version: 66.07
glider: 543
mission: 9
dive: 189
start: 12 31 113 17 34 27
data:
$ID,543
$MISSION,9
$DIVE,189
$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,-13123.833
$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,45
$R_STBD_OVSHOOT,29
$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
$GPS1,311213,172126,-4300.365,830.032,35,2.3,55,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-66.1
$GPS2,311213,173403,-4300.336,830.209,32,1.0,35,-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,0.5,684,-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,15,-0.50,-57.7,0.0,0.0,0,66,0.00,0.00,-49.55,0.000,2,0.000,0.000,61,3430,2677,0,0,0,0,0,0
$GC,68,-0.53,-95.3,3.3,-5.3,6,87,6.07,2.22,-4.85,0.000,4,0.234,0.043,1542,1996,2865,0,0,0,0,0,0
$GC,138,-0.53,-95.3,15.9,-14.5,16,147,0.00,2.33,0.00,0.000,6,0.000,0.051,1533,3410,2868,0,0,0,0,0,0
$GC,198,-0.53,-95.3,26.2,-19.4,25,204,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3410,2868,0,0,0,0,0,0
$GC,344,-0.53,-95.3,54.9,-19.9,50,351,0.00,2.15,0.00,0.000,4,0.000,0.030,1533,1990,2868,0,0,0,0,0,0
$GC,396,-0.53,-95.3,62.5,-12.5,59,403,0.00,2.30,0.00,0.000,6,0.000,0.052,1522,3425,2869,0,0,0,0,0,0
$GC,745,-0.53,-95.3,114.8,-15.3,112,748,0.00,0.82,0.00,0.000,4,0.000,0.060,1518,3942,2869,0,0,0,0,0,0
$GC,813,-0.53,-95.3,125.7,-15.9,118,817,0.08,0.77,0.00,0.000,6,0.167,0.037,1541,3433,2870,0,0,0,0,0,0
$GC,1146,-0.53,-95.3,169.8,-12.8,149,1150,0.00,2.15,0.00,0.000,4,0.000,0.031,1541,1996,2871,0,0,0,0,0,0
$GC,1185,-0.53,-95.3,174.5,-10.6,152,1189,0.00,2.28,0.00,0.000,6,0.000,0.054,1531,3424,2871,0,0,0,0,0,0
$GC,1510,-0.53,-95.3,218.3,-14.2,182,1513,0.00,0.82,0.00,0.000,4,0.000,0.060,1527,3945,2871,0,0,0,0,0,0
$GC,1555,-0.53,-95.3,224.6,-14.1,186,1558,0.00,0.80,0.00,0.000,6,0.000,0.037,1527,3416,2872,0,0,0,0,0,0
$GC,1887,-0.53,-95.3,271.1,-13.9,217,1891,0.00,2.12,0.00,0.000,4,0.000,0.031,1527,1996,2871,0,0,0,0,0,0
$GC,1948,-0.53,-95.3,278.6,-11.1,222,1953,0.12,2.28,0.00,0.000,6,0.168,0.054,1547,3428,2871,0,0,0,0,0,0
$GC,2272,-0.53,-95.3,316.5,-11.7,252,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,3428,2871,0,0,0,0,0,0
$GC,2592,-0.53,-95.3,353.6,-11.5,282,2596,0.00,2.15,0.00,0.000,4,0.000,0.032,1547,1999,2871,0,0,0,0,0,0
$GC,2643,-0.53,-95.3,358.8,-9.5,286,2647,0.00,2.30,0.00,0.000,6,0.000,0.054,1538,3429,2871,0,0,0,0,0,0
$GC,2967,-0.53,-95.3,399.3,-13.3,316,2971,0.00,2.15,0.00,0.000,4,0.000,0.031,1538,1994,2871,0,0,0,0,0,0
$GC,3010,-0.53,-95.3,404.6,-10.6,318,3014,0.00,2.33,0.00,0.000,6,0.000,0.054,1527,3424,2871,0,0,0,0,0,0
$GC,3338,-0.53,-95.3,449.5,-14.2,334,3339,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3424,2870,0,0,0,0,0,0
$GC,3647,-0.53,-95.3,493.2,-14.0,349,3648,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3424,2870,0,0,0,0,0,0
$GC,3956,-0.53,-95.3,536.2,-13.9,364,3960,0.00,2.15,0.00,0.000,4,0.000,0.031,1527,1988,2870,0,0,0,0,0,0
$GC,4010,-0.53,-95.3,543.2,-11.4,366,4019,0.08,2.33,0.00,0.000,6,0.144,0.054,1540,3419,2870,0,0,0,0,0,0
$GC,4328,-0.53,-95.3,583.1,-12.7,382,4332,0.00,0.85,0.00,0.000,4,0.000,0.063,1538,3953,2869,0,0,0,0,0,0
$GC,4377,-0.53,-95.3,590.2,-13.9,384,4382,0.00,0.82,0.00,0.000,6,0.000,0.039,1538,3417,2869,0,0,0,0,0,0
$GC,4705,-0.53,-95.3,633.5,-13.4,400,4706,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,3416,2868,0,0,0,0,0,0
$GC,5016,-0.53,-95.3,672.8,-12.6,415,5019,0.00,2.12,0.00,0.000,4,0.000,0.033,1538,1998,2868,0,0,0,0,0,0
$GC,5059,-0.53,-95.3,677.9,-9.9,417,5064,0.00,2.33,0.00,0.000,6,0.000,0.056,1527,3425,2868,0,0,0,0,0,0
$GC,5386,-0.53,-95.3,721.3,-13.5,433,5388,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3426,2867,0,0,0,0,0,0
$GC,5697,-0.53,-95.3,761.7,-12.7,448,5698,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3426,2866,0,0,0,0,0,0
$GC,6005,-0.53,-95.3,799.9,-12.0,463,6009,0.00,2.15,0.00,0.000,4,0.000,0.034,1527,1995,2865,0,0,0,0,0,0
$GC,6039,-0.53,-95.3,803.6,-10.8,464,6047,0.12,2.30,0.00,0.000,6,0.166,0.056,1547,3425,2866,0,0,0,0,0,0
$GC,6354,-0.53,-95.3,835.0,-10.0,480,6356,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,3425,2865,0,0,0,0,0,0
$GC,6663,-0.53,-95.3,866.2,-9.8,495,6667,0.00,2.15,0.00,0.000,4,0.000,0.034,1547,1999,2864,0,0,0,0,0,0
$GC,6707,-0.53,-104.7,870.3,-8.4,497,6711,0.00,2.33,0.00,0.000,6,0.000,0.057,1538,3424,2865,0,0,0,0,0,0
$GC,7035,-0.53,-104.7,904.4,-10.7,513,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,3424,2864,0,0,0,0,0,0
$GC,7344,-0.53,-104.7,936.9,-10.6,528,7348,0.00,2.12,0.00,0.000,4,0.000,0.034,1538,1999,2864,0,0,0,0,0,0
$GC,7375,-0.53,-104.7,940.0,-9.6,529,7383,0.00,2.33,0.00,0.000,6,0.000,0.057,1527,3421,2864,0,0,0,0,0,0
$GC,7694,-0.53,-104.7,975.3,-11.3,545,7698,0.00,2.15,0.00,0.000,4,0.000,0.034,1527,1994,2863,0,0,0,0,0,0
$GC,7755,-0.53,-104.9,981.8,-9.4,548,7760,0.12,2.30,0.00,0.000,6,0.167,0.058,1547,3429,2863,0,0,0,0,0,0
$STATE,7854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7854,begin apogee
$GC,7859,-0.09,0.0,991.0,9.4,553,7956,0.47,0.00,92.57,1.868,6,0.152,0.000,1688,3274,2474,0,0,0,0,0,0
$STATE,7957,end apogee,CONTROL_FINISHED_OK
$STATE,7957,begin climb
$GC,7959,0.53,104.9,993.3,0.0,558,8074,0.57,2.45,106.22,1.818,4,0.065,0.034,1902,1872,2046,0,0,0,0,0,0
$GC,8086,0.53,104.9,984.0,13.2,564,8091,0.00,2.50,0.00,0.000,6,0.000,0.052,1902,3284,2044,0,0,0,0,0,0
$GC,8413,0.53,104.9,931.1,16.4,580,8415,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3284,2035,0,0,0,0,0,0
$GC,8721,0.53,104.9,881.0,15.8,595,8723,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3284,2032,0,0,0,0,0,0
$GC,9031,0.53,104.9,831.8,15.2,610,9035,0.00,1.10,0.00,0.000,4,0.000,0.061,1903,3954,2030,0,0,0,0,0,0
$GC,9080,0.53,104.9,823.4,16.8,612,9084,0.00,1.08,0.00,0.000,6,0.000,0.036,1908,3268,2030,0,0,0,0,0,0
$GC,9409,0.53,104.9,772.9,15.8,628,9412,0.00,1.10,0.00,0.000,4,0.000,0.060,1908,3943,2029,0,0,0,0,0,0
$GC,9611,0.53,104.9,737.5,17.7,637,9615,0.00,1.02,0.00,0.000,6,0.000,0.037,1913,3274,2029,0,0,0,0,0,0
$GC,9945,0.53,104.9,683.5,16.3,653,9948,0.00,1.10,0.00,0.000,4,0.000,0.060,1913,3952,2028,0,0,0,0,0,0
$GC,10103,0.53,104.9,655.0,17.9,660,10107,0.00,1.02,0.00,0.000,6,0.000,0.038,1918,3281,2027,0,0,0,0,0,0
$GC,10437,0.53,104.9,601.8,15.9,676,10440,0.00,1.10,0.00,0.000,4,0.000,0.060,1917,3959,2027,0,0,0,0,0,0
$GC,10609,0.53,104.9,571.4,18.1,683,10618,0.12,1.05,0.00,0.000,6,0.220,0.037,1896,3278,2027,0,0,0,0,0,0
$GC,10927,0.53,104.9,527.3,13.7,699,10931,0.00,1.10,0.00,0.000,4,0.000,0.060,1896,3958,2027,0,0,0,0,0,0
$GC,11044,0.53,104.9,508.7,16.2,704,11048,0.00,1.05,0.00,0.000,6,0.000,0.037,1899,3281,2026,0,0,0,0,0,0
$GC,11371,0.53,104.9,463.5,13.8,720,11375,0.00,1.08,0.00,0.000,4,0.000,0.060,1899,3953,2026,0,0,0,0,0,0
$GC,11487,0.53,104.9,445.8,15.5,725,11491,0.00,1.05,0.00,0.000,6,0.000,0.037,1905,3274,2026,0,0,0,0,0,0
$GC,11814,0.53,104.9,400.0,14.0,741,11818,0.00,1.10,0.00,0.000,4,0.000,0.060,1905,3955,2025,0,0,0,0,0,0
$GC,11942,0.53,104.9,380.1,15.5,751,11950,0.00,1.05,0.00,0.000,6,0.000,0.037,1910,3276,2026,0,0,0,0,0,0
$GC,12267,0.53,104.9,335.1,14.1,782,12271,0.00,1.10,0.00,0.000,4,0.000,0.060,1910,3955,2026,0,0,0,0,0,0
$GC,12335,0.53,104.9,325.0,15.6,788,12339,0.00,1.02,0.00,0.000,6,0.000,0.037,1915,3281,2026,0,0,0,0,0,0
$GC,12666,0.53,104.9,280.9,13.3,819,12669,0.00,1.10,0.00,0.000,4,0.000,0.060,1915,3958,2025,0,0,0,0,0,0
$GC,12735,0.53,104.9,271.0,15.5,825,12739,0.00,1.05,0.00,0.000,6,0.000,0.037,1920,3270,2025,0,0,0,0,0,0
$GC,13065,0.53,104.9,224.6,14.3,856,13066,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3270,2025,0,0,0,0,0,0
$GC,13385,0.53,104.9,181.2,12.4,886,13388,0.00,1.10,0.00,0.000,4,0.000,0.060,1920,3948,2025,0,0,0,0,0,0
$GC,13634,0.53,104.9,143.7,14.7,908,13638,0.10,1.02,0.00,0.000,6,0.196,0.037,1898,3272,2025,0,0,0,0,0,0
$GC,13963,0.53,104.9,103.0,13.4,939,13965,0.00,0.00,0.00,0.000,6,0.000,0.000,1897,3272,2025,0,0,0,0,0,0
$GC,14302,0.53,104.9,63.0,10.8,996,14311,0.00,1.10,0.00,0.000,4,0.000,0.059,1897,3953,2025,0,0,0,0,0,0
$GC,14330,0.53,104.9,59.8,11.6,1000,14337,0.00,1.02,0.00,0.000,6,0.000,0.037,1901,3274,2025,0,0,0,0,0,0
$GC,14684,0.54,111.5,28.1,8.7,1061,14690,0.00,1.08,0.00,0.000,4,0.000,0.060,1901,3947,2025,0,0,0,0,0,0
$GC,14788,0.54,111.5,17.3,10.4,1078,14797,0.00,1.00,0.00,0.000,6,0.000,0.037,1906,3285,2025,0,0,0,0,0,0
$GC,14848,0.54,111.5,11.5,9.9,1087,14856,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3285,2025,0,0,0,0,0,0
$GC,14907,0.54,111.5,5.3,10.6,1096,14915,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3285,2025,0,0,0,0,0,0
$STATE,14928,end climb,SURFACE_DEPTH_REACHED
$STATE,14928,begin surface coast
$FINISH,0.7,1.026229
$STATE,14961,end surface coast,CONTROL_FINISHED_OK
$STATE,14961,begin surface
$SM_CCo,14973,48.03,0.777,0,0,1552,225.18
$SM_GC,1.13,0.00,0.00,48.03,0.000,0.000,0.777,51,3433,1552,-5.21,0.37,225.18
$IRIDIUM_FIX,-4247.91,834.47,311213,171712
$TT8_MAMPS,0.026215
$HUMID,61.69
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.5,28.616
$10V_AH,9.9,20.671
$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,12.750,89.400,198.800,48.025,0.000,52.751,89.322,392.668,0.000,0.000,37.381,2764.220,9244.472,369.373,3192.071,207.266,0.000,1440.022,0.000,2492.000,0.000,1.010,0.000
$DEVICE_MAMPS,234.090,71.910,1868.130,777.240,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,766.203,1901.929,776.087,384.247,0.000,0.000,0.000,0.000,0.000,0.000
$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,80316,1104
$CAP_FILE_SIZE,145847,0
$CFSIZE,259252224,245043200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,311213,214604,-4258.714,829.757,40,0.8,40,-25.0