version: 66.07
glider: 543
mission: 9
dive: 135
start: 12 21 113 22 14 13
data:
$ID,543
$MISSION,9
$DIVE,135
$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,-12938.929
$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,29
$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
$GPS1,211213,220558,-4259.160,830.820,40,0.9,40,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-68.7
$GPS2,211213,221348,-4259.089,830.875,19,0.9,20,-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,240.1,2061,-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,14,begin dive
$GC,15,-0.50,-57.7,0.0,0.0,0,67,0.00,0.00,-49.58,0.000,2,0.000,0.000,58,3429,2698,0,0,0,0,0,0
$GC,69,-0.53,-103.7,3.3,-4.4,6,88,6.25,0.80,-5.30,0.000,4,0.246,0.090,1539,3954,2899,0,0,0,0,0,0
$GC,206,-0.53,-103.7,31.6,-19.5,27,212,0.00,0.82,0.00,0.000,6,0.000,0.038,1539,3421,2903,0,0,0,0,0,0
$GC,354,-0.53,-103.7,53.6,-15.7,52,360,0.00,2.17,0.00,0.000,4,0.000,0.033,1539,1993,2903,0,0,0,0,0,0
$GC,419,-0.53,-103.7,62.4,-11.3,63,427,0.00,2.33,0.00,0.000,6,0.000,0.055,1528,3413,2904,0,0,0,0,0,0
$GC,771,-0.53,-103.7,111.9,-14.0,117,775,0.00,0.85,0.00,0.000,4,0.000,0.061,1524,3950,2905,0,0,0,0,0,0
$GC,922,-0.53,-103.7,136.4,-16.0,130,930,0.00,0.82,0.00,0.000,6,0.000,0.037,1524,3414,2906,0,0,0,0,0,0
$GC,1250,-0.53,-103.7,188.3,-16.1,161,1253,0.00,0.85,0.00,0.000,4,0.000,0.060,1520,3948,2906,0,0,0,0,0,0
$GC,1318,-0.53,-103.7,200.1,-17.1,167,1321,0.00,0.80,0.00,0.000,6,0.000,0.037,1521,3420,2906,0,0,0,0,0,0
$GC,1647,-0.53,-103.7,251.9,-15.8,198,1651,0.00,2.15,0.00,0.000,4,0.000,0.031,1521,1989,2906,0,0,0,0,0,0
$GC,1679,-0.53,-103.7,256.7,-13.5,200,1690,0.10,2.33,0.00,0.000,6,0.140,0.054,1541,3425,2907,0,0,0,0,0,0
$GC,2004,-0.53,-103.7,300.0,-13.9,231,2008,0.00,0.82,0.00,0.000,4,0.000,0.062,1539,3950,2906,0,0,0,0,0,0
$GC,2087,-0.53,-103.7,312.3,-14.3,238,2095,0.00,0.82,0.00,0.000,6,0.000,0.037,1539,3412,2907,0,0,0,0,0,0
$GC,2415,-0.53,-103.7,358.0,-14.0,269,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,3412,2907,0,0,0,0,0,0
$GC,2731,-0.53,-103.7,400.8,-13.2,299,2735,0.00,0.85,0.00,0.000,4,0.000,0.063,1535,3943,2907,0,0,0,0,0,0
$GC,2792,-0.53,-103.7,409.7,-13.8,301,2799,0.00,0.80,0.00,0.000,6,0.000,0.038,1535,3422,2907,0,0,0,0,0,0
$GC,3109,-0.53,-103.7,451.7,-13.4,317,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,1535,3422,2906,0,0,0,0,0,0
$GC,3417,-0.53,-103.7,494.2,-13.9,332,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,1535,3422,2906,0,0,0,0,0,0
$GC,3728,-0.53,-103.7,537.0,-13.4,347,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,1535,3422,2906,0,0,0,0,0,0
$GC,4035,-0.53,-103.7,576.0,-12.4,362,4039,0.00,0.85,0.00,0.000,4,0.000,0.064,1531,3956,2905,0,0,0,0,0,0
$GC,4107,-0.53,-103.7,585.4,-12.5,365,4111,0.00,0.82,0.00,0.000,6,0.000,0.040,1531,3421,2905,0,0,0,0,0,0
$GC,4434,-0.53,-103.7,623.7,-11.7,381,4435,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3421,2905,0,0,0,0,0,0
$GC,4743,-0.53,-103.7,659.7,-11.5,396,4745,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3421,2904,0,0,0,0,0,0
$GC,5053,-0.53,-103.7,695.8,-11.6,411,5057,0.00,0.85,0.00,0.000,4,0.000,0.064,1527,3954,2904,0,0,0,0,0,0
$GC,5113,-0.53,-103.7,703.5,-12.1,413,5121,0.00,0.82,0.00,0.000,6,0.000,0.041,1527,3421,2904,0,0,0,0,0,0
$GC,5429,-0.53,-103.7,740.6,-11.7,429,5431,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3421,2904,0,0,0,0,0,0
$GC,5739,-0.53,-103.7,774.9,-10.9,444,5743,0.00,0.85,0.00,0.000,4,0.000,0.064,1523,3955,2903,0,0,0,0,0,0
$GC,5784,-0.53,-103.7,780.3,-12.6,446,5788,0.00,0.80,0.00,0.000,6,0.000,0.042,1523,3429,2903,0,0,0,0,0,0
$GC,6116,-0.53,-103.7,818.2,-11.4,462,6117,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3429,2902,0,0,0,0,0,0
$GC,6425,-0.53,-103.7,853.4,-11.5,477,6426,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3429,2903,0,0,0,0,0,0
$GC,6735,-0.53,-103.7,888.7,-11.3,492,6739,0.00,2.17,0.00,0.000,4,0.000,0.034,1523,1991,2902,0,0,0,0,0,0
$GC,6755,-0.53,-103.7,891.2,-11.7,493,6761,0.08,2.33,0.00,0.000,6,0.147,0.057,1537,3422,2902,0,0,0,0,0,0
$GC,7085,-0.53,-103.7,925.3,-10.9,509,7086,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3422,2901,0,0,0,0,0,0
$GC,7392,-0.53,-103.7,959.2,-11.0,524,7396,0.00,0.82,0.00,0.000,4,0.000,0.067,1534,3946,2901,0,0,0,0,0,0
$GC,7460,-0.53,-103.7,967.0,-11.8,527,7464,0.00,0.80,0.00,0.000,6,0.000,0.043,1534,3423,2901,0,0,0,0,0,0
$STATE,7687,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7687,begin apogee
$GC,7692,-0.09,0.0,991.9,10.5,538,7796,0.50,0.00,100.78,1.882,6,0.152,0.000,1683,3277,2474,0,0,0,0,0,0
$STATE,7796,end apogee,CONTROL_FINISHED_OK
$STATE,7796,begin climb
$GC,7798,0.53,103.7,994.6,0.0,543,7910,0.60,2.42,104.47,1.830,4,0.073,0.034,1900,1865,2050,0,0,0,0,0,0
$GC,7959,0.53,103.7,980.8,14.0,550,7967,0.00,2.47,0.00,0.000,6,0.000,0.052,1900,3276,2044,0,0,0,0,0,0
$GC,8276,0.53,103.7,932.8,14.7,566,8280,0.00,1.12,0.00,0.000,4,0.000,0.061,1900,3949,2037,0,0,0,0,0,0
$GC,8358,0.53,103.7,919.1,16.3,569,8366,0.00,1.08,0.00,0.000,6,0.000,0.038,1906,3278,2037,0,0,0,0,0,0
$GC,8674,0.53,103.7,867.7,16.5,585,8676,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3278,2035,0,0,0,0,0,0
$GC,8983,0.53,103.7,818.0,16.0,600,8987,0.00,2.20,0.00,0.000,4,0.000,0.037,1916,1857,2033,0,0,0,0,0,0
$GC,9003,0.53,103.7,814.7,14.6,601,9008,0.00,2.33,0.00,0.000,6,0.000,0.054,1916,3279,2032,0,0,0,0,0,0
$GC,9333,0.53,103.7,761.5,16.5,617,9334,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3279,2032,0,0,0,0,0,0
$GC,9640,0.53,103.7,712.7,15.1,632,9644,0.00,1.08,0.00,0.000,4,0.000,0.062,1916,3942,2031,0,0,0,0,0,0
$GC,9830,0.53,103.7,680.8,16.8,640,9834,0.00,1.05,0.00,0.000,6,0.000,0.039,1921,3270,2031,0,0,0,0,0,0
$GC,10152,0.53,103.7,632.6,15.2,656,10155,0.00,1.10,0.00,0.000,4,0.000,0.061,1921,3953,2030,0,0,0,0,0,0
$GC,10242,0.53,103.7,617.7,16.7,660,10246,0.10,1.02,0.00,0.000,6,0.198,0.041,1899,3282,2030,0,0,0,0,0,0
$GC,10574,0.53,103.7,573.4,13.5,676,10577,0.00,1.08,0.00,0.000,4,0.000,0.062,1899,3947,2029,0,0,0,0,0,0
$GC,10724,0.53,103.7,550.7,15.1,682,10732,0.00,1.02,0.00,0.000,6,0.000,0.038,1903,3275,2029,0,0,0,0,0,0
$GC,11042,0.53,103.7,508.7,13.3,698,11046,0.00,1.10,0.00,0.000,4,0.000,0.062,1903,3956,2029,0,0,0,0,0,0
$GC,11119,0.53,103.7,496.5,15.3,701,11123,0.00,1.05,0.00,0.000,6,0.000,0.040,1908,3281,2029,0,0,0,0,0,0
$GC,11441,0.53,103.7,452.0,14.0,717,11442,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3280,2028,0,0,0,0,0,0
$GC,11750,0.53,103.7,407.4,14.4,732,11753,0.00,1.08,0.00,0.000,4,0.000,0.061,1908,3947,2028,0,0,0,0,0,0
$GC,11817,0.53,103.7,396.1,18.2,735,11821,0.00,1.02,0.00,0.000,6,0.000,0.039,1913,3282,2028,0,0,0,0,0,0
$GC,12147,0.53,103.7,346.3,14.7,766,12148,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3281,2028,0,0,0,0,0,0
$GC,12467,0.53,103.7,300.8,14.1,796,12470,0.00,1.08,0.00,0.000,4,0.000,0.062,1913,3952,2027,0,0,0,0,0,0
$GC,12501,0.53,103.7,295.5,16.1,799,12504,0.00,1.02,0.00,0.000,6,0.000,0.039,1918,3278,2028,0,0,0,0,0,0
$GC,12831,0.53,103.7,249.4,14.1,830,12834,0.00,1.08,0.00,0.000,4,0.000,0.060,1918,3951,2027,0,0,0,0,0,0
$GC,12891,0.53,103.7,240.2,15.1,835,12900,0.12,1.05,0.00,0.000,6,0.222,0.036,1896,3263,2027,0,0,0,0,0,0
$GC,13216,0.53,103.7,198.3,12.3,866,13218,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,3263,2027,0,0,0,0,0,0
$GC,13536,0.53,103.7,160.2,11.9,896,13540,0.00,1.10,0.00,0.000,4,0.000,0.060,1896,3949,2027,0,0,0,0,0,0
$GC,13619,0.53,103.7,148.8,14.2,903,13627,0.00,1.02,0.00,0.000,6,0.000,0.036,1899,3278,2027,0,0,0,0,0,0
$GC,13945,0.53,103.7,108.0,12.3,934,13948,0.00,1.08,0.00,0.000,4,0.000,0.060,1899,3950,2027,0,0,0,0,0,0
$GC,13971,0.53,103.7,104.0,15.2,936,13981,0.00,1.02,0.00,0.000,6,0.000,0.036,1904,3280,2027,0,0,0,0,0,0
$GC,14319,0.53,103.7,58.5,13.1,994,14325,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3280,2027,0,0,0,0,0,0
$GC,14676,0.53,103.7,18.3,11.1,1055,14685,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3280,2027,0,0,0,0,0,0
$GC,14735,0.53,103.7,12.6,10.0,1064,14745,0.00,1.08,0.00,0.000,4,0.000,0.059,1904,3957,2027,0,0,0,0,0,0
$STATE,14824,end climb,SURFACE_DEPTH_REACHED
$STATE,14824,begin surface coast
$FINISH,0.5,1.026240
$STATE,14857,end surface coast,CONTROL_FINISHED_OK
$STATE,14857,begin surface
$SM_CCo,14870,46.78,0.806,0,0,1554,225.18
$SM_GC,0.92,0.00,0.00,46.78,0.000,0.000,0.806,63,3418,1554,-5.18,-0.08,225.18
$IRIDIUM_FIX,-4244.98,834.03,211213,171707
$TT8_MAMPS,0.026215
$HUMID,61.97
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.30
$XPDR_PINGS,0
$24V_AH,22.5,20.965
$10V_AH,10.0,14.524
$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,12.700,61.125,205.250,46.775,0.000,27.296,18.329,303.314,0.000,0.000,22.005,2676.539,9299.112,374.863,2850.702,188.211,0.000,1390.052,0.000,2372.113,0.000,1.010,0.000
$DEVICE_MAMPS,246.330,89.505,1881.900,806.310,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,751.596,1862.858,736.237,372.212,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354404
$DATA_FILE_SIZE,77289,1083
$CAP_FILE_SIZE,133703,0
$CFSIZE,259252224,249204736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,221213,022405,-4259.881,830.298,41,1.2,41,-25.0