0,0,0
$GC,2218,-0.47,-146.1,387.0,-18.6,245,2222,0.00,0.98,0.00,0.000,6,0.000,0.037,1509,3302,3079,0,0,0,0,0,0
$GC,2540,-0.47,-146.1,446.6,-18.4,264,2544,0.00,1.02,0.00,0.000,4,0.000,0.062,1504,3944,3079,0,0,0,0,0,0
$GC,2690,-0.47,-146.1,475.6,-19.1,270,2699,0.12,0.98,0.00,0.000,6,0.184,0.037,1536,3310,3079,0,0,0,0,0,0
$GC,3007,-0.47,-146.1,522.7,-14.5,286,3011,0.00,1.02,0.00,0.000,4,0.000,0.065,1532,3934,3078,0,0,0,0,0,0
$GC,3145,-0.47,-146.1,544.2,-14.8,292,3150,0.00,0.98,0.00,0.000,6,0.000,0.038,1532,3304,3079,0,0,0,0,0,0
$GC,3472,-0.47,-146.1,591.3,-14.1,308,3476,0.00,1.02,0.00,0.000,4,0.000,0.064,1527,3947,3078,0,0,0,0,0,0
$GC,3566,-0.47,-146.1,605.7,-14.8,312,3570,0.00,0.98,0.00,0.000,6,0.000,0.039,1527,3311,3078,0,0,0,0,0,0
$GC,3895,-0.47,-146.1,651.7,-14.2,328,3898,0.00,1.00,0.00,0.000,4,0.000,0.065,1523,3937,3077,0,0,0,0,0,0
$GC,4011,-0.47,-146.1,669.8,-14.7,333,4015,0.00,0.98,0.00,0.000,6,0.000,0.040,1523,3307,3077,0,0,0,0,0,0
$GC,4338,-0.47,-146.1,718.1,-14.8,349,4341,0.00,1.02,0.00,0.000,4,0.000,0.065,1518,3949,3076,0,0,0,0,0,0
$GC,4509,-0.47,-146.1,745.2,-15.7,356,4517,0.00,1.00,0.00,0.000,6,0.000,0.039,1518,3298,3076,0,0,0,0,0,0
$GC,4825,-0.47,-146.1,790.4,-14.2,372,4829,0.00,1.02,0.00,0.000,4,0.000,0.065,1513,3939,3076,0,0,0,0,0,0
$GC,4947,-0.47,-146.1,809.2,-15.2,377,4951,0.00,0.98,0.00,0.000,6,0.000,0.040,1513,3310,3076,0,0,0,0,0,0
$GC,5268,-0.47,-146.1,853.9,-13.6,393,5272,0.00,1.05,0.00,0.000,4,0.000,0.066,1509,3951,3075,0,0,0,0,0,0
$GC,5340,-0.47,-146.1,864.4,-14.6,396,5344,0.00,1.00,0.00,0.000,6,0.000,0.039,1508,3301,3075,0,0,0,0,0,0
$GC,5667,-0.47,-146.1,909.0,-13.8,412,5670,0.00,1.02,0.00,0.000,4,0.000,0.065,1504,3941,3074,0,0,0,0,0,0
$GC,5892,-0.47,-146.1,942.4,-14.8,422,5896,0.08,0.95,0.00,0.000,6,0.168,0.040,1528,3317,3074,0,0,0,0,0,0
$GC,6223,-0.47,-146.1,981.2,-11.3,438,6227,0.00,1.00,0.00,0.000,4,0.000,0.067,1524,3941,3073,0,0,0,0,0,0
$STATE,6293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6293,begin apogee
$GC,6298,-0.11,0.0,990.4,12.1,441,6441,0.40,0.00,140.48,1.899,6,0.151,0.000,1649,3162,2473,0,0,0,0,0,0
$STATE,6442,end apogee,CONTROL_FINISHED_OK
$STATE,6442,begin climb
$GC,6444,0.47,146.1,995.1,0.0,448,6595,0.60,2.47,143.27,1.851,4,0.107,0.038,1846,1769,1877,0,0,0,0,0,0
$GC,6672,0.47,146.1,977.7,10.2,458,6681,0.00,2.45,0.00,0.000,6,0.000,0.053,1846,3161,1873,0,0,0,0,0,0
$GC,6990,0.47,146.1,937.9,12.8,474,6994,0.00,1.33,0.00,0.000,4,0.000,0.063,1846,3947,1867,0,0,0,0,0,0
$GC,7044,0.47,146.1,929.7,14.6,476,7049,0.00,1.27,0.00,0.000,6,0.000,0.037,1852,3156,1866,0,0,0,0,0,0
$GC,7366,0.47,146.1,886.6,13.5,492,7367,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,3157,1865,0,0,0,0,0,0
$GC,7677,0.47,146.1,843.1,14.3,507,7681,0.00,1.30,0.00,0.000,4,0.000,0.064,1852,3941,1864,0,0,0,0,0,0
$GC,7725,0.47,146.1,835.1,15.8,509,7730,0.00,1.23,0.00,0.000,6,0.000,0.037,1858,3163,1864,0,0,0,0,0,0
$GC,8053,0.47,146.1,787.3,14.3,525,8057,0.00,2.17,0.00,0.000,4,0.000,0.041,1868,1777,1863,0,0,0,0,0,0
$GC,8084,0.47,146.1,782.8,13.7,526,8093,0.00,2.30,0.00,0.000,6,0.000,0.054,1868,3177,1862,0,0,0,0,0,0
$GC,8402,0.47,146.1,735.5,15.2,542,8406,0.00,1.25,0.00,0.000,4,0.000,0.063,1869,3949,1862,0,0,0,0,0,0
$GC,8469,0.47,146.1,724.1,16.7,545,8473,0.10,1.20,0.00,0.000,6,0.183,0.039,1846,3169,1862,0,0,0,0,0,0
$GC,8800,0.47,146.1,679.7,12.9,561,8801,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,3169,1861,0,0,0,0,0,0
$GC,9109,0.47,146.1,641.0,12.5,576,9110,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,3169,1861,0,0,0,0,0,0
$GC,9419,0.47,146.1,603.9,11.9,591,9420,0.00,0.00,0.00,0.000,6,0.000,0.000,1847,3169,1860,0,0,0,0,0,0
$GC,9729,0.47,146.1,568.1,11.3,606,9731,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,3169,1860,0,0,0,0,0,0
$GC,10037,0.47,146.1,532.9,11.7,621,10041,0.00,1.27,0.00,0.000,4,0.000,0.064,1846,3953,1860,0,0,0,0,0,0
$GC,10082,0.47,146.1,527.2,12.8,623,10086,0.00,1.20,0.00,0.000,6,0.000,0.040,1850,3170,1860,0,0,0,0,0,0
$GC,10414,0.47,146.1,486.5,12.1,639,10415,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,3170,1859,0,0,0,0,0,0
$GC,10723,0.47,146.1,450.7,11.1,654,10724,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,3170,1860,0,0,0,0,0,0
$GC,11033,0.47,146.1,415.7,11.4,669,11034,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,3170,1859,0,0,0,0,0,0
$GC,11347,0.47,146.1,379.7,11.4,692,11348,0.00,0.00,0.00,0.000,6,0.000,0.000,1850,3170,1859,0,0,0,0,0,0
$GC,11666,0.47,146.1,344.1,11.3,722,11669,0.00,1.25,0.00,0.000,4,0.000,0.064,1850,3947,1859,0,0,0,0,0,0
$GC,11747,0.47,146.1,333.8,13.2,729,11750,0.00,1.20,0.00,0.000,6,0.000,0.039,1856,3161,1860,0,0,0,0,0,0
$GC,12077,0.47,146.1,295.5,11.6,760,12078,0.00,0.00,0.00,0.000,6,0.000,0.000,1856,3161,1859,0,0,0,0,0,0
$GC,12396,0.47,146.1,258.1,11.4,790,12399,0.00,1.27,0.00,0.000,4,0.000,0.063,1856,3950,1859,0,0,0,0,0,0
$GC,12431,0.47,146.1,253.7,13.0,793,12435,0.00,1.17,0.00,0.000,6,0.000,0.038,1862,3174,1859,0,0,0,0,0,0
$GC,12761,0.47,146.1,213.1,12.3,824,12762,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,3173,1859,0,0,0,0,0,0
$GC,13080,0.47,146.1,172.2,12.6,854,13081,0.00,0.00,0.00,0.000,6,0.000,0.000,1862,3173,1859,0,0,0,0,0,0
$GC,13399,0.47,146.1,131.8,12.9,884,13402,0.00,1.25,0.00,0.000,4,0.000,0.063,1862,3952,1859,0,0,0,0,0,0
$GC,13457,0.47,146.1,123.8,14.2,889,13461,0.00,1.17,0.00,0.000,6,0.000,0.037,1868,3175,1859,0,0,0,0,0,0
$GC,13790,0.47,146.1,80.9,12.3,932,13796,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,3174,1859,0,0,0,0,0,0
$GC,14136,0.47,146.1,39.9,10.7,993,14142,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,3174,1859,0,0,0,0,0,0
$GC,14280,0.47,146.1,24.0,10.8,1018,14288,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,3174,1859,0,0,0,0,0,0
$GC,14431,0.47,146.1,7.5,11.6,1043,14439,0.00,0.00,0.00,0.000,6,0.000,0.000,1868,3174,1859,0,0,0,0,0,0
$STATE,14469,end climb,SURFACE_DEPTH_REACHED
$STATE,14469,begin surface coast
$FINISH,0.8,1.025775
$STATE,14500,end surface coast,CONTROL_FINISHED_OK
$STATE,14500,begin surface
$SM_CCo,14511,24.08,0.781,0,0,1615,210.22
$SM_GC,2.64,0.00,0.00,24.08,0.000,0.000,0.781,61,3315,1615,-5.09,0.11,210.22
$IRIDIUM_FIX,-4239.11,838.96,061213,212121
$TT8_MAMPS,0.026215
$HUMID,61.14
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.6,7.117
$10V_AH,10.1,4.807
$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,12.125,55.275,283.750,24.075,0.000,38.920,46.933,305.658,0.000,0.000,15.925,2621.114,8960.005,389.281,2944.357,122.142,0.000,1436.751,0.000,2431.837,0.000,1.011,0.000
$DEVICE_MAMPS,240.975,89.505,1898.730,781.065,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,730.457,1803.357,709.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,70570,1054
$CAP_FILE_SIZE,132563,0
$CFSIZE,259252224,255668224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,071213,060604,-4255.922,836.780,39,0.9,40,-25.1