version: 66.07
glider: 543
mission: 9
dive: 147
start: 12 24 113 3 32 42
data:
$ID,543
$MISSION,9
$DIVE,147
$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,-12978.458
$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,36
$R_STBD_OVSHOOT,18
$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
$GPS1,241213,032353,-4259.449,830.221,63,1.2,64,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-64.9
$GPS2,241213,033217,-4259.319,830.195,19,1.4,20,-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,216.9,1288,-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,-49.60,0.000,2,0.000,0.000,62,3422,2692,0,0,0,0,0,0
$GC,68,-0.53,-105.6,3.2,-4.2,6,87,6.30,0.85,-5.68,0.000,4,0.249,0.090,1535,3956,2906,0,0,0,0,0,0
$GC,238,-0.53,-105.6,37.5,-19.7,33,244,0.00,0.82,0.00,0.000,6,0.000,0.040,1536,3420,2908,0,0,0,0,0,0
$GC,384,-0.53,-105.6,61.3,-15.2,58,391,0.00,2.20,0.00,0.000,4,0.000,0.033,1536,1992,2909,0,0,0,0,0,0
$GC,457,-0.53,-105.6,71.3,-12.3,70,464,0.00,2.33,0.00,0.000,6,0.000,0.055,1525,3429,2910,0,0,0,0,0,0
$GC,800,-0.53,-105.6,129.9,-17.7,116,804,0.00,0.82,0.00,0.000,4,0.000,0.060,1521,3950,2911,0,0,0,0,0,0
$GC,1027,-0.53,-105.6,171.7,-18.0,136,1031,0.00,0.80,0.00,0.000,6,0.000,0.038,1521,3417,2912,0,0,0,0,0,0
$GC,1357,-0.53,-105.6,228.7,-16.7,167,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3416,2912,0,0,0,0,0,0
$GC,1679,-0.53,-105.6,281.5,-16.6,197,1683,0.00,0.85,0.00,0.000,4,0.000,0.061,1517,3954,2912,0,0,0,0,0,0
$GC,1841,-0.53,-105.6,310.5,-16.9,211,1849,0.08,0.82,0.00,0.000,6,0.164,0.037,1540,3402,2913,0,0,0,0,0,0
$GC,2166,-0.53,-105.6,357.0,-14.1,242,2169,0.00,0.88,0.00,0.000,4,0.000,0.060,1537,3954,2913,0,0,0,0,0,0
$GC,2247,-0.53,-105.6,368.8,-14.6,249,2251,0.00,0.80,0.00,0.000,6,0.000,0.036,1537,3415,2912,0,0,0,0,0,0
$GC,2575,-0.53,-105.6,416.4,-14.5,275,2578,0.00,0.85,0.00,0.000,4,0.000,0.060,1533,3952,2912,0,0,0,0,0,0
$GC,2635,-0.53,-105.6,426.0,-15.2,277,2642,0.00,0.80,0.00,0.000,6,0.000,0.035,1533,3419,2912,0,0,0,0,0,0
$GC,2951,-0.53,-105.6,472.2,-15.1,293,2955,0.00,0.82,0.00,0.000,4,0.000,0.060,1529,3941,2912,0,0,0,0,0,0
$GC,3000,-0.53,-105.6,480.0,-14.9,295,3004,0.00,0.80,0.00,0.000,6,0.000,0.037,1529,3416,2912,0,0,0,0,0,0
$GC,3327,-0.53,-105.6,529.9,-15.3,311,3331,0.00,0.85,0.00,0.000,4,0.000,0.060,1525,3954,2911,0,0,0,0,0,0
$GC,3421,-0.53,-105.6,545.1,-16.4,315,3425,0.00,0.82,0.00,0.000,6,0.000,0.037,1525,3409,2912,0,0,0,0,0,0
$GC,3748,-0.53,-105.6,594.4,-15.1,331,3752,0.00,0.85,0.00,0.000,4,0.000,0.061,1521,3947,2911,0,0,0,0,0,0
$GC,3831,-0.53,-105.6,608.1,-16.0,334,3839,0.00,0.80,0.00,0.000,6,0.000,0.038,1521,3424,2911,0,0,0,0,0,0
$GC,4149,-0.53,-105.6,656.4,-15.7,350,4152,0.00,0.82,0.00,0.000,4,0.000,0.060,1517,3947,2910,0,0,0,0,0,0
$GC,4194,-0.53,-105.6,663.8,-15.7,352,4198,0.00,0.80,0.00,0.000,6,0.000,0.038,1517,3414,2910,0,0,0,0,0,0
$GC,4527,-0.53,-105.6,716.4,-15.8,368,4531,0.10,0.88,0.00,0.000,4,0.192,0.061,1538,3954,2910,0,0,0,0,0,0
$GC,4603,-0.53,-105.6,727.8,-13.8,371,4607,0.00,0.82,0.00,0.000,6,0.000,0.038,1538,3416,2910,0,0,0,0,0,0
$GC,4925,-0.53,-105.6,768.3,-12.4,387,4928,0.00,0.85,0.00,0.000,4,0.000,0.063,1534,3949,2909,0,0,0,0,0,0
$GC,5001,-0.53,-105.6,778.7,-12.4,390,5006,0.00,0.82,0.00,0.000,6,0.000,0.038,1534,3412,2908,0,0,0,0,0,0
$GC,5323,-0.53,-105.6,818.0,-12.1,406,5324,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3411,2908,0,0,0,0,0,0
$GC,5634,-0.53,-105.6,853.9,-11.6,421,5636,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3411,2908,0,0,0,0,0,0
$GC,5942,-0.53,-105.6,888.7,-11.2,436,5945,0.00,0.88,0.00,0.000,4,0.000,0.063,1530,3955,2907,0,0,0,0,0,0
$GC,6002,-0.53,-105.6,896.2,-12.7,438,6009,0.00,0.82,0.00,0.000,6,0.000,0.039,1530,3419,2907,0,0,0,0,0,0
$GC,6320,-0.53,-105.6,931.7,-10.8,454,6321,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3419,2906,0,0,0,0,0,0
$GC,6627,-0.53,-105.6,963.8,-10.0,469,6631,0.00,0.85,0.00,0.000,4,0.000,0.064,1526,3950,2906,0,0,0,0,0,0
$GC,6710,-0.53,-105.6,973.0,-11.3,472,6717,0.00,0.82,0.00,0.000,6,0.000,0.039,1526,3413,2906,0,0,0,0,0,0
$STATE,6881,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6882,begin apogee
$GC,6886,-0.09,0.0,991.0,10.7,481,6991,0.55,0.00,101.35,1.891,6,0.151,0.000,1691,3283,2473,0,0,0,0,0,0
$STATE,6991,end apogee,CONTROL_FINISHED_OK
$STATE,6991,begin climb
$GC,6993,0.53,105.6,992.9,0.0,486,7109,0.57,2.47,106.38,1.834,4,0.062,0.033,1906,1869,2042,0,0,0,0,0,0
$GC,7124,0.53,105.6,983.4,12.7,492,7129,0.00,2.50,0.00,0.000,6,0.000,0.050,1906,3272,2039,0,0,0,0,0,0
$GC,7453,0.53,105.6,928.8,16.4,508,7455,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3272,2031,0,0,0,0,0,0
$GC,7761,0.53,105.6,879.7,15.7,523,7765,0.00,1.12,0.00,0.000,4,0.000,0.060,1906,3956,2029,0,0,0,0,0,0
$GC,7810,0.53,105.6,871.2,17.2,525,7815,0.00,1.08,0.00,0.000,6,0.000,0.037,1911,3277,2029,0,0,0,0,0,0
$GC,8140,0.53,105.6,821.2,15.2,541,8144,0.00,2.20,0.00,0.000,4,0.000,0.035,1922,1867,2027,0,0,0,0,0,0
$GC,8201,0.53,105.6,812.5,12.9,544,8206,0.00,2.30,0.00,0.000,6,0.000,0.054,1922,3285,2026,0,0,0,0,0,0
$GC,8528,0.53,105.6,762.1,15.1,560,8529,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3285,2026,0,0,0,0,0,0
$GC,8837,0.53,105.6,715.0,15.2,575,8839,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3285,2025,0,0,0,0,0,0
$GC,9146,0.53,105.6,669.8,14.8,590,9148,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3285,2025,0,0,0,0,0,0
$GC,9456,0.53,105.6,623.5,15.2,605,9460,0.00,2.20,0.00,0.000,4,0.000,0.037,1932,1867,2025,0,0,0,0,0,0
$GC,9504,0.53,105.6,616.3,13.6,607,9510,0.10,2.30,0.00,0.000,6,0.168,0.054,1902,3281,2024,0,0,0,0,0,0
$GC,9826,0.53,105.6,570.3,14.4,623,9827,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3281,2023,0,0,0,0,0,0
$GC,10135,0.53,105.6,525.6,14.3,638,10139,0.00,1.08,0.00,0.000,4,0.000,0.060,1902,3952,2023,0,0,0,0,0,0
$GC,10281,0.53,105.6,502.6,15.7,644,10284,0.00,1.02,0.00,0.000,6,0.000,0.037,1906,3275,2023,0,0,0,0,0,0
$GC,10603,0.53,105.6,458.5,13.4,660,10604,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3276,2023,0,0,0,0,0,0
$GC,10911,0.53,105.6,417.8,13.5,675,10915,0.00,2.15,0.00,0.000,4,0.000,0.034,1917,1854,2023,0,0,0,0,0,0
$GC,10943,0.53,105.6,413.6,12.5,676,10948,0.00,2.30,0.00,0.000,6,0.000,0.051,1917,3279,2022,0,0,0,0,0,0
$GC,11272,0.53,105.6,369.7,13.2,702,11273,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3279,2022,0,0,0,0,0,0
$GC,11591,0.53,105.6,327.9,13.2,732,11595,0.00,2.17,0.00,0.000,4,0.000,0.036,1928,1855,2022,0,0,0,0,0,0
$GC,11623,0.53,105.6,323.8,10.6,734,11631,0.10,2.30,0.00,0.000,6,0.166,0.054,1899,3279,2021,0,0,0,0,0,0
$GC,11951,0.53,105.6,285.9,11.4,765,11954,0.00,1.05,0.00,0.000,4,0.000,0.059,1899,3945,2021,0,0,0,0,0,0
$GC,12011,0.53,105.6,277.7,13.2,770,12019,0.00,1.02,0.00,0.000,6,0.000,0.036,1902,3274,2021,0,0,0,0,0,0
$GC,12338,0.53,105.6,237.0,12.4,801,12342,0.00,2.15,0.00,0.000,4,0.000,0.033,1913,1854,2021,0,0,0,0,0,0
$GC,12436,0.53,105.6,225.8,11.5,809,12440,0.00,2.28,0.00,0.000,6,0.000,0.052,1914,3285,2020,0,0,0,0,0,0
$GC,12760,0.53,105.6,183.7,12.7,839,12761,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3285,2019,0,0,0,0,0,0
$GC,13082,0.53,105.6,143.2,13.2,869,13089,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3285,2020,0,0,0,0,0,0
$GC,13408,0.53,105.6,101.7,12.5,900,13411,0.00,1.05,0.00,0.000,4,0.000,0.060,1914,3947,2019,0,0,0,0,0,0
$GC,13572,0.53,105.6,77.2,13.8,927,13581,0.00,1.00,0.00,0.000,6,0.000,0.039,1919,3286,2019,0,0,0,0,0,0
$GC,13926,0.54,115.8,40.5,8.3,988,13934,0.00,2.22,2.15,0.393,4,0.000,0.036,1930,1859,1999,0,0,0,0,0,0
$GC,14070,0.54,115.8,27.4,9.7,1012,14080,0.10,2.30,0.00,0.000,6,0.157,0.055,1899,3285,1999,0,0,0,0,0,0
$GC,14227,0.54,115.8,11.9,10.0,1037,14235,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3284,1999,0,0,0,0,0,0
$GC,14286,0.54,115.8,5.9,9.6,1046,14294,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3285,1999,0,0,0,0,0,0
$STATE,14313,end climb,SURFACE_DEPTH_REACHED
$STATE,14313,begin surface coast
$FINISH,0.6,1.026292
$STATE,14346,end surface coast,CONTROL_FINISHED_OK
$STATE,14346,begin surface
$SM_CCo,14358,46.33,0.795,0,0,1554,225.18
$SM_GC,1.41,0.00,0.00,46.33,0.000,0.000,0.795,71,3434,1554,-5.15,0.37,225.18
$IRIDIUM_FIX,-4247.91,635.37,231213,181853
$TT8_MAMPS,0.026215
$HUMID,61.38
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.5,22.685
$10V_AH,10.0,15.906
$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,12.800,66.825,209.875,46.325,0.000,27.816,40.239,311.155,0.000,0.000,21.882,2617.494,8876.871,373.240,2843.395,196.961,0.000,1374.359,0.000,2341.420,0.000,1.010,0.000
$DEVICE_MAMPS,249.390,89.505,1891.080,794.835,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,731.782,1820.584,739.240,375.522,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354412
$DATA_FILE_SIZE,77006,1055
$CAP_FILE_SIZE,132536,0
$CFSIZE,259252224,248274944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,241213,073404,-4300.176,830.083,43,1.0,43,-25.0