version: 66.07
glider: 543
mission: 9
dive: 178
start: 12 29 113 18 21 0
data:
$ID,543
$MISSION,9
$DIVE,178
$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,-13086.21
$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,41
$R_STBD_OVSHOOT,24
$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
$GPS1,291213,181204,-4259.840,830.563,31,1.7,31,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-64.7
$GPS2,291213,182035,-4259.781,830.675,16,1.1,17,-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,271.1,1001,-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,-49.60,0.000,2,0.000,0.000,57,3419,2662,0,0,0,0,0,0
$GC,68,-0.53,-108.1,3.0,-3.9,6,87,6.25,0.90,-6.88,0.000,4,0.243,0.091,1539,3961,2917,0,0,0,0,0,0
$GC,205,-0.53,-108.1,30.2,-20.5,27,211,0.00,0.82,0.00,0.000,6,0.000,0.037,1539,3425,2920,0,0,0,0,0,0
$GC,353,-0.53,-108.1,59.0,-16.1,52,359,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,3424,2921,0,0,0,0,0,0
$GC,702,-0.53,-108.1,111.5,-15.2,107,706,0.00,0.85,0.00,0.000,4,0.000,0.059,1535,3951,2922,0,0,0,0,0,0
$GC,784,-0.53,-108.1,125.2,-16.7,114,792,0.00,0.82,0.00,0.000,6,0.000,0.035,1535,3412,2923,0,0,0,0,0,0
$GC,1112,-0.53,-108.1,174.0,-15.1,145,1116,0.00,0.88,0.00,0.000,4,0.000,0.058,1530,3954,2924,0,0,0,0,0,0
$GC,1252,-0.53,-108.1,197.5,-16.2,157,1259,0.00,0.82,0.00,0.000,6,0.000,0.035,1531,3414,2924,0,0,0,0,0,0
$GC,1577,-0.53,-108.1,245.7,-14.6,188,1580,0.00,0.85,0.00,0.000,4,0.000,0.057,1528,3950,2924,0,0,0,0,0,0
$GC,1673,-0.53,-108.1,260.5,-15.6,196,1682,0.00,0.80,0.00,0.000,6,0.000,0.036,1527,3417,2924,0,0,0,0,0,0
$GC,1997,-0.53,-108.1,307.4,-14.2,227,2001,0.00,0.85,0.00,0.000,4,0.000,0.058,1523,3954,2924,0,0,0,0,0,0
$GC,2054,-0.53,-108.1,315.9,-15.1,232,2057,0.00,0.80,0.00,0.000,6,0.000,0.037,1523,3421,2924,0,0,0,0,0,0
$GC,2384,-0.53,-108.1,363.7,-14.3,263,2387,0.00,0.82,0.00,0.000,4,0.000,0.058,1519,3946,2924,0,0,0,0,0,0
$GC,2634,-0.53,-108.1,401.6,-15.3,285,2638,0.00,0.77,0.00,0.000,6,0.000,0.037,1520,3422,2924,0,0,0,0,0,0
$GC,2966,-0.53,-108.1,450.0,-14.7,301,2970,0.00,0.82,0.00,0.000,4,0.000,0.059,1515,3943,2924,0,0,0,0,0,0
$GC,3223,-0.53,-108.1,490.0,-15.7,312,3228,0.12,0.80,0.00,0.000,6,0.181,0.036,1546,3420,2924,0,0,0,0,0,0
$GC,3547,-0.53,-108.1,528.8,-11.8,328,3550,0.00,0.85,0.00,0.000,4,0.000,0.060,1543,3955,2923,0,0,0,0,0,0
$GC,3787,-0.53,-108.1,559.8,-12.3,338,3795,0.00,0.82,0.00,0.000,6,0.000,0.037,1543,3406,2923,0,0,0,0,0,0
$GC,4103,-0.53,-108.1,598.1,-12.1,354,4107,0.00,0.85,0.00,0.000,4,0.000,0.060,1539,3944,2923,0,0,0,0,0,0
$GC,4193,-0.53,-108.1,609.6,-12.8,358,4196,0.00,0.77,0.00,0.000,6,0.000,0.037,1539,3428,2923,0,0,0,0,0,0
$GC,4525,-0.53,-108.1,650.1,-12.3,374,4529,0.00,0.82,0.00,0.000,4,0.000,0.061,1535,3948,2922,0,0,0,0,0,0
$GC,4602,-0.53,-108.1,660.2,-13.0,377,4607,0.00,0.82,0.00,0.000,6,0.000,0.037,1535,3411,2923,0,0,0,0,0,0
$GC,4923,-0.53,-108.1,698.5,-12.0,393,4927,0.00,0.85,0.00,0.000,4,0.000,0.060,1531,3946,2922,0,0,0,0,0,0
$GC,5036,-0.53,-108.1,712.9,-13.4,398,5040,0.00,0.80,0.00,0.000,6,0.000,0.039,1531,3415,2921,0,0,0,0,0,0
$GC,5368,-0.53,-108.1,751.4,-11.6,414,5372,0.00,0.85,0.00,0.000,4,0.000,0.060,1527,3951,2921,0,0,0,0,0,0
$GC,5473,-0.53,-108.1,765.1,-12.4,418,5480,0.00,0.82,0.00,0.000,6,0.000,0.037,1527,3413,2921,0,0,0,0,0,0
$GC,5790,-0.53,-108.1,804.2,-12.5,434,5794,0.00,0.85,0.00,0.000,4,0.000,0.060,1524,3947,2920,0,0,0,0,0,0
$GC,5907,-0.53,-108.1,820.4,-13.3,439,5911,0.00,0.82,0.00,0.000,6,0.000,0.038,1523,3413,2920,0,0,0,0,0,0
$GC,6234,-0.53,-108.1,860.9,-12.3,455,6238,0.00,0.85,0.00,0.000,4,0.000,0.060,1519,3947,2920,0,0,0,0,0,0
$GC,6393,-0.53,-108.1,880.8,-12.9,462,6396,0.00,0.80,0.00,0.000,6,0.000,0.038,1520,3417,2919,0,0,0,0,0,0
$GC,6725,-0.53,-108.1,921.8,-11.7,478,6728,0.00,0.85,0.00,0.000,4,0.000,0.060,1515,3953,2919,0,0,0,0,0,0
$GC,6808,-0.53,-108.1,932.7,-13.0,481,6816,0.12,0.82,0.00,0.000,6,0.177,0.038,1546,3418,2918,0,0,0,0,0,0
$GC,7124,-0.54,-115.2,961.7,-8.6,497,7128,0.00,0.85,0.00,0.000,4,0.000,0.063,1543,3951,2918,0,0,0,0,0,0
$GC,7218,-0.54,-115.2,971.3,-9.8,501,7222,0.00,0.82,0.00,0.000,6,0.000,0.038,1543,3415,2918,0,0,0,0,0,0
$STATE,7420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7420,begin apogee
$GC,7425,-0.09,0.0,990.4,9.5,511,7533,0.47,0.00,105.28,1.865,6,0.143,0.000,1686,3282,2473,0,0,0,0,0,0
$STATE,7534,end apogee,CONTROL_FINISHED_OK
$STATE,7534,begin climb
$GC,7536,0.54,115.2,992.6,0.0,516,7664,0.60,2.47,116.50,1.812,4,0.065,0.032,1907,1871,2003,0,0,0,0,0,0
$GC,7755,0.54,115.2,970.4,14.1,526,7759,0.00,2.42,0.00,0.000,6,0.000,0.051,1907,3284,1995,0,0,0,0,0,0
$GC,8081,0.54,115.2,917.4,16.1,542,8085,0.00,2.25,0.00,0.000,4,0.000,0.034,1918,1859,1991,0,0,0,0,0,0
$GC,8129,0.54,115.2,910.3,13.8,544,8134,0.00,2.38,0.00,0.000,6,0.000,0.051,1918,3281,1989,0,0,0,0,0,0
$GC,8453,0.54,115.2,859.6,16.1,560,8457,0.00,2.20,0.00,0.000,4,0.000,0.034,1928,1856,1988,0,0,0,0,0,0
$GC,8493,0.54,115.2,853.4,14.6,562,8498,0.12,2.33,0.00,0.000,6,0.190,0.052,1900,3282,1987,0,0,0,0,0,0
$GC,8819,0.54,115.2,804.7,15.2,578,8823,0.00,2.20,0.00,0.000,4,0.000,0.035,1909,1853,1986,0,0,0,0,0,0
$GC,8839,0.54,115.2,801.7,13.5,579,8844,0.00,2.33,0.00,0.000,6,0.000,0.052,1909,3274,1985,0,0,0,0,0,0
$GC,9168,0.54,115.2,751.4,15.9,595,9172,0.00,2.20,0.00,0.000,4,0.000,0.035,1920,1856,1985,0,0,0,0,0,0
$GC,9211,0.54,115.2,744.5,14.8,597,9216,0.00,2.33,0.00,0.000,6,0.000,0.054,1920,3272,1985,0,0,0,0,0,0
$GC,9539,0.54,115.2,690.3,17.1,613,9543,0.00,2.17,0.00,0.000,4,0.000,0.037,1931,1859,1984,0,0,0,0,0,0
$GC,9582,0.54,115.2,683.3,15.1,615,9587,0.10,2.33,0.00,0.000,6,0.165,0.054,1902,3279,1984,0,0,0,0,0,0
$GC,9909,0.54,115.2,632.8,15.3,631,9910,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3279,1983,0,0,0,0,0,0
$GC,10218,0.54,115.2,585.9,15.0,646,10222,0.00,2.17,0.00,0.000,4,0.000,0.036,1911,1863,1983,0,0,0,0,0,0
$GC,10239,0.54,115.2,582.9,13.4,647,10244,0.00,2.30,0.00,0.000,6,0.000,0.054,1911,3278,1982,0,0,0,0,0,0
$GC,10568,0.54,115.2,534.7,14.7,663,10569,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3278,1982,0,0,0,0,0,0
$GC,10876,0.54,115.2,489.7,14.4,678,10880,0.00,2.17,0.00,0.000,4,0.000,0.036,1922,1863,1982,0,0,0,0,0,0
$GC,10915,0.54,115.2,484.4,13.6,680,10919,0.00,2.30,0.00,0.000,6,0.000,0.056,1923,3287,1981,0,0,0,0,0,0
$GC,11241,0.54,115.2,436.3,14.5,696,11245,0.00,2.17,0.00,0.000,4,0.000,0.037,1934,1856,1981,0,0,0,0,0,0
$GC,11272,0.54,115.2,432.0,12.6,697,11280,0.12,2.33,0.00,0.000,6,0.168,0.054,1897,3282,1980,0,0,0,0,0,0
$GC,11590,0.54,115.2,391.4,13.1,716,11592,0.00,0.00,0.00,0.000,6,0.000,0.000,1897,3282,1981,0,0,0,0,0,0
$GC,11910,0.54,115.2,350.7,12.7,746,11911,0.00,0.00,0.00,0.000,6,0.000,0.000,1897,3282,1980,0,0,0,0,0,0
$GC,12228,0.54,115.2,308.5,13.3,776,12229,0.00,0.00,0.00,0.000,6,0.000,0.000,1897,3282,1980,0,0,0,0,0,0
$GC,12547,0.54,115.2,266.8,12.5,806,12551,0.00,2.17,0.00,0.000,4,0.000,0.036,1906,1858,1980,0,0,0,0,0,0
$GC,12589,0.54,115.2,261.7,11.4,809,12593,0.00,2.28,0.00,0.000,6,0.000,0.056,1907,3280,1980,0,0,0,0,0,0
$GC,12919,0.54,115.2,217.6,12.6,840,12923,0.00,1.08,0.00,0.000,4,0.000,0.059,1906,3953,1980,0,0,0,0,0,0
$GC,12964,0.54,115.2,210.8,16.6,844,12968,0.00,1.02,0.00,0.000,6,0.000,0.037,1911,3272,1980,0,0,0,0,0,0
$GC,13294,0.54,115.2,164.1,14.3,875,13298,0.00,2.15,0.00,0.000,4,0.000,0.033,1923,1852,1980,0,0,0,0,0,0
$GC,13324,0.54,115.2,160.5,12.2,877,13329,0.00,2.30,0.00,0.000,6,0.000,0.054,1923,3288,1980,0,0,0,0,0,0
$GC,13655,0.54,115.2,111.2,14.8,908,13656,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3288,1980,0,0,0,0,0,0
$GC,13991,0.54,115.2,63.3,12.8,960,14000,0.00,2.20,0.00,0.000,4,0.000,0.036,1934,1865,1980,0,0,0,0,0,0
$GC,14036,0.54,115.2,58.3,11.3,967,14044,0.15,2.28,0.00,0.000,6,0.181,0.054,1897,3285,1980,0,0,0,0,0,0
$GC,14391,0.54,115.2,21.1,9.9,1028,14400,0.00,2.20,0.00,0.000,4,0.000,0.035,1906,1858,1980,0,0,0,0,0,0
$GC,14487,0.54,120.1,12.3,8.9,1043,14496,0.00,2.30,0.00,0.000,6,0.000,0.055,1907,3276,1980,0,0,0,0,0,0
$GC,14547,0.54,120.1,5.5,13.0,1052,14556,0.00,1.08,0.00,0.000,4,0.000,0.063,1906,3952,1979,0,0,0,0,0,0
$STATE,14569,end climb,SURFACE_DEPTH_REACHED
$STATE,14570,begin surface coast
$FINISH,0.5,1.026245
$STATE,14596,end surface coast,CONTROL_FINISHED_OK
$STATE,14596,begin surface
$SM_CCo,14608,43.85,0.784,0,0,1555,225.18
$SM_GC,1.23,0.00,0.00,43.85,0.000,0.000,0.784,52,3415,1555,-5.21,-0.17,225.18
$IRIDIUM_FIX,-4242.04,833.59,291213,131330
$TT8_MAMPS,0.026215
$HUMID,62.20
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.4,27.053
$10V_AH,10.0,19.443
$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,12.850,89.675,221.775,43.850,0.000,24.717,44.932,315.788,0.000,0.000,19.403,2680.091,8880.631,386.001,3022.819,194.511,0.000,1476.462,0.000,2500.003,0.000,1.010,0.000
$DEVICE_MAMPS,242.505,91.035,1865.070,784.125,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,734.914,1823.306,723.920,360.546,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354420
$DATA_FILE_SIZE,73896,1059
$CAP_FILE_SIZE,142495,0
$CFSIZE,259252224,245886976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,291213,222627,-4259.716,829.251,40,1.2,40,-25.0