version: 66.07
glider: 543
mission: 9
dive: 128
start: 12 20 113 17 0 36
data:
$ID,543
$MISSION,9
$DIVE,128
$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,-12915.874
$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,47
$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
$GPS1,201213,165204,-4300.643,831.219,39,0.8,39,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-58.4
$GPS2,201213,170011,-4300.651,831.259,18,1.0,18,-25.1
$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,330.4,2089,-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,-57.7,0.0,0.0,0,73,0.00,0.00,-51.03,0.000,6,0.000,0.000,62,3427,2708,0,0,0,0,0,0
$GC,75,-0.53,-104.2,3.7,-4.3,7,94,6.07,0.85,-4.62,0.000,4,0.237,0.085,1539,3957,2902,0,0,0,0,0,0
$GC,102,-0.53,-104.2,11.4,-19.3,10,111,0.00,0.82,0.00,0.000,6,0.000,0.037,1538,3423,2904,0,0,0,0,0,0
$GC,163,-0.53,-104.2,24.6,-21.1,19,170,0.00,2.20,0.00,0.000,4,0.000,0.033,1539,1994,2905,0,0,0,0,0,0
$GC,189,-0.53,-104.2,30.3,-20.7,23,196,0.00,2.33,0.00,0.000,6,0.000,0.053,1527,3424,2906,0,0,0,0,0,0
$GC,334,-0.53,-104.2,55.3,-18.2,48,344,0.00,0.82,0.00,0.000,4,0.000,0.059,1524,3940,2906,0,0,0,0,0,0
$GC,482,-0.53,-104.2,81.1,-17.7,73,489,0.00,0.80,0.00,0.000,6,0.000,0.036,1524,3414,2907,0,0,0,0,0,0
$GC,821,-0.53,-104.2,133.2,-15.9,115,825,0.00,0.85,0.00,0.000,4,0.000,0.060,1520,3944,2908,0,0,0,0,0,0
$GC,891,-0.53,-104.2,144.6,-17.4,121,895,0.00,0.80,0.00,0.000,6,0.000,0.036,1520,3415,2908,0,0,0,0,0,0
$GC,1221,-0.53,-104.2,198.6,-16.3,152,1225,0.00,0.85,0.00,0.000,4,0.000,0.061,1516,3941,2909,0,0,0,0,0,0
$GC,1325,-0.53,-104.2,216.5,-18.3,161,1329,0.08,0.77,0.00,0.000,6,0.174,0.037,1538,3429,2909,0,0,0,0,0,0
$GC,1655,-0.53,-104.2,267.4,-15.1,192,1656,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,3428,2909,0,0,0,0,0,0
$GC,1975,-0.53,-104.2,312.8,-14.1,222,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,3428,2909,0,0,0,0,0,0
$GC,2293,-0.53,-104.2,355.8,-13.1,252,2297,0.00,0.82,0.00,0.000,4,0.000,0.063,1535,3947,2909,0,0,0,0,0,0
$GC,2342,-0.53,-104.2,363.1,-14.5,256,2352,0.00,0.82,0.00,0.000,6,0.000,0.037,1536,3408,2909,0,0,0,0,0,0
$GC,2667,-0.53,-104.2,406.7,-13.6,285,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3408,2909,0,0,0,0,0,0
$GC,2975,-0.53,-104.2,448.9,-13.9,300,2979,0.00,0.85,0.00,0.000,4,0.000,0.063,1532,3942,2909,0,0,0,0,0,0
$GC,3036,-0.53,-104.2,458.0,-14.9,302,3043,0.00,0.77,0.00,0.000,6,0.000,0.038,1531,3428,2908,0,0,0,0,0,0
$GC,3351,-0.53,-104.2,501.9,-13.8,318,3352,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,3428,2909,0,0,0,0,0,0
$GC,3661,-0.53,-104.2,545.4,-14.3,333,3665,0.00,0.82,0.00,0.000,4,0.000,0.063,1528,3947,2908,0,0,0,0,0,0
$GC,3715,-0.53,-104.2,554.2,-16.3,335,3720,0.00,0.82,0.00,0.000,6,0.000,0.038,1528,3408,2908,0,0,0,0,0,0
$GC,4039,-0.53,-104.2,601.3,-14.9,351,4042,0.00,0.88,0.00,0.000,4,0.000,0.063,1524,3955,2908,0,0,0,0,0,0
$GC,4093,-0.53,-104.2,610.3,-15.7,353,4097,0.00,0.82,0.00,0.000,6,0.000,0.038,1524,3418,2908,0,0,0,0,0,0
$GC,4415,-0.53,-104.2,655.6,-13.7,369,4418,0.00,2.12,0.00,0.000,4,0.000,0.033,1524,1998,2907,0,0,0,0,0,0
$GC,4435,-0.53,-104.2,658.6,-13.9,370,4440,0.08,2.30,0.00,0.000,6,0.148,0.054,1538,3424,2907,0,0,0,0,0,0
$GC,4763,-0.53,-104.2,698.5,-11.8,386,4764,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,3424,2906,0,0,0,0,0,0
$GC,5071,-0.53,-104.2,733.7,-11.1,401,5075,0.00,0.82,0.00,0.000,4,0.000,0.064,1535,3950,2906,0,0,0,0,0,0
$GC,5120,-0.53,-104.2,739.6,-11.3,403,5124,0.00,0.82,0.00,0.000,6,0.000,0.039,1535,3413,2906,0,0,0,0,0,0
$GC,5449,-0.53,-104.2,775.8,-11.1,419,5450,0.00,0.00,0.00,0.000,6,0.000,0.000,1535,3413,2905,0,0,0,0,0,0
$GC,5757,-0.53,-104.2,812.2,-12.1,434,5760,0.00,0.85,0.00,0.000,4,0.000,0.065,1531,3949,2905,0,0,0,0,0,0
$GC,5834,-0.53,-104.2,822.4,-12.2,437,5838,0.00,0.82,0.00,0.000,6,0.000,0.039,1531,3413,2904,0,0,0,0,0,0
$GC,6155,-0.53,-104.2,863.6,-13.3,453,6156,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,3412,2904,0,0,0,0,0,0
$GC,6465,-0.53,-104.2,902.4,-12.3,468,6466,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3412,2904,0,0,0,0,0,0
$GC,6774,-0.53,-104.2,939.7,-11.7,483,6775,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3413,2903,0,0,0,0,0,0
$GC,7085,-0.53,-104.2,974.6,-11.2,498,7086,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3413,2903,0,0,0,0,0,0
$STATE,7247,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7247,begin apogee
$GC,7251,-0.09,0.0,991.7,10.2,506,7356,0.52,0.00,101.12,1.880,6,0.153,0.000,1688,3285,2473,0,0,0,0,0,0
$STATE,7356,end apogee,CONTROL_FINISHED_OK
$STATE,7357,begin climb
$GC,7358,0.53,104.2,993.1,0.0,511,7472,0.57,2.53,104.57,1.832,4,0.070,0.034,1898,1855,2048,0,0,0,0,0,0
$GC,7499,0.53,104.2,980.1,14.2,517,7507,0.00,2.53,0.00,0.000,6,0.000,0.050,1898,3279,2044,0,0,0,0,0,0
$GC,7817,0.53,104.2,927.1,17.0,533,7820,0.00,1.12,0.00,0.000,4,0.000,0.060,1898,3954,2036,0,0,0,0,0,0
$GC,7876,0.53,104.2,915.7,18.0,535,7884,0.00,1.10,0.00,0.000,6,0.000,0.036,1903,3266,2036,0,0,0,0,0,0
$GC,8193,0.53,104.2,862.7,17.0,551,8194,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3266,2034,0,0,0,0,0,0
$GC,8504,0.53,104.2,813.6,16.0,566,8507,0.00,1.12,0.00,0.000,4,0.000,0.060,1903,3950,2032,0,0,0,0,0,0
$GC,8586,0.53,104.2,798.8,17.0,569,8594,0.00,1.05,0.00,0.000,6,0.000,0.037,1909,3278,2032,0,0,0,0,0,0
$GC,8902,0.53,104.2,746.1,17.2,585,8906,0.00,1.10,0.00,0.000,4,0.000,0.060,1908,3954,2030,0,0,0,0,0,0
$GC,8970,0.53,104.2,733.8,18.0,588,8973,0.00,1.02,0.00,0.000,6,0.000,0.038,1913,3287,2030,0,0,0,0,0,0
$GC,9302,0.53,104.2,679.4,15.9,604,9305,0.00,1.08,0.00,0.000,4,0.000,0.060,1913,3951,2029,0,0,0,0,0,0
$GC,9350,0.53,104.2,670.8,17.0,606,9355,0.00,1.05,0.00,0.000,6,0.000,0.037,1918,3274,2029,0,0,0,0,0,0
$GC,9679,0.53,104.2,620.8,15.2,622,9683,0.00,2.15,0.00,0.000,4,0.000,0.037,1930,1865,2029,0,0,0,0,0,0
$GC,9700,0.53,104.2,617.4,13.4,623,9706,0.10,2.30,0.00,0.000,6,0.169,0.051,1900,3290,2028,0,0,0,0,0,0
$GC,10028,0.53,104.2,572.1,14.1,639,10031,0.00,1.05,0.00,0.000,4,0.000,0.060,1900,3942,2028,0,0,0,0,0,0
$GC,10110,0.53,104.2,559.3,15.3,642,10118,0.00,1.02,0.00,0.000,6,0.000,0.037,1904,3282,2027,0,0,0,0,0,0
$GC,10427,0.53,104.2,513.3,15.0,658,10430,0.00,1.08,0.00,0.000,4,0.000,0.061,1904,3947,2028,0,0,0,0,0,0
$GC,10494,0.53,104.2,502.2,17.1,661,10498,0.00,1.02,0.00,0.000,6,0.000,0.037,1909,3273,2028,0,0,0,0,0,0
$GC,10826,0.53,104.2,452.2,14.8,677,10830,0.00,2.15,0.00,0.000,4,0.000,0.034,1920,1859,2027,0,0,0,0,0,0
$GC,10845,0.53,104.2,449.6,15.4,678,10849,0.00,2.25,0.00,0.000,6,0.000,0.050,1920,3281,2027,0,0,0,0,0,0
$GC,11171,0.53,104.2,399.3,15.3,694,11175,0.00,1.08,0.00,0.000,4,0.000,0.060,1920,3954,2027,0,0,0,0,0,0
$GC,11242,0.53,104.2,386.8,18.3,700,11253,0.12,1.05,0.00,0.000,6,0.217,0.037,1897,3272,2026,0,0,0,0,0,0
$GC,11568,0.53,104.2,341.7,13.4,731,11569,0.00,0.00,0.00,0.000,6,0.000,0.000,1897,3272,2026,0,0,0,0,0,0
$GC,11889,0.53,104.2,296.7,14.5,761,11892,0.00,1.08,0.00,0.000,4,0.000,0.061,1897,3941,2026,0,0,0,0,0,0
$GC,11991,0.53,104.2,281.2,15.4,770,11994,0.00,1.00,0.00,0.000,6,0.000,0.037,1901,3279,2027,0,0,0,0,0,0
$GC,12323,0.53,104.2,236.3,12.9,801,12324,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,3278,2026,0,0,0,0,0,0
$GC,12640,0.53,104.2,194.8,13.2,831,12643,0.00,1.08,0.00,0.000,4,0.000,0.060,1901,3948,2026,0,0,0,0,0,0
$GC,12833,0.53,104.2,166.9,13.6,848,12837,0.00,1.00,0.00,0.000,6,0.000,0.037,1906,3282,2026,0,0,0,0,0,0
$GC,13163,0.53,104.2,127.0,11.4,879,13164,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3283,2026,0,0,0,0,0,0
$GC,13489,0.53,104.2,88.3,11.3,917,13496,0.00,2.15,0.00,0.000,4,0.000,0.034,1917,1859,2027,0,0,0,0,0,0
$GC,13572,0.53,104.2,79.5,10.8,931,13579,0.00,2.25,0.00,0.000,6,0.000,0.051,1917,3282,2026,0,0,0,0,0,0
$GC,13923,0.53,104.2,33.2,14.4,992,13932,0.00,1.05,0.00,0.000,4,0.000,0.060,1917,3941,2026,0,0,0,0,0,0
$STATE,14179,end climb,SURFACE_DEPTH_REACHED
$STATE,14179,begin surface coast
$FINISH,0.7,1.026271
$STATE,14204,end surface coast,CONTROL_FINISHED_OK
$STATE,14204,begin surface
$SM_CCo,14217,46.75,0.813,0,0,1553,225.18
$SM_GC,1.12,0.00,0.00,46.75,0.000,0.000,0.813,67,3412,1553,-5.16,-0.23,225.18
$IRIDIUM_FIX,-4242.04,819.04,201213,121207
$TT8_MAMPS,0.026215
$HUMID,62.28
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.5,20.001
$10V_AH,10.0,13.750
$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,12.375,64.900,205.700,46.750,0.000,25.113,43.041,298.674,0.000,0.000,21.581,2573.591,8907.490,370.646,2735.040,166.241,0.000,1345.281,0.000,2242.581,0.000,1.010,0.000
$DEVICE_MAMPS,237.150,84.915,1879.605,813.195,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,720.262,1781.464,703.140,329.464,0.000,0.000,0.000,0.000,0.000,0.000
$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,74006,1038
$CAP_FILE_SIZE,129961,0
$CFSIZE,259252224,249741312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,201213,205934,-4259.663,830.407,40,1.2,40,-25.0