version: 66.07
glider: 543
mission: 9
dive: 160
start: 12 26 113 11 4 18
data:
$ID,543
$MISSION,9
$DIVE,160
$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,-13024.017
$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,21
$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
$GPS1,261213,105252,-4259.688,830.003,59,1.3,59,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-58.6
$GPS2,261213,110353,-4259.654,830.006,14,1.4,15,-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,205.8,641,-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,14,-0.50,-57.7,0.0,0.0,0,73,0.00,0.00,-50.22,0.000,6,0.000,0.000,59,3429,2707,0,0,0,0,0,0
$GC,75,-0.54,-109.0,3.9,-3.8,7,94,6.50,2.20,-4.68,0.000,4,0.257,0.045,1547,2006,2919,0,0,0,0,0,0
$GC,273,-0.54,-109.0,38.7,-12.1,39,279,0.00,2.33,0.00,0.000,6,0.000,0.054,1538,3429,2923,0,0,0,0,0,0
$GC,419,-0.54,-109.0,61.5,-14.5,64,426,0.00,2.17,0.00,0.000,4,0.000,0.031,1538,1994,2924,0,0,0,0,0,0
$GC,461,-0.54,-109.0,67.7,-13.8,71,467,0.00,2.33,0.00,0.000,6,0.000,0.054,1527,3428,2924,0,0,0,0,0,0
$GC,805,-0.54,-109.0,124.2,-15.6,119,809,0.00,2.15,0.00,0.000,4,0.000,0.032,1527,1996,2926,0,0,0,0,0,0
$GC,882,-0.54,-109.0,134.6,-11.5,125,890,0.00,2.33,0.00,0.000,6,0.000,0.055,1516,3419,2926,0,0,0,0,0,0
$GC,1208,-0.54,-109.0,189.5,-17.7,156,1209,0.12,0.00,0.00,0.000,6,0.190,0.000,1546,3419,2926,0,0,0,0,0,0
$GC,1526,-0.54,-109.0,235.7,-14.1,186,1527,0.00,0.00,0.00,0.000,6,0.000,0.000,1546,3419,2926,0,0,0,0,0,0
$GC,1846,-0.54,-109.0,280.0,-13.3,216,1847,0.00,0.00,0.00,0.000,6,0.000,0.000,1545,3419,2926,0,0,0,0,0,0
$GC,2164,-0.54,-109.0,321.8,-12.8,246,2168,0.00,0.82,0.00,0.000,4,0.000,0.062,1543,3944,2926,0,0,0,0,0,0
$GC,2278,-0.54,-109.0,337.6,-14.0,256,2281,0.00,0.80,0.00,0.000,6,0.000,0.037,1543,3413,2926,0,0,0,0,0,0
$GC,2608,-0.54,-109.0,382.0,-12.8,287,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,1543,3412,2926,0,0,0,0,0,0
$GC,2932,-0.54,-109.0,425.1,-13.6,309,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,1543,3413,2926,0,0,0,0,0,0
$GC,3241,-0.54,-109.0,467.0,-13.4,324,3242,0.00,0.00,0.00,0.000,6,0.000,0.000,1543,3412,2926,0,0,0,0,0,0
$GC,3550,-0.54,-109.0,508.4,-13.4,339,3554,0.00,2.12,0.00,0.000,4,0.000,0.032,1543,1997,2926,0,0,0,0,0,0
$GC,3576,-0.54,-109.0,512.1,-13.6,340,3582,0.00,2.30,0.00,0.000,6,0.000,0.055,1531,3417,2926,0,0,0,0,0,0
$GC,3899,-0.54,-109.0,556.3,-13.7,356,3902,0.00,0.85,0.00,0.000,4,0.000,0.063,1528,3955,2925,0,0,0,0,0,0
$GC,3966,-0.54,-109.0,566.2,-15.1,359,3970,0.00,0.80,0.00,0.000,6,0.000,0.040,1528,3423,2926,0,0,0,0,0,0
$GC,4298,-0.54,-109.0,611.2,-13.0,375,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3423,2925,0,0,0,0,0,0
$GC,4608,-0.54,-109.0,650.6,-12.6,390,4612,0.00,2.12,0.00,0.000,4,0.000,0.033,1528,1987,2924,0,0,0,0,0,0
$GC,4628,-0.54,-109.0,653.3,-12.3,391,4633,0.00,2.33,0.00,0.000,6,0.000,0.057,1517,3424,2924,0,0,0,0,0,0
$GC,4957,-0.54,-109.0,696.6,-13.5,407,4961,0.00,0.85,0.00,0.000,4,0.000,0.065,1513,3959,2924,0,0,0,0,0,0
$GC,5029,-0.54,-109.0,707.5,-14.7,410,5034,0.12,0.85,0.00,0.000,6,0.184,0.041,1544,3409,2923,0,0,0,0,0,0
$GC,5356,-0.54,-109.0,743.7,-10.8,426,5357,0.00,0.00,0.00,0.000,6,0.000,0.000,1543,3410,2923,0,0,0,0,0,0
$GC,5665,-0.54,-109.0,777.0,-11.1,441,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,1543,3409,2923,0,0,0,0,0,0
$GC,5974,-0.54,-109.0,811.4,-11.8,456,5975,0.00,0.00,0.00,0.000,6,0.000,0.000,1543,3410,2922,0,0,0,0,0,0
$GC,6285,-0.54,-109.0,847.5,-11.8,471,6286,0.00,0.00,0.00,0.000,6,0.000,0.000,1543,3410,2922,0,0,0,0,0,0
$GC,6593,-0.54,-109.0,883.4,-11.2,486,6594,0.00,0.00,0.00,0.000,6,0.000,0.000,1543,3410,2921,0,0,0,0,0,0
$GC,6902,-0.54,-109.0,918.4,-11.2,501,6906,0.00,0.88,0.00,0.000,4,0.000,0.067,1540,3951,2920,0,0,0,0,0,0
$GC,6934,-0.54,-109.0,922.5,-12.1,502,6939,0.00,0.82,0.00,0.000,6,0.000,0.043,1540,3425,2920,0,0,0,0,0,0
$GC,7257,-0.54,-109.0,961.1,-12.2,518,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3425,2919,0,0,0,0,0,0
$STATE,7502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7502,begin apogee
$GC,7506,-0.09,0.0,991.8,12.5,530,7614,0.50,0.00,104.88,1.857,6,0.151,0.000,1689,3281,2473,0,0,0,0,0,0
$STATE,7615,end apogee,CONTROL_FINISHED_OK
$STATE,7615,begin climb
$GC,7617,0.54,109.0,996.5,0.0,535,7734,0.57,2.45,109.57,1.805,4,0.062,0.035,1904,1865,2027,0,0,0,0,0,0
$GC,7766,0.54,109.0,988.1,12.6,542,7771,0.00,2.50,0.00,0.000,6,0.000,0.054,1904,3272,2025,0,0,0,0,0,0
$GC,8094,0.54,109.0,940.6,15.0,558,8098,0.00,1.15,0.00,0.000,4,0.000,0.061,1904,3959,2016,0,0,0,0,0,0
$GC,8132,0.54,109.0,933.9,16.6,559,8140,0.00,1.10,0.00,0.000,6,0.000,0.038,1909,3277,2016,0,0,0,0,0,0
$GC,8448,0.54,109.0,882.1,16.7,575,8452,0.00,1.10,0.00,0.000,4,0.000,0.059,1909,3950,2014,0,0,0,0,0,0
$GC,8486,0.54,109.0,875.1,18.0,576,8494,0.00,1.08,0.00,0.000,6,0.000,0.037,1915,3269,2014,0,0,0,0,0,0
$GC,8802,0.54,109.0,822.4,17.2,592,8806,0.00,1.12,0.00,0.000,4,0.000,0.058,1915,3956,2012,0,0,0,0,0,0
$GC,8896,0.54,109.0,804.9,18.5,596,8901,0.00,1.05,0.00,0.000,6,0.000,0.035,1920,3278,2012,0,0,0,0,0,0
$GC,9223,0.54,109.0,748.0,16.7,612,9227,0.00,1.10,0.00,0.000,4,0.000,0.059,1920,3957,2012,0,0,0,0,0,0
$GC,9272,0.54,109.0,738.7,19.3,614,9277,0.12,1.05,0.00,0.000,6,0.224,0.035,1898,3278,2011,0,0,0,0,0,0
$GC,9600,0.54,109.0,687.6,14.7,630,9604,0.00,1.10,0.00,0.000,4,0.000,0.060,1898,3957,2010,0,0,0,0,0,0
$GC,9750,0.54,109.0,661.5,17.3,636,9758,0.00,1.02,0.00,0.000,6,0.000,0.036,1902,3282,2010,0,0,0,0,0,0
$GC,10067,0.54,109.0,613.2,15.2,652,10070,0.00,1.08,0.00,0.000,4,0.000,0.060,1902,3949,2010,0,0,0,0,0,0
$GC,10160,0.54,109.0,596.4,18.4,656,10165,0.00,1.05,0.00,0.000,6,0.000,0.036,1907,3268,2010,0,0,0,0,0,0
$GC,10488,0.54,109.0,543.6,16.2,672,10489,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3268,2009,0,0,0,0,0,0
$GC,10797,0.54,109.0,497.5,14.2,687,10801,0.00,1.10,0.00,0.000,4,0.000,0.060,1907,3953,2009,0,0,0,0,0,0
$GC,11026,0.54,109.0,461.4,15.1,697,11031,0.00,1.05,0.00,0.000,6,0.000,0.035,1913,3269,2009,0,0,0,0,0,0
$GC,11354,0.54,109.0,416.6,13.9,713,11358,0.00,1.10,0.00,0.000,4,0.000,0.058,1912,3953,2008,0,0,0,0,0,0
$GC,11392,0.54,109.0,410.7,15.6,714,11399,0.00,1.05,0.00,0.000,6,0.000,0.036,1918,3270,2008,0,0,0,0,0,0
$GC,11718,0.54,109.0,365.3,14.1,741,11724,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3270,2008,0,0,0,0,0,0
$GC,12043,0.54,109.0,320.2,13.4,772,12047,0.00,1.10,0.00,0.000,4,0.000,0.060,1917,3953,2008,0,0,0,0,0,0
$GC,12123,0.54,109.0,308.3,15.2,779,12126,0.00,1.02,0.00,0.000,6,0.000,0.036,1923,3276,2008,0,0,0,0,0,0
$GC,12453,0.54,109.0,261.7,13.2,810,12456,0.00,1.10,0.00,0.000,4,0.000,0.059,1923,3959,2008,0,0,0,0,0,0
$GC,12624,0.54,109.0,235.5,15.5,825,12628,0.10,1.02,0.00,0.000,6,0.194,0.036,1900,3278,2008,0,0,0,0,0,0
$GC,12954,0.54,109.0,192.8,12.9,856,12957,0.00,1.08,0.00,0.000,4,0.000,0.059,1900,3949,2007,0,0,0,0,0,0
$GC,13059,0.54,109.0,177.7,14.4,865,13067,0.00,1.02,0.00,0.000,6,0.000,0.035,1904,3278,2007,0,0,0,0,0,0
$GC,13385,0.54,109.0,136.6,12.5,896,13389,0.00,1.10,0.00,0.000,4,0.000,0.058,1904,3959,2007,0,0,0,0,0,0
$GC,13489,0.54,109.0,122.4,15.0,905,13492,0.00,1.02,0.00,0.000,6,0.000,0.035,1909,3278,2007,0,0,0,0,0,0
$GC,13826,0.54,109.0,80.2,11.4,949,13832,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3278,2007,0,0,0,0,0,0
$GC,14176,0.54,109.0,43.0,11.3,1010,14183,0.00,1.10,0.00,0.000,4,0.000,0.059,1909,3960,2007,0,0,0,0,0,0
$GC,14451,0.54,109.0,11.6,9.9,1056,14460,0.00,1.02,0.00,0.000,6,0.000,0.035,1914,3280,2007,0,0,0,0,0,0
$GC,14511,0.54,109.0,4.5,11.4,1065,14520,0.00,1.05,0.00,0.000,4,0.000,0.057,1914,3945,2007,0,0,0,0,0,0
$STATE,14527,end climb,SURFACE_DEPTH_REACHED
$STATE,14527,begin surface coast
$FINISH,0.5,1.013400
$STATE,14559,end surface coast,CONTROL_FINISHED_OK
$STATE,14559,begin surface
$SM_CCo,14572,46.67,0.790,0,0,1552,225.18
$SM_GC,0.74,0.00,0.00,46.67,0.000,0.000,0.790,62,3417,1552,-5.17,-0.08,225.18
$IRIDIUM_FIX,-4242.04,827.77,261213,101042
$TT8_MAMPS,0.025466
$HUMID,61.77
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.5,24.505
$10V_AH,10.0,17.352
$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,13.000,63.950,214.450,46.675,0.000,69.427,100.563,311.829,0.000,0.000,18.374,2641.839,9121.134,374.668,2957.224,186.911,0.000,1374.464,0.000,2348.143,0.000,1.012,0.000
$DEVICE_MAMPS,257.040,66.555,1856.655,790.245,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,743.960,1832.554,735.943,364.787,0.000,0.000,0.000,0.000,0.000,0.000
$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,77172,1072
$CAP_FILE_SIZE,131424,0
$CFSIZE,259252224,247304192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,261213,150934,-4300.604,830.949,63,0.9,63,-25.0