version: 66.07
glider: 543
mission: 9
dive: 41
start: 12 7 113 19 11 11
data:
$ID,543
$MISSION,9
$DIVE,41
$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,220
$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,-12524.685
$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,1695
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,47
$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,3320
$C_ROLL_CLIMB,3190
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$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
$GPS1,071213,185933,-4256.343,834.712,36,2.0,40,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-71.9
$GPS2,071213,191047,-4256.301,834.758,17,1.1,17,-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,248.4,9406,-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,-0.46,-146.1,0.0,0.0,0,58,0.00,0.00,-41.75,0.000,2,0.000,0.000,65,3330,2543,0,0,0,0,0,0
$GC,60,-0.46,-146.1,3.0,-4.0,5,86,6.07,0.00,-14.73,0.000,6,0.241,0.000,1537,3327,3071,0,0,0,0,0,0
$GC,135,-0.46,-146.1,15.4,-18.7,16,143,0.00,1.00,0.00,0.000,4,0.000,0.065,1533,3934,3074,0,0,0,0,0,0
$GC,173,-0.46,-146.1,22.8,-18.6,22,181,0.00,0.98,0.00,0.000,6,0.000,0.041,1533,3316,3075,0,0,0,0,0,0
$GC,319,-0.46,-146.1,49.3,-18.4,47,325,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3316,3076,0,0,0,0,0,0
$GC,664,-0.46,-146.1,105.3,-15.2,105,668,0.00,1.00,0.00,0.000,4,0.000,0.065,1529,3934,3076,0,0,0,0,0,0
$GC,743,-0.46,-146.1,118.2,-15.7,112,747,0.00,0.95,0.00,0.000,6,0.000,0.041,1529,3318,3077,0,0,0,0,0,0
$GC,1073,-0.46,-146.1,170.7,-15.8,143,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3318,3077,0,0,0,0,0,0
$GC,1394,-0.46,-146.1,223.0,-16.1,173,1398,0.00,1.00,0.00,0.000,4,0.000,0.065,1524,3940,3077,0,0,0,0,0,0
$GC,1461,-0.46,-146.1,234.6,-17.0,179,1465,0.00,0.95,0.00,0.000,6,0.000,0.041,1525,3319,3078,0,0,0,0,0,0
$GC,1791,-0.46,-146.1,287.5,-16.2,210,1795,0.00,1.00,0.00,0.000,4,0.000,0.065,1520,3939,3078,0,0,0,0,0,0
$GC,1836,-0.46,-146.1,295.2,-17.1,214,1839,0.00,0.95,0.00,0.000,6,0.000,0.041,1520,3319,3078,0,0,0,0,0,0
$GC,2168,-0.46,-146.1,349.5,-16.1,245,2169,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3319,3078,0,0,0,0,0,0
$GC,2485,-0.46,-146.1,401.1,-16.3,275,2488,0.00,1.00,0.00,0.000,4,0.000,0.066,1515,3937,3077,0,0,0,0,0,0
$GC,2584,-0.46,-146.1,419.2,-18.0,279,2589,0.10,0.98,0.00,0.000,6,0.193,0.041,1538,3314,3078,0,0,0,0,0,0
$GC,2906,-0.46,-146.1,462.5,-12.7,295,2907,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,3314,3077,0,0,0,0,0,0
$GC,3215,-0.46,-146.1,500.7,-11.8,310,3219,0.00,1.00,0.00,0.000,4,0.000,0.067,1535,3934,3077,0,0,0,0,0,0
$GC,3331,-0.46,-146.1,515.9,-12.7,315,3335,0.00,0.98,0.00,0.000,6,0.000,0.042,1535,3310,3078,0,0,0,0,0,0
$GC,3658,-0.46,-146.1,556.4,-12.2,331,3661,0.00,1.00,0.00,0.000,4,0.000,0.067,1531,3930,3077,0,0,0,0,0,0
$GC,3695,-0.46,-146.1,561.5,-13.3,332,3703,0.00,0.98,0.00,0.000,6,0.000,0.042,1531,3307,3077,0,0,0,0,0,0
$GC,4011,-0.46,-146.1,601.7,-12.6,348,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3307,3077,0,0,0,0,0,0
$GC,4320,-0.46,-146.1,640.0,-12.4,363,4324,0.00,1.02,0.00,0.000,4,0.000,0.068,1526,3943,3076,0,0,0,0,0,0
$GC,4365,-0.46,-146.1,645.9,-13.7,365,4369,0.00,0.95,0.00,0.000,6,0.000,0.044,1526,3323,3076,0,0,0,0,0,0
$GC,4697,-0.46,-146.1,688.4,-12.9,381,4698,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3323,3076,0,0,0,0,0,0
$GC,5007,-0.46,-146.1,729.8,-13.4,396,5010,0.00,1.00,0.00,0.000,4,0.000,0.068,1522,3946,3075,0,0,0,0,0,0
$GC,5078,-0.46,-146.1,740.2,-14.2,399,5082,0.00,0.98,0.00,0.000,6,0.000,0.044,1522,3319,3075,0,0,0,0,0,0
$GC,5405,-0.46,-146.1,786.2,-14.1,415,5408,0.00,1.00,0.00,0.000,4,0.000,0.069,1517,3941,3074,0,0,0,0,0,0
$GC,5499,-0.46,-146.1,800.2,-14.7,419,5503,0.00,0.98,0.00,0.000,6,0.000,0.044,1517,3316,3073,0,0,0,0,0,0
$GC,5826,-0.46,-146.1,845.5,-13.8,435,5827,0.00,0.00,0.00,0.000,6,0.000,0.000,1517,3316,3073,0,0,0,0,0,0
$GC,6135,-0.46,-146.1,887.5,-13.4,450,6139,0.00,1.00,0.00,0.000,4,0.000,0.070,1513,3934,3072,0,0,0,0,0,0
$GC,6172,-0.46,-146.1,892.9,-14.1,451,6181,0.12,0.98,0.00,0.000,6,0.184,0.044,1544,3314,3073,0,0,0,0,0,0
$GC,6490,-0.46,-146.1,925.4,-9.7,467,6494,0.00,1.00,0.00,0.000,4,0.000,0.071,1540,3933,3072,0,0,0,0,0,0
$GC,6544,-0.46,-146.1,931.4,-10.6,469,6549,0.00,0.98,0.00,0.000,6,0.000,0.044,1540,3313,3072,0,0,0,0,0,0
$GC,6866,-0.46,-146.1,963.1,-9.6,485,6868,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3312,3071,0,0,0,0,0,0
$STATE,7154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7154,begin apogee
$GC,7158,-0.11,0.0,990.7,9.8,499,7302,0.38,0.00,140.18,1.900,6,0.146,0.000,1654,3187,2473,0,0,0,0,0,0
$STATE,7302,end apogee,CONTROL_FINISHED_OK
$STATE,7302,begin climb
$GC,7304,0.46,146.1,995.4,0.0,506,7455,0.57,2.50,143.23,1.847,4,0.101,0.042,1846,1788,1877,0,0,0,0,0,0
$GC,7550,0.46,146.1,975.8,10.5,517,7555,0.00,2.47,0.00,0.000,6,0.000,0.059,1846,3186,1872,0,0,0,0,0,0
$GC,7871,0.46,146.1,936.2,12.0,533,7874,0.00,1.30,0.00,0.000,4,0.000,0.067,1846,3950,1866,0,0,0,0,0,0
$GC,7987,0.46,146.1,919.9,14.2,538,7992,0.00,1.25,0.00,0.000,6,0.000,0.042,1852,3180,1865,0,0,0,0,0,0
$GC,8314,0.46,146.1,879.4,12.0,554,8316,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,3180,1864,0,0,0,0,0,0
$GC,8624,0.46,146.1,842.1,11.9,569,8628,0.00,1.27,0.00,0.000,4,0.000,0.067,1851,3944,1863,0,0,0,0,0,0
$GC,8691,0.46,146.1,832.9,14.6,572,8695,0.00,1.20,0.00,0.000,6,0.000,0.043,1858,3185,1863,0,0,0,0,0,0
$GC,9023,0.46,146.1,791.2,12.7,588,9026,0.00,1.27,0.00,0.000,4,0.000,0.067,1857,3952,1862,0,0,0,0,0,0
$GC,9116,0.46,146.1,777.3,15.7,592,9121,0.00,1.20,0.00,0.000,6,0.000,0.042,1863,3190,1862,0,0,0,0,0,0
$GC,9444,0.46,146.1,732.9,13.5,608,9445,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,3190,1862,0,0,0,0,0,0
$GC,9753,0.46,146.1,691.6,13.4,623,9757,0.00,1.25,0.00,0.000,4,0.000,0.069,1863,3953,1861,0,0,0,0,0,0
$GC,9836,0.46,146.1,679.1,15.5,626,9844,0.00,1.20,0.00,0.000,6,0.000,0.043,1869,3192,1861,0,0,0,0,0,0
$GC,10152,0.46,146.1,636.3,13.4,642,10153,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,3191,1860,0,0,0,0,0,0
$GC,10463,0.46,146.1,595.2,12.8,657,10464,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,3191,1860,0,0,0,0,0,0
$GC,10770,0.46,146.1,555.3,12.9,672,10772,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,3191,1860,0,0,0,0,0,0
$GC,11080,0.46,146.1,514.7,13.4,687,11083,0.00,1.25,0.00,0.000,4,0.000,0.068,1869,3953,1859,0,0,0,0,0,0
$GC,11147,0.46,146.1,504.4,16.3,690,11151,0.08,1.17,0.00,0.000,6,0.189,0.043,1853,3192,1859,0,0,0,0,0,0
$GC,11479,0.46,146.1,463.3,11.9,706,11483,0.00,1.23,0.00,0.000,4,0.000,0.066,1853,3947,1858,0,0,0,0,0,0
$GC,11539,0.46,146.1,455.1,13.6,708,11547,0.00,1.20,0.00,0.000,6,0.000,0.041,1857,3179,1859,0,0,0,0,0,0
$GC,11855,0.46,146.1,417.0,12.0,724,11859,0.00,1.25,0.00,0.000,4,0.000,0.066,1857,3950,1859,0,0,0,0,0,0
$GC,11931,0.46,146.1,406.5,14.3,727,11936,0.00,1.20,0.00,0.000,6,0.000,0.041,1863,3179,1859,0,0,0,0,0,0
$GC,12260,0.46,146.1,367.4,11.9,755,12264,0.00,1.25,0.00,0.000,4,0.000,0.064,1863,3950,1858,0,0,0,0,0,0
$GC,12308,0.46,146.1,360.8,13.4,759,12316,0.00,1.20,0.00,0.000,6,0.000,0.041,1869,3179,1859,0,0,0,0,0,0
$GC,12633,0.46,146.1,318.0,13.3,790,12634,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,3180,1858,0,0,0,0,0,0
$GC,12952,0.46,146.1,273.6,13.6,820,12956,0.00,1.25,0.00,0.000,4,0.000,0.066,1869,3946,1859,0,0,0,0,0,0
$GC,13035,0.46,146.1,260.7,15.8,827,13043,0.00,1.17,0.00,0.000,6,0.000,0.040,1875,3187,1859,0,0,0,0,0,0
$GC,13361,0.46,146.1,215.1,13.8,858,13365,0.12,1.23,0.00,0.000,4,0.201,0.065,1843,3946,1859,0,0,0,0,0,0
$GC,13431,0.46,146.1,205.7,13.0,864,13442,0.00,1.17,0.00,0.000,6,0.000,0.040,1848,3188,1858,0,0,0,0,0,0
$GC,13757,0.46,146.1,168.8,10.4,895,13760,0.00,1.23,0.00,0.000,4,0.000,0.065,1848,3946,1859,0,0,0,0,0,0
$GC,13805,0.46,146.1,162.7,12.7,899,13813,0.00,1.17,0.00,0.000,6,0.000,0.039,1854,3188,1859,0,0,0,0,0,0
$GC,14130,0.46,146.1,126.7,10.6,930,14132,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,3188,1859,0,0,0,0,0,0
$GC,14457,0.46,146.1,90.7,10.8,967,14463,0.00,1.23,0.00,0.000,4,0.000,0.064,1853,3947,1859,0,0,0,0,0,0
$GC,14585,0.46,147.3,75.9,9.9,989,14591,0.00,1.15,0.00,0.000,6,0.000,0.040,1859,3190,1859,0,0,0,0,0,0
$GC,14931,0.46,147.3,42.0,10.5,1050,14939,0.00,0.00,0.00,0.000,6,0.000,0.000,1859,3190,1859,0,0,0,0,0,0
$GC,15290,0.47,156.8,4.3,9.6,1111,15298,0.00,0.00,2.47,0.405,6,0.000,0.000,1859,3190,1830,0,0,0,0,0,0
$STATE,15305,end climb,SURFACE_DEPTH_REACHED
$STATE,15305,begin surface coast
$FINISH,0.6,1.015138
$STATE,15342,end surface coast,CONTROL_FINISHED_OK
$STATE,15343,begin surface
$SM_CCo,15354,25.10,0.781,0,0,1573,220.03
$SM_GC,2.30,0.00,0.00,25.10,0.000,0.000,0.781,65,3333,1573,-5.09,0.37,220.03
$IRIDIUM_FIX,-4239.11,836.06,071213,141444
$TT8_MAMPS,0.025466
$HUMID,61.02
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,22.5,7.864
$10V_AH,10.1,5.260
$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,12.275,58.300,285.875,25.100,0.000,24.897,20.475,520.168,0.000,0.000,19.833,2752.410,9584.547,413.839,3146.973,156.708,0.000,1478.309,0.000,2480.510,0.000,1.011,0.000
$DEVICE_MAMPS,240.975,80.325,1900.260,781.065,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,775.605,1917.585,769.121,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355348
$DATA_FILE_SIZE,73585,1119
$CAP_FILE_SIZE,141565,0
$CFSIZE,259252224,255344640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,071213,232834,-4257.117,834.078,30,1.0,30,-25.1