version: 66.07
glider: 543
mission: 9
dive: 126
start: 12 20 113 8 31 18
data:
$ID,543
$MISSION,9
$DIVE,126
$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,-12909.298
$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,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
$GPS1,201213,082234,-4300.089,830.674,30,1.0,30,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-65.2
$GPS2,201213,083053,-4259.996,830.788,17,1.4,17,-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,294.6,1067,-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,-49.92,0.000,2,0.000,0.000,63,3437,2673,0,0,0,0,0,0
$GC,68,-0.53,-101.2,3.3,-4.7,6,87,5.93,0.77,-5.70,0.000,4,0.228,0.088,1541,3958,2886,0,0,0,0,0,0
$GC,179,-0.53,-101.2,26.4,-19.0,23,185,0.00,0.82,0.00,0.000,6,0.000,0.037,1541,3422,2889,0,0,0,0,0,0
$GC,324,-0.53,-101.2,48.6,-15.3,48,333,0.00,2.20,0.00,0.000,4,0.000,0.033,1541,1994,2890,0,0,0,0,0,0
$GC,379,-0.53,-101.2,56.1,-12.8,57,387,0.00,2.33,0.00,0.000,6,0.000,0.054,1531,3418,2891,0,0,0,0,0,0
$GC,725,-0.53,-101.2,111.9,-15.4,111,726,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3418,2892,0,0,0,0,0,0
$GC,1047,-0.53,-101.2,161.0,-15.8,141,1051,0.00,0.85,0.00,0.000,4,0.000,0.061,1526,3956,2893,0,0,0,0,0,0
$GC,1198,-0.53,-101.2,186.8,-16.7,154,1206,0.00,0.82,0.00,0.000,6,0.000,0.037,1526,3417,2893,0,0,0,0,0,0
$GC,1525,-0.53,-101.2,237.7,-15.8,185,1527,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3417,2893,0,0,0,0,0,0
$GC,1842,-0.53,-101.2,284.5,-13.9,215,1846,0.00,0.85,0.00,0.000,4,0.000,0.060,1523,3953,2893,0,0,0,0,0,0
$GC,1944,-0.53,-101.2,299.3,-15.1,224,1947,0.00,0.80,0.00,0.000,6,0.000,0.037,1523,3419,2893,0,0,0,0,0,0
$GC,2273,-0.53,-101.2,346.9,-14.2,255,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3418,2893,0,0,0,0,0,0
$GC,2595,-0.53,-101.2,394.3,-15.0,285,2596,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3418,2893,0,0,0,0,0,0
$GC,2902,-0.53,-101.2,439.7,-14.6,302,2906,0.00,0.85,0.00,0.000,4,0.000,0.062,1519,3952,2893,0,0,0,0,0,0
$GC,2947,-0.53,-101.2,446.7,-16.4,304,2950,0.00,0.80,0.00,0.000,6,0.000,0.038,1519,3418,2894,0,0,0,0,0,0
$GC,3279,-0.53,-101.2,495.7,-14.6,320,3282,0.00,0.85,0.00,0.000,4,0.000,0.062,1515,3954,2893,0,0,0,0,0,0
$GC,3311,-0.53,-101.2,501.0,-14.8,321,3316,0.12,0.82,0.00,0.000,6,0.185,0.037,1545,3412,2893,0,0,0,0,0,0
$GC,3634,-0.53,-101.2,538.4,-11.5,337,3637,0.00,0.85,0.00,0.000,4,0.000,0.063,1542,3948,2893,0,0,0,0,0,0
$GC,3726,-0.53,-101.2,549.5,-12.4,341,3729,0.00,0.80,0.00,0.000,6,0.000,0.039,1542,3417,2892,0,0,0,0,0,0
$GC,4058,-0.53,-101.2,587.6,-11.3,357,4061,0.00,2.12,0.00,0.000,4,0.000,0.033,1542,1996,2892,0,0,0,0,0,0
$GC,4075,-0.53,-101.2,589.5,-11.1,358,4079,0.00,2.28,0.00,0.000,6,0.000,0.054,1531,3424,2892,0,0,0,0,0,0
$GC,4401,-0.53,-101.2,629.3,-12.5,374,4404,0.00,0.82,0.00,0.000,4,0.000,0.061,1528,3952,2891,0,0,0,0,0,0
$GC,4596,-0.53,-101.2,656.3,-13.8,382,4604,0.00,0.82,0.00,0.000,6,0.000,0.039,1527,3413,2890,0,0,0,0,0,0
$GC,4912,-0.53,-101.2,696.6,-13.3,398,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3412,2890,0,0,0,0,0,0
$GC,5221,-0.53,-101.2,739.5,-14.2,413,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3413,2890,0,0,0,0,0,0
$GC,5530,-0.53,-101.2,783.1,-13.9,428,5534,0.00,0.85,0.00,0.000,4,0.000,0.062,1523,3948,2889,0,0,0,0,0,0
$GC,5613,-0.53,-101.2,795.5,-15.0,431,5620,0.00,0.82,0.00,0.000,6,0.000,0.040,1523,3413,2888,0,0,0,0,0,0
$GC,5929,-0.53,-101.2,837.5,-12.9,447,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3413,2888,0,0,0,0,0,0
$GC,6240,-0.53,-101.2,876.1,-12.0,462,6243,0.00,0.85,0.00,0.000,4,0.000,0.063,1520,3948,2888,0,0,0,0,0,0
$GC,6285,-0.53,-101.2,881.9,-13.0,464,6288,0.00,0.80,0.00,0.000,6,0.000,0.041,1520,3421,2888,0,0,0,0,0,0
$GC,6617,-0.53,-101.2,920.9,-11.6,480,6618,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3421,2887,0,0,0,0,0,0
$GC,6928,-0.53,-101.2,957.9,-11.9,495,6929,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3420,2887,0,0,0,0,0,0
$STATE,7215,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7215,begin apogee
$GC,7219,-0.09,0.0,990.8,11.1,509,7320,0.55,0.00,97.28,1.865,6,0.154,0.000,1683,3273,2473,0,0,0,0,0,0
$STATE,7320,end apogee,CONTROL_FINISHED_OK
$STATE,7321,begin climb
$GC,7322,0.53,101.2,992.7,0.0,514,7431,0.60,2.47,101.18,1.820,4,0.075,0.034,1899,1866,2060,0,0,0,0,0,0
$GC,7454,0.53,101.2,981.4,13.3,520,7459,0.00,2.47,0.00,0.000,6,0.000,0.050,1899,3279,2058,0,0,0,0,0,0
$GC,7781,0.53,101.2,928.6,16.3,536,7783,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3279,2050,0,0,0,0,0,0
$GC,8089,0.53,101.2,880.6,15.0,551,8090,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3279,2047,0,0,0,0,0,0
$GC,8399,0.53,101.2,834.8,14.7,566,8400,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3279,2046,0,0,0,0,0,0
$GC,8708,0.53,101.2,789.7,14.8,581,8709,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3279,2044,0,0,0,0,0,0
$GC,9017,0.53,101.2,744.5,14.2,596,9018,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3279,2044,0,0,0,0,0,0
$GC,9328,0.53,101.2,701.0,13.9,611,9332,0.00,1.10,0.00,0.000,4,0.000,0.062,1899,3956,2043,0,0,0,0,0,0
$GC,9354,0.53,101.2,696.5,15.6,612,9359,0.00,1.05,0.00,0.000,6,0.000,0.037,1904,3278,2043,0,0,0,0,0,0
$GC,9682,0.53,101.2,649.9,14.1,628,9683,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3278,2042,0,0,0,0,0,0
$GC,9991,0.53,101.2,606.3,14.2,643,9995,0.00,1.10,0.00,0.000,4,0.000,0.061,1904,3958,2042,0,0,0,0,0,0
$GC,10153,0.53,101.2,580.7,16.6,650,10157,0.00,1.02,0.00,0.000,6,0.000,0.037,1909,3284,2042,0,0,0,0,0,0
$GC,10480,0.53,101.2,534.4,14.2,666,10484,0.00,2.15,0.00,0.000,4,0.000,0.034,1920,1862,2041,0,0,0,0,0,0
$GC,10511,0.53,101.2,529.9,12.3,667,10520,0.08,2.30,0.00,0.000,6,0.174,0.052,1899,3289,2039,0,0,0,0,0,0
$GC,10828,0.53,101.2,485.4,14.1,683,10832,0.00,1.05,0.00,0.000,4,0.000,0.060,1899,3949,2040,0,0,0,0,0,0
$GC,10878,0.53,101.2,477.7,15.2,685,10881,0.00,1.02,0.00,0.000,6,0.000,0.038,1902,3275,2040,0,0,0,0,0,0
$GC,11204,0.53,101.2,429.7,15.0,701,11205,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3275,2039,0,0,0,0,0,0
$GC,11519,0.53,101.2,383.2,14.2,721,11523,0.00,1.08,0.00,0.000,4,0.000,0.060,1902,3941,2040,0,0,0,0,0,0
$GC,11636,0.53,101.2,363.5,16.7,731,11644,0.00,1.02,0.00,0.000,6,0.000,0.037,1907,3277,2039,0,0,0,0,0,0
$GC,11961,0.53,101.2,312.7,15.1,762,11963,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3277,2040,0,0,0,0,0,0
$GC,12281,0.53,101.2,264.2,15.6,792,12282,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3277,2039,0,0,0,0,0,0
$GC,12599,0.53,101.2,218.1,13.5,822,12600,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3277,2039,0,0,0,0,0,0
$GC,12918,0.53,101.2,178.7,11.7,852,12922,0.00,2.15,0.00,0.000,4,0.000,0.034,1919,1862,2039,0,0,0,0,0,0
$GC,12936,0.53,101.2,176.7,12.4,853,12940,0.00,2.25,0.00,0.000,6,0.000,0.050,1919,3284,2038,0,0,0,0,0,0
$GC,13260,0.53,101.2,137.8,11.3,883,13264,0.00,1.05,0.00,0.000,4,0.000,0.059,1919,3947,2038,0,0,0,0,0,0
$GC,13442,0.53,101.2,114.3,12.1,899,13446,0.10,1.00,0.00,0.000,6,0.194,0.037,1896,3278,2038,0,0,0,0,0,0
$GC,13783,0.53,101.2,80.1,10.0,947,13789,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,3278,2038,0,0,0,0,0,0
$GC,14131,0.53,101.2,42.5,11.0,1008,14140,0.00,1.08,0.00,0.000,4,0.000,0.060,1896,3948,2038,0,0,0,0,0,0
$GC,14202,0.53,101.2,34.1,11.7,1019,14209,0.00,1.00,0.00,0.000,6,0.000,0.037,1899,3285,2038,0,0,0,0,0,0
$GC,14351,0.54,112.9,22.4,8.1,1044,14361,0.00,2.15,2.58,0.481,4,0.000,0.031,1910,1849,2010,0,0,0,0,0,0
$GC,14503,0.54,121.8,8.3,8.5,1068,14513,0.00,2.28,3.30,0.540,6,0.000,0.051,1910,3274,1973,0,0,0,0,0,0
$STATE,14550,end climb,SURFACE_DEPTH_REACHED
$STATE,14550,begin surface coast
$FINISH,0.6,1.011979
$STATE,14576,end surface coast,CONTROL_FINISHED_OK
$STATE,14576,begin surface
$SM_CCo,14588,41.22,0.797,0,0,1553,225.18
$SM_GC,1.01,0.00,0.00,41.22,0.000,0.000,0.797,59,3435,1553,-5.19,0.42,225.18
$IRIDIUM_FIX,-4242.04,821.95,201213,040435
$TT8_MAMPS,0.026215
$HUMID,61.45
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.6,19.726
$10V_AH,10.0,13.534
$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,12.575,55.025,204.325,41.225,0.000,28.597,41.177,308.456,0.000,0.000,19.655,2660.679,9127.167,339.864,2845.172,158.509,0.000,1319.840,0.000,2329.400,0.000,1.010,0.000
$DEVICE_MAMPS,227.970,87.975,1865.070,797.130,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,749.078,1848.817,759.298,392.625,0.000,0.000,0.000,0.000,0.000,0.000
$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,77296,1079
$CAP_FILE_SIZE,128527,0
$CFSIZE,259252224,249888768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,201213,123623,-4259.337,829.610,41,0.8,41,-25.0