version: 66.07
glider: 543
mission: 9
dive: 194
start: 1 1 114 15 8 12
data:
$ID,543
$MISSION,9
$DIVE,194
$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,-13141.175
$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,27
$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
$GPS1,010114,145923,-4259.512,830.618,39,0.9,39,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-65.7
$GPS2,010114,150747,-4259.464,830.702,15,1.2,16,-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,248.8,1374,-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,-49.47,0.000,2,0.000,0.000,50,3425,2682,0,0,0,0,0,0
$GC,68,-0.53,-105.6,3.2,-4.2,6,86,6.15,0.00,-5.93,0.000,6,0.235,0.000,1541,3425,2909,0,0,0,0,0,0
$GC,137,-0.53,-105.6,18.0,-19.4,16,145,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3425,2910,0,0,0,0,0,0
$GC,195,-0.53,-105.6,28.6,-18.4,25,202,0.00,2.20,0.00,0.000,4,0.000,0.031,1540,1995,2911,0,0,0,0,0,0
$GC,214,-0.53,-105.6,32.5,-18.2,28,224,0.00,2.35,0.00,0.000,6,0.000,0.053,1531,3418,2911,0,0,0,0,0,0
$GC,362,-0.53,-105.6,57.4,-16.5,53,368,0.00,0.85,0.00,0.000,4,0.000,0.059,1527,3950,2912,0,0,0,0,0,0
$GC,455,-0.53,-105.6,73.7,-17.5,69,464,0.00,0.80,0.00,0.000,6,0.000,0.036,1527,3420,2912,0,0,0,0,0,0
$GC,799,-0.53,-105.6,129.5,-15.7,114,800,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3420,2914,0,0,0,0,0,0
$GC,1118,-0.53,-105.6,178.6,-14.9,144,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3420,2914,0,0,0,0,0,0
$GC,1437,-0.53,-105.6,226.3,-14.3,174,1440,0.00,0.88,0.00,0.000,4,0.000,0.062,1523,3951,2915,0,0,0,0,0,0
$GC,1553,-0.53,-105.6,245.3,-15.7,184,1563,0.00,0.82,0.00,0.000,6,0.000,0.036,1523,3413,2915,0,0,0,0,0,0
$GC,1878,-0.53,-105.6,294.1,-14.0,215,1882,0.00,2.12,0.00,0.000,4,0.000,0.031,1523,1993,2915,0,0,0,0,0,0
$GC,1908,-0.53,-105.6,297.9,-13.0,217,1913,0.12,2.28,0.00,0.000,6,0.164,0.052,1544,3424,2915,0,0,0,0,0,0
$GC,2238,-0.53,-105.6,340.4,-13.3,248,2241,0.00,0.82,0.00,0.000,4,0.000,0.060,1541,3946,2915,0,0,0,0,0,0
$GC,2317,-0.53,-105.6,351.5,-14.1,255,2321,0.00,0.77,0.00,0.000,6,0.000,0.038,1541,3428,2915,0,0,0,0,0,0
$GC,2647,-0.53,-105.6,397.4,-14.0,286,2649,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,3428,2915,0,0,0,0,0,0
$GC,2957,-0.53,-105.6,438.9,-13.2,302,2959,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,3427,2915,0,0,0,0,0,0
$GC,3267,-0.53,-105.6,477.4,-12.4,317,3268,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,3428,2915,0,0,0,0,0,0
$GC,3576,-0.53,-105.6,514.5,-12.1,332,3577,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,3428,2915,0,0,0,0,0,0
$GC,3886,-0.53,-105.6,550.8,-11.6,347,3889,0.00,0.82,0.00,0.000,4,0.000,0.063,1537,3941,2914,0,0,0,0,0,0
$GC,3931,-0.53,-105.6,556.6,-12.9,349,3934,0.00,0.80,0.00,0.000,6,0.000,0.039,1537,3415,2914,0,0,0,0,0,0
$GC,4263,-0.53,-105.6,597.4,-12.4,365,4266,0.00,0.85,0.00,0.000,4,0.000,0.063,1533,3946,2913,0,0,0,0,0,0
$GC,4308,-0.53,-105.6,603.3,-12.9,367,4312,0.00,0.80,0.00,0.000,6,0.000,0.039,1533,3416,2913,0,0,0,0,0,0
$GC,4640,-0.53,-105.6,645.4,-12.5,383,4644,0.00,0.85,0.00,0.000,4,0.000,0.064,1529,3947,2913,0,0,0,0,0,0
$GC,4678,-0.53,-105.6,650.7,-13.1,384,4686,0.00,0.82,0.00,0.000,6,0.000,0.037,1529,3410,2913,0,0,0,0,0,0
$GC,4996,-0.53,-105.6,690.6,-13.0,400,5000,0.00,0.85,0.00,0.000,4,0.000,0.062,1526,3940,2912,0,0,0,0,0,0
$GC,5050,-0.53,-105.6,698.8,-14.1,402,5055,0.00,0.80,0.00,0.000,6,0.000,0.038,1526,3421,2912,0,0,0,0,0,0
$GC,5373,-0.53,-105.6,742.2,-13.3,418,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3421,2911,0,0,0,0,0,0
$GC,5683,-0.53,-105.6,783.2,-13.1,433,5684,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3420,2911,0,0,0,0,0,0
$GC,5991,-0.53,-105.6,823.4,-12.8,448,5992,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3421,2911,0,0,0,0,0,0
$GC,6300,-0.53,-105.6,863.9,-13.0,463,6304,0.00,0.88,0.00,0.000,4,0.000,0.065,1522,3950,2910,0,0,0,0,0,0
$GC,6338,-0.53,-105.6,869.5,-13.4,464,6346,0.00,0.82,0.00,0.000,6,0.000,0.038,1522,3417,2910,0,0,0,0,0,0
$GC,6654,-0.53,-105.6,912.4,-13.8,480,6658,0.00,0.85,0.00,0.000,4,0.000,0.064,1518,3946,2909,0,0,0,0,0,0
$GC,6692,-0.53,-105.6,918.2,-15.0,481,6699,0.00,0.82,0.00,0.000,6,0.000,0.038,1518,3412,2909,0,0,0,0,0,0
$GC,7008,-0.53,-105.6,959.8,-12.7,497,7012,0.00,2.12,0.00,0.000,4,0.000,0.033,1518,1996,2909,0,0,0,0,0,0
$GC,7034,-0.53,-105.6,963.1,-11.8,498,7039,0.10,2.30,0.00,0.000,6,0.142,0.055,1539,3414,2909,0,0,0,0,0,0
$STATE,7312,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7313,begin apogee
$GC,7318,-0.09,0.0,991.6,10.1,512,7424,0.50,0.00,103.28,1.873,6,0.152,0.000,1688,3274,2473,0,0,0,0,0,0
$STATE,7425,end apogee,CONTROL_FINISHED_OK
$STATE,7425,begin climb
$GC,7427,0.53,105.6,993.9,0.0,517,7542,0.57,2.42,107.50,1.818,4,0.062,0.032,1902,1866,2042,0,0,0,0,0,0
$GC,7614,0.53,105.6,976.7,12.8,525,7622,0.00,2.47,0.00,0.000,6,0.000,0.050,1902,3281,2034,0,0,0,0,0,0
$GC,7932,0.53,105.6,925.6,16.5,541,7933,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3281,2029,0,0,0,0,0,0
$GC,8240,0.53,105.6,875.9,15.8,556,8244,0.00,2.22,0.00,0.000,4,0.000,0.034,1913,1857,2027,0,0,0,0,0,0
$GC,8273,0.53,105.6,871.1,14.2,557,8280,0.00,2.35,0.00,0.000,6,0.000,0.052,1913,3291,2026,0,0,0,0,0,0
$GC,8588,0.53,105.6,821.0,16.0,573,8589,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3291,2026,0,0,0,0,0,0
$GC,8898,0.53,105.6,772.1,16.0,588,8902,0.00,2.22,0.00,0.000,4,0.000,0.034,1924,1854,2025,0,0,0,0,0,0
$GC,8930,0.53,105.6,766.9,15.3,589,8938,0.10,2.33,0.00,0.000,6,0.173,0.052,1896,3275,2024,0,0,0,0,0,0
$GC,9248,0.53,105.6,720.7,14.2,605,9249,0.00,0.00,0.00,0.000,6,0.000,0.000,1895,3275,2024,0,0,0,0,0,0
$GC,9555,0.53,105.6,675.8,14.5,620,9559,0.00,1.10,0.00,0.000,4,0.000,0.061,1896,3949,2023,0,0,0,0,0,0
$GC,9615,0.53,105.6,666.1,16.1,622,9623,0.00,1.05,0.00,0.000,6,0.000,0.037,1899,3274,2023,0,0,0,0,0,0
$GC,9933,0.53,105.6,621.8,14.0,638,9935,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3274,2023,0,0,0,0,0,0
$GC,10241,0.53,105.6,579.8,13.8,653,10244,0.00,1.10,0.00,0.000,4,0.000,0.062,1899,3949,2023,0,0,0,0,0,0
$GC,10290,0.53,105.6,572.1,16.8,655,10294,0.00,1.05,0.00,0.000,6,0.000,0.038,1904,3276,2022,0,0,0,0,0,0
$GC,10619,0.53,105.6,524.9,14.2,671,10620,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3275,2022,0,0,0,0,0,0
$GC,10927,0.53,105.6,480.4,14.3,686,10930,0.00,1.10,0.00,0.000,4,0.000,0.060,1904,3950,2022,0,0,0,0,0,0
$GC,11017,0.53,105.6,466.4,15.7,690,11021,0.00,1.02,0.00,0.000,6,0.000,0.039,1909,3282,2022,0,0,0,0,0,0
$GC,11349,0.53,105.6,420.4,13.3,706,11352,0.00,2.17,0.00,0.000,4,0.000,0.034,1921,1857,2021,0,0,0,0,0,0
$GC,11403,0.53,105.6,413.8,11.2,708,11411,0.00,2.30,0.00,0.000,6,0.000,0.050,1921,3278,2020,0,0,0,0,0,0
$GC,11727,0.53,105.6,370.3,13.8,734,11728,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3278,2020,0,0,0,0,0,0
$GC,12045,0.53,105.6,327.9,13.1,764,12049,0.00,1.08,0.00,0.000,4,0.000,0.060,1921,3947,2020,0,0,0,0,0,0
$GC,12136,0.53,105.6,314.7,14.2,772,12141,0.10,1.02,0.00,0.000,6,0.197,0.037,1898,3271,2020,0,0,0,0,0,0
$GC,12466,0.53,105.6,273.3,12.9,803,12470,0.00,2.15,0.00,0.000,4,0.000,0.033,1908,1854,2019,0,0,0,0,0,0
$GC,12506,0.53,105.6,268.4,11.8,806,12510,0.00,2.28,0.00,0.000,6,0.000,0.051,1908,3280,2019,0,0,0,0,0,0
$GC,12830,0.53,105.6,222.4,13.9,836,12834,0.00,1.05,0.00,0.000,4,0.000,0.060,1908,3940,2019,0,0,0,0,0,0
$GC,12868,0.53,105.6,216.4,14.4,839,12876,0.00,1.02,0.00,0.000,6,0.000,0.036,1913,3275,2019,0,0,0,0,0,0
$GC,13193,0.53,105.6,170.1,14.6,870,13195,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3275,2018,0,0,0,0,0,0
$GC,13513,0.53,105.6,124.1,14.5,900,13517,0.00,1.10,0.00,0.000,4,0.000,0.060,1913,3955,2018,0,0,0,0,0,0
$GC,13572,0.53,105.6,114.9,16.0,905,13576,0.00,1.02,0.00,0.000,6,0.000,0.037,1918,3276,2018,0,0,0,0,0,0
$GC,13913,0.53,105.6,67.9,11.7,957,13922,0.00,2.17,0.00,0.000,4,0.000,0.033,1930,1853,2018,0,0,0,0,0,0
$GC,13986,0.53,105.6,59.9,10.5,969,13995,0.10,2.30,0.00,0.000,6,0.161,0.050,1899,3285,2018,0,0,0,0,0,0
$GC,14344,0.53,107.2,28.8,9.3,1030,14353,0.00,1.05,0.00,0.000,4,0.000,0.058,1899,3942,2017,0,0,0,0,0,0
$GC,14379,0.53,107.2,25.5,10.1,1035,14386,0.00,1.00,0.00,0.000,6,0.000,0.036,1903,3279,2017,0,0,0,0,0,0
$GC,14536,0.53,107.2,9.8,10.4,1060,14545,0.00,2.15,0.00,0.000,4,0.000,0.031,1914,1861,2017,0,0,0,0,0,0
$GC,14566,0.54,109.8,7.0,9.1,1064,14575,0.00,2.28,0.00,0.000,6,0.000,0.050,1914,3278,2017,0,0,0,0,0,0
$STATE,14606,end climb,SURFACE_DEPTH_REACHED
$STATE,14606,begin surface coast
$FINISH,0.5,1.012810
$STATE,14638,end surface coast,CONTROL_FINISHED_OK
$STATE,14638,begin surface
$SM_CCo,14650,47.53,0.787,0,0,1552,225.18
$SM_GC,1.65,0.00,0.00,47.53,0.000,0.000,0.787,58,3426,1552,-5.19,0.20,225.18
$IRIDIUM_FIX,-4244.98,828.21,010114,101044
$TT8_MAMPS,0.026215
$HUMID,61.41
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.4,29.319
$10V_AH,10.0,21.229
$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,12.550,75.325,210.775,47.525,0.000,27.241,25.156,326.625,0.000,0.000,18.518,2643.559,9189.246,390.901,2775.731,203.806,0.000,1382.913,0.000,2275.647,0.000,1.010,0.000
$DEVICE_MAMPS,234.855,74.970,1873.485,787.185,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,745.401,1842.818,742.103,380.719,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354416
$DATA_FILE_SIZE,77139,1075
$CAP_FILE_SIZE,134135,0
$CFSIZE,259252224,244678656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010114,191423,-4300.323,829.437,38,0.9,38,-25.0