version: 66.07
glider: 543
mission: 9
dive: 136
start: 12 22 113 2 32 54
data:
$ID,543
$MISSION,9
$DIVE,136
$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,-12942.241
$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,42
$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
$GPS1,221213,022405,-4259.881,830.298,41,1.2,41,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-63.0
$GPS2,221213,023229,-4259.925,830.314,16,1.4,17,-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,277.0,447,-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,-57.7,0.0,0.0,0,67,0.00,0.00,-50.30,0.000,2,0.000,0.000,61,3417,2701,0,0,0,0,0,0
$GC,69,-0.53,-102.9,3.3,-4.5,6,88,6.28,0.88,-5.05,0.000,4,0.249,0.086,1538,3978,2895,0,0,0,0,0,0
$GC,351,-0.53,-102.9,57.9,-17.3,53,358,0.00,0.88,0.00,0.000,6,0.000,0.037,1537,3413,2899,0,0,0,0,0,0
$GC,697,-0.53,-102.9,115.3,-15.8,105,701,0.00,0.85,0.00,0.000,4,0.000,0.060,1533,3945,2901,0,0,0,0,0,0
$GC,957,-0.53,-102.9,162.8,-18.1,128,960,0.00,0.80,0.00,0.000,6,0.000,0.037,1533,3417,2902,0,0,0,0,0,0
$GC,1287,-0.53,-102.9,218.8,-17.3,159,1290,0.00,0.85,0.00,0.000,4,0.000,0.060,1530,3951,2902,0,0,0,0,0,0
$GC,1389,-0.53,-102.9,237.5,-18.6,168,1392,0.00,0.80,0.00,0.000,6,0.000,0.037,1529,3420,2902,0,0,0,0,0,0
$GC,1719,-0.53,-102.9,292.8,-16.1,199,1722,0.00,0.85,0.00,0.000,4,0.000,0.060,1526,3954,2902,0,0,0,0,0,0
$GC,1756,-0.53,-102.9,299.3,-16.6,202,1763,0.00,0.82,0.00,0.000,6,0.000,0.037,1526,3416,2902,0,0,0,0,0,0
$GC,2083,-0.53,-102.9,351.2,-16.1,233,2087,0.00,0.85,0.00,0.000,4,0.000,0.061,1522,3951,2902,0,0,0,0,0,0
$GC,2140,-0.53,-102.9,360.7,-16.1,238,2143,0.00,0.80,0.00,0.000,6,0.000,0.037,1522,3419,2902,0,0,0,0,0,0
$GC,2469,-0.53,-102.9,409.8,-14.4,266,2472,0.00,0.85,0.00,0.000,4,0.000,0.061,1518,3951,2902,0,0,0,0,0,0
$GC,2551,-0.53,-102.9,423.0,-15.2,269,2558,0.00,0.82,0.00,0.000,6,0.000,0.037,1518,3415,2902,0,0,0,0,0,0
$GC,2869,-0.53,-102.9,468.9,-14.7,285,2872,0.00,0.85,0.00,0.000,4,0.000,0.062,1514,3948,2902,0,0,0,0,0,0
$GC,2936,-0.53,-102.9,479.6,-15.4,288,2940,0.08,0.80,0.00,0.000,6,0.171,0.038,1537,3420,2902,0,0,0,0,0,0
$GC,3269,-0.53,-102.9,522.0,-12.4,304,3270,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3421,2902,0,0,0,0,0,0
$GC,3577,-0.53,-102.9,562.0,-13.2,319,3580,0.00,0.88,0.00,0.000,4,0.000,0.065,1534,3953,2902,0,0,0,0,0,0
$GC,3670,-0.53,-102.9,575.1,-14.0,323,3674,0.00,0.82,0.00,0.000,6,0.000,0.038,1534,3417,2902,0,0,0,0,0,0
$GC,3997,-0.53,-102.9,618.3,-13.4,339,4001,0.00,0.85,0.00,0.000,4,0.000,0.063,1530,3952,2901,0,0,0,0,0,0
$GC,4046,-0.53,-102.9,625.7,-14.3,341,4051,0.00,0.82,0.00,0.000,6,0.000,0.038,1530,3415,2901,0,0,0,0,0,0
$GC,4373,-0.53,-102.9,670.7,-13.9,357,4377,0.00,0.85,0.00,0.000,4,0.000,0.063,1526,3951,2901,0,0,0,0,0,0
$GC,4441,-0.53,-102.9,680.8,-15.3,360,4444,0.00,0.80,0.00,0.000,6,0.000,0.040,1526,3420,2901,0,0,0,0,0,0
$GC,4773,-0.53,-102.9,727.2,-13.4,376,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3420,2900,0,0,0,0,0,0
$GC,5082,-0.53,-102.9,767.4,-12.7,391,5086,0.00,0.88,0.00,0.000,4,0.000,0.065,1522,3954,2900,0,0,0,0,0,0
$GC,5150,-0.53,-102.9,777.0,-14.4,394,5154,0.00,0.80,0.00,0.000,6,0.000,0.041,1522,3424,2900,0,0,0,0,0,0
$GC,5482,-0.53,-102.9,819.4,-12.6,410,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3424,2899,0,0,0,0,0,0
$GC,5793,-0.53,-102.9,857.0,-12.0,425,5797,0.00,0.82,0.00,0.000,4,0.000,0.064,1518,3939,2899,0,0,0,0,0,0
$GC,5938,-0.53,-102.9,876.2,-13.8,431,5942,0.00,0.80,0.00,0.000,6,0.000,0.040,1518,3417,2899,0,0,0,0,0,0
$GC,6259,-0.53,-102.9,915.6,-12.0,447,6263,0.00,0.85,0.00,0.000,4,0.000,0.063,1514,3952,2898,0,0,0,0,0,0
$GC,6359,-0.53,-102.9,928.5,-13.2,451,6364,0.12,0.82,0.00,0.000,6,0.184,0.039,1545,3417,2898,0,0,0,0,0,0
$GC,6681,-0.53,-102.9,961.3,-10.1,467,6684,0.00,0.85,0.00,0.000,4,0.000,0.064,1542,3951,2898,0,0,0,0,0,0
$GC,6729,-0.53,-102.9,966.9,-11.3,469,6734,0.00,0.82,0.00,0.000,6,0.000,0.041,1542,3417,2898,0,0,0,0,0,0
$STATE,6974,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6974,begin apogee
$GC,6979,-0.09,0.0,991.4,10.2,481,7082,0.47,0.00,99.80,1.884,6,0.148,0.000,1684,3270,2473,0,0,0,0,0,0
$STATE,7083,end apogee,CONTROL_FINISHED_OK
$STATE,7083,begin climb
$GC,7084,0.53,102.9,994.1,0.0,486,7196,0.60,2.42,103.43,1.828,4,0.071,0.032,1902,1864,2054,0,0,0,0,0,0
$GC,7245,0.53,102.9,980.3,12.6,493,7253,0.00,2.47,0.00,0.000,6,0.000,0.050,1901,3276,2048,0,0,0,0,0,0
$GC,7561,0.53,102.9,932.4,15.1,509,7565,0.00,1.12,0.00,0.000,4,0.000,0.060,1901,3954,2042,0,0,0,0,0,0
$GC,7599,0.53,102.9,925.9,17.1,510,7607,0.00,1.08,0.00,0.000,6,0.000,0.036,1906,3277,2042,0,0,0,0,0,0
$GC,7915,0.53,102.9,876.1,15.6,526,7919,0.00,1.12,0.00,0.000,4,0.000,0.059,1906,3958,2040,0,0,0,0,0,0
$GC,8028,0.53,102.9,856.5,17.3,531,8032,0.00,1.05,0.00,0.000,6,0.000,0.037,1911,3281,2040,0,0,0,0,0,0
$GC,8360,0.53,102.9,800.8,16.6,547,8361,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3281,2037,0,0,0,0,0,0
$GC,8669,0.53,102.9,748.6,16.8,562,8670,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3281,2037,0,0,0,0,0,0
$GC,8980,0.53,102.9,697.6,16.5,577,8984,0.00,1.10,0.00,0.000,4,0.000,0.061,1911,3958,2036,0,0,0,0,0,0
$GC,9025,0.53,102.9,689.6,17.3,579,9029,0.00,1.05,0.00,0.000,6,0.000,0.038,1917,3276,2036,0,0,0,0,0,0
$GC,9357,0.53,102.9,638.3,14.7,595,9358,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3276,2036,0,0,0,0,0,0
$GC,9668,0.53,102.9,593.5,14.0,610,9669,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3276,2035,0,0,0,0,0,0
$GC,9975,0.53,102.9,551.0,13.8,625,9979,0.00,2.15,0.00,0.000,4,0.000,0.035,1928,1858,2035,0,0,0,0,0,0
$GC,9992,0.53,102.9,548.8,13.6,626,9997,0.12,2.28,0.00,0.000,6,0.192,0.050,1898,3286,2034,0,0,0,0,0,0
$GC,10319,0.53,102.9,506.4,13.0,642,10322,0.00,1.05,0.00,0.000,4,0.000,0.059,1898,3943,2034,0,0,0,0,0,0
$GC,10350,0.53,102.9,501.9,14.5,643,10355,0.00,1.02,0.00,0.000,6,0.000,0.037,1902,3281,2034,0,0,0,0,0,0
$GC,10672,0.53,102.9,459.8,12.9,659,10676,0.00,1.08,0.00,0.000,4,0.000,0.060,1902,3950,2033,0,0,0,0,0,0
$GC,10756,0.53,102.9,447.7,14.9,662,10763,0.00,1.02,0.00,0.000,6,0.000,0.037,1907,3277,2033,0,0,0,0,0,0
$GC,11071,0.53,102.9,404.8,13.9,678,11075,0.00,1.08,0.00,0.000,4,0.000,0.060,1907,3944,2033,0,0,0,0,0,0
$GC,11120,0.53,102.9,397.3,15.3,680,11130,0.00,1.02,0.00,0.000,6,0.000,0.037,1912,3279,2033,0,0,0,0,0,0
$GC,11445,0.53,102.9,350.5,13.9,711,11449,0.00,1.08,0.00,0.000,4,0.000,0.060,1912,3951,2033,0,0,0,0,0,0
$GC,11581,0.53,102.9,329.6,16.1,723,11584,0.00,1.02,0.00,0.000,6,0.000,0.037,1918,3275,2033,0,0,0,0,0,0
$GC,11910,0.53,102.9,281.8,15.1,754,11912,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3274,2033,0,0,0,0,0,0
$GC,12230,0.53,102.9,235.5,14.2,784,12234,0.00,1.08,0.00,0.000,4,0.000,0.060,1918,3947,2032,0,0,0,0,0,0
$GC,12399,0.53,102.9,209.0,15.7,799,12404,0.08,1.00,0.00,0.000,6,0.200,0.037,1902,3282,2033,0,0,0,0,0,0
$GC,12729,0.53,102.9,166.8,12.4,830,12730,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3281,2032,0,0,0,0,0,0
$GC,13049,0.53,102.9,127.3,12.2,860,13052,0.00,1.08,0.00,0.000,4,0.000,0.060,1902,3952,2032,0,0,0,0,0,0
$GC,13153,0.53,102.9,112.8,14.7,869,13156,0.00,1.00,0.00,0.000,6,0.000,0.037,1905,3287,2032,0,0,0,0,0,0
$GC,13493,0.53,102.9,72.3,11.8,921,13501,0.00,2.17,0.00,0.000,4,0.000,0.033,1916,1860,2032,0,0,0,0,0,0
$GC,13548,0.53,102.9,66.7,10.4,930,13557,0.00,2.25,0.00,0.000,6,0.000,0.050,1916,3273,2032,0,0,0,0,0,0
$GC,13905,0.53,102.9,25.3,10.0,991,13912,0.00,1.08,0.00,0.000,4,0.000,0.058,1916,3954,2032,0,0,0,0,0,0
$STATE,14106,end climb,SURFACE_DEPTH_REACHED
$STATE,14106,begin surface coast
$FINISH,0.7,1.025784
$STATE,14138,end surface coast,CONTROL_FINISHED_OK
$STATE,14138,begin surface
$SM_CCo,14150,47.30,0.802,0,0,1552,225.18
$SM_GC,1.61,0.00,0.00,47.30,0.000,0.000,0.802,61,3409,1552,-5.18,-0.31,225.18
$IRIDIUM_FIX,-4244.98,831.12,211213,222231
$TT8_MAMPS,0.026215
$HUMID,62.40
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.5,21.104
$10V_AH,10.0,14.632
$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,12.700,58.275,203.225,47.300,0.000,32.014,41.149,311.721,0.000,0.000,18.745,2580.854,8753.358,345.239,2855.173,168.052,0.000,1347.905,0.000,2339.306,0.000,1.010,0.000
$DEVICE_MAMPS,248.625,85.680,1884.195,801.720,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,714.747,1754.821,703.146,353.224,0.000,0.000,0.000,0.000,0.000,0.000
$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,73833,1029
$CAP_FILE_SIZE,130893,0
$CFSIZE,259252224,249139200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,221213,063105,-4259.934,829.549,59,1.0,59,-25.0