version: 66.07
glider: 543
mission: 9
dive: 158
start: 12 26 113 2 34 1
data:
$ID,543
$MISSION,9
$DIVE,158
$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,-13016.506
$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,41
$R_STBD_OVSHOOT,22
$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
$GPS1,261213,022523,-4259.106,829.568,60,1.0,60,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-66.7
$GPS2,261213,023336,-4259.088,829.750,17,1.6,18,-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,193.7,1723,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.50,-57.7,0.0,0.0,0,67,0.00,0.00,-49.85,0.000,2,0.000,0.000,62,3414,2703,0,0,0,0,0,0
$GC,69,-0.53,-100.0,3.3,-4.8,6,88,6.12,0.88,-4.57,0.000,4,0.238,0.084,1540,3958,2883,0,0,0,0,0,0
$GC,352,-0.53,-100.0,61.7,-17.0,53,358,0.00,0.82,0.00,0.000,6,0.000,0.037,1540,3418,2888,0,0,0,0,0,0
$GC,702,-0.53,-100.0,112.5,-14.1,107,705,0.00,0.85,0.00,0.000,4,0.000,0.061,1536,3947,2890,0,0,0,0,0,0
$GC,781,-0.53,-100.0,124.5,-15.2,114,784,0.00,0.80,0.00,0.000,6,0.000,0.038,1536,3420,2890,0,0,0,0,0,0
$GC,1113,-0.53,-100.0,175.4,-15.1,145,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3420,2891,0,0,0,0,0,0
$GC,1430,-0.53,-100.0,224.1,-14.7,175,1434,0.00,2.15,0.00,0.000,4,0.000,0.033,1536,1995,2891,0,0,0,0,0,0
$GC,1492,-0.53,-100.0,232.2,-11.5,180,1496,0.00,2.28,0.00,0.000,6,0.000,0.054,1525,3421,2891,0,0,0,0,0,0
$GC,1816,-0.53,-100.0,282.0,-16.1,210,1820,0.00,2.12,0.00,0.000,4,0.000,0.032,1525,1995,2891,0,0,0,0,0,0
$GC,1870,-0.53,-100.0,289.8,-13.1,214,1878,0.08,2.30,0.00,0.000,6,0.142,0.054,1539,3420,2891,0,0,0,0,0,0
$GC,2198,-0.53,-100.0,335.6,-14.1,245,2202,0.00,2.15,0.00,0.000,4,0.000,0.033,1539,1991,2891,0,0,0,0,0,0
$GC,2229,-0.53,-100.0,340.2,-12.2,247,2237,0.00,2.30,0.00,0.000,6,0.000,0.054,1530,3413,2891,0,0,0,0,0,0
$GC,2555,-0.53,-100.0,388.9,-15.6,278,2559,0.00,2.10,0.00,0.000,4,0.000,0.033,1529,1996,2891,0,0,0,0,0,0
$GC,2586,-0.53,-100.0,393.8,-14.1,280,2597,0.08,2.30,0.00,0.000,6,0.139,0.055,1543,3417,2891,0,0,0,0,0,0
$GC,2915,-0.53,-100.0,438.0,-13.7,299,2919,0.00,2.12,0.00,0.000,4,0.000,0.034,1543,1991,2891,0,0,0,0,0,0
$GC,2954,-0.53,-100.0,443.0,-12.0,301,2958,0.00,2.28,0.00,0.000,6,0.000,0.057,1534,3422,2891,0,0,0,0,0,0
$GC,3282,-0.53,-100.0,489.1,-14.0,317,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3422,2890,0,0,0,0,0,0
$GC,3590,-0.53,-100.0,531.2,-13.4,332,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3422,2890,0,0,0,0,0,0
$GC,3899,-0.53,-100.0,572.1,-13.1,347,3902,0.00,2.15,0.00,0.000,4,0.000,0.034,1534,1995,2889,0,0,0,0,0,0
$GC,3921,-0.53,-100.0,574.9,-13.3,348,3925,0.00,2.30,0.00,0.000,6,0.000,0.057,1523,3422,2889,0,0,0,0,0,0
$GC,4241,-0.53,-100.0,618.4,-13.3,364,4245,0.00,2.12,0.00,0.000,4,0.000,0.034,1523,1997,2889,0,0,0,0,0,0
$GC,4281,-0.53,-100.0,623.2,-11.3,366,4285,0.12,2.28,0.00,0.000,6,0.167,0.057,1544,3422,2889,0,0,0,0,0,0
$GC,4607,-0.53,-100.0,660.1,-11.2,382,4610,0.00,2.15,0.00,0.000,4,0.000,0.035,1544,2000,2888,0,0,0,0,0,0
$GC,4650,-0.53,-104.1,664.5,-9.0,384,4654,0.00,2.30,0.00,0.000,6,0.000,0.058,1534,3413,2888,0,0,0,0,0,0
$GC,4979,-0.53,-104.1,704.3,-12.9,400,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3413,2888,0,0,0,0,0,0
$GC,5287,-0.53,-104.1,744.3,-12.8,415,5291,0.00,2.12,0.00,0.000,4,0.000,0.035,1534,1992,2887,0,0,0,0,0,0
$GC,5326,-0.53,-104.1,749.1,-11.2,417,5330,0.00,2.30,0.00,0.000,6,0.000,0.059,1523,3419,2887,0,0,0,0,0,0
$GC,5652,-0.53,-104.1,794.3,-13.8,433,5655,0.00,2.12,0.00,0.000,4,0.000,0.036,1523,1998,2887,0,0,0,0,0,0
$GC,5691,-0.53,-104.1,799.1,-12.0,435,5696,0.12,2.28,0.00,0.000,6,0.165,0.059,1544,3421,2887,0,0,0,0,0,0
$GC,6017,-0.53,-104.1,834.8,-10.6,451,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,1544,3421,2886,0,0,0,0,0,0
$GC,6327,-0.53,-104.1,867.3,-10.3,466,6328,0.00,0.00,0.00,0.000,6,0.000,0.000,1544,3421,2886,0,0,0,0,0,0
$GC,6636,-0.53,-104.1,899.9,-10.8,481,6640,0.00,2.15,0.00,0.000,4,0.000,0.037,1545,2002,2885,0,0,0,0,0,0
$GC,6662,-0.53,-104.1,902.9,-11.3,482,6667,0.00,2.30,0.00,0.000,6,0.000,0.059,1535,3416,2885,0,0,0,0,0,0
$GC,6986,-0.53,-104.1,939.4,-11.6,498,6987,0.00,0.00,0.00,0.000,6,0.000,0.000,1535,3415,2884,0,0,0,0,0,0
$GC,7294,-0.53,-104.1,975.3,-11.4,513,7298,0.00,2.12,0.00,0.000,4,0.000,0.037,1535,1998,2884,0,0,0,0,0,0
$GC,7356,-0.53,-104.1,981.9,-10.0,516,7360,0.00,2.28,0.00,0.000,6,0.000,0.059,1524,3421,2884,0,0,0,0,0,0
$STATE,7433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7433,begin apogee
$GC,7437,-0.09,0.0,990.9,11.7,520,7537,0.55,0.00,96.78,1.854,6,0.156,0.000,1686,3284,2473,0,0,0,0,0,0
$STATE,7538,end apogee,CONTROL_FINISHED_OK
$STATE,7538,begin climb
$GC,7540,0.53,104.1,993.9,0.0,525,7651,0.62,1.23,104.97,1.803,4,0.068,0.063,1897,3942,2047,0,0,0,0,0,0
$GC,7718,0.53,104.1,977.5,16.8,533,7726,0.00,1.12,0.00,0.000,6,0.000,0.039,1902,3275,2044,0,0,0,0,0,0
$GC,8035,0.53,104.1,927.7,15.7,549,8038,0.00,1.12,0.00,0.000,4,0.000,0.062,1902,3942,2036,0,0,0,0,0,0
$GC,8089,0.53,104.1,918.3,17.6,551,8094,0.00,1.08,0.00,0.000,6,0.000,0.039,1907,3277,2036,0,0,0,0,0,0
$GC,8411,0.53,104.1,867.5,15.8,567,8415,0.00,1.10,0.00,0.000,4,0.000,0.063,1907,3944,2034,0,0,0,0,0,0
$GC,8667,0.53,104.1,823.1,17.7,578,8672,0.00,1.05,0.00,0.000,6,0.000,0.040,1912,3277,2033,0,0,0,0,0,0
$GC,8989,0.53,104.1,773.4,15.3,594,8993,0.00,1.10,0.00,0.000,4,0.000,0.063,1912,3952,2031,0,0,0,0,0,0
$GC,9128,0.53,104.1,749.8,17.5,600,9132,0.00,1.05,0.00,0.000,6,0.000,0.038,1917,3281,2031,0,0,0,0,0,0
$GC,9456,0.53,104.1,699.5,15.7,616,9459,0.00,1.08,0.00,0.000,4,0.000,0.063,1917,3942,2030,0,0,0,0,0,0
$GC,9623,0.53,104.1,669.9,18.2,623,9628,0.08,1.02,0.00,0.000,6,0.202,0.038,1902,3277,2030,0,0,0,0,0,0
$GC,9945,0.53,104.1,624.5,13.8,639,9946,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3277,2030,0,0,0,0,0,0
$GC,10255,0.53,104.1,582.4,13.5,654,10259,0.00,1.10,0.00,0.000,4,0.000,0.062,1902,3956,2029,0,0,0,0,0,0
$GC,10371,0.53,104.1,564.1,16.3,659,10375,0.00,1.05,0.00,0.000,6,0.000,0.040,1906,3281,2029,0,0,0,0,0,0
$GC,10698,0.53,104.1,517.0,14.7,675,10702,0.00,1.08,0.00,0.000,4,0.000,0.061,1906,3945,2028,0,0,0,0,0,0
$GC,10878,0.53,104.1,488.0,15.9,683,10882,0.00,1.02,0.00,0.000,6,0.000,0.040,1911,3274,2028,0,0,0,0,0,0
$GC,11210,0.53,104.1,441.4,13.8,699,11214,0.00,1.10,0.00,0.000,4,0.000,0.061,1911,3955,2028,0,0,0,0,0,0
$GC,11427,0.53,104.1,407.5,15.1,708,11435,0.00,1.05,0.00,0.000,6,0.000,0.039,1916,3278,2028,0,0,0,0,0,0
$GC,11751,0.53,104.1,363.1,13.6,736,11755,0.00,1.08,0.00,0.000,4,0.000,0.060,1916,3942,2028,0,0,0,0,0,0
$GC,11800,0.53,104.1,355.6,15.0,740,11810,0.00,1.02,0.00,0.000,6,0.000,0.039,1921,3280,2028,0,0,0,0,0,0
$GC,12126,0.53,104.1,314.0,12.4,771,12129,0.00,1.08,0.00,0.000,4,0.000,0.062,1921,3954,2027,0,0,0,0,0,0
$GC,12171,0.53,104.1,307.6,13.5,775,12175,0.10,1.02,0.00,0.000,6,0.197,0.039,1899,3277,2027,0,0,0,0,0,0
$GC,12500,0.53,104.1,270.1,12.1,806,12504,0.00,1.08,0.00,0.000,4,0.000,0.062,1898,3948,2027,0,0,0,0,0,0
$GC,12526,0.53,104.1,266.7,12.3,808,12536,0.00,1.05,0.00,0.000,6,0.000,0.037,1903,3266,2027,0,0,0,0,0,0
$GC,12852,0.53,104.1,228.8,11.9,839,12853,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3266,2027,0,0,0,0,0,0
$GC,13174,0.53,104.1,193.0,11.0,869,13177,0.00,1.10,0.00,0.000,4,0.000,0.061,1902,3947,2027,0,0,0,0,0,0
$GC,13266,0.53,104.1,181.4,12.2,877,13270,0.00,1.00,0.00,0.000,6,0.000,0.038,1907,3285,2027,0,0,0,0,0,0
$GC,13596,0.53,104.1,143.6,11.6,908,13600,0.00,1.08,0.00,0.000,4,0.000,0.059,1907,3954,2027,0,0,0,0,0,0
$GC,13732,0.53,104.1,126.0,13.9,920,13736,0.00,1.02,0.00,0.000,6,0.000,0.035,1912,3269,2027,0,0,0,0,0,0
$GC,14069,0.53,104.1,83.7,12.1,961,14076,0.00,1.10,0.00,0.000,4,0.000,0.058,1912,3953,2027,0,0,0,0,0,0
$GC,14333,0.53,104.1,50.6,10.1,1007,14340,0.00,1.00,0.00,0.000,6,0.000,0.035,1918,3282,2027,0,0,0,0,0,0
$GC,14694,0.53,107.9,16.0,9.0,1068,14703,0.00,1.05,0.00,0.000,4,0.000,0.057,1918,3948,2027,0,0,0,0,0,0
$STATE,14807,end climb,SURFACE_DEPTH_REACHED
$STATE,14807,begin surface coast
$FINISH,0.6,1.026230
$STATE,14833,end surface coast,CONTROL_FINISHED_OK
$STATE,14834,begin surface
$SM_CCo,14846,48.83,0.780,0,0,1551,225.18
$SM_GC,0.80,0.00,0.00,48.83,0.000,0.000,0.780,63,3410,1551,-5.17,-0.28,225.18
$IRIDIUM_FIX,-4244.98,828.21,251213,222218
$TT8_MAMPS,0.026215
$HUMID,61.65
$INTERNAL_PRESSURE,9.56208
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.5,24.213
$10V_AH,10.0,17.133
$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,12.850,88.450,201.750,48.825,0.000,26.912,44.231,299.199,0.000,0.000,20.289,2732.472,9115.895,374.597,2982.688,184.194,0.000,1428.485,0.000,2474.506,0.000,1.870,0.000
$DEVICE_MAMPS,237.915,84.150,1853.595,779.535,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,756.729,1876.486,742.454,362.124,0.000,0.000,0.000,0.000,0.000,0.000
$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,77131,1090
$CAP_FILE_SIZE,139672,0
$CFSIZE,259252224,247443456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,261213,064328,-4259.782,831.052,37,0.9,37,-25.0