version: 66.07
glider: 543
mission: 9
dive: 213
start: 1 5 114 2 4 19
data:
$ID,543
$MISSION,9
$DIVE,213
$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,-13207.038
$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,46
$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
$GPS1,050114,015525,-4259.159,831.072,40,1.2,40,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-69.6
$GPS2,050114,020354,-4259.136,831.148,18,1.0,19,-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,249.2,2232,-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,-49.35,0.000,2,0.000,0.000,48,3443,2709,0,0,0,0,0,0
$GC,68,-0.53,-104.4,3.4,-4.3,6,87,6.07,2.22,-4.93,0.000,4,0.229,0.044,1545,2003,2900,0,0,0,0,0,0
$GC,138,-0.53,-104.4,16.7,-14.6,16,147,0.00,2.35,0.00,0.000,6,0.000,0.055,1536,3411,2903,0,0,0,0,0,0
$GC,199,-0.53,-104.4,25.6,-16.7,25,205,0.00,0.88,0.00,0.000,4,0.000,0.060,1532,3950,2903,0,0,0,0,0,0
$GC,253,-0.53,-104.4,36.2,-18.1,34,262,0.00,0.80,0.00,0.000,6,0.000,0.038,1532,3429,2903,0,0,0,0,0,0
$GC,401,-0.53,-104.4,62.1,-17.0,59,407,0.00,2.20,0.00,0.000,4,0.000,0.031,1532,1985,2903,0,0,0,0,0,0
$GC,420,-0.53,-104.4,65.0,-15.5,62,427,0.00,2.35,0.00,0.000,6,0.000,0.054,1521,3428,2904,0,0,0,0,0,0
$GC,767,-0.53,-104.4,119.1,-15.7,113,771,0.00,0.82,0.00,0.000,4,0.000,0.060,1517,3945,2905,0,0,0,0,0,0
$GC,950,-0.53,-104.4,149.9,-16.7,129,954,0.08,0.80,0.00,0.000,6,0.160,0.037,1540,3418,2906,0,0,0,0,0,0
$GC,1280,-0.53,-104.4,196.9,-13.7,160,1284,0.00,2.15,0.00,0.000,4,0.000,0.031,1540,1991,2906,0,0,0,0,0,0
$GC,1319,-0.53,-104.4,201.9,-11.7,163,1323,0.00,2.33,0.00,0.000,6,0.000,0.054,1530,3426,2907,0,0,0,0,0,0
$GC,1646,-0.53,-104.4,248.8,-14.4,193,1648,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3426,2906,0,0,0,0,0,0
$GC,1963,-0.53,-104.4,293.2,-13.7,223,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3426,2906,0,0,0,0,0,0
$GC,2284,-0.53,-104.4,337.0,-14.0,253,2288,0.00,2.17,0.00,0.000,4,0.000,0.033,1530,1986,2907,0,0,0,0,0,0
$GC,2316,-0.53,-104.4,341.8,-11.5,255,2324,0.00,2.35,0.00,0.000,6,0.000,0.056,1519,3418,2907,0,0,0,0,0,0
$GC,2642,-0.53,-104.4,387.4,-14.3,286,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3418,2906,0,0,0,0,0,0
$GC,2965,-0.53,-104.4,433.2,-14.4,306,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3418,2906,0,0,0,0,0,0
$GC,3274,-0.53,-104.4,476.7,-13.8,321,3278,0.00,2.15,0.00,0.000,4,0.000,0.033,1519,1996,2906,0,0,0,0,0,0
$GC,3306,-0.53,-104.4,481.0,-12.0,322,3315,0.10,2.35,0.00,0.000,6,0.135,0.056,1540,3426,2906,0,0,0,0,0,0
$GC,3622,-0.53,-104.4,517.2,-11.6,338,3624,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3426,2906,0,0,0,0,0,0
$GC,3933,-0.53,-104.4,554.4,-12.3,353,3937,0.00,2.17,0.00,0.000,4,0.000,0.035,1540,1994,2906,0,0,0,0,0,0
$GC,3959,-0.53,-104.4,557.9,-12.7,354,3963,0.00,2.35,0.00,0.000,6,0.000,0.058,1531,3422,2906,0,0,0,0,0,0
$GC,4281,-0.53,-104.4,599.9,-13.6,370,4282,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3423,2905,0,0,0,0,0,0
$GC,4590,-0.53,-104.4,640.9,-13.0,385,4594,0.00,2.17,0.00,0.000,4,0.000,0.034,1531,1991,2905,0,0,0,0,0,0
$GC,4629,-0.53,-104.4,645.6,-11.1,387,4634,0.00,2.33,0.00,0.000,6,0.000,0.058,1520,3422,2905,0,0,0,0,0,0
$GC,4957,-0.53,-104.4,689.4,-13.4,403,4959,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3422,2904,0,0,0,0,0,0
$GC,5265,-0.53,-104.4,729.2,-12.8,418,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3422,2903,0,0,0,0,0,0
$GC,5575,-0.53,-104.4,766.2,-11.9,433,5576,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3422,2903,0,0,0,0,0,0
$GC,5884,-0.53,-104.4,802.6,-11.9,448,5888,0.00,2.17,0.00,0.000,4,0.000,0.036,1520,1988,2903,0,0,0,0,0,0
$GC,5916,-0.53,-104.4,806.3,-11.1,449,5924,0.10,2.35,0.00,0.000,6,0.133,0.058,1541,3419,2903,0,0,0,0,0,0
$GC,6234,-0.53,-104.4,837.4,-9.9,465,6237,0.00,0.85,0.00,0.000,4,0.000,0.065,1538,3949,2903,0,0,0,0,0,0
$GC,6279,-0.53,-104.4,842.4,-10.5,467,6283,0.00,0.80,0.00,0.000,6,0.000,0.041,1538,3423,2903,0,0,0,0,0,0
$GC,6611,-0.53,-104.4,877.3,-10.5,483,6613,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,3423,2902,0,0,0,0,0,0
$GC,6922,-0.53,-104.4,910.3,-10.9,498,6923,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,3422,2902,0,0,0,0,0,0
$GC,7230,-0.53,-104.4,944.0,-10.9,513,7234,0.00,2.15,0.00,0.000,4,0.000,0.034,1538,1997,2901,0,0,0,0,0,0
$GC,7264,-0.53,-104.4,947.4,-10.3,514,7270,0.00,2.33,0.00,0.000,6,0.000,0.058,1527,3427,2901,0,0,0,0,0,0
$GC,7579,-0.53,-104.4,982.9,-11.5,530,7582,0.00,0.85,0.00,0.000,4,0.000,0.064,1523,3956,2900,0,0,0,0,0,0
$GC,7616,-0.53,-104.4,987.6,-12.9,531,7624,0.00,0.85,0.00,0.000,6,0.000,0.040,1523,3409,2900,0,0,0,0,0,0
$STATE,7644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7644,begin apogee
$GC,7649,-0.09,0.0,990.5,11.8,533,7753,0.57,0.00,101.22,1.860,6,0.159,0.000,1689,3279,2473,0,0,0,0,0,0
$STATE,7754,end apogee,CONTROL_FINISHED_OK
$STATE,7754,begin climb
$GC,7756,0.53,104.4,993.5,0.0,538,7872,0.60,2.45,106.32,1.812,4,0.061,0.032,1906,1861,2047,0,0,0,0,0,0
$GC,7904,0.53,104.4,983.0,12.7,545,7909,0.00,2.53,0.00,0.000,6,0.000,0.053,1906,3279,2043,0,0,0,0,0,0
$GC,8226,0.53,104.4,934.3,15.3,561,8230,0.00,1.12,0.00,0.000,4,0.000,0.062,1906,3945,2036,0,0,0,0,0,0
$GC,8389,0.53,104.4,906.7,17.4,568,8392,0.00,1.05,0.00,0.000,6,0.000,0.039,1911,3280,2035,0,0,0,0,0,0
$GC,8715,0.53,104.4,860.6,13.8,584,8719,0.00,1.10,0.00,0.000,4,0.000,0.061,1911,3953,2032,0,0,0,0,0,0
$GC,8972,0.53,104.4,819.6,15.5,595,8977,0.00,1.08,0.00,0.000,6,0.000,0.037,1916,3271,2032,0,0,0,0,0,0
$GC,9296,0.53,104.4,770.4,15.9,611,9299,0.00,1.12,0.00,0.000,4,0.000,0.060,1916,3955,2030,0,0,0,0,0,0
$GC,9552,0.53,104.4,724.0,17.9,622,9557,0.00,1.08,0.00,0.000,6,0.000,0.037,1921,3269,2030,0,0,0,0,0,0
$GC,9876,0.53,104.4,672.7,15.7,638,9880,0.00,1.12,0.00,0.000,4,0.000,0.060,1921,3956,2029,0,0,0,0,0,0
$GC,10133,0.53,104.4,626.5,18.2,649,10138,0.12,1.05,0.00,0.000,6,0.220,0.036,1899,3280,2029,0,0,0,0,0,0
$GC,10456,0.53,104.4,581.0,13.5,665,10460,0.00,1.10,0.00,0.000,4,0.000,0.060,1899,3954,2028,0,0,0,0,0,0
$GC,10713,0.53,104.4,541.4,15.2,676,10718,0.00,1.05,0.00,0.000,6,0.000,0.039,1903,3281,2028,0,0,0,0,0,0
$GC,11037,0.53,104.4,497.5,13.4,692,11040,0.00,1.08,0.00,0.000,4,0.000,0.060,1903,3949,2027,0,0,0,0,0,0
$GC,11294,0.53,104.4,459.0,15.0,703,11298,0.00,1.05,0.00,0.000,6,0.000,0.039,1908,3274,2027,0,0,0,0,0,0
$GC,11616,0.53,104.4,416.4,13.2,719,11620,0.00,1.10,0.00,0.000,4,0.000,0.059,1908,3953,2027,0,0,0,0,0,0
$GC,11878,0.53,104.4,376.8,16.0,737,11882,0.00,1.02,0.00,0.000,6,0.000,0.038,1913,3284,2027,0,0,0,0,0,0
$GC,12208,0.53,104.4,330.8,13.4,768,12212,0.00,1.08,0.00,0.000,4,0.000,0.060,1913,3945,2027,0,0,0,0,0,0
$GC,12468,0.53,104.4,291.7,15.7,791,12472,0.00,1.02,0.00,0.000,6,0.000,0.037,1918,3273,2027,0,0,0,0,0,0
$GC,12798,0.53,104.4,246.9,13.5,822,12802,0.00,1.10,0.00,0.000,4,0.000,0.060,1919,3952,2026,0,0,0,0,0,0
$GC,13060,0.53,104.4,208.0,15.0,845,13064,0.10,1.02,0.00,0.000,6,0.194,0.036,1896,3274,2026,0,0,0,0,0,0
$GC,13389,0.53,104.4,170.7,11.1,876,13393,0.00,1.10,0.00,0.000,4,0.000,0.060,1896,3954,2026,0,0,0,0,0,0
$GC,13649,0.53,104.4,138.7,12.4,899,13652,0.00,1.02,0.00,0.000,6,0.000,0.036,1900,3278,2026,0,0,0,0,0,0
$GC,13979,0.53,104.4,103.3,10.1,930,13982,0.00,1.10,0.00,0.000,4,0.000,0.060,1900,3954,2026,0,0,0,0,0,0
$GC,14243,0.53,104.4,68.8,12.2,973,14250,0.00,1.02,0.00,0.000,6,0.000,0.036,1905,3279,2026,0,0,0,0,0,0
$GC,14593,0.53,105.1,36.3,9.3,1034,14602,0.00,2.17,0.00,0.000,4,0.000,0.033,1916,1861,2026,0,0,0,0,0,0
$GC,14871,0.53,108.3,12.5,9.1,1080,14880,0.00,2.30,0.00,0.000,6,0.000,0.051,1916,3282,2024,0,0,0,0,0,0
$GC,14931,0.53,108.3,6.4,9.6,1089,14940,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3282,2024,0,0,0,0,0,0
$STATE,14965,end climb,SURFACE_DEPTH_REACHED
$STATE,14965,begin surface coast
$FINISH,0.6,1.003525
$STATE,15003,end surface coast,CONTROL_FINISHED_OK
$STATE,15003,begin surface
$SM_CCo,15016,48.47,0.781,0,0,1553,225.18
$SM_GC,1.72,0.00,0.00,48.47,0.000,0.000,0.781,52,3433,1553,-5.21,0.37,225.18
$IRIDIUM_FIX,-4244.98,828.21,040114,212148
$TT8_MAMPS,0.025466
$HUMID,61.30
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.4,31.985
$10V_AH,9.9,23.419
$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,12.750,80.750,207.550,48.475,0.000,25.902,24.951,328.269,0.000,0.000,21.053,2778.987,9043.845,369.680,3165.236,216.046,0.000,1490.601,0.000,2645.953,0.000,1.010,0.000
$DEVICE_MAMPS,228.735,71.145,1859.715,781.065,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,763.524,1895.527,779.336,401.572,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354408
$DATA_FILE_SIZE,77243,1100
$CAP_FILE_SIZE,141964,0
$CFSIZE,259252224,243212288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050114,061634,-4259.647,830.805,35,0.8,35,-25.0