version: 66.07
glider: 543
mission: 9
dive: 223
start: 1 6 114 22 31 25
data:
$ID,543
$MISSION,9
$DIVE,223
$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,-13239.868
$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,33
$R_STBD_OVSHOOT,27
$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
$GPS1,060114,222222,-4259.921,829.440,36,1.0,36,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-71.7
$GPS2,060114,223100,-4259.927,829.391,16,0.9,17,-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,124.3,836,-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,-57.7,0.0,0.0,0,58,0.00,0.00,-41.40,0.000,2,0.000,0.000,55,3427,2490,0,0,0,0,0,0
$GC,60,-0.53,-107.0,3.1,-4.0,5,87,6.22,2.25,-12.52,0.000,4,0.239,0.047,1538,1994,2913,0,0,0,0,0,0
$GC,209,-0.53,-107.0,22.3,-12.6,28,218,0.00,2.38,0.00,0.000,6,0.000,0.056,1528,3417,2917,0,0,0,0,0,0
$GC,360,-0.53,-107.0,47.9,-17.7,53,366,0.00,0.88,0.00,0.000,4,0.000,0.061,1525,3956,2917,0,0,0,0,0,0
$GC,384,-0.53,-107.0,52.6,-17.6,57,393,0.00,0.85,0.00,0.000,6,0.000,0.039,1524,3409,2917,0,0,0,0,0,0
$GC,735,-0.53,-107.0,106.9,-14.7,114,738,0.00,0.88,0.00,0.000,4,0.000,0.063,1521,3945,2918,0,0,0,0,0,0
$GC,818,-0.53,-107.0,120.7,-16.5,121,826,0.00,0.82,0.00,0.000,6,0.000,0.038,1521,3416,2919,0,0,0,0,0,0
$GC,1143,-0.53,-107.0,172.1,-15.8,152,1147,0.00,0.88,0.00,0.000,4,0.000,0.062,1517,3949,2920,0,0,0,0,0,0
$GC,1247,-0.53,-107.0,189.3,-16.2,161,1251,0.08,0.80,0.00,0.000,6,0.160,0.037,1539,3419,2920,0,0,0,0,0,0
$GC,1577,-0.53,-107.0,236.0,-13.5,192,1580,0.00,0.85,0.00,0.000,4,0.000,0.062,1537,3945,2921,0,0,0,0,0,0
$GC,1637,-0.53,-107.0,244.7,-13.7,197,1645,0.00,0.82,0.00,0.000,6,0.000,0.037,1537,3412,2921,0,0,0,0,0,0
$GC,1963,-0.53,-107.0,286.2,-13.0,228,1966,0.00,0.88,0.00,0.000,4,0.000,0.063,1533,3953,2920,0,0,0,0,0,0
$GC,2114,-0.53,-107.0,307.8,-13.6,241,2121,0.00,0.80,0.00,0.000,6,0.000,0.037,1533,3421,2920,0,0,0,0,0,0
$GC,2439,-0.53,-107.0,350.7,-12.8,272,2443,0.00,0.85,0.00,0.000,4,0.000,0.063,1529,3947,2920,0,0,0,0,0,0
$GC,2564,-0.53,-107.0,368.2,-14.6,283,2568,0.00,0.80,0.00,0.000,6,0.000,0.037,1529,3419,2921,0,0,0,0,0,0
$GC,2892,-0.53,-107.0,411.6,-13.3,310,2896,0.00,0.85,0.00,0.000,4,0.000,0.063,1525,3945,2920,0,0,0,0,0,0
$GC,3009,-0.53,-107.0,428.2,-14.3,315,3014,0.00,0.82,0.00,0.000,6,0.000,0.038,1525,3412,2921,0,0,0,0,0,0
$GC,3336,-0.53,-107.0,472.5,-13.7,331,3340,0.00,0.88,0.00,0.000,4,0.000,0.063,1521,3952,2921,0,0,0,0,0,0
$GC,3436,-0.53,-107.0,487.4,-14.5,335,3440,0.00,0.82,0.00,0.000,6,0.000,0.039,1521,3418,2920,0,0,0,0,0,0
$GC,3758,-0.53,-107.0,531.6,-13.5,351,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3418,2920,0,0,0,0,0,0
$GC,4067,-0.53,-107.0,572.9,-13.3,366,4071,0.00,0.85,0.00,0.000,4,0.000,0.063,1517,3946,2919,0,0,0,0,0,0
$GC,4195,-0.53,-107.0,591.1,-14.0,371,4203,0.08,0.80,0.00,0.000,6,0.153,0.037,1540,3421,2919,0,0,0,0,0,0
$GC,4511,-0.53,-107.0,626.2,-11.0,387,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3421,2918,0,0,0,0,0,0
$GC,4820,-0.53,-107.0,660.7,-11.2,402,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3421,2918,0,0,0,0,0,0
$GC,5132,-0.53,-107.0,695.5,-11.1,417,5135,0.00,0.85,0.00,0.000,4,0.000,0.063,1538,3947,2917,0,0,0,0,0,0
$GC,5192,-0.53,-107.0,703.1,-11.9,419,5199,0.00,0.82,0.00,0.000,6,0.000,0.038,1538,3414,2917,0,0,0,0,0,0
$GC,5508,-0.53,-107.0,738.1,-11.3,435,5509,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3414,2917,0,0,0,0,0,0
$GC,5819,-0.53,-107.0,773.3,-12.0,450,5823,0.00,0.88,0.00,0.000,4,0.000,0.063,1533,3953,2916,0,0,0,0,0,0
$GC,5918,-0.53,-107.0,786.0,-12.3,454,5923,0.00,0.82,0.00,0.000,6,0.000,0.039,1534,3423,2916,0,0,0,0,0,0
$GC,6241,-0.53,-107.0,824.4,-11.8,470,6244,0.00,0.85,0.00,0.000,4,0.000,0.064,1530,3947,2915,0,0,0,0,0,0
$GC,6353,-0.53,-107.0,838.8,-13.1,475,6357,0.00,0.80,0.00,0.000,6,0.000,0.039,1530,3419,2915,0,0,0,0,0,0
$GC,6686,-0.53,-107.0,880.0,-12.2,491,6687,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3420,2915,0,0,0,0,0,0
$GC,6997,-0.53,-107.0,915.8,-11.4,506,7000,0.00,0.88,0.00,0.000,4,0.000,0.065,1526,3944,2914,0,0,0,0,0,0
$GC,7113,-0.53,-107.0,930.2,-11.5,511,7117,0.00,0.82,0.00,0.000,6,0.000,0.038,1526,3414,2914,0,0,0,0,0,0
$GC,7441,-0.53,-107.0,967.1,-11.1,527,7442,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3413,2913,0,0,0,0,0,0
$STATE,7666,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7666,begin apogee
$GC,7671,-0.09,0.0,991.9,11.0,538,7778,0.55,0.00,104.65,1.867,6,0.147,0.000,1689,3281,2473,0,0,0,0,0,0
$STATE,7779,end apogee,CONTROL_FINISHED_OK
$STATE,7779,begin climb
$GC,7781,0.53,107.0,994.0,0.0,543,7898,0.57,2.42,108.93,1.812,4,0.061,0.031,1903,1865,2038,0,0,0,0,0,0
$GC,7950,0.53,107.0,979.2,13.7,551,7954,0.00,2.47,0.00,0.000,6,0.000,0.050,1903,3280,2033,0,0,0,0,0,0
$GC,8276,0.53,107.0,926.4,16.0,567,8280,0.00,2.25,0.00,0.000,4,0.000,0.033,1913,1859,2026,0,0,0,0,0,0
$GC,8342,0.53,107.0,916.8,14.2,570,8346,0.00,2.40,0.00,0.000,6,0.000,0.052,1914,3283,2025,0,0,0,0,0,0
$GC,8671,0.53,107.0,861.3,16.9,586,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3283,2024,0,0,0,0,0,0
$GC,8978,0.53,107.0,810.0,16.3,601,8980,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3283,2022,0,0,0,0,0,0
$GC,9288,0.53,107.0,759.0,16.1,616,9292,0.00,2.20,0.00,0.000,4,0.000,0.036,1925,1856,2021,0,0,0,0,0,0
$GC,9319,0.53,107.0,754.1,14.4,617,9328,0.10,2.35,0.00,0.000,6,0.166,0.053,1895,3278,2020,0,0,0,0,0,0
$GC,9636,0.53,107.0,708.9,13.9,633,9640,0.00,2.20,0.00,0.000,4,0.000,0.035,1905,1857,2019,0,0,0,0,0,0
$GC,9690,0.53,107.0,701.8,11.2,635,9698,0.00,2.33,0.00,0.000,6,0.000,0.053,1906,3275,2019,0,0,0,0,0,0
$GC,10007,0.53,107.0,658.9,13.6,651,10011,0.00,2.20,0.00,0.000,4,0.000,0.037,1916,1858,2018,0,0,0,0,0,0
$GC,10055,0.53,107.0,652.8,11.9,653,10060,0.00,2.35,0.00,0.000,6,0.000,0.054,1916,3286,2018,0,0,0,0,0,0
$GC,10377,0.53,107.0,608.2,14.1,669,10381,0.00,2.22,0.00,0.000,4,0.000,0.037,1927,1854,2018,0,0,0,0,0,0
$GC,10416,0.53,107.0,603.1,12.0,671,10421,0.12,2.33,0.00,0.000,6,0.186,0.055,1898,3283,2017,0,0,0,0,0,0
$GC,10743,0.53,107.0,561.5,12.5,687,10747,0.00,2.20,0.00,0.000,4,0.000,0.037,1908,1859,2017,0,0,0,0,0,0
$GC,10769,0.53,107.0,558.1,11.6,688,10774,0.00,2.33,0.00,0.000,6,0.000,0.054,1908,3276,2016,0,0,0,0,0,0
$GC,11092,0.53,107.0,514.9,13.5,704,11096,0.00,2.20,0.00,0.000,4,0.000,0.037,1919,1855,2016,0,0,0,0,0,0
$GC,11141,0.53,107.0,508.3,12.0,706,11146,0.00,2.35,0.00,0.000,6,0.000,0.055,1919,3283,2016,0,0,0,0,0,0
$GC,11464,0.53,107.0,462.2,14.4,722,11465,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3283,2016,0,0,0,0,0,0
$GC,11773,0.53,107.0,417.4,14.3,737,11777,0.00,2.17,0.00,0.000,4,0.000,0.037,1930,1859,2016,0,0,0,0,0,0
$GC,11867,0.53,107.0,405.5,12.1,741,11872,0.10,2.35,0.00,0.000,6,0.161,0.056,1900,3284,2015,0,0,0,0,0,0
$GC,12196,0.53,107.0,361.1,13.7,770,12197,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,3284,2015,0,0,0,0,0,0
$GC,12516,0.53,107.0,315.9,14.4,800,12520,0.00,2.17,0.00,0.000,4,0.000,0.036,1909,1858,2015,0,0,0,0,0,0
$GC,12555,0.53,107.0,310.3,12.8,803,12559,0.00,2.33,0.00,0.000,6,0.000,0.056,1909,3283,2015,0,0,0,0,0,0
$GC,12882,0.53,107.0,264.2,13.4,833,12886,0.00,2.17,0.00,0.000,4,0.000,0.036,1921,1859,2015,0,0,0,0,0,0
$GC,12914,0.53,107.0,259.8,12.1,835,12922,0.00,2.35,0.00,0.000,6,0.000,0.056,1921,3282,2015,0,0,0,0,0,0
$GC,13240,0.53,107.0,218.4,11.9,866,13244,0.00,1.08,0.00,0.000,4,0.000,0.063,1921,3944,2015,0,0,0,0,0,0
$GC,13301,0.53,107.0,209.8,14.3,871,13309,0.10,1.02,0.00,0.000,6,0.194,0.039,1898,3278,2015,0,0,0,0,0,0
$GC,13626,0.53,107.0,172.2,11.7,902,13630,0.00,2.15,0.00,0.000,4,0.000,0.036,1908,1861,2015,0,0,0,0,0,0
$GC,13748,0.53,107.0,159.5,9.9,912,13758,0.00,2.33,0.00,0.000,6,0.000,0.056,1908,3278,2015,0,0,0,0,0,0
$GC,14074,0.53,107.0,119.1,13.0,943,14075,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3278,2014,0,0,0,0,0,0
$GC,14406,0.53,107.0,78.7,11.9,988,14413,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3277,2015,0,0,0,0,0,0
$GC,14758,0.54,111.8,43.2,8.9,1049,14765,0.00,2.17,0.00,0.000,4,0.000,0.035,1919,1855,2014,0,0,0,0,0,0
$GC,14843,0.55,126.9,36.3,7.8,1063,14859,0.00,2.33,6.12,0.827,6,0.000,0.055,1919,3291,1956,0,0,0,0,0,0
$GC,15003,0.55,126.9,18.7,12.2,1089,15012,0.00,2.22,0.00,0.000,4,0.000,0.036,1930,1855,1955,0,0,0,0,0,0
$GC,15076,0.55,126.9,10.9,10.3,1100,15086,0.10,2.33,0.00,0.000,6,0.150,0.055,1899,3275,1954,0,0,0,0,0,0
$GC,15137,0.55,126.9,4.5,10.4,1109,15145,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3275,1953,0,0,0,0,0,0
$STATE,15154,end climb,SURFACE_DEPTH_REACHED
$STATE,15154,begin surface coast
$FINISH,0.7,1.013419
$STATE,15192,end surface coast,CONTROL_FINISHED_OK
$STATE,15193,begin surface
$SM_CCo,15205,41.03,0.789,0,0,1552,225.18
$SM_GC,1.34,0.00,0.00,41.03,0.000,0.000,0.789,52,3434,1552,-5.21,0.40,225.18
$IRIDIUM_FIX,-4242.04,827.77,060114,181849
$TT8_MAMPS,0.026215
$HUMID,61.45
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.3,33.436
$10V_AH,9.9,24.574
$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,12.925,92.875,219.700,41.025,0.000,27.680,46.305,312.602,0.000,0.000,19.173,2781.698,9331.272,397.148,3023.605,230.261,0.000,1479.354,0.000,2508.396,0.000,1.011,0.000
$DEVICE_MAMPS,238.680,76.500,1867.365,789.480,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,774.841,1930.707,781.951,402.947,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354444
$DATA_FILE_SIZE,80463,1117
$CAP_FILE_SIZE,143964,0
$CFSIZE,259252224,242417664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,070114,024634,-4259.852,832.368,27,1.7,27,-25.1