version: 66.07
glider: 543
mission: 9
dive: 225
start: 1 7 114 7 27 7
data:
$ID,543
$MISSION,9
$DIVE,225
$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,-13246.73
$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,40
$R_STBD_OVSHOOT,22
$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
$GPS1,070114,071803,-4259.255,830.448,38,1.2,42,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-72.1
$GPS2,070114,072642,-4259.254,830.511,19,0.9,20,-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,231.6,1546,-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,-42.22,0.000,2,0.000,0.000,55,3424,2507,0,0,0,0,0,0
$GC,61,-0.53,-107.3,3.0,-4.0,5,88,6.20,0.88,-12.10,0.000,4,0.236,0.090,1538,3954,2914,0,0,0,0,0,0
$GC,354,-0.53,-107.3,56.0,-17.8,53,361,0.00,0.82,0.00,0.000,6,0.000,0.037,1538,3418,2917,0,0,0,0,0,0
$GC,706,-0.53,-107.3,107.3,-13.0,110,710,0.00,0.85,0.00,0.000,4,0.000,0.059,1534,3944,2919,0,0,0,0,0,0
$GC,968,-0.53,-107.3,142.6,-13.8,133,971,0.00,0.80,0.00,0.000,6,0.000,0.036,1534,3414,2919,0,0,0,0,0,0
$GC,1298,-0.53,-107.3,187.8,-14.0,164,1301,0.00,0.85,0.00,0.000,4,0.000,0.059,1530,3945,2920,0,0,0,0,0,0
$GC,1479,-0.53,-107.3,214.8,-14.5,180,1483,0.00,0.77,0.00,0.000,6,0.000,0.036,1530,3427,2920,0,0,0,0,0,0
$GC,1809,-0.53,-107.3,262.5,-14.3,211,1810,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3428,2920,0,0,0,0,0,0
$GC,2131,-0.53,-107.3,308.5,-14.4,241,2134,0.00,0.82,0.00,0.000,4,0.000,0.060,1526,3945,2920,0,0,0,0,0,0
$GC,2283,-0.53,-107.3,332.5,-15.8,254,2289,0.00,0.80,0.00,0.000,6,0.000,0.036,1526,3413,2920,0,0,0,0,0,0
$GC,2610,-0.53,-107.3,381.7,-14.6,285,2613,0.00,0.85,0.00,0.000,4,0.000,0.060,1523,3943,2920,0,0,0,0,0,0
$GC,2850,-0.53,-107.3,420.2,-15.0,300,2858,0.00,0.80,0.00,0.000,6,0.000,0.036,1523,3421,2920,0,0,0,0,0,0
$GC,3167,-0.53,-107.3,465.4,-13.7,316,3170,0.00,0.85,0.00,0.000,4,0.000,0.060,1519,3950,2920,0,0,0,0,0,0
$GC,3334,-0.53,-107.3,490.0,-13.6,323,3338,0.00,0.80,0.00,0.000,6,0.000,0.037,1519,3419,2920,0,0,0,0,0,0
$GC,3655,-0.53,-107.3,533.2,-13.4,339,3659,0.00,0.85,0.00,0.000,4,0.000,0.060,1515,3948,2920,0,0,0,0,0,0
$GC,3701,-0.53,-107.3,539.5,-14.7,341,3705,0.08,0.80,0.00,0.000,6,0.155,0.037,1538,3419,2920,0,0,0,0,0,0
$GC,4033,-0.53,-107.3,576.9,-11.1,357,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,3419,2919,0,0,0,0,0,0
$GC,4343,-0.53,-107.3,610.6,-10.8,372,4347,0.00,0.85,0.00,0.000,4,0.000,0.063,1536,3947,2919,0,0,0,0,0,0
$GC,4398,-0.53,-107.3,617.4,-11.8,374,4402,0.00,0.82,0.00,0.000,6,0.000,0.037,1536,3414,2919,0,0,0,0,0,0
$GC,4720,-0.53,-107.3,652.7,-11.0,390,4724,0.00,0.85,0.00,0.000,4,0.000,0.062,1532,3942,2918,0,0,0,0,0,0
$GC,4780,-0.53,-107.3,660.0,-11.5,392,4788,0.00,0.82,0.00,0.000,6,0.000,0.038,1532,3408,2918,0,0,0,0,0,0
$GC,5096,-0.53,-107.3,695.6,-11.7,408,5100,0.00,0.88,0.00,0.000,4,0.000,0.062,1528,3952,2917,0,0,0,0,0,0
$GC,5142,-0.53,-107.3,700.9,-12.3,410,5146,0.00,0.80,0.00,0.000,6,0.000,0.039,1528,3426,2917,0,0,0,0,0,0
$GC,5474,-0.53,-107.3,742.1,-12.3,426,5478,0.00,0.85,0.00,0.000,4,0.000,0.062,1524,3951,2916,0,0,0,0,0,0
$GC,5512,-0.53,-107.3,747.3,-13.4,427,5520,0.00,0.82,0.00,0.000,6,0.000,0.038,1524,3416,2917,0,0,0,0,0,0
$GC,5828,-0.53,-107.3,787.8,-13.2,443,5832,0.00,0.85,0.00,0.000,4,0.000,0.063,1520,3944,2916,0,0,0,0,0,0
$GC,5905,-0.53,-107.3,799.0,-14.1,446,5910,0.00,0.82,0.00,0.000,6,0.000,0.038,1520,3413,2916,0,0,0,0,0,0
$GC,6228,-0.53,-107.3,842.2,-13.5,462,6229,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3413,2916,0,0,0,0,0,0
$GC,6538,-0.53,-107.3,883.4,-13.3,477,6542,0.00,0.85,0.00,0.000,4,0.000,0.063,1516,3941,2915,0,0,0,0,0,0
$GC,6615,-0.53,-107.3,894.9,-14.5,480,6620,0.12,0.82,0.00,0.000,6,0.174,0.039,1547,3412,2915,0,0,0,0,0,0
$GC,6937,-0.53,-107.3,931.1,-11.0,496,6941,0.00,0.85,0.00,0.000,4,0.000,0.064,1545,3938,2914,0,0,0,0,0,0
$GC,7028,-0.53,-107.3,941.7,-11.7,500,7031,0.00,0.80,0.00,0.000,6,0.000,0.040,1544,3418,2914,0,0,0,0,0,0
$GC,7360,-0.53,-107.3,978.0,-10.9,516,7364,0.00,2.15,0.00,0.000,4,0.000,0.032,1545,1992,2914,0,0,0,0,0,0
$GC,7392,-0.53,-107.3,981.6,-10.1,517,7400,0.00,2.33,0.00,0.000,6,0.000,0.055,1534,3417,2914,0,0,0,0,0,0
$STATE,7480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7480,begin apogee
$GC,7484,-0.09,0.0,991.2,11.5,522,7592,0.52,0.00,104.90,1.873,6,0.148,0.000,1688,3275,2473,0,0,0,0,0,0
$STATE,7593,end apogee,CONTROL_FINISHED_OK
$STATE,7593,begin climb
$GC,7595,0.53,107.3,994.5,0.0,527,7715,0.57,2.47,109.90,1.812,4,0.063,0.031,1903,1868,2035,0,0,0,0,0,0
$GC,7804,0.53,107.3,976.8,12.7,536,7812,0.00,2.47,0.00,0.000,6,0.000,0.051,1903,3283,2027,0,0,0,0,0,0
$GC,8121,0.53,107.3,928.6,15.7,552,8125,0.00,2.28,0.00,0.000,4,0.000,0.033,1914,1855,2022,0,0,0,0,0,0
$GC,8142,0.53,107.3,925.1,15.2,553,8146,0.00,2.42,0.00,0.000,6,0.000,0.052,1914,3289,2022,0,0,0,0,0,0
$GC,8469,0.53,107.3,871.5,16.6,569,8473,0.00,2.25,0.00,0.000,4,0.000,0.034,1925,1857,2019,0,0,0,0,0,0
$GC,8518,0.53,107.3,863.6,14.1,571,8524,0.10,2.35,0.00,0.000,6,0.169,0.052,1896,3275,2018,0,0,0,0,0,0
$GC,8840,0.53,107.3,814.4,15.8,587,8841,0.00,0.00,0.00,0.000,6,0.000,0.000,1897,3275,2018,0,0,0,0,0,0
$GC,9149,0.53,107.3,766.4,15.5,602,9153,0.00,2.20,0.00,0.000,4,0.000,0.034,1906,1859,2017,0,0,0,0,0,0
$GC,9176,0.53,107.3,762.3,14.3,603,9180,0.00,2.35,0.00,0.000,6,0.000,0.054,1906,3283,2016,0,0,0,0,0,0
$GC,9499,0.53,107.3,709.9,16.8,619,9503,0.00,2.20,0.00,0.000,4,0.000,0.035,1917,1864,2016,0,0,0,0,0,0
$GC,9565,0.53,107.3,699.4,15.4,622,9569,0.00,2.33,0.00,0.000,6,0.000,0.054,1917,3277,2015,0,0,0,0,0,0
$GC,9892,0.53,107.3,644.6,16.9,638,9896,0.00,2.20,0.00,0.000,4,0.000,0.037,1928,1866,2015,0,0,0,0,0,0
$GC,9923,0.53,107.3,639.3,15.7,639,9932,0.10,2.33,0.00,0.000,6,0.164,0.055,1899,3276,2015,0,0,0,0,0,0
$GC,10240,0.53,107.3,591.1,15.0,655,10244,0.00,2.20,0.00,0.000,4,0.000,0.037,1908,1860,2014,0,0,0,0,0,0
$GC,10289,0.53,107.3,584.1,13.2,657,10294,0.00,2.35,0.00,0.000,6,0.000,0.057,1908,3280,2014,0,0,0,0,0,0
$GC,10612,0.53,107.3,535.5,15.2,673,10616,0.00,2.20,0.00,0.000,4,0.000,0.037,1919,1859,2014,0,0,0,0,0,0
$GC,10674,0.53,107.3,527.1,13.6,676,10678,0.00,2.33,0.00,0.000,6,0.000,0.057,1919,3286,2013,0,0,0,0,0,0
$GC,11000,0.53,107.3,477.5,15.3,692,11004,0.00,2.20,0.00,0.000,4,0.000,0.037,1930,1864,2013,0,0,0,0,0,0
$GC,11043,0.53,107.3,471.6,12.7,694,11048,0.10,2.33,0.00,0.000,6,0.167,0.057,1893,3276,2013,0,0,0,0,0,0
$GC,11370,0.53,107.3,427.9,13.5,710,11374,0.00,2.17,0.00,0.000,4,0.000,0.037,1902,1863,2013,0,0,0,0,0,0
$GC,11396,0.53,107.3,424.4,12.1,711,11401,0.00,2.33,0.00,0.000,6,0.000,0.057,1902,3278,2013,0,0,0,0,0,0
$GC,11725,0.53,107.3,379.8,14.0,733,11726,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3278,2013,0,0,0,0,0,0
$GC,12041,0.53,107.3,335.7,12.7,763,12044,0.00,1.10,0.00,0.000,4,0.000,0.061,1902,3955,2013,0,0,0,0,0,0
$GC,12066,0.53,107.3,332.5,13.5,765,12070,0.00,1.02,0.00,0.000,6,0.000,0.039,1907,3284,2013,0,0,0,0,0,0
$GC,12395,0.53,107.3,289.1,13.2,796,12399,0.00,2.20,0.00,0.000,4,0.000,0.034,1918,1854,2012,0,0,0,0,0,0
$GC,12494,0.53,107.3,278.0,11.1,804,12498,0.00,2.33,0.00,0.000,6,0.000,0.055,1919,3288,2012,0,0,0,0,0,0
$GC,12818,0.53,107.3,234.2,13.4,834,12820,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3288,2012,0,0,0,0,0,0
$GC,13138,0.53,107.3,190.6,14.3,864,13142,0.00,2.20,0.00,0.000,4,0.000,0.036,1930,1856,2012,0,0,0,0,0,0
$GC,13189,0.53,107.3,183.9,11.9,868,13194,0.15,2.33,0.00,0.000,6,0.184,0.055,1893,3288,2012,0,0,0,0,0,0
$GC,13514,0.53,107.3,141.9,13.1,898,13515,0.00,0.00,0.00,0.000,6,0.000,0.000,1893,3288,2012,0,0,0,0,0,0
$GC,13833,0.53,107.3,101.3,12.7,928,13835,0.00,0.00,0.00,0.000,6,0.000,0.000,1893,3288,2012,0,0,0,0,0,0
$GC,14174,0.53,107.3,62.1,11.0,987,14182,0.00,0.00,0.00,0.000,6,0.000,0.000,1893,3288,2012,0,0,0,0,0,0
$GC,14527,0.54,111.3,29.2,9.0,1048,14536,0.00,2.20,0.00,0.000,4,0.000,0.035,1903,1862,2012,0,0,0,0,0,0
$GC,14713,0.55,126.2,14.8,7.8,1078,14730,0.00,2.33,5.62,0.718,6,0.000,0.055,1902,3280,1955,0,0,0,0,0,0
$GC,14781,0.55,126.2,7.8,10.6,1088,14790,0.00,2.22,0.00,0.000,4,0.000,0.036,1914,1857,1954,0,0,0,0,0,0
$STATE,14828,end climb,SURFACE_DEPTH_REACHED
$STATE,14828,begin surface coast
$FINISH,0.7,1.021562
$STATE,14860,end surface coast,CONTROL_FINISHED_OK
$STATE,14860,begin surface
$SM_CCo,14875,40.72,0.787,0,0,1553,225.18
$SM_GC,1.50,0.00,0.00,40.72,0.000,0.000,0.787,55,3429,1553,-5.20,0.25,225.18
$IRIDIUM_FIX,-4244.98,831.12,070114,020250
$TT8_MAMPS,0.025466
$HUMID,61.34
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.3,33.730
$10V_AH,9.9,24.809
$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,12.900,94.400,220.425,40.725,0.000,25.239,42.254,315.196,0.000,0.000,21.969,2755.136,9027.814,376.920,3040.491,232.343,0.000,1459.130,0.000,2523.947,0.000,1.011,0.000
$DEVICE_MAMPS,236.385,89.505,1872.720,787.185,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,763.741,1895.233,778.434,405.469,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354420
$DATA_FILE_SIZE,76931,1100
$CAP_FILE_SIZE,142034,0
$CFSIZE,259252224,242266112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,070114,113659,-4300.055,829.411,41,0.8,41,-25.0