version: 66.07
glider: 543
mission: 9
dive: 216
start: 1 5 114 15 4 0
data:
$ID,543
$MISSION,9
$DIVE,216
$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,-13216.898
$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,44
$R_STBD_OVSHOOT,26
$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
$GPS1,050114,145505,-4258.883,831.432,32,0.9,32,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-69.1
$GPS2,050114,150335,-4258.935,831.506,20,0.9,21,-25.1
$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,251.1,2838,-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,-42.33,0.000,2,0.000,0.000,51,3426,2513,0,0,0,0,0,0
$GC,61,-0.53,-105.9,3.0,-4.1,5,88,6.18,0.85,-11.25,0.000,4,0.235,0.090,1539,3943,2906,0,0,0,0,0,0
$GC,263,-0.53,-105.9,38.6,-18.4,37,270,0.00,0.80,0.00,0.000,6,0.000,0.037,1538,3422,2909,0,0,0,0,0,0
$GC,408,-0.53,-105.9,64.6,-16.1,62,414,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,3422,2910,0,0,0,0,0,0
$GC,755,-0.53,-105.9,115.9,-13.5,114,759,0.00,2.15,0.00,0.000,4,0.000,0.030,1538,1998,2912,0,0,0,0,0,0
$GC,787,-0.53,-105.9,120.1,-11.6,116,797,0.00,2.33,0.00,0.000,6,0.000,0.052,1528,3422,2912,0,0,0,0,0,0
$GC,1112,-0.53,-105.9,168.7,-15.4,147,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3422,2913,0,0,0,0,0,0
$GC,1434,-0.53,-105.9,218.6,-15.6,177,1438,0.00,2.15,0.00,0.000,4,0.000,0.029,1528,1990,2913,0,0,0,0,0,0
$GC,1466,-0.53,-105.9,223.9,-13.9,179,1474,0.00,2.33,0.00,0.000,6,0.000,0.053,1517,3416,2914,0,0,0,0,0,0
$GC,1791,-0.53,-105.9,274.4,-16.3,210,1796,0.12,2.15,0.00,0.000,4,0.191,0.031,1547,1996,2913,0,0,0,0,0,0
$GC,1832,-0.53,-105.9,279.4,-11.4,213,1837,0.00,2.30,0.00,0.000,6,0.000,0.054,1538,3429,2913,0,0,0,0,0,0
$GC,2162,-0.53,-105.9,322.7,-13.4,244,2166,0.00,2.15,0.00,0.000,4,0.000,0.032,1538,1990,2913,0,0,0,0,0,0
$GC,2183,-0.53,-105.9,325.6,-13.0,245,2192,0.00,2.33,0.00,0.000,6,0.000,0.056,1527,3413,2913,0,0,0,0,0,0
$GC,2509,-0.53,-105.9,371.9,-14.8,276,2513,0.00,2.12,0.00,0.000,4,0.000,0.032,1526,1996,2913,0,0,0,0,0,0
$GC,2541,-0.53,-105.9,376.4,-12.8,278,2549,0.08,2.35,0.00,0.000,6,0.140,0.056,1540,3428,2914,0,0,0,0,0,0
$GC,2873,-0.53,-105.9,420.0,-13.4,303,2877,0.00,2.15,0.00,0.000,4,0.000,0.034,1540,2001,2913,0,0,0,0,0,0
$GC,2893,-0.53,-105.9,423.2,-13.5,304,2898,0.00,2.33,0.00,0.000,6,0.000,0.057,1530,3420,2913,0,0,0,0,0,0
$GC,3223,-0.53,-105.9,469.5,-14.2,320,3227,0.00,2.17,0.00,0.000,4,0.000,0.034,1530,1995,2913,0,0,0,0,0,0
$GC,3255,-0.53,-105.9,474.2,-12.8,321,3262,0.00,2.35,0.00,0.000,6,0.000,0.057,1520,3423,2913,0,0,0,0,0,0
$GC,3571,-0.53,-105.9,521.5,-15.3,337,3572,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3424,2913,0,0,0,0,0,0
$GC,3881,-0.53,-105.9,566.4,-14.4,352,3884,0.00,2.15,0.00,0.000,4,0.000,0.034,1519,1997,2912,0,0,0,0,0,0
$GC,3935,-0.53,-105.9,573.3,-11.0,354,3943,0.10,2.35,0.00,0.000,6,0.141,0.057,1540,3423,2912,0,0,0,0,0,0
$GC,4251,-0.53,-105.9,610.5,-11.7,370,4255,0.00,2.15,0.00,0.000,4,0.000,0.034,1540,2001,2912,0,0,0,0,0,0
$GC,4291,-0.53,-105.9,614.6,-9.6,372,4296,0.00,2.33,0.00,0.000,6,0.000,0.058,1531,3428,2912,0,0,0,0,0,0
$GC,4619,-0.53,-105.9,653.8,-12.4,388,4623,0.00,2.17,0.00,0.000,4,0.000,0.034,1531,1995,2911,0,0,0,0,0,0
$GC,4640,-0.53,-105.9,656.8,-12.5,389,4645,0.00,2.35,0.00,0.000,6,0.000,0.059,1520,3423,2911,0,0,0,0,0,0
$GC,4968,-0.53,-105.9,698.9,-13.0,405,4972,0.00,2.15,0.00,0.000,4,0.000,0.035,1520,1999,2910,0,0,0,0,0,0
$GC,4989,-0.53,-105.9,701.8,-12.4,406,4994,0.10,2.33,0.00,0.000,6,0.141,0.058,1541,3415,2910,0,0,0,0,0,0
$GC,5316,-0.53,-105.9,736.7,-10.5,422,5320,0.00,2.15,0.00,0.000,4,0.000,0.036,1540,1996,2910,0,0,0,0,0,0
$GC,5333,-0.53,-105.9,738.3,-10.4,423,5337,0.00,2.33,0.00,0.000,6,0.000,0.060,1531,3421,2909,0,0,0,0,0,0
$GC,5660,-0.53,-105.9,774.7,-11.0,439,5664,0.00,2.15,0.00,0.000,4,0.000,0.035,1531,2000,2909,0,0,0,0,0,0
$GC,5700,-0.53,-105.9,779.0,-10.6,441,5704,0.00,2.33,0.00,0.000,6,0.000,0.059,1520,3426,2909,0,0,0,0,0,0
$GC,6027,-0.53,-105.9,818.0,-11.8,457,6031,0.00,2.17,0.00,0.000,4,0.000,0.035,1520,1992,2909,0,0,0,0,0,0
$GC,6058,-0.53,-105.9,821.7,-10.5,458,6067,0.10,2.35,0.00,0.000,6,0.143,0.059,1541,3417,2909,0,0,0,0,0,0
$GC,6377,-0.53,-105.9,854.4,-10.5,474,6381,0.00,2.15,0.00,0.000,4,0.000,0.036,1540,2001,2908,0,0,0,0,0,0
$GC,6409,-0.53,-107.7,857.9,-9.2,475,6416,0.00,2.33,0.00,0.000,6,0.000,0.060,1531,3418,2908,0,0,0,0,0,0
$GC,6725,-0.53,-107.7,893.2,-11.7,491,6728,0.00,0.85,0.00,0.000,4,0.000,0.065,1527,3949,2907,0,0,0,0,0,0
$GC,6762,-0.53,-107.7,898.0,-12.6,492,6770,0.00,0.82,0.00,0.000,6,0.000,0.040,1527,3414,2908,0,0,0,0,0,0
$GC,7079,-0.53,-107.7,935.2,-12.0,508,7083,0.00,2.12,0.00,0.000,4,0.000,0.033,1527,2000,2907,0,0,0,0,0,0
$GC,7122,-0.53,-107.7,940.2,-10.3,510,7126,0.00,2.33,0.00,0.000,6,0.000,0.058,1516,3417,2908,0,0,0,0,0,0
$GC,7450,-0.53,-107.7,981.2,-12.9,526,7451,0.12,0.00,0.00,0.000,6,0.182,0.000,1547,3417,2907,0,0,0,0,0,0
$STATE,7551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7551,begin apogee
$GC,7555,-0.09,0.0,991.9,10.2,531,7662,0.47,0.00,103.12,1.870,6,0.147,0.000,1689,3280,2473,0,0,0,0,0,0
$STATE,7662,end apogee,CONTROL_FINISHED_OK
$STATE,7663,begin climb
$GC,7664,0.53,107.7,995.4,0.0,536,7783,0.60,2.47,110.22,1.820,4,0.058,0.035,1907,1855,2034,0,0,0,0,0,0
$GC,7795,0.53,107.7,987.9,12.2,543,7800,0.00,2.55,0.00,0.000,6,0.000,0.054,1907,3285,2032,0,0,0,0,0,0
$GC,8122,0.53,107.7,938.8,15.2,559,8126,0.00,1.12,0.00,0.000,4,0.000,0.063,1907,3952,2022,0,0,0,0,0,0
$GC,8379,0.53,107.7,893.8,17.1,570,8384,0.00,1.08,0.00,0.000,6,0.000,0.039,1912,3277,2021,0,0,0,0,0,0
$GC,8703,0.53,107.7,841.9,16.5,586,8706,0.00,1.12,0.00,0.000,4,0.000,0.063,1912,3956,2019,0,0,0,0,0,0
$GC,8960,0.53,107.7,793.8,18.7,597,8964,0.00,1.08,0.00,0.000,6,0.000,0.039,1917,3271,2018,0,0,0,0,0,0
$GC,9283,0.53,107.7,739.7,16.6,613,9287,0.00,1.10,0.00,0.000,4,0.000,0.063,1917,3944,2017,0,0,0,0,0,0
$GC,9540,0.53,107.7,693.3,17.0,624,9545,0.00,1.05,0.00,0.000,6,0.000,0.038,1922,3272,2017,0,0,0,0,0,0
$GC,9864,0.53,107.7,645.7,14.4,640,9867,0.00,1.12,0.00,0.000,4,0.000,0.062,1922,3958,2015,0,0,0,0,0,0
$GC,10121,0.53,107.7,606.3,14.7,651,10126,0.15,1.08,0.00,0.000,6,0.213,0.039,1889,3270,2015,0,0,0,0,0,0
$GC,10443,0.53,107.7,570.5,10.9,667,10447,0.00,1.12,0.00,0.000,4,0.000,0.063,1889,3956,2015,0,0,0,0,0,0
$GC,10700,0.53,107.7,537.0,12.8,678,10705,0.00,1.05,0.00,0.000,6,0.000,0.039,1892,3280,2015,0,0,0,0,0,0
$GC,11024,0.53,107.7,498.6,12.2,694,11028,0.00,2.15,0.00,0.000,4,0.000,0.037,1903,1863,2014,0,0,0,0,0,0
$GC,11265,0.53,107.7,472.1,10.5,705,11269,0.00,2.30,0.00,0.000,6,0.000,0.054,1903,3289,2012,0,0,0,0,0,0
$GC,11593,0.53,107.7,428.7,13.8,721,11596,0.00,1.08,0.00,0.000,4,0.000,0.062,1903,3954,2011,0,0,0,0,0,0
$GC,11852,0.53,107.7,387.6,15.8,735,11856,0.00,1.02,0.00,0.000,6,0.000,0.040,1908,3283,2011,0,0,0,0,0,0
$GC,12182,0.53,107.7,340.3,13.9,766,12186,0.00,1.08,0.00,0.000,4,0.000,0.062,1908,3942,2012,0,0,0,0,0,0
$GC,12444,0.53,107.7,298.8,16.5,789,12448,0.00,1.02,0.00,0.000,6,0.000,0.039,1914,3272,2011,0,0,0,0,0,0
$GC,12775,0.53,107.7,251.9,13.7,820,12778,0.00,1.10,0.00,0.000,4,0.000,0.061,1914,3952,2011,0,0,0,0,0,0
$GC,13034,0.53,107.7,210.6,15.3,843,13038,0.00,1.02,0.00,0.000,6,0.000,0.038,1919,3277,2011,0,0,0,0,0,0
$GC,13365,0.53,107.7,167.8,12.3,874,13368,0.00,1.10,0.00,0.000,4,0.000,0.062,1919,3952,2012,0,0,0,0,0,0
$GC,13626,0.53,107.7,131.6,12.9,897,13631,0.10,1.02,0.00,0.000,6,0.193,0.038,1897,3276,2012,0,0,0,0,0,0
$GC,13954,0.53,107.7,96.8,9.5,930,13963,0.00,1.10,0.00,0.000,4,0.000,0.062,1897,3953,2011,0,0,0,0,0,0
$GC,14222,0.53,107.7,67.4,9.5,976,14229,0.00,1.02,0.00,0.000,6,0.000,0.038,1900,3278,2011,0,0,0,0,0,0
$GC,14575,0.54,110.9,35.5,9.1,1037,14581,0.00,1.08,0.00,0.000,4,0.000,0.061,1900,3943,2011,0,0,0,0,0,0
$GC,14853,0.54,122.9,5.9,8.1,1083,14863,0.00,1.00,4.22,0.610,6,0.000,0.037,1905,3278,1967,0,0,0,0,0,0
$STATE,14882,end climb,SURFACE_DEPTH_REACHED
$STATE,14882,begin surface coast
$FINISH,0.6,1.025938
$STATE,14914,end surface coast,CONTROL_FINISHED_OK
$STATE,14914,begin surface
$SM_CCo,14927,42.55,0.787,0,0,1552,225.18
$SM_GC,1.32,0.00,0.00,42.55,0.000,0.000,0.787,48,3439,1552,-5.23,0.54,225.18
$IRIDIUM_FIX,-4242.04,831.12,050114,101046
$TT8_MAMPS,0.026215
$HUMID,61.49
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.3,32.439
$10V_AH,10.0,23.763
$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,13.175,108.525,217.575,42.550,0.000,26.021,40.437,311.170,0.000,0.000,22.872,2779.574,8906.596,390.776,3188.769,214.151,0.000,1529.327,0.000,2662.353,0.000,1.011,0.000
$DEVICE_MAMPS,234.855,89.505,1870.425,787.185,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,757.770,1866.754,760.441,387.354,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354444
$DATA_FILE_SIZE,77167,1092
$CAP_FILE_SIZE,147832,0
$CFSIZE,259252224,242966528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050114,191504,-4259.554,831.432,59,0.9,59,-25.1