version: 66.07
glider: 543
mission: 9
dive: 202
start: 1 3 114 1 50 12
data:
$ID,543
$MISSION,9
$DIVE,202
$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,-13168.856
$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,39
$R_STBD_OVSHOOT,23
$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
$GPS1,030114,014134,-4300.039,829.486,26,1.5,26,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-65.7
$GPS2,030114,014947,-4300.022,829.576,16,1.1,17,-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,110.9,576,-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,-57.7,0.0,0.0,0,67,0.00,0.00,-50.00,0.000,2,0.000,0.000,62,3416,2666,0,0,0,0,0,0
$GC,69,-0.53,-95.7,3.2,-5.3,6,88,6.10,2.20,-5.32,0.000,4,0.235,0.043,1547,1999,2865,0,0,0,0,0,0
$GC,256,-0.53,-95.7,30.1,-10.4,36,265,0.00,2.35,0.00,0.000,6,0.000,0.054,1538,3419,2869,0,0,0,0,0,0
$GC,405,-0.53,-95.7,54.2,-14.8,61,412,0.00,2.17,0.00,0.000,4,0.000,0.030,1538,1986,2870,0,0,0,0,0,0
$GC,443,-0.53,-95.7,59.2,-12.5,67,450,0.00,2.35,0.00,0.000,6,0.000,0.052,1527,3432,2870,0,0,0,0,0,0
$GC,791,-0.53,-95.7,115.0,-14.7,120,795,0.00,0.82,0.00,0.000,4,0.000,0.059,1523,3951,2872,0,0,0,0,0,0
$GC,1052,-0.53,-95.7,156.3,-15.4,143,1056,0.00,0.80,0.00,0.000,6,0.000,0.036,1523,3413,2872,0,0,0,0,0,0
$GC,1383,-0.53,-95.7,207.5,-16.0,174,1386,0.00,0.85,0.00,0.000,4,0.000,0.060,1520,3942,2873,0,0,0,0,0,0
$GC,1432,-0.53,-95.7,216.0,-16.9,178,1441,0.10,0.80,0.00,0.000,6,0.190,0.035,1542,3419,2873,0,0,0,0,0,0
$GC,1759,-0.53,-95.7,259.0,-13.1,209,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,3419,2874,0,0,0,0,0,0
$GC,2077,-0.53,-95.7,299.8,-12.8,239,2081,0.00,0.85,0.00,0.000,4,0.000,0.061,1540,3951,2874,0,0,0,0,0,0
$GC,2147,-0.53,-95.7,308.9,-12.8,245,2151,0.00,0.80,0.00,0.000,6,0.000,0.037,1540,3416,2873,0,0,0,0,0,0
$GC,2477,-0.53,-95.7,350.8,-12.4,276,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3416,2873,0,0,0,0,0,0
$GC,2797,-0.53,-95.7,390.5,-12.4,306,2798,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3416,2873,0,0,0,0,0,0
$GC,3118,-0.53,-95.7,431.8,-12.9,325,3122,0.00,0.85,0.00,0.000,4,0.000,0.062,1536,3947,2873,0,0,0,0,0,0
$GC,3231,-0.53,-95.7,447.5,-14.3,330,3235,0.00,0.80,0.00,0.000,6,0.000,0.038,1536,3416,2873,0,0,0,0,0,0
$GC,3563,-0.53,-95.7,492.0,-13.0,346,3567,0.00,0.85,0.00,0.000,4,0.000,0.061,1532,3950,2873,0,0,0,0,0,0
$GC,3625,-0.53,-95.7,500.6,-13.6,348,3632,0.00,0.80,0.00,0.000,6,0.000,0.038,1532,3421,2873,0,0,0,0,0,0
$GC,3940,-0.53,-95.7,542.8,-13.5,364,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,3421,2872,0,0,0,0,0,0
$GC,4250,-0.53,-95.7,582.8,-12.9,379,4251,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,3420,2872,0,0,0,0,0,0
$GC,4560,-0.53,-95.7,621.8,-12.4,394,4564,0.00,0.85,0.00,0.000,4,0.000,0.062,1528,3953,2871,0,0,0,0,0,0
$GC,4651,-0.53,-95.7,633.9,-13.4,398,4654,0.00,0.80,0.00,0.000,6,0.000,0.040,1528,3423,2871,0,0,0,0,0,0
$GC,4983,-0.53,-95.7,674.7,-12.0,414,4984,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3422,2870,0,0,0,0,0,0
$GC,5294,-0.53,-95.7,710.6,-11.3,429,5297,0.00,0.85,0.00,0.000,4,0.000,0.063,1524,3955,2870,0,0,0,0,0,0
$GC,5433,-0.53,-95.7,727.7,-11.9,435,5437,0.00,0.80,0.00,0.000,6,0.000,0.041,1524,3424,2870,0,0,0,0,0,0
$GC,5759,-0.53,-95.7,767.3,-12.2,451,5761,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3423,2869,0,0,0,0,0,0
$GC,6070,-0.53,-95.7,806.3,-12.8,466,6071,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3423,2869,0,0,0,0,0,0
$GC,6380,-0.53,-95.7,844.7,-12.3,481,6384,0.00,0.85,0.00,0.000,4,0.000,0.063,1520,3953,2868,0,0,0,0,0,0
$GC,6485,-0.53,-95.7,858.7,-13.1,485,6493,0.00,0.82,0.00,0.000,6,0.000,0.039,1520,3416,2868,0,0,0,0,0,0
$GC,6802,-0.53,-95.7,896.8,-12.5,501,6805,0.00,0.85,0.00,0.000,4,0.000,0.063,1516,3945,2867,0,0,0,0,0,0
$GC,6884,-0.53,-95.7,907.7,-12.4,504,6892,0.12,0.82,0.00,0.000,6,0.178,0.040,1547,3414,2867,0,0,0,0,0,0
$GC,7202,-0.53,-95.7,939.2,-10.0,520,7203,0.00,0.00,0.00,0.000,6,0.000,0.000,1546,3414,2867,0,0,0,0,0,0
$GC,7510,-0.53,-95.7,968.9,-9.4,535,7514,0.00,0.85,0.00,0.000,4,0.000,0.064,1544,3942,2866,0,0,0,0,0,0
$GC,7623,-0.53,-95.7,980.5,-10.2,540,7627,0.00,0.80,0.00,0.000,6,0.000,0.041,1544,3418,2866,0,0,0,0,0,0
$STATE,7727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7727,begin apogee
$GC,7732,-0.09,0.0,990.5,9.5,545,7830,0.47,0.00,93.57,1.873,6,0.144,0.000,1686,3270,2473,0,0,0,0,0,0
$STATE,7831,end apogee,CONTROL_FINISHED_OK
$STATE,7831,begin climb
$GC,7832,0.53,95.7,992.9,0.0,550,7938,0.57,0.00,98.03,1.820,6,0.064,0.000,1888,3269,2083,0,0,0,0,0,0
$GC,8248,0.53,95.7,945.2,13.7,570,8249,0.00,0.00,0.00,0.000,6,0.000,0.000,1887,3269,2072,0,0,0,0,0,0
$GC,8555,0.53,95.7,904.8,13.0,585,8559,0.00,1.12,0.00,0.000,4,0.000,0.061,1888,3945,2069,0,0,0,0,0,0
$GC,8623,0.53,95.7,895.1,14.2,588,8626,0.00,1.05,0.00,0.000,6,0.000,0.038,1893,3276,2069,0,0,0,0,0,0
$GC,8955,0.53,95.7,851.0,13.6,604,8959,0.00,1.10,0.00,0.000,4,0.000,0.060,1893,3945,2068,0,0,0,0,0,0
$GC,9045,0.53,95.7,837.0,17.2,608,9049,0.00,1.02,0.00,0.000,6,0.000,0.038,1898,3283,2067,0,0,0,0,0,0
$GC,9379,0.53,95.7,789.1,14.2,624,9380,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,3282,2066,0,0,0,0,0,0
$GC,9687,0.53,95.7,745.5,13.7,639,9690,0.00,2.20,0.00,0.000,4,0.000,0.034,1909,1858,2065,0,0,0,0,0,0
$GC,9707,0.53,95.7,742.7,13.2,640,9711,0.00,2.33,0.00,0.000,6,0.000,0.052,1909,3280,2064,0,0,0,0,0,0
$GC,10035,0.53,95.7,696.3,14.2,656,10036,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3280,2064,0,0,0,0,0,0
$GC,10344,0.53,95.7,653.4,13.7,671,10347,0.00,1.08,0.00,0.000,4,0.000,0.060,1909,3949,2063,0,0,0,0,0,0
$GC,10479,0.53,95.7,632.5,15.5,677,10483,0.00,1.02,0.00,0.000,6,0.000,0.037,1914,3276,2063,0,0,0,0,0,0
$GC,10813,0.53,95.7,584.5,14.3,693,10814,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3277,2063,0,0,0,0,0,0
$GC,11120,0.53,95.7,539.1,14.7,708,11124,0.00,2.17,0.00,0.000,4,0.000,0.034,1925,1854,2063,0,0,0,0,0,0
$GC,11141,0.53,95.7,536.0,13.3,709,11146,0.10,2.33,0.00,0.000,6,0.172,0.050,1896,3286,2062,0,0,0,0,0,0
$GC,11469,0.53,95.7,493.0,13.0,725,11470,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,3286,2061,0,0,0,0,0,0
$GC,11778,0.53,95.7,453.7,12.3,740,11779,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,3286,2062,0,0,0,0,0,0
$GC,12088,0.53,95.7,416.3,12.1,755,12092,0.00,1.08,0.00,0.000,4,0.000,0.058,1896,3952,2062,0,0,0,0,0,0
$GC,12126,0.53,95.7,411.2,12.9,756,12134,0.00,1.05,0.00,0.000,6,0.000,0.037,1900,3270,2062,0,0,0,0,0,0
$GC,12449,0.53,95.7,371.7,12.1,782,12451,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,3271,2062,0,0,0,0,0,0
$GC,12768,0.53,95.7,332.8,12.6,812,12769,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,3271,2062,0,0,0,0,0,0
$GC,13087,0.53,95.7,292.6,12.6,842,13088,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,3271,2062,0,0,0,0,0,0
$GC,13405,0.53,95.7,252.3,12.9,872,13409,0.00,1.10,0.00,0.000,4,0.000,0.060,1900,3948,2062,0,0,0,0,0,0
$GC,13599,0.53,95.7,225.8,14.0,889,13603,0.00,1.02,0.00,0.000,6,0.000,0.037,1905,3272,2062,0,0,0,0,0,0
$GC,13930,0.53,95.7,185.3,11.5,920,13933,0.00,1.10,0.00,0.000,4,0.000,0.060,1905,3953,2062,0,0,0,0,0,0
$GC,13979,0.53,95.7,178.7,14.2,924,13989,0.00,1.05,0.00,0.000,6,0.000,0.036,1910,3269,2062,0,0,0,0,0,0
$GC,14304,0.53,95.7,139.7,12.0,955,14308,0.00,1.10,0.00,0.000,4,0.000,0.060,1910,3947,2062,0,0,0,0,0,0
$GC,14388,0.53,95.7,128.7,12.4,962,14395,0.00,1.02,0.00,0.000,6,0.000,0.036,1915,3278,2062,0,0,0,0,0,0
$GC,14718,0.53,95.7,90.6,12.5,999,14726,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3278,2062,0,0,0,0,0,0
$GC,15071,0.54,116.5,50.4,7.2,1060,15084,0.00,1.05,6.82,0.897,4,0.000,0.057,1915,3954,1995,0,0,0,0,0,0
$GC,15213,0.54,116.5,35.1,11.5,1084,15222,0.00,1.02,0.00,0.000,6,0.000,0.036,1921,3279,1994,0,0,0,0,0,0
$GC,15366,0.54,116.5,18.6,10.6,1109,15375,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3279,1993,0,0,0,0,0,0
$GC,15426,0.54,116.5,12.1,10.4,1118,15435,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3279,1993,0,0,0,0,0,0
$GC,15485,0.54,116.5,6.4,10.2,1127,15494,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3279,1993,0,0,0,0,0,0
$STATE,15519,end climb,SURFACE_DEPTH_REACHED
$STATE,15519,begin surface coast
$FINISH,0.4,1.026215
$STATE,15551,end surface coast,CONTROL_FINISHED_OK
$STATE,15552,begin surface
$SM_CCo,15564,44.83,0.784,0,0,1553,225.18
$SM_GC,1.21,0.00,0.00,44.83,0.000,0.000,0.784,66,3440,1553,-5.16,0.57,225.18
$IRIDIUM_FIX,-4242.04,830.68,020114,212104
$TT8_MAMPS,0.026215
$HUMID,62.08
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.4,30.419
$10V_AH,10.0,22.146
$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,12.475,52.075,198.425,44.825,0.000,25.861,17.029,322.157,0.000,0.000,19.615,2804.851,9723.629,360.218,2991.847,222.432,0.000,1417.423,0.000,2497.928,0.000,1.010,0.000
$DEVICE_MAMPS,234.855,71.910,1872.720,784.125,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,789.255,1960.879,789.358,393.812,0.000,0.000,0.000,0.000,0.000,0.000
$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,80314,1137
$CAP_FILE_SIZE,136347,0
$CFSIZE,259252224,244060160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030114,061134,-4259.606,832.373,38,0.9,38,-25.1