version: 66.07
glider: 543
mission: 9
dive: 179
start: 12 29 113 22 40 20
data:
$ID,543
$MISSION,9
$DIVE,179
$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,-13089.646
$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,15
$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
$GPS1,291213,222627,-4259.716,829.251,40,1.2,40,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-59.0
$GPS2,291213,223955,-4259.700,829.363,20,1.0,22,-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,147.8,1026,-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,-50.25,0.000,3,0.000,0.000,51,3414,2711,0,0,0,0,0,0
$GC,69,-0.53,-98.2,3.4,-5.0,6,88,6.22,2.17,-4.32,0.000,4,0.242,0.047,1546,2005,2878,0,0,0,0,0,0
$GC,252,-0.53,-98.2,31.4,-12.3,35,259,0.00,2.33,0.00,0.000,6,0.000,0.056,1537,3427,2882,0,0,0,0,0,0
$GC,397,-0.53,-98.2,55.8,-15.2,60,406,0.00,0.85,0.00,0.000,4,0.000,0.060,1532,3954,2882,0,0,0,0,0,0
$GC,503,-0.53,-98.2,73.2,-16.6,78,512,0.00,0.82,0.00,0.000,6,0.000,0.038,1533,3416,2882,0,0,0,0,0,0
$GC,850,-0.53,-98.2,124.0,-14.4,125,853,0.00,0.85,0.00,0.000,4,0.000,0.060,1529,3948,2884,0,0,0,0,0,0
$GC,1008,-0.53,-98.2,149.3,-15.7,139,1012,0.00,0.80,0.00,0.000,6,0.000,0.037,1528,3415,2884,0,0,0,0,0,0
$GC,1338,-0.53,-98.2,200.3,-15.2,170,1342,0.00,0.85,0.00,0.000,4,0.000,0.061,1525,3948,2885,0,0,0,0,0,0
$GC,1409,-0.53,-98.2,212.5,-16.4,176,1419,0.00,0.82,0.00,0.000,6,0.000,0.036,1525,3408,2885,0,0,0,0,0,0
$GC,1734,-0.53,-98.2,262.7,-15.2,207,1735,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3408,2885,0,0,0,0,0,0
$GC,2056,-0.53,-98.2,308.7,-14.1,237,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3407,2885,0,0,0,0,0,0
$GC,2381,-0.53,-98.2,356.0,-14.5,268,2385,0.00,0.88,0.00,0.000,4,0.000,0.061,1521,3953,2884,0,0,0,0,0,0
$GC,2485,-0.53,-98.2,371.7,-15.1,277,2489,0.00,0.80,0.00,0.000,6,0.000,0.037,1521,3425,2884,0,0,0,0,0,0
$GC,2822,-0.53,-98.2,421.9,-14.8,302,2826,0.00,0.82,0.00,0.000,4,0.000,0.059,1517,3944,2884,0,0,0,0,0,0
$GC,2876,-0.53,-98.2,430.7,-15.9,304,2881,0.08,0.77,0.00,0.000,6,0.166,0.035,1539,3425,2884,0,0,0,0,0,0
$GC,3197,-0.53,-98.2,470.9,-12.3,320,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,3424,2884,0,0,0,0,0,0
$GC,3507,-0.53,-98.2,509.5,-12.6,335,3510,0.00,0.82,0.00,0.000,4,0.000,0.061,1537,3940,2884,0,0,0,0,0,0
$GC,3584,-0.53,-98.2,520.3,-14.4,338,3589,0.00,0.80,0.00,0.000,6,0.000,0.036,1537,3416,2884,0,0,0,0,0,0
$GC,3906,-0.53,-98.2,563.0,-13.3,354,3910,0.00,2.12,0.00,0.000,4,0.000,0.031,1537,1991,2883,0,0,0,0,0,0
$GC,3926,-0.53,-98.2,566.0,-13.2,355,3931,0.00,2.33,0.00,0.000,6,0.000,0.054,1526,3424,2884,0,0,0,0,0,0
$GC,4255,-0.53,-98.2,612.5,-14.3,371,4258,0.00,0.82,0.00,0.000,4,0.000,0.060,1522,3950,2882,0,0,0,0,0,0
$GC,4354,-0.53,-98.2,627.7,-14.9,375,4359,0.00,0.80,0.00,0.000,6,0.000,0.037,1522,3420,2882,0,0,0,0,0,0
$GC,4678,-0.53,-98.2,669.3,-12.6,391,4681,0.00,0.85,0.00,0.000,4,0.000,0.062,1518,3940,2882,0,0,0,0,0,0
$GC,4771,-0.53,-98.2,682.4,-13.6,395,4776,0.12,0.80,0.00,0.000,6,0.181,0.037,1548,3417,2881,0,0,0,0,0,0
$GC,5098,-0.53,-98.2,715.9,-10.1,411,5099,0.00,0.00,0.00,0.000,6,0.000,0.000,1548,3417,2881,0,0,0,0,0,0
$GC,5409,-0.53,-98.2,746.5,-10.0,426,5410,0.00,0.00,0.00,0.000,6,0.000,0.000,1548,3417,2880,0,0,0,0,0,0
$GC,5716,-0.53,-98.2,777.9,-10.2,441,5718,0.00,0.00,0.00,0.000,6,0.000,0.000,1548,3417,2880,0,0,0,0,0,0
$GC,6026,-0.53,-98.2,809.4,-10.4,456,6027,0.00,0.00,0.00,0.000,6,0.000,0.000,1548,3417,2879,0,0,0,0,0,0
$GC,6335,-0.53,-98.2,840.8,-10.0,471,6336,0.00,0.00,0.00,0.000,6,0.000,0.000,1548,3417,2879,0,0,0,0,0,0
$GC,6644,-0.53,-98.2,871.9,-10.1,486,6646,0.00,0.00,0.00,0.000,6,0.000,0.000,1548,3417,2878,0,0,0,0,0,0
$GC,6956,-0.53,-98.2,903.6,-10.3,501,6959,0.00,2.15,0.00,0.000,4,0.000,0.032,1548,1992,2878,0,0,0,0,0,0
$GC,6996,-0.53,-105.6,907.5,-8.6,503,7000,0.00,2.30,0.00,0.000,6,0.000,0.055,1538,3421,2878,0,0,0,0,0,0
$GC,7323,-0.53,-105.6,941.9,-10.5,519,7324,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,3421,2877,0,0,0,0,0,0
$GC,7633,-0.53,-105.6,975.1,-10.7,534,7634,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,3421,2877,0,0,0,0,0,0
$STATE,7795,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7795,begin apogee
$GC,7799,-0.09,0.0,991.9,10.2,542,7898,0.50,0.00,95.93,1.868,6,0.154,0.000,1685,3282,2473,0,0,0,0,0,0
$STATE,7899,end apogee,CONTROL_FINISHED_OK
$STATE,7899,begin climb
$GC,7901,0.53,105.6,994.2,0.0,547,8016,0.57,2.45,107.25,1.814,4,0.069,0.034,1897,1857,2041,0,0,0,0,0,0
$GC,8054,0.53,105.6,981.3,13.6,554,8059,0.00,2.50,0.00,0.000,6,0.000,0.050,1898,3273,2037,0,0,0,0,0,0
$GC,8382,0.53,105.6,930.1,15.9,570,8386,0.00,1.15,0.00,0.000,4,0.000,0.059,1898,3959,2029,0,0,0,0,0,0
$GC,8472,0.53,105.6,914.1,18.6,574,8476,0.00,1.08,0.00,0.000,6,0.000,0.036,1903,3278,2029,0,0,0,0,0,0
$GC,8806,0.53,105.6,861.3,15.7,590,8810,0.00,2.20,0.00,0.000,4,0.000,0.034,1914,1853,2026,0,0,0,0,0,0
$GC,8823,0.53,105.6,858.6,15.6,591,8827,0.00,2.35,0.00,0.000,6,0.000,0.050,1914,3295,2026,0,0,0,0,0,0
$GC,9148,0.53,105.6,807.8,15.4,607,9152,0.00,1.05,0.00,0.000,4,0.000,0.059,1914,3945,2025,0,0,0,0,0,0
$GC,9329,0.53,105.6,777.5,16.9,615,9333,0.00,1.02,0.00,0.000,6,0.000,0.036,1919,3275,2025,0,0,0,0,0,0
$GC,9661,0.53,105.6,725.6,15.6,631,9664,0.00,1.10,0.00,0.000,4,0.000,0.059,1919,3954,2024,0,0,0,0,0,0
$GC,9728,0.53,105.6,714.5,16.5,634,9732,0.10,1.02,0.00,0.000,6,0.200,0.037,1897,3278,2024,0,0,0,0,0,0
$GC,10061,0.53,105.6,669.1,13.5,650,10065,0.00,1.08,0.00,0.000,4,0.000,0.060,1897,3941,2023,0,0,0,0,0,0
$GC,10144,0.53,105.6,655.5,16.5,653,10152,0.00,1.02,0.00,0.000,6,0.000,0.035,1901,3280,2023,0,0,0,0,0,0
$GC,10460,0.53,105.6,610.7,13.8,669,10464,0.00,1.08,0.00,0.000,4,0.000,0.060,1900,3950,2022,0,0,0,0,0,0
$GC,10532,0.53,105.6,599.0,17.0,672,10537,0.00,1.05,0.00,0.000,6,0.000,0.036,1906,3273,2022,0,0,0,0,0,0
$GC,10859,0.53,105.6,550.5,14.8,688,10863,0.00,1.10,0.00,0.000,4,0.000,0.059,1906,3952,2022,0,0,0,0,0,0
$GC,10930,0.53,105.6,538.7,17.9,691,10936,0.00,1.05,0.00,0.000,6,0.000,0.035,1912,3271,2022,0,0,0,0,0,0
$GC,11258,0.53,105.6,489.5,15.0,707,11261,0.00,1.10,0.00,0.000,4,0.000,0.058,1910,3953,2021,0,0,0,0,0,0
$GC,11425,0.53,105.6,462.3,16.9,714,11429,0.00,1.05,0.00,0.000,6,0.000,0.035,1916,3269,2021,0,0,0,0,0,0
$GC,11746,0.53,105.6,417.9,13.3,730,11748,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3269,2021,0,0,0,0,0,0
$GC,12063,0.53,105.6,376.6,13.3,753,12067,0.00,1.10,0.00,0.000,4,0.000,0.058,1916,3953,2020,0,0,0,0,0,0
$GC,12146,0.53,105.6,364.2,14.9,760,12156,0.00,1.05,0.00,0.000,6,0.000,0.035,1922,3270,2020,0,0,0,0,0,0
$GC,12472,0.53,105.6,322.1,12.7,791,12475,0.00,1.10,0.00,0.000,4,0.000,0.057,1921,3953,2020,0,0,0,0,0,0
$GC,12642,0.53,105.6,295.6,15.0,806,12646,0.10,1.02,0.00,0.000,6,0.197,0.034,1899,3272,2020,0,0,0,0,0,0
$GC,12974,0.53,105.6,253.8,13.0,837,12975,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3272,2020,0,0,0,0,0,0
$GC,13291,0.53,105.6,214.6,12.6,867,13292,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3272,2020,0,0,0,0,0,0
$GC,13611,0.53,105.6,175.6,11.9,897,13615,0.00,1.10,0.00,0.000,4,0.000,0.059,1898,3952,2020,0,0,0,0,0,0
$GC,13740,0.53,105.6,156.7,14.4,908,13749,0.00,1.05,0.00,0.000,6,0.000,0.034,1902,3267,2020,0,0,0,0,0,0
$GC,14065,0.53,105.6,115.4,12.7,939,14069,0.00,1.10,0.00,0.000,4,0.000,0.059,1901,3949,2019,0,0,0,0,0,0
$GC,14248,0.53,105.6,90.0,13.8,961,14255,0.00,1.00,0.00,0.000,6,0.000,0.035,1907,3282,2019,0,0,0,0,0,0
$GC,14598,0.53,105.6,46.7,10.2,1022,14605,0.00,2.12,0.00,0.000,4,0.000,0.031,1918,1855,2019,0,0,0,0,0,0
$GC,14648,0.55,126.9,42.9,7.1,1030,14662,0.00,2.25,6.72,0.871,6,0.000,0.050,1918,3283,1952,0,0,0,0,0,0
$STATE,14984,end climb,SURFACE_DEPTH_REACHED
$STATE,14984,begin surface coast
$FINISH,0.6,1.016459
$STATE,15017,end surface coast,CONTROL_FINISHED_OK
$STATE,15017,begin surface
$SM_CCo,15030,40.42,0.788,0,0,1555,225.18
$SM_GC,1.06,0.00,0.00,40.42,0.000,0.000,0.788,61,3438,1555,-5.18,0.51,225.18
$IRIDIUM_FIX,-4244.98,828.21,291213,222207
$TT8_MAMPS,0.026215
$HUMID,62.75
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,22.4,27.203
$10V_AH,9.9,19.558
$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,12.600,64.350,209.900,40.425,0.000,53.450,63.517,483.017,0.000,0.000,24.058,2716.242,9409.289,348.371,3196.208,208.299,0.000,1395.600,0.000,2446.744,0.000,1.011,0.000
$DEVICE_MAMPS,241.740,65.790,1868.130,787.950,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,757.518,1868.235,736.025,370.869,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354380
$DATA_FILE_SIZE,77156,1091
$CAP_FILE_SIZE,139822,0
$CFSIZE,259252224,245813248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,301213,025234,-4300.576,832.181,29,1.6,29,-25.1