version: 66.07
glider: 543
mission: 9
dive: 390
start: 2 9 114 2 20 27
data:
$ID,543
$MISSION,9
$DIVE,390
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$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,133
$T_MISSION,148
$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,220
$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,-13748.637
$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,53
$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,3380
$C_ROLL_CLIMB,3285
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,44
$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
$GPS1,090214,021128,-4257.038,749.525,48,0.8,51,-24.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-59.4
$GPS2,090214,022003,-4256.751,749.551,46,0.8,47,-24.8
$SPEED_LIMITS,0.174,0.239
$TGT_NAME,SAZ
$TGT_LATLONG,-4300.000,750.000
$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,199.0,6047,-19.4,-10.025
$D_GRID,400
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.44,-121.7,0.0,0.0,0,58,0.00,0.00,-41.47,0.000,2,0.000,0.000,46,3409,2520,0,0,0,0,0,0
$GC,61,-0.44,-121.7,3.1,-5.4,5,87,6.32,0.85,-12.50,0.000,4,0.231,0.090,1567,3923,2971,0,0,0,0,0,0
$GC,279,-0.44,-121.7,27.4,-12.8,39,285,0.00,0.82,0.00,0.000,6,0.000,0.034,1567,3378,2974,0,0,0,0,0,0
$GC,427,-0.44,-121.7,46.9,-12.2,64,434,0.00,0.88,0.00,0.000,4,0.000,0.057,1563,3922,2975,0,0,0,0,0,0
$GC,492,-0.44,-121.7,56.6,-15.8,75,500,0.00,0.80,0.00,0.000,6,0.000,0.034,1563,3383,2975,0,0,0,0,0,0
$GC,845,-0.44,-121.7,99.3,-10.5,136,852,0.00,2.10,0.00,0.000,4,0.000,0.026,1563,1960,2976,0,0,0,0,0,0
$GC,895,-0.44,-121.7,104.3,-9.6,141,899,0.00,2.22,0.00,0.000,6,0.000,0.049,1552,3366,2976,0,0,0,0,0,0
$GC,1225,-0.44,-121.7,138.8,-9.8,172,1229,0.00,0.93,0.00,0.000,4,0.000,0.057,1548,3953,2977,0,0,0,0,0,0
$GC,1485,-0.44,-121.7,169.0,-12.0,195,1488,0.00,0.85,0.00,0.000,6,0.000,0.032,1548,3371,2978,0,0,0,0,0,0
$GC,1815,-0.44,-121.7,208.6,-12.1,226,1819,0.00,0.93,0.00,0.000,4,0.000,0.058,1544,3953,2978,0,0,0,0,0,0
$GC,1974,-0.44,-121.7,229.2,-13.2,240,1978,0.08,0.85,0.00,0.000,6,0.147,0.032,1568,3379,2978,0,0,0,0,0,0
$GC,2304,-0.44,-121.7,263.9,-10.5,271,2307,0.00,0.90,0.00,0.000,4,0.000,0.059,1565,3946,2978,0,0,0,0,0,0
$GC,2365,-0.44,-121.7,270.9,-11.6,276,2375,0.00,0.85,0.00,0.000,6,0.000,0.034,1565,3373,2978,0,0,0,0,0,0
$GC,2690,-0.44,-121.7,305.1,-10.5,307,2694,0.00,0.90,0.00,0.000,4,0.000,0.060,1561,3938,2978,0,0,0,0,0,0
$GC,2794,-0.44,-121.7,316.2,-10.9,316,2797,0.00,0.82,0.00,0.000,6,0.000,0.034,1561,3382,2978,0,0,0,0,0,0
$GC,3124,-0.44,-121.7,348.5,-9.3,347,3128,0.00,0.90,0.00,0.000,4,0.000,0.059,1557,3949,2977,0,0,0,0,0,0
$GC,3204,-0.44,-121.7,356.2,-10.2,354,3207,0.00,0.85,0.00,0.000,6,0.000,0.034,1557,3377,2977,0,0,0,0,0,0
$GC,3537,-0.44,-121.7,386.1,-8.9,385,3541,0.00,0.90,0.00,0.000,4,0.000,0.059,1553,3939,2977,0,0,0,0,0,0
$GC,3599,-0.44,-121.7,392.3,-9.9,390,3605,0.00,0.82,0.00,0.000,6,0.000,0.034,1553,3385,2977,0,0,0,0,0,0
$STATE,3688,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3688,begin apogee
$GC,3693,-0.09,0.0,400.4,9.1,399,3811,0.43,0.00,112.30,1.466,6,0.132,0.000,1683,3278,2474,0,0,0,0,0,0
$STATE,3812,end apogee,CONTROL_FINISHED_OK
$STATE,3812,begin climb
$GC,3815,0.44,121.7,403.5,0.0,405,3943,0.50,2.40,115.72,1.423,4,0.070,0.026,1871,1864,1976,0,0,0,0,0,0
$GC,3990,0.44,121.7,394.1,10.1,415,3994,0.00,2.42,0.00,0.000,6,0.000,0.046,1870,3280,1971,0,0,0,0,0,0
$GC,4317,0.44,121.7,354.0,12.5,445,4318,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,3280,1966,0,0,0,0,0,0
$GC,4635,0.44,121.7,316.4,11.2,475,4638,0.00,1.08,0.00,0.000,4,0.000,0.057,1871,3948,1964,0,0,0,0,0,0
$GC,4684,0.44,121.7,309.6,13.4,479,4692,0.00,1.02,0.00,0.000,6,0.000,0.031,1876,3265,1963,0,0,0,0,0,0
$GC,5010,0.44,121.7,272.0,11.5,510,5013,0.00,1.10,0.00,0.000,4,0.000,0.057,1876,3952,1962,0,0,0,0,0,0
$GC,5071,0.44,121.7,264.1,13.4,515,5078,0.00,1.00,0.00,0.000,6,0.000,0.031,1881,3280,1962,0,0,0,0,0,0
$GC,5396,0.44,121.7,227.8,10.7,546,5397,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,3280,1960,0,0,0,0,0,0
$GC,5716,0.44,121.7,191.8,11.1,576,5717,0.00,0.00,0.00,0.000,6,0.000,0.000,1881,3281,1960,0,0,0,0,0,0
$GC,6034,0.44,121.7,154.1,12.3,606,6038,0.00,1.08,0.00,0.000,4,0.000,0.057,1881,3947,1960,0,0,0,0,0,0
$GC,6141,0.44,121.7,140.0,13.6,615,6148,0.00,0.98,0.00,0.000,6,0.000,0.032,1886,3291,1960,0,0,0,0,0,0
$GC,6466,0.44,121.7,103.8,10.7,646,6470,0.00,1.05,0.00,0.000,4,0.000,0.057,1886,3948,1959,0,0,0,0,0,0
$GC,6526,0.44,123.2,98.0,9.9,652,6533,0.00,1.00,0.00,0.000,6,0.000,0.032,1891,3275,1958,0,0,0,0,0,0
$GC,6875,0.45,140.1,66.6,9.1,713,6890,0.00,2.15,5.97,0.890,4,0.000,0.027,1902,1872,1901,0,0,0,0,0,0
$GC,7149,0.49,195.3,43.5,7.0,760,7182,0.00,2.25,23.88,0.924,6,0.000,0.049,1902,3287,1674,0,0,0,0,0,0
$STATE,7439,end climb,SURFACE_DEPTH_REACHED
$STATE,7439,begin surface coast
$FINISH,0.5,1.011341
$STATE,7459,end surface coast,CONTROL_FINISHED_OK
$STATE,7459,begin surface
$SM_CCo,7472,8.98,0.705,0,0,1575,220.03
$SM_GC,1.98,0.00,0.00,8.98,0.000,0.000,0.705,47,3395,1575,-5.23,0.42,220.03
$IRIDIUM_FIX,-4239.11,752.00,090214,000007
$TT8_MAMPS,0.026215
$HUMID,64.76
$INTERNAL_PRESSURE,9.59138
$TCM_TEMP,14.50
$XPDR_PINGS,0
$24V_AH,22.3,56.536
$10V_AH,9.7,45.463
$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,12.100,35.975,257.875,8.975,0.000,39.649,29.550,275.112,0.000,0.000,48.677,1937.527,3155.482,327.514,2383.574,199.426,0.000,1053.722,0.000,1912.039,0.000,1.010,0.000
$DEVICE_MAMPS,231.030,90.270,1465.740,705.330,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,559.129,1525.541,881.114,399.803,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354416
$DATA_FILE_SIZE,57093,811
$CAP_FILE_SIZE,87638,0
$CFSIZE,259252224,228548608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090214,042600,-4256.703,749.652,15,1.7,15,-24.8