version: 66.07
glider: 543
mission: 9
dive: 151
start: 12 24 113 20 21 36
data:
$ID,543
$MISSION,9
$DIVE,151
$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,-12992.629
$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,26
$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
$GPS1,241213,201022,-4259.601,830.453,57,0.9,57,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-67.4
$GPS2,241213,202111,-4259.488,830.469,16,1.1,17,-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,238.9,1141,-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,-57.7,0.0,0.0,0,58,0.00,0.00,-41.92,0.000,2,0.000,0.000,60,3429,2493,0,0,0,0,0,0
$GC,60,-0.53,-100.9,3.0,-4.7,5,87,6.05,0.85,-11.40,0.000,4,0.233,0.093,1538,3946,2886,0,0,0,0,0,0
$GC,306,-0.53,-100.9,48.9,-18.2,45,314,0.00,0.80,0.00,0.000,6,0.000,0.038,1538,3421,2888,0,0,0,0,0,0
$GC,659,-0.53,-100.9,98.2,-13.5,106,666,0.00,2.15,0.00,0.000,4,0.000,0.031,1538,1991,2890,0,0,0,0,0,0
$GC,706,-0.53,-100.9,104.3,-11.8,111,710,0.00,2.30,0.00,0.000,6,0.000,0.054,1527,3419,2890,0,0,0,0,0,0
$GC,1033,-0.53,-100.9,154.5,-16.6,141,1036,0.00,0.85,0.00,0.000,4,0.000,0.060,1523,3955,2891,0,0,0,0,0,0
$GC,1135,-0.53,-100.9,172.3,-17.8,150,1138,0.00,0.80,0.00,0.000,6,0.000,0.036,1523,3419,2892,0,0,0,0,0,0
$GC,1467,-0.53,-100.9,225.6,-15.9,181,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3418,2892,0,0,0,0,0,0
$GC,1783,-0.53,-100.9,275.5,-15.9,211,1784,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3418,2892,0,0,0,0,0,0
$GC,2104,-0.53,-100.9,324.0,-15.5,241,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3418,2891,0,0,0,0,0,0
$GC,2420,-0.53,-100.9,372.4,-15.1,271,2421,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3419,2892,0,0,0,0,0,0
$GC,2735,-0.53,-100.9,420.3,-15.1,295,2736,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3418,2891,0,0,0,0,0,0
$GC,3044,-0.53,-100.9,466.3,-14.9,310,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3418,2891,0,0,0,0,0,0
$GC,3354,-0.53,-100.9,512.0,-15.2,325,3358,0.00,2.15,0.00,0.000,4,0.000,0.032,1523,1992,2891,0,0,0,0,0,0
$GC,3374,-0.53,-100.9,515.4,-14.6,326,3380,0.10,2.30,0.00,0.000,6,0.135,0.054,1545,3418,2891,0,0,0,0,0,0
$GC,3702,-0.53,-100.9,556.3,-12.3,342,3705,0.00,0.82,0.00,0.000,4,0.000,0.063,1542,3938,2890,0,0,0,0,0,0
$GC,3779,-0.53,-100.9,566.6,-12.6,345,3783,0.00,0.80,0.00,0.000,6,0.000,0.039,1542,3419,2890,0,0,0,0,0,0
$GC,4101,-0.53,-100.9,606.5,-12.4,361,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,3419,2890,0,0,0,0,0,0
$GC,4410,-0.53,-100.9,645.6,-12.5,376,4411,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,3419,2889,0,0,0,0,0,0
$GC,4721,-0.53,-100.9,684.8,-13.0,391,4725,0.00,2.15,0.00,0.000,4,0.000,0.034,1542,1991,2889,0,0,0,0,0,0
$GC,4741,-0.53,-100.9,687.8,-12.7,392,4746,0.00,2.30,0.00,0.000,6,0.000,0.056,1531,3412,2889,0,0,0,0,0,0
$GC,5068,-0.53,-100.9,731.7,-13.6,408,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3412,2888,0,0,0,0,0,0
$GC,5378,-0.53,-100.9,775.6,-13.9,423,5379,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3412,2888,0,0,0,0,0,0
$GC,5687,-0.53,-100.9,815.5,-12.7,438,5691,0.00,0.85,0.00,0.000,4,0.000,0.063,1527,3952,2887,0,0,0,0,0,0
$GC,5792,-0.53,-100.9,830.1,-14.3,442,5800,0.00,0.82,0.00,0.000,6,0.000,0.040,1527,3415,2887,0,0,0,0,0,0
$GC,6108,-0.53,-100.9,870.1,-12.6,458,6112,0.00,2.12,0.00,0.000,4,0.000,0.034,1527,2001,2886,0,0,0,0,0,0
$GC,6148,-0.53,-100.9,874.7,-10.8,460,6153,0.12,2.30,0.00,0.000,6,0.161,0.057,1548,3432,2886,0,0,0,0,0,0
$GC,6476,-0.53,-100.9,907.9,-10.0,476,6477,0.00,0.00,0.00,0.000,6,0.000,0.000,1548,3432,2886,0,0,0,0,0,0
$GC,6783,-0.53,-100.9,937.5,-9.8,491,6787,0.00,2.17,0.00,0.000,4,0.000,0.034,1548,1992,2885,0,0,0,0,0,0
$GC,6822,-0.54,-108.8,940.9,-8.6,493,6826,0.00,2.30,0.00,0.000,6,0.000,0.057,1539,3422,2885,0,0,0,0,0,0
$GC,7148,-0.54,-108.8,974.3,-10.2,509,7152,0.00,0.82,0.00,0.000,4,0.000,0.064,1534,3943,2885,0,0,0,0,0,0
$GC,7238,-0.54,-108.8,984.0,-11.1,513,7242,0.00,0.80,0.00,0.000,6,0.000,0.041,1534,3416,2885,0,0,0,0,0,0
$STATE,7301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7301,begin apogee
$GC,7305,-0.09,0.0,990.7,10.2,516,7405,0.52,0.00,96.88,1.866,6,0.152,0.000,1691,3283,2473,0,0,0,0,0,0
$STATE,7406,end apogee,CONTROL_FINISHED_OK
$STATE,7406,begin climb
$GC,7408,0.54,108.8,992.9,0.0,521,7525,0.57,2.42,109.12,1.815,4,0.062,0.034,1906,1869,2028,0,0,0,0,0,0
$GC,7580,0.54,108.8,978.2,13.4,529,7584,0.00,2.47,0.00,0.000,6,0.000,0.052,1906,3279,2024,0,0,0,0,0,0
$GC,7907,0.54,108.8,925.8,15.9,545,7911,0.00,1.12,0.00,0.000,4,0.000,0.061,1906,3952,2017,0,0,0,0,0,0
$GC,7952,0.54,108.8,917.8,18.8,547,7956,0.00,1.05,0.00,0.000,6,0.000,0.038,1911,3285,2016,0,0,0,0,0,0
$GC,8284,0.54,108.8,864.9,15.8,563,8286,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3285,2014,0,0,0,0,0,0
$GC,8594,0.54,108.8,815.6,15.9,578,8597,0.00,1.10,0.00,0.000,4,0.000,0.061,1911,3956,2013,0,0,0,0,0,0
$GC,8687,0.54,108.8,798.8,18.1,582,8692,0.00,1.08,0.00,0.000,6,0.000,0.038,1917,3270,2013,0,0,0,0,0,0
$GC,9015,0.54,108.8,744.9,16.0,598,9019,0.00,1.12,0.00,0.000,4,0.000,0.061,1917,3957,2011,0,0,0,0,0,0
$GC,9083,0.54,108.8,733.1,18.3,601,9086,0.00,1.05,0.00,0.000,6,0.000,0.038,1922,3279,2012,0,0,0,0,0,0
$GC,9415,0.54,108.8,676.3,17.6,617,9419,0.00,2.17,0.00,0.000,4,0.000,0.038,1933,1863,2011,0,0,0,0,0,0
$GC,9440,0.54,108.8,671.8,15.4,618,9446,0.12,2.33,0.00,0.000,6,0.168,0.053,1896,3290,2010,0,0,0,0,0,0
$GC,9762,0.54,108.8,623.1,15.0,634,9763,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,3290,2010,0,0,0,0,0,0
$GC,10073,0.54,108.8,579.4,14.1,649,10077,0.00,1.08,0.00,0.000,4,0.000,0.061,1896,3954,2009,0,0,0,0,0,0
$GC,10235,0.54,108.8,553.7,16.6,656,10239,0.00,1.05,0.00,0.000,6,0.000,0.039,1900,3273,2009,0,0,0,0,0,0
$GC,10564,0.54,108.8,508.2,13.7,672,10567,0.00,1.10,0.00,0.000,4,0.000,0.061,1900,3953,2009,0,0,0,0,0,0
$GC,10624,0.54,108.8,498.4,15.1,674,10632,0.00,1.05,0.00,0.000,6,0.000,0.037,1905,3277,2009,0,0,0,0,0,0
$GC,10940,0.54,108.8,453.3,14.5,690,10944,0.00,2.15,0.00,0.000,4,0.000,0.036,1916,1866,2009,0,0,0,0,0,0
$GC,10979,0.54,108.8,448.0,12.5,692,10984,0.00,2.28,0.00,0.000,6,0.000,0.054,1916,3287,2008,0,0,0,0,0,0
$GC,11306,0.54,108.8,401.5,14.3,708,11309,0.00,1.05,0.00,0.000,4,0.000,0.060,1916,3942,2008,0,0,0,0,0,0
$GC,11446,0.54,108.8,378.8,17.3,719,11453,0.00,1.00,0.00,0.000,6,0.000,0.038,1921,3286,2008,0,0,0,0,0,0
$GC,11771,0.54,108.8,330.0,14.3,750,11772,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3286,2008,0,0,0,0,0,0
$GC,12090,0.54,108.8,283.4,14.9,780,12092,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3286,2007,0,0,0,0,0,0
$GC,12409,0.54,108.8,238.7,13.7,810,12412,0.00,1.08,0.00,0.000,4,0.000,0.062,1921,3952,2008,0,0,0,0,0,0
$GC,12445,0.54,108.8,233.6,14.8,813,12450,0.10,1.02,0.00,0.000,6,0.196,0.038,1898,3275,2008,0,0,0,0,0,0
$GC,12774,0.54,108.8,192.3,12.7,844,12776,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3275,2007,0,0,0,0,0,0
$GC,13094,0.54,108.8,153.2,12.2,874,13098,0.00,1.08,0.00,0.000,4,0.000,0.061,1898,3942,2007,0,0,0,0,0,0
$GC,13150,0.54,108.8,145.6,13.8,879,13154,0.00,1.00,0.00,0.000,6,0.000,0.038,1901,3282,2007,0,0,0,0,0,0
$GC,13480,0.54,108.8,105.2,12.1,910,13484,0.00,1.08,0.00,0.000,4,0.000,0.059,1901,3953,2007,0,0,0,0,0,0
$GC,13539,0.54,108.8,97.7,14.0,916,13546,0.00,1.02,0.00,0.000,6,0.000,0.035,1906,3270,2007,0,0,0,0,0,0
$GC,13889,0.54,108.8,53.8,11.5,977,13896,0.00,2.12,0.00,0.000,4,0.000,0.032,1917,1857,2007,0,0,0,0,0,0
$GC,13982,0.54,112.2,44.7,9.1,993,13990,0.00,2.28,0.00,0.000,6,0.000,0.051,1917,3280,2007,0,0,0,0,0,0
$GC,14348,0.54,112.2,7.7,10.7,1054,14357,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3280,2007,0,0,0,0,0,0
$STATE,14388,end climb,SURFACE_DEPTH_REACHED
$STATE,14388,begin surface coast
$FINISH,0.5,1.013070
$STATE,14415,end surface coast,CONTROL_FINISHED_OK
$STATE,14415,begin surface
$SM_CCo,14427,46.92,0.793,0,0,1554,225.18
$SM_GC,0.85,0.00,0.00,46.92,0.000,0.000,0.793,52,3427,1554,-5.21,0.20,225.18
$IRIDIUM_FIX,-4244.98,831.12,241213,202054
$TT8_MAMPS,0.026215
$HUMID,61.93
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.5,23.251
$10V_AH,10.0,16.341
$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,12.675,68.225,206.000,46.925,0.000,49.212,101.386,315.067,0.000,0.000,19.913,2632.959,9060.926,343.018,2907.528,180.888,0.000,1323.548,0.000,2316.229,0.000,1.010,0.000
$DEVICE_MAMPS,232.560,92.565,1865.835,792.540,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,738.911,1823.828,736.048,366.876,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354424
$DATA_FILE_SIZE,77059,1064
$CAP_FILE_SIZE,130662,0
$CFSIZE,259252224,247984128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,251213,002403,-4300.105,830.068,19,1.6,39,-25.0