version: 66.07
glider: 543
mission: 9
dive: 125
start: 12 20 113 4 17 54
data:
$ID,543
$MISSION,9
$DIVE,125
$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,-12906.153
$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,43
$R_STBD_OVSHOOT,20
$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
$GPS1,201213,040904,-4258.691,830.234,31,1.1,31,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-60.7
$GPS2,201213,041729,-4258.705,830.427,16,1.6,16,-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,218.6,2467,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.50,-57.7,0.0,0.0,0,66,0.00,0.00,-49.67,0.000,2,0.000,0.000,62,3430,2641,0,0,0,0,0,0
$GC,68,-0.53,-101.8,3.1,-4.6,6,87,6.12,0.90,-6.93,0.000,4,0.242,0.093,1536,3962,2892,0,0,0,0,0,0
$GC,353,-0.53,-101.8,52.8,-16.1,53,360,0.00,0.82,0.00,0.000,6,0.000,0.040,1536,3426,2897,0,0,0,0,0,0
$GC,702,-0.53,-101.8,108.4,-14.1,109,706,0.00,0.85,0.00,0.000,4,0.000,0.062,1533,3956,2898,0,0,0,0,0,0
$GC,780,-0.53,-101.8,120.7,-15.2,116,784,0.00,0.82,0.00,0.000,6,0.000,0.039,1532,3413,2898,0,0,0,0,0,0
$GC,1110,-0.53,-101.8,169.5,-15.9,147,1112,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3412,2899,0,0,0,0,0,0
$GC,1432,-0.53,-101.8,219.8,-15.5,177,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3412,2900,0,0,0,0,0,0
$GC,1748,-0.53,-101.8,267.2,-14.2,207,1752,0.00,0.85,0.00,0.000,4,0.000,0.062,1529,3948,2900,0,0,0,0,0,0
$GC,1849,-0.53,-101.8,282.6,-15.5,216,1853,0.00,0.80,0.00,0.000,6,0.000,0.040,1529,3420,2899,0,0,0,0,0,0
$GC,2179,-0.53,-101.8,330.1,-14.2,247,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3419,2899,0,0,0,0,0,0
$GC,2501,-0.53,-101.8,376.4,-14.5,277,2505,0.00,0.85,0.00,0.000,4,0.000,0.061,1525,3956,2900,0,0,0,0,0,0
$GC,2596,-0.53,-101.8,391.8,-15.3,285,2603,0.00,0.82,0.00,0.000,6,0.000,0.037,1525,3416,2899,0,0,0,0,0,0
$GC,2923,-0.53,-101.8,440.3,-15.2,304,2924,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3416,2899,0,0,0,0,0,0
$GC,3233,-0.53,-101.8,486.7,-14.7,319,3236,0.00,0.85,0.00,0.000,4,0.000,0.063,1521,3950,2899,0,0,0,0,0,0
$GC,3300,-0.53,-101.8,497.3,-15.6,322,3304,0.00,0.80,0.00,0.000,6,0.000,0.039,1521,3422,2899,0,0,0,0,0,0
$GC,3632,-0.53,-101.8,546.1,-14.5,338,3633,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3421,2899,0,0,0,0,0,0
$GC,3942,-0.53,-101.8,590.0,-14.0,353,3943,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3421,2899,0,0,0,0,0,0
$GC,4251,-0.53,-101.8,632.2,-13.7,368,4252,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3421,2898,0,0,0,0,0,0
$GC,4562,-0.53,-101.8,673.1,-12.7,383,4563,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3421,2897,0,0,0,0,0,0
$GC,4870,-0.53,-101.8,712.4,-12.3,398,4873,0.00,0.85,0.00,0.000,4,0.000,0.063,1517,3952,2897,0,0,0,0,0,0
$GC,4960,-0.53,-101.8,724.4,-13.2,402,4964,0.08,0.80,0.00,0.000,6,0.167,0.041,1540,3426,2897,0,0,0,0,0,0
$GC,5291,-0.53,-101.8,759.0,-10.3,418,5292,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3426,2896,0,0,0,0,0,0
$GC,5602,-0.53,-101.8,790.8,-10.4,433,5603,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3425,2895,0,0,0,0,0,0
$GC,5910,-0.53,-101.8,823.6,-10.7,448,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3426,2894,0,0,0,0,0,0
$GC,6219,-0.53,-101.8,856.7,-10.5,463,6223,0.00,0.85,0.00,0.000,4,0.000,0.064,1538,3958,2894,0,0,0,0,0,0
$GC,6287,-0.53,-101.8,864.4,-11.8,466,6290,0.00,0.82,0.00,0.000,6,0.000,0.041,1538,3418,2894,0,0,0,0,0,0
$GC,6619,-0.53,-101.8,900.0,-10.7,482,6620,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,3416,2893,0,0,0,0,0,0
$GC,6928,-0.53,-101.8,932.2,-10.5,497,6932,0.00,0.85,0.00,0.000,4,0.000,0.064,1534,3949,2893,0,0,0,0,0,0
$GC,6988,-0.53,-101.8,939.4,-11.9,499,6996,0.00,0.82,0.00,0.000,6,0.000,0.041,1533,3418,2893,0,0,0,0,0,0
$GC,7304,-0.53,-101.8,974.2,-11.2,515,7308,0.00,0.85,0.00,0.000,4,0.000,0.064,1530,3951,2892,0,0,0,0,0,0
$GC,7353,-0.53,-101.8,980.3,-12.9,517,7357,0.00,0.82,0.00,0.000,6,0.000,0.041,1530,3419,2892,0,0,0,0,0,0
$STATE,7452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7452,begin apogee
$GC,7456,-0.09,0.0,991.9,11.7,522,7558,0.52,0.00,98.53,1.870,6,0.149,0.000,1687,3272,2473,0,0,0,0,0,0
$STATE,7559,end apogee,CONTROL_FINISHED_OK
$STATE,7559,begin climb
$GC,7560,0.53,101.8,994.5,0.0,527,7671,0.57,2.45,102.45,1.818,4,0.069,0.034,1899,1867,2057,0,0,0,0,0,0
$GC,7692,0.53,101.8,985.0,11.6,533,7697,0.00,2.50,0.00,0.000,6,0.000,0.050,1898,3279,2054,0,0,0,0,0,0
$GC,8021,0.53,101.8,936.3,14.9,549,8025,0.00,1.12,0.00,0.000,4,0.000,0.060,1898,3955,2046,0,0,0,0,0,0
$GC,8278,0.53,101.8,893.2,16.6,560,8282,0.00,1.08,0.00,0.000,6,0.000,0.037,1904,3276,2044,0,0,0,0,0,0
$GC,8600,0.53,101.8,843.8,15.3,576,8603,0.00,1.12,0.00,0.000,4,0.000,0.060,1904,3957,2042,0,0,0,0,0,0
$GC,8645,0.53,101.8,836.2,16.8,578,8648,0.00,1.05,0.00,0.000,6,0.000,0.037,1908,3278,2042,0,0,0,0,0,0
$GC,8976,0.53,101.8,782.5,16.0,594,8980,0.00,1.10,0.00,0.000,4,0.000,0.061,1909,3956,2041,0,0,0,0,0,0
$GC,9093,0.53,101.8,761.4,17.6,599,9098,0.00,1.05,0.00,0.000,6,0.000,0.036,1914,3280,2041,0,0,0,0,0,0
$GC,9421,0.53,101.8,708.9,16.3,615,9424,0.00,1.10,0.00,0.000,4,0.000,0.061,1914,3956,2040,0,0,0,0,0,0
$GC,9475,0.53,101.8,699.1,18.3,617,9480,0.00,1.05,0.00,0.000,6,0.000,0.037,1918,3279,2040,0,0,0,0,0,0
$GC,9798,0.53,101.8,647.5,15.7,633,9799,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3279,2038,0,0,0,0,0,0
$GC,10106,0.53,101.8,599.4,15.7,648,10110,0.00,1.10,0.00,0.000,4,0.000,0.061,1919,3958,2038,0,0,0,0,0,0
$GC,10151,0.53,101.8,591.8,17.3,650,10156,0.10,1.02,0.00,0.000,6,0.197,0.037,1896,3282,2038,0,0,0,0,0,0
$GC,10485,0.53,101.8,543.9,14.3,666,10488,0.00,1.10,0.00,0.000,4,0.000,0.060,1896,3959,2037,0,0,0,0,0,0
$GC,10601,0.53,101.8,525.5,15.0,671,10606,0.00,1.05,0.00,0.000,6,0.000,0.037,1900,3278,2037,0,0,0,0,0,0
$GC,10929,0.53,101.8,480.6,13.6,687,10930,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,3277,2037,0,0,0,0,0,0
$GC,11238,0.53,101.8,437.1,13.9,702,11241,0.00,1.10,0.00,0.000,4,0.000,0.060,1900,3958,2036,0,0,0,0,0,0
$GC,11332,0.53,101.8,422.2,15.7,706,11336,0.00,1.05,0.00,0.000,6,0.000,0.037,1905,3278,2036,0,0,0,0,0,0
$GC,11656,0.53,101.8,376.1,14.3,729,11660,0.00,1.08,0.00,0.000,4,0.000,0.060,1906,3951,2036,0,0,0,0,0,0
$GC,11705,0.53,101.8,367.7,16.3,733,11713,0.00,1.02,0.00,0.000,6,0.000,0.037,1911,3274,2036,0,0,0,0,0,0
$GC,12031,0.53,101.8,320.4,14.1,764,12034,0.00,1.10,0.00,0.000,4,0.000,0.060,1911,3957,2036,0,0,0,0,0,0
$GC,12200,0.53,101.8,293.7,14.7,779,12203,0.00,1.02,0.00,0.000,6,0.000,0.037,1916,3281,2036,0,0,0,0,0,0
$GC,12530,0.53,101.8,245.9,14.4,810,12533,0.00,1.10,0.00,0.000,4,0.000,0.060,1916,3958,2036,0,0,0,0,0,0
$GC,12590,0.53,101.8,236.5,15.0,815,12598,0.00,1.05,0.00,0.000,6,0.000,0.037,1921,3275,2036,0,0,0,0,0,0
$GC,12915,0.53,101.8,191.3,13.5,846,12919,0.00,1.10,0.00,0.000,4,0.000,0.060,1921,3959,2036,0,0,0,0,0,0
$GC,13067,0.53,101.8,168.6,15.3,859,13074,0.10,1.02,0.00,0.000,6,0.190,0.036,1898,3281,2036,0,0,0,0,0,0
$GC,13392,0.53,101.8,131.8,10.4,890,13393,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,3280,2036,0,0,0,0,0,0
$GC,13713,0.53,101.8,98.5,10.6,921,13722,0.00,1.08,0.00,0.000,4,0.000,0.060,1898,3953,2036,0,0,0,0,0,0
$GC,13734,0.53,101.8,95.6,11.4,924,13743,0.00,1.00,0.00,0.000,6,0.000,0.037,1901,3289,2036,0,0,0,0,0,0
$GC,14086,0.53,101.8,54.2,11.7,985,14092,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,3289,2036,0,0,0,0,0,0
$GC,14447,0.53,101.8,10.8,10.5,1046,14455,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,3289,2036,0,0,0,0,0,0
$GC,14506,0.53,101.8,4.7,10.0,1055,14515,0.00,2.17,0.00,0.000,4,0.000,0.035,1913,1858,2035,0,0,0,0,0,0
$STATE,14522,end climb,SURFACE_DEPTH_REACHED
$STATE,14522,begin surface coast
$FINISH,0.5,1.026336
$STATE,14554,end surface coast,CONTROL_FINISHED_OK
$STATE,14554,begin surface
$SM_CCo,14568,47.50,0.787,0,0,1554,225.18
$SM_GC,1.58,0.00,0.00,47.50,0.000,0.000,0.787,64,3439,1554,-5.17,0.54,225.18
$IRIDIUM_FIX,-4247.91,1104.15,191213,232351
$TT8_MAMPS,0.025466
$HUMID,62.12
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.6,19.591
$10V_AH,10.0,13.424
$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,12.400,50.600,200.975,47.500,0.000,26.855,38.988,320.436,0.000,0.000,19.448,2640.565,9081.615,346.211,2889.288,165.122,0.000,1350.522,0.000,2369.916,0.000,1.010,0.000
$DEVICE_MAMPS,241.740,92.565,1870.425,787.185,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,737.624,1827.318,726.243,360.352,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354440
$DATA_FILE_SIZE,77313,1062
$CAP_FILE_SIZE,129983,0
$CFSIZE,259252224,249962496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,201213,082234,-4300.089,830.674,30,1.0,30,-25.0