version: 66.07
glider: 543
mission: 9
dive: 133
start: 12 21 113 13 56 24
data:
$ID,543
$MISSION,9
$DIVE,133
$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,-12932.397
$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,33
$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
$GPS1,211213,134504,-4259.609,829.867,28,0.8,28,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-62.6
$GPS2,211213,135600,-4259.623,829.990,19,1.4,20,-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,203.9,699,-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,14,-0.50,-57.7,0.0,0.0,0,66,0.00,0.00,-49.47,0.000,2,0.000,0.000,66,3438,2690,0,0,0,0,0,0
$GC,68,-0.53,-107.1,3.2,-4.0,6,86,6.12,0.80,-5.85,0.000,4,0.241,0.091,1538,3954,2909,0,0,0,0,0,0
$GC,351,-0.53,-107.1,57.0,-17.5,53,357,0.00,0.82,0.00,0.000,6,0.000,0.037,1538,3414,2913,0,0,0,0,0,0
$GC,694,-0.53,-107.1,111.0,-14.6,107,698,0.00,0.85,0.00,0.000,4,0.000,0.060,1534,3940,2915,0,0,0,0,0,0
$GC,821,-0.53,-107.1,131.6,-16.3,118,829,0.00,0.82,0.00,0.000,6,0.000,0.036,1533,3406,2916,0,0,0,0,0,0
$GC,1149,-0.53,-107.1,178.7,-13.9,149,1153,0.00,0.85,0.00,0.000,4,0.000,0.060,1530,3933,2917,0,0,0,0,0,0
$GC,1205,-0.53,-107.1,187.4,-15.5,154,1209,0.00,0.77,0.00,0.000,6,0.000,0.037,1530,3422,2917,0,0,0,0,0,0
$GC,1537,-0.53,-107.1,236.2,-15.1,185,1541,0.00,0.82,0.00,0.000,4,0.000,0.061,1526,3932,2917,0,0,0,0,0,0
$GC,1674,-0.53,-107.1,258.2,-16.4,197,1678,0.00,0.77,0.00,0.000,6,0.000,0.037,1526,3420,2917,0,0,0,0,0,0
$GC,2004,-0.53,-107.1,310.6,-16.0,228,2005,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3418,2917,0,0,0,0,0,0
$GC,2324,-0.53,-107.1,360.1,-15.2,258,2327,0.00,0.82,0.00,0.000,4,0.000,0.063,1523,3932,2917,0,0,0,0,0,0
$GC,2426,-0.53,-107.1,376.5,-15.8,267,2429,0.00,0.77,0.00,0.000,6,0.000,0.038,1523,3420,2917,0,0,0,0,0,0
$GC,2751,-0.53,-107.1,426.5,-15.1,290,2754,0.00,0.82,0.00,0.000,4,0.000,0.063,1519,3933,2917,0,0,0,0,0,0
$GC,2867,-0.53,-107.1,445.0,-15.3,295,2872,0.00,0.80,0.00,0.000,6,0.000,0.037,1519,3414,2917,0,0,0,0,0,0
$GC,3194,-0.53,-107.1,493.9,-15.3,311,3198,0.00,0.82,0.00,0.000,4,0.000,0.062,1515,3929,2917,0,0,0,0,0,0
$GC,3262,-0.53,-107.1,504.9,-16.7,314,3266,0.08,0.77,0.00,0.000,6,0.169,0.038,1537,3419,2917,0,0,0,0,0,0
$GC,3594,-0.53,-107.1,549.7,-13.3,330,3595,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3418,2916,0,0,0,0,0,0
$GC,3903,-0.53,-107.1,591.7,-13.9,345,3906,0.00,0.82,0.00,0.000,4,0.000,0.063,1535,3933,2915,0,0,0,0,0,0
$GC,4002,-0.53,-107.1,607.1,-14.8,349,4006,0.00,0.80,0.00,0.000,6,0.000,0.038,1535,3418,2915,0,0,0,0,0,0
$GC,4324,-0.53,-107.1,652.6,-13.9,365,4327,0.00,0.82,0.00,0.000,4,0.000,0.064,1531,3931,2914,0,0,0,0,0,0
$GC,4414,-0.53,-107.1,665.6,-14.2,369,4418,0.00,0.77,0.00,0.000,6,0.000,0.040,1531,3422,2914,0,0,0,0,0,0
$GC,4746,-0.53,-107.1,709.9,-13.4,385,4750,0.00,0.82,0.00,0.000,4,0.000,0.064,1527,3937,2913,0,0,0,0,0,0
$GC,4823,-0.53,-107.1,721.0,-14.2,388,4828,0.00,0.80,0.00,0.000,6,0.000,0.039,1527,3418,2913,0,0,0,0,0,0
$GC,5145,-0.53,-107.1,761.3,-12.1,404,5149,0.00,0.82,0.00,0.000,4,0.000,0.063,1523,3934,2913,0,0,0,0,0,0
$GC,5261,-0.53,-107.1,776.7,-13.1,409,5265,0.00,0.80,0.00,0.000,6,0.000,0.039,1524,3418,2913,0,0,0,0,0,0
$GC,5588,-0.53,-107.1,816.0,-12.0,425,5592,0.00,0.82,0.00,0.000,4,0.000,0.063,1520,3933,2912,0,0,0,0,0,0
$GC,5723,-0.53,-107.1,833.4,-13.1,431,5727,0.00,0.77,0.00,0.000,6,0.000,0.041,1520,3423,2912,0,0,0,0,0,0
$GC,6055,-0.53,-107.1,873.9,-12.0,447,6059,0.00,0.82,0.00,0.000,4,0.000,0.063,1516,3939,2911,0,0,0,0,0,0
$GC,6191,-0.53,-107.1,891.4,-13.7,453,6195,0.08,0.80,0.00,0.000,6,0.166,0.040,1539,3415,2911,0,0,0,0,0,0
$GC,6524,-0.53,-107.1,925.3,-10.1,469,6528,0.00,0.82,0.00,0.000,4,0.000,0.064,1536,3930,2910,0,0,0,0,0,0
$GC,6629,-0.53,-107.1,937.4,-11.3,473,6637,0.00,0.80,0.00,0.000,6,0.000,0.040,1536,3416,2910,0,0,0,0,0,0
$GC,6945,-0.53,-107.1,970.0,-10.6,489,6949,0.00,0.82,0.00,0.000,4,0.000,0.064,1532,3929,2910,0,0,0,0,0,0
$GC,7050,-0.53,-107.1,981.9,-11.6,493,7058,0.00,0.80,0.00,0.000,6,0.000,0.040,1532,3417,2910,0,0,0,0,0,0
$STATE,7139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7139,begin apogee
$GC,7143,-0.09,0.0,991.2,10.7,498,7249,0.52,0.00,102.82,1.864,6,0.151,0.000,1690,3281,2474,0,0,0,0,0,0
$STATE,7250,end apogee,CONTROL_FINISHED_OK
$STATE,7250,begin climb
$GC,7251,0.53,107.1,993.4,0.0,503,7367,0.57,2.45,107.75,1.818,4,0.067,0.034,1902,1864,2036,0,0,0,0,0,0
$GC,7388,0.53,107.1,982.3,12.6,509,7396,0.00,2.47,0.00,0.000,6,0.000,0.050,1902,3264,2032,0,0,0,0,0,0
$GC,7706,0.53,107.1,930.6,16.5,525,7710,0.00,1.15,0.00,0.000,4,0.000,0.060,1902,3951,2024,0,0,0,0,0,0
$GC,7738,0.53,107.1,924.5,18.3,526,7743,0.00,1.08,0.00,0.000,6,0.000,0.037,1908,3281,2024,0,0,0,0,0,0
$GC,8060,0.53,107.1,871.1,16.4,542,8064,0.00,1.10,0.00,0.000,4,0.000,0.059,1908,3954,2022,0,0,0,0,0,0
$GC,8160,0.53,107.1,853.3,17.6,546,8164,0.00,1.08,0.00,0.000,6,0.000,0.036,1913,3268,2021,0,0,0,0,0,0
$GC,8483,0.53,107.1,802.8,15.5,562,8487,0.00,1.12,0.00,0.000,4,0.000,0.059,1913,3957,2020,0,0,0,0,0,0
$GC,8520,0.53,107.1,796.0,17.4,563,8528,0.00,1.08,0.00,0.000,6,0.000,0.037,1918,3269,2020,0,0,0,0,0,0
$GC,8837,0.53,107.1,745.8,16.2,579,8841,0.00,2.17,0.00,0.000,4,0.000,0.037,1929,1867,2019,0,0,0,0,0,0
$GC,8853,0.53,107.1,743.2,16.0,580,8858,0.12,2.28,0.00,0.000,6,0.186,0.052,1899,3285,2018,0,0,0,0,0,0
$GC,9185,0.53,107.1,695.5,14.2,596,9188,0.00,1.08,0.00,0.000,4,0.000,0.060,1899,3951,2018,0,0,0,0,0,0
$GC,9239,0.53,107.1,687.1,15.1,598,9244,0.00,1.05,0.00,0.000,6,0.000,0.037,1903,3275,2018,0,0,0,0,0,0
$GC,9561,0.53,107.1,641.6,14.2,614,9562,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3275,2017,0,0,0,0,0,0
$GC,9871,0.53,107.1,595.1,15.4,629,9872,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3275,2017,0,0,0,0,0,0
$GC,10180,0.53,107.1,546.9,15.9,644,10184,0.00,2.15,0.00,0.000,4,0.000,0.035,1914,1866,2016,0,0,0,0,0,0
$GC,10200,0.53,107.1,543.5,15.6,645,10205,0.00,2.28,0.00,0.000,6,0.000,0.051,1914,3278,2016,0,0,0,0,0,0
$GC,10528,0.53,107.1,490.9,16.0,661,10529,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3278,2015,0,0,0,0,0,0
$GC,10837,0.53,107.1,442.8,15.2,676,10838,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3278,2015,0,0,0,0,0,0
$GC,11147,0.53,107.1,396.3,14.7,692,11148,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3278,2016,0,0,0,0,0,0
$GC,11467,0.53,107.1,350.6,14.3,722,11470,0.00,1.08,0.00,0.000,4,0.000,0.061,1914,3951,2015,0,0,0,0,0,0
$GC,11493,0.53,107.1,346.3,14.7,724,11503,0.00,1.05,0.00,0.000,6,0.000,0.038,1918,3270,2015,0,0,0,0,0,0
$GC,11818,0.53,107.1,299.6,14.4,755,11822,0.00,1.10,0.00,0.000,4,0.000,0.060,1919,3954,2015,0,0,0,0,0,0
$GC,11852,0.53,107.1,294.4,15.8,758,11856,0.08,1.02,0.00,0.000,6,0.203,0.038,1903,3278,2015,0,0,0,0,0,0
$GC,12184,0.53,107.1,249.6,13.6,789,12185,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3278,2015,0,0,0,0,0,0
$GC,12500,0.53,107.1,207.9,12.9,819,12501,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3278,2015,0,0,0,0,0,0
$GC,12822,0.53,107.1,165.3,13.5,849,12828,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3278,2015,0,0,0,0,0,0
$GC,13147,0.53,107.1,120.9,13.1,880,13150,0.00,1.08,0.00,0.000,4,0.000,0.060,1903,3949,2015,0,0,0,0,0,0
$GC,13226,0.53,107.1,109.2,16.0,887,13229,0.00,1.02,0.00,0.000,6,0.000,0.037,1907,3270,2014,0,0,0,0,0,0
$GC,13571,0.53,107.1,66.4,10.3,941,13577,0.00,2.12,0.00,0.000,4,0.000,0.034,1917,1859,2015,0,0,0,0,0,0
$GC,13654,0.53,107.5,58.3,9.4,955,13661,0.00,2.25,0.00,0.000,6,0.000,0.051,1917,3282,2014,0,0,0,0,0,0
$GC,14011,0.53,107.5,18.6,10.3,1016,14021,0.00,1.08,0.00,0.000,4,0.000,0.060,1917,3956,2014,0,0,0,0,0,0
$STATE,14168,end climb,SURFACE_DEPTH_REACHED
$STATE,14168,begin surface coast
$FINISH,0.7,1.022832
$STATE,14199,end surface coast,CONTROL_FINISHED_OK
$STATE,14200,begin surface
$SM_CCo,14212,45.25,0.811,0,0,1553,225.18
$SM_GC,1.40,0.00,0.00,45.25,0.000,0.000,0.811,61,3412,1553,-5.17,-0.23,225.18
$IRIDIUM_FIX,-4242.04,827.77,211213,131336
$TT8_MAMPS,0.026215
$HUMID,62.08
$INTERNAL_PRESSURE,9.53279
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.5,20.689
$10V_AH,10.0,14.305
$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,12.500,59.625,210.575,45.250,0.000,73.207,89.337,311.061,0.000,0.000,22.111,2614.737,8776.792,355.592,2991.094,176.435,0.000,1369.966,0.000,2388.394,0.000,1.011,0.000
$DEVICE_MAMPS,240.975,91.035,1864.305,810.900,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,726.581,1810.024,739.441,373.494,0.000,0.000,0.000,0.000,0.000,0.000
$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,73692,1046
$CAP_FILE_SIZE,133080,0
$CFSIZE,259252224,249364480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,211213,175534,-4300.961,830.765,58,0.8,58,-25.0