version: 66.07
glider: 543
mission: 9
dive: 193
start: 1 1 114 10 50 49
data:
$ID,543
$MISSION,9
$DIVE,193
$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,-13137.681
$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,43
$R_STBD_OVSHOOT,25
$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
$GPS1,010114,104204,-4301.112,831.097,25,1.3,25,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-63.3
$GPS2,010114,105024,-4301.101,831.159,20,1.1,21,-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,347.5,2573,-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,-49.40,0.000,2,0.000,0.000,54,3434,2674,0,0,0,0,0,0
$GC,68,-0.53,-104.0,3.1,-4.4,6,87,6.20,2.20,-5.90,0.000,4,0.239,0.041,1546,1992,2899,0,0,0,0,0,0
$GC,172,-0.53,-104.0,21.7,-13.8,22,181,0.00,2.35,0.00,0.000,6,0.000,0.053,1537,3414,2902,0,0,0,0,0,0
$GC,323,-0.53,-104.0,48.5,-18.5,47,329,0.00,0.85,0.00,0.000,4,0.000,0.060,1533,3942,2903,0,0,0,0,0,0
$GC,477,-0.53,-104.0,76.6,-16.7,73,483,0.00,0.80,0.00,0.000,6,0.000,0.037,1533,3416,2903,0,0,0,0,0,0
$GC,814,-0.53,-104.0,127.6,-14.9,117,815,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3416,2904,0,0,0,0,0,0
$GC,1131,-0.53,-104.0,176.8,-15.3,147,1135,0.00,0.85,0.00,0.000,4,0.000,0.060,1529,3943,2906,0,0,0,0,0,0
$GC,1214,-0.53,-104.0,191.1,-17.1,154,1222,0.00,0.82,0.00,0.000,6,0.000,0.035,1529,3404,2906,0,0,0,0,0,0
$GC,1542,-0.53,-104.0,242.4,-15.3,185,1546,0.00,0.88,0.00,0.000,4,0.000,0.060,1525,3952,2906,0,0,0,0,0,0
$GC,1580,-0.53,-104.0,249.4,-16.6,188,1590,0.00,0.82,0.00,0.000,6,0.000,0.035,1525,3412,2906,0,0,0,0,0,0
$GC,1905,-0.53,-104.0,298.7,-14.9,219,1909,0.00,2.12,0.00,0.000,4,0.000,0.031,1525,1995,2906,0,0,0,0,0,0
$GC,1939,-0.53,-104.0,303.5,-13.7,221,1947,0.12,2.28,0.00,0.000,6,0.167,0.052,1546,3420,2906,0,0,0,0,0,0
$GC,2264,-0.53,-104.0,343.9,-12.1,252,2267,0.00,0.82,0.00,0.000,4,0.000,0.060,1543,3944,2906,0,0,0,0,0,0
$GC,2323,-0.53,-104.0,351.4,-13.4,257,2327,0.00,0.77,0.00,0.000,6,0.000,0.037,1543,3426,2907,0,0,0,0,0,0
$GC,2653,-0.53,-104.0,395.5,-13.0,288,2657,0.00,2.15,0.00,0.000,4,0.000,0.031,1543,1990,2907,0,0,0,0,0,0
$GC,2682,-0.53,-104.0,399.1,-12.3,290,2686,0.00,2.30,0.00,0.000,6,0.000,0.054,1532,3427,2906,0,0,0,0,0,0
$GC,3002,-0.53,-104.0,442.5,-13.5,306,3006,0.00,0.82,0.00,0.000,4,0.000,0.061,1528,3950,2906,0,0,0,0,0,0
$GC,3047,-0.53,-104.0,449.1,-14.7,308,3051,0.00,0.80,0.00,0.000,6,0.000,0.039,1528,3418,2906,0,0,0,0,0,0
$GC,3379,-0.53,-104.0,494.6,-13.4,324,3383,0.00,2.15,0.00,0.000,4,0.000,0.032,1528,1989,2906,0,0,0,0,0,0
$GC,3406,-0.53,-104.0,498.3,-13.2,325,3410,0.00,2.33,0.00,0.000,6,0.000,0.054,1517,3418,2906,0,0,0,0,0,0
$GC,3728,-0.53,-104.0,543.6,-14.6,341,3730,0.12,0.00,0.00,0.000,6,0.193,0.000,1546,3418,2906,0,0,0,0,0,0
$GC,4037,-0.53,-104.0,580.1,-11.5,356,4038,0.00,0.00,0.00,0.000,6,0.000,0.000,1546,3418,2905,0,0,0,0,0,0
$GC,4348,-0.53,-104.0,615.8,-11.7,371,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,1546,3418,2904,0,0,0,0,0,0
$GC,4656,-0.53,-104.0,651.8,-11.7,386,4657,0.00,0.00,0.00,0.000,6,0.000,0.000,1546,3418,2904,0,0,0,0,0,0
$GC,4965,-0.53,-104.0,687.9,-11.7,401,4969,0.00,0.85,0.00,0.000,4,0.000,0.063,1544,3953,2904,0,0,0,0,0,0
$GC,5033,-0.53,-104.0,696.4,-12.2,404,5037,0.00,0.80,0.00,0.000,6,0.000,0.041,1544,3423,2904,0,0,0,0,0,0
$GC,5365,-0.53,-104.0,735.7,-11.5,420,5369,0.00,2.12,0.00,0.000,4,0.000,0.032,1544,1996,2903,0,0,0,0,0,0
$GC,5392,-0.53,-104.0,738.9,-12.1,421,5397,0.00,2.33,0.00,0.000,6,0.000,0.056,1533,3417,2903,0,0,0,0,0,0
$GC,5714,-0.53,-104.0,777.8,-12.2,437,5717,0.00,0.85,0.00,0.000,4,0.000,0.063,1529,3954,2902,0,0,0,0,0,0
$GC,5791,-0.53,-104.0,788.3,-14.0,440,5795,0.00,0.82,0.00,0.000,6,0.000,0.038,1529,3416,2902,0,0,0,0,0,0
$GC,6113,-0.53,-104.0,829.1,-12.8,456,6114,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3415,2902,0,0,0,0,0,0
$GC,6424,-0.53,-104.0,869.3,-13.1,471,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3415,2902,0,0,0,0,0,0
$GC,6732,-0.53,-104.0,907.4,-12.1,486,6733,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3415,2901,0,0,0,0,0,0
$GC,7041,-0.53,-104.0,944.2,-11.8,501,7042,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3416,2900,0,0,0,0,0,0
$GC,7350,-0.53,-104.0,979.7,-11.4,516,7354,0.00,2.15,0.00,0.000,4,0.000,0.033,1529,1989,2900,0,0,0,0,0,0
$GC,7376,-0.53,-104.0,982.7,-11.3,517,7380,0.00,2.33,0.00,0.000,6,0.000,0.056,1518,3422,2900,0,0,0,0,0,0
$STATE,7449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7449,begin apogee
$GC,7453,-0.09,0.0,991.2,12.2,521,7557,0.57,0.00,100.85,1.873,6,0.160,0.000,1684,3283,2473,0,0,0,0,0,0
$STATE,7558,end apogee,CONTROL_FINISHED_OK
$STATE,7558,begin climb
$GC,7560,0.53,104.0,994.1,0.0,526,7676,0.60,2.47,105.80,1.818,4,0.067,0.034,1903,1869,2048,0,0,0,0,0,0
$GC,7710,0.53,104.0,982.4,12.7,533,7715,0.00,2.45,0.00,0.000,6,0.000,0.052,1903,3281,2045,0,0,0,0,0,0
$GC,8036,0.53,104.0,931.2,16.0,549,8037,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3281,2037,0,0,0,0,0,0
$GC,8345,0.53,104.0,882.9,15.3,564,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3281,2035,0,0,0,0,0,0
$GC,8655,0.53,104.0,837.6,14.3,579,8658,0.00,1.10,0.00,0.000,4,0.000,0.060,1903,3952,2033,0,0,0,0,0,0
$GC,8700,0.53,104.0,830.4,16.1,581,8704,0.00,1.05,0.00,0.000,6,0.000,0.037,1908,3273,2033,0,0,0,0,0,0
$GC,9032,0.53,104.0,781.6,14.5,597,9036,0.00,1.10,0.00,0.000,4,0.000,0.060,1908,3948,2031,0,0,0,0,0,0
$GC,9212,0.53,104.0,752.5,15.5,605,9215,0.00,1.02,0.00,0.000,6,0.000,0.039,1913,3282,2031,0,0,0,0,0,0
$GC,9544,0.53,104.0,702.9,14.8,621,9545,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3282,2030,0,0,0,0,0,0
$GC,9855,0.53,104.0,656.4,15.0,636,9856,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3282,2029,0,0,0,0,0,0
$GC,10163,0.53,104.0,609.9,15.1,651,10166,0.00,1.10,0.00,0.000,4,0.000,0.062,1913,3957,2029,0,0,0,0,0,0
$GC,10253,0.53,104.0,594.7,17.2,655,10256,0.00,1.05,0.00,0.000,6,0.000,0.039,1918,3273,2029,0,0,0,0,0,0
$GC,10585,0.53,104.0,541.5,16.2,671,10586,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3272,2029,0,0,0,0,0,0
$GC,10894,0.53,104.0,491.1,16.3,686,10898,0.00,1.10,0.00,0.000,4,0.000,0.061,1918,3952,2028,0,0,0,0,0,0
$GC,11054,0.53,104.0,464.5,16.3,693,11058,0.10,1.02,0.00,0.000,6,0.200,0.038,1896,3277,2028,0,0,0,0,0,0
$GC,11386,0.53,104.0,418.6,13.1,709,11387,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,3277,2028,0,0,0,0,0,0
$GC,11699,0.53,104.0,380.0,11.4,731,11700,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,3277,2028,0,0,0,0,0,0
$GC,12021,0.53,104.0,342.6,12.1,761,12024,0.00,1.10,0.00,0.000,4,0.000,0.062,1897,3953,2028,0,0,0,0,0,0
$GC,12126,0.53,104.0,327.9,13.6,770,12134,0.00,1.05,0.00,0.000,6,0.000,0.037,1900,3272,2028,0,0,0,0,0,0
$GC,12454,0.53,104.0,287.8,12.5,801,12458,0.00,1.10,0.00,0.000,4,0.000,0.060,1900,3953,2027,0,0,0,0,0,0
$GC,12488,0.53,104.0,283.1,13.1,804,12491,0.00,1.02,0.00,0.000,6,0.000,0.037,1905,3277,2027,0,0,0,0,0,0
$GC,12818,0.53,104.0,242.1,12.6,835,12819,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3277,2027,0,0,0,0,0,0
$GC,13140,0.53,104.0,200.7,12.9,865,13143,0.00,1.10,0.00,0.000,4,0.000,0.060,1905,3958,2027,0,0,0,0,0,0
$GC,13370,0.53,104.0,167.3,14.2,885,13377,0.00,1.05,0.00,0.000,6,0.000,0.037,1909,3278,2027,0,0,0,0,0,0
$GC,13695,0.53,104.0,125.4,13.0,916,13696,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3278,2027,0,0,0,0,0,0
$GC,14022,0.53,104.0,83.8,13.0,957,14030,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3278,2027,0,0,0,0,0,0
$GC,14374,0.53,104.2,46.0,9.4,1018,14381,0.00,2.15,0.00,0.000,4,0.000,0.032,1920,1848,2027,0,0,0,0,0,0
$GC,14417,0.55,127.7,42.7,6.9,1025,14433,0.00,2.28,8.00,0.893,6,0.000,0.050,1920,3288,1950,0,0,0,0,0,0
$STATE,14761,end climb,SURFACE_DEPTH_REACHED
$STATE,14761,begin surface coast
$FINISH,0.7,1.018825
$STATE,14788,end surface coast,CONTROL_FINISHED_OK
$STATE,14788,begin surface
$SM_CCo,14800,40.15,0.787,0,0,1553,225.18
$SM_GC,1.12,0.00,0.00,40.15,0.000,0.000,0.787,51,3425,1553,-5.22,0.14,225.18
$IRIDIUM_FIX,-4244.98,831.12,010114,060628
$TT8_MAMPS,0.026215
$HUMID,62.28
$INTERNAL_PRESSURE,9.53279
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.4,29.177
$10V_AH,10.0,21.119
$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,12.625,63.100,214.650,40.150,0.000,25.675,18.223,326.058,0.000,0.000,23.096,2674.761,9287.876,344.870,2838.234,194.961,0.000,1334.312,0.000,2333.407,0.000,1.010,0.000
$DEVICE_MAMPS,239.445,74.205,1873.485,787.185,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,754.152,1861.224,738.767,357.184,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354388
$DATA_FILE_SIZE,77055,1086
$CAP_FILE_SIZE,129666,0
$CFSIZE,259252224,244760576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010114,145923,-4259.512,830.618,39,0.9,39,-25.0