version: 66.07
glider: 543
mission: 9
dive: 162
start: 12 26 113 19 45 51
data:
$ID,543
$MISSION,9
$DIVE,162
$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,-13031.311
$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,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
$GPS1,261213,193306,-4259.042,830.540,36,1.0,36,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-53.8
$GPS2,261213,194527,-4259.034,830.948,21,0.9,22,-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,240.7,2202,-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,-49.92,0.000,2,0.000,0.000,57,3431,2700,0,0,0,0,0,0
$GC,69,-0.53,-94.4,3.5,-5.4,6,88,6.18,0.85,-3.95,0.000,4,0.239,0.083,1540,3959,2861,0,0,0,0,0,0
$GC,352,-0.53,-94.4,59.1,-17.1,53,359,0.00,0.82,0.00,0.000,6,0.000,0.037,1540,3418,2865,0,0,0,0,0,0
$GC,696,-0.53,-94.4,110.6,-13.7,107,697,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3417,2866,0,0,0,0,0,0
$GC,1018,-0.53,-94.4,156.9,-14.6,137,1024,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3417,2867,0,0,0,0,0,0
$GC,1343,-0.53,-94.4,203.0,-13.4,168,1347,0.00,2.12,0.00,0.000,4,0.000,0.031,1540,1989,2867,0,0,0,0,0,0
$GC,1375,-0.53,-94.4,207.4,-11.8,170,1383,0.00,2.28,0.00,0.000,6,0.000,0.052,1530,3422,2868,0,0,0,0,0,0
$GC,1703,-0.53,-94.4,254.0,-14.8,201,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3422,2868,0,0,0,0,0,0
$GC,2020,-0.53,-94.4,299.9,-14.2,231,2024,0.00,2.12,0.00,0.000,4,0.000,0.033,1530,1995,2868,0,0,0,0,0,0
$GC,2085,-0.53,-94.4,308.3,-10.9,236,2096,0.00,2.30,0.00,0.000,6,0.000,0.054,1519,3416,2868,0,0,0,0,0,0
$GC,2411,-0.53,-94.4,357.0,-14.6,267,2415,0.12,0.85,0.00,0.000,4,0.181,0.063,1547,3942,2868,0,0,0,0,0,0
$GC,2525,-0.53,-94.4,372.1,-12.6,277,2529,0.00,0.80,0.00,0.000,6,0.000,0.040,1547,3416,2868,0,0,0,0,0,0
$GC,2853,-0.53,-94.4,413.9,-12.8,303,2857,0.00,2.12,0.00,0.000,4,0.000,0.034,1547,1997,2867,0,0,0,0,0,0
$GC,2884,-0.53,-94.4,418.2,-11.6,304,2892,0.00,2.30,0.00,0.000,6,0.000,0.056,1537,3416,2867,0,0,0,0,0,0
$GC,3201,-0.53,-94.4,460.2,-14.0,320,3204,0.00,0.85,0.00,0.000,4,0.000,0.064,1532,3954,2867,0,0,0,0,0,0
$GC,3345,-0.53,-94.4,482.4,-15.4,326,3349,0.00,0.82,0.00,0.000,6,0.000,0.039,1532,3418,2867,0,0,0,0,0,0
$GC,3666,-0.53,-94.4,528.7,-14.3,342,3667,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,3418,2867,0,0,0,0,0,0
$GC,3976,-0.53,-94.4,572.3,-14.1,357,3980,0.00,2.15,0.00,0.000,4,0.000,0.034,1532,1989,2866,0,0,0,0,0,0
$GC,4007,-0.53,-94.4,576.8,-12.6,358,4015,0.00,2.35,0.00,0.000,6,0.000,0.057,1521,3429,2866,0,0,0,0,0,0
$GC,4325,-0.53,-94.4,623.7,-14.9,374,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3429,2865,0,0,0,0,0,0
$GC,4633,-0.53,-94.4,668.3,-14.4,389,4634,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3430,2865,0,0,0,0,0,0
$GC,4942,-0.53,-94.4,710.2,-13.2,404,4943,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3429,2864,0,0,0,0,0,0
$GC,5252,-0.53,-94.4,750.0,-12.5,419,5256,0.00,2.17,0.00,0.000,4,0.000,0.035,1521,1992,2863,0,0,0,0,0,0
$GC,5272,-0.53,-94.4,752.6,-12.3,420,5277,0.10,2.33,0.00,0.000,6,0.133,0.058,1543,3421,2863,0,0,0,0,0,0
$GC,5600,-0.53,-94.4,784.3,-9.5,436,5602,0.00,0.00,0.00,0.000,6,0.000,0.000,1543,3421,2863,0,0,0,0,0,0
$GC,5908,-0.53,-94.4,813.5,-9.7,451,5909,0.00,0.00,0.00,0.000,6,0.000,0.000,1543,3421,2862,0,0,0,0,0,0
$GC,6218,-0.53,-94.4,843.1,-9.7,466,6219,0.00,0.00,0.00,0.000,6,0.000,0.000,1543,3421,2862,0,0,0,0,0,0
$GC,6527,-0.53,-94.4,874.9,-10.2,481,6528,0.00,0.00,0.00,0.000,6,0.000,0.000,1543,3421,2862,0,0,0,0,0,0
$GC,6836,-0.53,-94.4,908.1,-11.2,496,6840,0.00,0.85,0.00,0.000,4,0.000,0.064,1540,3953,2861,0,0,0,0,0,0
$GC,6868,-0.53,-94.4,912.2,-12.5,497,6873,0.00,0.82,0.00,0.000,6,0.000,0.040,1540,3422,2861,0,0,0,0,0,0
$GC,7192,-0.53,-94.4,948.9,-11.4,513,7195,0.00,2.15,0.00,0.000,4,0.000,0.034,1540,1994,2861,0,0,0,0,0,0
$GC,7212,-0.53,-94.4,951.7,-11.5,514,7217,0.00,2.33,0.00,0.000,6,0.000,0.057,1529,3419,2861,0,0,0,0,0,0
$STATE,7539,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7539,begin apogee
$GC,7543,-0.09,0.0,991.6,12.7,530,7641,0.52,0.00,91.03,1.870,6,0.152,0.000,1685,3280,2474,0,0,0,0,0,0
$STATE,7642,end apogee,CONTROL_FINISHED_OK
$STATE,7642,begin climb
$GC,7644,0.53,94.4,995.7,0.0,535,7752,0.57,2.45,95.25,1.815,4,0.070,0.036,1896,1875,2087,0,0,0,0,0,0
$GC,7807,0.53,94.4,985.5,10.2,542,7812,0.00,2.45,0.00,0.000,6,0.000,0.054,1896,3274,2081,0,0,0,0,0,0
$GC,8129,0.53,94.4,943.0,13.4,558,8132,0.00,1.15,0.00,0.000,4,0.000,0.063,1896,3958,2075,0,0,0,0,0,0
$GC,8342,0.53,94.4,910.1,15.8,567,8345,0.00,1.08,0.00,0.000,6,0.000,0.041,1901,3277,2074,0,0,0,0,0,0
$GC,8663,0.53,94.4,865.0,14.0,583,8666,0.00,1.12,0.00,0.000,4,0.000,0.061,1901,3959,2072,0,0,0,0,0,0
$GC,8775,0.53,94.4,847.1,16.1,588,8779,0.00,1.05,0.00,0.000,6,0.000,0.039,1907,3285,2072,0,0,0,0,0,0
$GC,9107,0.53,94.4,799.2,14.4,604,9109,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3285,2071,0,0,0,0,0,0
$GC,9419,0.53,94.4,754.8,14.6,619,9422,0.00,1.10,0.00,0.000,4,0.000,0.060,1907,3958,2070,0,0,0,0,0,0
$GC,9501,0.53,94.4,741.4,16.0,622,9509,0.00,1.08,0.00,0.000,6,0.000,0.037,1912,3268,2070,0,0,0,0,0,0
$GC,9817,0.53,94.4,694.9,14.8,638,9821,0.00,1.12,0.00,0.000,4,0.000,0.059,1912,3958,2069,0,0,0,0,0,0
$GC,9855,0.53,94.4,688.7,16.2,639,9863,0.00,1.05,0.00,0.000,6,0.000,0.037,1917,3280,2069,0,0,0,0,0,0
$GC,10171,0.53,94.4,643.4,14.0,655,10175,0.00,1.08,0.00,0.000,4,0.000,0.060,1917,3953,2068,0,0,0,0,0,0
$GC,10428,0.53,94.4,602.9,15.4,666,10433,0.10,1.05,0.00,0.000,6,0.228,0.036,1896,3274,2068,0,0,0,0,0,0
$GC,10749,0.53,94.4,563.6,12.2,682,10753,0.00,1.10,0.00,0.000,4,0.000,0.060,1896,3954,2067,0,0,0,0,0,0
$GC,10840,0.53,94.4,551.3,13.6,686,10843,0.00,1.02,0.00,0.000,6,0.000,0.037,1900,3277,2067,0,0,0,0,0,0
$GC,11172,0.53,94.4,510.3,12.4,702,11176,0.00,2.15,0.00,0.000,4,0.000,0.034,1911,1865,2067,0,0,0,0,0,0
$GC,11266,0.53,94.4,499.5,10.8,706,11270,0.00,2.28,0.00,0.000,6,0.000,0.050,1911,3278,2065,0,0,0,0,0,0
$GC,11587,0.53,94.4,458.6,13.1,722,11589,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3278,2065,0,0,0,0,0,0
$GC,11897,0.53,94.4,419.8,12.5,737,11900,0.00,1.08,0.00,0.000,4,0.000,0.060,1911,3950,2066,0,0,0,0,0,0
$GC,12125,0.53,94.4,386.9,14.9,750,12133,0.00,1.05,0.00,0.000,6,0.000,0.036,1916,3266,2065,0,0,0,0,0,0
$GC,12453,0.53,94.4,341.8,12.8,781,12456,0.00,1.10,0.00,0.000,4,0.000,0.059,1916,3952,2065,0,0,0,0,0,0
$GC,12569,0.53,94.4,324.1,14.6,791,12578,0.12,1.02,0.00,0.000,6,0.223,0.036,1894,3278,2065,0,0,0,0,0,0
$GC,12895,0.53,94.4,286.5,11.4,822,12896,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,3278,2065,0,0,0,0,0,0
$GC,13214,0.53,94.4,250.6,10.8,852,13216,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,3278,2065,0,0,0,0,0,0
$GC,13533,0.53,94.4,216.1,10.9,882,13537,0.00,2.15,0.00,0.000,4,0.000,0.033,1903,1857,2065,0,0,0,0,0,0
$GC,13575,0.53,94.4,211.9,10.2,885,13579,0.00,2.25,0.00,0.000,6,0.000,0.051,1903,3284,2064,0,0,0,0,0,0
$GC,13904,0.53,94.4,174.0,11.5,916,13908,0.00,1.05,0.00,0.000,4,0.000,0.058,1903,3944,2064,0,0,0,0,0,0
$GC,13972,0.53,94.4,165.3,12.3,922,13976,0.00,1.00,0.00,0.000,6,0.000,0.035,1908,3277,2064,0,0,0,0,0,0
$GC,14304,0.53,94.4,126.9,12.0,953,14305,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3277,2064,0,0,0,0,0,0
$GC,14628,0.53,94.4,90.4,10.1,991,14635,0.00,2.15,0.00,0.000,4,0.000,0.033,1919,1853,2064,0,0,0,0,0,0
$GC,14892,0.53,94.4,66.5,9.8,1037,14899,0.00,2.28,0.00,0.000,6,0.000,0.051,1919,3286,2064,0,0,0,0,0,0
$GC,15243,0.53,101.2,28.0,8.7,1098,15252,0.00,1.05,0.00,0.000,4,0.000,0.058,1919,3953,2064,0,0,0,0,0,0
$GC,15525,0.54,120.0,5.0,7.4,1144,15543,0.00,1.00,8.32,0.733,6,0.000,0.034,1925,3278,1981,0,0,0,0,0,0
$STATE,15549,end climb,SURFACE_DEPTH_REACHED
$STATE,15550,begin surface coast
$FINISH,0.4,1.026255
$STATE,15594,end surface coast,CONTROL_FINISHED_OK
$STATE,15594,begin surface
$SM_CCo,15606,43.58,0.773,0,0,1553,225.18
$SM_GC,1.10,0.00,0.00,43.58,0.000,0.000,0.773,67,3431,1553,-5.16,0.31,225.18
$IRIDIUM_FIX,-4242.04,827.77,261213,191944
$TT8_MAMPS,0.025466
$HUMID,61.81
$INTERNAL_PRESSURE,9.56208
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.6,24.786
$10V_AH,10.0,17.590
$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,12.575,73.325,194.600,43.575,0.000,54.070,86.561,387.929,0.000,0.000,24.858,2848.258,9713.469,357.004,3277.889,193.835,0.000,1430.867,0.000,2580.846,0.000,1.010,0.000
$DEVICE_MAMPS,238.680,83.385,1869.660,773.415,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,800.816,1997.545,818.602,416.021,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354360
$DATA_FILE_SIZE,80410,1154
$CAP_FILE_SIZE,141210,0
$CFSIZE,259252224,247140352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,271213,000752,-4259.660,830.670,37,0.8,37,-25.0