version: 66.07
glider: 543
mission: 9
dive: 131
start: 12 21 113 5 39 37
data:
$ID,543
$MISSION,9
$DIVE,131
$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,-12925.75
$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,44
$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
$GPS1,211213,053059,-4258.459,830.000,44,0.9,44,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-60.0
$GPS2,211213,053912,-4258.427,830.071,19,1.2,19,-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,206.9,2915,-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,13,begin dive
$GC,14,-0.50,-57.7,0.0,0.0,0,58,0.00,0.00,-41.88,0.000,2,0.000,0.000,49,3423,2477,0,0,0,0,0,0
$GC,60,-0.53,-99.2,3.0,-4.9,5,86,6.15,2.20,-11.73,0.000,4,0.237,0.049,1539,2008,2878,0,0,0,0,0,0
$GC,289,-0.53,-99.2,32.9,-12.6,42,298,0.00,2.33,0.00,0.000,6,0.000,0.056,1529,3420,2881,0,0,0,0,0,0
$GC,437,-0.53,-99.2,55.9,-17.2,67,444,0.00,0.88,0.00,0.000,4,0.000,0.061,1525,3952,2881,0,0,0,0,0,0
$GC,467,-0.53,-99.2,61.5,-17.2,72,476,0.00,0.80,0.00,0.000,6,0.000,0.038,1525,3427,2881,0,0,0,0,0,0
$GC,812,-0.53,-99.2,118.4,-14.9,122,813,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3427,2883,0,0,0,0,0,0
$GC,1131,-0.53,-99.2,168.0,-16.0,152,1135,0.00,0.85,0.00,0.000,4,0.000,0.061,1521,3955,2884,0,0,0,0,0,0
$GC,1203,-0.53,-99.2,180.5,-17.7,158,1211,0.00,0.85,0.00,0.000,6,0.000,0.036,1521,3403,2884,0,0,0,0,0,0
$GC,1530,-0.53,-99.2,232.9,-15.3,189,1532,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3403,2884,0,0,0,0,0,0
$GC,1848,-0.53,-99.2,284.1,-16.5,219,1849,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3403,2884,0,0,0,0,0,0
$GC,2169,-0.53,-99.2,332.9,-15.1,249,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3403,2884,0,0,0,0,0,0
$GC,2484,-0.53,-99.2,381.9,-15.2,279,2488,0.00,0.88,0.00,0.000,4,0.000,0.063,1518,3948,2884,0,0,0,0,0,0
$GC,2532,-0.53,-99.2,390.2,-16.5,283,2540,0.12,0.82,0.00,0.000,6,0.189,0.037,1547,3414,2884,0,0,0,0,0,0
$GC,2861,-0.53,-99.2,433.2,-12.9,303,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,3413,2884,0,0,0,0,0,0
$GC,3170,-0.53,-99.2,472.5,-12.5,318,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,3413,2884,0,0,0,0,0,0
$GC,3480,-0.53,-99.2,509.8,-11.7,333,3483,0.00,2.12,0.00,0.000,4,0.000,0.034,1547,1996,2884,0,0,0,0,0,0
$GC,3500,-0.53,-99.2,512.4,-11.6,334,3505,0.00,2.30,0.00,0.000,6,0.000,0.055,1538,3420,2884,0,0,0,0,0,0
$GC,3828,-0.53,-99.2,553.7,-12.9,350,3831,0.00,0.85,0.00,0.000,4,0.000,0.064,1534,3944,2883,0,0,0,0,0,0
$GC,3882,-0.53,-99.2,561.7,-14.4,352,3887,0.00,0.80,0.00,0.000,6,0.000,0.039,1533,3420,2883,0,0,0,0,0,0
$GC,4204,-0.53,-99.2,605.1,-13.5,368,4205,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3420,2882,0,0,0,0,0,0
$GC,4513,-0.53,-99.2,645.5,-13.3,383,4517,0.00,2.12,0.00,0.000,4,0.000,0.034,1533,1998,2881,0,0,0,0,0,0
$GC,4540,-0.53,-99.2,649.1,-12.4,384,4544,0.00,2.30,0.00,0.000,6,0.000,0.057,1523,3420,2881,0,0,0,0,0,0
$GC,4861,-0.53,-99.2,693.8,-14.3,400,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3420,2881,0,0,0,0,0,0
$GC,5172,-0.53,-99.2,734.3,-13.1,415,5176,0.00,0.88,0.00,0.000,4,0.000,0.064,1519,3956,2881,0,0,0,0,0,0
$GC,5243,-0.53,-99.2,744.9,-14.7,418,5247,0.00,0.82,0.00,0.000,6,0.000,0.040,1518,3423,2880,0,0,0,0,0,0
$GC,5570,-0.53,-99.2,788.7,-13.2,434,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3423,2880,0,0,0,0,0,0
$GC,5880,-0.53,-99.2,828.5,-12.3,449,5881,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3423,2880,0,0,0,0,0,0
$GC,6189,-0.53,-99.2,865.4,-11.7,464,6190,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3423,2879,0,0,0,0,0,0
$GC,6500,-0.53,-99.2,901.4,-11.3,479,6504,0.00,2.12,0.00,0.000,4,0.000,0.034,1519,1993,2878,0,0,0,0,0,0
$GC,6520,-0.53,-99.2,904.0,-11.0,480,6526,0.10,2.30,0.00,0.000,6,0.143,0.057,1541,3413,2878,0,0,0,0,0,0
$GC,6848,-0.53,-104.3,933.2,-8.9,496,6849,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,3413,2878,0,0,0,0,0,0
$GC,7157,-0.53,-105.8,961.3,-9.3,511,7159,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,3413,2877,0,0,0,0,0,0
$STATE,7465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7465,begin apogee
$GC,7470,-0.09,0.0,991.3,9.6,526,7569,0.47,0.00,95.22,1.869,6,0.150,0.000,1684,3273,2473,0,0,0,0,0,0
$STATE,7569,end apogee,CONTROL_FINISHED_OK
$STATE,7569,begin climb
$GC,7571,0.53,105.8,992.7,0.0,531,7685,0.62,1.25,106.45,1.815,4,0.073,0.060,1892,3945,2040,0,0,0,0,0,0
$GC,7768,0.53,105.8,970.1,16.9,540,7773,0.00,1.12,0.00,0.000,6,0.000,0.037,1897,3271,2036,0,0,0,0,0,0
$GC,8090,0.53,105.8,919.2,16.0,556,8091,0.00,0.00,0.00,0.000,6,0.000,0.000,1897,3271,2029,0,0,0,0,0,0
$GC,8399,0.53,105.8,871.2,15.3,571,8403,0.00,1.12,0.00,0.000,4,0.000,0.060,1897,3954,2027,0,0,0,0,0,0
$GC,8512,0.53,105.8,852.1,16.9,576,8516,0.00,1.05,0.00,0.000,6,0.000,0.037,1902,3275,2027,0,0,0,0,0,0
$GC,8844,0.53,105.8,799.7,16.0,592,8845,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3274,2025,0,0,0,0,0,0
$GC,9153,0.53,105.8,751.8,15.2,607,9157,0.00,1.10,0.00,0.000,4,0.000,0.060,1902,3949,2024,0,0,0,0,0,0
$GC,9269,0.53,105.8,732.1,17.1,612,9274,0.00,1.05,0.00,0.000,6,0.000,0.037,1908,3275,2024,0,0,0,0,0,0
$GC,9597,0.53,105.8,681.1,15.6,628,9600,0.00,1.10,0.00,0.000,4,0.000,0.060,1908,3955,2023,0,0,0,0,0,0
$GC,9687,0.53,105.8,666.1,16.6,632,9690,0.00,1.02,0.00,0.000,6,0.000,0.037,1913,3282,2023,0,0,0,0,0,0
$GC,10019,0.53,105.8,616.5,14.7,648,10022,0.00,1.08,0.00,0.000,4,0.000,0.060,1913,3951,2023,0,0,0,0,0,0
$GC,10118,0.53,105.8,600.2,16.6,652,10123,0.00,1.05,0.00,0.000,6,0.000,0.037,1918,3271,2023,0,0,0,0,0,0
$GC,10441,0.53,105.8,551.7,15.1,668,10445,0.00,1.10,0.00,0.000,4,0.000,0.060,1918,3954,2022,0,0,0,0,0,0
$GC,10603,0.53,105.8,523.7,17.7,675,10608,0.10,1.02,0.00,0.000,6,0.197,0.036,1896,3278,2022,0,0,0,0,0,0
$GC,10930,0.53,105.8,476.7,14.6,691,10934,0.00,1.08,0.00,0.000,4,0.000,0.060,1896,3945,2020,0,0,0,0,0,0
$GC,11007,0.53,105.8,463.9,16.4,694,11011,0.00,1.02,0.00,0.000,6,0.000,0.037,1899,3280,2020,0,0,0,0,0,0
$GC,11328,0.53,105.8,416.8,14.2,710,11332,0.00,1.08,0.00,0.000,4,0.000,0.060,1899,3952,2020,0,0,0,0,0,0
$GC,11411,0.53,105.8,404.1,17.0,713,11419,0.00,1.05,0.00,0.000,6,0.000,0.037,1905,3271,2020,0,0,0,0,0,0
$GC,11735,0.53,105.8,358.8,13.5,742,11739,0.00,1.10,0.00,0.000,4,0.000,0.060,1905,3954,2020,0,0,0,0,0,0
$GC,11781,0.53,105.8,351.9,15.6,746,11784,0.00,1.02,0.00,0.000,6,0.000,0.037,1910,3277,2020,0,0,0,0,0,0
$GC,12113,0.53,105.8,303.7,14.5,777,12116,0.00,1.08,0.00,0.000,4,0.000,0.059,1910,3948,2020,0,0,0,0,0,0
$GC,12205,0.53,105.8,288.9,15.9,785,12209,0.00,1.02,0.00,0.000,6,0.000,0.037,1915,3270,2020,0,0,0,0,0,0
$GC,12535,0.53,105.8,241.5,13.5,816,12537,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3270,2020,0,0,0,0,0,0
$GC,12855,0.53,105.8,198.6,13.8,846,12859,0.00,1.10,0.00,0.000,4,0.000,0.060,1915,3955,2020,0,0,0,0,0,0
$GC,12981,0.53,105.8,179.3,15.6,857,12985,0.00,1.02,0.00,0.000,6,0.000,0.037,1920,3274,2020,0,0,0,0,0,0
$GC,13311,0.53,105.8,131.7,14.6,888,13315,0.00,1.08,0.00,0.000,4,0.000,0.060,1920,3945,2020,0,0,0,0,0,0
$GC,13492,0.53,105.8,100.9,17.7,904,13496,0.10,1.00,0.00,0.000,6,0.195,0.037,1897,3278,2020,0,0,0,0,0,0
$GC,13843,0.53,105.8,50.9,12.3,964,13850,0.00,1.08,0.00,0.000,4,0.000,0.060,1897,3952,2020,0,0,0,0,0,0
$GC,14012,0.53,105.8,30.3,11.1,993,14019,0.00,1.00,0.00,0.000,6,0.000,0.036,1901,3282,2020,0,0,0,0,0,0
$GC,14164,0.53,106.9,17.5,9.3,1018,14173,0.00,2.15,0.00,0.000,4,0.000,0.034,1912,1866,2019,0,0,0,0,0,0
$GC,14298,0.54,120.9,6.5,7.9,1039,14308,0.00,2.25,3.67,0.582,6,0.000,0.052,1912,3275,1977,0,0,0,0,0,0
$STATE,14339,end climb,SURFACE_DEPTH_REACHED
$STATE,14340,begin surface coast
$FINISH,0.7,1.025858
$STATE,14378,end surface coast,CONTROL_FINISHED_OK
$STATE,14378,begin surface
$SM_CCo,14390,41.58,0.800,0,0,1552,225.18
$SM_GC,1.07,0.00,0.00,41.58,0.000,0.000,0.800,55,3447,1552,-5.20,0.76,225.18
$IRIDIUM_FIX,-4244.98,828.21,211213,010108
$TT8_MAMPS,0.024717
$HUMID,61.85
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,22.6,20.405
$10V_AH,10.0,14.086
$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,12.825,58.875,205.350,41.575,0.000,27.067,40.519,304.722,0.000,0.000,22.187,2604.283,8976.814,345.070,2831.218,169.006,0.000,1318.587,0.000,2326.649,0.000,1.010,0.000
$DEVICE_MAMPS,237.150,68.085,1868.895,800.190,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,729.969,1833.191,756.118,422.271,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354416
$DATA_FILE_SIZE,73835,1051
$CAP_FILE_SIZE,128673,0
$CFSIZE,259252224,249516032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,211213,094122,-4259.836,830.920,39,0.8,39,-25.0