version: 66.07
glider: 543
mission: 9
dive: 134
start: 12 21 113 18 3 44
data:
$ID,543
$MISSION,9
$DIVE,134
$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,-12935.688
$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,21
$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
$GPS1,211213,175534,-4300.961,830.765,58,0.8,58,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-69.2
$GPS2,211213,180319,-4300.935,830.891,15,0.8,17,-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,350.1,2110,-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,-57.7,0.0,0.0,0,66,0.00,0.00,-49.72,0.000,2,0.000,0.000,61,3413,2687,0,0,0,0,0,0
$GC,68,-0.53,-104.8,3.2,-4.3,6,87,6.10,2.17,-5.88,0.000,4,0.239,0.045,1543,2006,2905,0,0,0,0,0,0
$GC,168,-0.53,-104.8,20.7,-15.1,21,175,0.00,2.33,0.00,0.000,6,0.000,0.056,1534,3428,2908,0,0,0,0,0,0
$GC,316,-0.53,-104.8,45.9,-17.3,46,323,0.00,2.17,0.00,0.000,4,0.000,0.033,1534,2002,2908,0,0,0,0,0,0
$GC,339,-0.53,-104.8,49.2,-16.4,49,345,0.00,2.28,0.00,0.000,6,0.000,0.056,1523,3420,2909,0,0,0,0,0,0
$GC,685,-0.53,-104.8,106.9,-16.1,106,689,0.00,0.85,0.00,0.000,4,0.000,0.061,1519,3953,2910,0,0,0,0,0,0
$GC,902,-0.53,-104.8,146.3,-19.3,125,906,0.00,0.80,0.00,0.000,6,0.000,0.037,1519,3425,2911,0,0,0,0,0,0
$GC,1232,-0.53,-104.8,205.6,-17.7,156,1233,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3424,2912,0,0,0,0,0,0
$GC,1551,-0.53,-104.8,258.6,-15.6,186,1555,0.00,0.82,0.00,0.000,4,0.000,0.061,1516,3942,2912,0,0,0,0,0,0
$GC,1657,-0.53,-104.8,276.6,-16.6,195,1665,0.12,0.82,0.00,0.000,6,0.186,0.037,1545,3408,2912,0,0,0,0,0,0
$GC,1982,-0.53,-104.8,317.5,-12.5,226,1986,0.00,0.85,0.00,0.000,4,0.000,0.063,1543,3939,2912,0,0,0,0,0,0
$GC,2021,-0.53,-104.8,322.5,-13.4,229,2027,0.00,0.80,0.00,0.000,6,0.000,0.039,1543,3415,2912,0,0,0,0,0,0
$GC,2345,-0.53,-104.8,365.2,-13.6,260,2349,0.00,0.85,0.00,0.000,4,0.000,0.061,1539,3951,2912,0,0,0,0,0,0
$GC,2406,-0.53,-104.8,374.2,-14.1,265,2413,0.00,0.82,0.00,0.000,6,0.000,0.036,1539,3410,2912,0,0,0,0,0,0
$GC,2728,-0.53,-104.8,417.7,-13.3,290,2731,0.00,0.85,0.00,0.000,4,0.000,0.061,1535,3945,2912,0,0,0,0,0,0
$GC,2782,-0.53,-104.8,425.9,-14.5,292,2787,0.00,0.80,0.00,0.000,6,0.000,0.037,1535,3420,2912,0,0,0,0,0,0
$GC,3104,-0.53,-104.8,472.1,-14.2,308,3105,0.00,0.00,0.00,0.000,6,0.000,0.000,1535,3419,2912,0,0,0,0,0,0
$GC,3414,-0.53,-104.8,514.0,-13.6,323,3417,0.00,0.85,0.00,0.000,4,0.000,0.063,1531,3954,2912,0,0,0,0,0,0
$GC,3513,-0.53,-104.8,528.3,-13.9,327,3518,0.00,0.82,0.00,0.000,6,0.000,0.037,1531,3414,2911,0,0,0,0,0,0
$GC,3835,-0.53,-104.8,569.5,-12.5,343,3839,0.00,0.85,0.00,0.000,4,0.000,0.063,1527,3949,2910,0,0,0,0,0,0
$GC,3903,-0.53,-104.8,578.5,-13.7,346,3906,0.00,0.80,0.00,0.000,6,0.000,0.038,1527,3416,2911,0,0,0,0,0,0
$GC,4235,-0.53,-104.8,620.5,-12.4,362,4238,0.00,0.85,0.00,0.000,4,0.000,0.063,1523,3949,2910,0,0,0,0,0,0
$GC,4339,-0.53,-104.8,635.0,-13.7,366,4347,0.00,0.82,0.00,0.000,6,0.000,0.037,1523,3411,2910,0,0,0,0,0,0
$GC,4657,-0.53,-104.8,675.3,-13.1,382,4661,0.00,0.85,0.00,0.000,4,0.000,0.063,1519,3945,2909,0,0,0,0,0,0
$GC,4712,-0.53,-104.8,683.5,-14.7,384,4716,0.00,0.82,0.00,0.000,6,0.000,0.037,1519,3409,2910,0,0,0,0,0,0
$GC,5034,-0.53,-104.8,727.4,-13.6,400,5037,0.00,0.85,0.00,0.000,4,0.000,0.063,1515,3944,2908,0,0,0,0,0,0
$GC,5138,-0.53,-104.8,743.0,-14.8,404,5147,0.12,0.80,0.00,0.000,6,0.185,0.038,1545,3420,2908,0,0,0,0,0,0
$GC,5455,-0.53,-104.8,779.9,-11.5,420,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,1545,3420,2908,0,0,0,0,0,0
$GC,5764,-0.53,-104.8,815.8,-11.7,435,5768,0.00,0.88,0.00,0.000,4,0.000,0.065,1543,3951,2908,0,0,0,0,0,0
$GC,5824,-0.53,-104.8,823.6,-12.7,437,5832,0.00,0.82,0.00,0.000,6,0.000,0.039,1543,3416,2908,0,0,0,0,0,0
$GC,6140,-0.53,-104.8,861.2,-12.0,453,6141,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,3416,2907,0,0,0,0,0,0
$GC,6450,-0.53,-104.8,898.0,-11.5,468,6454,0.00,0.85,0.00,0.000,4,0.000,0.065,1539,3948,2906,0,0,0,0,0,0
$GC,6499,-0.53,-104.8,904.1,-12.4,470,6503,0.00,0.82,0.00,0.000,6,0.000,0.040,1539,3415,2906,0,0,0,0,0,0
$GC,6826,-0.53,-104.8,940.7,-11.2,486,6830,0.00,0.85,0.00,0.000,4,0.000,0.064,1535,3946,2907,0,0,0,0,0,0
$GC,6875,-0.53,-104.8,946.7,-12.3,488,6879,0.00,0.82,0.00,0.000,6,0.000,0.040,1535,3414,2906,0,0,0,0,0,0
$GC,7204,-0.53,-104.8,982.2,-10.6,504,7207,0.00,0.85,0.00,0.000,4,0.000,0.063,1531,3945,2906,0,0,0,0,0,0
$GC,7241,-0.53,-104.8,986.6,-11.1,505,7249,0.00,0.82,0.00,0.000,6,0.000,0.039,1531,3413,2906,0,0,0,0,0,0
$STATE,7288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7288,begin apogee
$GC,7293,-0.09,0.0,991.3,10.5,508,7398,0.52,0.00,101.82,1.878,6,0.151,0.000,1688,3282,2474,0,0,0,0,0,0
$STATE,7398,end apogee,CONTROL_FINISHED_OK
$STATE,7398,begin climb
$GC,7400,0.53,104.8,993.1,0.0,513,7515,0.57,2.50,105.30,1.830,4,0.070,0.033,1899,1865,2046,0,0,0,0,0,0
$GC,7553,0.53,104.8,978.6,14.9,520,7558,0.00,2.47,0.00,0.000,6,0.000,0.050,1899,3275,2040,0,0,0,0,0,0
$GC,7880,0.53,104.8,923.9,16.6,536,7882,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3275,2033,0,0,0,0,0,0
$GC,8190,0.53,104.8,872.1,16.6,551,8191,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3276,2030,0,0,0,0,0,0
$GC,8499,0.53,104.8,821.7,16.2,566,8503,0.00,2.20,0.00,0.000,4,0.000,0.037,1909,1857,2029,0,0,0,0,0,0
$GC,8542,0.53,104.8,815.3,14.2,568,8546,0.00,2.35,0.00,0.000,6,0.000,0.054,1909,3286,2028,0,0,0,0,0,0
$GC,8869,0.53,104.8,763.2,15.8,584,8871,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3286,2028,0,0,0,0,0,0
$GC,9179,0.53,104.8,713.4,16.2,599,9180,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3286,2027,0,0,0,0,0,0
$GC,9488,0.53,104.8,665.2,15.3,614,9491,0.00,1.08,0.00,0.000,4,0.000,0.062,1909,3953,2027,0,0,0,0,0,0
$GC,9604,0.53,104.8,645.2,17.7,619,9609,0.00,1.05,0.00,0.000,6,0.000,0.038,1915,3274,2027,0,0,0,0,0,0
$GC,9931,0.53,104.8,596.5,15.0,635,9932,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3274,2026,0,0,0,0,0,0
$GC,10242,0.53,104.8,550.0,14.8,650,10244,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3274,2026,0,0,0,0,0,0
$GC,10550,0.53,104.8,503.8,14.5,665,10551,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3274,2026,0,0,0,0,0,0
$GC,10859,0.53,104.8,458.3,14.8,680,10860,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3274,2025,0,0,0,0,0,0
$GC,11169,0.53,104.8,413.8,14.2,695,11170,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3274,2025,0,0,0,0,0,0
$GC,11484,0.53,104.8,368.3,14.0,720,11485,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3274,2024,0,0,0,0,0,0
$GC,11804,0.53,104.8,322.5,14.2,750,11808,0.00,2.15,0.00,0.000,4,0.000,0.036,1926,1858,2024,0,0,0,0,0,0
$GC,11822,0.53,104.8,320.1,13.7,751,11827,0.12,2.25,0.00,0.000,6,0.192,0.053,1896,3283,2024,0,0,0,0,0,0
$GC,12149,0.53,104.8,275.4,13.9,781,12150,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,3283,2023,0,0,0,0,0,0
$GC,12466,0.53,104.8,231.8,13.6,811,12467,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,3283,2023,0,0,0,0,0,0
$GC,12787,0.53,104.8,191.5,12.1,841,12788,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,3283,2022,0,0,0,0,0,0
$GC,13103,0.53,104.8,153.2,12.0,871,13104,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,3283,2022,0,0,0,0,0,0
$GC,13424,0.53,104.8,115.8,11.7,901,13430,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,3283,2022,0,0,0,0,0,0
$GC,13763,0.53,104.8,71.5,13.4,950,13770,0.00,1.05,0.00,0.000,4,0.000,0.059,1897,3942,2022,0,0,0,0,0,0
$GC,14023,0.53,104.8,37.3,12.5,995,14030,0.00,1.00,0.00,0.000,6,0.000,0.036,1900,3278,2022,0,0,0,0,0,0
$GC,14173,0.54,113.3,23.8,8.5,1020,14182,0.00,2.15,1.12,0.297,4,0.000,0.031,1911,1865,2008,0,0,0,0,0,0
$GC,14224,0.55,139.8,20.1,6.5,1028,14242,0.00,2.28,10.68,0.846,6,0.000,0.053,1911,3283,1900,0,0,0,0,0,0
$GC,14293,0.55,139.8,13.3,11.0,1038,14302,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3282,1899,0,0,0,0,0,0
$GC,14353,0.55,139.8,5.9,12.8,1047,14362,0.00,1.05,0.00,0.000,4,0.000,0.059,1911,3949,1898,0,0,0,0,0,0
$GC,14370,0.55,139.8,3.5,12.9,1049,14379,0.00,1.00,0.00,0.000,6,0.000,0.036,1916,3283,1897,0,0,0,0,0,0
$STATE,14387,end climb,SURFACE_DEPTH_REACHED
$STATE,14387,begin surface coast
$FINISH,0.8,1.006080
$STATE,14413,end surface coast,CONTROL_FINISHED_OK
$STATE,14413,begin surface
$SM_CCo,14426,33.53,0.796,0,0,1555,225.18
$SM_GC,1.70,0.00,0.00,33.53,0.000,0.000,0.796,58,3428,1555,-5.19,0.23,225.18
$IRIDIUM_FIX,-4244.98,831.12,211213,131335
$TT8_MAMPS,0.025466
$HUMID,62.16
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.5,20.827
$10V_AH,10.0,14.413
$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,12.525,57.250,218.925,33.525,0.000,27.005,17.505,301.164,0.000,0.000,19.215,2596.761,9037.146,367.153,2747.697,177.447,0.000,1347.309,0.000,2279.344,0.000,1.010,0.000
$DEVICE_MAMPS,238.680,77.265,1878.075,796.365,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,731.871,1824.420,726.199,365.582,0.000,0.000,0.000,0.000,0.000,0.000
$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,73878,1055
$CAP_FILE_SIZE,129264,0
$CFSIZE,259252224,249282560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,211213,220558,-4259.160,830.820,40,0.9,40,-25.0