version: 66.07
glider: 543
mission: 9
dive: 157
start: 12 25 113 22 12 44
data:
$ID,543
$MISSION,9
$DIVE,157
$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,-13013.103
$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,28
$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
$GPS1,251213,220334,-4300.015,830.622,33,0.9,33,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-65.8
$GPS2,251213,221219,-4300.051,830.723,17,1.1,18,-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,300.5,984,-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,-49.53,0.000,2,0.000,0.000,61,3433,2690,0,0,0,0,0,0
$GC,68,-0.53,-101.6,3.2,-4.6,6,87,6.35,2.20,-5.10,0.000,4,0.252,0.042,1553,1992,2890,0,0,0,0,0,0
$GC,113,-0.53,-101.6,13.0,-21.9,12,122,0.00,2.35,0.00,0.000,6,0.000,0.053,1543,3415,2893,0,0,0,0,0,0
$GC,175,-0.53,-101.6,22.3,-16.7,21,181,0.00,0.00,0.00,0.000,6,0.000,0.000,1543,3415,2893,0,0,0,0,0,0
$GC,322,-0.53,-101.6,49.3,-16.1,46,329,0.00,0.85,0.00,0.000,4,0.000,0.059,1540,3949,2894,0,0,0,0,0,0
$GC,490,-0.53,-101.6,76.5,-14.7,75,499,0.00,0.80,0.00,0.000,6,0.000,0.036,1539,3415,2895,0,0,0,0,0,0
$GC,829,-0.53,-101.6,126.0,-15.3,120,833,0.00,0.85,0.00,0.000,4,0.000,0.059,1536,3948,2896,0,0,0,0,0,0
$GC,878,-0.53,-101.6,134.2,-16.4,124,888,0.00,0.80,0.00,0.000,6,0.000,0.035,1536,3418,2896,0,0,0,0,0,0
$GC,1203,-0.53,-101.6,185.1,-15.2,155,1206,0.00,0.88,0.00,0.000,4,0.000,0.060,1531,3957,2897,0,0,0,0,0,0
$GC,1247,-0.53,-101.6,192.2,-16.9,159,1251,0.00,0.80,0.00,0.000,6,0.000,0.035,1531,3421,2897,0,0,0,0,0,0
$GC,1577,-0.53,-101.6,242.9,-15.4,190,1581,0.00,2.15,0.00,0.000,4,0.000,0.030,1531,1997,2897,0,0,0,0,0,0
$GC,1609,-0.53,-101.6,247.6,-12.9,192,1619,0.00,2.30,0.00,0.000,6,0.000,0.052,1521,3423,2898,0,0,0,0,0,0
$GC,1935,-0.53,-101.6,298.4,-15.7,223,1939,0.00,2.12,0.00,0.000,4,0.000,0.031,1521,1993,2898,0,0,0,0,0,0
$GC,1955,-0.53,-101.6,301.7,-15.2,224,1965,0.10,2.30,0.00,0.000,6,0.142,0.053,1542,3420,2898,0,0,0,0,0,0
$GC,2280,-0.53,-101.6,344.8,-13.1,255,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,3420,2898,0,0,0,0,0,0
$GC,2602,-0.53,-101.6,384.9,-13.2,285,2606,0.00,2.15,0.00,0.000,4,0.000,0.033,1542,2003,2898,0,0,0,0,0,0
$GC,2645,-0.53,-101.6,390.4,-10.4,288,2656,0.00,2.30,0.00,0.000,6,0.000,0.054,1532,3421,2898,0,0,0,0,0,0
$GC,2974,-0.53,-101.6,436.7,-14.5,308,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,3421,2898,0,0,0,0,0,0
$GC,3284,-0.53,-101.6,480.7,-14.1,323,3288,0.00,0.82,0.00,0.000,4,0.000,0.062,1528,3949,2897,0,0,0,0,0,0
$GC,3307,-0.53,-101.6,484.1,-14.6,324,3311,0.00,0.77,0.00,0.000,6,0.000,0.040,1528,3432,2898,0,0,0,0,0,0
$GC,3639,-0.53,-101.6,531.0,-13.8,340,3640,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3432,2897,0,0,0,0,0,0
$GC,3950,-0.53,-101.6,574.2,-14.1,355,3951,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3432,2897,0,0,0,0,0,0
$GC,4258,-0.53,-101.6,619.1,-14.6,370,4262,0.00,2.17,0.00,0.000,4,0.000,0.034,1528,1988,2896,0,0,0,0,0,0
$GC,4298,-0.53,-101.6,624.3,-12.7,372,4303,0.12,2.30,0.00,0.000,6,0.163,0.056,1549,3426,2896,0,0,0,0,0,0
$GC,4624,-0.53,-101.6,663.9,-11.9,388,4628,0.00,2.12,0.00,0.000,4,0.000,0.034,1549,1996,2896,0,0,0,0,0,0
$GC,4641,-0.53,-101.6,666.0,-11.5,389,4645,0.00,2.28,0.00,0.000,6,0.000,0.057,1540,3420,2895,0,0,0,0,0,0
$GC,4968,-0.53,-101.6,704.4,-11.5,405,4969,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,3420,2895,0,0,0,0,0,0
$GC,5279,-0.53,-101.6,740.5,-11.7,420,5280,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3420,2894,0,0,0,0,0,0
$GC,5586,-0.53,-101.6,776.0,-11.3,435,5590,0.00,2.17,0.00,0.000,4,0.000,0.037,1540,1998,2894,0,0,0,0,0,0
$GC,5612,-0.53,-101.6,778.8,-10.9,436,5618,0.00,2.30,0.00,0.000,6,0.000,0.057,1528,3413,2894,0,0,0,0,0,0
$GC,5935,-0.53,-101.6,816.1,-11.7,452,5936,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3413,2893,0,0,0,0,0,0
$GC,6244,-0.53,-101.6,852.5,-11.6,467,6247,0.00,0.85,0.00,0.000,4,0.000,0.065,1525,3951,2893,0,0,0,0,0,0
$GC,6314,-0.53,-101.6,861.8,-13.3,470,6319,0.00,0.82,0.00,0.000,6,0.000,0.040,1525,3415,2893,0,0,0,0,0,0
$GC,6642,-0.53,-101.6,900.0,-11.2,486,6643,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3415,2892,0,0,0,0,0,0
$GC,6952,-0.53,-101.6,934.8,-11.3,501,6956,0.00,2.15,0.00,0.000,4,0.000,0.035,1525,1991,2892,0,0,0,0,0,0
$GC,6973,-0.53,-101.6,937.3,-10.6,502,6978,0.08,2.33,0.00,0.000,6,0.142,0.059,1539,3422,2892,0,0,0,0,0,0
$GC,7301,-0.53,-101.6,971.1,-10.5,518,7302,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,3421,2892,0,0,0,0,0,0
$STATE,7485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7485,begin apogee
$GC,7489,-0.09,0.0,992.0,11.5,527,7591,0.50,0.00,98.60,1.859,6,0.153,0.000,1688,3284,2473,0,0,0,0,0,0
$STATE,7592,end apogee,CONTROL_FINISHED_OK
$STATE,7592,begin climb
$GC,7594,0.53,101.6,995.0,0.0,532,7704,0.57,2.47,101.90,1.805,4,0.067,0.037,1900,1873,2059,0,0,0,0,0,0
$GC,7776,0.53,101.6,981.5,12.0,540,7781,0.00,2.45,0.00,0.000,6,0.000,0.054,1900,3273,2054,0,0,0,0,0,0
$GC,8100,0.53,101.6,933.1,15.6,556,8103,0.00,1.15,0.00,0.000,4,0.000,0.061,1900,3958,2048,0,0,0,0,0,0
$GC,8226,0.53,101.6,909.4,18.6,561,8234,0.00,1.10,0.00,0.000,6,0.000,0.038,1906,3271,2047,0,0,0,0,0,0
$GC,8545,0.53,101.6,857.6,16.1,577,8546,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3271,2046,0,0,0,0,0,0
$GC,8852,0.53,101.6,808.8,15.4,592,8856,0.00,1.12,0.00,0.000,4,0.000,0.063,1905,3958,2044,0,0,0,0,0,0
$GC,9103,0.53,101.6,766.4,16.3,603,9108,0.00,1.08,0.00,0.000,6,0.000,0.038,1910,3271,2044,0,0,0,0,0,0
$GC,9432,0.53,101.6,717.2,14.6,619,9434,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3271,2043,0,0,0,0,0,0
$GC,9740,0.53,101.6,672.7,14.5,634,9744,0.00,1.12,0.00,0.000,4,0.000,0.062,1911,3959,2043,0,0,0,0,0,0
$GC,9812,0.53,101.6,661.2,15.4,637,9816,0.00,1.08,0.00,0.000,6,0.000,0.038,1916,3272,2043,0,0,0,0,0,0
$GC,10139,0.53,101.6,615.6,14.0,653,10143,0.00,1.10,0.00,0.000,4,0.000,0.062,1916,3951,2042,0,0,0,0,0,0
$GC,10217,0.53,101.6,603.4,15.8,656,10221,0.00,1.02,0.00,0.000,6,0.000,0.038,1921,3281,2042,0,0,0,0,0,0
$GC,10538,0.53,101.6,555.3,15.4,672,10541,0.00,1.10,0.00,0.000,4,0.000,0.062,1921,3958,2042,0,0,0,0,0,0
$GC,10583,0.53,101.6,547.9,17.2,674,10587,0.10,1.02,0.00,0.000,6,0.198,0.040,1899,3286,2042,0,0,0,0,0,0
$GC,10915,0.53,101.6,501.2,14.0,690,10916,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3286,2041,0,0,0,0,0,0
$GC,11224,0.53,101.6,458.6,13.3,705,11227,0.00,1.08,0.00,0.000,4,0.000,0.060,1898,3956,2041,0,0,0,0,0,0
$GC,11385,0.53,101.6,434.9,15.2,712,11389,0.00,1.02,0.00,0.000,6,0.000,0.037,1902,3279,2041,0,0,0,0,0,0
$GC,11703,0.53,101.6,393.2,12.8,730,11707,0.00,1.10,0.00,0.000,4,0.000,0.059,1902,3960,2041,0,0,0,0,0,0
$GC,11775,0.53,101.6,383.0,13.5,736,11785,0.00,1.05,0.00,0.000,6,0.000,0.036,1908,3274,2041,0,0,0,0,0,0
$GC,12100,0.53,101.6,341.7,12.5,767,12101,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3274,2041,0,0,0,0,0,0
$GC,12422,0.53,101.6,301.9,12.3,797,12428,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3274,2041,0,0,0,0,0,0
$GC,12747,0.53,101.6,261.5,12.0,828,12748,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3274,2041,0,0,0,0,0,0
$GC,13066,0.53,101.6,222.3,12.3,858,13070,0.00,2.12,0.00,0.000,4,0.000,0.033,1918,1864,2041,0,0,0,0,0,0
$GC,13086,0.53,101.6,219.9,10.0,859,13094,0.00,2.28,0.00,0.000,6,0.000,0.050,1919,3284,2040,0,0,0,0,0,0
$GC,13412,0.53,101.6,181.1,11.8,890,13413,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3285,2040,0,0,0,0,0,0
$GC,13731,0.53,101.6,141.2,12.4,920,13735,0.00,1.05,0.00,0.000,4,0.000,0.057,1919,3951,2039,0,0,0,0,0,0
$GC,13827,0.53,101.6,127.8,14.0,928,13836,0.00,1.00,0.00,0.000,6,0.000,0.036,1924,3282,2040,0,0,0,0,0,0
$GC,14160,0.53,101.6,84.9,11.9,969,14170,0.12,2.15,0.00,0.000,4,0.212,0.032,1904,1864,2039,0,0,0,0,0,0
$GC,14429,0.54,121.7,62.9,7.2,1015,14443,0.00,2.25,6.88,0.930,6,0.000,0.050,1904,3288,1974,0,0,0,0,0,0
$GC,14793,0.54,121.7,27.7,11.0,1077,14799,0.00,1.05,0.00,0.000,4,0.000,0.058,1904,3954,1972,0,0,0,0,0,0
$STATE,14982,end climb,SURFACE_DEPTH_REACHED
$STATE,14982,begin surface coast
$FINISH,0.6,1.010430
$STATE,15008,end surface coast,CONTROL_FINISHED_OK
$STATE,15009,begin surface
$SM_CCo,15021,43.20,0.781,0,0,1551,225.18
$SM_GC,1.08,0.00,0.00,43.20,0.000,0.000,0.781,70,3414,1551,-5.15,-0.17,225.18
$IRIDIUM_FIX,-4244.98,828.21,251213,171743
$TT8_MAMPS,0.026215
$HUMID,61.73
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.5,24.077
$10V_AH,10.0,17.019
$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,12.750,76.950,207.375,43.200,0.000,27.706,52.169,322.933,0.000,0.000,20.450,2738.653,9350.341,370.727,2935.799,196.076,0.000,1400.735,0.000,2402.227,0.000,1.011,0.000
$DEVICE_MAMPS,251.685,65.025,1858.950,781.065,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,771.478,1896.940,759.090,359.590,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354408
$DATA_FILE_SIZE,80543,1112
$CAP_FILE_SIZE,135180,0
$CFSIZE,259252224,247521280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,261213,022523,-4259.106,829.568,60,1.0,60,-25.0