version: 66.07
glider: 543
mission: 9
dive: 145
start: 12 23 113 18 29 6
data:
$ID,543
$MISSION,9
$DIVE,145
$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,-12971.846
$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,29
$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
$GPS1,231213,182004,-4259.460,830.999,43,0.8,43,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-60.3
$GPS2,231213,182841,-4259.499,831.196,27,1.0,27,-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,265.2,1867,-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,-49.62,0.000,2,0.000,0.000,62,3428,2701,0,0,0,0,0,0
$GC,68,-0.53,-101.8,3.4,-4.6,6,87,6.15,0.85,-5.03,0.000,4,0.240,0.085,1540,3954,2889,0,0,0,0,0,0
$GC,339,-0.53,-101.8,55.4,-17.3,51,348,0.00,0.80,0.00,0.000,6,0.000,0.036,1540,3422,2893,0,0,0,0,0,0
$GC,692,-0.53,-101.8,112.1,-16.3,106,696,0.00,0.82,0.00,0.000,4,0.000,0.059,1536,3934,2894,0,0,0,0,0,0
$GC,751,-0.53,-101.8,122.0,-16.3,111,759,0.00,0.80,0.00,0.000,6,0.000,0.034,1536,3412,2894,0,0,0,0,0,0
$GC,1077,-0.53,-101.8,173.4,-15.8,142,1080,0.00,0.85,0.00,0.000,4,0.000,0.059,1532,3943,2895,0,0,0,0,0,0
$GC,1158,-0.53,-101.8,186.4,-16.1,149,1162,0.00,0.77,0.00,0.000,6,0.000,0.035,1532,3424,2895,0,0,0,0,0,0
$GC,1488,-0.53,-101.8,238.3,-15.3,180,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,3423,2896,0,0,0,0,0,0
$GC,1808,-0.53,-101.8,284.5,-13.8,210,1811,0.00,0.82,0.00,0.000,4,0.000,0.059,1529,3943,2895,0,0,0,0,0,0
$GC,1913,-0.53,-101.8,301.0,-15.2,219,1921,0.00,0.80,0.00,0.000,6,0.000,0.036,1529,3418,2895,0,0,0,0,0,0
$GC,2238,-0.53,-101.8,346.3,-13.0,250,2242,0.00,0.82,0.00,0.000,4,0.000,0.059,1525,3936,2895,0,0,0,0,0,0
$GC,2287,-0.53,-101.8,353.6,-14.9,254,2295,0.00,0.80,0.00,0.000,6,0.000,0.035,1525,3412,2895,0,0,0,0,0,0
$GC,2615,-0.53,-101.8,399.4,-14.4,285,2616,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3412,2895,0,0,0,0,0,0
$GC,2932,-0.53,-101.8,445.1,-14.5,301,2936,0.00,0.85,0.00,0.000,4,0.000,0.060,1521,3948,2895,0,0,0,0,0,0
$GC,3026,-0.53,-101.8,459.5,-14.9,305,3030,0.00,0.80,0.00,0.000,6,0.000,0.037,1521,3421,2896,0,0,0,0,0,0
$GC,3353,-0.53,-101.8,508.4,-15.4,321,3354,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3421,2895,0,0,0,0,0,0
$GC,3663,-0.53,-101.8,555.8,-15.3,336,3666,0.00,0.82,0.00,0.000,4,0.000,0.060,1517,3940,2895,0,0,0,0,0,0
$GC,3734,-0.53,-101.8,567.8,-16.5,339,3739,0.12,0.80,0.00,0.000,6,0.187,0.037,1547,3419,2894,0,0,0,0,0,0
$GC,4062,-0.53,-101.8,609.2,-12.7,355,4066,0.00,0.82,0.00,0.000,4,0.000,0.062,1544,3935,2894,0,0,0,0,0,0
$GC,4140,-0.53,-101.8,619.4,-13.0,358,4144,0.00,0.80,0.00,0.000,6,0.000,0.037,1544,3413,2894,0,0,0,0,0,0
$GC,4461,-0.53,-101.8,657.5,-11.8,374,4465,0.00,0.85,0.00,0.000,4,0.000,0.063,1540,3945,2893,0,0,0,0,0,0
$GC,4487,-0.53,-101.8,660.9,-12.3,375,4492,0.00,0.80,0.00,0.000,6,0.000,0.037,1540,3420,2893,0,0,0,0,0,0
$GC,4815,-0.53,-101.8,699.3,-11.5,391,4819,0.00,0.82,0.00,0.000,4,0.000,0.062,1537,3935,2892,0,0,0,0,0,0
$GC,4886,-0.53,-101.8,708.4,-12.9,394,4891,0.00,0.80,0.00,0.000,6,0.000,0.038,1537,3415,2892,0,0,0,0,0,0
$GC,5213,-0.53,-101.8,747.1,-11.9,410,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3414,2891,0,0,0,0,0,0
$GC,5523,-0.53,-101.8,783.3,-11.6,425,5526,0.00,0.85,0.00,0.000,4,0.000,0.062,1532,3949,2891,0,0,0,0,0,0
$GC,5599,-0.53,-101.8,793.2,-13.4,428,5604,0.00,0.82,0.00,0.000,6,0.000,0.038,1532,3408,2891,0,0,0,0,0,0
$GC,5921,-0.53,-101.8,831.3,-11.5,444,5925,0.00,0.85,0.00,0.000,4,0.000,0.063,1529,3940,2890,0,0,0,0,0,0
$GC,5970,-0.53,-101.8,837.7,-13.3,446,5975,0.00,0.80,0.00,0.000,6,0.000,0.038,1528,3418,2890,0,0,0,0,0,0
$GC,6297,-0.53,-101.8,878.8,-12.7,462,6301,0.00,0.82,0.00,0.000,4,0.000,0.063,1525,3932,2889,0,0,0,0,0,0
$GC,6432,-0.53,-101.8,897.0,-14.1,468,6436,0.00,0.77,0.00,0.000,6,0.000,0.040,1525,3421,2889,0,0,0,0,0,0
$GC,6766,-0.53,-101.8,938.5,-12.8,484,6767,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3421,2889,0,0,0,0,0,0
$GC,7074,-0.53,-101.8,976.9,-12.5,499,7075,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3420,2889,0,0,0,0,0,0
$STATE,7196,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7196,begin apogee
$GC,7200,-0.09,0.0,991.6,11.9,505,7299,0.55,0.00,92.60,1.786,6,0.157,0.000,1687,3285,2477,0,0,0,0,0,0
$STATE,7300,end apogee,CONTROL_FINISHED_OK
$STATE,7300,begin climb
$GC,7302,0.53,101.8,994.1,0.0,510,7412,0.60,2.47,102.15,1.826,4,0.065,0.034,1903,1864,2060,0,0,0,0,0,0
$GC,7439,0.53,101.8,985.0,12.7,516,7447,0.00,2.47,0.00,0.000,6,0.000,0.050,1904,3269,2061,0,0,0,0,0,0
$GC,7757,0.53,101.8,937.5,15.4,532,7761,0.00,2.20,0.00,0.000,4,0.000,0.034,1914,1864,2056,0,0,0,0,0,0
$GC,7796,0.53,101.8,931.8,13.3,534,7801,0.00,2.35,0.00,0.000,6,0.000,0.051,1914,3283,2055,0,0,0,0,0,0
$GC,8122,0.53,101.8,882.8,14.9,550,8126,0.00,2.20,0.00,0.000,4,0.000,0.035,1925,1860,2053,0,0,0,0,0,0
$GC,8199,0.53,101.8,872.5,12.0,553,8208,0.10,2.33,0.00,0.000,6,0.176,0.052,1897,3275,2052,0,0,0,0,0,0
$GC,8517,0.53,101.8,831.5,12.8,569,8521,0.00,1.10,0.00,0.000,4,0.000,0.059,1897,3957,2051,0,0,0,0,0,0
$GC,8577,0.53,101.8,822.3,15.6,571,8585,0.00,1.08,0.00,0.000,6,0.000,0.037,1901,3269,2051,0,0,0,0,0,0
$GC,8894,0.53,101.8,780.4,13.0,587,8897,0.00,1.12,0.00,0.000,4,0.000,0.060,1901,3960,2050,0,0,0,0,0,0
$GC,8976,0.53,101.8,767.8,14.7,590,8984,0.00,1.08,0.00,0.000,6,0.000,0.036,1906,3269,2050,0,0,0,0,0,0
$GC,9294,0.53,101.8,724.4,14.1,606,9298,0.00,2.15,0.00,0.000,4,0.000,0.034,1917,1867,2050,0,0,0,0,0,0
$GC,9336,0.53,101.8,718.5,13.4,608,9341,0.00,2.30,0.00,0.000,6,0.000,0.052,1917,3287,2049,0,0,0,0,0,0
$GC,9664,0.53,101.8,671.5,14.4,624,9665,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3287,2049,0,0,0,0,0,0
$GC,9974,0.53,101.8,628.6,13.9,639,9978,0.00,2.20,0.00,0.000,4,0.000,0.036,1928,1855,2049,0,0,0,0,0,0
$GC,10058,0.53,101.8,617.9,12.9,643,10063,0.15,2.28,0.00,0.000,6,0.194,0.054,1892,3281,2048,0,0,0,0,0,0
$GC,10390,0.53,101.8,578.0,11.8,659,10393,0.00,1.08,0.00,0.000,4,0.000,0.060,1892,3954,2047,0,0,0,0,0,0
$GC,10480,0.53,101.8,566.6,12.8,663,10483,0.00,1.02,0.00,0.000,6,0.000,0.037,1896,3277,2047,0,0,0,0,0,0
$GC,10812,0.53,101.8,529.1,11.2,679,10813,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,3277,2047,0,0,0,0,0,0
$GC,11121,0.53,101.8,492.7,12.0,694,11125,0.00,2.15,0.00,0.000,4,0.000,0.034,1906,1862,2047,0,0,0,0,0,0
$GC,11175,0.53,101.8,486.5,11.0,696,11183,0.00,2.28,0.00,0.000,6,0.000,0.051,1907,3278,2046,0,0,0,0,0,0
$GC,11492,0.53,101.8,445.9,13.1,712,11493,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3278,2046,0,0,0,0,0,0
$GC,11802,0.53,101.8,405.9,13.0,727,11803,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3278,2046,0,0,0,0,0,0
$GC,12118,0.53,101.8,365.1,12.8,754,12122,0.00,1.08,0.00,0.000,4,0.000,0.059,1907,3953,2047,0,0,0,0,0,0
$GC,12157,0.53,101.8,359.5,14.2,757,12164,0.00,1.02,0.00,0.000,6,0.000,0.037,1912,3275,2047,0,0,0,0,0,0
$GC,12482,0.53,101.8,317.7,12.5,788,12485,0.00,1.08,0.00,0.000,4,0.000,0.059,1912,3947,2046,0,0,0,0,0,0
$GC,12577,0.53,101.8,304.0,14.5,796,12586,0.00,1.00,0.00,0.000,6,0.000,0.036,1917,3285,2046,0,0,0,0,0,0
$GC,12902,0.53,101.8,261.3,13.7,827,12906,0.00,2.12,0.00,0.000,4,0.000,0.033,1928,1862,2046,0,0,0,0,0,0
$GC,12945,0.53,101.8,255.9,11.0,830,12954,0.10,2.28,0.00,0.000,6,0.168,0.052,1899,3278,2045,0,0,0,0,0,0
$GC,13273,0.53,101.8,217.8,11.7,861,13277,0.00,1.08,0.00,0.000,4,0.000,0.060,1899,3953,2045,0,0,0,0,0,0
$GC,13300,0.53,101.8,213.9,12.7,863,13307,0.00,1.05,0.00,0.000,6,0.000,0.037,1902,3267,2045,0,0,0,0,0,0
$GC,13625,0.53,101.8,174.0,12.3,894,13628,0.00,1.10,0.00,0.000,4,0.000,0.061,1902,3951,2046,0,0,0,0,0,0
$GC,13708,0.53,101.8,162.2,14.2,901,13716,0.00,1.02,0.00,0.000,6,0.000,0.037,1907,3279,2046,0,0,0,0,0,0
$GC,14033,0.53,101.8,122.6,11.6,932,14037,0.00,2.12,0.00,0.000,4,0.000,0.034,1918,1859,2045,0,0,0,0,0,0
$GC,14098,0.53,101.8,116.0,9.9,937,14102,0.00,2.28,0.00,0.000,6,0.000,0.053,1918,3289,2045,0,0,0,0,0,0
$GC,14435,0.53,101.8,78.1,10.5,984,14444,0.00,2.20,0.00,0.000,4,0.000,0.037,1930,1859,2046,0,0,0,0,0,0
$GC,14531,0.54,109.0,69.8,8.6,1000,14540,0.12,2.25,1.80,0.279,6,0.182,0.054,1899,3280,2029,0,0,0,0,0,0
$GC,14884,0.56,146.4,41.1,5.3,1061,14913,0.00,2.22,16.92,0.938,4,0.000,0.035,1909,1864,1874,0,0,0,0,0,0
$GC,15165,0.56,146.4,13.5,12.4,1107,15175,0.00,2.30,0.00,0.000,6,0.000,0.054,1908,3284,1875,0,0,0,0,0,0
$GC,15226,0.56,146.4,4.2,15.5,1116,15235,0.00,2.17,0.00,0.000,4,0.000,0.036,1920,1866,1874,0,0,0,0,0,0
$STATE,15244,end climb,SURFACE_DEPTH_REACHED
$STATE,15244,begin surface coast
$FINISH,1.0,1.026229
$STATE,15264,end surface coast,CONTROL_FINISHED_OK
$STATE,15264,begin surface
$SM_CCo,15278,33.33,0.781,0,0,1553,225.18
$SM_GC,1.17,0.00,0.00,33.33,0.000,0.000,0.781,57,3424,1553,-5.20,0.11,225.18
$IRIDIUM_FIX,-4244.98,825.29,231213,090944
$TT8_MAMPS,0.026215
$HUMID,61.18
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.6,22.418
$10V_AH,10.0,15.675
$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,12.925,86.200,213.475,33.325,0.000,35.920,25.893,324.183,0.000,0.000,30.030,2783.165,9456.299,389.389,3000.125,200.373,0.000,1467.704,0.000,2475.585,0.000,1.843,0.000
$DEVICE_MAMPS,240.210,84.915,1826.055,781.065,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,777.256,1901.110,752.586,359.082,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354464
$DATA_FILE_SIZE,80557,1121
$CAP_FILE_SIZE,143459,0
$CFSIZE,259252224,248410112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,231213,224558,-4259.459,830.598,66,1.0,66,-25.0