version: 66.07
glider: 543
mission: 9
dive: 140
start: 12 22 113 21 25 24
data:
$ID,543
$MISSION,9
$DIVE,140
$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,-12955.37
$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
$GPS1,221213,211035,-4259.255,831.408,39,1.2,40,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-65.4
$GPS2,221213,212459,-4259.284,831.475,17,1.6,17,-25.1
$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,261.5,2398,-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,-49.50,0.000,6,0.000,0.000,61,3427,2710,0,0,0,0,0,0
$GC,68,-0.53,-103.3,3.4,-4.4,6,86,6.15,0.00,-4.80,0.000,6,0.240,0.000,1541,3427,2897,0,0,0,0,0,0
$GC,136,-0.53,-103.3,18.5,-21.3,16,145,0.00,0.85,0.00,0.000,4,0.000,0.061,1538,3949,2901,0,0,0,0,0,0
$GC,187,-0.53,-103.3,29.4,-20.3,24,195,0.00,0.82,0.00,0.000,6,0.000,0.041,1538,3422,2901,0,0,0,0,0,0
$GC,337,-0.53,-103.3,61.0,-20.0,49,344,0.00,0.85,0.00,0.000,4,0.000,0.063,1534,3943,2901,0,0,0,0,0,0
$GC,409,-0.53,-103.3,74.4,-18.6,61,416,0.00,0.82,0.00,0.000,6,0.000,0.040,1534,3413,2901,0,0,0,0,0,0
$GC,750,-0.53,-103.3,126.6,-14.4,106,751,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3413,2904,0,0,0,0,0,0
$GC,1069,-0.53,-103.3,173.3,-14.3,136,1073,0.00,0.88,0.00,0.000,4,0.000,0.063,1530,3948,2904,0,0,0,0,0,0
$GC,1141,-0.53,-103.3,184.6,-15.1,142,1149,0.00,0.82,0.00,0.000,6,0.000,0.038,1530,3418,2904,0,0,0,0,0,0
$GC,1469,-0.53,-103.3,230.9,-14.4,173,1473,0.00,2.15,0.00,0.000,4,0.000,0.034,1531,1996,2904,0,0,0,0,0,0
$GC,1500,-0.53,-103.3,235.5,-12.3,175,1508,0.00,2.30,0.00,0.000,6,0.000,0.055,1520,3415,2905,0,0,0,0,0,0
$GC,1826,-0.53,-103.3,282.9,-14.9,206,1829,0.00,0.85,0.00,0.000,4,0.000,0.062,1516,3953,2905,0,0,0,0,0,0
$GC,1961,-0.53,-103.3,305.2,-16.2,218,1966,0.08,0.80,0.00,0.000,6,0.168,0.040,1539,3426,2904,0,0,0,0,0,0
$GC,2294,-0.53,-103.3,349.1,-13.3,249,2298,0.00,2.15,0.00,0.000,4,0.000,0.034,1539,1992,2904,0,0,0,0,0,0
$GC,2325,-0.53,-103.3,353.3,-11.2,251,2333,0.00,2.33,0.00,0.000,6,0.000,0.057,1529,3425,2905,0,0,0,0,0,0
$GC,2651,-0.53,-103.3,398.9,-14.7,282,2655,0.00,0.85,0.00,0.000,4,0.000,0.063,1525,3961,2904,0,0,0,0,0,0
$GC,2741,-0.53,-103.3,412.9,-15.7,287,2745,0.00,0.82,0.00,0.000,6,0.000,0.040,1525,3418,2904,0,0,0,0,0,0
$GC,3073,-0.53,-103.3,463.1,-15.1,303,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3417,2904,0,0,0,0,0,0
$GC,3383,-0.53,-103.3,508.9,-14.6,318,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3417,2903,0,0,0,0,0,0
$GC,3692,-0.53,-103.3,552.7,-13.9,333,3695,0.00,0.85,0.00,0.000,4,0.000,0.063,1521,3953,2903,0,0,0,0,0,0
$GC,3729,-0.53,-103.3,558.4,-14.8,334,3737,0.00,0.82,0.00,0.000,6,0.000,0.038,1521,3417,2903,0,0,0,0,0,0
$GC,4046,-0.53,-103.3,599.4,-12.9,350,4049,0.00,0.85,0.00,0.000,4,0.000,0.063,1517,3953,2903,0,0,0,0,0,0
$GC,4106,-0.53,-103.3,608.1,-14.4,352,4114,0.12,0.82,0.00,0.000,6,0.183,0.039,1547,3418,2903,0,0,0,0,0,0
$GC,4423,-0.53,-104.9,639.0,-9.3,368,4427,0.00,2.15,0.00,0.000,4,0.000,0.034,1548,1990,2902,0,0,0,0,0,0
$GC,4449,-0.54,-112.7,641.4,-8.6,369,4453,0.00,2.33,0.00,0.000,6,0.000,0.057,1538,3422,2902,0,0,0,0,0,0
$GC,4772,-0.54,-112.7,673.2,-10.2,385,4776,0.00,0.82,0.00,0.000,4,0.000,0.065,1534,3944,2901,0,0,0,0,0,0
$GC,4867,-0.54,-112.7,684.5,-11.5,389,4871,0.00,0.80,0.00,0.000,6,0.000,0.042,1534,3418,2901,0,0,0,0,0,0
$GC,5193,-0.54,-112.7,721.5,-11.9,405,5195,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3418,2901,0,0,0,0,0,0
$GC,5503,-0.54,-112.7,757.0,-11.4,420,5506,0.00,0.85,0.00,0.000,4,0.000,0.064,1529,3951,2900,0,0,0,0,0,0
$GC,5571,-0.54,-112.7,765.6,-13.5,423,5574,0.00,0.80,0.00,0.000,6,0.000,0.041,1530,3425,2900,0,0,0,0,0,0
$GC,5903,-0.54,-112.7,805.3,-12.1,439,5904,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3423,2900,0,0,0,0,0,0
$GC,6213,-0.54,-112.7,842.5,-11.8,454,6215,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3423,2899,0,0,0,0,0,0
$GC,6522,-0.54,-112.7,880.7,-12.6,469,6525,0.00,0.85,0.00,0.000,4,0.000,0.062,1526,3954,2898,0,0,0,0,0,0
$GC,6559,-0.54,-112.7,885.9,-13.7,470,6567,0.00,0.85,0.00,0.000,6,0.000,0.038,1526,3406,2899,0,0,0,0,0,0
$GC,6875,-0.54,-112.7,927.0,-13.0,486,6879,0.00,0.88,0.00,0.000,4,0.000,0.063,1522,3956,2898,0,0,0,0,0,0
$GC,6936,-0.54,-112.7,935.5,-14.6,488,6943,0.00,0.82,0.00,0.000,6,0.000,0.039,1522,3421,2897,0,0,0,0,0,0
$GC,7252,-0.54,-112.7,978.0,-13.2,504,7253,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3422,2897,0,0,0,0,0,0
$STATE,7353,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7353,begin apogee
$GC,7358,-0.09,0.0,991.8,13.5,509,7461,0.55,0.00,99.38,1.883,6,0.151,0.000,1686,3272,2473,0,0,0,0,0,0
$STATE,7461,end apogee,CONTROL_FINISHED_OK
$STATE,7462,begin climb
$GC,7463,0.54,112.7,995.1,0.0,514,7584,0.60,2.45,113.00,1.833,4,0.070,0.033,1904,1857,2013,0,0,0,0,0,0
$GC,7622,0.54,112.7,983.6,13.0,521,7627,0.00,2.50,0.00,0.000,6,0.000,0.051,1904,3277,2010,0,0,0,0,0,0
$GC,7944,0.54,112.7,935.8,15.0,537,7945,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3277,2003,0,0,0,0,0,0
$GC,8253,0.54,112.7,889.6,15.1,552,8257,0.00,1.10,0.00,0.000,4,0.000,0.061,1904,3947,2000,0,0,0,0,0,0
$GC,8381,0.54,112.7,867.4,16.7,557,8389,0.00,1.05,0.00,0.000,6,0.000,0.040,1909,3280,2000,0,0,0,0,0,0
$GC,8697,0.54,112.7,818.4,15.4,573,8698,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3280,1998,0,0,0,0,0,0
$GC,9007,0.54,112.7,770.0,15.9,588,9008,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3280,1998,0,0,0,0,0,0
$GC,9317,0.54,112.7,721.0,16.1,603,9321,0.00,1.10,0.00,0.000,4,0.000,0.063,1909,3958,1997,0,0,0,0,0,0
$GC,9363,0.54,112.7,712.9,17.9,605,9366,0.00,1.05,0.00,0.000,6,0.000,0.041,1914,3280,1997,0,0,0,0,0,0
$GC,9695,0.54,112.7,658.0,16.4,621,9696,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3280,1996,0,0,0,0,0,0
$GC,10005,0.54,112.7,607.0,16.5,636,10009,0.00,1.08,0.00,0.000,4,0.000,0.063,1914,3951,1996,0,0,0,0,0,0
$GC,10076,0.54,112.7,593.9,18.3,639,10081,0.00,1.05,0.00,0.000,6,0.000,0.039,1919,3279,1995,0,0,0,0,0,0
$GC,10404,0.54,112.7,541.2,16.3,655,10408,0.00,1.10,0.00,0.000,4,0.000,0.062,1919,3958,1994,0,0,0,0,0,0
$GC,10464,0.54,112.7,530.5,17.3,657,10473,0.12,1.08,0.00,0.000,6,0.216,0.038,1897,3269,1994,0,0,0,0,0,0
$GC,10781,0.54,112.7,485.5,14.2,673,10782,0.00,0.00,0.00,0.000,6,0.000,0.000,1897,3270,1994,0,0,0,0,0,0
$GC,11090,0.54,112.7,440.6,14.3,688,11093,0.00,1.12,0.00,0.000,4,0.000,0.061,1897,3960,1994,0,0,0,0,0,0
$GC,11157,0.54,112.7,429.9,16.4,691,11161,0.00,1.05,0.00,0.000,6,0.000,0.040,1901,3277,1994,0,0,0,0,0,0
$GC,11483,0.54,112.7,383.4,14.1,712,11484,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,3277,1994,0,0,0,0,0,0
$GC,11801,0.54,112.7,339.0,13.7,742,11805,0.00,1.10,0.00,0.000,4,0.000,0.063,1900,3956,1993,0,0,0,0,0,0
$GC,11928,0.54,112.7,320.0,15.6,753,11932,0.00,1.02,0.00,0.000,6,0.000,0.040,1906,3283,1993,0,0,0,0,0,0
$GC,12259,0.54,112.7,274.9,13.7,784,12260,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3283,1993,0,0,0,0,0,0
$GC,12578,0.54,112.7,232.0,13.0,814,12579,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3283,1993,0,0,0,0,0,0
$GC,12897,0.54,112.7,190.3,12.6,844,12900,0.00,1.08,0.00,0.000,4,0.000,0.061,1906,3953,1993,0,0,0,0,0,0
$GC,12987,0.54,112.7,177.3,14.9,852,12991,0.00,1.02,0.00,0.000,6,0.000,0.039,1911,3281,1993,0,0,0,0,0,0
$GC,13317,0.54,112.7,134.0,13.2,883,13321,0.00,1.08,0.00,0.000,4,0.000,0.062,1911,3948,1993,0,0,0,0,0,0
$GC,13352,0.54,112.7,129.2,14.1,886,13355,0.00,1.02,0.00,0.000,6,0.000,0.039,1916,3274,1993,0,0,0,0,0,0
$GC,13684,0.54,112.7,84.9,14.1,926,13691,0.00,1.10,0.00,0.000,4,0.000,0.061,1916,3954,1993,0,0,0,0,0,0
$GC,13733,0.54,112.7,78.1,14.6,934,13740,0.00,1.02,0.00,0.000,6,0.000,0.038,1921,3281,1993,0,0,0,0,0,0
$GC,14087,0.54,112.7,33.6,10.0,995,14094,0.00,1.08,0.00,0.000,4,0.000,0.063,1921,3954,1993,0,0,0,0,0,0
$STATE,14305,end climb,SURFACE_DEPTH_REACHED
$STATE,14305,begin surface coast
$FINISH,0.5,1.026266
$STATE,14325,end surface coast,CONTROL_FINISHED_OK
$STATE,14325,begin surface
$SM_CCo,14338,45.42,0.804,0,0,1551,225.18
$SM_GC,1.43,0.00,0.00,45.42,0.000,0.000,0.804,55,3419,1551,-5.20,-0.03,225.18
$IRIDIUM_FIX,-4242.04,830.68,221213,212115
$TT8_MAMPS,0.026215
$HUMID,62.79
$INTERNAL_PRESSURE,9.53279
$TCM_TEMP,13.10
$XPDR_PINGS,0
$24V_AH,22.5,21.719
$10V_AH,10.0,15.116
$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,12.650,58.075,212.375,45.425,0.000,58.998,78.703,499.546,0.000,0.000,19.688,2557.731,9111.703,368.547,3025.484,181.484,0.000,1333.973,0.000,2230.311,0.000,1.011,0.000
$DEVICE_MAMPS,240.210,65.025,1882.665,804.015,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,717.596,1772.213,673.367,309.412,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354448
$DATA_FILE_SIZE,73803,1034
$CAP_FILE_SIZE,133563,0
$CFSIZE,259252224,248811520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,231213,012622,-4259.551,830.836,40,0.8,40,-25.0