version: 66.07
glider: 543
mission: 9
dive: 201
start: 1 2 114 21 38 33
data:
$ID,543
$MISSION,9
$DIVE,201
$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,-13165.39
$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,24
$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
$GPS1,020114,212904,-4259.624,830.386,26,0.9,26,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-60.1
$GPS2,020114,213808,-4259.598,830.508,21,0.7,22,-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,247.7,1015,-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,-57.7,0.0,0.0,0,66,0.00,0.00,-49.30,0.000,2,0.000,0.000,51,3428,2653,0,0,0,0,0,0
$GC,68,-0.53,-108.1,3.0,-3.9,6,87,6.07,0.90,-7.03,0.000,4,0.231,0.094,1536,3959,2916,0,0,0,0,0,0
$GC,322,-0.53,-108.1,53.4,-19.4,48,331,0.00,0.82,0.00,0.000,6,0.000,0.037,1536,3422,2921,0,0,0,0,0,0
$GC,676,-0.53,-108.1,108.0,-14.4,105,680,0.00,0.85,0.00,0.000,4,0.000,0.062,1532,3941,2923,0,0,0,0,0,0
$GC,828,-0.53,-108.1,131.9,-15.1,118,834,0.00,0.80,0.00,0.000,6,0.000,0.037,1532,3417,2923,0,0,0,0,0,0
$GC,1154,-0.53,-108.1,180.8,-15.1,149,1156,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,3417,2923,0,0,0,0,0,0
$GC,1472,-0.53,-108.1,229.8,-15.5,179,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,3417,2924,0,0,0,0,0,0
$GC,1793,-0.53,-108.1,276.1,-14.1,209,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,3417,2924,0,0,0,0,0,0
$GC,2118,-0.53,-108.1,321.3,-13.6,240,2122,0.00,0.85,0.00,0.000,4,0.000,0.061,1528,3946,2924,0,0,0,0,0,0
$GC,2289,-0.53,-108.1,346.5,-14.5,255,2293,0.00,0.80,0.00,0.000,6,0.000,0.037,1528,3417,2923,0,0,0,0,0,0
$GC,2619,-0.53,-108.1,393.4,-14.3,286,2620,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3417,2924,0,0,0,0,0,0
$GC,2941,-0.53,-108.1,437.7,-13.8,304,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3417,2923,0,0,0,0,0,0
$GC,3250,-0.53,-108.1,479.6,-13.5,319,3253,0.00,0.85,0.00,0.000,4,0.000,0.061,1525,3943,2923,0,0,0,0,0,0
$GC,3317,-0.53,-108.1,489.4,-14.4,322,3321,0.00,0.80,0.00,0.000,6,0.000,0.038,1524,3418,2923,0,0,0,0,0,0
$GC,3650,-0.53,-108.1,535.3,-13.9,338,3654,0.00,2.15,0.00,0.000,4,0.000,0.032,1524,1993,2923,0,0,0,0,0,0
$GC,3670,-0.53,-108.1,538.5,-14.2,339,3675,0.08,2.33,0.00,0.000,6,0.134,0.054,1538,3420,2924,0,0,0,0,0,0
$GC,4000,-0.53,-108.1,578.3,-12.5,355,4003,0.00,0.88,0.00,0.000,4,0.000,0.063,1536,3953,2923,0,0,0,0,0,0
$GC,4138,-0.53,-108.1,597.1,-12.6,361,4142,0.00,0.82,0.00,0.000,6,0.000,0.038,1536,3417,2922,0,0,0,0,0,0
$GC,4466,-0.53,-108.1,639.5,-13.1,377,4469,0.00,0.85,0.00,0.000,4,0.000,0.063,1532,3947,2922,0,0,0,0,0,0
$GC,4537,-0.53,-108.1,649.4,-12.6,380,4541,0.00,0.82,0.00,0.000,6,0.000,0.039,1532,3414,2922,0,0,0,0,0,0
$GC,4865,-0.53,-108.1,691.7,-13.0,396,4868,0.00,0.85,0.00,0.000,4,0.000,0.063,1528,3944,2921,0,0,0,0,0,0
$GC,4987,-0.53,-108.1,709.0,-13.7,401,4991,0.00,0.82,0.00,0.000,6,0.000,0.039,1528,3412,2921,0,0,0,0,0,0
$GC,5308,-0.53,-108.1,750.4,-12.6,417,5310,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3411,2921,0,0,0,0,0,0
$GC,5620,-0.53,-108.1,789.1,-12.5,432,5623,0.00,0.88,0.00,0.000,4,0.000,0.063,1524,3951,2920,0,0,0,0,0,0
$GC,5718,-0.53,-108.1,802.7,-13.1,436,5723,0.00,0.82,0.00,0.000,6,0.000,0.039,1524,3417,2920,0,0,0,0,0,0
$GC,6040,-0.53,-108.1,842.4,-12.5,452,6044,0.00,0.85,0.00,0.000,4,0.000,0.063,1520,3948,2919,0,0,0,0,0,0
$GC,6118,-0.53,-108.1,852.6,-13.2,455,6122,0.00,0.82,0.00,0.000,6,0.000,0.039,1520,3414,2919,0,0,0,0,0,0
$GC,6441,-0.53,-108.1,892.3,-12.4,471,6442,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3414,2919,0,0,0,0,0,0
$GC,6749,-0.53,-108.1,929.7,-12.3,486,6752,0.00,0.85,0.00,0.000,4,0.000,0.063,1516,3938,2918,0,0,0,0,0,0
$GC,6848,-0.53,-108.1,943.3,-13.2,490,6854,0.10,0.80,0.00,0.000,6,0.184,0.039,1541,3424,2918,0,0,0,0,0,0
$GC,7170,-0.53,-108.1,976.8,-10.2,506,7174,0.00,0.85,0.00,0.000,4,0.000,0.064,1538,3950,2917,0,0,0,0,0,0
$GC,7253,-0.53,-108.1,986.3,-11.9,509,7261,0.00,0.82,0.00,0.000,6,0.000,0.039,1538,3416,2917,0,0,0,0,0,0
$STATE,7299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7300,begin apogee
$GC,7304,-0.09,0.0,991.3,10.7,512,7412,0.50,0.00,105.32,1.868,6,0.146,0.000,1687,3284,2473,0,0,0,0,0,0
$STATE,7413,end apogee,CONTROL_FINISHED_OK
$STATE,7413,begin climb
$GC,7415,0.53,108.1,994.3,0.0,517,7535,0.57,2.45,109.97,1.818,4,0.063,0.031,1901,1862,2032,0,0,0,0,0,0
$GC,7579,0.53,108.1,981.4,12.7,524,7587,0.00,2.50,0.00,0.000,6,0.000,0.050,1901,3276,2027,0,0,0,0,0,0
$GC,7896,0.53,108.1,932.2,15.8,540,7899,0.00,1.12,0.00,0.000,4,0.000,0.059,1901,3953,2021,0,0,0,0,0,0
$GC,7922,0.53,108.1,927.4,17.0,541,7927,0.00,1.08,0.00,0.000,6,0.000,0.036,1906,3277,2021,0,0,0,0,0,0
$GC,8250,0.53,108.1,873.4,16.5,557,8253,0.00,1.10,0.00,0.000,4,0.000,0.059,1906,3947,2018,0,0,0,0,0,0
$GC,8299,0.53,108.1,864.6,17.7,559,8303,0.00,1.05,0.00,0.000,6,0.000,0.037,1911,3278,2018,0,0,0,0,0,0
$GC,8626,0.53,108.1,809.6,16.8,575,8627,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3278,2017,0,0,0,0,0,0
$GC,8936,0.53,108.1,760.2,15.7,590,8937,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3278,2016,0,0,0,0,0,0
$GC,9245,0.53,108.1,712.7,14.9,605,9246,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3278,2015,0,0,0,0,0,0
$GC,9556,0.53,108.1,667.3,14.5,620,9559,0.00,1.10,0.00,0.000,4,0.000,0.061,1911,3953,2014,0,0,0,0,0,0
$GC,9623,0.53,108.1,656.0,16.8,623,9627,0.00,1.02,0.00,0.000,6,0.000,0.037,1916,3281,2014,0,0,0,0,0,0
$GC,9956,0.53,108.1,606.2,14.9,639,9957,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3281,2013,0,0,0,0,0,0
$GC,10265,0.53,108.1,559.5,15.4,654,10268,0.00,1.10,0.00,0.000,4,0.000,0.061,1916,3957,2013,0,0,0,0,0,0
$GC,10297,0.53,108.1,554.1,16.4,655,10302,0.00,1.05,0.00,0.000,6,0.000,0.037,1922,3271,2013,0,0,0,0,0,0
$GC,10620,0.53,108.1,505.5,15.0,671,10621,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3271,2013,0,0,0,0,0,0
$GC,10928,0.53,108.1,459.0,15.4,686,10932,0.00,1.10,0.00,0.000,4,0.000,0.060,1921,3950,2013,0,0,0,0,0,0
$GC,10960,0.53,108.1,453.7,16.5,687,10965,0.12,1.05,0.00,0.000,6,0.214,0.037,1895,3271,2012,0,0,0,0,0,0
$GC,11281,0.53,108.1,410.1,12.9,703,11285,0.00,2.15,0.00,0.000,4,0.000,0.034,1904,1858,2012,0,0,0,0,0,0
$GC,11350,0.53,108.1,402.2,10.9,706,11354,0.00,2.30,0.00,0.000,6,0.000,0.050,1904,3294,2011,0,0,0,0,0,0
$GC,11673,0.53,108.1,359.3,13.5,735,11675,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3294,2011,0,0,0,0,0,0
$GC,11995,0.53,108.1,316.9,13.7,765,12002,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3294,2011,0,0,0,0,0,0
$GC,12321,0.53,108.1,272.1,13.7,796,12324,0.00,1.05,0.00,0.000,4,0.000,0.059,1904,3947,2011,0,0,0,0,0,0
$GC,12449,0.53,108.1,251.9,15.5,807,12457,0.00,1.02,0.00,0.000,6,0.000,0.037,1909,3279,2011,0,0,0,0,0,0
$GC,12775,0.53,108.1,207.2,14.5,838,12776,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3279,2011,0,0,0,0,0,0
$GC,13094,0.53,108.1,163.7,13.5,868,13098,0.00,1.08,0.00,0.000,4,0.000,0.060,1909,3948,2011,0,0,0,0,0,0
$GC,13166,0.53,108.1,152.5,15.3,874,13174,0.00,1.02,0.00,0.000,6,0.000,0.036,1914,3277,2011,0,0,0,0,0,0
$GC,13494,0.53,108.1,109.5,12.6,905,13498,0.00,1.08,0.00,0.000,4,0.000,0.060,1914,3946,2011,0,0,0,0,0,0
$GC,13627,0.53,108.1,90.0,15.2,922,13634,0.00,1.00,0.00,0.000,6,0.000,0.037,1919,3282,2011,0,0,0,0,0,0
$GC,13975,0.53,108.1,48.6,10.0,983,13982,0.00,2.15,0.00,0.000,4,0.000,0.032,1930,1847,2011,0,0,0,0,0,0
$GC,14013,0.55,126.0,45.6,7.5,989,14029,0.12,2.30,5.40,0.830,6,0.184,0.051,1900,3288,1958,0,0,0,0,0,0
$GC,14387,0.55,126.0,9.4,10.1,1051,14396,0.00,1.05,0.00,0.000,4,0.000,0.055,1900,3954,1956,0,0,0,0,0,0
$STATE,14440,end climb,SURFACE_DEPTH_REACHED
$STATE,14440,begin surface coast
$FINISH,0.6,1.026288
$STATE,14465,end surface coast,CONTROL_FINISHED_OK
$STATE,14466,begin surface
$SM_CCo,14479,41.00,0.789,0,0,1552,225.18
$SM_GC,1.00,0.00,0.00,41.00,0.000,0.000,0.789,63,3415,1552,-5.18,-0.14,225.18
$IRIDIUM_FIX,-4242.04,833.59,020114,171749
$TT8_MAMPS,0.026215
$HUMID,62.56
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.4,30.286
$10V_AH,10.0,22.029
$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,12.575,55.825,220.700,41.000,0.000,42.600,43.128,322.741,0.000,0.000,23.985,2637.125,8963.012,361.939,2901.081,198.974,0.000,1366.961,0.000,2359.803,0.000,1.010,0.000
$DEVICE_MAMPS,231.030,94.095,1868.130,789.480,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,738.016,1818.145,735.961,364.459,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354384
$DATA_FILE_SIZE,73885,1063
$CAP_FILE_SIZE,130679,0
$CFSIZE,259252224,244150272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030114,014134,-4300.039,829.486,26,1.5,26,-25.0