version: 66.07
glider: 543
mission: 9
dive: 171
start: 12 28 113 11 41 54
data:
$ID,543
$MISSION,9
$DIVE,171
$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,-13062.364
$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,47
$R_STBD_OVSHOOT,20
$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
$GPS1,281213,113254,-4259.592,830.681,39,0.9,39,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-66.0
$GPS2,281213,114129,-4259.462,830.801,16,1.5,17,-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,252.4,1474,-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,-49.53,0.000,2,0.000,0.000,63,3425,2680,0,0,0,0,0,0
$GC,68,-0.53,-102.1,3.2,-4.6,6,87,6.35,0.82,-5.62,0.000,4,0.251,0.086,1540,3961,2891,0,0,0,0,0,0
$GC,138,-0.53,-102.1,17.1,-19.1,16,147,0.00,0.82,0.00,0.000,6,0.000,0.035,1540,3421,2894,0,0,0,0,0,0
$GC,196,-0.53,-102.1,27.3,-17.6,25,202,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3421,2894,0,0,0,0,0,0
$GC,342,-0.53,-102.1,52.2,-15.6,50,348,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3421,2895,0,0,0,0,0,0
$GC,690,-0.53,-102.1,97.2,-12.1,111,699,0.00,2.17,0.00,0.000,4,0.000,0.031,1540,1993,2897,0,0,0,0,0,0
$GC,788,-0.53,-102.1,107.4,-9.6,121,796,0.00,2.33,0.00,0.000,6,0.000,0.050,1529,3426,2897,0,0,0,0,0,0
$GC,1114,-0.53,-102.1,151.9,-14.5,152,1118,0.00,2.17,0.00,0.000,4,0.000,0.031,1529,1992,2899,0,0,0,0,0,0
$GC,1134,-0.53,-102.1,154.9,-13.7,153,1143,0.08,2.33,0.00,0.000,6,0.135,0.053,1542,3425,2899,0,0,0,0,0,0
$GC,1460,-0.53,-102.1,197.0,-13.0,184,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,3426,2899,0,0,0,0,0,0
$GC,1779,-0.53,-102.1,238.5,-13.1,214,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,3425,2899,0,0,0,0,0,0
$GC,2098,-0.53,-102.1,280.2,-13.5,244,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,3426,2899,0,0,0,0,0,0
$GC,2417,-0.53,-102.1,322.8,-13.4,274,2420,0.00,2.15,0.00,0.000,4,0.000,0.031,1542,1994,2899,0,0,0,0,0,0
$GC,2449,-0.53,-102.1,326.8,-11.2,276,2458,0.00,2.33,0.00,0.000,6,0.000,0.055,1533,3420,2899,0,0,0,0,0,0
$GC,2774,-0.53,-102.1,369.5,-13.4,307,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3420,2899,0,0,0,0,0,0
$GC,3091,-0.53,-102.1,411.5,-13.4,333,3092,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3420,2899,0,0,0,0,0,0
$GC,3400,-0.53,-102.1,452.7,-13.0,348,3403,0.00,0.88,0.00,0.000,4,0.000,0.061,1528,3959,2899,0,0,0,0,0,0
$GC,3461,-0.53,-102.1,461.6,-14.4,350,3468,0.00,0.80,0.00,0.000,6,0.000,0.037,1529,3426,2899,0,0,0,0,0,0
$GC,3777,-0.53,-102.1,502.7,-13.0,366,3778,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3426,2898,0,0,0,0,0,0
$GC,4086,-0.53,-102.1,542.5,-12.6,381,4087,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3426,2898,0,0,0,0,0,0
$GC,4395,-0.53,-102.1,580.5,-12.0,396,4396,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3426,2898,0,0,0,0,0,0
$GC,4705,-0.53,-102.1,617.2,-11.9,411,4708,0.00,0.82,0.00,0.000,4,0.000,0.060,1525,3946,2897,0,0,0,0,0,0
$GC,4742,-0.53,-102.1,622.1,-13.2,412,4750,0.00,0.82,0.00,0.000,6,0.000,0.038,1525,3412,2897,0,0,0,0,0,0
$GC,5058,-0.53,-102.1,660.2,-12.2,428,5062,0.00,2.12,0.00,0.000,4,0.000,0.032,1525,1992,2896,0,0,0,0,0,0
$GC,5090,-0.53,-102.1,664.1,-10.5,429,5099,0.08,2.33,0.00,0.000,6,0.139,0.055,1540,3424,2896,0,0,0,0,0,0
$GC,5408,-0.53,-102.1,697.1,-10.4,445,5409,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3424,2895,0,0,0,0,0,0
$GC,5716,-0.53,-102.1,729.5,-10.5,460,5718,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,3424,2895,0,0,0,0,0,0
$GC,6025,-0.53,-102.1,761.5,-10.5,475,6027,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3424,2894,0,0,0,0,0,0
$GC,6335,-0.53,-102.1,792.8,-10.1,490,6339,0.00,2.15,0.00,0.000,4,0.000,0.035,1540,2000,2894,0,0,0,0,0,0
$GC,6367,-0.53,-105.3,796.1,-9.1,491,6375,0.00,2.33,0.00,0.000,6,0.000,0.058,1530,3423,2894,0,0,0,0,0,0
$GC,6685,-0.53,-105.3,830.9,-11.5,507,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3423,2893,0,0,0,0,0,0
$GC,6992,-0.53,-105.3,866.7,-11.8,522,6996,0.00,2.15,0.00,0.000,4,0.000,0.035,1530,2000,2893,0,0,0,0,0,0
$GC,7013,-0.53,-105.3,869.5,-12.3,523,7018,0.00,2.30,0.00,0.000,6,0.000,0.058,1520,3413,2893,0,0,0,0,0,0
$GC,7341,-0.53,-105.3,911.9,-13.2,539,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3413,2892,0,0,0,0,0,0
$GC,7650,-0.53,-105.3,951.3,-12.4,554,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3413,2892,0,0,0,0,0,0
$STATE,7958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7958,begin apogee
$GC,7963,-0.09,0.0,990.1,12.6,569,8065,0.57,0.00,98.78,1.866,6,0.157,0.000,1688,3275,2473,0,0,0,0,0,0
$STATE,8066,end apogee,CONTROL_FINISHED_OK
$STATE,8066,begin climb
$GC,8067,0.53,105.3,993.7,0.0,574,8183,0.57,2.47,106.65,1.811,4,0.069,0.036,1900,1870,2043,0,0,0,0,0,0
$GC,8198,0.53,105.3,985.7,10.9,580,8203,0.00,2.53,0.00,0.000,6,0.000,0.054,1900,3275,2040,0,0,0,0,0,0
$GC,8527,0.53,105.3,939.7,14.4,596,8531,0.00,1.15,0.00,0.000,4,0.000,0.060,1900,3957,2031,0,0,0,0,0,0
$GC,8784,0.53,105.3,897.4,17.0,607,8789,0.00,1.10,0.00,0.000,6,0.000,0.037,1905,3266,2029,0,0,0,0,0,0
$GC,9108,0.53,105.3,848.1,15.5,623,9112,0.00,1.12,0.00,0.000,4,0.000,0.061,1905,3953,2027,0,0,0,0,0,0
$GC,9280,0.53,105.3,816.9,18.5,630,9288,0.00,1.05,0.00,0.000,6,0.000,0.037,1910,3278,2027,0,0,0,0,0,0
$GC,9599,0.53,105.3,763.5,17.0,646,9600,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3278,2026,0,0,0,0,0,0
$GC,9906,0.53,105.3,712.1,16.7,661,9910,0.00,1.10,0.00,0.000,4,0.000,0.060,1910,3955,2025,0,0,0,0,0,0
$GC,10163,0.53,105.3,665.4,17.0,672,10168,0.00,1.05,0.00,0.000,6,0.000,0.038,1915,3281,2025,0,0,0,0,0,0
$GC,10486,0.53,105.3,616.5,14.8,688,10490,0.00,1.10,0.00,0.000,4,0.000,0.060,1915,3961,2024,0,0,0,0,0,0
$GC,10524,0.53,105.3,610.2,15.3,689,10532,0.00,1.05,0.00,0.000,6,0.000,0.035,1921,3277,2024,0,0,0,0,0,0
$GC,10841,0.53,105.3,564.5,13.9,705,10844,0.00,1.10,0.00,0.000,4,0.000,0.058,1921,3959,2024,0,0,0,0,0,0
$GC,11002,0.53,105.3,539.1,15.2,712,11007,0.10,1.02,0.00,0.000,6,0.196,0.036,1898,3281,2024,0,0,0,0,0,0
$GC,11329,0.53,105.3,498.0,13.0,728,11333,0.00,1.10,0.00,0.000,4,0.000,0.060,1898,3960,2023,0,0,0,0,0,0
$GC,11586,0.53,105.3,459.3,15.6,739,11591,0.00,1.05,0.00,0.000,6,0.000,0.035,1902,3279,2023,0,0,0,0,0,0
$GC,11908,0.53,105.3,415.8,13.2,755,11912,0.00,1.08,0.00,0.000,4,0.000,0.059,1902,3955,2022,0,0,0,0,0,0
$GC,12034,0.53,105.3,397.5,14.6,761,12038,0.00,1.02,0.00,0.000,6,0.000,0.037,1907,3280,2023,0,0,0,0,0,0
$GC,12364,0.53,105.3,352.6,13.3,792,12368,0.00,1.08,0.00,0.000,4,0.000,0.059,1907,3953,2022,0,0,0,0,0,0
$GC,12573,0.53,105.3,320.5,14.6,810,12580,0.00,1.02,0.00,0.000,6,0.000,0.036,1912,3274,2022,0,0,0,0,0,0
$GC,12900,0.53,105.3,275.1,13.7,841,12903,0.00,1.10,0.00,0.000,4,0.000,0.060,1912,3956,2022,0,0,0,0,0,0
$GC,13061,0.53,105.3,249.3,15.9,855,13069,0.00,1.05,0.00,0.000,6,0.000,0.035,1917,3271,2022,0,0,0,0,0,0
$GC,13387,0.53,105.3,204.3,13.0,886,13390,0.00,1.10,0.00,0.000,4,0.000,0.060,1918,3955,2022,0,0,0,0,0,0
$GC,13648,0.53,105.3,166.3,14.3,909,13652,0.08,1.02,0.00,0.000,6,0.199,0.036,1901,3271,2022,0,0,0,0,0,0
$GC,13978,0.53,105.3,126.4,11.9,940,13981,0.00,1.10,0.00,0.000,4,0.000,0.058,1901,3958,2022,0,0,0,0,0,0
$GC,14082,0.53,105.3,112.8,13.0,949,14085,0.00,1.00,0.00,0.000,6,0.000,0.035,1905,3293,2022,0,0,0,0,0,0
$GC,14425,0.53,105.3,75.4,10.7,1000,14432,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3293,2023,0,0,0,0,0,0
$GC,14775,0.54,110.7,40.5,8.8,1061,14782,0.00,2.15,0.00,0.000,4,0.000,0.031,1917,1855,2022,0,0,0,0,0,0
$GC,14924,0.54,114.5,27.1,9.0,1086,14935,0.00,2.30,1.55,0.226,6,0.000,0.050,1917,3289,2002,0,0,0,0,0,0
$GC,15083,0.54,114.5,9.3,11.6,1111,15092,0.00,1.05,0.00,0.000,4,0.000,0.059,1917,3956,2002,0,0,0,0,0,0
$STATE,15135,end climb,SURFACE_DEPTH_REACHED
$STATE,15135,begin surface coast
$FINISH,0.6,1.026296
$STATE,15161,end surface coast,CONTROL_FINISHED_OK
$STATE,15161,begin surface
$SM_CCo,15174,45.88,0.784,0,0,1553,225.18
$SM_GC,1.15,0.00,0.00,45.88,0.000,0.000,0.784,49,3407,1553,-5.22,-0.37,225.18
$IRIDIUM_FIX,-4242.04,833.59,281213,070737
$TT8_MAMPS,0.026215
$HUMID,62.12
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.5,26.066
$10V_AH,10.0,18.643
$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,12.900,66.925,206.975,45.875,0.000,26.777,46.009,317.998,0.000,0.000,18.804,2784.303,9282.547,377.484,3086.059,204.398,0.000,1457.617,0.000,2562.738,0.000,1.010,0.000
$DEVICE_MAMPS,250.920,85.680,1865.835,784.125,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,778.873,1912.894,780.645,380.956,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354400
$DATA_FILE_SIZE,80369,1123
$CAP_FILE_SIZE,137661,0
$CFSIZE,259252224,246431744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,281213,155634,-4300.321,830.408,25,1.3,25,-25.0