version: 66.07
glider: 543
mission: 9
dive: 142
start: 12 23 113 5 48 24
data:
$ID,543
$MISSION,9
$DIVE,142
$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,-12962.004
$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,46
$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
$GPS1,231213,054004,-4259.714,830.081,33,0.9,33,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-69.2
$GPS2,231213,054759,-4259.652,830.208,17,1.1,17,-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,228.6,704,-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,12,begin dive
$GC,14,-0.50,-57.7,0.0,0.0,0,66,0.00,0.00,-49.75,0.000,2,0.000,0.000,61,3429,2682,0,0,0,0,0,0
$GC,68,-0.53,-106.3,3.1,-4.1,6,87,6.18,0.90,-6.05,0.000,4,0.243,0.093,1538,3961,2910,0,0,0,0,0,0
$GC,312,-0.53,-106.3,52.5,-14.7,46,319,0.00,0.82,0.00,0.000,6,0.000,0.041,1538,3432,2914,0,0,0,0,0,0
$GC,664,-0.53,-106.3,108.7,-15.4,103,668,0.00,2.20,0.00,0.000,4,0.000,0.035,1538,1999,2916,0,0,0,0,0,0
$GC,694,-0.53,-106.3,112.9,-15.7,105,698,0.00,2.30,0.00,0.000,6,0.000,0.055,1527,3423,2917,0,0,0,0,0,0
$GC,1018,-0.53,-106.3,167.5,-17.1,135,1022,0.00,0.85,0.00,0.000,4,0.000,0.062,1523,3951,2917,0,0,0,0,0,0
$GC,1146,-0.53,-106.3,191.4,-18.1,146,1153,0.00,0.85,0.00,0.000,6,0.000,0.037,1523,3402,2918,0,0,0,0,0,0
$GC,1473,-0.53,-106.3,245.9,-16.5,177,1477,0.00,0.88,0.00,0.000,4,0.000,0.060,1519,3952,2918,0,0,0,0,0,0
$GC,1556,-0.53,-106.3,261.1,-17.9,184,1566,0.00,0.82,0.00,0.000,6,0.000,0.036,1519,3408,2918,0,0,0,0,0,0
$GC,1881,-0.53,-106.3,313.8,-16.6,215,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3408,2918,0,0,0,0,0,0
$GC,2203,-0.53,-106.3,362.8,-15.4,245,2206,0.00,0.85,0.00,0.000,4,0.000,0.060,1515,3944,2918,0,0,0,0,0,0
$GC,2354,-0.53,-106.3,388.2,-16.1,258,2362,0.08,0.80,0.00,0.000,6,0.174,0.035,1538,3418,2918,0,0,0,0,0,0
$GC,2672,-0.53,-106.3,432.6,-13.7,278,2676,0.00,0.85,0.00,0.000,4,0.000,0.061,1535,3954,2918,0,0,0,0,0,0
$GC,2749,-0.53,-106.3,444.1,-14.5,281,2754,0.00,0.82,0.00,0.000,6,0.000,0.037,1535,3414,2918,0,0,0,0,0,0
$GC,3071,-0.53,-106.3,488.2,-13.7,297,3075,0.00,0.85,0.00,0.000,4,0.000,0.062,1531,3950,2918,0,0,0,0,0,0
$GC,3125,-0.53,-106.3,496.6,-14.9,299,3130,0.00,0.82,0.00,0.000,6,0.000,0.037,1531,3413,2918,0,0,0,0,0,0
$GC,3449,-0.53,-106.3,541.3,-13.8,315,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3413,2918,0,0,0,0,0,0
$GC,3757,-0.53,-106.3,583.7,-13.6,330,3760,0.00,0.85,0.00,0.000,4,0.000,0.063,1527,3944,2917,0,0,0,0,0,0
$GC,3850,-0.53,-106.3,598.0,-14.8,334,3855,0.00,0.80,0.00,0.000,6,0.000,0.039,1527,3423,2918,0,0,0,0,0,0
$GC,4178,-0.53,-106.3,643.8,-14.2,350,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3423,2916,0,0,0,0,0,0
$GC,4488,-0.53,-106.3,687.6,-14.4,365,4492,0.00,0.85,0.00,0.000,4,0.000,0.064,1523,3955,2916,0,0,0,0,0,0
$GC,4559,-0.53,-106.3,698.9,-15.4,368,4564,0.00,0.82,0.00,0.000,6,0.000,0.037,1523,3414,2916,0,0,0,0,0,0
$GC,4887,-0.53,-106.3,746.0,-14.6,384,4888,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3413,2915,0,0,0,0,0,0
$GC,5196,-0.53,-106.3,790.1,-14.2,399,5200,0.00,0.85,0.00,0.000,4,0.000,0.063,1519,3947,2915,0,0,0,0,0,0
$GC,5341,-0.53,-106.3,812.6,-15.8,405,5345,0.00,0.82,0.00,0.000,6,0.000,0.038,1519,3412,2914,0,0,0,0,0,0
$GC,5664,-0.53,-106.3,858.1,-13.8,421,5667,0.00,0.85,0.00,0.000,4,0.000,0.063,1515,3944,2914,0,0,0,0,0,0
$GC,5741,-0.53,-106.3,870.0,-14.5,424,5746,0.12,0.82,0.00,0.000,6,0.187,0.038,1545,3413,2914,0,0,0,0,0,0
$GC,6062,-0.53,-106.3,904.0,-10.2,440,6063,0.00,0.00,0.00,0.000,6,0.000,0.000,1545,3413,2913,0,0,0,0,0,0
$GC,6371,-0.53,-106.3,934.9,-10.0,455,6375,0.00,2.12,0.00,0.000,4,0.000,0.034,1545,1995,2913,0,0,0,0,0,0
$GC,6393,-0.53,-106.3,937.1,-10.2,456,6397,0.00,2.28,0.00,0.000,6,0.000,0.055,1536,3423,2913,0,0,0,0,0,0
$GC,6713,-0.53,-106.3,969.9,-10.4,472,6717,0.00,0.82,0.00,0.000,4,0.000,0.063,1532,3946,2912,0,0,0,0,0,0
$GC,6848,-0.53,-106.3,984.9,-11.2,478,6852,0.00,0.80,0.00,0.000,6,0.000,0.039,1532,3413,2912,0,0,0,0,0,0
$STATE,6911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6911,begin apogee
$GC,6915,-0.09,0.0,992.0,10.7,481,7022,0.52,0.00,103.22,1.886,6,0.154,0.000,1687,3279,2473,0,0,0,0,0,0
$STATE,7023,end apogee,CONTROL_FINISHED_OK
$STATE,7023,begin climb
$GC,7024,0.53,106.3,994.7,0.0,486,7139,0.57,2.47,106.80,1.828,4,0.067,0.033,1899,1865,2039,0,0,0,0,0,0
$GC,7177,0.53,106.3,983.2,12.9,493,7182,0.00,2.47,0.00,0.000,6,0.000,0.050,1899,3275,2034,0,0,0,0,0,0
$GC,7505,0.53,106.3,933.7,14.8,509,7509,0.00,1.12,0.00,0.000,4,0.000,0.060,1899,3951,2027,0,0,0,0,0,0
$GC,7573,0.53,106.3,922.6,17.1,512,7576,0.00,1.05,0.00,0.000,6,0.000,0.039,1905,3286,2027,0,0,0,0,0,0
$GC,7905,0.53,106.3,873.3,14.7,528,7909,0.00,2.22,0.00,0.000,4,0.000,0.037,1916,1865,2025,0,0,0,0,0,0
$GC,7989,0.53,106.3,862.2,12.2,532,7994,0.00,2.33,0.00,0.000,6,0.000,0.054,1916,3289,2024,0,0,0,0,0,0
$GC,8316,0.53,106.3,811.9,15.3,548,8319,0.00,1.08,0.00,0.000,4,0.000,0.062,1915,3954,2023,0,0,0,0,0,0
$GC,8361,0.53,106.3,804.4,17.3,550,8364,0.00,1.05,0.00,0.000,6,0.000,0.038,1921,3272,2023,0,0,0,0,0,0
$GC,8693,0.53,106.3,752.2,15.9,566,8696,0.00,1.10,0.00,0.000,4,0.000,0.060,1921,3947,2022,0,0,0,0,0,0
$GC,8747,0.53,106.3,742.7,17.5,568,8752,0.12,1.05,0.00,0.000,6,0.222,0.039,1899,3275,2022,0,0,0,0,0,0
$GC,9069,0.53,106.3,694.9,14.8,584,9073,0.00,2.17,0.00,0.000,4,0.000,0.037,1908,1869,2021,0,0,0,0,0,0
$GC,9117,0.53,106.3,688.1,13.7,586,9122,0.00,2.30,0.00,0.000,6,0.000,0.054,1908,3283,2020,0,0,0,0,0,0
$GC,9441,0.53,106.3,638.7,15.3,602,9442,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3283,2020,0,0,0,0,0,0
$GC,9749,0.53,106.3,592.2,15.0,617,9750,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3283,2019,0,0,0,0,0,0
$GC,10058,0.53,106.3,545.2,14.8,632,10061,0.00,1.08,0.00,0.000,4,0.000,0.061,1909,3951,2019,0,0,0,0,0,0
$GC,10202,0.53,106.3,522.0,15.9,638,10207,0.00,1.05,0.00,0.000,6,0.000,0.038,1914,3273,2019,0,0,0,0,0,0
$GC,10524,0.53,106.3,476.4,14.4,654,10525,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3273,2018,0,0,0,0,0,0
$GC,10833,0.53,106.3,433.1,13.9,669,10834,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3273,2018,0,0,0,0,0,0
$GC,11145,0.53,106.3,389.5,13.8,687,11149,0.00,2.15,0.00,0.000,4,0.000,0.037,1924,1857,2018,0,0,0,0,0,0
$GC,11184,0.53,106.3,384.5,12.4,690,11189,0.12,2.28,0.00,0.000,6,0.196,0.054,1896,3283,2017,0,0,0,0,0,0
$GC,11508,0.53,106.3,344.9,13.0,720,11512,0.00,1.08,0.00,0.000,4,0.000,0.061,1895,3957,2017,0,0,0,0,0,0
$GC,11542,0.53,106.3,340.4,14.1,723,11546,0.00,1.02,0.00,0.000,6,0.000,0.039,1899,3283,2017,0,0,0,0,0,0
$GC,11872,0.53,106.3,298.0,13.0,754,11876,0.00,1.08,0.00,0.000,4,0.000,0.060,1899,3951,2017,0,0,0,0,0,0
$GC,11944,0.53,106.3,287.5,14.5,760,11954,0.00,1.05,0.00,0.000,6,0.000,0.037,1904,3268,2016,0,0,0,0,0,0
$GC,12269,0.53,106.3,245.7,12.7,791,12272,0.00,2.15,0.00,0.000,4,0.000,0.035,1915,1859,2016,0,0,0,0,0,0
$GC,12299,0.53,106.3,242.3,11.3,793,12303,0.00,2.25,0.00,0.000,6,0.000,0.054,1915,3280,2016,0,0,0,0,0,0
$GC,12629,0.53,106.3,197.8,13.1,824,12633,0.00,1.05,0.00,0.000,4,0.000,0.060,1915,3945,2016,0,0,0,0,0,0
$GC,12754,0.53,106.3,179.0,14.9,835,12758,0.00,1.00,0.00,0.000,6,0.000,0.037,1920,3284,2016,0,0,0,0,0,0
$GC,13084,0.53,106.3,136.2,13.3,866,13085,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3284,2016,0,0,0,0,0,0
$GC,13405,0.53,106.3,95.1,11.8,899,13411,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3284,2016,0,0,0,0,0,0
$GC,13751,0.53,108.5,55.7,9.2,960,13760,0.00,2.17,0.00,0.000,4,0.000,0.035,1931,1867,2016,0,0,0,0,0,0
$GC,14020,0.54,115.1,34.2,8.7,1006,14030,0.10,2.28,1.40,0.243,6,0.159,0.054,1900,3282,2001,0,0,0,0,0,0
$GC,14175,0.54,117.4,18.8,9.2,1031,14184,0.00,1.05,0.00,0.000,4,0.000,0.058,1901,3954,2000,0,0,0,0,0,0
$GC,14260,0.54,117.4,9.4,11.3,1044,14269,0.00,1.02,0.00,0.000,6,0.000,0.036,1905,3268,2001,0,0,0,0,0,0
$STATE,14312,end climb,SURFACE_DEPTH_REACHED
$STATE,14312,begin surface coast
$FINISH,0.7,1.026301
$STATE,14339,end surface coast,CONTROL_FINISHED_OK
$STATE,14339,begin surface
$SM_CCo,14351,45.80,0.784,0,0,1554,225.18
$SM_GC,1.41,0.00,0.00,45.80,0.000,0.000,0.784,55,3431,1554,-5.20,0.34,225.18
$IRIDIUM_FIX,-4242.04,827.77,231213,010155
$TT8_MAMPS,0.026964
$HUMID,61.45
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.5,22.000
$10V_AH,10.0,15.338
$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,12.700,71.925,211.425,45.800,0.000,27.392,23.596,302.154,0.000,0.000,20.373,2643.388,8833.078,357.639,2862.171,176.989,0.000,1384.187,0.000,2377.838,0.000,1.704,0.000
$DEVICE_MAMPS,243.270,93.330,1885.725,784.125,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,733.258,1798.693,729.439,362.994,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354460
$DATA_FILE_SIZE,77041,1056
$CAP_FILE_SIZE,135655,0
$CFSIZE,259252224,248655872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,231213,095000,-4300.491,830.243,64,1.6,65,-25.0