version: 66.07
glider: 543
mission: 9
dive: 164
start: 12 27 113 4 41 25
data:
$ID,543
$MISSION,9
$DIVE,164
$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,-13038.044
$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,45
$R_STBD_OVSHOOT,23
$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
$GPS1,271213,043234,-4259.971,830.402,32,1.3,32,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-69.4
$GPS2,271213,044100,-4259.949,830.330,19,1.7,20,-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,283.0,457,-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,-50.35,0.000,2,0.000,0.000,53,3423,2683,0,0,0,0,0,0
$GC,69,-0.53,-106.4,3.0,-4.1,6,88,6.30,0.88,-6.03,0.000,4,0.246,0.087,1537,3959,2909,0,0,0,0,0,0
$GC,149,-0.53,-106.4,22.2,-23.0,18,158,0.00,0.82,0.00,0.000,6,0.000,0.036,1537,3421,2912,0,0,0,0,0,0
$GC,299,-0.53,-106.4,51.0,-20.5,43,306,0.00,2.20,0.00,0.000,4,0.000,0.031,1537,1993,2913,0,0,0,0,0,0
$GC,407,-0.53,-106.4,65.6,-12.1,61,414,0.00,2.33,0.00,0.000,6,0.000,0.052,1526,3429,2915,0,0,0,0,0,0
$GC,753,-0.53,-106.4,119.6,-14.6,111,756,0.00,0.85,0.00,0.000,4,0.000,0.060,1522,3956,2916,0,0,0,0,0,0
$GC,1014,-0.53,-106.4,163.9,-17.9,134,1018,0.00,0.80,0.00,0.000,6,0.000,0.034,1522,3414,2917,0,0,0,0,0,0
$GC,1346,-0.53,-106.4,219.3,-17.0,165,1347,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3414,2917,0,0,0,0,0,0
$GC,1663,-0.53,-106.4,271.2,-16.0,195,1666,0.00,0.85,0.00,0.000,4,0.000,0.060,1518,3947,2918,0,0,0,0,0,0
$GC,1742,-0.53,-106.4,285.3,-18.4,202,1746,0.00,0.77,0.00,0.000,6,0.000,0.036,1518,3425,2917,0,0,0,0,0,0
$GC,2075,-0.53,-106.4,340.4,-16.0,233,2078,0.00,0.82,0.00,0.000,4,0.000,0.060,1515,3943,2917,0,0,0,0,0,0
$GC,2102,-0.53,-106.4,345.6,-17.9,235,2110,0.12,0.80,0.00,0.000,6,0.184,0.034,1544,3417,2917,0,0,0,0,0,0
$GC,2427,-0.53,-106.4,389.9,-13.1,266,2428,0.00,0.00,0.00,0.000,6,0.000,0.000,1544,3417,2917,0,0,0,0,0,0
$GC,2739,-0.53,-106.4,430.3,-12.6,285,2740,0.00,0.00,0.00,0.000,6,0.000,0.000,1544,3417,2917,0,0,0,0,0,0
$GC,3048,-0.53,-106.4,468.9,-12.4,300,3052,0.00,2.12,0.00,0.000,4,0.000,0.030,1544,1990,2917,0,0,0,0,0,0
$GC,3096,-0.53,-106.4,474.6,-10.2,302,3101,0.00,2.30,0.00,0.000,6,0.000,0.053,1535,3418,2917,0,0,0,0,0,0
$GC,3418,-0.53,-106.4,516.8,-13.2,318,3422,0.00,0.82,0.00,0.000,4,0.000,0.060,1531,3942,2917,0,0,0,0,0,0
$GC,3569,-0.53,-106.4,538.3,-14.3,324,3576,0.00,0.77,0.00,0.000,6,0.000,0.037,1531,3425,2917,0,0,0,0,0,0
$GC,3885,-0.53,-106.4,580.4,-13.2,340,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3425,2916,0,0,0,0,0,0
$GC,4194,-0.53,-106.4,622.2,-13.4,355,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3425,2916,0,0,0,0,0,0
$GC,4504,-0.53,-106.4,662.7,-12.9,370,4505,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3425,2915,0,0,0,0,0,0
$GC,4814,-0.53,-106.4,702.1,-12.8,385,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3425,2914,0,0,0,0,0,0
$GC,5122,-0.53,-106.4,742.5,-13.3,400,5126,0.00,2.15,0.00,0.000,4,0.000,0.031,1530,1993,2914,0,0,0,0,0,0
$GC,5149,-0.53,-106.4,746.2,-13.6,401,5154,0.00,2.33,0.00,0.000,6,0.000,0.054,1520,3425,2914,0,0,0,0,0,0
$GC,5471,-0.53,-106.4,790.2,-13.6,417,5474,0.00,0.82,0.00,0.000,4,0.000,0.062,1516,3946,2913,0,0,0,0,0,0
$GC,5515,-0.53,-106.4,796.4,-14.0,419,5520,0.08,0.80,0.00,0.000,6,0.161,0.037,1539,3415,2913,0,0,0,0,0,0
$GC,5849,-0.53,-106.4,833.7,-10.9,435,5850,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,3415,2912,0,0,0,0,0,0
$GC,6156,-0.53,-106.4,867.0,-10.5,450,6157,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,3415,2912,0,0,0,0,0,0
$GC,6466,-0.53,-106.4,899.3,-10.4,465,6469,0.00,0.85,0.00,0.000,4,0.000,0.062,1537,3947,2911,0,0,0,0,0,0
$GC,6515,-0.53,-106.4,905.0,-10.4,467,6519,0.00,0.82,0.00,0.000,6,0.000,0.038,1537,3413,2911,0,0,0,0,0,0
$GC,6844,-0.53,-106.4,939.4,-10.3,483,6845,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3413,2911,0,0,0,0,0,0
$GC,7152,-0.53,-106.4,971.3,-10.3,498,7153,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3413,2910,0,0,0,0,0,0
$STATE,7335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7336,begin apogee
$GC,7340,-0.09,0.0,990.8,10.6,507,7446,0.50,0.00,102.78,1.855,6,0.147,0.000,1686,3281,2473,0,0,0,0,0,0
$STATE,7447,end apogee,CONTROL_FINISHED_OK
$STATE,7447,begin climb
$GC,7448,0.53,106.4,993.2,0.0,512,7565,0.57,2.47,106.72,1.804,4,0.066,0.032,1898,1870,2039,0,0,0,0,0,0
$GC,7614,0.53,106.4,979.9,12.6,519,7622,0.00,2.47,0.00,0.000,6,0.000,0.050,1898,3279,2033,0,0,0,0,0,0
$GC,7931,0.53,106.4,931.0,15.8,535,7934,0.00,1.12,0.00,0.000,4,0.000,0.059,1898,3951,2027,0,0,0,0,0,0
$GC,8047,0.53,106.4,911.2,17.4,540,8052,0.00,1.08,0.00,0.000,6,0.000,0.035,1903,3275,2026,0,0,0,0,0,0
$GC,8374,0.53,106.4,862.5,14.7,556,8377,0.00,1.12,0.00,0.000,4,0.000,0.059,1903,3956,2024,0,0,0,0,0,0
$GC,8548,0.53,106.4,833.7,16.1,563,8555,0.00,1.05,0.00,0.000,6,0.000,0.037,1908,3279,2024,0,0,0,0,0,0
$GC,8863,0.53,106.4,786.8,15.1,579,8866,0.00,1.10,0.00,0.000,4,0.000,0.060,1908,3954,2022,0,0,0,0,0,0
$GC,8917,0.53,106.4,777.6,16.7,581,8922,0.00,1.05,0.00,0.000,6,0.000,0.036,1913,3278,2022,0,0,0,0,0,0
$GC,9239,0.53,106.4,729.0,14.7,597,9243,0.00,1.10,0.00,0.000,4,0.000,0.060,1913,3953,2022,0,0,0,0,0,0
$GC,9276,0.53,106.4,722.7,16.5,598,9284,0.00,1.05,0.00,0.000,6,0.000,0.036,1918,3276,2022,0,0,0,0,0,0
$GC,9593,0.53,106.4,674.6,15.3,614,9594,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3276,2021,0,0,0,0,0,0
$GC,9902,0.53,106.4,625.8,16.1,629,9905,0.00,1.10,0.00,0.000,4,0.000,0.060,1918,3956,2021,0,0,0,0,0,0
$GC,9934,0.53,106.4,620.0,17.4,630,9939,0.12,1.05,0.00,0.000,6,0.216,0.036,1896,3275,2021,0,0,0,0,0,0
$GC,10257,0.53,106.4,573.8,14.2,646,10260,0.00,1.10,0.00,0.000,4,0.000,0.060,1896,3954,2020,0,0,0,0,0,0
$GC,10339,0.53,106.4,560.5,15.5,649,10347,0.00,1.05,0.00,0.000,6,0.000,0.037,1899,3274,2020,0,0,0,0,0,0
$GC,10656,0.53,106.4,514.4,14.7,665,10659,0.00,1.10,0.00,0.000,4,0.000,0.060,1900,3953,2019,0,0,0,0,0,0
$GC,10704,0.53,106.4,506.7,15.9,667,10709,0.00,1.05,0.00,0.000,6,0.000,0.037,1905,3274,2019,0,0,0,0,0,0
$GC,11032,0.53,106.4,459.5,14.1,683,11036,0.00,1.10,0.00,0.000,4,0.000,0.060,1905,3957,2019,0,0,0,0,0,0
$GC,11171,0.53,106.4,436.9,17.5,689,11175,0.00,1.05,0.00,0.000,6,0.000,0.036,1910,3277,2019,0,0,0,0,0,0
$GC,11490,0.53,106.4,389.8,14.7,707,11494,0.00,2.15,0.00,0.000,4,0.000,0.034,1920,1863,2019,0,0,0,0,0,0
$GC,11544,0.53,106.4,382.1,12.5,711,11552,0.00,2.30,0.00,0.000,6,0.000,0.050,1921,3288,2017,0,0,0,0,0,0
$GC,11870,0.53,106.4,333.5,15.0,742,11873,0.00,1.05,0.00,0.000,4,0.000,0.059,1921,3944,2017,0,0,0,0,0,0
$GC,11964,0.53,106.4,317.4,17.4,750,11973,0.12,1.02,0.00,0.000,6,0.218,0.036,1898,3278,2017,0,0,0,0,0,0
$GC,12292,0.53,106.4,273.7,13.3,781,12296,0.00,1.08,0.00,0.000,4,0.000,0.060,1896,3947,2017,0,0,0,0,0,0
$GC,12430,0.53,106.4,253.0,14.8,793,12433,0.00,1.00,0.00,0.000,6,0.000,0.037,1899,3285,2017,0,0,0,0,0,0
$GC,12760,0.53,106.4,208.6,13.2,824,12761,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3285,2016,0,0,0,0,0,0
$GC,13080,0.53,106.4,166.0,13.3,854,13083,0.00,1.08,0.00,0.000,4,0.000,0.059,1899,3955,2017,0,0,0,0,0,0
$GC,13216,0.53,106.4,145.8,15.0,866,13219,0.00,1.02,0.00,0.000,6,0.000,0.036,1904,3274,2017,0,0,0,0,0,0
$GC,13548,0.53,106.4,103.2,11.8,897,13552,0.00,1.10,0.00,0.000,4,0.000,0.058,1904,3958,2017,0,0,0,0,0,0
$GC,13813,0.53,106.4,70.4,12.7,940,13820,0.00,1.02,0.00,0.000,6,0.000,0.036,1909,3276,2017,0,0,0,0,0,0
$GC,14166,0.54,111.3,35.2,8.9,1001,14172,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3276,2017,0,0,0,0,0,0
$GC,14313,0.54,111.3,21.5,9.9,1026,14322,0.00,1.08,0.00,0.000,4,0.000,0.058,1909,3952,2017,0,0,0,0,0,0
$GC,14348,0.54,111.3,18.0,10.1,1031,14357,0.00,1.00,0.00,0.000,6,0.000,0.034,1914,3284,2017,0,0,0,0,0,0
$GC,14408,0.54,111.3,11.9,9.9,1040,14417,0.00,2.15,0.00,0.000,4,0.000,0.031,1925,1862,2017,0,0,0,0,0,0
$GC,14426,0.54,111.3,10.2,10.8,1042,14435,0.08,2.28,0.00,0.000,6,0.156,0.050,1901,3284,2017,0,0,0,0,0,0
$GC,14486,0.54,111.3,4.1,9.5,1051,14495,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,3284,2016,0,0,0,0,0,0
$STATE,14501,end climb,SURFACE_DEPTH_REACHED
$STATE,14502,begin surface coast
$FINISH,0.5,1.024937
$STATE,14534,end surface coast,CONTROL_FINISHED_OK
$STATE,14534,begin surface
$SM_CCo,14547,47.50,0.778,0,0,1555,225.18
$SM_GC,1.19,0.00,0.00,47.50,0.000,0.000,0.778,72,3431,1555,-5.15,0.31,225.18
$IRIDIUM_FIX,-4244.98,831.12,271213,000030
$TT8_MAMPS,0.025466
$HUMID,61.41
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.5,25.065
$10V_AH,10.0,17.818
$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,12.850,66.875,209.500,47.500,0.000,25.809,40.813,311.643,0.000,0.000,22.196,2630.014,9030.170,383.048,2869.759,186.556,0.000,1406.246,0.000,2356.517,0.000,1.010,0.000
$DEVICE_MAMPS,245.565,87.210,1855.125,778.005,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,733.644,1803.669,719.550,369.322,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354424
$DATA_FILE_SIZE,77052,1058
$CAP_FILE_SIZE,135024,0
$CFSIZE,259252224,246992896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,271213,084552,-4259.938,829.122,38,0.8,38,-25.0