version: 66.07
glider: 543
mission: 9
dive: 231
start: 1 8 114 10 25 11
data:
$ID,543
$MISSION,9
$DIVE,231
$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,380
$T_MISSION,420
$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,220
$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,-13267.854
$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,53
$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,3380
$C_ROLL_CLIMB,3285
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,23
$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
$GPS1,080114,101622,-4259.968,830.284,36,1.0,36,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-69.0
$GPS2,080114,102447,-4259.975,830.357,15,1.7,16,-25.0
$SPEED_LIMITS,0.150,0.228
$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,289.4,486,-27.0,-8.684
$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,-0.54,-51.0,0.0,0.0,0,59,0.00,0.00,-42.03,0.000,2,0.000,0.000,50,3370,2525,0,0,0,0,0,0
$GC,61,-0.56,-87.7,3.0,-4.5,5,80,6.10,0.98,-9.10,0.000,4,0.233,0.091,1526,3950,2833,0,0,0,0,0,0
$GC,143,-0.56,-87.7,16.5,-18.0,17,153,0.00,0.88,0.00,0.000,6,0.000,0.035,1526,3382,2837,0,0,0,0,0,0
$GC,201,-0.56,-87.7,27.3,-18.3,26,209,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3382,2838,0,0,0,0,0,0
$GC,347,-0.56,-87.7,55.0,-18.9,51,356,0.00,0.90,0.00,0.000,4,0.000,0.057,1522,3938,2838,0,0,0,0,0,0
$GC,583,-0.56,-87.7,98.3,-17.0,91,589,0.00,0.85,0.00,0.000,6,0.000,0.034,1522,3377,2839,0,0,0,0,0,0
$GC,914,-0.56,-87.7,150.2,-15.1,123,915,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3377,2840,0,0,0,0,0,0
$GC,1236,-0.56,-87.7,196.6,-14.4,153,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3377,2841,0,0,0,0,0,0
$GC,1562,-0.56,-87.7,242.9,-14.1,184,1565,0.00,2.10,0.00,0.000,4,0.000,0.030,1522,1964,2841,0,0,0,0,0,0
$GC,1590,-0.56,-87.7,246.6,-12.8,186,1594,0.00,2.25,0.00,0.000,6,0.000,0.051,1511,3381,2842,0,0,0,0,0,0
$GC,1923,-0.56,-87.7,291.4,-13.4,217,1926,0.00,0.90,0.00,0.000,4,0.000,0.058,1507,3946,2841,0,0,0,0,0,0
$GC,2006,-0.56,-87.7,303.9,-14.5,224,2017,0.12,0.88,0.00,0.000,6,0.185,0.034,1537,3374,2842,0,0,0,0,0,0
$GC,2331,-0.56,-87.7,340.1,-11.4,255,2332,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3374,2842,0,0,0,0,0,0
$GC,2653,-0.56,-87.7,375.8,-11.7,285,2657,0.00,2.12,0.00,0.000,4,0.000,0.030,1537,1961,2842,0,0,0,0,0,0
$GC,2685,-0.56,-87.7,380.1,-11.0,287,2693,0.00,2.33,0.00,0.000,6,0.000,0.052,1527,3385,2842,0,0,0,0,0,0
$GC,3018,-0.56,-87.7,422.5,-13.1,311,3019,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3385,2841,0,0,0,0,0,0
$GC,3328,-0.56,-87.7,463.2,-13.3,326,3329,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3385,2841,0,0,0,0,0,0
$GC,3635,-0.56,-87.7,503.9,-13.5,341,3639,0.00,2.12,0.00,0.000,4,0.000,0.030,1527,1966,2841,0,0,0,0,0,0
$GC,3673,-0.56,-87.7,509.0,-12.7,342,3681,0.00,2.33,0.00,0.000,6,0.000,0.053,1516,3387,2841,0,0,0,0,0,0
$GC,3991,-0.56,-87.7,552.9,-14.1,358,3995,0.00,2.15,0.00,0.000,4,0.000,0.030,1517,1952,2840,0,0,0,0,0,0
$GC,4012,-0.56,-87.7,556.2,-13.2,359,4017,0.00,2.33,0.00,0.000,6,0.000,0.053,1506,3378,2840,0,0,0,0,0,0
$GC,4340,-0.56,-87.7,603.4,-14.2,375,4344,0.12,0.93,0.00,0.000,4,0.193,0.060,1532,3948,2840,0,0,0,0,0,0
$GC,4389,-0.56,-87.7,610.3,-12.8,377,4394,0.00,0.88,0.00,0.000,6,0.000,0.036,1533,3377,2839,0,0,0,0,0,0
$GC,4718,-0.56,-87.7,647.9,-11.1,393,4722,0.00,0.93,0.00,0.000,4,0.000,0.062,1528,3953,2839,0,0,0,0,0,0
$GC,4764,-0.56,-87.7,653.4,-11.6,395,4767,0.00,0.88,0.00,0.000,6,0.000,0.037,1528,3375,2839,0,0,0,0,0,0
$GC,5096,-0.56,-87.7,692.4,-11.7,411,5100,0.00,2.12,0.00,0.000,4,0.000,0.031,1528,1962,2838,0,0,0,0,0,0
$GC,5116,-0.56,-87.7,695.1,-12.3,412,5121,0.00,2.33,0.00,0.000,6,0.000,0.054,1518,3385,2838,0,0,0,0,0,0
$GC,5445,-0.56,-87.7,736.1,-12.9,428,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,1518,3384,2837,0,0,0,0,0,0
$GC,5752,-0.56,-87.7,776.1,-12.6,443,5754,0.00,0.00,0.00,0.000,6,0.000,0.000,1517,3384,2837,0,0,0,0,0,0
$GC,6062,-0.56,-87.7,815.4,-12.7,458,6065,0.00,0.90,0.00,0.000,4,0.000,0.061,1513,3946,2836,0,0,0,0,0,0
$GC,6139,-0.56,-87.7,825.9,-13.8,461,6143,0.00,0.85,0.00,0.000,6,0.000,0.038,1513,3383,2836,0,0,0,0,0,0
$GC,6461,-0.56,-87.7,865.4,-11.8,477,6462,0.00,0.00,0.00,0.000,6,0.000,0.000,1513,3383,2835,0,0,0,0,0,0
$GC,6770,-0.56,-87.7,899.6,-10.8,492,6774,0.00,2.15,0.00,0.000,4,0.000,0.032,1513,1963,2835,0,0,0,0,0,0
$GC,6802,-0.56,-87.7,903.1,-9.2,493,6811,0.10,2.33,0.00,0.000,6,0.143,0.054,1533,3385,2834,0,0,0,0,0,0
$GC,7120,-0.56,-87.7,931.2,-9.1,509,7124,0.00,0.90,0.00,0.000,4,0.000,0.062,1531,3944,2834,0,0,0,0,0,0
$GC,7203,-0.56,-87.7,939.6,-10.0,512,7211,0.00,0.88,0.00,0.000,6,0.000,0.037,1531,3379,2834,0,0,0,0,0,0
$GC,7519,-0.56,-87.7,968.2,-9.4,528,7521,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3378,2834,0,0,0,0,0,0
$STATE,7767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7767,begin apogee
$GC,7772,-0.09,0.0,991.5,9.7,540,7862,0.52,0.00,86.38,1.863,6,0.156,0.000,1683,3282,2474,0,0,0,0,0,0
$STATE,7862,end apogee,CONTROL_FINISHED_OK
$STATE,7862,begin climb
$GC,7864,0.56,87.7,993.5,0.0,544,7964,0.62,2.47,90.60,1.804,4,0.073,0.031,1909,1868,2115,0,0,0,0,0,0
$GC,7996,0.56,87.7,983.2,12.7,550,8001,0.00,2.50,0.00,0.000,6,0.000,0.050,1909,3280,2111,0,0,0,0,0,0
$GC,8324,0.56,87.7,935.3,14.4,566,8327,0.00,1.12,0.00,0.000,4,0.000,0.059,1909,3952,2104,0,0,0,0,0,0
$GC,8395,0.56,87.7,923.7,16.8,569,8400,0.00,1.08,0.00,0.000,6,0.000,0.036,1914,3277,2104,0,0,0,0,0,0
$GC,8723,0.56,87.7,876.2,14.3,585,8724,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3277,2102,0,0,0,0,0,0
$GC,9032,0.56,87.7,831.8,14.5,600,9036,0.00,2.20,0.00,0.000,4,0.000,0.034,1925,1866,2100,0,0,0,0,0,0
$GC,9064,0.56,87.7,827.3,12.7,601,9071,0.00,2.33,0.00,0.000,6,0.000,0.050,1925,3281,2099,0,0,0,0,0,0
$GC,9382,0.56,87.7,780.9,15.2,617,9385,0.00,1.08,0.00,0.000,4,0.000,0.060,1925,3944,2098,0,0,0,0,0,0
$GC,9442,0.56,87.7,770.7,17.6,619,9450,0.00,1.05,0.00,0.000,6,0.000,0.036,1930,3271,2098,0,0,0,0,0,0
$GC,9759,0.56,87.7,722.8,15.1,635,9760,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3271,2098,0,0,0,0,0,0
$GC,10069,0.56,87.7,677.8,14.3,650,10070,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3271,2098,0,0,0,0,0,0
$GC,10377,0.56,87.7,634.1,14.0,665,10381,0.00,1.10,0.00,0.000,4,0.000,0.060,1930,3948,2097,0,0,0,0,0,0
$GC,10437,0.56,87.7,624.6,15.9,667,10445,0.10,1.02,0.00,0.000,6,0.200,0.037,1908,3272,2097,0,0,0,0,0,0
$GC,10755,0.56,87.7,584.6,12.6,683,10759,0.00,1.10,0.00,0.000,4,0.000,0.060,1908,3950,2096,0,0,0,0,0,0
$GC,10906,0.56,87.7,563.5,14.1,689,10913,0.00,1.02,0.00,0.000,6,0.000,0.037,1912,3279,2096,0,0,0,0,0,0
$GC,11222,0.56,87.7,524.5,12.2,705,11225,0.00,1.10,0.00,0.000,4,0.000,0.060,1912,3955,2096,0,0,0,0,0,0
$GC,11245,0.56,87.7,521.4,13.7,706,11248,0.00,1.02,0.00,0.000,6,0.000,0.037,1917,3284,2096,0,0,0,0,0,0
$GC,11577,0.56,87.7,479.2,12.8,722,11581,0.00,1.08,0.00,0.000,4,0.000,0.060,1917,3951,2095,0,0,0,0,0,0
$GC,11682,0.56,87.7,463.8,14.5,726,11690,0.00,1.05,0.00,0.000,6,0.000,0.037,1922,3272,2095,0,0,0,0,0,0
$GC,11999,0.56,87.7,422.1,13.2,742,12003,0.00,1.10,0.00,0.000,4,0.000,0.059,1922,3951,2095,0,0,0,0,0,0
$GC,12070,0.56,87.7,411.6,15.0,745,12075,0.00,1.05,0.00,0.000,6,0.000,0.036,1927,3276,2095,0,0,0,0,0,0
$GC,12395,0.56,87.7,367.9,13.5,771,12398,0.00,1.10,0.00,0.000,4,0.000,0.060,1927,3956,2095,0,0,0,0,0,0
$GC,12444,0.56,87.7,360.4,14.9,775,12452,0.08,1.05,0.00,0.000,6,0.203,0.036,1911,3277,2095,0,0,0,0,0,0
$GC,12769,0.56,87.7,318.8,12.7,806,12771,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3277,2095,0,0,0,0,0,0
$GC,13089,0.56,87.7,278.8,12.7,836,13093,0.00,2.15,0.00,0.000,4,0.000,0.033,1921,1866,2095,0,0,0,0,0,0
$GC,13108,0.56,87.7,276.6,12.2,837,13113,0.00,2.30,0.00,0.000,6,0.000,0.050,1922,3294,2093,0,0,0,0,0,0
$GC,13433,0.56,87.7,235.7,12.1,867,13436,0.00,1.05,0.00,0.000,4,0.000,0.058,1921,3948,2093,0,0,0,0,0,0
$GC,13684,0.56,87.7,202.7,12.3,889,13688,0.00,1.00,0.00,0.000,6,0.000,0.037,1926,3287,2093,0,0,0,0,0,0
$GC,14014,0.56,87.7,164.9,11.4,920,14018,0.00,2.17,0.00,0.000,4,0.000,0.031,1937,1858,2093,0,0,0,0,0,0
$GC,14033,0.56,87.7,163.1,10.8,921,14038,0.12,2.30,0.00,0.000,6,0.189,0.050,1908,3289,2093,0,0,0,0,0,0
$GC,14358,0.56,87.7,129.0,10.8,951,14359,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3289,2092,0,0,0,0,0,0
$GC,14682,0.56,87.7,92.4,12.1,986,14689,0.00,2.17,0.00,0.000,4,0.000,0.031,1918,1852,2093,0,0,0,0,0,0
$GC,14740,0.56,87.7,85.9,10.9,996,14749,0.00,2.33,0.00,0.000,6,0.000,0.051,1917,3283,2092,0,0,0,0,0,0
$GC,15094,0.56,87.7,48.7,9.3,1057,15100,0.00,1.08,0.00,0.000,4,0.000,0.057,1917,3954,2092,0,0,0,0,0,0
$GC,15367,0.56,87.7,24.2,9.7,1103,15374,0.00,1.00,0.00,0.000,6,0.000,0.035,1923,3288,2092,0,0,0,0,0,0
$GC,15522,0.56,87.7,9.8,9.9,1128,15531,0.00,1.08,0.00,0.000,4,0.000,0.059,1923,3952,2092,0,0,0,0,0,0
$STATE,15592,end climb,SURFACE_DEPTH_REACHED
$STATE,15592,begin surface coast
$FINISH,0.6,1.014734
$STATE,15630,end surface coast,CONTROL_FINISHED_OK
$STATE,15630,begin surface
$SM_CCo,15644,53.22,0.783,0,0,1574,220.03
$SM_GC,1.52,0.00,0.00,53.22,0.000,0.000,0.783,51,3369,1574,-5.22,-0.31,220.03
$IRIDIUM_FIX,-4244.98,831.12,080114,050518
$TT8_MAMPS,0.025466
$HUMID,61.65
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.4,34.577
$10V_AH,9.9,25.527
$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,12.925,85.400,176.975,53.225,0.000,38.419,21.890,315.832,0.000,0.000,17.975,2832.911,9779.634,375.779,2985.495,226.549,0.000,1432.633,0.000,2474.434,0.000,1.010,0.000
$DEVICE_MAMPS,232.560,91.035,1862.775,782.595,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,794.617,1982.855,791.867,400.360,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354428
$DATA_FILE_SIZE,80587,1145
$CAP_FILE_SIZE,142201,0
$CFSIZE,259252224,241790976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,080114,144804,-4259.259,828.908,41,0.9,41,-25.0