version: 66.07
glider: 543
mission: 9
dive: 210
start: 1 4 114 12 50 42
data:
$ID,543
$MISSION,9
$DIVE,210
$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,-13196.637
$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,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,24
$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
$GPS1,040114,124205,-4259.454,831.931,26,0.8,26,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-63.2
$GPS2,040114,125017,-4259.370,831.933,18,1.0,19,-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,271.1,2866,-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,-50.10,0.000,6,0.000,0.000,62,3407,2710,0,0,0,0,0,0
$GC,69,-0.53,-102.8,3.5,-4.5,6,88,6.20,2.15,-4.65,0.000,4,0.241,0.042,1547,1992,2895,0,0,0,0,0,0
$GC,163,-0.53,-102.8,19.7,-11.8,20,172,0.00,2.35,0.00,0.000,6,0.000,0.053,1538,3411,2899,0,0,0,0,0,0
$GC,221,-0.53,-102.8,29.3,-17.8,29,227,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,3411,2899,0,0,0,0,0,0
$GC,367,-0.53,-102.8,56.4,-18.6,54,376,0.00,2.17,0.00,0.000,4,0.000,0.031,1538,1995,2899,0,0,0,0,0,0
$GC,433,-0.53,-102.8,64.5,-11.2,65,440,0.00,2.33,0.00,0.000,6,0.000,0.053,1527,3427,2900,0,0,0,0,0,0
$GC,776,-0.53,-102.8,117.4,-15.9,116,779,0.00,2.17,0.00,0.000,4,0.000,0.031,1527,1993,2901,0,0,0,0,0,0
$GC,797,-0.53,-102.8,120.9,-15.2,117,805,0.00,2.33,0.00,0.000,6,0.000,0.054,1517,3418,2901,0,0,0,0,0,0
$GC,1122,-0.53,-102.8,173.0,-16.0,148,1124,0.12,0.00,0.00,0.000,6,0.189,0.000,1546,3418,2902,0,0,0,0,0,0
$GC,1441,-0.53,-102.8,214.4,-12.1,178,1445,0.00,2.15,0.00,0.000,4,0.000,0.032,1546,1994,2902,0,0,0,0,0,0
$GC,1502,-0.53,-104.6,221.0,-9.2,183,1506,0.00,2.30,0.00,0.000,6,0.000,0.055,1537,3420,2903,0,0,0,0,0,0
$GC,1829,-0.53,-104.6,262.1,-12.4,213,1831,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3420,2902,0,0,0,0,0,0
$GC,2146,-0.53,-104.6,302.6,-12.7,243,2150,0.00,2.17,0.00,0.000,4,0.000,0.034,1537,1997,2903,0,0,0,0,0,0
$GC,2208,-0.53,-104.6,309.6,-10.1,248,2212,0.00,2.30,0.00,0.000,6,0.000,0.056,1526,3419,2903,0,0,0,0,0,0
$GC,2532,-0.53,-104.6,353.1,-13.5,278,2533,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3420,2902,0,0,0,0,0,0
$GC,2852,-0.53,-104.6,393.9,-12.4,308,2856,0.00,2.17,0.00,0.000,4,0.000,0.033,1526,1993,2903,0,0,0,0,0,0
$GC,2892,-0.53,-104.6,398.6,-10.4,311,2897,0.12,2.33,0.00,0.000,6,0.160,0.057,1547,3425,2903,0,0,0,0,0,0
$GC,3218,-0.53,-104.6,433.4,-10.9,327,3221,0.00,2.15,0.00,0.000,4,0.000,0.034,1547,2004,2902,0,0,0,0,0,0
$GC,3257,-0.53,-104.6,437.3,-9.5,329,3262,0.00,2.30,0.00,0.000,6,0.000,0.057,1538,3422,2903,0,0,0,0,0,0
$GC,3584,-0.53,-104.6,476.3,-12.2,345,3588,0.00,2.15,0.00,0.000,4,0.000,0.034,1538,2002,2902,0,0,0,0,0,0
$GC,3610,-0.53,-104.6,479.6,-11.8,346,3614,0.00,2.33,0.00,0.000,6,0.000,0.057,1527,3419,2902,0,0,0,0,0,0
$GC,3932,-0.53,-104.6,521.9,-13.5,362,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3419,2902,0,0,0,0,0,0
$GC,4243,-0.53,-104.6,563.4,-13.2,377,4246,0.00,2.12,0.00,0.000,4,0.000,0.034,1527,1998,2902,0,0,0,0,0,0
$GC,4269,-0.53,-104.6,567.1,-12.7,378,4274,0.08,2.33,0.00,0.000,6,0.142,0.057,1540,3414,2902,0,0,0,0,0,0
$GC,4591,-0.53,-104.6,605.3,-12.5,394,4592,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3413,2901,0,0,0,0,0,0
$GC,4900,-0.53,-104.6,642.5,-11.8,409,4904,0.00,2.15,0.00,0.000,4,0.000,0.035,1541,1997,2901,0,0,0,0,0,0
$GC,4949,-0.53,-105.2,647.7,-9.4,411,4953,0.00,2.33,0.00,0.000,6,0.000,0.058,1531,3426,2901,0,0,0,0,0,0
$GC,5272,-0.53,-105.2,685.5,-11.7,427,5276,0.00,2.15,0.00,0.000,4,0.000,0.035,1531,2004,2900,0,0,0,0,0,0
$GC,5315,-0.53,-105.2,690.2,-9.6,429,5319,0.00,2.33,0.00,0.000,6,0.000,0.058,1520,3419,2900,0,0,0,0,0,0
$GC,5643,-0.53,-105.2,729.4,-12.7,445,5647,0.00,2.15,0.00,0.000,4,0.000,0.035,1521,2002,2900,0,0,0,0,0,0
$GC,5682,-0.53,-105.2,733.9,-10.3,447,5687,0.12,2.30,0.00,0.000,6,0.164,0.058,1541,3422,2900,0,0,0,0,0,0
$GC,6008,-0.53,-105.2,768.8,-11.2,463,6012,0.00,2.15,0.00,0.000,4,0.000,0.035,1541,2006,2900,0,0,0,0,0,0
$GC,6035,-0.53,-105.2,771.8,-11.4,464,6040,0.00,2.33,0.00,0.000,6,0.000,0.060,1532,3420,2899,0,0,0,0,0,0
$GC,6357,-0.53,-105.2,809.3,-11.9,480,6360,0.00,0.88,0.00,0.000,4,0.000,0.066,1528,3950,2899,0,0,0,0,0,0
$GC,6389,-0.53,-105.2,813.5,-13.8,481,6393,0.00,0.82,0.00,0.000,6,0.000,0.040,1528,3415,2899,0,0,0,0,0,0
$GC,6712,-0.53,-105.2,853.5,-12.5,497,6716,0.00,2.15,0.00,0.000,4,0.000,0.033,1527,1991,2899,0,0,0,0,0,0
$GC,6756,-0.53,-105.2,858.8,-10.5,499,6760,0.00,2.35,0.00,0.000,6,0.000,0.058,1517,3423,2899,0,0,0,0,0,0
$GC,7084,-0.53,-105.2,900.1,-12.6,515,7088,0.12,2.17,0.00,0.000,4,0.186,0.037,1548,2003,2898,0,0,0,0,0,0
$GC,7123,-0.53,-106.1,903.9,-9.3,517,7127,0.00,2.30,0.00,0.000,6,0.000,0.060,1538,3421,2898,0,0,0,0,0,0
$GC,7449,-0.53,-106.1,938.1,-10.5,533,7453,0.00,2.15,0.00,0.000,4,0.000,0.035,1538,2001,2898,0,0,0,0,0,0
$GC,7481,-0.54,-110.9,941.3,-8.9,534,7488,0.00,2.30,0.00,0.000,6,0.000,0.059,1528,3421,2898,0,0,0,0,0,0
$GC,7797,-0.54,-110.9,975.0,-11.0,550,7800,0.00,0.85,0.00,0.000,4,0.000,0.064,1523,3951,2897,0,0,0,0,0,0
$GC,7864,-0.54,-110.9,982.9,-11.6,553,7868,0.00,0.80,0.00,0.000,6,0.000,0.039,1523,3425,2897,0,0,0,0,0,0
$STATE,7927,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7927,begin apogee
$GC,7932,-0.09,0.0,990.3,11.5,556,8032,0.57,0.00,96.93,1.852,6,0.158,0.000,1689,3277,2473,0,0,0,0,0,0
$STATE,8033,end apogee,CONTROL_FINISHED_OK
$STATE,8033,begin climb
$GC,8034,0.54,110.9,992.9,0.0,561,8156,0.60,0.00,112.68,1.824,6,0.061,0.000,1896,3277,2023,0,0,0,0,0,0
$GC,8464,0.54,110.9,939.1,14.9,582,8467,0.00,1.12,0.00,0.000,4,0.000,0.060,1896,3944,2014,0,0,0,0,0,0
$GC,8670,0.54,110.9,903.9,17.3,591,8675,0.00,1.08,0.00,0.000,6,0.000,0.038,1901,3275,2013,0,0,0,0,0,0
$GC,8999,0.54,110.9,854.9,15.0,607,9003,0.00,1.12,0.00,0.000,4,0.000,0.060,1901,3955,2011,0,0,0,0,0,0
$GC,9224,0.54,110.9,816.4,18.6,617,9228,0.00,1.05,0.00,0.000,6,0.000,0.039,1906,3280,2010,0,0,0,0,0,0
$GC,9556,0.54,110.9,764.4,15.4,633,9560,0.00,1.10,0.00,0.000,4,0.000,0.060,1906,3952,2009,0,0,0,0,0,0
$GC,9813,0.54,110.9,720.0,16.8,644,9818,0.00,1.05,0.00,0.000,6,0.000,0.036,1911,3277,2009,0,0,0,0,0,0
$GC,10135,0.54,110.9,671.5,14.4,660,10139,0.00,1.10,0.00,0.000,4,0.000,0.060,1911,3952,2008,0,0,0,0,0,0
$GC,10203,0.54,110.9,660.8,17.1,663,10207,0.00,1.02,0.00,0.000,6,0.000,0.037,1916,3281,2008,0,0,0,0,0,0
$GC,10535,0.54,110.9,613.3,14.1,679,10539,0.00,1.10,0.00,0.000,4,0.000,0.060,1916,3958,2007,0,0,0,0,0,0
$GC,10715,0.54,110.9,584.6,15.3,687,10719,0.00,1.02,0.00,0.000,6,0.000,0.037,1921,3285,2007,0,0,0,0,0,0
$GC,11047,0.54,110.9,535.4,14.8,703,11051,0.00,1.08,0.00,0.000,4,0.000,0.060,1921,3947,2007,0,0,0,0,0,0
$GC,11175,0.54,110.9,514.4,17.4,708,11183,0.10,1.05,0.00,0.000,6,0.224,0.036,1900,3268,2007,0,0,0,0,0,0
$GC,11491,0.54,110.9,471.3,13.4,724,11495,0.00,1.10,0.00,0.000,4,0.000,0.060,1900,3946,2006,0,0,0,0,0,0
$GC,11663,0.54,110.9,445.0,15.3,731,11671,0.00,1.02,0.00,0.000,6,0.000,0.037,1903,3281,2006,0,0,0,0,0,0
$GC,11980,0.54,110.9,403.0,13.3,747,11983,0.00,1.08,0.00,0.000,4,0.000,0.060,1903,3943,2006,0,0,0,0,0,0
$GC,12016,0.54,110.9,398.0,15.3,749,12019,0.00,1.00,0.00,0.000,6,0.000,0.037,1908,3286,2006,0,0,0,0,0,0
$GC,12346,0.54,110.9,351.1,14.1,780,12349,0.00,1.08,0.00,0.000,4,0.000,0.060,1908,3950,2006,0,0,0,0,0,0
$GC,12481,0.54,110.9,329.4,16.2,792,12485,0.00,1.02,0.00,0.000,6,0.000,0.037,1914,3274,2005,0,0,0,0,0,0
$GC,12812,0.54,110.9,280.9,14.6,823,12815,0.00,1.10,0.00,0.000,4,0.000,0.060,1914,3954,2005,0,0,0,0,0,0
$GC,12985,0.54,110.9,253.1,15.4,838,12994,0.00,1.05,0.00,0.000,6,0.000,0.036,1919,3272,2005,0,0,0,0,0,0
$GC,13313,0.54,110.9,206.5,14.3,869,13317,0.00,1.10,0.00,0.000,4,0.000,0.060,1919,3951,2005,0,0,0,0,0,0
$GC,13396,0.54,110.9,193.2,15.7,876,13406,0.08,1.02,0.00,0.000,6,0.200,0.035,1903,3273,2006,0,0,0,0,0,0
$GC,13721,0.54,110.9,154.8,10.9,907,13724,0.00,1.10,0.00,0.000,4,0.000,0.060,1902,3952,2005,0,0,0,0,0,0
$GC,13846,0.54,110.9,138.9,13.2,918,13849,0.00,1.02,0.00,0.000,6,0.000,0.036,1906,3274,2005,0,0,0,0,0,0
$GC,14178,0.54,110.9,99.5,10.7,949,14185,0.00,1.10,0.00,0.000,4,0.000,0.060,1906,3952,2005,0,0,0,0,0,0
$GC,14442,0.54,110.9,61.9,13.7,995,14448,0.00,1.02,0.00,0.000,6,0.000,0.036,1912,3273,2005,0,0,0,0,0,0
$GC,14795,0.54,110.9,27.1,10.2,1056,14804,0.00,1.10,0.00,0.000,4,0.000,0.060,1912,3952,2005,0,0,0,0,0,0
$GC,14970,0.54,110.9,7.8,11.9,1084,14979,0.00,1.02,0.00,0.000,6,0.000,0.036,1917,3273,2005,0,0,0,0,0,0
$STATE,15011,end climb,SURFACE_DEPTH_REACHED
$STATE,15011,begin surface coast
$FINISH,0.9,1.026229
$STATE,15037,end surface coast,CONTROL_FINISHED_OK
$STATE,15037,begin surface
$SM_CCo,15051,46.85,0.789,0,0,1554,225.18
$SM_GC,1.26,0.00,0.00,46.85,0.000,0.000,0.789,83,3440,1554,-5.11,0.57,225.18
$IRIDIUM_FIX,-4244.98,828.21,040114,080809
$TT8_MAMPS,0.026215
$HUMID,62.08
$INTERNAL_PRESSURE,9.53279
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.4,31.564
$10V_AH,10.0,23.070
$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,14.275,105.250,209.600,46.850,0.000,25.750,18.404,316.147,0.000,0.000,20.864,2765.113,9160.636,384.799,3055.830,222.648,0.000,1497.596,0.000,2560.107,0.000,1.010,0.000
$DEVICE_MAMPS,240.975,67.320,1852.065,788.715,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,759.439,1874.883,745.684,368.658,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354324
$DATA_FILE_SIZE,77196,1094
$CAP_FILE_SIZE,147305,0
$CFSIZE,259252224,243437568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040114,170359,-4259.910,830.183,64,0.8,64,-25.0