version: 66.07
glider: 543
mission: 9
dive: 207
start: 1 3 114 23 40 24
data:
$ID,543
$MISSION,9
$DIVE,207
$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,-13186.183
$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,45
$R_STBD_OVSHOOT,31
$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
$GPS1,030114,233128,-4258.589,829.219,37,0.8,37,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-67.7
$GPS2,030114,233959,-4258.538,829.155,17,0.9,17,-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,182.1,2940,-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,-49.35,0.000,2,0.000,0.000,65,3443,2681,0,0,0,0,0,0
$GC,68,-0.53,-97.9,3.4,-5.0,6,87,6.15,0.82,-5.07,0.000,4,0.239,0.092,1539,3943,2877,0,0,0,0,0,0
$GC,204,-0.53,-97.9,28.1,-17.7,27,210,0.00,0.80,0.00,0.000,6,0.000,0.039,1539,3428,2880,0,0,0,0,0,0
$GC,351,-0.53,-97.9,50.8,-14.9,52,358,0.00,2.17,0.00,0.000,4,0.000,0.031,1539,1994,2880,0,0,0,0,0,0
$GC,398,-0.53,-97.9,57.9,-13.2,60,407,0.00,2.33,0.00,0.000,6,0.000,0.052,1528,3413,2881,0,0,0,0,0,0
$GC,751,-0.53,-97.9,110.7,-15.2,116,752,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3413,2882,0,0,0,0,0,0
$GC,1071,-0.53,-97.9,159.2,-15.6,146,1074,0.00,0.85,0.00,0.000,4,0.000,0.058,1524,3942,2884,0,0,0,0,0,0
$GC,1127,-0.53,-97.9,168.4,-15.6,151,1131,0.00,0.80,0.00,0.000,6,0.000,0.036,1525,3409,2884,0,0,0,0,0,0
$GC,1458,-0.53,-97.9,217.6,-14.8,182,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3409,2884,0,0,0,0,0,0
$GC,1777,-0.53,-97.9,265.1,-15.2,212,1778,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3408,2884,0,0,0,0,0,0
$GC,2096,-0.53,-97.9,313.1,-15.1,242,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3409,2884,0,0,0,0,0,0
$GC,2414,-0.53,-97.9,360.0,-14.5,272,2418,0.00,0.88,0.00,0.000,4,0.000,0.059,1521,3953,2884,0,0,0,0,0,0
$GC,2463,-0.53,-97.9,368.0,-15.1,276,2473,0.00,0.82,0.00,0.000,6,0.000,0.037,1521,3418,2884,0,0,0,0,0,0
$GC,2797,-0.53,-97.9,413.9,-13.1,303,2798,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3418,2884,0,0,0,0,0,0
$GC,3105,-0.53,-97.9,453.5,-13.1,318,3108,0.00,2.12,0.00,0.000,4,0.000,0.031,1521,1992,2884,0,0,0,0,0,0
$GC,3131,-0.53,-97.9,456.8,-11.8,319,3136,0.10,2.33,0.00,0.000,6,0.138,0.053,1542,3419,2884,0,0,0,0,0,0
$GC,3452,-0.53,-97.9,491.8,-11.4,335,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,3419,2884,0,0,0,0,0,0
$GC,3763,-0.53,-97.9,526.8,-11.3,350,3764,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,3419,2884,0,0,0,0,0,0
$GC,4071,-0.53,-97.9,561.9,-11.6,365,4075,0.00,0.85,0.00,0.000,4,0.000,0.062,1539,3953,2883,0,0,0,0,0,0
$GC,4154,-0.53,-97.9,572.2,-11.9,368,4161,0.00,0.82,0.00,0.000,6,0.000,0.038,1539,3415,2883,0,0,0,0,0,0
$GC,4470,-0.53,-97.9,608.8,-11.5,384,4471,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,3415,2882,0,0,0,0,0,0
$GC,4780,-0.53,-97.9,644.8,-11.5,399,4784,0.00,2.12,0.00,0.000,4,0.000,0.032,1539,2000,2882,0,0,0,0,0,0
$GC,4819,-0.53,-97.9,649.0,-9.5,401,4823,0.00,2.30,0.00,0.000,6,0.000,0.054,1528,3427,2882,0,0,0,0,0,0
$GC,5145,-0.53,-97.9,687.5,-11.4,417,5147,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3427,2881,0,0,0,0,0,0
$GC,5454,-0.53,-97.9,722.2,-11.0,432,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3427,2880,0,0,0,0,0,0
$GC,5764,-0.53,-97.9,755.9,-10.6,447,5768,0.00,2.12,0.00,0.000,4,0.000,0.031,1528,1995,2880,0,0,0,0,0,0
$GC,5796,-0.53,-97.9,759.4,-10.1,448,5803,0.00,2.33,0.00,0.000,6,0.000,0.055,1517,3418,2880,0,0,0,0,0,0
$GC,6114,-0.53,-97.9,797.8,-12.9,464,6118,0.12,0.85,0.00,0.000,4,0.185,0.062,1545,3940,2879,0,0,0,0,0,0
$GC,6294,-0.53,-97.9,818.6,-11.3,472,6298,0.00,0.77,0.00,0.000,6,0.000,0.040,1545,3426,2879,0,0,0,0,0,0
$GC,6626,-0.53,-97.9,853.9,-10.6,488,6627,0.00,0.00,0.00,0.000,6,0.000,0.000,1545,3426,2879,0,0,0,0,0,0
$GC,6935,-0.53,-97.9,885.1,-9.7,503,6939,0.00,2.15,0.00,0.000,4,0.000,0.032,1545,1996,2879,0,0,0,0,0,0
$GC,6961,-0.53,-97.9,887.7,-10.6,504,6965,0.00,2.33,0.00,0.000,6,0.000,0.056,1534,3420,2879,0,0,0,0,0,0
$GC,7284,-0.53,-97.9,919.4,-9.9,520,7288,0.00,0.88,0.00,0.000,4,0.000,0.064,1530,3951,2878,0,0,0,0,0,0
$GC,7382,-0.53,-97.9,930.2,-10.9,524,7387,0.00,0.82,0.00,0.000,6,0.000,0.040,1530,3420,2878,0,0,0,0,0,0
$GC,7705,-0.53,-97.9,962.2,-10.3,540,7706,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3419,2877,0,0,0,0,0,0
$STATE,7991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7991,begin apogee
$GC,7996,-0.09,0.0,991.8,10.2,554,8095,0.52,0.00,95.88,1.866,6,0.154,0.000,1684,3272,2474,0,0,0,0,0,0
$STATE,8096,end apogee,CONTROL_FINISHED_OK
$STATE,8096,begin climb
$GC,8098,0.53,97.9,994.3,0.0,559,8207,0.62,2.47,99.82,1.820,4,0.068,0.034,1905,1870,2073,0,0,0,0,0,0
$GC,8245,0.53,97.9,983.0,13.6,566,8250,0.00,2.50,0.00,0.000,6,0.000,0.052,1905,3281,2069,0,0,0,0,0,0
$GC,8573,0.53,97.9,932.4,15.8,582,8577,0.00,1.12,0.00,0.000,4,0.000,0.060,1905,3951,2062,0,0,0,0,0,0
$GC,8644,0.53,97.9,919.2,18.8,585,8650,0.00,1.08,0.00,0.000,6,0.000,0.037,1909,3282,2062,0,0,0,0,0,0
$GC,8972,0.53,97.9,866.1,15.8,601,8976,0.00,1.12,0.00,0.000,4,0.000,0.061,1909,3959,2060,0,0,0,0,0,0
$GC,9021,0.53,97.9,857.0,18.4,603,9026,0.00,1.08,0.00,0.000,6,0.000,0.038,1914,3278,2059,0,0,0,0,0,0
$GC,9350,0.53,97.9,806.7,14.8,619,9354,0.00,1.10,0.00,0.000,4,0.000,0.060,1914,3947,2057,0,0,0,0,0,0
$GC,9607,0.53,97.9,764.6,17.0,630,9612,0.00,1.05,0.00,0.000,6,0.000,0.037,1919,3276,2057,0,0,0,0,0,0
$GC,9931,0.53,97.9,717.2,14.5,646,9934,0.00,1.10,0.00,0.000,4,0.000,0.059,1919,3952,2056,0,0,0,0,0,0
$GC,10030,0.53,97.9,700.8,16.3,650,10035,0.10,1.05,0.00,0.000,6,0.200,0.037,1898,3277,2056,0,0,0,0,0,0
$GC,10351,0.53,97.9,658.3,12.9,666,10352,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,3277,2055,0,0,0,0,0,0
$GC,10662,0.53,97.9,618.4,12.9,681,10666,0.00,1.10,0.00,0.000,4,0.000,0.060,1898,3953,2054,0,0,0,0,0,0
$GC,10700,0.53,97.9,612.8,14.0,682,10708,0.00,1.05,0.00,0.000,6,0.000,0.038,1902,3278,2055,0,0,0,0,0,0
$GC,11016,0.53,97.9,571.9,12.8,698,11020,0.00,1.10,0.00,0.000,4,0.000,0.060,1902,3955,2054,0,0,0,0,0,0
$GC,11273,0.53,97.9,532.5,15.4,709,11278,0.00,1.05,0.00,0.000,6,0.000,0.037,1907,3277,2054,0,0,0,0,0,0
$GC,11595,0.53,97.9,489.5,13.3,725,11599,0.00,1.10,0.00,0.000,4,0.000,0.060,1907,3957,2054,0,0,0,0,0,0
$GC,11798,0.53,97.9,458.9,14.6,734,11801,0.00,1.02,0.00,0.000,6,0.000,0.037,1912,3285,2054,0,0,0,0,0,0
$GC,12130,0.53,97.9,413.3,13.4,750,12134,0.00,1.08,0.00,0.000,4,0.000,0.060,1912,3951,2053,0,0,0,0,0,0
$GC,12184,0.53,97.9,404.8,15.3,752,12189,0.00,1.05,0.00,0.000,6,0.000,0.037,1917,3272,2053,0,0,0,0,0,0
$GC,12517,0.53,97.9,360.4,12.7,781,12521,0.00,1.10,0.00,0.000,4,0.000,0.060,1917,3950,2053,0,0,0,0,0,0
$GC,12566,0.53,97.9,352.9,15.3,785,12573,0.00,1.05,0.00,0.000,6,0.000,0.037,1922,3272,2053,0,0,0,0,0,0
$GC,12891,0.53,97.9,309.8,12.7,816,12895,0.12,1.10,0.00,0.000,4,0.214,0.059,1890,3954,2053,0,0,0,0,0,0
$GC,13110,0.53,97.9,280.5,12.9,835,13118,0.00,1.05,0.00,0.000,6,0.000,0.037,1894,3273,2053,0,0,0,0,0,0
$GC,13436,0.53,97.9,241.0,12.7,866,13439,0.00,1.10,0.00,0.000,4,0.000,0.060,1893,3953,2052,0,0,0,0,0,0
$GC,13507,0.53,97.9,230.6,13.6,872,13517,0.00,1.05,0.00,0.000,6,0.000,0.035,1898,3269,2052,0,0,0,0,0,0
$GC,13833,0.53,97.9,191.5,11.6,903,13834,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3269,2052,0,0,0,0,0,0
$GC,14155,0.53,97.9,156.3,11.0,933,14158,0.00,1.10,0.00,0.000,4,0.000,0.060,1898,3948,2052,0,0,0,0,0,0
$GC,14202,0.53,97.9,150.3,12.6,937,14206,0.00,1.00,0.00,0.000,6,0.000,0.037,1904,3285,2052,0,0,0,0,0,0
$GC,14532,0.53,97.9,112.8,11.2,968,14535,0.00,1.08,0.00,0.000,4,0.000,0.060,1904,3954,2051,0,0,0,0,0,0
$GC,14738,0.53,97.9,88.3,13.7,993,14747,0.00,1.02,0.00,0.000,6,0.000,0.036,1909,3273,2052,0,0,0,0,0,0
$GC,15092,0.53,97.9,48.6,10.1,1054,15099,0.00,1.10,0.00,0.000,4,0.000,0.059,1909,3954,2052,0,0,0,0,0,0
$GC,15164,0.54,115.0,42.3,7.6,1066,15177,0.00,1.02,5.12,0.800,6,0.000,0.036,1913,3274,2002,0,0,0,0,0,0
$GC,15538,0.54,115.0,7.3,12.2,1128,15547,0.00,1.10,0.00,0.000,4,0.000,0.058,1913,3959,2000,0,0,0,0,0,0
$STATE,15578,end climb,SURFACE_DEPTH_REACHED
$STATE,15578,begin surface coast
$FINISH,0.7,1.026145
$STATE,15610,end surface coast,CONTROL_FINISHED_OK
$STATE,15610,begin surface
$SM_CCo,15624,45.50,0.789,0,0,1551,225.18
$SM_GC,1.43,0.00,0.00,45.50,0.000,0.000,0.789,75,3428,1551,-5.14,0.23,225.18
$IRIDIUM_FIX,-4247.91,828.64,030114,191927
$TT8_MAMPS,0.026215
$HUMID,62.08
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.4,31.144
$10V_AH,10.0,22.722
$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,12.675,69.400,200.825,45.500,0.000,27.978,40.437,313.829,0.000,0.000,19.213,2837.522,9664.181,367.272,3088.634,222.261,0.000,1462.137,0.000,2576.464,0.000,1.010,0.000
$DEVICE_MAMPS,238.680,91.800,1865.835,789.480,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,790.956,1950.606,772.253,392.936,0.000,0.000,0.000,0.000,0.000,0.000
$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,80546,1139
$CAP_FILE_SIZE,141816,0
$CFSIZE,259252224,243671040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040114,040252,-4259.849,830.585,43,0.9,43,-25.0