version: 66.07
glider: 543
mission: 9
dive: 127
start: 12 20 113 12 45 0
data:
$ID,543
$MISSION,9
$DIVE,127
$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,-12912.637
$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,41
$R_STBD_OVSHOOT,37
$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
$GPS1,201213,123623,-4259.337,829.610,41,0.8,41,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-61.5
$GPS2,201213,124435,-4259.255,829.616,18,0.9,19,-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,184.3,1474,-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,-49.75,0.000,2,0.000,0.000,58,3435,2674,0,0,0,0,0,0
$GC,68,-0.53,-100.2,3.3,-4.8,6,86,5.95,0.77,-5.43,0.000,4,0.229,0.088,1537,3947,2884,0,0,0,0,0,0
$GC,189,-0.53,-100.2,28.5,-17.6,25,196,0.00,0.82,0.00,0.000,6,0.000,0.037,1537,3412,2887,0,0,0,0,0,0
$GC,335,-0.53,-100.2,50.3,-16.0,50,341,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3413,2887,0,0,0,0,0,0
$GC,686,-0.53,-100.2,107.5,-15.8,108,690,0.00,2.12,0.00,0.000,4,0.000,0.031,1537,1996,2890,0,0,0,0,0,0
$GC,736,-0.53,-100.2,114.4,-12.6,112,740,0.00,2.28,0.00,0.000,6,0.000,0.052,1526,3415,2891,0,0,0,0,0,0
$GC,1060,-0.53,-100.2,165.1,-16.1,142,1064,0.00,0.85,0.00,0.000,4,0.000,0.058,1522,3949,2891,0,0,0,0,0,0
$GC,1174,-0.53,-100.2,184.9,-17.4,152,1178,0.00,0.80,0.00,0.000,6,0.000,0.036,1522,3414,2891,0,0,0,0,0,0
$GC,1504,-0.53,-100.2,238.3,-15.7,183,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3414,2892,0,0,0,0,0,0
$GC,1826,-0.53,-100.2,289.0,-15.7,213,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3414,2891,0,0,0,0,0,0
$GC,2142,-0.53,-100.2,338.9,-15.3,243,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3414,2891,0,0,0,0,0,0
$GC,2462,-0.53,-100.2,386.3,-14.5,273,2466,0.00,0.85,0.00,0.000,4,0.000,0.060,1518,3952,2891,0,0,0,0,0,0
$GC,2509,-0.53,-100.2,393.6,-15.8,277,2513,0.00,0.80,0.00,0.000,6,0.000,0.037,1518,3416,2891,0,0,0,0,0,0
$GC,2841,-0.53,-100.2,441.0,-13.9,295,2842,0.12,0.00,0.00,0.000,6,0.184,0.000,1548,3414,2891,0,0,0,0,0,0
$GC,3150,-0.53,-100.2,475.0,-10.7,310,3154,0.00,2.10,0.00,0.000,4,0.000,0.031,1548,1997,2891,0,0,0,0,0,0
$GC,3176,-0.53,-100.2,477.9,-10.2,311,3181,0.00,2.28,0.00,0.000,6,0.000,0.054,1539,3414,2891,0,0,0,0,0,0
$GC,3498,-0.53,-100.2,515.0,-12.3,327,3501,0.00,0.85,0.00,0.000,4,0.000,0.060,1535,3955,2891,0,0,0,0,0,0
$GC,3569,-0.53,-100.2,524.8,-13.6,330,3573,0.00,0.82,0.00,0.000,6,0.000,0.037,1535,3415,2891,0,0,0,0,0,0
$GC,3897,-0.53,-100.2,568.4,-13.5,346,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,1535,3415,2890,0,0,0,0,0,0
$GC,4207,-0.53,-100.2,612.2,-14.3,361,4208,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3414,2889,0,0,0,0,0,0
$GC,4515,-0.53,-100.2,654.1,-13.3,376,4519,0.00,0.88,0.00,0.000,4,0.000,0.062,1531,3961,2888,0,0,0,0,0,0
$GC,4605,-0.53,-100.2,666.4,-13.4,380,4609,0.00,0.82,0.00,0.000,6,0.000,0.039,1531,3416,2889,0,0,0,0,0,0
$GC,4937,-0.53,-100.2,710.5,-12.9,396,4938,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3416,2888,0,0,0,0,0,0
$GC,5248,-0.53,-100.2,749.0,-12.6,411,5252,0.00,0.85,0.00,0.000,4,0.000,0.063,1527,3952,2888,0,0,0,0,0,0
$GC,5293,-0.53,-100.2,755.3,-13.5,413,5297,0.00,0.80,0.00,0.000,6,0.000,0.040,1527,3421,2887,0,0,0,0,0,0
$GC,5625,-0.53,-100.2,796.0,-11.7,429,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3421,2887,0,0,0,0,0,0
$GC,5936,-0.53,-100.2,832.6,-11.6,444,5937,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3420,2887,0,0,0,0,0,0
$GC,6244,-0.53,-100.2,868.3,-11.6,459,6245,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3421,2886,0,0,0,0,0,0
$GC,6553,-0.53,-100.2,903.4,-11.3,474,6557,0.00,2.12,0.00,0.000,4,0.000,0.034,1527,1996,2886,0,0,0,0,0,0
$GC,6601,-0.53,-100.2,908.6,-9.6,476,6606,0.08,2.30,0.00,0.000,6,0.145,0.056,1540,3422,2886,0,0,0,0,0,0
$GC,6925,-0.53,-102.3,937.8,-9.2,492,6928,0.00,0.85,0.00,0.000,4,0.000,0.063,1538,3958,2885,0,0,0,0,0,0
$GC,6970,-0.53,-102.3,942.5,-10.9,494,6974,0.00,0.82,0.00,0.000,6,0.000,0.041,1538,3415,2885,0,0,0,0,0,0
$GC,7302,-0.53,-102.3,974.1,-9.6,510,7303,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,3415,2884,0,0,0,0,0,0
$STATE,7487,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7487,begin apogee
$GC,7491,-0.09,0.0,991.7,9.4,519,7591,0.50,0.00,96.85,1.873,6,0.151,0.000,1687,3282,2473,0,0,0,0,0,0
$STATE,7592,end apogee,CONTROL_FINISHED_OK
$STATE,7592,begin climb
$GC,7594,0.53,102.3,993.0,0.0,524,7704,0.57,2.42,102.62,1.823,4,0.071,0.034,1896,1862,2056,0,0,0,0,0,0
$GC,7721,0.53,102.3,982.3,12.7,530,7726,0.00,2.50,0.00,0.000,6,0.000,0.050,1896,3285,2054,0,0,0,0,0,0
$GC,8049,0.53,102.3,929.0,16.4,546,8050,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,3284,2045,0,0,0,0,0,0
$GC,8357,0.53,102.3,878.5,16.0,561,8360,0.00,1.10,0.00,0.000,4,0.000,0.060,1895,3953,2042,0,0,0,0,0,0
$GC,8425,0.53,102.3,866.9,18.0,564,8428,0.00,1.05,0.00,0.000,6,0.000,0.037,1901,3276,2042,0,0,0,0,0,0
$GC,8756,0.53,102.3,812.9,16.3,580,8760,0.00,1.10,0.00,0.000,4,0.000,0.060,1901,3950,2040,0,0,0,0,0,0
$GC,8794,0.53,102.3,806.0,18.1,581,8802,0.00,1.05,0.00,0.000,6,0.000,0.037,1906,3277,2041,0,0,0,0,0,0
$GC,9110,0.53,102.3,755.5,15.8,597,9114,0.00,1.10,0.00,0.000,4,0.000,0.060,1906,3956,2040,0,0,0,0,0,0
$GC,9181,0.53,102.3,743.2,17.1,600,9186,0.00,1.05,0.00,0.000,6,0.000,0.037,1911,3281,2040,0,0,0,0,0,0
$GC,9509,0.53,102.3,693.9,15.0,616,9512,0.00,1.10,0.00,0.000,4,0.000,0.061,1912,3958,2038,0,0,0,0,0,0
$GC,9580,0.53,102.3,682.1,16.7,619,9585,0.00,1.05,0.00,0.000,6,0.000,0.037,1916,3281,2038,0,0,0,0,0,0
$GC,9909,0.53,102.3,635.6,13.8,635,9912,0.00,1.10,0.00,0.000,4,0.000,0.060,1916,3958,2037,0,0,0,0,0,0
$GC,10160,0.53,102.3,596.8,16.5,646,10165,0.12,1.05,0.00,0.000,6,0.220,0.037,1894,3279,2037,0,0,0,0,0,0
$GC,10488,0.53,102.3,554.8,13.0,662,10489,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,3279,2036,0,0,0,0,0,0
$GC,10796,0.53,102.3,512.9,13.4,677,10800,0.00,1.10,0.00,0.000,4,0.000,0.060,1894,3958,2036,0,0,0,0,0,0
$GC,10845,0.53,102.3,505.5,14.7,679,10850,0.00,1.05,0.00,0.000,6,0.000,0.037,1898,3280,2036,0,0,0,0,0,0
$GC,11173,0.53,102.3,462.1,13.0,695,11176,0.00,1.08,0.00,0.000,4,0.000,0.060,1898,3954,2036,0,0,0,0,0,0
$GC,11339,0.53,102.3,436.9,15.4,702,11344,0.00,1.05,0.00,0.000,6,0.000,0.037,1904,3270,2036,0,0,0,0,0,0
$GC,11662,0.53,102.3,394.1,13.4,720,11664,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3270,2036,0,0,0,0,0,0
$GC,11982,0.53,102.3,351.8,12.8,750,11985,0.00,1.10,0.00,0.000,4,0.000,0.060,1903,3955,2035,0,0,0,0,0,0
$GC,12072,0.53,102.3,338.7,14.8,758,12076,0.00,1.02,0.00,0.000,6,0.000,0.037,1909,3278,2035,0,0,0,0,0,0
$GC,12405,0.53,102.3,293.5,13.7,789,12406,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3277,2035,0,0,0,0,0,0
$GC,12721,0.53,102.3,250.6,13.0,819,12725,0.00,1.08,0.00,0.000,4,0.000,0.060,1909,3950,2035,0,0,0,0,0,0
$GC,12816,0.53,102.3,236.7,14.8,827,12823,0.00,1.02,0.00,0.000,6,0.000,0.036,1914,3278,2035,0,0,0,0,0,0
$GC,13141,0.53,102.3,191.3,14.1,858,13142,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3279,2035,0,0,0,0,0,0
$GC,13460,0.53,102.3,147.7,13.7,888,13464,0.00,1.08,0.00,0.000,4,0.000,0.060,1914,3951,2035,0,0,0,0,0,0
$GC,13552,0.53,102.3,133.9,14.5,896,13556,0.00,1.00,0.00,0.000,6,0.000,0.037,1919,3286,2035,0,0,0,0,0,0
$GC,13885,0.53,102.3,88.7,12.2,934,13892,0.00,1.08,0.00,0.000,4,0.000,0.060,1919,3958,2035,0,0,0,0,0,0
$GC,14052,0.53,102.3,65.8,13.0,963,14061,0.10,1.02,0.00,0.000,6,0.192,0.037,1896,3274,2035,0,0,0,0,0,0
$GC,14405,0.54,122.7,30.1,7.2,1024,14421,0.00,2.17,6.32,0.824,4,0.000,0.034,1906,1865,1971,0,0,0,0,0,0
$GC,14527,0.54,124.3,20.5,9.3,1044,14536,0.00,2.28,0.00,0.000,6,0.000,0.052,1906,3283,1968,0,0,0,0,0,0
$STATE,14671,end climb,SURFACE_DEPTH_REACHED
$STATE,14671,begin surface coast
$FINISH,0.6,1.019314
$STATE,14698,end surface coast,CONTROL_FINISHED_OK
$STATE,14699,begin surface
$SM_CCo,14710,40.65,0.804,0,0,1553,225.18
$SM_GC,1.13,0.00,0.00,40.65,0.000,0.000,0.804,66,3428,1553,-5.16,0.23,225.18
$IRIDIUM_FIX,-4244.98,834.03,201213,080807
$TT8_MAMPS,0.026215
$HUMID,61.81
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.6,19.862
$10V_AH,10.0,13.644
$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,12.325,58.000,205.800,40.650,0.000,32.103,25.939,314.090,0.000,0.000,21.437,2660.477,9228.145,332.101,2850.424,174.176,0.000,1329.471,0.000,2350.606,0.000,1.012,0.000
$DEVICE_MAMPS,228.735,87.975,1873.485,804.015,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,744.035,1822.575,726.265,363.796,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354456
$DATA_FILE_SIZE,77055,1071
$CAP_FILE_SIZE,131192,0
$CFSIZE,259252224,249810944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,201213,165204,-4300.643,831.219,39,0.8,39,-25.1