version: 66.07
glider: 543
mission: 9
dive: 190
start: 12 31 113 21 55 24
data:
$ID,543
$MISSION,9
$DIVE,190
$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,-13127.274
$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,39
$R_STBD_OVSHOOT,30
$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
$GPS1,311213,214604,-4258.714,829.757,40,0.8,40,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-64.0
$GPS2,311213,215459,-4258.699,829.844,14,1.5,15,-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,200.0,2418,-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,14,-0.50,-57.7,0.0,0.0,0,66,0.00,0.00,-49.47,0.000,2,0.000,0.000,50,3434,2674,0,0,0,0,0,0
$GC,68,-0.53,-94.4,3.3,-5.4,6,87,6.22,0.82,-4.93,0.000,4,0.239,0.091,1540,3937,2861,0,0,0,0,0,0
$GC,316,-0.53,-94.4,50.6,-17.3,47,323,0.00,0.80,0.00,0.000,6,0.000,0.037,1540,3416,2866,0,0,0,0,0,0
$GC,668,-0.53,-94.4,105.1,-14.8,106,672,0.00,2.12,0.00,0.000,4,0.000,0.030,1539,1999,2867,0,0,0,0,0,0
$GC,700,-0.53,-94.4,109.7,-12.7,108,709,0.00,2.30,0.00,0.000,6,0.000,0.052,1529,3413,2867,0,0,0,0,0,0
$GC,1025,-0.53,-94.4,155.7,-14.1,139,1029,0.00,0.85,0.00,0.000,4,0.000,0.058,1525,3942,2868,0,0,0,0,0,0
$GC,1074,-0.53,-94.4,163.3,-14.6,143,1082,0.00,0.80,0.00,0.000,6,0.000,0.035,1525,3415,2868,0,0,0,0,0,0
$GC,1400,-0.53,-94.4,211.4,-14.8,174,1403,0.00,2.10,0.00,0.000,4,0.000,0.029,1525,1993,2868,0,0,0,0,0,0
$GC,1421,-0.53,-94.4,214.8,-15.0,175,1429,0.10,2.30,0.00,0.000,6,0.148,0.052,1553,3415,2869,0,0,0,0,0,0
$GC,1746,-0.53,-94.4,254.0,-11.9,206,1747,0.00,0.00,0.00,0.000,6,0.000,0.000,1553,3415,2869,0,0,0,0,0,0
$GC,2066,-0.53,-94.4,291.5,-11.9,236,2069,0.00,2.10,0.00,0.000,4,0.000,0.031,1553,2002,2869,0,0,0,0,0,0
$GC,2098,-0.53,-94.4,295.4,-10.5,238,2105,0.00,2.30,0.00,0.000,6,0.000,0.054,1544,3414,2869,0,0,0,0,0,0
$GC,2426,-0.53,-94.4,336.3,-12.6,269,2429,0.00,2.12,0.00,0.000,4,0.000,0.031,1544,1997,2869,0,0,0,0,0,0
$GC,2464,-0.53,-94.4,341.0,-11.4,272,2469,0.00,2.30,0.00,0.000,6,0.000,0.055,1533,3427,2870,0,0,0,0,0,0
$GC,2789,-0.53,-94.4,384.8,-13.5,302,2793,0.00,2.12,0.00,0.000,4,0.000,0.031,1533,1993,2869,0,0,0,0,0,0
$GC,2810,-0.53,-94.4,387.6,-13.1,303,2817,0.00,2.30,0.00,0.000,6,0.000,0.054,1522,3426,2869,0,0,0,0,0,0
$GC,3138,-0.53,-94.4,435.3,-14.8,324,3139,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3427,2869,0,0,0,0,0,0
$GC,3448,-0.53,-94.4,480.9,-14.4,339,3452,0.00,2.15,0.00,0.000,4,0.000,0.031,1522,1991,2869,0,0,0,0,0,0
$GC,3497,-0.53,-94.4,487.4,-11.1,341,3503,0.10,2.33,0.00,0.000,6,0.145,0.054,1543,3417,2869,0,0,0,0,0,0
$GC,3819,-0.53,-94.4,525.5,-11.9,357,3823,0.00,2.10,0.00,0.000,4,0.000,0.032,1543,2004,2868,0,0,0,0,0,0
$GC,3851,-0.53,-94.4,529.3,-10.7,358,3859,0.00,2.30,0.00,0.000,6,0.000,0.055,1533,3419,2868,0,0,0,0,0,0
$GC,4169,-0.53,-94.4,568.7,-12.6,374,4170,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3419,2868,0,0,0,0,0,0
$GC,4477,-0.53,-94.4,607.7,-12.7,389,4481,0.00,2.10,0.00,0.000,4,0.000,0.032,1534,2001,2867,0,0,0,0,0,0
$GC,4520,-0.53,-94.4,612.7,-10.4,391,4524,0.00,2.33,0.00,0.000,6,0.000,0.057,1522,3423,2867,0,0,0,0,0,0
$GC,4849,-0.53,-94.4,656.4,-13.8,407,4853,0.00,2.15,0.00,0.000,4,0.000,0.033,1522,1994,2866,0,0,0,0,0,0
$GC,4897,-0.53,-94.4,663.0,-11.8,409,4903,0.10,2.33,0.00,0.000,6,0.145,0.057,1543,3419,2866,0,0,0,0,0,0
$GC,5219,-0.53,-94.4,701.1,-11.9,425,5223,0.00,2.15,0.00,0.000,4,0.000,0.035,1543,1999,2866,0,0,0,0,0,0
$GC,5240,-0.53,-94.4,703.7,-11.3,426,5245,0.00,2.33,0.00,0.000,6,0.000,0.058,1533,3418,2866,0,0,0,0,0,0
$GC,5569,-0.53,-94.4,742.7,-11.7,442,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3418,2865,0,0,0,0,0,0
$GC,5877,-0.53,-94.4,777.3,-10.6,457,5878,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3418,2864,0,0,0,0,0,0
$GC,6186,-0.53,-94.4,811.5,-11.4,472,6190,0.00,2.12,0.00,0.000,4,0.000,0.036,1533,1998,2864,0,0,0,0,0,0
$GC,6229,-0.53,-94.4,816.3,-10.0,474,6233,0.00,2.33,0.00,0.000,6,0.000,0.058,1522,3420,2864,0,0,0,0,0,0
$GC,6558,-0.53,-94.4,854.8,-12.2,490,6559,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3420,2863,0,0,0,0,0,0
$GC,6866,-0.53,-94.4,892.2,-11.7,505,6870,0.00,2.17,0.00,0.000,4,0.000,0.037,1522,2003,2863,0,0,0,0,0,0
$GC,6921,-0.53,-99.4,897.9,-8.9,507,6929,0.08,2.33,0.00,0.000,6,0.148,0.059,1545,3420,2862,0,0,0,0,0,0
$GC,7238,-0.53,-99.4,928.5,-9.8,523,7239,0.00,0.00,0.00,0.000,6,0.000,0.000,1545,3421,2863,0,0,0,0,0,0
$GC,7546,-0.53,-99.4,958.1,-9.6,538,7550,0.00,2.17,0.00,0.000,4,0.000,0.037,1545,2009,2862,0,0,0,0,0,0
$GC,7595,-0.53,-104.3,962.5,-8.9,540,7599,0.00,2.30,0.00,0.000,6,0.000,0.060,1535,3424,2862,0,0,0,0,0,0
$STATE,7873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7873,begin apogee
$GC,7878,-0.09,0.0,992.3,11.3,554,7976,0.52,0.00,92.30,1.873,6,0.159,0.000,1687,3288,2474,0,0,0,0,0,0
$STATE,7977,end apogee,CONTROL_FINISHED_OK
$STATE,7977,begin climb
$GC,7979,0.53,104.3,995.2,0.0,559,8089,0.60,0.00,106.93,1.822,6,0.065,0.000,1893,3288,2047,0,0,0,0,0,0
$GC,8387,0.53,104.3,943.2,16.3,579,8388,0.00,0.00,0.00,0.000,6,0.000,0.000,1893,3288,2037,0,0,0,0,0,0
$GC,8694,0.53,104.3,893.9,16.0,594,8697,0.00,1.10,0.00,0.000,4,0.000,0.062,1893,3944,2035,0,0,0,0,0,0
$GC,8888,0.53,104.3,858.8,18.3,602,8896,0.00,1.08,0.00,0.000,6,0.000,0.038,1898,3269,2034,0,0,0,0,0,0
$GC,9205,0.53,104.3,807.6,16.2,618,9208,0.00,1.12,0.00,0.000,4,0.000,0.060,1898,3954,2031,0,0,0,0,0,0
$GC,9388,0.53,104.3,775.0,17.9,626,9393,0.00,1.08,0.00,0.000,6,0.000,0.037,1903,3270,2031,0,0,0,0,0,0
$GC,9716,0.53,104.3,723.7,15.3,642,9720,0.00,1.12,0.00,0.000,4,0.000,0.060,1903,3957,2030,0,0,0,0,0,0
$GC,9973,0.53,104.3,680.4,15.6,653,9978,0.00,1.08,0.00,0.000,6,0.000,0.037,1908,3269,2030,0,0,0,0,0,0
$GC,10297,0.53,104.3,631.4,14.9,669,10300,0.00,1.10,0.00,0.000,4,0.000,0.060,1908,3946,2029,0,0,0,0,0,0
$GC,10544,0.53,104.3,589.3,17.6,680,10547,0.00,1.02,0.00,0.000,6,0.000,0.038,1913,3277,2029,0,0,0,0,0,0
$GC,10876,0.53,104.3,538.8,15.0,696,10879,0.00,1.10,0.00,0.000,4,0.000,0.060,1913,3957,2028,0,0,0,0,0,0
$GC,11071,0.53,104.3,506.0,16.6,704,11079,0.00,1.05,0.00,0.000,6,0.000,0.037,1918,3278,2028,0,0,0,0,0,0
$GC,11387,0.53,104.3,461.0,13.6,720,11391,0.00,1.08,0.00,0.000,4,0.000,0.060,1918,3947,2027,0,0,0,0,0,0
$GC,11487,0.53,104.3,445.1,16.4,724,11492,0.12,1.05,0.00,0.000,6,0.220,0.037,1896,3272,2027,0,0,0,0,0,0
$GC,11809,0.53,104.3,405.5,12.0,740,11812,0.00,1.10,0.00,0.000,4,0.000,0.060,1896,3953,2027,0,0,0,0,0,0
$GC,11981,0.53,104.3,380.8,14.7,753,11989,0.00,1.05,0.00,0.000,6,0.000,0.037,1900,3277,2027,0,0,0,0,0,0
$GC,12307,0.53,104.3,341.1,11.8,784,12310,0.00,1.10,0.00,0.000,4,0.000,0.062,1900,3954,2027,0,0,0,0,0,0
$GC,12390,0.53,104.3,329.9,13.3,791,12398,0.00,1.05,0.00,0.000,6,0.000,0.038,1905,3277,2027,0,0,0,0,0,0
$GC,12716,0.53,104.3,289.4,12.8,822,12717,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3277,2026,0,0,0,0,0,0
$GC,13035,0.53,104.3,247.9,13.3,852,13039,0.00,1.10,0.00,0.000,4,0.000,0.060,1905,3955,2026,0,0,0,0,0,0
$GC,13160,0.53,104.3,229.0,15.7,863,13163,0.00,1.02,0.00,0.000,6,0.000,0.038,1910,3281,2026,0,0,0,0,0,0
$GC,13490,0.53,104.3,184.1,13.4,894,13494,0.00,1.08,0.00,0.000,4,0.000,0.060,1910,3950,2026,0,0,0,0,0,0
$GC,13719,0.53,104.3,150.6,14.5,914,13726,0.00,1.05,0.00,0.000,6,0.000,0.037,1916,3271,2026,0,0,0,0,0,0
$GC,14047,0.53,104.3,109.5,12.2,945,14050,0.00,1.10,0.00,0.000,4,0.000,0.059,1916,3951,2026,0,0,0,0,0,0
$GC,14230,0.53,104.3,84.4,13.7,970,14236,0.00,1.02,0.00,0.000,6,0.000,0.037,1921,3275,2026,0,0,0,0,0,0
$GC,14581,0.53,104.9,44.3,9.4,1031,14587,0.00,1.10,0.00,0.000,4,0.000,0.060,1921,3955,2026,0,0,0,0,0,0
$GC,14855,0.53,104.9,13.6,10.0,1077,14864,0.10,1.02,0.00,0.000,6,0.197,0.037,1898,3274,2026,0,0,0,0,0,0
$GC,14916,0.53,106.0,7.9,9.3,1086,14925,0.00,1.10,0.00,0.000,4,0.000,0.060,1898,3957,2026,0,0,0,0,0,0
$STATE,14968,end climb,SURFACE_DEPTH_REACHED
$STATE,14968,begin surface coast
$FINISH,0.5,1.026241
$STATE,15000,end surface coast,CONTROL_FINISHED_OK
$STATE,15000,begin surface
$SM_CCo,15013,49.67,0.779,0,0,1552,225.18
$SM_GC,1.32,0.00,0.00,49.67,0.000,0.000,0.779,59,3422,1552,-5.19,0.06,225.18
$IRIDIUM_FIX,-4244.98,828.21,311213,171729
$TT8_MAMPS,0.026215
$HUMID,61.34
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.4,28.754
$10V_AH,10.0,20.787
$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,12.950,88.925,199.225,49.675,0.000,25.910,42.174,344.258,0.000,0.000,16.775,2748.962,9178.858,405.630,3064.120,200.478,0.000,1460.371,0.000,2518.090,0.000,1.010,0.000
$DEVICE_MAMPS,238.680,91.035,1872.720,778.770,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,762.397,1897.806,755.729,367.526,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354432
$DATA_FILE_SIZE,77181,1099
$CAP_FILE_SIZE,139361,0
$CFSIZE,259252224,244977664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010114,020734,-4300.028,831.333,32,1.0,32,-25.1