version: 66.07
glider: 543
mission: 9
dive: 124
start: 12 20 113 0 3 35
data:
$ID,543
$MISSION,9
$DIVE,124
$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,350
$T_MISSION,390
$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,125
$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,225
$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,-12902.897
$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,1720
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,58
$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,3420
$C_ROLL_CLIMB,3280
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,22
$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
$DEVICE3,131
$DEVICE4,118
$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
$GPS1,191213,235522,-4300.277,830.089,56,1.0,56,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-61.8
$GPS2,201213,000311,-4300.304,830.201,19,1.0,19,-25.0
$SPEED_LIMITS,0.163,0.235
$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,359.2,626,-27.2,-9.429
$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,-0.50,-57.7,0.0,0.0,0,66,0.00,0.00,-49.05,0.000,2,0.000,0.000,56,3411,2650,0,0,0,0,0,0
$GC,68,-0.53,-98.7,3.2,-4.9,6,87,6.05,0.85,-6.05,0.000,4,0.233,0.088,1538,3958,2878,0,0,0,0,0,0
$GC,144,-0.53,-98.7,19.5,-20.4,17,153,0.00,0.82,0.00,0.000,6,0.000,0.037,1538,3425,2880,0,0,0,0,0,0
$GC,200,-0.53,-98.7,29.7,-16.6,26,208,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,3425,2881,0,0,0,0,0,0
$GC,347,-0.53,-98.7,53.8,-15.4,51,355,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,3425,2882,0,0,0,0,0,0
$GC,697,-0.53,-98.7,103.6,-14.2,110,700,0.00,0.82,0.00,0.000,4,0.000,0.060,1534,3941,2884,0,0,0,0,0,0
$GC,757,-0.53,-98.7,112.8,-14.3,115,764,0.00,0.82,0.00,0.000,6,0.000,0.037,1534,3407,2884,0,0,0,0,0,0
$GC,1082,-0.53,-98.7,159.9,-14.7,146,1086,0.00,2.12,0.00,0.000,4,0.000,0.031,1534,1998,2884,0,0,0,0,0,0
$GC,1113,-0.53,-98.7,164.4,-12.7,148,1123,0.00,2.30,0.00,0.000,6,0.000,0.052,1524,3420,2885,0,0,0,0,0,0
$GC,1439,-0.53,-98.7,213.7,-14.9,179,1442,0.00,0.82,0.00,0.000,4,0.000,0.059,1520,3947,2884,0,0,0,0,0,0
$GC,1545,-0.53,-98.7,231.6,-16.1,188,1554,0.00,0.82,0.00,0.000,6,0.000,0.037,1520,3409,2885,0,0,0,0,0,0
$GC,1870,-0.53,-98.7,284.3,-15.9,219,1874,0.00,0.85,0.00,0.000,4,0.000,0.060,1516,3948,2885,0,0,0,0,0,0
$GC,1975,-0.53,-98.7,303.4,-18.2,228,1985,0.12,0.82,0.00,0.000,6,0.191,0.037,1545,3410,2885,0,0,0,0,0,0
$GC,2301,-0.53,-98.7,350.4,-14.4,259,2304,0.00,0.85,0.00,0.000,4,0.000,0.061,1542,3945,2885,0,0,0,0,0,0
$GC,2349,-0.53,-98.7,358.0,-15.3,263,2357,0.00,0.80,0.00,0.000,6,0.000,0.037,1542,3421,2885,0,0,0,0,0,0
$GC,2676,-0.53,-98.7,403.5,-13.7,293,2679,0.00,0.82,0.00,0.000,4,0.000,0.063,1538,3942,2885,0,0,0,0,0,0
$GC,2743,-0.53,-98.7,413.9,-15.4,296,2747,0.00,0.77,0.00,0.000,6,0.000,0.039,1538,3428,2884,0,0,0,0,0,0
$GC,3075,-0.53,-98.7,459.8,-13.6,312,3079,0.00,0.82,0.00,0.000,4,0.000,0.063,1534,3949,2885,0,0,0,0,0,0
$GC,3120,-0.53,-98.7,466.1,-14.7,314,3124,0.00,0.80,0.00,0.000,6,0.000,0.039,1534,3419,2884,0,0,0,0,0,0
$GC,3452,-0.53,-98.7,510.2,-13.1,330,3456,0.00,0.85,0.00,0.000,4,0.000,0.063,1530,3956,2884,0,0,0,0,0,0
$GC,3490,-0.53,-98.7,515.7,-13.9,331,3498,0.00,0.82,0.00,0.000,6,0.000,0.039,1530,3416,2884,0,0,0,0,0,0
$GC,3806,-0.53,-98.7,557.5,-13.0,347,3807,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3416,2884,0,0,0,0,0,0
$GC,4115,-0.53,-98.7,596.7,-12.8,362,4116,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3416,2883,0,0,0,0,0,0
$GC,4426,-0.53,-98.7,635.8,-12.7,377,4427,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3416,2883,0,0,0,0,0,0
$GC,4734,-0.53,-98.7,676.8,-13.5,392,4738,0.00,0.85,0.00,0.000,4,0.000,0.063,1526,3949,2882,0,0,0,0,0,0
$GC,4811,-0.53,-98.7,687.6,-14.1,395,4815,0.00,0.82,0.00,0.000,6,0.000,0.041,1527,3419,2882,0,0,0,0,0,0
$GC,5132,-0.53,-98.7,729.1,-13.2,411,5136,0.00,0.85,0.00,0.000,4,0.000,0.063,1524,3952,2881,0,0,0,0,0,0
$GC,5181,-0.53,-98.7,736.1,-14.7,413,5186,0.00,0.82,0.00,0.000,6,0.000,0.041,1523,3419,2881,0,0,0,0,0,0
$GC,5510,-0.53,-98.7,779.0,-13.3,429,5514,0.00,0.85,0.00,0.000,4,0.000,0.063,1519,3951,2881,0,0,0,0,0,0
$GC,5555,-0.53,-98.7,785.3,-13.6,431,5559,0.00,0.80,0.00,0.000,6,0.000,0.041,1519,3423,2881,0,0,0,0,0,0
$GC,5888,-0.53,-98.7,830.6,-13.8,447,5891,0.00,0.82,0.00,0.000,4,0.000,0.063,1515,3940,2880,0,0,0,0,0,0
$GC,5970,-0.53,-98.7,843.2,-14.5,450,5978,0.12,0.82,0.00,0.000,6,0.187,0.041,1545,3412,2880,0,0,0,0,0,0
$GC,6288,-0.53,-98.7,881.1,-11.9,466,6292,0.00,0.85,0.00,0.000,4,0.000,0.065,1542,3941,2880,0,0,0,0,0,0
$GC,6359,-0.53,-98.7,890.6,-12.6,469,6364,0.00,0.82,0.00,0.000,6,0.000,0.041,1543,3413,2880,0,0,0,0,0,0
$GC,6687,-0.53,-98.7,928.6,-11.5,485,6691,0.00,2.12,0.00,0.000,4,0.000,0.034,1543,1992,2879,0,0,0,0,0,0
$GC,6713,-0.53,-98.7,931.7,-11.7,486,6718,0.00,2.30,0.00,0.000,6,0.000,0.056,1532,3420,2879,0,0,0,0,0,0
$GC,7035,-0.53,-98.7,972.0,-12.7,502,7038,0.00,0.85,0.00,0.000,4,0.000,0.065,1528,3947,2879,0,0,0,0,0,0
$GC,7125,-0.53,-98.7,984.4,-13.8,506,7128,0.00,0.80,0.00,0.000,6,0.000,0.041,1528,3415,2878,0,0,0,0,0,0
$STATE,7166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7167,begin apogee
$GC,7171,-0.09,0.0,990.1,13.1,508,7270,0.52,0.00,95.60,1.877,6,0.155,0.000,1684,3282,2473,0,0,0,0,0,0
$STATE,7271,end apogee,CONTROL_FINISHED_OK
$STATE,7271,begin climb
$GC,7272,0.53,98.7,994.5,0.0,513,7376,0.60,0.00,99.30,1.825,6,0.073,0.000,1888,3282,2070,0,0,0,0,0,0
$GC,7685,0.53,98.7,947.1,14.5,533,7688,0.00,1.12,0.00,0.000,4,0.000,0.060,1888,3950,2060,0,0,0,0,0,0
$GC,7835,0.53,98.7,922.0,17.7,539,7843,0.00,1.05,0.00,0.000,6,0.000,0.037,1893,3278,2059,0,0,0,0,0,0
$GC,8151,0.53,98.7,872.6,15.7,555,8153,0.00,0.00,0.00,0.000,6,0.000,0.000,1893,3278,2056,0,0,0,0,0,0
$GC,8462,0.53,98.7,824.3,15.6,570,8466,0.00,1.10,0.00,0.000,4,0.000,0.061,1893,3952,2055,0,0,0,0,0,0
$GC,8719,0.53,98.7,779.5,17.3,581,8723,0.00,1.05,0.00,0.000,6,0.000,0.038,1898,3278,2055,0,0,0,0,0,0
$GC,9042,0.53,98.7,732.7,14.4,597,9046,0.00,1.10,0.00,0.000,4,0.000,0.061,1898,3956,2053,0,0,0,0,0,0
$GC,9091,0.53,98.7,724.8,15.8,599,9095,0.00,1.05,0.00,0.000,6,0.000,0.037,1903,3281,2053,0,0,0,0,0,0
$GC,9418,0.53,98.7,677.3,14.6,615,9420,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3279,2053,0,0,0,0,0,0
$GC,9729,0.53,98.7,633.4,14.6,630,9733,0.00,1.10,0.00,0.000,4,0.000,0.061,1903,3955,2052,0,0,0,0,0,0
$GC,9954,0.53,98.7,597.1,16.6,640,9957,0.00,1.02,0.00,0.000,6,0.000,0.038,1908,3284,2052,0,0,0,0,0,0
$GC,10286,0.53,98.7,548.5,14.4,656,10287,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3284,2051,0,0,0,0,0,0
$GC,10595,0.53,98.7,504.2,14.1,671,10597,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3284,2051,0,0,0,0,0,0
$GC,10904,0.53,98.7,461.7,13.6,686,10908,0.00,1.10,0.00,0.000,4,0.000,0.061,1908,3959,2051,0,0,0,0,0,0
$GC,11017,0.53,98.7,445.0,14.9,691,11020,0.00,1.05,0.00,0.000,6,0.000,0.038,1913,3274,2051,0,0,0,0,0,0
$GC,11349,0.53,98.7,399.7,13.7,707,11351,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3274,2050,0,0,0,0,0,0
$GC,11670,0.53,98.7,354.9,14.4,737,11671,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3274,2050,0,0,0,0,0,0
$GC,11986,0.53,98.7,308.5,14.1,767,11990,0.00,1.10,0.00,0.000,4,0.000,0.061,1913,3954,2050,0,0,0,0,0,0
$GC,12100,0.53,98.7,290.6,15.1,777,12104,0.00,1.02,0.00,0.000,6,0.000,0.038,1918,3280,2050,0,0,0,0,0,0
$GC,12430,0.53,98.7,242.3,14.0,808,12434,0.00,1.08,0.00,0.000,4,0.000,0.061,1919,3956,2050,0,0,0,0,0,0
$GC,12502,0.53,98.7,231.2,15.0,814,12511,0.12,1.05,0.00,0.000,6,0.216,0.037,1895,3274,2049,0,0,0,0,0,0
$GC,12830,0.53,98.7,192.2,11.4,845,12834,0.00,1.10,0.00,0.000,4,0.000,0.060,1895,3958,2049,0,0,0,0,0,0
$GC,12877,0.53,98.7,186.3,12.5,849,12881,0.00,1.02,0.00,0.000,6,0.000,0.037,1899,3278,2049,0,0,0,0,0,0
$GC,13206,0.53,98.7,150.2,10.4,880,13210,0.00,1.08,0.00,0.000,4,0.000,0.060,1899,3949,2050,0,0,0,0,0,0
$GC,13240,0.53,98.7,146.3,11.8,883,13244,0.00,1.00,0.00,0.000,6,0.000,0.037,1904,3283,2049,0,0,0,0,0,0
$GC,13570,0.53,98.7,109.9,11.4,914,13574,0.00,1.08,0.00,0.000,4,0.000,0.060,1904,3954,2049,0,0,0,0,0,0
$GC,13626,0.53,98.7,102.6,12.7,919,13630,0.00,1.02,0.00,0.000,6,0.000,0.036,1909,3272,2049,0,0,0,0,0,0
$GC,13974,0.53,98.7,64.0,11.2,977,13980,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3270,2049,0,0,0,0,0,0
$GC,14329,0.53,101.8,23.6,9.1,1038,14338,0.00,2.15,0.00,0.000,4,0.000,0.034,1921,1855,2049,0,0,0,0,0,0
$STATE,14557,end climb,SURFACE_DEPTH_REACHED
$STATE,14557,begin surface coast
$FINISH,0.5,1.026257
$STATE,14601,end surface coast,CONTROL_FINISHED_OK
$STATE,14601,begin surface
$SM_CCo,14615,48.83,0.794,0,0,1553,225.18
$SM_GC,1.32,0.00,0.00,48.83,0.000,0.000,0.794,69,3428,1553,-5.15,0.23,225.18
$IRIDIUM_FIX,-4242.04,827.77,191213,202029
$TT8_MAMPS,0.025466
$HUMID,61.34
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.6,19.455
$10V_AH,10.0,13.314
$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,12.450,58.175,194.900,48.825,0.000,24.682,51.257,277.505,0.000,0.000,22.174,2699.893,8923.111,370.345,2955.717,188.678,0.000,1418.210,0.000,2473.147,0.000,1.010,0.000
$DEVICE_MAMPS,233.325,87.975,1876.545,794.070,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,750.959,1871.571,769.194,397.996,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354452
$DATA_FILE_SIZE,77244,1082
$CAP_FILE_SIZE,134289,0
$CFSIZE,259252224,250036224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,201213,040904,-4258.691,830.234,31,1.1,31,-25.0