version: 66.07
glider: 543
mission: 9
dive: 141
start: 12 23 113 1 35 1
data:
$ID,543
$MISSION,9
$DIVE,141
$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,-12958.708
$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,39
$R_STBD_OVSHOOT,17
$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
$GPS1,231213,012622,-4259.551,830.836,40,0.8,40,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-63.4
$GPS2,231213,013436,-4259.594,830.962,18,1.6,19,-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,265.0,1504,-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,-49.70,0.000,2,0.000,0.000,55,3419,2696,0,0,0,0,0,0
$GC,68,-0.53,-103.9,3.4,-4.4,6,87,6.20,0.85,-5.30,0.000,4,0.242,0.087,1538,3958,2899,0,0,0,0,0,0
$GC,131,-0.53,-103.9,16.6,-18.9,15,140,0.00,0.85,0.00,0.000,6,0.000,0.040,1539,3415,2902,0,0,0,0,0,0
$GC,188,-0.53,-103.9,27.6,-19.7,24,196,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,3415,2903,0,0,0,0,0,0
$GC,338,-0.53,-103.9,52.1,-16.5,49,344,0.00,0.88,0.00,0.000,4,0.000,0.062,1534,3953,2903,0,0,0,0,0,0
$GC,495,-0.53,-103.9,80.6,-18.9,76,502,0.00,0.82,0.00,0.000,6,0.000,0.039,1534,3417,2904,0,0,0,0,0,0
$GC,831,-0.53,-103.9,133.4,-16.1,117,832,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3417,2906,0,0,0,0,0,0
$GC,1148,-0.53,-103.9,183.7,-15.8,147,1152,0.00,0.88,0.00,0.000,4,0.000,0.062,1530,3955,2906,0,0,0,0,0,0
$GC,1204,-0.53,-103.9,193.4,-16.9,152,1208,0.00,0.82,0.00,0.000,6,0.000,0.039,1530,3413,2906,0,0,0,0,0,0
$GC,1534,-0.53,-103.9,244.8,-15.4,183,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3412,2906,0,0,0,0,0,0
$GC,1856,-0.53,-103.9,291.2,-14.8,213,1857,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3413,2906,0,0,0,0,0,0
$GC,2172,-0.53,-103.9,337.7,-13.9,243,2176,0.00,0.88,0.00,0.000,4,0.000,0.062,1526,3958,2906,0,0,0,0,0,0
$GC,2251,-0.53,-103.9,349.9,-15.4,250,2255,0.00,0.82,0.00,0.000,6,0.000,0.039,1526,3416,2906,0,0,0,0,0,0
$GC,2584,-0.53,-103.9,397.5,-14.9,281,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3414,2906,0,0,0,0,0,0
$GC,2891,-0.53,-103.9,442.9,-14.5,297,2895,0.00,0.85,0.00,0.000,4,0.000,0.063,1523,3947,2906,0,0,0,0,0,0
$GC,2982,-0.53,-103.9,456.9,-16.2,301,2985,0.00,0.80,0.00,0.000,6,0.000,0.041,1522,3420,2906,0,0,0,0,0,0
$GC,3314,-0.53,-103.9,506.9,-14.9,317,3315,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3419,2906,0,0,0,0,0,0
$GC,3623,-0.53,-103.9,554.2,-15.3,332,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3419,2906,0,0,0,0,0,0
$GC,3933,-0.53,-103.9,599.7,-14.7,347,3936,0.00,0.85,0.00,0.000,4,0.000,0.064,1519,3950,2906,0,0,0,0,0,0
$GC,3987,-0.53,-103.9,608.7,-16.0,349,3992,0.00,0.82,0.00,0.000,6,0.000,0.041,1519,3419,2906,0,0,0,0,0,0
$GC,4308,-0.53,-103.9,655.4,-14.4,365,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3418,2905,0,0,0,0,0,0
$GC,4618,-0.53,-103.9,700.8,-14.7,380,4622,0.00,0.85,0.00,0.000,4,0.000,0.063,1515,3953,2904,0,0,0,0,0,0
$GC,4663,-0.53,-103.9,707.7,-15.2,382,4667,0.08,0.80,0.00,0.000,6,0.168,0.039,1538,3425,2904,0,0,0,0,0,0
$GC,4994,-0.53,-103.9,748.7,-11.9,398,4998,0.00,0.85,0.00,0.000,4,0.000,0.063,1535,3956,2904,0,0,0,0,0,0
$GC,5040,-0.53,-103.9,754.1,-11.6,400,5043,0.00,0.82,0.00,0.000,6,0.000,0.040,1535,3414,2904,0,0,0,0,0,0
$GC,5373,-0.53,-103.9,792.1,-11.4,416,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,1535,3413,2904,0,0,0,0,0,0
$GC,5681,-0.53,-103.9,827.1,-11.4,431,5684,0.00,0.88,0.00,0.000,4,0.000,0.064,1531,3958,2903,0,0,0,0,0,0
$GC,5749,-0.53,-103.9,835.1,-11.6,434,5752,0.00,0.82,0.00,0.000,6,0.000,0.040,1531,3415,2902,0,0,0,0,0,0
$GC,6081,-0.53,-103.9,872.9,-11.4,450,6084,0.00,0.85,0.00,0.000,4,0.000,0.063,1527,3948,2903,0,0,0,0,0,0
$GC,6141,-0.53,-103.9,880.5,-12.3,452,6148,0.00,0.82,0.00,0.000,6,0.000,0.039,1527,3414,2903,0,0,0,0,0,0
$GC,6458,-0.53,-103.9,918.7,-12.4,468,6462,0.00,0.85,0.00,0.000,4,0.000,0.063,1523,3947,2902,0,0,0,0,0,0
$GC,6490,-0.53,-103.9,923.5,-14.2,469,6495,0.00,0.82,0.00,0.000,6,0.000,0.039,1524,3412,2902,0,0,0,0,0,0
$GC,6812,-0.53,-103.9,965.1,-13.0,485,6816,0.00,2.12,0.00,0.000,4,0.000,0.034,1523,1995,2902,0,0,0,0,0,0
$GC,6834,-0.53,-103.9,968.0,-13.1,486,6839,0.12,2.28,0.00,0.000,6,0.166,0.055,1545,3426,2901,0,0,0,0,0,0
$STATE,7050,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7050,begin apogee
$GC,7055,-0.09,0.0,992.0,11.3,497,7159,0.47,0.00,100.72,1.893,6,0.150,0.000,1688,3290,2473,0,0,0,0,0,0
$STATE,7159,end apogee,CONTROL_FINISHED_OK
$STATE,7159,begin climb
$GC,7161,0.53,103.9,996.0,0.0,502,7276,0.57,2.53,104.85,1.839,4,0.067,0.036,1900,1863,2048,0,0,0,0,0,0
$GC,7342,0.53,103.9,983.7,11.0,510,7347,0.00,2.47,0.00,0.000,6,0.000,0.054,1900,3278,2043,0,0,0,0,0,0
$GC,7665,0.53,103.9,937.7,14.6,526,7667,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,3278,2037,0,0,0,0,0,0
$GC,7973,0.53,103.9,891.9,14.9,541,7974,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,3278,2035,0,0,0,0,0,0
$GC,8283,0.53,103.9,845.4,15.1,556,8286,0.00,1.10,0.00,0.000,4,0.000,0.060,1900,3955,2034,0,0,0,0,0,0
$GC,8395,0.53,103.9,826.3,17.8,561,8399,0.00,1.05,0.00,0.000,6,0.000,0.037,1905,3273,2034,0,0,0,0,0,0
$GC,8728,0.53,103.9,776.1,14.9,577,8731,0.00,1.12,0.00,0.000,4,0.000,0.060,1905,3960,2032,0,0,0,0,0,0
$GC,8787,0.53,103.9,766.2,16.6,579,8795,0.00,1.08,0.00,0.000,6,0.000,0.036,1911,3273,2032,0,0,0,0,0,0
$GC,9105,0.53,103.9,718.4,15.2,595,9109,0.00,1.10,0.00,0.000,4,0.000,0.060,1911,3954,2031,0,0,0,0,0,0
$GC,9132,0.53,103.9,713.5,16.0,596,9136,0.00,1.05,0.00,0.000,6,0.000,0.036,1916,3278,2031,0,0,0,0,0,0
$GC,9459,0.53,103.9,662.6,15.7,612,9463,0.00,1.10,0.00,0.000,4,0.000,0.060,1916,3958,2030,0,0,0,0,0,0
$GC,9526,0.53,103.9,651.2,18.2,615,9529,0.00,1.02,0.00,0.000,6,0.000,0.037,1921,3287,2030,0,0,0,0,0,0
$GC,9858,0.53,103.9,599.7,15.1,631,9862,0.00,1.08,0.00,0.000,4,0.000,0.060,1921,3957,2030,0,0,0,0,0,0
$GC,9912,0.53,103.9,590.4,17.0,633,9918,0.12,1.05,0.00,0.000,6,0.218,0.037,1899,3276,2029,0,0,0,0,0,0
$GC,10234,0.53,103.9,547.7,13.0,649,10238,0.00,1.10,0.00,0.000,4,0.000,0.060,1898,3958,2029,0,0,0,0,0,0
$GC,10324,0.53,103.9,535.0,14.2,653,10328,0.00,1.02,0.00,0.000,6,0.000,0.038,1903,3283,2029,0,0,0,0,0,0
$GC,10656,0.53,103.9,490.7,13.5,669,10660,0.00,1.08,0.00,0.000,4,0.000,0.060,1903,3954,2029,0,0,0,0,0,0
$GC,10710,0.53,103.9,482.5,15.7,671,10716,0.00,1.05,0.00,0.000,6,0.000,0.036,1907,3271,2029,0,0,0,0,0,0
$GC,11034,0.53,103.9,439.1,13.5,687,11038,0.00,1.10,0.00,0.000,4,0.000,0.060,1908,3956,2029,0,0,0,0,0,0
$GC,11060,0.53,103.9,434.9,13.9,688,11065,0.00,1.05,0.00,0.000,6,0.000,0.037,1913,3274,2029,0,0,0,0,0,0
$GC,11380,0.53,103.9,392.8,13.1,706,11383,0.00,1.10,0.00,0.000,4,0.000,0.060,1913,3959,2028,0,0,0,0,0,0
$GC,11436,0.53,103.9,384.4,14.8,711,11440,0.00,1.02,0.00,0.000,6,0.000,0.037,1918,3283,2028,0,0,0,0,0,0
$GC,11766,0.53,103.9,338.2,14.1,742,11770,0.00,1.08,0.00,0.000,4,0.000,0.059,1918,3954,2028,0,0,0,0,0,0
$GC,12028,0.53,103.9,296.3,15.6,765,12033,0.10,1.02,0.00,0.000,6,0.201,0.037,1896,3276,2028,0,0,0,0,0,0
$GC,12358,0.53,103.9,252.6,12.9,796,12360,0.00,0.00,0.00,0.000,6,0.000,0.000,1895,3277,2028,0,0,0,0,0,0
$GC,12678,0.53,103.9,213.7,11.7,826,12682,0.00,2.15,0.00,0.000,4,0.000,0.034,1906,1857,2028,0,0,0,0,0,0
$GC,12696,0.53,103.9,211.8,11.7,827,12700,0.00,2.28,0.00,0.000,6,0.000,0.052,1906,3292,2027,0,0,0,0,0,0
$GC,13023,0.53,103.9,173.3,12.0,857,13026,0.00,1.05,0.00,0.000,4,0.000,0.058,1906,3957,2027,0,0,0,0,0,0
$GC,13195,0.53,103.9,150.6,12.2,872,13205,0.00,1.05,0.00,0.000,6,0.000,0.036,1911,3268,2027,0,0,0,0,0,0
$GC,13521,0.53,103.9,113.0,11.7,903,13524,0.00,1.10,0.00,0.000,4,0.000,0.058,1911,3955,2027,0,0,0,0,0,0
$GC,13569,0.53,103.9,106.3,13.4,907,13577,0.00,1.02,0.00,0.000,6,0.000,0.035,1916,3281,2027,0,0,0,0,0,0
$GC,13915,0.53,103.9,65.2,12.4,963,13924,0.00,2.15,0.00,0.000,4,0.000,0.033,1927,1871,2027,0,0,0,0,0,0
$GC,14016,0.53,103.9,54.3,10.7,980,14024,0.12,2.22,0.00,0.000,6,0.181,0.051,1897,3284,2027,0,0,0,0,0,0
$GC,14377,0.53,103.9,17.3,9.7,1041,14386,0.00,2.15,0.00,0.000,4,0.000,0.034,1906,1868,2027,0,0,0,0,0,0
$STATE,14564,end climb,SURFACE_DEPTH_REACHED
$STATE,14564,begin surface coast
$FINISH,1.7,1.026249
$STATE,14572,end surface coast,CONTROL_FINISHED_OK
$STATE,14572,begin surface
$SM_CCo,14586,48.88,0.801,0,0,1554,225.18
$SM_GC,1.39,0.00,0.00,48.88,0.000,0.000,0.801,67,3428,1554,-5.16,0.23,225.18
$IRIDIUM_FIX,-4242.04,830.68,221213,212118
$TT8_MAMPS,0.026215
$HUMID,61.89
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.5,21.860
$10V_AH,10.0,15.228
$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,12.750,67.175,205.575,48.875,0.000,26.411,41.240,305.293,0.000,0.000,20.746,2675.486,9012.887,358.671,2892.311,192.443,0.000,1385.866,0.000,2392.607,0.000,1.010,0.000
$DEVICE_MAMPS,241.740,87.210,1893.375,800.955,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,744.607,1860.727,755.967,393.517,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354408
$DATA_FILE_SIZE,77273,1072
$CAP_FILE_SIZE,135791,0
$CFSIZE,259252224,248729600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,231213,054004,-4259.714,830.081,33,0.9,33,-25.0