version: 66.07
glider: 543
mission: 9
dive: 155
start: 12 25 113 13 22 43
data:
$ID,543
$MISSION,9
$DIVE,155
$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,-13006.11
$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,19
$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
$GPS1,251213,131304,-4259.064,830.531,35,1.0,35,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-58.7
$GPS2,251213,132218,-4258.797,830.655,16,1.6,17,-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,226.7,2399,-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,-49.55,0.000,2,0.000,0.000,62,3424,2667,0,0,0,0,0,0
$GC,68,-0.52,-86.4,3.6,-6.3,6,87,6.18,0.85,-4.03,0.000,4,0.241,0.084,1540,3953,2829,0,0,0,0,0,0
$GC,282,-0.52,-86.4,47.3,-20.0,41,289,0.00,0.82,0.00,0.000,6,0.000,0.038,1540,3418,2833,0,0,0,0,0,0
$GC,632,-0.52,-86.4,98.5,-16.6,102,641,0.00,2.17,0.00,0.000,4,0.000,0.034,1539,2003,2835,0,0,0,0,0,0
$GC,692,-0.52,-86.4,106.3,-11.7,108,697,0.00,2.30,0.00,0.000,6,0.000,0.053,1529,3432,2836,0,0,0,0,0,0
$GC,1017,-0.52,-86.4,154.5,-16.7,138,1020,0.00,0.82,0.00,0.000,4,0.000,0.060,1525,3950,2836,0,0,0,0,0,0
$GC,1175,-0.52,-86.4,181.5,-16.7,152,1178,0.00,0.80,0.00,0.000,6,0.000,0.037,1525,3419,2837,0,0,0,0,0,0
$GC,1505,-0.52,-86.4,233.2,-15.6,183,1506,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3418,2837,0,0,0,0,0,0
$GC,1826,-0.52,-86.4,281.5,-15.7,213,1830,0.00,0.85,0.00,0.000,4,0.000,0.062,1521,3949,2837,0,0,0,0,0,0
$GC,1905,-0.52,-86.4,295.1,-16.8,220,1909,0.00,0.80,0.00,0.000,6,0.000,0.038,1521,3417,2837,0,0,0,0,0,0
$GC,2235,-0.52,-86.4,344.7,-15.0,251,2237,0.10,0.00,0.00,0.000,6,0.195,0.000,1544,3416,2837,0,0,0,0,0,0
$GC,2556,-0.52,-86.4,384.5,-11.9,281,2559,0.00,0.85,0.00,0.000,4,0.000,0.063,1542,3948,2837,0,0,0,0,0,0
$GC,2635,-0.52,-86.4,395.0,-13.2,288,2638,0.00,0.80,0.00,0.000,6,0.000,0.040,1542,3418,2837,0,0,0,0,0,0
$GC,2967,-0.52,-86.4,435.9,-12.3,306,2970,0.00,0.85,0.00,0.000,4,0.000,0.064,1538,3951,2837,0,0,0,0,0,0
$GC,3034,-0.52,-86.4,444.9,-13.2,309,3038,0.00,0.80,0.00,0.000,6,0.000,0.040,1538,3419,2837,0,0,0,0,0,0
$GC,3366,-0.52,-86.4,488.8,-13.5,325,3370,0.00,0.85,0.00,0.000,4,0.000,0.064,1534,3950,2837,0,0,0,0,0,0
$GC,3415,-0.52,-86.4,496.2,-14.7,327,3420,0.00,0.82,0.00,0.000,6,0.000,0.039,1534,3414,2836,0,0,0,0,0,0
$GC,3743,-0.52,-86.4,540.9,-13.7,343,3744,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3414,2835,0,0,0,0,0,0
$GC,4052,-0.52,-86.4,581.6,-12.9,358,4056,0.00,0.85,0.00,0.000,4,0.000,0.064,1530,3943,2835,0,0,0,0,0,0
$GC,4135,-0.52,-86.4,593.3,-14.1,361,4142,0.00,0.82,0.00,0.000,6,0.000,0.040,1530,3410,2835,0,0,0,0,0,0
$GC,4451,-0.52,-86.4,635.6,-13.4,377,4454,0.00,0.88,0.00,0.000,4,0.000,0.064,1526,3958,2834,0,0,0,0,0,0
$GC,4541,-0.52,-86.4,648.5,-13.9,381,4544,0.00,0.80,0.00,0.000,6,0.000,0.041,1526,3429,2834,0,0,0,0,0,0
$GC,4873,-0.52,-86.4,694.0,-13.4,397,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3428,2833,0,0,0,0,0,0
$GC,5182,-0.52,-86.4,734.8,-13.1,412,5183,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3428,2833,0,0,0,0,0,0
$GC,5492,-0.52,-86.4,774.7,-12.6,427,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3428,2832,0,0,0,0,0,0
$GC,5801,-0.52,-86.4,811.6,-11.6,442,5802,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3428,2831,0,0,0,0,0,0
$GC,6112,-0.52,-86.4,847.8,-11.8,457,6113,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3428,2831,0,0,0,0,0,0
$GC,6420,-0.52,-86.4,884.5,-12.0,472,6421,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3428,2831,0,0,0,0,0,0
$GC,6729,-0.52,-86.4,920.4,-11.4,487,6730,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3428,2830,0,0,0,0,0,0
$GC,7038,-0.52,-86.4,954.9,-10.9,502,7041,0.00,0.85,0.00,0.000,4,0.000,0.067,1522,3954,2830,0,0,0,0,0,0
$GC,7210,-0.52,-86.4,974.1,-10.8,509,7218,0.00,0.85,0.00,0.000,6,0.000,0.042,1522,3414,2829,0,0,0,0,0,0
$STATE,7380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7381,begin apogee
$GC,7385,-0.09,0.0,991.2,10.1,518,7472,0.55,0.00,84.32,1.864,6,0.155,0.000,1685,3284,2473,0,0,0,0,0,0
$STATE,7473,end apogee,CONTROL_FINISHED_OK
$STATE,7473,begin climb
$GC,7475,0.52,86.4,992.2,0.0,522,7570,0.57,2.42,87.38,1.810,4,0.074,0.035,1894,1863,2120,0,0,0,0,0,0
$GC,7613,0.52,86.4,980.4,13.7,528,7619,0.00,2.47,0.00,0.000,6,0.000,0.052,1894,3273,2116,0,0,0,0,0,0
$GC,7936,0.52,86.4,933.6,14.2,544,7939,0.00,1.15,0.00,0.000,4,0.000,0.062,1895,3958,2108,0,0,0,0,0,0
$GC,7990,0.52,86.4,925.1,16.2,546,7995,0.00,1.10,0.00,0.000,6,0.000,0.038,1900,3272,2108,0,0,0,0,0,0
$GC,8314,0.52,86.4,880.8,13.3,562,8315,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,3271,2106,0,0,0,0,0,0
$GC,8622,0.52,86.4,840.6,12.8,577,8623,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,3272,2105,0,0,0,0,0,0
$GC,8931,0.52,86.4,802.4,12.4,592,8935,0.00,2.20,0.00,0.000,4,0.000,0.037,1910,1854,2105,0,0,0,0,0,0
$GC,8957,0.52,86.4,799.3,11.0,593,8962,0.00,2.33,0.00,0.000,6,0.000,0.054,1911,3277,2104,0,0,0,0,0,0
$GC,9279,0.52,86.4,759.8,12.0,609,9280,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3276,2103,0,0,0,0,0,0
$GC,9588,0.52,86.4,723.7,11.7,624,9592,0.00,1.10,0.00,0.000,4,0.000,0.062,1910,3955,2103,0,0,0,0,0,0
$GC,9665,0.52,86.4,713.2,14.3,627,9670,0.00,1.05,0.00,0.000,6,0.000,0.039,1916,3278,2102,0,0,0,0,0,0
$GC,9989,0.52,86.4,673.5,12.2,643,9990,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3278,2102,0,0,0,0,0,0
$GC,10297,0.52,86.4,634.1,12.8,658,10298,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3278,2101,0,0,0,0,0,0
$GC,10606,0.52,86.4,593.5,13.4,673,10610,0.00,1.10,0.00,0.000,4,0.000,0.063,1916,3955,2101,0,0,0,0,0,0
$GC,10757,0.52,86.4,571.5,15.2,679,10765,0.10,1.02,0.00,0.000,6,0.199,0.040,1894,3283,2101,0,0,0,0,0,0
$GC,11074,0.52,86.4,532.8,12.2,695,11076,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,3283,2100,0,0,0,0,0,0
$GC,11382,0.52,86.4,495.0,12.6,710,11386,0.00,2.17,0.00,0.000,4,0.000,0.036,1904,1859,2100,0,0,0,0,0,0
$GC,11402,0.52,86.4,492.3,11.9,711,11407,0.00,2.30,0.00,0.000,6,0.000,0.053,1903,3282,2099,0,0,0,0,0,0
$GC,11732,0.52,86.4,450.1,13.2,727,11736,0.00,2.20,0.00,0.000,4,0.000,0.037,1915,1851,2099,0,0,0,0,0,0
$GC,11772,0.52,86.4,445.1,11.8,729,11776,0.00,2.30,0.00,0.000,6,0.000,0.054,1915,3286,2099,0,0,0,0,0,0
$GC,12098,0.52,86.4,404.0,12.6,745,12102,0.00,2.20,0.00,0.000,4,0.000,0.037,1926,1852,2099,0,0,0,0,0,0
$GC,12151,0.52,86.4,397.8,11.8,748,12162,0.10,2.30,0.00,0.000,6,0.175,0.054,1897,3273,2099,0,0,0,0,0,0
$GC,12476,0.52,86.4,361.5,11.0,779,12478,0.00,0.00,0.00,0.000,6,0.000,0.000,1897,3273,2098,0,0,0,0,0,0
$GC,12798,0.52,86.4,329.2,10.6,809,12802,0.00,1.08,0.00,0.000,4,0.000,0.061,1897,3942,2098,0,0,0,0,0,0
$GC,12936,0.52,86.4,313.2,11.2,821,12939,0.00,1.02,0.00,0.000,6,0.000,0.040,1901,3272,2098,0,0,0,0,0,0
$GC,13266,0.52,86.4,280.2,9.7,852,13267,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,3272,2099,0,0,0,0,0,0
$GC,13585,0.52,86.4,249.4,9.8,882,13589,0.00,1.10,0.00,0.000,4,0.000,0.062,1900,3952,2099,0,0,0,0,0,0
$GC,13667,0.52,86.4,240.4,11.1,889,13671,0.00,1.02,0.00,0.000,6,0.000,0.039,1905,3281,2099,0,0,0,0,0,0
$GC,13997,0.52,86.4,204.6,10.8,920,13998,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3280,2098,0,0,0,0,0,0
$GC,14316,0.52,86.4,171.5,10.1,950,14318,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3280,2098,0,0,0,0,0,0
$GC,14635,0.52,86.4,138.1,10.4,980,14636,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3280,2098,0,0,0,0,0,0
$GC,14954,0.52,86.4,107.2,9.6,1010,14957,0.00,1.08,0.00,0.000,4,0.000,0.062,1905,3951,2098,0,0,0,0,0,0
$GC,15079,0.52,86.4,93.3,10.8,1026,15088,0.00,1.02,0.00,0.000,6,0.000,0.038,1910,3275,2098,0,0,0,0,0,0
$GC,15432,0.52,86.4,59.0,9.5,1087,15439,0.00,2.15,0.00,0.000,4,0.000,0.034,1922,1852,2098,0,0,0,0,0,0
$GC,15473,0.52,89.2,54.9,9.1,1094,15481,0.12,2.28,0.00,0.000,6,0.193,0.051,1893,3293,2098,0,0,0,0,0,0
$GC,15827,0.54,120.5,41.9,6.0,1155,15848,0.00,2.22,12.57,0.920,4,0.000,0.034,1902,1853,1978,0,0,0,0,0,0
$GC,16114,0.55,126.6,19.9,8.8,1203,16124,0.00,2.30,2.00,0.207,6,0.000,0.054,1902,3281,1953,0,0,0,0,0,0
$GC,16175,0.55,126.6,13.6,11.2,1212,16184,0.00,2.20,0.00,0.000,4,0.000,0.032,1913,1851,1953,0,0,0,0,0,0
$STATE,16252,end climb,SURFACE_DEPTH_REACHED
$STATE,16252,begin surface coast
$FINISH,0.6,1.026292
$STATE,16272,end surface coast,CONTROL_FINISHED_OK
$STATE,16272,begin surface
$SM_CCo,16287,41.25,0.775,0,0,1553,225.18
$SM_GC,1.22,0.00,0.00,41.25,0.000,0.000,0.775,53,3419,1553,-5.21,-0.06,225.18
$IRIDIUM_FIX,-4244.98,827.77,251213,080835
$TT8_MAMPS,0.026215
$HUMID,61.38
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,22.7,23.794
$10V_AH,10.0,16.799
$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,12.750,69.100,186.275,41.250,0.000,25.398,41.601,360.940,0.000,0.000,19.520,3009.197,10140.467,332.015,3196.474,204.377,0.000,1423.358,0.000,2626.644,0.000,1.010,0.000
$DEVICE_MAMPS,240.975,84.150,1863.540,774.945,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,852.013,2071.492,848.132,399.570,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354404
$DATA_FILE_SIZE,86946,1227
$CAP_FILE_SIZE,142480,0
$CFSIZE,259252224,247664640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,251213,175604,-4258.993,830.187,38,0.9,38,-25.0