version: 66.07
glider: 543
mission: 9
dive: 130
start: 12 21 113 1 22 14
data:
$ID,543
$MISSION,9
$DIVE,130
$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,-12922.486
$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,50
$R_STBD_OVSHOOT,23
$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
$GPS1,211213,011335,-4300.297,830.051,29,1.2,29,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-65.3
$GPS2,211213,012149,-4300.250,830.156,16,1.7,16,-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,0.4,508,-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,-57.7,0.0,0.0,0,59,0.00,0.00,-41.85,0.000,2,0.000,0.000,64,3416,2480,0,0,0,0,0,0
$GC,61,-0.53,-101.2,3.0,-4.7,5,87,6.20,2.17,-12.00,0.000,4,0.245,0.044,1539,2008,2888,0,0,0,0,0,0
$GC,132,-0.53,-101.2,12.6,-14.2,15,141,0.00,2.33,0.00,0.000,6,0.000,0.053,1529,3423,2891,0,0,0,0,0,0
$GC,190,-0.53,-101.2,23.4,-19.0,24,198,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3423,2892,0,0,0,0,0,0
$GC,340,-0.53,-101.2,50.1,-16.5,49,346,0.00,2.15,0.00,0.000,4,0.000,0.031,1529,2009,2893,0,0,0,0,0,0
$GC,394,-0.53,-101.2,58.0,-12.9,58,401,0.00,2.28,0.00,0.000,6,0.000,0.052,1519,3425,2893,0,0,0,0,0,0
$GC,736,-0.53,-101.2,115.8,-15.9,110,740,0.00,0.82,0.00,0.000,4,0.000,0.058,1515,3948,2894,0,0,0,0,0,0
$GC,817,-0.53,-101.2,128.6,-17.1,117,821,0.10,0.77,0.00,0.000,6,0.174,0.037,1543,3434,2895,0,0,0,0,0,0
$GC,1146,-0.53,-101.2,173.3,-13.3,148,1150,0.00,2.15,0.00,0.000,4,0.000,0.031,1543,1997,2896,0,0,0,0,0,0
$GC,1167,-0.53,-101.2,176.3,-13.7,149,1175,0.00,2.30,0.00,0.000,6,0.000,0.052,1533,3424,2897,0,0,0,0,0,0
$GC,1494,-0.53,-101.2,220.4,-14.1,180,1495,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3423,2897,0,0,0,0,0,0
$GC,1812,-0.53,-101.2,265.6,-14.1,210,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3423,2897,0,0,0,0,0,0
$GC,2131,-0.53,-101.2,309.3,-14.1,240,2135,0.00,2.12,0.00,0.000,4,0.000,0.032,1533,1993,2896,0,0,0,0,0,0
$GC,2149,-0.53,-101.2,311.7,-14.2,241,2153,0.00,2.28,0.00,0.000,6,0.000,0.054,1523,3420,2897,0,0,0,0,0,0
$GC,2473,-0.53,-101.2,359.4,-14.9,271,2474,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3420,2896,0,0,0,0,0,0
$GC,2801,-0.53,-101.2,409.8,-15.7,299,2804,0.00,0.85,0.00,0.000,4,0.000,0.062,1519,3947,2896,0,0,0,0,0,0
$GC,2827,-0.53,-101.2,414.5,-17.1,300,2832,0.00,0.82,0.00,0.000,6,0.000,0.038,1519,3412,2896,0,0,0,0,0,0
$GC,3154,-0.53,-101.2,465.7,-15.0,316,3155,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3411,2896,0,0,0,0,0,0
$GC,3463,-0.53,-101.2,510.6,-14.1,331,3465,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3411,2897,0,0,0,0,0,0
$GC,3773,-0.53,-101.2,554.2,-14.0,346,3777,0.10,0.88,0.00,0.000,4,0.194,0.063,1539,3949,2896,0,0,0,0,0,0
$GC,3821,-0.53,-101.2,561.1,-13.0,348,3825,0.00,0.82,0.00,0.000,6,0.000,0.039,1539,3415,2896,0,0,0,0,0,0
$GC,4148,-0.53,-101.2,602.4,-12.5,364,4152,0.00,2.10,0.00,0.000,4,0.000,0.034,1538,1997,2894,0,0,0,0,0,0
$GC,4180,-0.53,-101.2,606.3,-11.2,365,4188,0.00,2.30,0.00,0.000,6,0.000,0.057,1528,3421,2894,0,0,0,0,0,0
$GC,4497,-0.53,-101.2,648.0,-13.4,381,4501,0.00,0.82,0.00,0.000,4,0.000,0.063,1524,3946,2894,0,0,0,0,0,0
$GC,4557,-0.53,-101.2,657.1,-14.9,383,4565,0.00,0.82,0.00,0.000,6,0.000,0.040,1524,3410,2894,0,0,0,0,0,0
$GC,4873,-0.53,-101.2,699.6,-13.2,399,4877,0.00,2.12,0.00,0.000,4,0.000,0.034,1524,1993,2893,0,0,0,0,0,0
$GC,4899,-0.53,-101.2,703.3,-13.3,400,4905,0.10,2.30,0.00,0.000,6,0.142,0.057,1545,3418,2894,0,0,0,0,0,0
$GC,5223,-0.53,-101.2,739.2,-11.5,416,5226,0.00,0.82,0.00,0.000,4,0.000,0.064,1542,3941,2893,0,0,0,0,0,0
$GC,5260,-0.53,-101.2,744.1,-12.3,417,5268,0.00,0.80,0.00,0.000,6,0.000,0.040,1542,3421,2893,0,0,0,0,0,0
$GC,5576,-0.53,-101.2,780.4,-11.3,433,5577,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,3421,2892,0,0,0,0,0,0
$GC,5886,-0.53,-101.2,815.3,-11.2,448,5890,0.00,2.12,0.00,0.000,4,0.000,0.035,1542,1992,2891,0,0,0,0,0,0
$GC,5917,-0.53,-101.2,819.0,-10.5,449,5925,0.00,2.33,0.00,0.000,6,0.000,0.059,1531,3423,2892,0,0,0,0,0,0
$GC,6236,-0.53,-101.2,855.3,-11.3,465,6237,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3423,2892,0,0,0,0,0,0
$GC,6544,-0.53,-101.2,890.0,-11.1,480,6547,0.00,0.82,0.00,0.000,4,0.000,0.067,1527,3940,2891,0,0,0,0,0,0
$GC,6592,-0.53,-101.2,895.9,-11.8,482,6597,0.00,0.82,0.00,0.000,6,0.000,0.043,1527,3413,2891,0,0,0,0,0,0
$GC,6921,-0.53,-101.2,930.8,-10.4,498,6922,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3413,2890,0,0,0,0,0,0
$GC,7229,-0.53,-102.6,960.8,-9.3,513,7230,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3413,2890,0,0,0,0,0,0
$STATE,7537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7537,begin apogee
$GC,7541,-0.09,0.0,991.3,10.3,528,7642,0.55,0.00,97.90,1.873,6,0.158,0.000,1690,3285,2473,0,0,0,0,0,0
$STATE,7643,end apogee,CONTROL_FINISHED_OK
$STATE,7643,begin climb
$GC,7645,0.53,102.6,992.8,0.0,533,7755,0.60,2.47,103.35,1.821,4,0.068,0.038,1904,1859,2055,0,0,0,0,0,0
$GC,7777,0.53,102.6,981.3,13.9,539,7785,0.00,2.53,0.00,0.000,6,0.000,0.054,1904,3273,2051,0,0,0,0,0,0
$GC,8095,0.53,102.6,930.3,15.9,555,8096,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3273,2043,0,0,0,0,0,0
$GC,8403,0.53,102.6,882.7,15.1,570,8407,0.00,1.12,0.00,0.000,4,0.000,0.063,1904,3952,2041,0,0,0,0,0,0
$GC,8575,0.53,102.6,853.4,17.1,577,8583,0.00,1.08,0.00,0.000,6,0.000,0.041,1909,3275,2040,0,0,0,0,0,0
$GC,8891,0.53,102.6,805.4,15.1,593,8895,0.00,2.20,0.00,0.000,4,0.000,0.041,1920,1857,2038,0,0,0,0,0,0
$GC,8912,0.53,102.6,802.1,14.6,594,8917,0.00,2.35,0.00,0.000,6,0.000,0.055,1920,3285,2037,0,0,0,0,0,0
$GC,9240,0.53,102.6,749.8,16.3,610,9243,0.00,1.08,0.00,0.000,4,0.000,0.064,1920,3946,2037,0,0,0,0,0,0
$GC,9311,0.53,102.6,736.9,17.5,613,9316,0.12,1.05,0.00,0.000,6,0.223,0.041,1898,3279,2037,0,0,0,0,0,0
$GC,9639,0.53,102.6,686.6,15.4,629,9643,0.00,1.10,0.00,0.000,4,0.000,0.064,1898,3954,2036,0,0,0,0,0,0
$GC,9730,0.53,102.6,671.0,17.1,633,9734,0.00,1.05,0.00,0.000,6,0.000,0.041,1902,3277,2036,0,0,0,0,0,0
$GC,10062,0.53,102.6,620.2,15.2,649,10066,0.00,1.10,0.00,0.000,4,0.000,0.065,1901,3951,2035,0,0,0,0,0,0
$GC,10221,0.53,102.6,594.9,15.6,656,10224,0.00,1.02,0.00,0.000,6,0.000,0.041,1907,3287,2035,0,0,0,0,0,0
$GC,10553,0.53,102.6,547.7,13.9,672,10554,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3287,2035,0,0,0,0,0,0
$GC,10864,0.53,102.6,504.0,13.9,687,10867,0.00,1.08,0.00,0.000,4,0.000,0.063,1907,3951,2034,0,0,0,0,0,0
$GC,10980,0.53,102.6,485.6,15.8,692,10985,0.00,1.05,0.00,0.000,6,0.000,0.038,1912,3272,2034,0,0,0,0,0,0
$GC,11307,0.53,102.6,440.3,13.7,708,11311,0.00,1.10,0.00,0.000,4,0.000,0.062,1912,3953,2034,0,0,0,0,0,0
$GC,11379,0.53,102.6,428.9,16.4,711,11383,0.00,1.05,0.00,0.000,6,0.000,0.038,1917,3275,2034,0,0,0,0,0,0
$GC,11699,0.53,102.6,382.5,14.9,732,11703,0.00,1.10,0.00,0.000,4,0.000,0.060,1917,3956,2034,0,0,0,0,0,0
$GC,11828,0.53,102.6,361.5,15.5,743,11837,0.12,1.05,0.00,0.000,6,0.216,0.037,1894,3279,2033,0,0,0,0,0,0
$GC,12153,0.53,102.6,319.6,12.6,774,12157,0.00,1.08,0.00,0.000,4,0.000,0.061,1894,3948,2033,0,0,0,0,0,0
$GC,12280,0.53,102.6,302.0,13.9,785,12283,0.00,1.02,0.00,0.000,6,0.000,0.039,1898,3272,2033,0,0,0,0,0,0
$GC,12610,0.53,102.6,260.9,12.0,816,12613,0.00,1.10,0.00,0.000,4,0.000,0.060,1898,3955,2033,0,0,0,0,0,0
$GC,12760,0.53,102.6,240.8,12.9,829,12764,0.00,1.02,0.00,0.000,6,0.000,0.037,1903,3276,2033,0,0,0,0,0,0
$GC,13090,0.53,102.6,200.2,12.1,860,13091,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3276,2033,0,0,0,0,0,0
$GC,13409,0.53,102.6,159.6,12.9,890,13413,0.00,2.12,0.00,0.000,4,0.000,0.034,1914,1857,2033,0,0,0,0,0,0
$GC,13430,0.53,102.6,156.9,12.3,891,13437,0.00,2.30,0.00,0.000,6,0.000,0.054,1915,3286,2031,0,0,0,0,0,0
$GC,13755,0.53,102.6,112.0,13.8,922,13758,0.00,1.05,0.00,0.000,4,0.000,0.060,1914,3947,2031,0,0,0,0,0,0
$GC,13790,0.53,102.6,106.8,16.2,925,13795,0.00,1.00,0.00,0.000,6,0.000,0.037,1919,3284,2031,0,0,0,0,0,0
$GC,14136,0.53,102.6,63.7,11.8,981,14146,0.00,1.08,0.00,0.000,4,0.000,0.060,1919,3953,2031,0,0,0,0,0,0
$GC,14285,0.53,102.6,44.9,13.6,1006,14293,0.10,1.02,0.00,0.000,6,0.197,0.037,1897,3272,2031,0,0,0,0,0,0
$GC,14651,0.53,108.0,10.9,8.8,1067,14660,0.00,2.15,0.00,0.000,4,0.000,0.034,1906,1854,2031,0,0,0,0,0,0
$STATE,14746,end climb,SURFACE_DEPTH_REACHED
$STATE,14746,begin surface coast
$FINISH,0.6,1.011291
$STATE,14785,end surface coast,CONTROL_FINISHED_OK
$STATE,14785,begin surface
$SM_CCo,14799,47.28,0.791,0,0,1552,225.18
$SM_GC,1.38,0.00,0.00,47.28,0.000,0.000,0.791,49,3423,1552,-5.22,0.08,225.18
$IRIDIUM_FIX,-4244.98,831.12,201213,212105
$TT8_MAMPS,0.026215
$HUMID,61.89
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.6,20.269
$10V_AH,10.0,13.976
$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,12.900,83.175,201.250,47.275,0.000,27.112,40.341,306.872,0.000,0.000,18.842,2695.390,9165.766,387.501,2905.644,188.619,0.000,1404.419,0.000,2401.595,0.000,1.011,0.000
$DEVICE_MAMPS,244.800,67.320,1873.485,791.010,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,754.889,1899.001,775.968,412.730,0.000,0.000,0.000,0.000,0.000,0.000
$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,77012,1088
$CAP_FILE_SIZE,135839,0
$CFSIZE,259252224,249581568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,211213,053059,-4258.459,830.000,44,0.9,44,-25.0