version: 66.07
glider: 543
mission: 9
dive: 137
start: 12 22 113 6 42 31
data:
$ID,543
$MISSION,9
$DIVE,137
$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,-12945.484
$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,24
$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
$GPS1,221213,063105,-4259.934,829.549,59,1.0,59,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-60.0
$GPS2,221213,064207,-4300.005,829.812,16,2.0,16,-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,113.0,254,-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,-50.00,0.000,2,0.000,0.000,60,3408,2710,0,0,0,0,0,0
$GC,69,-0.54,-110.4,3.3,-3.7,6,88,6.18,2.17,-5.40,0.000,4,0.242,0.044,1542,1990,2924,0,0,0,0,0,0
$GC,323,-0.54,-110.4,44.5,-12.1,48,332,0.00,2.35,0.00,0.000,6,0.000,0.054,1533,3422,2929,0,0,0,0,0,0
$GC,676,-0.54,-110.4,100.0,-16.4,109,683,0.00,0.82,0.00,0.000,4,0.000,0.060,1529,3944,2930,0,0,0,0,0,0
$GC,895,-0.54,-110.4,135.1,-16.1,129,903,0.00,0.80,0.00,0.000,6,0.000,0.036,1529,3417,2930,0,0,0,0,0,0
$GC,1220,-0.54,-110.4,185.9,-16.0,160,1224,0.00,0.85,0.00,0.000,4,0.000,0.060,1525,3950,2931,0,0,0,0,0,0
$GC,1292,-0.54,-110.4,198.7,-17.2,166,1299,0.00,0.82,0.00,0.000,6,0.000,0.036,1525,3412,2931,0,0,0,0,0,0
$GC,1619,-0.54,-110.4,250.0,-14.9,197,1623,0.00,0.85,0.00,0.000,4,0.000,0.061,1522,3944,2931,0,0,0,0,0,0
$GC,1801,-0.54,-110.4,279.9,-16.1,213,1805,0.00,0.80,0.00,0.000,6,0.000,0.037,1521,3416,2931,0,0,0,0,0,0
$GC,2131,-0.54,-110.4,330.0,-15.4,244,2135,0.00,0.85,0.00,0.000,4,0.000,0.060,1517,3950,2931,0,0,0,0,0,0
$GC,2235,-0.54,-110.4,346.9,-16.5,253,2239,0.00,0.80,0.00,0.000,6,0.000,0.038,1517,3422,2931,0,0,0,0,0,0
$GC,2565,-0.54,-110.4,400.8,-16.2,284,2568,0.00,0.85,0.00,0.000,4,0.000,0.060,1514,3953,2931,0,0,0,0,0,0
$GC,2700,-0.54,-110.4,424.4,-17.2,290,2704,0.08,0.80,0.00,0.000,6,0.170,0.038,1536,3427,2931,0,0,0,0,0,0
$GC,3031,-0.54,-110.4,472.8,-14.8,306,3035,0.00,0.82,0.00,0.000,4,0.000,0.063,1533,3945,2931,0,0,0,0,0,0
$GC,3220,-0.54,-110.4,501.8,-15.1,314,3225,0.00,0.82,0.00,0.000,6,0.000,0.037,1534,3409,2931,0,0,0,0,0,0
$GC,3542,-0.54,-110.4,544.5,-12.8,330,3546,0.00,0.85,0.00,0.000,4,0.000,0.062,1530,3943,2930,0,0,0,0,0,0
$GC,3677,-0.54,-110.4,563.0,-13.8,336,3681,0.00,0.80,0.00,0.000,6,0.000,0.039,1530,3417,2930,0,0,0,0,0,0
$GC,4009,-0.54,-110.4,603.5,-12.1,352,4013,0.00,0.85,0.00,0.000,4,0.000,0.063,1526,3948,2930,0,0,0,0,0,0
$GC,4069,-0.54,-110.4,611.1,-12.3,354,4077,0.00,0.82,0.00,0.000,6,0.000,0.038,1526,3413,2930,0,0,0,0,0,0
$GC,4387,-0.54,-110.4,648.8,-12.3,370,4391,0.00,0.85,0.00,0.000,4,0.000,0.063,1522,3948,2929,0,0,0,0,0,0
$GC,4531,-0.54,-110.4,669.2,-13.8,376,4536,0.00,0.82,0.00,0.000,6,0.000,0.038,1522,3415,2929,0,0,0,0,0,0
$GC,4853,-0.54,-110.4,712.4,-13.8,392,4857,0.00,0.85,0.00,0.000,4,0.000,0.063,1518,3943,2927,0,0,0,0,0,0
$GC,5048,-0.54,-110.4,741.1,-14.6,400,5056,0.00,0.82,0.00,0.000,6,0.000,0.038,1518,3411,2928,0,0,0,0,0,0
$GC,5366,-0.54,-110.4,785.3,-14.3,416,5369,0.00,0.85,0.00,0.000,4,0.000,0.063,1514,3943,2927,0,0,0,0,0,0
$GC,5537,-0.54,-110.4,813.2,-15.8,423,5546,0.12,0.82,0.00,0.000,6,0.184,0.038,1544,3413,2927,0,0,0,0,0,0
$GC,5855,-0.54,-110.4,852.5,-12.3,439,5859,0.00,0.85,0.00,0.000,4,0.000,0.064,1542,3943,2927,0,0,0,0,0,0
$GC,5932,-0.54,-110.4,862.6,-13.0,442,5937,0.00,0.82,0.00,0.000,6,0.000,0.039,1542,3413,2927,0,0,0,0,0,0
$GC,6254,-0.54,-110.4,899.9,-11.3,458,6257,0.00,0.85,0.00,0.000,4,0.000,0.064,1538,3944,2926,0,0,0,0,0,0
$GC,6376,-0.54,-110.4,914.6,-12.0,463,6380,0.00,0.82,0.00,0.000,6,0.000,0.040,1538,3412,2926,0,0,0,0,0,0
$GC,6697,-0.54,-110.4,949.7,-11.0,479,6701,0.00,0.85,0.00,0.000,4,0.000,0.064,1534,3943,2926,0,0,0,0,0,0
$GC,6814,-0.54,-110.4,963.6,-11.7,484,6818,0.00,0.82,0.00,0.000,6,0.000,0.040,1534,3411,2925,0,0,0,0,0,0
$STATE,7057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7057,begin apogee
$GC,7061,-0.09,0.0,991.6,11.3,496,7171,0.50,0.00,106.18,1.870,6,0.149,0.000,1684,3281,2473,0,0,0,0,0,0
$STATE,7172,end apogee,CONTROL_FINISHED_OK
$STATE,7172,begin climb
$GC,7173,0.54,110.4,994.2,0.0,501,7294,0.60,2.47,110.82,1.820,4,0.071,0.034,1901,1873,2022,0,0,0,0,0,0
$GC,7371,0.54,110.4,975.9,12.9,510,7376,0.00,2.42,0.00,0.000,6,0.000,0.050,1901,3273,2014,0,0,0,0,0,0
$GC,7699,0.54,110.4,923.7,16.2,526,7700,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,3273,2009,0,0,0,0,0,0
$GC,8008,0.54,110.4,875.4,15.6,541,8012,0.00,1.12,0.00,0.000,4,0.000,0.059,1901,3957,2007,0,0,0,0,0,0
$GC,8062,0.54,110.4,865.6,17.6,543,8067,0.00,1.08,0.00,0.000,6,0.000,0.036,1906,3273,2006,0,0,0,0,0,0
$GC,8384,0.54,110.4,811.7,16.7,559,8388,0.00,2.20,0.00,0.000,4,0.000,0.036,1917,1861,2005,0,0,0,0,0,0
$GC,8418,0.54,110.4,806.5,14.9,560,8425,0.00,2.30,0.00,0.000,6,0.000,0.052,1917,3287,2004,0,0,0,0,0,0
$GC,8733,0.54,110.4,752.9,17.0,576,8734,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3287,2004,0,0,0,0,0,0
$GC,9042,0.54,110.4,701.9,15.8,591,9043,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3287,2004,0,0,0,0,0,0
$GC,9353,0.54,110.4,652.8,16.1,606,9354,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3287,2003,0,0,0,0,0,0
$GC,9661,0.54,110.4,602.7,16.6,621,9662,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3287,2002,0,0,0,0,0,0
$GC,9970,0.54,110.4,552.0,16.3,636,9974,0.00,2.20,0.00,0.000,4,0.000,0.034,1927,1858,2002,0,0,0,0,0,0
$GC,10012,0.54,110.4,545.3,15.1,638,10018,0.10,2.30,0.00,0.000,6,0.171,0.052,1899,3279,2001,0,0,0,0,0,0
$GC,10341,0.54,110.4,497.3,14.6,654,10342,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,3279,2000,0,0,0,0,0,0
$GC,10649,0.54,110.4,452.5,14.3,669,10650,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,3280,2001,0,0,0,0,0,0
$GC,10958,0.54,110.4,408.2,14.4,684,10959,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,3280,2000,0,0,0,0,0,0
$GC,11275,0.54,110.4,364.1,13.6,711,11276,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,3280,2000,0,0,0,0,0,0
$GC,11597,0.54,110.4,321.4,13.3,741,11598,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,3279,2000,0,0,0,0,0,0
$GC,11912,0.54,110.4,278.1,13.2,771,11916,0.00,2.17,0.00,0.000,4,0.000,0.035,1908,1861,2000,0,0,0,0,0,0
$GC,11990,0.54,110.4,268.3,11.4,777,11998,0.00,2.28,0.00,0.000,6,0.000,0.054,1908,3273,1999,0,0,0,0,0,0
$GC,12316,0.54,110.4,224.0,13.1,808,12319,0.00,1.08,0.00,0.000,4,0.000,0.060,1908,3950,1999,0,0,0,0,0,0
$GC,12444,0.54,110.4,204.4,14.5,819,12452,0.00,1.05,0.00,0.000,6,0.000,0.037,1913,3268,1999,0,0,0,0,0,0
$GC,12769,0.54,110.4,159.9,13.4,850,12773,0.00,2.15,0.00,0.000,4,0.000,0.035,1924,1854,1999,0,0,0,0,0,0
$GC,12801,0.54,110.4,155.7,11.5,852,12812,0.08,2.30,0.00,0.000,6,0.167,0.053,1901,3286,1999,0,0,0,0,0,0
$GC,13127,0.54,110.4,111.8,13.9,883,13131,0.00,2.17,0.00,0.000,4,0.000,0.037,1911,1868,1999,0,0,0,0,0,0
$GC,13157,0.54,110.4,108.4,12.3,885,13161,0.00,2.25,0.00,0.000,6,0.000,0.055,1911,3285,1999,0,0,0,0,0,0
$GC,13503,0.54,110.4,64.6,11.2,940,13510,0.00,1.05,0.00,0.000,4,0.000,0.061,1911,3947,1999,0,0,0,0,0,0
$GC,13769,0.54,110.4,30.1,10.5,986,13779,0.00,1.00,0.00,0.000,6,0.000,0.038,1916,3283,1999,0,0,0,0,0,0
$GC,13924,0.54,110.4,14.4,11.2,1011,13933,0.00,1.05,0.00,0.000,4,0.000,0.059,1916,3946,1999,0,0,0,0,0,0
$STATE,14007,end climb,SURFACE_DEPTH_REACHED
$STATE,14007,begin surface coast
$FINISH,0.6,1.026406
$STATE,14033,end surface coast,CONTROL_FINISHED_OK
$STATE,14033,begin surface
$SM_CCo,14046,45.12,0.805,0,0,1553,225.18
$SM_GC,1.21,0.00,0.00,45.12,0.000,0.000,0.805,63,3422,1553,-5.17,0.06,225.18
$IRIDIUM_FIX,-4244.98,828.21,221213,060635
$TT8_MAMPS,0.026215
$HUMID,61.89
$INTERNAL_PRESSURE,9.53279
$TCM_TEMP,13.20
$XPDR_PINGS,0
$24V_AH,22.5,21.253
$10V_AH,10.0,14.742
$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,12.750,63.425,217.000,45.125,0.000,50.755,122.247,310.296,0.000,0.000,19.245,2576.847,8618.801,371.775,3015.991,171.470,0.000,1399.835,0.000,2406.558,0.000,1.011,0.000
$DEVICE_MAMPS,241.740,64.260,1870.425,804.780,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,713.657,1757.629,706.347,351.445,0.000,0.000,0.000,0.000,0.000,0.000
$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,73844,1028
$CAP_FILE_SIZE,131198,0
$CFSIZE,259252224,249061376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,221213,103837,-4259.797,833.707,40,2.0,41,-25.1