version: 66.07
glider: 543
mission: 9
dive: 191
start: 1 1 114 2 16 13
data:
$ID,543
$MISSION,9
$DIVE,191
$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,-13130.75
$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,40
$R_STBD_OVSHOOT,20
$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
$GPS1,010114,020734,-4300.028,831.333,32,1.0,32,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-55.2
$GPS2,010114,021548,-4300.024,831.448,20,1.1,21,-25.1
$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,296.4,1961,-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,-50.25,0.000,2,0.000,0.000,58,3420,2691,0,0,0,0,0,0
$GC,69,-0.54,-109.7,3.1,-3.7,6,88,6.00,0.85,-6.18,0.000,4,0.228,0.088,1538,3955,2923,0,0,0,0,0,0
$GC,121,-0.54,-109.7,14.6,-22.8,13,130,0.00,0.82,0.00,0.000,6,0.000,0.040,1538,3428,2926,0,0,0,0,0,0
$GC,177,-0.54,-109.7,25.9,-19.6,22,186,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,3428,2926,0,0,0,0,0,0
$GC,325,-0.54,-109.7,53.1,-18.3,47,331,0.00,2.20,0.00,0.000,4,0.000,0.033,1538,1991,2927,0,0,0,0,0,0
$GC,349,-0.54,-109.7,56.9,-15.8,51,358,0.00,2.35,0.00,0.000,6,0.000,0.054,1527,3418,2927,0,0,0,0,0,0
$GC,696,-0.54,-109.7,113.7,-16.2,104,700,0.00,2.15,0.00,0.000,4,0.000,0.031,1527,1988,2929,0,0,0,0,0,0
$GC,724,-0.54,-109.7,117.8,-13.9,106,728,0.00,2.30,0.00,0.000,6,0.000,0.054,1517,3423,2929,0,0,0,0,0,0
$GC,1056,-0.54,-109.7,172.1,-17.1,137,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,1517,3423,2929,0,0,0,0,0,0
$GC,1373,-0.54,-109.7,224.4,-15.9,167,1377,0.00,2.15,0.00,0.000,4,0.000,0.033,1517,1992,2930,0,0,0,0,0,0
$GC,1394,-0.54,-109.7,228.1,-15.9,168,1404,0.10,2.33,0.00,0.000,6,0.150,0.055,1538,3418,2930,0,0,0,0,0,0
$GC,1719,-0.54,-109.7,271.0,-13.3,199,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,3418,2930,0,0,0,0,0,0
$GC,2041,-0.54,-109.7,314.3,-13.9,229,2044,0.00,0.85,0.00,0.000,4,0.000,0.061,1535,3953,2930,0,0,0,0,0,0
$GC,2101,-0.54,-109.7,324.1,-15.2,234,2108,0.00,0.85,0.00,0.000,6,0.000,0.037,1535,3402,2930,0,0,0,0,0,0
$GC,2428,-0.54,-109.7,370.6,-14.3,265,2432,0.00,2.10,0.00,0.000,4,0.000,0.032,1535,1989,2930,0,0,0,0,0,0
$GC,2449,-0.54,-109.7,374.0,-14.1,266,2457,0.00,2.35,0.00,0.000,6,0.000,0.055,1524,3426,2931,0,0,0,0,0,0
$GC,2770,-0.54,-109.7,422.6,-15.6,290,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3426,2931,0,0,0,0,0,0
$GC,3080,-0.54,-109.7,470.9,-15.7,305,3081,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3426,2931,0,0,0,0,0,0
$GC,3390,-0.54,-109.7,518.2,-15.2,320,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3426,2930,0,0,0,0,0,0
$GC,3699,-0.54,-109.7,565.1,-15.0,335,3702,0.00,2.17,0.00,0.000,4,0.000,0.034,1524,1994,2930,0,0,0,0,0,0
$GC,3725,-0.54,-109.7,569.1,-14.2,336,3730,0.08,2.33,0.00,0.000,6,0.145,0.057,1537,3414,2930,0,0,0,0,0,0
$GC,4048,-0.54,-109.7,608.8,-12.1,352,4049,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3415,2929,0,0,0,0,0,0
$GC,4356,-0.54,-109.7,644.4,-11.6,367,4357,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3414,2928,0,0,0,0,0,0
$GC,4665,-0.54,-109.7,679.3,-11.4,382,4669,0.00,2.15,0.00,0.000,4,0.000,0.036,1537,2002,2927,0,0,0,0,0,0
$GC,4687,-0.54,-109.7,681.7,-11.3,383,4691,0.00,2.33,0.00,0.000,6,0.000,0.059,1527,3431,2928,0,0,0,0,0,0
$GC,5008,-0.54,-109.7,721.6,-13.0,399,5012,0.00,2.17,0.00,0.000,4,0.000,0.036,1528,2003,2927,0,0,0,0,0,0
$GC,5040,-0.54,-109.7,725.7,-11.3,400,5047,0.00,2.33,0.00,0.000,6,0.000,0.058,1517,3420,2927,0,0,0,0,0,0
$GC,5358,-0.54,-109.7,768.1,-13.7,416,5359,0.00,0.00,0.00,0.000,6,0.000,0.000,1517,3420,2927,0,0,0,0,0,0
$GC,5666,-0.54,-109.7,810.2,-13.7,431,5670,0.00,2.17,0.00,0.000,4,0.000,0.036,1517,1999,2926,0,0,0,0,0,0
$GC,5683,-0.54,-109.7,812.5,-13.0,432,5688,0.15,2.30,0.00,0.000,6,0.167,0.059,1545,3421,2926,0,0,0,0,0,0
$GC,6009,-0.54,-109.7,848.6,-10.8,448,6010,0.00,0.00,0.00,0.000,6,0.000,0.000,1545,3422,2926,0,0,0,0,0,0
$GC,6318,-0.54,-109.7,881.3,-10.4,463,6319,0.00,0.00,0.00,0.000,6,0.000,0.000,1545,3422,2925,0,0,0,0,0,0
$GC,6627,-0.54,-109.7,913.4,-10.4,478,6628,0.00,0.00,0.00,0.000,6,0.000,0.000,1545,3422,2925,0,0,0,0,0,0
$GC,6938,-0.54,-109.7,944.2,-9.9,493,6942,0.00,0.85,0.00,0.000,4,0.000,0.068,1542,3950,2924,0,0,0,0,0,0
$GC,6984,-0.54,-109.7,949.3,-11.2,495,6987,0.00,0.80,0.00,0.000,6,0.000,0.044,1542,3429,2924,0,0,0,0,0,0
$GC,7316,-0.54,-109.7,983.0,-10.0,511,7317,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,3428,2925,0,0,0,0,0,0
$STATE,7397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7397,begin apogee
$GC,7401,-0.09,0.0,991.4,10.1,515,7510,0.50,0.00,105.07,1.861,6,0.153,0.000,1689,3270,2473,0,0,0,0,0,0
$STATE,7510,end apogee,CONTROL_FINISHED_OK
$STATE,7511,begin climb
$GC,7512,0.54,109.7,993.8,0.0,520,7632,0.57,2.47,111.35,1.812,4,0.059,0.036,1906,1874,2025,0,0,0,0,0,0
$GC,7676,0.54,109.7,979.8,13.9,527,7684,0.00,2.50,0.00,0.000,6,0.000,0.055,1906,3278,2020,0,0,0,0,0,0
$GC,7992,0.54,109.7,928.3,16.4,543,7996,0.00,1.12,0.00,0.000,4,0.000,0.063,1906,3944,2013,0,0,0,0,0,0
$GC,8182,0.54,109.7,893.3,19.0,551,8186,0.00,1.08,0.00,0.000,6,0.000,0.037,1911,3273,2012,0,0,0,0,0,0
$GC,8504,0.54,109.7,839.8,16.4,567,8507,0.00,1.12,0.00,0.000,4,0.000,0.061,1911,3953,2010,0,0,0,0,0,0
$GC,8552,0.54,109.7,830.8,18.3,569,8557,0.00,1.08,0.00,0.000,6,0.000,0.038,1916,3277,2010,0,0,0,0,0,0
$GC,8880,0.54,109.7,778.9,15.9,585,8884,0.00,1.10,0.00,0.000,4,0.000,0.060,1916,3954,2009,0,0,0,0,0,0
$GC,8918,0.54,109.7,772.1,17.8,586,8926,0.00,1.08,0.00,0.000,6,0.000,0.037,1921,3269,2009,0,0,0,0,0,0
$GC,9234,0.54,109.7,722.3,15.4,602,9238,0.00,1.12,0.00,0.000,4,0.000,0.061,1921,3956,2008,0,0,0,0,0,0
$GC,9302,0.54,109.7,710.7,17.6,605,9306,0.10,1.05,0.00,0.000,6,0.195,0.037,1899,3272,2008,0,0,0,0,0,0
$GC,9634,0.54,109.7,664.6,14.0,621,9635,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3272,2007,0,0,0,0,0,0
$GC,9945,0.54,109.7,622.4,13.9,636,9946,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3272,2007,0,0,0,0,0,0
$GC,10252,0.54,109.7,579.2,13.9,651,10256,0.00,1.10,0.00,0.000,4,0.000,0.060,1899,3950,2006,0,0,0,0,0,0
$GC,10297,0.54,109.7,572.3,16.4,653,10301,0.00,1.02,0.00,0.000,6,0.000,0.038,1902,3282,2006,0,0,0,0,0,0
$GC,10630,0.54,109.7,524.4,14.3,669,10633,0.00,1.10,0.00,0.000,4,0.000,0.060,1902,3959,2006,0,0,0,0,0,0
$GC,10735,0.54,109.7,506.9,18.0,673,10743,0.00,1.08,0.00,0.000,6,0.000,0.037,1908,3268,2005,0,0,0,0,0,0
$GC,11051,0.54,109.7,460.7,14.3,689,11055,0.00,1.10,0.00,0.000,4,0.000,0.060,1908,3946,2005,0,0,0,0,0,0
$GC,11156,0.54,109.7,443.9,16.2,693,11164,0.00,1.05,0.00,0.000,6,0.000,0.037,1913,3268,2005,0,0,0,0,0,0
$GC,11473,0.54,109.7,400.8,13.4,709,11476,0.00,1.12,0.00,0.000,4,0.000,0.060,1913,3961,2005,0,0,0,0,0,0
$GC,11532,0.54,109.7,392.1,15.1,713,11535,0.00,1.05,0.00,0.000,6,0.000,0.037,1919,3274,2005,0,0,0,0,0,0
$GC,11862,0.54,109.7,345.5,14.4,744,11865,0.00,1.10,0.00,0.000,4,0.000,0.060,1919,3957,2005,0,0,0,0,0,0
$GC,12121,0.54,109.7,304.7,15.4,767,12125,0.08,1.02,0.00,0.000,6,0.198,0.037,1902,3277,2004,0,0,0,0,0,0
$GC,12451,0.54,109.7,263.5,12.1,798,12454,0.00,1.10,0.00,0.000,4,0.000,0.060,1902,3960,2004,0,0,0,0,0,0
$GC,12699,0.54,109.7,228.8,13.4,820,12703,0.00,1.02,0.00,0.000,6,0.000,0.037,1906,3285,2004,0,0,0,0,0,0
$GC,13029,0.54,109.7,187.7,11.5,851,13030,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3284,2004,0,0,0,0,0,0
$GC,13351,0.54,109.7,148.1,12.7,881,13355,0.00,1.08,0.00,0.000,4,0.000,0.059,1906,3952,2004,0,0,0,0,0,0
$GC,13400,0.54,109.7,140.8,14.7,885,13407,0.00,1.02,0.00,0.000,6,0.000,0.035,1911,3268,2004,0,0,0,0,0,0
$GC,13725,0.54,109.7,99.0,12.9,916,13732,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3268,2004,0,0,0,0,0,0
$GC,14076,0.54,109.7,56.2,11.7,977,14083,0.00,1.10,0.00,0.000,4,0.000,0.060,1911,3948,2004,0,0,0,0,0,0
$GC,14211,0.54,109.7,40.4,12.9,1000,14218,0.00,1.00,0.00,0.000,6,0.000,0.036,1917,3285,2004,0,0,0,0,0,0
$STATE,14559,end climb,SURFACE_DEPTH_REACHED
$STATE,14559,begin surface coast
$FINISH,0.6,1.026264
$STATE,14593,end surface coast,CONTROL_FINISHED_OK
$STATE,14593,begin surface
$SM_CCo,14605,46.25,0.787,0,0,1553,225.18
$SM_GC,1.04,0.00,0.00,46.25,0.000,0.000,0.787,51,3433,1553,-5.21,0.40,225.18
$IRIDIUM_FIX,-4242.04,830.68,311213,212144
$TT8_MAMPS,0.025466
$HUMID,62.12
$INTERNAL_PRESSURE,9.53279
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.4,28.897
$10V_AH,10.0,20.896
$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,12.425,72.150,216.425,46.250,0.000,25.676,22.518,315.541,0.000,0.000,23.125,2624.724,9152.766,378.283,2798.720,190.701,0.000,1369.461,0.000,2302.213,0.000,1.011,0.000
$DEVICE_MAMPS,227.970,87.975,1861.245,787.185,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,737.703,1822.878,715.945,355.306,0.000,0.000,0.000,0.000,0.000,0.000
$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,77024,1063
$CAP_FILE_SIZE,131575,0
$CFSIZE,259252224,244908032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010114,062134,-4259.765,829.887,35,0.9,35,-25.0