version: 66.07
glider: 543
mission: 9
dive: 174
start: 12 29 113 1 4 42
data:
$ID,543
$MISSION,9
$DIVE,174
$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,-13072.677
$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
$GPS1,291213,005528,-4300.599,831.211,36,0.9,36,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-57.3
$GPS2,291213,010417,-4300.605,831.492,24,1.1,25,-25.1
$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,324.1,2311,-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,12,begin dive
$GC,14,-0.50,-57.7,0.0,0.0,0,66,0.00,0.00,-49.55,0.000,2,0.000,0.000,63,3420,2700,0,0,0,0,0,0
$GC,68,-0.53,-98.0,3.4,-5.0,6,86,6.12,0.00,-4.28,0.000,6,0.238,0.000,1541,3419,2877,0,0,0,0,0,0
$GC,137,-0.53,-98.0,19.6,-19.0,16,145,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,3419,2879,0,0,0,0,0,0
$GC,194,-0.53,-98.0,28.9,-16.7,25,200,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,3419,2879,0,0,0,0,0,0
$GC,340,-0.53,-98.0,52.2,-13.7,50,346,0.00,2.15,0.00,0.000,4,0.000,0.030,1541,1990,2880,0,0,0,0,0,0
$GC,372,-0.53,-98.0,56.1,-13.4,55,378,0.00,2.30,0.00,0.000,6,0.000,0.050,1531,3421,2880,0,0,0,0,0,0
$GC,718,-0.53,-98.0,106.8,-14.5,112,722,0.00,2.15,0.00,0.000,4,0.000,0.028,1531,1991,2882,0,0,0,0,0,0
$GC,795,-0.53,-98.0,116.8,-11.8,118,803,0.00,2.33,0.00,0.000,6,0.000,0.050,1521,3424,2882,0,0,0,0,0,0
$GC,1123,-0.53,-98.0,167.6,-16.5,149,1124,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3424,2884,0,0,0,0,0,0
$GC,1440,-0.53,-98.0,218.5,-16.2,179,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3424,2884,0,0,0,0,0,0
$GC,1761,-0.53,-98.0,267.8,-15.2,209,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3423,2884,0,0,0,0,0,0
$GC,2077,-0.53,-98.0,317.5,-15.3,239,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3423,2884,0,0,0,0,0,0
$GC,2398,-0.53,-98.0,365.8,-15.3,269,2401,0.00,0.82,0.00,0.000,4,0.000,0.058,1517,3950,2884,0,0,0,0,0,0
$GC,2504,-0.53,-98.0,383.8,-16.2,278,2512,0.12,0.82,0.00,0.000,6,0.181,0.035,1547,3407,2883,0,0,0,0,0,0
$GC,2825,-0.53,-98.0,423.3,-12.0,300,2828,0.00,0.85,0.00,0.000,4,0.000,0.060,1544,3943,2884,0,0,0,0,0,0
$GC,2870,-0.53,-98.0,429.3,-13.2,302,2873,0.00,0.77,0.00,0.000,6,0.000,0.037,1544,3426,2884,0,0,0,0,0,0
$GC,3202,-0.53,-98.0,470.2,-12.0,318,3205,0.00,0.82,0.00,0.000,4,0.000,0.060,1540,3945,2884,0,0,0,0,0,0
$GC,3279,-0.53,-98.0,480.6,-13.4,321,3283,0.00,0.82,0.00,0.000,6,0.000,0.036,1540,3404,2883,0,0,0,0,0,0
$GC,3601,-0.53,-98.0,519.4,-12.0,337,3604,0.00,0.88,0.00,0.000,4,0.000,0.060,1536,3955,2883,0,0,0,0,0,0
$GC,3646,-0.53,-98.0,525.1,-12.8,339,3650,0.00,0.80,0.00,0.000,6,0.000,0.037,1536,3420,2883,0,0,0,0,0,0
$GC,3979,-0.53,-98.0,566.8,-12.9,355,3983,0.00,0.88,0.00,0.000,4,0.000,0.063,1532,3954,2882,0,0,0,0,0,0
$GC,4017,-0.53,-98.0,572.5,-13.6,356,4025,0.00,0.82,0.00,0.000,6,0.000,0.036,1533,3413,2882,0,0,0,0,0,0
$GC,4333,-0.53,-98.0,613.5,-12.7,372,4335,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,3413,2882,0,0,0,0,0,0
$GC,4643,-0.53,-98.0,651.9,-12.2,387,4647,0.00,2.12,0.00,0.000,4,0.000,0.031,1532,1992,2881,0,0,0,0,0,0
$GC,4669,-0.53,-98.0,655.2,-12.0,388,4674,0.00,2.30,0.00,0.000,6,0.000,0.054,1522,3416,2881,0,0,0,0,0,0
$GC,4992,-0.53,-98.0,697.7,-13.6,404,4996,0.00,0.82,0.00,0.000,4,0.000,0.060,1518,3942,2880,0,0,0,0,0,0
$GC,5155,-0.53,-98.0,721.4,-14.3,411,5159,0.08,0.77,0.00,0.000,6,0.158,0.037,1540,3429,2880,0,0,0,0,0,0
$GC,5482,-0.53,-98.0,759.3,-11.5,427,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3428,2880,0,0,0,0,0,0
$GC,5790,-0.53,-98.0,792.9,-10.8,442,5791,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3428,2879,0,0,0,0,0,0
$GC,6100,-0.53,-98.0,826.1,-10.6,457,6103,0.00,2.15,0.00,0.000,4,0.000,0.031,1540,1994,2878,0,0,0,0,0,0
$GC,6143,-0.54,-109.4,830.4,-8.2,459,6147,0.00,2.30,0.00,0.000,6,0.000,0.054,1530,3417,2879,0,0,0,0,0,0
$GC,6472,-0.54,-109.4,865.3,-10.7,475,6475,0.00,0.85,0.00,0.000,4,0.000,0.060,1527,3956,2878,0,0,0,0,0,0
$GC,6510,-0.54,-109.4,870.1,-11.9,476,6517,0.00,0.82,0.00,0.000,6,0.000,0.037,1527,3416,2877,0,0,0,0,0,0
$GC,6826,-0.54,-109.4,904.2,-10.8,492,6829,0.00,0.85,0.00,0.000,4,0.000,0.061,1522,3949,2878,0,0,0,0,0,0
$GC,6875,-0.54,-109.4,910.1,-11.3,494,6879,0.00,0.82,0.00,0.000,6,0.000,0.037,1523,3412,2877,0,0,0,0,0,0
$GC,7204,-0.54,-109.4,943.7,-10.2,510,7205,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3412,2877,0,0,0,0,0,0
$GC,7511,-0.54,-109.4,975.5,-10.4,525,7512,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3412,2876,0,0,0,0,0,0
$STATE,7654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7654,begin apogee
$GC,7659,-0.09,0.0,990.3,10.2,532,7758,0.55,0.00,94.78,1.866,6,0.155,0.000,1684,3278,2473,0,0,0,0,0,0
$STATE,7758,end apogee,CONTROL_FINISHED_OK
$STATE,7759,begin climb
$GC,7760,0.54,109.4,991.8,0.0,537,7880,0.60,2.47,110.45,1.809,4,0.070,0.032,1900,1868,2027,0,0,0,0,0,0
$GC,7902,0.54,109.4,979.5,13.2,543,7910,0.00,2.50,0.00,0.000,6,0.000,0.050,1901,3279,2024,0,0,0,0,0,0
$GC,8219,0.54,109.4,929.8,15.6,559,8223,0.00,1.12,0.00,0.000,4,0.000,0.059,1900,3954,2016,0,0,0,0,0,0
$GC,8246,0.54,109.4,924.9,16.5,560,8250,0.00,1.08,0.00,0.000,6,0.000,0.035,1905,3277,2016,0,0,0,0,0,0
$GC,8573,0.54,109.4,873.9,15.1,576,8577,0.00,1.12,0.00,0.000,4,0.000,0.058,1905,3959,2013,0,0,0,0,0,0
$GC,8628,0.54,109.4,864.7,16.7,578,8632,0.00,1.08,0.00,0.000,6,0.000,0.035,1910,3277,2013,0,0,0,0,0,0
$GC,8951,0.54,109.4,817.5,14.3,594,8953,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3277,2012,0,0,0,0,0,0
$GC,9259,0.54,109.4,774.1,14.5,609,9260,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3276,2011,0,0,0,0,0,0
$GC,9568,0.54,109.4,730.7,14.0,624,9572,0.00,1.10,0.00,0.000,4,0.000,0.059,1910,3957,2010,0,0,0,0,0,0
$GC,9685,0.54,109.4,711.9,16.6,629,9690,0.00,1.05,0.00,0.000,6,0.000,0.035,1916,3277,2010,0,0,0,0,0,0
$GC,10012,0.54,109.4,663.9,14.2,645,10016,0.00,1.10,0.00,0.000,4,0.000,0.058,1916,3959,2009,0,0,0,0,0,0
$GC,10083,0.54,109.4,651.9,17.4,648,10088,0.00,1.05,0.00,0.000,6,0.000,0.035,1921,3279,2009,0,0,0,0,0,0
$GC,10411,0.54,109.4,604.1,14.8,664,10412,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3279,2009,0,0,0,0,0,0
$GC,10720,0.54,109.4,557.7,14.9,679,10724,0.00,1.10,0.00,0.000,4,0.000,0.059,1920,3960,2008,0,0,0,0,0,0
$GC,10842,0.54,109.4,537.2,17.5,684,10848,0.12,1.05,0.00,0.000,6,0.213,0.036,1893,3279,2008,0,0,0,0,0,0
$GC,11164,0.54,109.4,494.4,13.0,700,11165,0.00,0.00,0.00,0.000,6,0.000,0.000,1893,3280,2007,0,0,0,0,0,0
$GC,11474,0.54,109.4,453.6,13.1,715,11477,0.00,1.08,0.00,0.000,4,0.000,0.059,1893,3955,2007,0,0,0,0,0,0
$GC,11573,0.54,109.4,438.8,14.8,719,11578,0.00,1.05,0.00,0.000,6,0.000,0.036,1897,3273,2007,0,0,0,0,0,0
$GC,11895,0.54,109.4,397.7,12.6,735,11896,0.00,0.00,0.00,0.000,6,0.000,0.000,1897,3273,2007,0,0,0,0,0,0
$GC,12217,0.54,109.4,358.4,12.2,765,12221,0.00,1.10,0.00,0.000,4,0.000,0.060,1897,3956,2007,0,0,0,0,0,0
$GC,12319,0.54,109.4,344.2,13.6,774,12322,0.00,1.02,0.00,0.000,6,0.000,0.036,1902,3280,2007,0,0,0,0,0,0
$GC,12651,0.54,109.4,302.1,12.5,805,12655,0.00,1.08,0.00,0.000,4,0.000,0.060,1903,3955,2007,0,0,0,0,0,0
$GC,12757,0.54,109.4,286.5,15.0,814,12765,0.00,1.05,0.00,0.000,6,0.000,0.035,1908,3272,2007,0,0,0,0,0,0
$GC,13085,0.54,109.4,244.5,13.0,845,13088,0.00,1.10,0.00,0.000,4,0.000,0.058,1908,3958,2007,0,0,0,0,0,0
$GC,13236,0.54,109.4,221.6,14.4,858,13243,0.00,1.02,0.00,0.000,6,0.000,0.034,1913,3275,2006,0,0,0,0,0,0
$GC,13563,0.54,109.4,178.0,13.8,889,13565,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3276,2006,0,0,0,0,0,0
$GC,13881,0.54,109.4,134.1,13.8,919,13884,0.00,1.10,0.00,0.000,4,0.000,0.059,1912,3960,2007,0,0,0,0,0,0
$GC,13997,0.54,109.4,115.8,16.8,929,14005,0.00,1.05,0.00,0.000,6,0.000,0.034,1918,3272,2006,0,0,0,0,0,0
$GC,14338,0.54,109.4,73.0,11.6,979,14345,0.00,2.10,0.00,0.000,4,0.000,0.031,1929,1856,2007,0,0,0,0,0,0
$GC,14547,0.54,109.4,51.2,10.8,1015,14554,0.12,2.28,0.00,0.000,6,0.180,0.048,1898,3295,2005,0,0,0,0,0,0
$GC,14909,0.54,109.4,16.2,11.5,1076,14917,0.00,2.17,0.00,0.000,4,0.000,0.031,1908,1863,2005,0,0,0,0,0,0
$STATE,15046,end climb,SURFACE_DEPTH_REACHED
$STATE,15046,begin surface coast
$FINISH,0.5,1.026194
$STATE,15072,end surface coast,CONTROL_FINISHED_OK
$STATE,15073,begin surface
$SM_CCo,15087,46.47,0.779,0,0,1555,225.18
$SM_GC,1.18,0.00,0.00,46.47,0.000,0.000,0.779,57,3423,1555,-5.20,0.08,225.18
$IRIDIUM_FIX,-4242.04,827.77,281213,202047
$TT8_MAMPS,0.026215
$HUMID,61.49
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.5,26.473
$10V_AH,10.0,18.992
$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,12.775,66.800,205.225,46.475,0.000,30.031,39.981,325.970,0.000,0.000,27.319,2729.142,9403.309,371.980,2960.079,197.764,0.000,1403.479,0.000,2426.100,0.000,1.793,0.000
$DEVICE_MAMPS,237.915,62.730,1865.835,778.770,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,764.744,1873.214,752.555,380.996,0.000,0.000,0.000,0.000,0.000,0.000
$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,77058,1102
$CAP_FILE_SIZE,135873,0
$CFSIZE,259252224,246198272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,291213,051829,-4259.496,830.679,59,1.0,59,-25.0