version: 66.07
glider: 543
mission: 9
dive: 183
start: 12 30 113 16 0 12
data:
$ID,543
$MISSION,9
$DIVE,183
$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,-13103.239
$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,42
$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
$GPS1,301213,155151,-4300.242,829.101,29,1.3,43,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-65.2
$GPS2,301213,155947,-4300.211,829.095,15,1.0,15,-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,97.3,1287,-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,-50.17,0.000,2,0.000,0.000,50,3428,2698,0,0,0,0,0,0
$GC,69,-0.53,-108.0,3.2,-3.9,6,88,6.15,2.20,-5.75,0.000,4,0.236,0.044,1540,2003,2916,0,0,0,0,0,0
$GC,252,-0.53,-108.0,31.4,-13.5,35,259,0.00,2.33,0.00,0.000,6,0.000,0.055,1530,3424,2920,0,0,0,0,0,0
$GC,397,-0.53,-108.0,54.7,-16.6,60,406,0.00,0.85,0.00,0.000,4,0.000,0.060,1526,3953,2920,0,0,0,0,0,0
$GC,494,-0.53,-108.0,71.6,-18.4,76,501,0.00,0.80,0.00,0.000,6,0.000,0.036,1526,3429,2920,0,0,0,0,0,0
$GC,839,-0.53,-108.0,130.3,-16.4,121,842,0.00,0.82,0.00,0.000,4,0.000,0.060,1522,3943,2921,0,0,0,0,0,0
$GC,1032,-0.53,-108.0,164.0,-16.8,138,1035,0.00,0.80,0.00,0.000,6,0.000,0.036,1522,3415,2922,0,0,0,0,0,0
$GC,1364,-0.53,-108.0,219.2,-16.8,169,1368,0.00,0.85,0.00,0.000,4,0.000,0.058,1518,3948,2922,0,0,0,0,0,0
$GC,1457,-0.53,-108.0,235.8,-17.5,177,1460,0.00,0.80,0.00,0.000,6,0.000,0.036,1518,3417,2922,0,0,0,0,0,0
$GC,1787,-0.53,-108.0,292.3,-16.8,208,1788,0.00,0.00,0.00,0.000,6,0.000,0.000,1518,3417,2922,0,0,0,0,0,0
$GC,2107,-0.53,-108.0,345.6,-16.8,238,2110,0.00,0.85,0.00,0.000,4,0.000,0.059,1515,3951,2922,0,0,0,0,0,0
$GC,2197,-0.53,-108.0,361.5,-17.6,246,2202,0.08,0.80,0.00,0.000,6,0.168,0.035,1537,3421,2922,0,0,0,0,0,0
$GC,2536,-0.53,-108.0,410.0,-14.1,275,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3421,2923,0,0,0,0,0,0
$GC,2845,-0.53,-108.0,453.3,-14.1,290,2849,0.00,0.85,0.00,0.000,4,0.000,0.061,1535,3955,2923,0,0,0,0,0,0
$GC,2883,-0.53,-108.0,458.9,-14.6,291,2890,0.00,0.82,0.00,0.000,6,0.000,0.037,1534,3418,2922,0,0,0,0,0,0
$GC,3199,-0.53,-108.0,502.1,-13.2,307,3200,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3417,2922,0,0,0,0,0,0
$GC,3508,-0.53,-108.0,543.7,-13.5,322,3510,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3417,2922,0,0,0,0,0,0
$GC,3818,-0.53,-108.0,585.0,-13.5,337,3819,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3417,2922,0,0,0,0,0,0
$GC,4127,-0.53,-108.0,628.4,-13.9,352,4130,0.00,0.85,0.00,0.000,4,0.000,0.062,1531,3950,2921,0,0,0,0,0,0
$GC,4164,-0.53,-108.0,634.2,-14.6,353,4172,0.00,0.82,0.00,0.000,6,0.000,0.037,1531,3413,2921,0,0,0,0,0,0
$GC,4482,-0.53,-108.0,675.6,-13.4,369,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3413,2921,0,0,0,0,0,0
$GC,4790,-0.53,-108.0,717.2,-13.5,384,4793,0.00,0.85,0.00,0.000,4,0.000,0.061,1526,3950,2920,0,0,0,0,0,0
$GC,4880,-0.53,-108.0,730.2,-14.7,388,4884,0.00,0.80,0.00,0.000,6,0.000,0.038,1526,3422,2920,0,0,0,0,0,0
$GC,5212,-0.53,-108.0,776.8,-13.8,404,5213,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3422,2919,0,0,0,0,0,0
$GC,5523,-0.53,-108.0,817.6,-12.5,419,5527,0.00,0.85,0.00,0.000,4,0.000,0.061,1523,3953,2919,0,0,0,0,0,0
$GC,5591,-0.53,-108.0,826.6,-12.4,422,5594,0.00,0.80,0.00,0.000,6,0.000,0.038,1523,3425,2919,0,0,0,0,0,0
$GC,5923,-0.53,-108.0,864.6,-10.9,438,5927,0.00,0.82,0.00,0.000,4,0.000,0.062,1519,3944,2917,0,0,0,0,0,0
$GC,5995,-0.53,-108.0,873.3,-11.8,441,5999,0.00,0.82,0.00,0.000,6,0.000,0.038,1519,3408,2918,0,0,0,0,0,0
$GC,6322,-0.53,-108.0,910.3,-11.6,457,6323,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3408,2917,0,0,0,0,0,0
$GC,6631,-0.53,-108.0,946.7,-11.9,472,6632,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3408,2916,0,0,0,0,0,0
$GC,6941,-0.53,-108.0,983.1,-11.3,487,6942,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3407,2916,0,0,0,0,0,0
$STATE,7001,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7001,begin apogee
$GC,7006,-0.09,0.0,990.3,11.7,490,7114,0.57,0.00,104.68,1.868,6,0.159,0.000,1686,3277,2473,0,0,0,0,0,0
$STATE,7114,end apogee,CONTROL_FINISHED_OK
$STATE,7114,begin climb
$GC,7116,0.53,108.0,992.7,0.0,495,7233,0.60,2.42,109.47,1.815,4,0.067,0.030,1904,1862,2032,0,0,0,0,0,0
$GC,7294,0.53,108.0,976.2,14.1,503,7299,0.00,2.47,0.00,0.000,6,0.000,0.050,1904,3278,2026,0,0,0,0,0,0
$GC,7616,0.53,108.0,924.3,16.6,519,7620,0.00,2.22,0.00,0.000,4,0.000,0.033,1915,1865,2019,0,0,0,0,0,0
$GC,7641,0.53,108.0,920.1,13.7,520,7646,0.00,2.38,0.00,0.000,6,0.000,0.050,1914,3279,2018,0,0,0,0,0,0
$GC,7965,0.53,108.0,865.1,17.5,536,7969,0.00,2.22,0.00,0.000,4,0.000,0.034,1925,1866,2016,0,0,0,0,0,0
$GC,7991,0.53,108.0,860.1,15.9,537,7997,0.10,2.33,0.00,0.000,6,0.173,0.051,1897,3276,2016,0,0,0,0,0,0
$GC,8313,0.53,108.0,810.4,15.3,553,8317,0.00,1.10,0.00,0.000,4,0.000,0.059,1897,3952,2015,0,0,0,0,0,0
$GC,8435,0.53,108.0,789.8,16.3,558,8440,0.00,1.05,0.00,0.000,6,0.000,0.035,1901,3275,2015,0,0,0,0,0,0
$GC,8757,0.53,108.0,740.7,15.2,574,8758,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,3276,2014,0,0,0,0,0,0
$GC,9066,0.53,108.0,693.7,15.1,589,9070,0.00,1.10,0.00,0.000,4,0.000,0.060,1901,3954,2013,0,0,0,0,0,0
$GC,9144,0.53,108.0,680.7,17.2,592,9148,0.00,1.05,0.00,0.000,6,0.000,0.037,1906,3280,2013,0,0,0,0,0,0
$GC,9466,0.53,108.0,633.3,14.6,608,9467,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3281,2012,0,0,0,0,0,0
$GC,9775,0.53,108.0,590.5,13.4,623,9776,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3281,2012,0,0,0,0,0,0
$GC,10085,0.53,108.0,548.6,13.7,638,10089,0.00,2.15,0.00,0.000,4,0.000,0.033,1917,1857,2012,0,0,0,0,0,0
$GC,10112,0.53,108.0,544.8,12.0,639,10117,0.00,2.30,0.00,0.000,6,0.000,0.051,1917,3280,2011,0,0,0,0,0,0
$GC,10434,0.53,108.0,501.3,13.3,655,10435,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3280,2011,0,0,0,0,0,0
$GC,10743,0.53,108.0,460.4,13.4,670,10744,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3280,2011,0,0,0,0,0,0
$GC,11053,0.53,108.0,418.2,13.7,685,11054,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3280,2010,0,0,0,0,0,0
$GC,11367,0.53,108.0,374.5,14.2,708,11370,0.00,1.08,0.00,0.000,4,0.000,0.059,1917,3957,2010,0,0,0,0,0,0
$GC,11412,0.53,108.0,367.7,15.5,712,11416,0.00,1.02,0.00,0.000,6,0.000,0.036,1922,3281,2010,0,0,0,0,0,0
$GC,11742,0.53,108.0,320.5,14.3,743,11745,0.00,1.08,0.00,0.000,4,0.000,0.060,1922,3946,2010,0,0,0,0,0,0
$GC,11846,0.53,108.0,303.7,15.7,752,11857,0.12,1.02,0.00,0.000,6,0.218,0.034,1899,3274,2010,0,0,0,0,0,0
$GC,12171,0.53,108.0,261.3,13.0,783,12175,0.00,2.12,0.00,0.000,4,0.000,0.032,1909,1863,2010,0,0,0,0,0,0
$GC,12279,0.53,108.0,249.5,10.4,792,12284,0.00,2.28,0.00,0.000,6,0.000,0.050,1909,3292,2008,0,0,0,0,0,0
$GC,12604,0.53,108.0,207.2,13.3,822,12608,0.00,2.15,0.00,0.000,4,0.000,0.033,1920,1866,2008,0,0,0,0,0,0
$GC,12636,0.53,108.0,203.1,11.8,824,12646,0.00,2.28,0.00,0.000,6,0.000,0.051,1921,3278,2008,0,0,0,0,0,0
$GC,12961,0.53,108.0,158.7,13.9,855,12962,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3278,2009,0,0,0,0,0,0
$GC,13283,0.53,108.0,115.3,12.9,885,13287,0.00,1.08,0.00,0.000,4,0.000,0.057,1920,3954,2008,0,0,0,0,0,0
$GC,13535,0.53,108.0,78.3,15.9,919,13542,0.10,1.00,0.00,0.000,6,0.200,0.034,1898,3280,2008,0,0,0,0,0,0
$GC,13887,0.54,117.0,40.0,8.4,980,13895,0.00,2.12,1.45,0.304,4,0.000,0.028,1908,1864,1993,0,0,0,0,0,0
$GC,14027,0.54,124.2,28.5,8.6,1003,14035,0.00,2.25,2.92,0.563,6,0.000,0.050,1908,3284,1963,0,0,0,0,0,0
$GC,14182,0.54,124.2,11.8,10.6,1028,14191,0.00,1.05,0.00,0.000,4,0.000,0.058,1908,3950,1963,0,0,0,0,0,0
$GC,14236,0.54,124.2,5.1,13.1,1036,14245,0.00,1.00,0.00,0.000,6,0.000,0.035,1912,3281,1963,0,0,0,0,0,0
$STATE,14251,end climb,SURFACE_DEPTH_REACHED
$STATE,14252,begin surface coast
$FINISH,0.6,1.025745
$STATE,14278,end surface coast,CONTROL_FINISHED_OK
$STATE,14278,begin surface
$SM_CCo,14291,41.65,0.786,0,0,1552,225.18
$SM_GC,1.15,0.00,0.00,41.65,0.000,0.000,0.786,59,3432,1552,-5.19,0.34,225.18
$IRIDIUM_FIX,-4244.98,834.03,301213,111141
$TT8_MAMPS,0.026215
$HUMID,61.34
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.4,27.775
$10V_AH,10.0,20.002
$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,12.725,64.125,218.525,41.650,0.000,28.277,17.686,307.031,0.000,0.000,18.571,2570.501,8982.573,356.581,2720.313,180.229,0.000,1315.203,0.000,2238.083,0.000,1.010,0.000
$DEVICE_MAMPS,235.620,70.380,1868.130,786.420,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,723.117,1778.173,712.858,370.708,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354412
$DATA_FILE_SIZE,73872,1042
$CAP_FILE_SIZE,127558,0
$CFSIZE,259252224,245514240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,301213,200021,-4259.583,831.952,42,1.3,42,-25.1