version: 66.07
glider: 543
mission: 9
dive: 42
start: 12 7 113 23 47 43
data:
$ID,543
$MISSION,9
$DIVE,42
$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,-12527.624
$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,45
$R_STBD_OVSHOOT,30
$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
$GPS1,071213,232834,-4257.117,834.078,30,1.0,30,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-70.4
$GPS2,071213,234719,-4257.039,834.152,15,0.8,16,-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,250.8,7855,-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,15,-0.46,-146.1,0.0,0.0,0,66,0.00,0.00,-49.17,0.000,2,0.000,0.000,65,3334,2771,0,0,0,0,0,0
$GC,68,-0.46,-146.1,3.4,-4.6,6,86,6.03,1.05,-7.30,0.000,4,0.237,0.093,1532,3952,3071,0,0,0,0,0,0
$GC,168,-0.46,-146.1,25.4,-19.4,22,178,0.00,0.98,0.00,0.000,6,0.000,0.038,1532,3322,3075,0,0,0,0,0,0
$GC,317,-0.46,-146.1,51.0,-17.4,47,323,0.00,2.20,0.00,0.000,4,0.000,0.035,1532,1896,3076,0,0,0,0,0,0
$GC,341,-0.46,-146.1,55.1,-16.3,51,349,0.00,2.33,0.00,0.000,6,0.000,0.056,1522,3307,3076,0,0,0,0,0,0
$GC,685,-0.46,-146.1,110.2,-15.8,106,689,0.00,1.02,0.00,0.000,4,0.000,0.062,1517,3950,3076,0,0,0,0,0,0
$GC,798,-0.46,-146.1,130.2,-17.8,116,802,0.00,0.95,0.00,0.000,6,0.000,0.038,1517,3324,3077,0,0,0,0,0,0
$GC,1128,-0.46,-146.1,189.0,-16.7,147,1132,0.00,1.00,0.00,0.000,4,0.000,0.063,1513,3949,3077,0,0,0,0,0,0
$GC,1188,-0.46,-146.1,200.3,-18.2,152,1199,0.12,0.98,0.00,0.000,6,0.189,0.037,1542,3316,3077,0,0,0,0,0,0
$GC,1512,-0.46,-146.1,245.2,-13.9,183,1516,0.00,1.00,0.00,0.000,4,0.000,0.063,1539,3943,3077,0,0,0,0,0,0
$GC,1561,-0.46,-146.1,252.6,-14.4,187,1569,0.00,0.98,0.00,0.000,6,0.000,0.037,1539,3312,3078,0,0,0,0,0,0
$GC,1886,-0.46,-146.1,298.6,-14.8,218,1890,0.00,1.02,0.00,0.000,4,0.000,0.063,1534,3956,3077,0,0,0,0,0,0
$GC,1931,-0.46,-146.1,305.5,-15.1,222,1935,0.00,0.95,0.00,0.000,6,0.000,0.039,1534,3327,3077,0,0,0,0,0,0
$GC,2263,-0.46,-146.1,353.8,-14.4,253,2265,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3325,3077,0,0,0,0,0,0
$GC,2580,-0.46,-146.1,400.2,-14.1,283,2584,0.00,1.00,0.00,0.000,4,0.000,0.065,1529,3950,3077,0,0,0,0,0,0
$GC,2625,-0.46,-146.1,407.2,-16.1,285,2629,0.00,0.95,0.00,0.000,6,0.000,0.039,1529,3320,3077,0,0,0,0,0,0
$GC,2958,-0.46,-146.1,455.4,-14.6,301,2961,0.00,1.00,0.00,0.000,4,0.000,0.065,1525,3948,3077,0,0,0,0,0,0
$GC,3025,-0.46,-146.1,465.8,-15.1,304,3028,0.00,0.95,0.00,0.000,6,0.000,0.040,1525,3319,3077,0,0,0,0,0,0
$GC,3357,-0.46,-146.1,515.1,-15.2,320,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3319,3076,0,0,0,0,0,0
$GC,3667,-0.46,-146.1,562.3,-15.3,335,3671,0.00,1.00,0.00,0.000,4,0.000,0.064,1521,3950,3076,0,0,0,0,0,0
$GC,3761,-0.46,-146.1,577.9,-16.2,339,3766,0.00,0.98,0.00,0.000,6,0.000,0.040,1520,3314,3076,0,0,0,0,0,0
$GC,4088,-0.46,-146.1,627.2,-14.8,355,4092,0.00,1.00,0.00,0.000,4,0.000,0.066,1516,3942,3075,0,0,0,0,0,0
$GC,4137,-0.46,-146.1,635.3,-15.9,357,4142,0.00,0.98,0.00,0.000,6,0.000,0.040,1516,3311,3075,0,0,0,0,0,0
$GC,4464,-0.46,-146.1,684.6,-15.0,373,4468,0.00,1.02,0.00,0.000,4,0.000,0.067,1511,3951,3075,0,0,0,0,0,0
$GC,4513,-0.46,-146.1,692.7,-15.5,375,4518,0.12,0.98,0.00,0.000,6,0.185,0.041,1542,3318,3075,0,0,0,0,0,0
$GC,4841,-0.46,-146.1,731.6,-11.4,391,4845,0.00,1.00,0.00,0.000,4,0.000,0.067,1538,3944,3074,0,0,0,0,0,0
$GC,4924,-0.46,-146.1,742.2,-12.2,394,4932,0.00,0.98,0.00,0.000,6,0.000,0.041,1538,3315,3073,0,0,0,0,0,0
$GC,5240,-0.46,-146.1,778.8,-11.3,410,5243,0.00,1.02,0.00,0.000,4,0.000,0.067,1534,3955,3073,0,0,0,0,0,0
$GC,5288,-0.46,-146.1,785.1,-12.3,412,5293,0.00,1.00,0.00,0.000,6,0.000,0.041,1533,3310,3073,0,0,0,0,0,0
$GC,5617,-0.46,-146.1,824.4,-12.1,428,5618,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3310,3072,0,0,0,0,0,0
$GC,5925,-0.46,-146.1,860.6,-11.7,443,5928,0.00,1.02,0.00,0.000,4,0.000,0.068,1529,3950,3071,0,0,0,0,0,0
$GC,6018,-0.46,-146.1,872.0,-11.6,447,6022,0.00,0.98,0.00,0.000,6,0.000,0.042,1529,3317,3071,0,0,0,0,0,0
$GC,6345,-0.46,-146.1,912.3,-12.5,463,6348,0.00,1.00,0.00,0.000,4,0.000,0.067,1524,3944,3070,0,0,0,0,0,0
$GC,6390,-0.46,-146.1,918.0,-12.5,465,6394,0.00,0.95,0.00,0.000,6,0.000,0.044,1524,3323,3070,0,0,0,0,0,0
$GC,6722,-0.46,-146.1,960.3,-12.9,481,6725,0.00,1.00,0.00,0.000,4,0.000,0.067,1520,3950,3069,0,0,0,0,0,0
$GC,6776,-0.46,-146.1,968.0,-14.3,483,6780,0.00,0.98,0.00,0.000,6,0.000,0.042,1520,3317,3070,0,0,0,0,0,0
$STATE,6952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6952,begin apogee
$GC,6956,-0.11,0.0,990.4,12.6,492,7099,0.45,0.00,139.30,1.886,6,0.151,0.000,1655,3192,2474,0,0,0,0,0,0
$STATE,7099,end apogee,CONTROL_FINISHED_OK
$STATE,7099,begin climb
$GC,7101,0.46,146.1,995.2,0.0,499,7252,0.57,2.50,142.52,1.815,4,0.102,0.040,1847,1788,1877,0,0,0,0,0,0
$GC,7318,0.46,146.1,978.1,10.7,509,7323,0.00,2.47,0.00,0.000,6,0.000,0.055,1847,3192,1872,0,0,0,0,0,0
$GC,7647,0.46,146.1,936.3,12.9,525,7651,0.00,1.27,0.00,0.000,4,0.000,0.065,1848,3944,1866,0,0,0,0,0,0
$GC,7718,0.46,146.1,925.4,15.4,528,7723,0.00,1.23,0.00,0.000,6,0.000,0.040,1853,3187,1865,0,0,0,0,0,0
$GC,8046,0.46,146.1,883.3,12.6,544,8047,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,3188,1864,0,0,0,0,0,0
$GC,8355,0.46,146.1,845.5,11.9,559,8359,0.00,1.25,0.00,0.000,4,0.000,0.064,1853,3942,1863,0,0,0,0,0,0
$GC,8400,0.46,146.1,839.3,13.9,561,8403,0.00,1.17,0.00,0.000,6,0.000,0.040,1859,3189,1863,0,0,0,0,0,0
$GC,8732,0.46,146.1,794.9,14.0,577,8735,0.00,1.25,0.00,0.000,4,0.000,0.063,1859,3951,1862,0,0,0,0,0,0
$GC,8786,0.46,146.1,786.3,15.7,579,8791,0.00,1.20,0.00,0.000,6,0.000,0.037,1864,3183,1862,0,0,0,0,0,0
$GC,9109,0.46,146.1,741.4,13.8,595,9113,0.00,1.25,0.00,0.000,4,0.000,0.063,1864,3944,1861,0,0,0,0,0,0
$GC,9199,0.46,146.1,727.3,16.0,599,9203,0.00,1.15,0.00,0.000,6,0.000,0.040,1870,3202,1861,0,0,0,0,0,0
$GC,9531,0.46,146.1,678.4,14.5,615,9535,0.00,1.23,0.00,0.000,4,0.000,0.063,1870,3951,1861,0,0,0,0,0,0
$GC,9602,0.46,146.1,666.7,16.6,618,9608,0.12,1.20,0.00,0.000,6,0.208,0.039,1848,3181,1860,0,0,0,0,0,0
$GC,9931,0.46,146.1,625.6,12.3,634,9935,0.00,1.25,0.00,0.000,4,0.000,0.063,1847,3950,1860,0,0,0,0,0,0
$GC,9998,0.46,146.1,616.1,15.1,637,10002,0.00,1.17,0.00,0.000,6,0.000,0.041,1852,3189,1860,0,0,0,0,0,0
$GC,10330,0.46,146.1,575.3,12.4,653,10334,0.00,1.23,0.00,0.000,4,0.000,0.064,1852,3946,1859,0,0,0,0,0,0
$GC,10384,0.46,146.1,567.5,14.9,655,10389,0.00,1.20,0.00,0.000,6,0.000,0.040,1857,3178,1860,0,0,0,0,0,0
$GC,10708,0.46,146.1,527.0,12.3,671,10711,0.00,1.25,0.00,0.000,4,0.000,0.064,1858,3948,1859,0,0,0,0,0,0
$GC,10775,0.46,146.1,517.5,14.6,674,10778,0.00,1.17,0.00,0.000,6,0.000,0.041,1863,3185,1859,0,0,0,0,0,0
$GC,11108,0.46,146.1,475.1,12.5,690,11112,0.00,1.25,0.00,0.000,4,0.000,0.064,1863,3955,1859,0,0,0,0,0,0
$GC,11175,0.46,146.1,465.5,15.4,693,11179,0.00,1.17,0.00,0.000,6,0.000,0.041,1869,3191,1859,0,0,0,0,0,0
$GC,11507,0.46,146.1,421.8,13.0,709,11511,0.00,1.23,0.00,0.000,4,0.000,0.063,1869,3951,1859,0,0,0,0,0,0
$GC,11577,0.46,146.1,411.0,15.6,712,11583,0.12,1.20,0.00,0.000,6,0.200,0.039,1846,3179,1859,0,0,0,0,0,0
$GC,11901,0.46,146.1,373.7,11.7,738,11904,0.00,1.25,0.00,0.000,4,0.000,0.064,1846,3952,1858,0,0,0,0,0,0
$GC,11994,0.46,146.1,360.7,14.2,746,12003,0.00,1.17,0.00,0.000,6,0.000,0.039,1850,3189,1858,0,0,0,0,0,0
$GC,12322,0.46,146.1,320.3,12.4,777,12326,0.00,1.23,0.00,0.000,4,0.000,0.065,1850,3950,1858,0,0,0,0,0,0
$GC,12369,0.46,146.1,313.5,14.3,781,12373,0.00,1.15,0.00,0.000,6,0.000,0.039,1855,3193,1858,0,0,0,0,0,0
$GC,12699,0.46,146.1,268.4,13.4,812,12702,0.00,1.23,0.00,0.000,4,0.000,0.064,1856,3951,1858,0,0,0,0,0,0
$GC,12778,0.46,146.1,256.3,16.6,819,12781,0.00,1.15,0.00,0.000,6,0.000,0.039,1861,3193,1858,0,0,0,0,0,0
$GC,13107,0.46,146.1,211.2,13.6,850,13109,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,3193,1858,0,0,0,0,0,0
$GC,13426,0.46,146.1,170.4,12.4,880,13430,0.00,1.23,0.00,0.000,4,0.000,0.064,1861,3952,1858,0,0,0,0,0,0
$GC,13566,0.46,146.1,150.0,15.0,892,13576,0.00,1.17,0.00,0.000,6,0.000,0.037,1867,3187,1858,0,0,0,0,0,0
$GC,13891,0.46,146.1,108.3,12.7,923,13894,0.00,1.23,0.00,0.000,4,0.000,0.063,1867,3946,1858,0,0,0,0,0,0
$GC,13947,0.46,146.1,100.3,14.5,928,13950,0.00,1.15,0.00,0.000,6,0.000,0.038,1873,3188,1858,0,0,0,0,0,0
$GC,14295,0.46,146.1,59.7,11.7,988,14302,0.00,1.23,0.00,0.000,4,0.000,0.063,1873,3950,1858,0,0,0,0,0,0
$GC,14383,0.46,146.1,48.2,12.9,1003,14391,0.10,1.15,0.00,0.000,6,0.181,0.037,1849,3187,1858,0,0,0,0,0,0
$GC,14737,0.47,152.8,15.5,9.7,1064,14745,0.00,0.00,0.00,0.000,6,0.000,0.000,1849,3187,1858,0,0,0,0,0,0
$GC,14795,0.48,174.3,9.9,9.0,1073,14811,0.00,0.00,9.68,0.781,6,0.000,0.000,1849,3188,1759,0,0,0,0,0,0
$GC,14861,0.48,174.3,3.1,10.8,1083,14869,0.00,1.23,0.00,0.000,4,0.000,0.063,1849,3948,1759,0,0,0,0,0,0
$STATE,14876,end climb,SURFACE_DEPTH_REACHED
$STATE,14876,begin surface coast
$FINISH,0.6,1.013981
$STATE,14908,end surface coast,CONTROL_FINISHED_OK
$STATE,14908,begin surface
$SM_CCo,14919,17.80,0.771,0,0,1576,220.03
$SM_GC,2.68,0.00,0.00,17.80,0.000,0.000,0.771,67,3309,1576,-5.09,-0.31,220.03
$IRIDIUM_FIX,-4242.04,836.50,071213,232358
$TT8_MAMPS,0.026215
$HUMID,60.94
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.6,8.071
$10V_AH,10.1,5.380
$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,12.450,80.225,291.500,17.800,0.000,52.353,63.331,817.563,0.000,0.000,19.424,2737.237,9185.934,411.284,3559.064,169.114,0.000,1526.914,0.000,2514.448,0.000,1.014,0.000
$DEVICE_MAMPS,237.150,93.330,1886.490,771.120,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,755.502,1874.368,759.149,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355384
$DATA_FILE_SIZE,73773,1090
$CAP_FILE_SIZE,155741,0
$CFSIZE,259252224,255246336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,081213,035752,-4257.738,833.340,38,1.0,39,-25.1