version: 66.07
glider: 543
mission: 9
dive: 195
start: 1 1 114 19 22 55
data:
$ID,543
$MISSION,9
$DIVE,195
$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,-13144.586
$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,41
$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
$GPS1,010114,191423,-4300.323,829.437,38,0.9,38,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-72.6
$GPS2,010114,192230,-4300.334,829.400,15,1.0,16,-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,77.7,1021,-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,-57.7,0.0,0.0,0,74,0.00,0.00,-50.92,0.000,6,0.000,0.000,58,3431,2712,0,0,0,0,0,0
$GC,76,-0.53,-106.7,3.7,-4.1,7,95,6.12,2.20,-4.70,0.000,4,0.234,0.043,1544,2003,2912,0,0,0,0,0,0
$GC,115,-0.53,-106.7,14.2,-25.5,12,124,0.00,2.35,0.00,0.000,6,0.000,0.053,1535,3421,2915,0,0,0,0,0,0
$GC,174,-0.53,-106.7,24.8,-19.1,21,181,0.00,0.85,0.00,0.000,4,0.000,0.058,1531,3950,2915,0,0,0,0,0,0
$GC,263,-0.53,-106.7,43.1,-19.6,36,272,0.00,0.80,0.00,0.000,6,0.000,0.036,1531,3423,2915,0,0,0,0,0,0
$GC,617,-0.53,-106.7,98.4,-14.1,97,624,0.00,0.85,0.00,0.000,4,0.000,0.060,1528,3951,2917,0,0,0,0,0,0
$GC,709,-0.53,-106.7,112.6,-14.8,106,713,0.00,0.80,0.00,0.000,6,0.000,0.035,1528,3418,2917,0,0,0,0,0,0
$GC,1041,-0.53,-106.7,162.6,-15.8,137,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3418,2919,0,0,0,0,0,0
$GC,1358,-0.53,-106.7,215.2,-16.7,167,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3418,2919,0,0,0,0,0,0
$GC,1679,-0.53,-106.7,269.6,-16.4,197,1682,0.00,0.85,0.00,0.000,4,0.000,0.060,1524,3949,2919,0,0,0,0,0,0
$GC,1735,-0.53,-106.7,279.2,-16.1,202,1739,0.00,0.80,0.00,0.000,6,0.000,0.037,1525,3419,2919,0,0,0,0,0,0
$GC,2067,-0.53,-106.7,329.9,-14.9,233,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3419,2919,0,0,0,0,0,0
$GC,2384,-0.53,-106.7,376.3,-14.4,263,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3419,2919,0,0,0,0,0,0
$GC,2698,-0.53,-106.7,421.9,-14.2,286,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3419,2919,0,0,0,0,0,0
$GC,3008,-0.53,-106.7,466.1,-14.1,301,3011,0.00,0.85,0.00,0.000,4,0.000,0.060,1521,3951,2919,0,0,0,0,0,0
$GC,3084,-0.53,-106.7,478.0,-15.3,304,3089,0.00,0.82,0.00,0.000,6,0.000,0.037,1521,3416,2919,0,0,0,0,0,0
$GC,3406,-0.53,-106.7,524.5,-14.8,320,3410,0.00,2.12,0.00,0.000,4,0.000,0.031,1521,1999,2919,0,0,0,0,0,0
$GC,3438,-0.53,-106.7,529.1,-13.7,321,3447,0.10,2.30,0.00,0.000,6,0.135,0.054,1542,3415,2919,0,0,0,0,0,0
$GC,3756,-0.53,-106.7,568.2,-12.6,337,3760,0.00,0.85,0.00,0.000,4,0.000,0.061,1539,3951,2918,0,0,0,0,0,0
$GC,3811,-0.53,-106.7,575.9,-13.1,339,3815,0.00,0.82,0.00,0.000,6,0.000,0.037,1539,3413,2918,0,0,0,0,0,0
$GC,4133,-0.53,-106.7,615.9,-12.2,355,4136,0.00,2.10,0.00,0.000,4,0.000,0.032,1539,1997,2917,0,0,0,0,0,0
$GC,4159,-0.53,-106.7,619.2,-11.8,356,4164,0.00,2.33,0.00,0.000,6,0.000,0.054,1528,3422,2917,0,0,0,0,0,0
$GC,4483,-0.53,-106.7,659.5,-12.3,372,4486,0.00,0.85,0.00,0.000,4,0.000,0.062,1524,3958,2917,0,0,0,0,0,0
$GC,4520,-0.53,-106.7,665.0,-13.7,373,4528,0.00,0.82,0.00,0.000,6,0.000,0.039,1524,3422,2917,0,0,0,0,0,0
$GC,4836,-0.53,-106.7,705.5,-13.2,389,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3422,2916,0,0,0,0,0,0
$GC,5146,-0.53,-106.7,745.6,-13.4,404,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3422,2915,0,0,0,0,0,0
$GC,5455,-0.53,-106.7,788.6,-13.8,419,5458,0.00,0.85,0.00,0.000,4,0.000,0.064,1520,3953,2914,0,0,0,0,0,0
$GC,5523,-0.53,-106.7,798.2,-14.5,422,5527,0.00,0.80,0.00,0.000,6,0.000,0.041,1521,3426,2915,0,0,0,0,0,0
$GC,5857,-0.53,-106.7,842.6,-13.2,438,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3426,2914,0,0,0,0,0,0
$GC,6164,-0.53,-106.7,881.8,-12.3,453,6165,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3425,2914,0,0,0,0,0,0
$GC,6474,-0.53,-106.7,920.6,-12.6,468,6478,0.00,0.85,0.00,0.000,4,0.000,0.064,1517,3954,2913,0,0,0,0,0,0
$GC,6568,-0.53,-106.7,933.7,-12.8,472,6573,0.12,0.85,0.00,0.000,6,0.184,0.041,1546,3409,2913,0,0,0,0,0,0
$GC,6897,-0.53,-106.7,968.5,-10.6,488,6898,0.00,0.00,0.00,0.000,6,0.000,0.000,1546,3409,2912,0,0,0,0,0,0
$STATE,7099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7100,begin apogee
$GC,7104,-0.09,0.0,990.2,10.3,498,7211,0.47,0.00,103.78,1.873,6,0.148,0.000,1689,3279,2473,0,0,0,0,0,0
$STATE,7212,end apogee,CONTROL_FINISHED_OK
$STATE,7212,begin climb
$GC,7213,0.53,106.7,993.7,0.0,503,7330,0.57,2.45,108.03,1.818,4,0.060,0.034,1905,1860,2039,0,0,0,0,0,0
$GC,7373,0.53,106.7,982.0,12.9,510,7381,0.00,2.53,0.00,0.000,6,0.000,0.053,1905,3284,2033,0,0,0,0,0,0
$GC,7690,0.53,106.7,932.9,16.1,526,7691,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3284,2026,0,0,0,0,0,0
$GC,7999,0.53,106.7,882.9,16.0,541,8003,0.00,1.10,0.00,0.000,4,0.000,0.062,1905,3949,2024,0,0,0,0,0,0
$GC,8183,0.53,106.7,849.1,18.5,549,8187,0.00,1.08,0.00,0.000,6,0.000,0.038,1910,3271,2023,0,0,0,0,0,0
$GC,8511,0.53,106.7,794.7,16.7,565,8514,0.00,1.12,0.00,0.000,4,0.000,0.062,1910,3956,2022,0,0,0,0,0,0
$GC,8549,0.53,106.7,787.7,18.5,566,8556,0.00,1.05,0.00,0.000,6,0.000,0.039,1915,3276,2022,0,0,0,0,0,0
$GC,8865,0.53,106.7,734.9,16.3,582,8869,0.00,1.10,0.00,0.000,4,0.000,0.060,1915,3950,2021,0,0,0,0,0,0
$GC,8932,0.53,106.7,723.1,17.5,585,8935,0.00,1.02,0.00,0.000,6,0.000,0.038,1920,3280,2021,0,0,0,0,0,0
$GC,9264,0.53,106.7,670.4,15.6,601,9268,0.00,1.10,0.00,0.000,4,0.000,0.060,1920,3956,2020,0,0,0,0,0,0
$GC,9309,0.53,106.7,662.9,18.0,603,9314,0.10,1.05,0.00,0.000,6,0.196,0.037,1898,3268,2020,0,0,0,0,0,0
$GC,9641,0.53,106.7,615.2,14.0,619,9645,0.00,1.10,0.00,0.000,4,0.000,0.060,1898,3948,2020,0,0,0,0,0,0
$GC,9724,0.53,106.7,602.1,16.1,622,9731,0.00,1.05,0.00,0.000,6,0.000,0.037,1902,3271,2020,0,0,0,0,0,0
$GC,10040,0.53,106.7,557.4,13.6,638,10041,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3271,2019,0,0,0,0,0,0
$GC,10349,0.53,106.7,514.1,13.7,653,10350,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3271,2018,0,0,0,0,0,0
$GC,10659,0.53,106.7,472.0,13.6,668,10660,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3271,2018,0,0,0,0,0,0
$GC,10968,0.53,106.7,430.6,13.0,683,10972,0.00,1.10,0.00,0.000,4,0.000,0.060,1902,3950,2018,0,0,0,0,0,0
$GC,11050,0.53,106.7,418.1,14.9,686,11058,0.00,1.05,0.00,0.000,6,0.000,0.037,1907,3272,2018,0,0,0,0,0,0
$GC,11372,0.53,106.7,375.7,12.5,710,11373,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3272,2018,0,0,0,0,0,0
$GC,11691,0.53,106.7,334.6,13.0,740,11692,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3272,2017,0,0,0,0,0,0
$GC,12010,0.53,106.7,291.2,13.4,770,12014,0.00,1.10,0.00,0.000,4,0.000,0.060,1907,3953,2017,0,0,0,0,0,0
$GC,12070,0.53,106.7,281.3,16.2,775,12078,0.00,1.05,0.00,0.000,6,0.000,0.037,1912,3274,2017,0,0,0,0,0,0
$GC,12396,0.53,106.7,235.4,12.8,806,12397,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3274,2017,0,0,0,0,0,0
$GC,12716,0.53,106.7,194.0,12.6,836,12719,0.00,1.10,0.00,0.000,4,0.000,0.060,1913,3954,2017,0,0,0,0,0,0
$GC,12875,0.53,106.7,169.7,15.1,850,12879,0.00,1.02,0.00,0.000,6,0.000,0.037,1917,3279,2017,0,0,0,0,0,0
$GC,13208,0.53,106.7,124.9,13.5,881,13209,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3278,2017,0,0,0,0,0,0
$GC,13534,0.53,106.7,81.0,13.5,923,13540,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3278,2017,0,0,0,0,0,0
$GC,13883,0.53,106.7,36.8,9.5,984,13892,0.00,2.17,0.00,0.000,4,0.000,0.033,1929,1854,2017,0,0,0,0,0,0
$GC,13898,0.54,111.3,35.5,8.9,986,13908,0.10,2.30,0.00,0.000,6,0.160,0.050,1899,3284,2016,0,0,0,0,0,0
$GC,14051,0.54,111.3,22.5,10.0,1011,14057,0.00,1.05,0.00,0.000,4,0.000,0.058,1898,3949,2016,0,0,0,0,0,0
$GC,14078,0.54,111.3,19.6,10.5,1015,14087,0.00,1.00,0.00,0.000,6,0.000,0.037,1902,3280,2016,0,0,0,0,0,0
$GC,14138,0.54,111.5,13.9,9.4,1024,14148,0.00,1.10,0.00,0.000,4,0.000,0.059,1902,3957,2016,0,0,0,0,0,0
$GC,14169,0.54,111.5,10.0,12.2,1028,14178,0.00,1.02,0.00,0.000,6,0.000,0.037,1907,3279,2016,0,0,0,0,0,0
$STATE,14227,end climb,SURFACE_DEPTH_REACHED
$STATE,14227,begin surface coast
$FINISH,0.6,1.013436
$STATE,14253,end surface coast,CONTROL_FINISHED_OK
$STATE,14253,begin surface
$SM_CCo,14266,47.40,0.781,0,0,1554,225.18
$SM_GC,1.31,0.00,0.00,47.40,0.000,0.000,0.781,61,3436,1554,-5.19,0.45,225.18
$IRIDIUM_FIX,-4242.04,830.68,010114,151511
$TT8_MAMPS,0.026215
$HUMID,61.93
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.4,29.461
$10V_AH,10.0,21.335
$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,12.575,57.975,211.800,47.400,0.000,25.014,21.735,316.697,0.000,0.000,18.065,2554.345,8948.194,379.542,2717.477,201.885,0.000,1349.721,0.000,2236.332,0.000,1.010,0.000
$DEVICE_MAMPS,234.090,74.205,1873.485,781.065,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,722.002,1782.119,702.632,347.959,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354424
$DATA_FILE_SIZE,73609,1041
$CAP_FILE_SIZE,127405,0
$CFSIZE,259252224,244617216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,010114,232234,-4259.079,831.874,31,0.8,31,-25.1