version: 66.07
glider: 543
mission: 9
dive: 212
start: 1 4 114 21 39 3
data:
$ID,543
$MISSION,9
$DIVE,212
$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,-13203.55
$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,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
$GPS1,040114,213004,-4300.936,828.956,24,1.1,24,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,-64.9
$GPS2,040114,213838,-4300.949,828.979,19,1.3,20,-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,63.2,2236,-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,-42.28,0.000,2,0.000,0.000,47,3438,2509,0,0,0,0,0,0
$GC,61,-0.53,-101.9,3.2,-4.6,5,88,6.15,0.82,-10.95,0.000,4,0.231,0.093,1541,3934,2892,0,0,0,0,0,0
$GC,352,-0.53,-101.9,54.0,-17.5,53,359,0.00,0.80,0.00,0.000,6,0.000,0.035,1540,3416,2896,0,0,0,0,0,0
$GC,699,-0.53,-101.9,106.3,-13.8,110,703,0.00,0.85,0.00,0.000,4,0.000,0.060,1536,3937,2898,0,0,0,0,0,0
$GC,952,-0.53,-101.9,145.2,-14.3,132,962,0.00,0.80,0.00,0.000,6,0.000,0.035,1536,3418,2899,0,0,0,0,0,0
$GC,1277,-0.53,-101.9,189.7,-13.4,163,1280,0.00,0.85,0.00,0.000,4,0.000,0.060,1532,3940,2899,0,0,0,0,0,0
$GC,1349,-0.53,-101.9,200.3,-14.7,169,1356,0.00,0.80,0.00,0.000,6,0.000,0.036,1532,3420,2899,0,0,0,0,0,0
$GC,1674,-0.53,-101.9,245.4,-14.3,200,1678,0.00,0.82,0.00,0.000,4,0.000,0.060,1528,3933,2899,0,0,0,0,0,0
$GC,1723,-0.53,-101.9,253.5,-16.0,204,1733,0.00,0.80,0.00,0.000,6,0.000,0.036,1528,3414,2899,0,0,0,0,0,0
$GC,2048,-0.53,-101.9,302.5,-15.3,235,2049,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3413,2899,0,0,0,0,0,0
$GC,2370,-0.53,-101.9,350.4,-15.3,265,2373,0.00,0.85,0.00,0.000,4,0.000,0.060,1525,3942,2899,0,0,0,0,0,0
$GC,2472,-0.53,-101.9,367.2,-16.0,274,2476,0.00,0.77,0.00,0.000,6,0.000,0.037,1525,3427,2899,0,0,0,0,0,0
$GC,2799,-0.53,-101.9,416.0,-14.8,300,2803,0.00,0.82,0.00,0.000,4,0.000,0.060,1521,3939,2899,0,0,0,0,0,0
$GC,2912,-0.53,-101.9,433.4,-14.8,305,2916,0.00,0.80,0.00,0.000,6,0.000,0.037,1521,3409,2899,0,0,0,0,0,0
$GC,3246,-0.53,-101.9,479.9,-13.5,321,3249,0.00,0.85,0.00,0.000,4,0.000,0.061,1517,3938,2899,0,0,0,0,0,0
$GC,3300,-0.53,-101.9,488.1,-14.8,323,3305,0.12,0.80,0.00,0.000,6,0.174,0.037,1548,3418,2899,0,0,0,0,0,0
$GC,3622,-0.53,-101.9,523.1,-10.8,339,3625,0.00,0.85,0.00,0.000,4,0.000,0.063,1545,3946,2899,0,0,0,0,0,0
$GC,3693,-0.53,-101.9,531.7,-11.7,342,3697,0.00,0.80,0.00,0.000,6,0.000,0.037,1545,3425,2899,0,0,0,0,0,0
$GC,4022,-0.53,-101.9,569.7,-11.8,358,4026,0.00,0.82,0.00,0.000,4,0.000,0.063,1541,3936,2899,0,0,0,0,0,0
$GC,4094,-0.53,-101.9,579.3,-13.0,361,4098,0.00,0.80,0.00,0.000,6,0.000,0.038,1541,3417,2899,0,0,0,0,0,0
$GC,4421,-0.53,-101.9,619.6,-12.5,377,4425,0.00,0.85,0.00,0.000,4,0.000,0.063,1538,3945,2898,0,0,0,0,0,0
$GC,4583,-0.53,-101.9,641.1,-12.7,384,4587,0.00,0.80,0.00,0.000,6,0.000,0.039,1538,3417,2898,0,0,0,0,0,0
$GC,4910,-0.53,-101.9,680.2,-11.7,400,4914,0.00,0.85,0.00,0.000,4,0.000,0.063,1533,3947,2897,0,0,0,0,0,0
$GC,4959,-0.53,-101.9,686.6,-12.9,402,4964,0.00,0.82,0.00,0.000,6,0.000,0.037,1533,3411,2897,0,0,0,0,0,0
$GC,5288,-0.53,-101.9,724.7,-11.5,418,5289,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3410,2897,0,0,0,0,0,0
$GC,5596,-0.53,-101.9,759.5,-11.1,433,5599,0.00,0.85,0.00,0.000,4,0.000,0.063,1530,3935,2895,0,0,0,0,0,0
$GC,5690,-0.53,-101.9,771.0,-11.9,437,5694,0.00,0.80,0.00,0.000,6,0.000,0.038,1530,3419,2896,0,0,0,0,0,0
$GC,6017,-0.53,-101.9,807.5,-11.2,453,6021,0.00,0.85,0.00,0.000,4,0.000,0.063,1526,3947,2895,0,0,0,0,0,0
$GC,6221,-0.53,-101.9,832.2,-12.8,462,6225,0.00,0.80,0.00,0.000,6,0.000,0.040,1526,3419,2894,0,0,0,0,0,0
$GC,6553,-0.53,-101.9,870.2,-11.1,478,6557,0.00,0.85,0.00,0.000,4,0.000,0.063,1522,3944,2894,0,0,0,0,0,0
$GC,6653,-0.53,-101.9,882.4,-12.1,482,6658,0.00,0.82,0.00,0.000,6,0.000,0.038,1522,3413,2894,0,0,0,0,0,0
$GC,6975,-0.53,-101.9,919.1,-11.6,498,6978,0.00,0.85,0.00,0.000,4,0.000,0.063,1518,3937,2893,0,0,0,0,0,0
$GC,7080,-0.53,-101.9,932.2,-12.8,502,7088,0.10,0.82,0.00,0.000,6,0.182,0.038,1542,3408,2893,0,0,0,0,0,0
$GC,7398,-0.53,-105.5,960.7,-9.0,518,7402,0.00,0.85,0.00,0.000,4,0.000,0.064,1539,3933,2893,0,0,0,0,0,0
$GC,7515,-0.53,-106.3,972.1,-9.3,523,7519,0.00,0.80,0.00,0.000,6,0.000,0.040,1539,3421,2893,0,0,0,0,0,0
$STATE,7718,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7718,begin apogee
$GC,7723,-0.09,0.0,991.1,9.6,533,7826,0.50,0.00,99.47,1.866,6,0.147,0.000,1687,3271,2473,0,0,0,0,0,0
$STATE,7827,end apogee,CONTROL_FINISHED_OK
$STATE,7827,begin climb
$GC,7829,0.53,106.3,993.6,0.0,538,7945,0.57,2.40,108.15,1.811,4,0.063,0.032,1899,1870,2039,0,0,0,0,0,0
$GC,8006,0.53,106.3,979.2,12.6,546,8011,0.00,2.45,0.00,0.000,6,0.000,0.051,1899,3268,2034,0,0,0,0,0,0
$GC,8328,0.53,106.3,931.8,14.6,562,8329,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3268,2027,0,0,0,0,0,0
$GC,8639,0.53,106.3,886.7,14.5,577,8643,0.00,2.17,0.00,0.000,4,0.000,0.034,1910,1867,2026,0,0,0,0,0,0
$GC,8665,0.53,106.3,882.5,13.5,578,8670,0.00,2.35,0.00,0.000,6,0.000,0.052,1910,3285,2025,0,0,0,0,0,0
$GC,8987,0.53,106.3,832.3,15.5,594,8988,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3285,2024,0,0,0,0,0,0
$GC,9297,0.53,106.3,783.4,15.5,609,9300,0.00,1.08,0.00,0.000,4,0.000,0.060,1910,3948,2023,0,0,0,0,0,0
$GC,9342,0.53,106.3,775.7,17.8,611,9345,0.00,1.02,0.00,0.000,6,0.000,0.037,1915,3282,2023,0,0,0,0,0,0
$GC,9676,0.53,106.3,722.6,16.0,627,9680,0.00,2.20,0.00,0.000,4,0.000,0.036,1926,1863,2022,0,0,0,0,0,0
$GC,9725,0.53,106.3,715.1,14.0,629,9730,0.10,2.33,0.00,0.000,6,0.168,0.052,1897,3285,2021,0,0,0,0,0,0
$GC,10046,0.53,106.3,670.3,14.1,645,10050,0.00,2.17,0.00,0.000,4,0.000,0.034,1906,1856,2020,0,0,0,0,0,0
$GC,10139,0.53,106.3,658.2,12.2,649,10144,0.00,2.33,0.00,0.000,6,0.000,0.051,1907,3285,2019,0,0,0,0,0,0
$GC,10461,0.53,106.3,612.5,14.4,665,10462,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3285,2019,0,0,0,0,0,0
$GC,10770,0.53,106.3,568.4,14.6,680,10774,0.00,1.08,0.00,0.000,4,0.000,0.060,1906,3948,2019,0,0,0,0,0,0
$GC,10831,0.53,106.3,558.8,15.7,682,10838,0.00,1.02,0.00,0.000,6,0.000,0.038,1912,3282,2019,0,0,0,0,0,0
$GC,11149,0.53,106.3,514.9,13.8,698,11150,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3282,2018,0,0,0,0,0,0
$GC,11457,0.53,106.3,473.7,13.0,713,11458,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3282,2019,0,0,0,0,0,0
$GC,11765,0.53,106.3,433.2,13.5,728,11769,0.00,2.17,0.00,0.000,4,0.000,0.036,1923,1854,2018,0,0,0,0,0,0
$GC,11810,0.53,106.3,427.8,11.6,730,11815,0.12,2.28,0.00,0.000,6,0.192,0.052,1894,3281,2017,0,0,0,0,0,0
$GC,12137,0.53,106.3,387.5,12.4,750,12141,0.00,2.17,0.00,0.000,4,0.000,0.035,1903,1850,2017,0,0,0,0,0,0
$GC,12203,0.53,106.3,379.4,10.6,755,12211,0.00,2.33,0.00,0.000,6,0.000,0.054,1904,3278,2017,0,0,0,0,0,0
$GC,12529,0.53,106.3,336.5,13.4,786,12532,0.00,1.10,0.00,0.000,4,0.000,0.061,1903,3958,2017,0,0,0,0,0,0
$GC,12600,0.53,106.3,325.8,14.7,792,12611,0.00,1.08,0.00,0.000,6,0.000,0.037,1909,3266,2017,0,0,0,0,0,0
$GC,12926,0.53,106.3,281.1,14.1,823,12930,0.00,2.12,0.00,0.000,4,0.000,0.035,1920,1857,2017,0,0,0,0,0,0
$GC,12956,0.53,106.3,277.5,12.4,825,12960,0.00,2.30,0.00,0.000,6,0.000,0.054,1920,3295,2017,0,0,0,0,0,0
$GC,13286,0.53,106.3,231.8,13.7,856,13287,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3294,2017,0,0,0,0,0,0
$GC,13605,0.53,106.3,189.0,13.6,886,13606,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3294,2017,0,0,0,0,0,0
$GC,13924,0.53,106.3,147.4,13.0,916,13925,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3294,2016,0,0,0,0,0,0
$GC,14243,0.53,106.3,105.2,13.2,946,14246,0.00,1.05,0.00,0.000,4,0.000,0.058,1920,3951,2017,0,0,0,0,0,0
$GC,14339,0.53,106.3,91.0,15.0,959,14346,0.10,1.02,0.00,0.000,6,0.195,0.036,1897,3269,2017,0,0,0,0,0,0
$GC,14691,0.54,108.5,56.2,9.2,1020,14700,0.00,2.15,0.00,0.000,4,0.000,0.031,1907,1857,2017,0,0,0,0,0,0
$GC,14763,0.55,127.1,50.3,7.4,1032,14778,0.00,2.30,6.70,0.880,6,0.000,0.052,1907,3281,1952,0,0,0,0,0,0
$GC,15132,0.55,127.1,12.1,11.1,1094,15141,0.00,2.17,0.00,0.000,4,0.000,0.032,1918,1855,1950,0,0,0,0,0,0
$GC,15186,0.55,128.3,6.7,9.3,1102,15196,0.00,2.33,0.00,0.000,6,0.000,0.054,1918,3281,1950,0,0,0,0,0,0
$STATE,15221,end climb,SURFACE_DEPTH_REACHED
$STATE,15221,begin surface coast
$FINISH,0.7,1.012609
$STATE,15254,end surface coast,CONTROL_FINISHED_OK
$STATE,15254,begin surface
$SM_CCo,15266,40.75,0.780,0,0,1553,225.18
$SM_GC,1.41,0.00,0.00,40.75,0.000,0.000,0.780,49,3444,1553,-5.22,0.68,225.18
$IRIDIUM_FIX,-4244.98,831.12,040114,171744
$TT8_MAMPS,0.025466
$HUMID,62.36
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.4,31.845
$10V_AH,10.0,23.301
$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,12.825,75.975,214.325,40.750,0.000,26.215,41.091,313.721,0.000,0.000,22.111,2790.062,9372.268,365.038,3058.036,234.816,0.000,1468.658,0.000,2548.213,0.000,1.010,0.000
$DEVICE_MAMPS,231.030,93.330,1865.835,779.535,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,772.087,1897.809,759.208,382.314,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354360
$DATA_FILE_SIZE,80421,1112
$CAP_FILE_SIZE,142058,0
$CFSIZE,259252224,243281920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050114,015525,-4259.159,831.072,40,1.2,40,-25.0