version: 66.07
glider: 543
mission: 9
dive: 203
start: 1 3 114 6 20 36
data:
$ID,543
$MISSION,9
$DIVE,203
$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,-13172.297
$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,42
$R_STBD_OVSHOOT,28
$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
$GPS1,030114,061134,-4259.606,832.373,38,0.9,38,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-71.5
$GPS2,030114,062011,-4259.562,832.419,19,0.9,20,-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,281.2,3376,-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,-49.58,0.000,2,0.000,0.000,62,3440,2651,0,0,0,0,0,0
$GC,69,-0.53,-107.2,3.0,-4.0,6,88,6.18,0.85,-7.18,0.000,4,0.240,0.096,1536,3948,2914,0,0,0,0,0,0
$GC,273,-0.53,-107.2,41.8,-18.6,39,281,0.00,0.80,0.00,0.000,6,0.000,0.037,1537,3426,2918,0,0,0,0,0,0
$GC,626,-0.53,-107.2,95.3,-13.7,100,633,0.00,2.17,0.00,0.000,4,0.000,0.031,1537,1984,2920,0,0,0,0,0,0
$GC,696,-0.53,-107.2,103.5,-10.3,110,700,0.00,2.33,0.00,0.000,6,0.000,0.052,1526,3422,2920,0,0,0,0,0,0
$GC,1028,-0.53,-107.2,149.1,-14.8,141,1031,0.00,0.85,0.00,0.000,4,0.000,0.059,1522,3952,2921,0,0,0,0,0,0
$GC,1099,-0.53,-107.2,160.9,-16.3,147,1107,0.00,0.82,0.00,0.000,6,0.000,0.034,1522,3406,2921,0,0,0,0,0,0
$GC,1425,-0.53,-107.2,210.3,-15.1,178,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3406,2922,0,0,0,0,0,0
$GC,1745,-0.53,-107.2,260.4,-16.3,208,1749,0.00,2.10,0.00,0.000,4,0.000,0.030,1522,2000,2922,0,0,0,0,0,0
$GC,1773,-0.53,-107.2,264.8,-15.3,210,1778,0.12,2.28,0.00,0.000,6,0.158,0.052,1543,3428,2922,0,0,0,0,0,0
$GC,2105,-0.53,-107.2,308.8,-13.2,241,2109,0.00,2.15,0.00,0.000,4,0.000,0.031,1543,1999,2922,0,0,0,0,0,0
$GC,2125,-0.53,-107.2,312.0,-13.5,242,2133,0.00,2.30,0.00,0.000,6,0.000,0.054,1534,3414,2922,0,0,0,0,0,0
$GC,2453,-0.53,-107.2,356.5,-13.7,273,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3414,2922,0,0,0,0,0,0
$GC,2770,-0.53,-107.2,400.4,-13.4,303,2773,0.00,0.85,0.00,0.000,4,0.000,0.061,1529,3949,2922,0,0,0,0,0,0
$GC,2847,-0.53,-107.2,411.8,-14.9,306,2851,0.00,0.80,0.00,0.000,6,0.000,0.037,1530,3427,2922,0,0,0,0,0,0
$GC,3168,-0.53,-107.2,455.9,-13.5,322,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3426,2922,0,0,0,0,0,0
$GC,3478,-0.53,-107.2,495.5,-12.4,337,3482,0.00,2.15,0.00,0.000,4,0.000,0.032,1530,1996,2922,0,0,0,0,0,0
$GC,3498,-0.53,-107.2,498.3,-12.6,338,3503,0.00,2.33,0.00,0.000,6,0.000,0.055,1519,3421,2922,0,0,0,0,0,0
$GC,3826,-0.53,-107.2,541.8,-13.4,354,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3421,2921,0,0,0,0,0,0
$GC,4135,-0.53,-107.2,583.6,-13.3,369,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3421,2921,0,0,0,0,0,0
$GC,4445,-0.53,-107.2,625.4,-13.3,384,4446,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3421,2920,0,0,0,0,0,0
$GC,4755,-0.53,-107.2,665.2,-12.8,399,4759,0.00,2.15,0.00,0.000,4,0.000,0.034,1519,1993,2920,0,0,0,0,0,0
$GC,4781,-0.53,-107.2,668.7,-12.2,400,4787,0.10,2.35,0.00,0.000,6,0.140,0.057,1540,3425,2920,0,0,0,0,0,0
$GC,5103,-0.53,-107.2,702.9,-10.8,416,5105,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3426,2919,0,0,0,0,0,0
$GC,5412,-0.53,-107.2,736.8,-11.5,431,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3426,2918,0,0,0,0,0,0
$GC,5722,-0.53,-107.2,773.4,-12.1,446,5726,0.00,2.15,0.00,0.000,4,0.000,0.034,1540,2001,2918,0,0,0,0,0,0
$GC,5762,-0.53,-107.2,777.9,-10.8,448,5766,0.00,2.30,0.00,0.000,6,0.000,0.057,1530,3422,2918,0,0,0,0,0,0
$GC,6088,-0.53,-107.2,819.7,-13.3,464,6091,0.00,0.85,0.00,0.000,4,0.000,0.064,1526,3954,2917,0,0,0,0,0,0
$GC,6120,-0.53,-107.2,824.6,-15.0,465,6124,0.00,0.82,0.00,0.000,6,0.000,0.041,1526,3420,2917,0,0,0,0,0,0
$GC,6442,-0.53,-107.2,867.9,-13.4,481,6446,0.00,2.15,0.00,0.000,4,0.000,0.034,1526,1993,2916,0,0,0,0,0,0
$GC,6474,-0.53,-107.2,872.3,-12.7,482,6482,0.08,2.33,0.00,0.000,6,0.142,0.057,1540,3418,2917,0,0,0,0,0,0
$GC,6792,-0.53,-107.2,908.7,-11.2,498,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3418,2916,0,0,0,0,0,0
$GC,7099,-0.53,-107.2,941.7,-10.4,513,7103,0.00,2.15,0.00,0.000,4,0.000,0.034,1540,1997,2916,0,0,0,0,0,0
$GC,7140,-0.54,-116.3,945.4,-8.4,515,7144,0.00,2.33,0.00,0.000,6,0.000,0.059,1530,3427,2916,0,0,0,0,0,0
$GC,7466,-0.54,-116.3,980.4,-10.5,531,7467,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3427,2915,0,0,0,0,0,0
$STATE,7567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7568,begin apogee
$GC,7572,-0.09,0.0,991.9,11.0,536,7680,0.52,0.00,104.78,1.868,6,0.154,0.000,1684,3274,2473,0,0,0,0,0,0
$STATE,7681,end apogee,CONTROL_FINISHED_OK
$STATE,7681,begin climb
$GC,7682,0.54,116.3,994.7,0.0,541,7812,0.60,2.45,118.47,1.814,4,0.064,0.034,1904,1860,1998,0,0,0,0,0,0
$GC,7822,0.54,116.3,983.8,13.7,547,7826,0.00,2.55,0.00,0.000,6,0.000,0.053,1904,3277,1995,0,0,0,0,0,0
$GC,8144,0.54,116.3,927.9,18.1,563,8148,0.00,1.12,0.00,0.000,4,0.000,0.062,1904,3948,1987,0,0,0,0,0,0
$GC,8199,0.54,116.3,916.8,19.3,565,8204,0.00,1.08,0.00,0.000,6,0.000,0.037,1909,3276,1986,0,0,0,0,0,0
$GC,8520,0.54,116.3,858.1,18.1,581,8521,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3276,1984,0,0,0,0,0,0
$GC,8830,0.54,116.3,802.6,18.0,596,8831,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3276,1982,0,0,0,0,0,0
$GC,9139,0.54,116.3,748.7,16.8,611,9143,0.00,1.10,0.00,0.000,4,0.000,0.060,1909,3949,1982,0,0,0,0,0,0
$GC,9162,0.54,116.3,744.7,18.1,612,9165,0.00,1.02,0.00,0.000,6,0.000,0.040,1914,3286,1982,0,0,0,0,0,0
$GC,9496,0.54,116.3,690.2,16.2,628,9499,0.00,1.08,0.00,0.000,4,0.000,0.060,1914,3948,1980,0,0,0,0,0,0
$GC,9541,0.54,116.3,682.1,17.3,630,9544,0.00,1.02,0.00,0.000,6,0.000,0.039,1919,3284,1980,0,0,0,0,0,0
$GC,9873,0.54,116.3,633.0,14.8,646,9874,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3284,1979,0,0,0,0,0,0
$GC,10184,0.54,116.3,587.3,14.6,661,10188,0.00,1.10,0.00,0.000,4,0.000,0.062,1919,3958,1979,0,0,0,0,0,0
$GC,10255,0.54,116.3,574.9,18.1,664,10260,0.00,1.08,0.00,0.000,6,0.000,0.038,1924,3269,1979,0,0,0,0,0,0
$GC,10583,0.54,116.3,523.9,15.7,680,10587,0.00,2.17,0.00,0.000,4,0.000,0.037,1935,1855,1979,0,0,0,0,0,0
$GC,10604,0.54,116.3,520.5,14.4,681,10610,0.12,2.33,0.00,0.000,6,0.166,0.053,1898,3281,1978,0,0,0,0,0,0
$GC,10932,0.54,116.3,474.5,14.0,697,10935,0.00,1.08,0.00,0.000,4,0.000,0.061,1899,3948,1978,0,0,0,0,0,0
$GC,10970,0.54,116.3,468.6,15.4,698,10977,0.00,1.05,0.00,0.000,6,0.000,0.038,1902,3271,1978,0,0,0,0,0,0
$GC,11286,0.54,116.3,423.1,14.8,714,11289,0.00,1.10,0.00,0.000,4,0.000,0.061,1902,3950,1977,0,0,0,0,0,0
$GC,11500,0.54,116.3,387.1,17.6,726,11504,0.00,1.02,0.00,0.000,6,0.000,0.039,1907,3277,1977,0,0,0,0,0,0
$GC,11832,0.54,116.3,335.8,15.6,757,11836,0.00,1.08,0.00,0.000,4,0.000,0.061,1907,3937,1977,0,0,0,0,0,0
$GC,11880,0.54,116.3,328.0,16.4,761,11884,0.00,1.00,0.00,0.000,6,0.000,0.039,1912,3285,1977,0,0,0,0,0,0
$GC,12210,0.54,116.3,278.0,14.4,792,12211,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3284,1977,0,0,0,0,0,0
$GC,12530,0.54,116.3,233.0,13.4,822,12533,0.00,1.08,0.00,0.000,4,0.000,0.063,1912,3943,1977,0,0,0,0,0,0
$GC,12620,0.54,116.3,219.0,15.9,830,12624,0.00,1.02,0.00,0.000,6,0.000,0.037,1918,3272,1977,0,0,0,0,0,0
$GC,12953,0.54,116.3,174.5,13.6,861,12957,0.00,1.10,0.00,0.000,4,0.000,0.061,1917,3949,1977,0,0,0,0,0,0
$GC,13009,0.54,116.3,165.8,15.2,866,13013,0.00,1.02,0.00,0.000,6,0.000,0.038,1923,3276,1976,0,0,0,0,0,0
$GC,13342,0.54,116.3,120.1,14.5,897,13346,0.00,2.17,0.00,0.000,4,0.000,0.034,1934,1852,1976,0,0,0,0,0,0
$GC,13362,0.54,116.3,117.1,12.6,898,13370,0.10,2.30,0.00,0.000,6,0.165,0.052,1903,3273,1976,0,0,0,0,0,0
$GC,13704,0.54,116.3,73.4,12.5,946,13711,0.00,1.08,0.00,0.000,4,0.000,0.060,1903,3940,1976,0,0,0,0,0,0
$GC,13878,0.54,116.3,51.9,10.7,976,13885,0.00,1.00,0.00,0.000,6,0.000,0.037,1907,3281,1976,0,0,0,0,0,0
$GC,14239,0.54,116.3,16.5,11.1,1037,14247,0.00,2.17,0.00,0.000,4,0.000,0.034,1918,1862,1976,0,0,0,0,0,0
$GC,14287,0.54,116.3,11.6,9.5,1044,14296,0.00,2.30,0.00,0.000,6,0.000,0.053,1918,3281,1975,0,0,0,0,0,0
$GC,14347,0.54,116.3,4.9,12.2,1053,14356,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3281,1975,0,0,0,0,0,0
$STATE,14364,end climb,SURFACE_DEPTH_REACHED
$STATE,14364,begin surface coast
$FINISH,0.4,1.015440
$STATE,14390,end surface coast,CONTROL_FINISHED_OK
$STATE,14391,begin surface
$SM_CCo,14403,43.17,0.785,0,0,1551,225.18
$SM_GC,1.37,0.00,0.00,43.17,0.000,0.000,0.785,49,3428,1551,-5.22,0.25,225.18
$IRIDIUM_FIX,-4244.98,828.21,030114,010115
$TT8_MAMPS,0.026215
$HUMID,62.04
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.4,30.566
$10V_AH,10.0,22.255
$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,12.775,82.475,223.250,43.175,0.000,27.373,39.630,319.487,0.000,0.000,22.451,2614.889,8997.517,373.783,2768.710,208.715,0.000,1347.036,0.000,2254.411,0.000,1.931,0.000
$DEVICE_MAMPS,240.210,95.625,1868.130,784.890,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,735.175,1816.158,725.964,365.432,0.000,0.000,0.000,0.000,0.000,0.000
$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,77183,1059
$CAP_FILE_SIZE,132212,0
$CFSIZE,259252224,243990528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030114,102235,-4259.726,830.826,37,1.3,37,-25.0