version: 66.07
glider: 543
mission: 9
dive: 233
start: 1 8 114 19 39 6
data:
$ID,543
$MISSION,9
$DIVE,233
$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,-13273.65
$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,45
$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
$GPS1,080114,192934,-4259.804,830.228,29,0.9,29,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-64.8
$GPS2,080114,193842,-4259.663,830.247,20,0.9,21,-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,233.2,708,-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,-42.10,0.000,2,0.000,0.000,53,3376,2538,0,0,0,0,0,0
$GC,61,-0.56,-82.0,3.3,-5.2,5,80,6.25,2.25,-7.50,0.000,4,0.240,0.043,1537,1946,2811,0,0,0,0,0,0
$GC,125,-0.56,-82.0,13.2,-14.5,14,134,0.00,2.38,0.00,0.000,6,0.000,0.051,1528,3377,2814,0,0,0,0,0,0
$GC,187,-0.56,-82.0,22.6,-16.7,23,193,0.00,2.17,0.00,0.000,4,0.000,0.029,1528,1957,2814,0,0,0,0,0,0
$GC,229,-0.56,-82.0,30.4,-15.5,30,239,0.00,2.35,0.00,0.000,6,0.000,0.050,1517,3378,2815,0,0,0,0,0,0
$GC,379,-0.56,-82.0,57.8,-18.6,55,385,0.00,0.00,0.00,0.000,6,0.000,0.000,1517,3379,2815,0,0,0,0,0,0
$GC,722,-0.56,-82.0,114.2,-16.1,108,726,0.00,2.12,0.00,0.000,4,0.000,0.028,1517,1954,2817,0,0,0,0,0,0
$GC,773,-0.56,-82.0,121.6,-13.4,112,778,0.12,2.33,0.00,0.000,6,0.167,0.050,1538,3392,2818,0,0,0,0,0,0
$GC,1098,-0.56,-82.0,165.5,-13.6,142,1101,0.00,0.90,0.00,0.000,4,0.000,0.058,1535,3951,2818,0,0,0,0,0,0
$GC,1155,-0.56,-82.0,173.3,-13.8,147,1158,0.00,0.85,0.00,0.000,6,0.000,0.034,1534,3382,2819,0,0,0,0,0,0
$GC,1485,-0.56,-82.0,216.0,-12.3,178,1486,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3382,2819,0,0,0,0,0,0
$GC,1805,-0.56,-82.0,256.0,-12.6,208,1808,0.00,0.90,0.00,0.000,4,0.000,0.059,1531,3948,2819,0,0,0,0,0,0
$GC,1863,-0.56,-82.0,263.7,-13.2,213,1867,0.00,0.85,0.00,0.000,6,0.000,0.034,1530,3377,2819,0,0,0,0,0,0
$GC,2194,-0.56,-82.0,304.1,-11.9,244,2195,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3377,2818,0,0,0,0,0,0
$GC,2514,-0.56,-82.0,340.7,-11.4,274,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3377,2819,0,0,0,0,0,0
$GC,2832,-0.56,-82.0,376.6,-11.4,304,2833,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3377,2819,0,0,0,0,0,0
$GC,3157,-0.56,-82.0,414.6,-11.6,329,3158,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3377,2818,0,0,0,0,0,0
$GC,3466,-0.56,-82.0,452.9,-12.5,344,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3377,2818,0,0,0,0,0,0
$GC,3776,-0.56,-82.0,491.9,-12.7,359,3777,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3377,2818,0,0,0,0,0,0
$GC,4084,-0.56,-82.0,530.8,-12.5,374,4086,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3377,2818,0,0,0,0,0,0
$GC,4394,-0.56,-82.0,570.3,-12.8,389,4395,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3377,2817,0,0,0,0,0,0
$GC,4704,-0.56,-82.0,610.7,-13.0,404,4708,0.00,2.15,0.00,0.000,4,0.000,0.031,1530,1960,2817,0,0,0,0,0,0
$GC,4721,-0.56,-82.0,612.9,-13.0,405,4725,0.00,2.30,0.00,0.000,6,0.000,0.053,1520,3381,2817,0,0,0,0,0,0
$GC,5047,-0.56,-82.0,658.3,-13.9,421,5048,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3381,2816,0,0,0,0,0,0
$GC,5359,-0.56,-82.0,699.9,-13.3,436,5360,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3381,2815,0,0,0,0,0,0
$GC,5666,-0.56,-82.0,739.3,-12.7,451,5667,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3381,2815,0,0,0,0,0,0
$GC,5975,-0.56,-82.0,777.0,-11.9,466,5976,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3381,2814,0,0,0,0,0,0
$GC,6285,-0.56,-82.0,814.7,-12.0,481,6286,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3381,2814,0,0,0,0,0,0
$GC,6594,-0.56,-82.0,852.0,-12.2,496,6595,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3381,2813,0,0,0,0,0,0
$GC,6905,-0.56,-82.0,889.8,-12.3,511,6906,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3381,2813,0,0,0,0,0,0
$GC,7213,-0.56,-82.0,927.4,-12.2,526,7214,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3381,2812,0,0,0,0,0,0
$GC,7522,-0.56,-82.0,964.3,-11.5,541,7526,0.00,2.15,0.00,0.000,4,0.000,0.032,1520,1969,2812,0,0,0,0,0,0
$GC,7570,-0.56,-82.0,969.9,-10.2,543,7575,0.00,2.33,0.00,0.000,6,0.000,0.054,1509,3382,2812,0,0,0,0,0,0
$STATE,7746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7746,begin apogee
$GC,7751,-0.09,0.0,992.5,12.9,552,7834,0.62,0.00,79.50,1.857,6,0.164,0.000,1685,3291,2473,0,0,0,0,0,0
$STATE,7835,end apogee,CONTROL_FINISHED_OK
$STATE,7835,begin climb
$GC,7837,0.56,82.0,995.8,0.0,556,7925,0.65,0.00,84.75,1.812,6,0.068,0.000,1906,3291,2139,0,0,0,0,0,0
$GC,8237,0.56,82.0,952.4,12.9,575,8238,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3291,2128,0,0,0,0,0,0
$GC,8545,0.56,82.0,911.2,13.8,590,8549,0.00,1.10,0.00,0.000,4,0.000,0.060,1906,3949,2126,0,0,0,0,0,0
$GC,8594,0.56,82.0,903.6,15.6,592,8599,0.00,1.05,0.00,0.000,6,0.000,0.037,1911,3272,2125,0,0,0,0,0,0
$GC,8923,0.56,82.0,857.4,14.2,608,8927,0.00,1.12,0.00,0.000,4,0.000,0.060,1911,3955,2124,0,0,0,0,0,0
$GC,9017,0.56,82.0,842.2,16.8,612,9022,0.00,1.05,0.00,0.000,6,0.000,0.036,1916,3285,2124,0,0,0,0,0,0
$GC,9345,0.56,82.0,794.4,14.3,628,9349,0.00,1.08,0.00,0.000,4,0.000,0.060,1917,3951,2123,0,0,0,0,0,0
$GC,9473,0.56,82.0,774.3,15.7,633,9480,0.00,1.05,0.00,0.000,6,0.000,0.036,1922,3278,2122,0,0,0,0,0,0
$GC,9790,0.56,82.0,730.5,13.9,649,9793,0.00,1.10,0.00,0.000,4,0.000,0.060,1922,3951,2122,0,0,0,0,0,0
$GC,9861,0.56,82.0,719.4,15.3,652,9866,0.00,1.05,0.00,0.000,6,0.000,0.036,1927,3275,2121,0,0,0,0,0,0
$GC,10191,0.56,82.0,673.9,13.8,668,10192,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,3275,2121,0,0,0,0,0,0
$GC,10498,0.56,82.0,631.4,13.8,683,10502,0.00,1.10,0.00,0.000,4,0.000,0.060,1926,3953,2121,0,0,0,0,0,0
$GC,10536,0.56,82.0,625.6,15.2,684,10544,0.00,1.02,0.00,0.000,6,0.000,0.036,1931,3282,2120,0,0,0,0,0,0
$GC,10853,0.56,82.0,582.6,13.7,700,10854,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,3282,2120,0,0,0,0,0,0
$GC,11161,0.56,82.0,543.4,12.4,715,11163,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,3282,2119,0,0,0,0,0,0
$GC,11473,0.56,82.0,506.7,11.4,730,11476,0.00,1.10,0.00,0.000,4,0.000,0.060,1932,3958,2119,0,0,0,0,0,0
$GC,11645,0.56,82.0,483.6,13.1,737,11653,0.15,1.05,0.00,0.000,6,0.220,0.035,1903,3277,2119,0,0,0,0,0,0
$GC,11962,0.56,82.0,448.9,11.0,753,11963,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3278,2118,0,0,0,0,0,0
$GC,12271,0.56,82.0,413.3,11.8,768,12272,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3277,2118,0,0,0,0,0,0
$GC,12586,0.56,82.0,376.0,12.1,792,12589,0.00,1.10,0.00,0.000,4,0.000,0.059,1903,3956,2118,0,0,0,0,0,0
$GC,12846,0.56,82.0,342.2,12.5,815,12850,0.00,1.02,0.00,0.000,6,0.000,0.037,1906,3283,2118,0,0,0,0,0,0
$GC,13177,0.56,82.0,305.7,10.0,846,13179,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3283,2118,0,0,0,0,0,0
$GC,13496,0.56,82.0,271.5,11.1,876,13500,0.00,1.08,0.00,0.000,4,0.000,0.060,1906,3947,2118,0,0,0,0,0,0
$GC,13711,0.56,82.0,245.9,12.0,895,13715,0.00,1.00,0.00,0.000,6,0.000,0.036,1912,3286,2118,0,0,0,0,0,0
$GC,14041,0.56,82.0,213.1,9.9,926,14045,0.00,2.17,0.00,0.000,4,0.000,0.032,1923,1863,2118,0,0,0,0,0,0
$GC,14069,0.56,82.0,210.3,9.4,928,14074,0.00,2.30,0.00,0.000,6,0.000,0.051,1923,3292,2117,0,0,0,0,0,0
$GC,14394,0.56,82.0,175.7,11.1,958,14397,0.00,1.05,0.00,0.000,4,0.000,0.058,1923,3945,2117,0,0,0,0,0,0
$GC,14466,0.56,82.0,166.6,12.0,964,14476,0.00,1.00,0.00,0.000,6,0.000,0.035,1928,3285,2117,0,0,0,0,0,0
$GC,14791,0.56,82.0,128.2,11.7,995,14792,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,3285,2117,0,0,0,0,0,0
$GC,15116,0.56,82.0,94.0,9.7,1030,15123,0.00,1.08,0.00,0.000,4,0.000,0.059,1928,3955,2117,0,0,0,0,0,0
$GC,15380,0.56,82.0,65.4,9.4,1076,15387,0.10,1.02,0.00,0.000,6,0.192,0.035,1905,3272,2117,0,0,0,0,0,0
$GC,15734,0.58,106.4,42.7,5.9,1137,15750,0.00,2.12,8.43,0.887,4,0.000,0.029,1915,1863,2037,0,0,0,0,0,0
$GC,15791,0.58,118.6,38.9,7.3,1146,15802,0.00,2.30,5.12,0.767,6,0.000,0.050,1915,3281,1987,0,0,0,0,0,0
$GC,15947,0.58,118.6,22.7,11.4,1171,15953,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3281,1986,0,0,0,0,0,0
$GC,16102,0.58,118.6,6.1,11.8,1196,16111,0.00,2.17,0.00,0.000,4,0.000,0.031,1926,1867,1984,0,0,0,0,0,0
$STATE,16130,end climb,SURFACE_DEPTH_REACHED
$STATE,16130,begin surface coast
$FINISH,0.8,1.026110
$STATE,16163,end surface coast,CONTROL_FINISHED_OK
$STATE,16163,begin surface
$SM_CCo,16178,42.22,0.778,0,0,1573,220.03
$SM_GC,1.12,0.00,0.00,42.22,0.000,0.000,0.778,50,3392,1573,-5.22,0.34,220.03
$IRIDIUM_FIX,-4247.91,449.00,080114,141455
$TT8_MAMPS,0.026215
$HUMID,61.41
$INTERNAL_PRESSURE,9.56208
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.4,34.814
$10V_AH,9.9,25.769
$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,12.975,60.950,177.800,42.225,0.000,26.137,48.079,329.865,0.000,0.000,23.006,2943.233,10174.177,322.010,3073.691,253.058,0.000,1365.039,0.000,2539.596,0.000,1.011,0.000
$DEVICE_MAMPS,240.210,70.380,1857.420,778.005,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,836.952,2068.928,844.922,399.901,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354384
$DATA_FILE_SIZE,87005,1205
$CAP_FILE_SIZE,137063,0
$CFSIZE,259252224,241631232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090114,001034,-4300.745,829.566,32,0.8,32,-25.0