version: 66.07
glider: 543
mission: 9
dive: 214
start: 1 5 114 6 25 37
data:
$ID,543
$MISSION,9
$DIVE,214
$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,-13210.502
$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,43
$R_STBD_OVSHOOT,29
$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
$GPS1,050114,061634,-4259.647,830.805,35,0.8,35,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-70.8
$GPS2,050114,062512,-4259.574,830.848,19,1.0,20,-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,260.5,1394,-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,-57.7,0.0,0.0,0,59,0.00,0.00,-41.97,0.000,2,0.000,0.000,51,3434,2507,0,0,0,0,0,0
$GC,61,-0.54,-108.8,3.0,-3.8,5,88,6.30,2.20,-11.95,0.000,4,0.242,0.044,1542,2000,2918,0,0,0,0,0,0
$GC,132,-0.54,-108.8,12.7,-13.9,15,142,0.00,2.35,0.00,0.000,6,0.000,0.053,1532,3417,2920,0,0,0,0,0,0
$GC,191,-0.54,-108.8,22.8,-18.3,24,199,0.00,0.85,0.00,0.000,4,0.000,0.058,1528,3942,2920,0,0,0,0,0,0
$GC,229,-0.54,-108.8,30.7,-20.5,30,239,0.00,0.80,0.00,0.000,6,0.000,0.035,1528,3417,2921,0,0,0,0,0,0
$GC,379,-0.54,-108.8,59.8,-19.9,55,385,0.00,2.15,0.00,0.000,4,0.000,0.029,1528,1999,2921,0,0,0,0,0,0
$GC,438,-0.54,-108.8,69.4,-14.4,65,444,0.00,2.33,0.00,0.000,6,0.000,0.052,1517,3429,2921,0,0,0,0,0,0
$GC,784,-0.54,-108.8,122.2,-15.6,113,785,0.00,0.00,0.00,0.000,6,0.000,0.000,1517,3429,2923,0,0,0,0,0,0
$GC,1101,-0.54,-108.8,170.7,-15.3,143,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,1517,3429,2924,0,0,0,0,0,0
$GC,1421,-0.54,-108.8,220.7,-15.5,173,1425,0.00,2.15,0.00,0.000,4,0.000,0.029,1517,2001,2924,0,0,0,0,0,0
$GC,1461,-0.54,-108.8,226.7,-12.8,176,1466,0.15,2.30,0.00,0.000,6,0.158,0.052,1546,3431,2924,0,0,0,0,0,0
$GC,1786,-0.54,-108.8,266.6,-12.4,206,1789,0.00,0.82,0.00,0.000,4,0.000,0.060,1543,3951,2925,0,0,0,0,0,0
$GC,1812,-0.54,-108.8,270.4,-14.2,208,1822,0.00,0.82,0.00,0.000,6,0.000,0.035,1543,3409,2924,0,0,0,0,0,0
$GC,2138,-0.54,-108.8,311.0,-12.3,239,2141,0.00,2.10,0.00,0.000,4,0.000,0.030,1543,2001,2924,0,0,0,0,0,0
$GC,2178,-0.54,-108.8,315.3,-10.5,242,2182,0.00,2.28,0.00,0.000,6,0.000,0.052,1532,3420,2925,0,0,0,0,0,0
$GC,2502,-0.54,-108.8,357.4,-12.9,272,2506,0.00,0.85,0.00,0.000,4,0.000,0.060,1528,3940,2924,0,0,0,0,0,0
$GC,2530,-0.54,-108.8,361.2,-13.7,274,2536,0.00,0.77,0.00,0.000,6,0.000,0.037,1528,3425,2924,0,0,0,0,0,0
$GC,2853,-0.54,-108.8,403.5,-13.3,304,2857,0.00,2.12,0.00,0.000,4,0.000,0.030,1528,1998,2924,0,0,0,0,0,0
$GC,2893,-0.54,-108.8,408.2,-11.3,306,2897,0.00,2.30,0.00,0.000,6,0.000,0.053,1517,3427,2924,0,0,0,0,0,0
$GC,3221,-0.54,-108.8,455.9,-15.0,322,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,1517,3427,2924,0,0,0,0,0,0
$GC,3528,-0.54,-108.8,500.7,-14.6,337,3530,0.00,0.00,0.00,0.000,6,0.000,0.000,1517,3427,2924,0,0,0,0,0,0
$GC,3839,-0.54,-108.8,543.0,-13.7,352,3843,0.00,2.15,0.00,0.000,4,0.000,0.032,1517,1995,2923,0,0,0,0,0,0
$GC,3872,-0.54,-108.8,547.5,-11.8,353,3880,0.12,2.33,0.00,0.000,6,0.135,0.055,1546,3418,2924,0,0,0,0,0,0
$GC,4188,-0.54,-108.8,579.7,-10.1,369,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,1546,3418,2923,0,0,0,0,0,0
$GC,4497,-0.54,-108.8,610.7,-10.0,384,4498,0.00,0.00,0.00,0.000,6,0.000,0.000,1546,3418,2923,0,0,0,0,0,0
$GC,4807,-0.54,-108.8,642.0,-10.1,399,4811,0.00,2.15,0.00,0.000,4,0.000,0.035,1546,2001,2922,0,0,0,0,0,0
$GC,4833,-0.54,-108.8,644.9,-10.2,400,4838,0.00,2.33,0.00,0.000,6,0.000,0.057,1536,3418,2922,0,0,0,0,0,0
$GC,5157,-0.54,-108.8,679.9,-11.2,416,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3418,2922,0,0,0,0,0,0
$GC,5464,-0.54,-108.8,716.1,-11.8,431,5468,0.00,2.15,0.00,0.000,4,0.000,0.035,1536,2002,2921,0,0,0,0,0,0
$GC,5498,-0.54,-108.8,719.9,-10.9,432,5505,0.00,2.33,0.00,0.000,6,0.000,0.058,1525,3433,2921,0,0,0,0,0,0
$GC,5813,-0.54,-108.8,759.5,-13.2,448,5814,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3433,2921,0,0,0,0,0,0
$GC,6122,-0.54,-108.8,799.1,-12.5,463,6123,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3433,2920,0,0,0,0,0,0
$GC,6433,-0.54,-108.8,836.3,-11.8,478,6434,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3433,2919,0,0,0,0,0,0
$GC,6741,-0.54,-108.8,871.7,-11.3,493,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3433,2919,0,0,0,0,0,0
$GC,7050,-0.54,-108.8,905.4,-10.7,508,7054,0.00,2.17,0.00,0.000,4,0.000,0.035,1525,2002,2919,0,0,0,0,0,0
$GC,7082,-0.54,-108.8,908.8,-9.7,509,7091,0.08,2.33,0.00,0.000,6,0.138,0.058,1539,3414,2919,0,0,0,0,0,0
$GC,7399,-0.54,-114.7,936.4,-8.8,525,7400,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,3414,2919,0,0,0,0,0,0
$GC,7710,-0.54,-120.6,963.6,-8.8,540,7714,0.00,2.15,0.00,0.000,4,0.000,0.036,1539,2003,2918,0,0,0,0,0,0
$GC,7736,-0.54,-121.7,966.1,-9.3,541,7740,0.00,2.33,0.00,0.000,6,0.000,0.060,1529,3415,2918,0,0,0,0,0,0
$STATE,7994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7994,begin apogee
$GC,7999,-0.09,0.0,991.4,10.5,554,8108,0.55,0.00,105.53,1.864,6,0.155,0.000,1689,3277,2473,0,0,0,0,0,0
$STATE,8109,end apogee,CONTROL_FINISHED_OK
$STATE,8109,begin climb
$GC,8110,0.54,121.7,994.5,0.0,559,8243,0.57,2.45,124.10,1.813,4,0.060,0.036,1904,1861,1976,0,0,0,0,0,0
$GC,8270,0.54,121.7,982.5,12.8,566,8278,0.00,2.53,0.00,0.000,6,0.000,0.055,1904,3270,1971,0,0,0,0,0,0
$GC,8588,0.54,121.7,931.3,16.3,582,8591,0.00,1.17,0.00,0.000,4,0.000,0.063,1904,3959,1964,0,0,0,0,0,0
$GC,8678,0.54,121.7,915.2,18.3,586,8682,0.00,1.10,0.00,0.000,6,0.000,0.041,1909,3271,1963,0,0,0,0,0,0
$GC,9010,0.54,121.7,859.6,16.5,602,9014,0.00,1.12,0.00,0.000,4,0.000,0.062,1909,3950,1961,0,0,0,0,0,0
$GC,9093,0.54,121.7,844.1,19.5,605,9101,0.00,1.08,0.00,0.000,6,0.000,0.038,1915,3273,1961,0,0,0,0,0,0
$GC,9411,0.54,121.7,790.9,16.5,621,9414,0.00,1.12,0.00,0.000,4,0.000,0.063,1915,3953,1959,0,0,0,0,0,0
$GC,9613,0.54,121.7,752.5,18.4,630,9616,0.00,1.05,0.00,0.000,6,0.000,0.041,1920,3280,1959,0,0,0,0,0,0
$GC,9946,0.54,121.7,695.2,17.3,646,9950,0.00,1.10,0.00,0.000,4,0.000,0.062,1920,3954,1958,0,0,0,0,0,0
$GC,9973,0.54,121.7,689.7,18.2,647,9977,0.00,1.08,0.00,0.000,6,0.000,0.038,1925,3270,1958,0,0,0,0,0,0
$GC,10300,0.54,121.7,631.7,17.8,663,10304,0.00,1.12,0.00,0.000,4,0.000,0.061,1925,3956,1958,0,0,0,0,0,0
$GC,10332,0.54,121.7,625.5,18.5,664,10338,0.12,1.08,0.00,0.000,6,0.218,0.038,1901,3270,1958,0,0,0,0,0,0
$GC,10655,0.54,121.7,574.6,15.5,680,10658,0.00,1.12,0.00,0.000,4,0.000,0.062,1902,3956,1956,0,0,0,0,0,0
$GC,10872,0.54,121.7,537.0,16.6,689,10880,0.00,1.08,0.00,0.000,6,0.000,0.038,1905,3270,1957,0,0,0,0,0,0
$GC,11189,0.54,121.7,490.7,14.6,705,11192,0.00,1.12,0.00,0.000,4,0.000,0.062,1905,3956,1956,0,0,0,0,0,0
$GC,11305,0.54,121.7,471.8,16.2,710,11310,0.00,1.08,0.00,0.000,6,0.000,0.037,1911,3268,1956,0,0,0,0,0,0
$GC,11632,0.54,121.7,424.1,14.3,726,11636,0.00,1.12,0.00,0.000,4,0.000,0.061,1911,3956,1955,0,0,0,0,0,0
$GC,11794,0.54,121.7,397.5,15.6,733,11802,0.00,1.02,0.00,0.000,6,0.000,0.038,1916,3287,1955,0,0,0,0,0,0
$GC,12119,0.54,121.7,350.5,14.0,764,12123,0.00,1.08,0.00,0.000,4,0.000,0.062,1916,3947,1955,0,0,0,0,0,0
$GC,12187,0.54,121.7,339.8,16.3,770,12191,0.00,1.02,0.00,0.000,6,0.000,0.039,1921,3280,1955,0,0,0,0,0,0
$GC,12520,0.54,121.7,291.6,14.2,801,12523,0.00,1.10,0.00,0.000,4,0.000,0.061,1921,3953,1955,0,0,0,0,0,0
$GC,12679,0.54,121.7,266.3,16.3,815,12683,0.08,1.02,0.00,0.000,6,0.199,0.039,1905,3280,1955,0,0,0,0,0,0
$GC,13008,0.54,121.7,221.7,12.9,846,13012,0.00,1.10,0.00,0.000,4,0.000,0.062,1905,3956,1954,0,0,0,0,0,0
$GC,13215,0.54,121.7,189.4,15.3,864,13225,0.00,1.05,0.00,0.000,6,0.000,0.037,1908,3278,1954,0,0,0,0,0,0
$GC,13541,0.54,121.7,140.3,15.6,895,13544,0.00,1.10,0.00,0.000,4,0.000,0.063,1909,3953,1954,0,0,0,0,0,0
$GC,13681,0.54,121.7,115.5,17.5,907,13688,0.00,1.02,0.00,0.000,6,0.000,0.037,1914,3278,1954,0,0,0,0,0,0
$GC,14021,0.54,121.7,67.0,13.1,959,14027,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3278,1954,0,0,0,0,0,0
$GC,14373,0.54,121.7,28.3,10.8,1020,14381,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3278,1954,0,0,0,0,0,0
$GC,14527,0.54,121.7,11.3,11.2,1045,14536,0.00,1.10,0.00,0.000,4,0.000,0.061,1914,3955,1954,0,0,0,0,0,0
$GC,14569,0.54,121.7,5.9,12.7,1051,14578,0.00,1.02,0.00,0.000,6,0.000,0.037,1919,3280,1954,0,0,0,0,0,0
$STATE,14591,end climb,SURFACE_DEPTH_REACHED
$STATE,14591,begin surface coast
$FINISH,0.7,1.014831
$STATE,14618,end surface coast,CONTROL_FINISHED_OK
$STATE,14618,begin surface
$SM_CCo,14630,41.42,0.791,0,0,1555,225.18
$SM_GC,1.33,0.00,0.00,41.42,0.000,0.000,0.791,61,3433,1555,-5.18,0.37,225.18
$IRIDIUM_FIX,-4242.04,827.77,050114,010114
$TT8_MAMPS,0.026215
$HUMID,62.01
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.3,32.136
$10V_AH,9.9,23.529
$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,12.850,83.225,229.625,41.425,0.000,28.134,18.647,338.869,0.000,0.000,22.141,2634.662,9074.868,399.556,2879.238,199.979,0.000,1434.432,0.000,2358.703,0.000,1.011,0.000
$DEVICE_MAMPS,241.740,78.030,1864.305,791.010,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,733.714,1821.526,713.196,352.442,0.000,0.000,0.000,0.000,0.000,0.000
$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,77064,1058
$CAP_FILE_SIZE,137040,0
$CFSIZE,259252224,243134464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050114,103122,-4300.380,829.242,38,0.9,38,-25.0