version: 66.07
glider: 543
mission: 9
dive: 234
start: 1 9 114 0 24 5
data:
$ID,543
$MISSION,9
$DIVE,234
$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,-13276.571
$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,54
$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
$GPS1,090114,001034,-4300.745,829.566,32,0.8,32,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-63.2
$GPS2,090114,002342,-4300.673,829.478,18,0.9,18,-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,54.6,1433,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.54,-51.0,0.0,0.0,0,58,0.00,0.00,-41.65,0.000,2,0.000,0.000,50,3392,2528,0,0,0,0,0,0
$GC,60,-0.57,-90.9,3.1,-4.1,5,87,6.18,2.22,-9.30,0.000,4,0.235,0.044,1532,1974,2848,0,0,0,0,0,0
$GC,95,-0.57,-90.9,7.8,-10.9,9,105,0.00,2.33,0.00,0.000,6,0.000,0.052,1522,3378,2850,0,0,0,0,0,0
$GC,156,-0.57,-90.9,18.3,-18.8,18,165,0.00,0.93,0.00,0.000,4,0.000,0.057,1518,3951,2851,0,0,0,0,0,0
$GC,429,-0.57,-90.9,68.8,-15.1,64,436,0.00,0.85,0.00,0.000,6,0.000,0.034,1519,3386,2852,0,0,0,0,0,0
$GC,776,-0.57,-90.9,121.2,-14.3,113,780,0.00,0.90,0.00,0.000,4,0.000,0.058,1514,3948,2854,0,0,0,0,0,0
$GC,1037,-0.57,-90.9,162.6,-14.9,136,1040,0.00,0.85,0.00,0.000,6,0.000,0.034,1514,3380,2855,0,0,0,0,0,0
$GC,1367,-0.57,-90.9,212.7,-15.7,167,1370,0.00,0.90,0.00,0.000,4,0.000,0.058,1510,3942,2855,0,0,0,0,0,0
$GC,1469,-0.57,-90.9,230.7,-16.7,176,1473,0.00,0.85,0.00,0.000,6,0.000,0.034,1510,3375,2855,0,0,0,0,0,0
$GC,1799,-0.57,-90.9,285.4,-16.4,207,1803,0.00,0.93,0.00,0.000,4,0.000,0.059,1506,3954,2855,0,0,0,0,0,0
$GC,1859,-0.57,-90.9,295.8,-17.5,212,1870,0.12,0.88,0.00,0.000,6,0.184,0.034,1536,3377,2855,0,0,0,0,0,0
$GC,2185,-0.57,-90.9,340.1,-13.4,243,2186,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3377,2855,0,0,0,0,0,0
$GC,2506,-0.57,-90.9,379.8,-11.9,273,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3377,2855,0,0,0,0,0,0
$GC,2827,-0.57,-90.9,416.5,-11.1,297,2828,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3377,2855,0,0,0,0,0,0
$GC,3136,-0.57,-90.9,450.2,-10.9,312,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3377,2855,0,0,0,0,0,0
$GC,3445,-0.57,-90.9,484.2,-10.9,327,3449,0.00,0.93,0.00,0.000,4,0.000,0.061,1533,3952,2854,0,0,0,0,0,0
$GC,3494,-0.57,-90.9,490.3,-12.4,329,3499,0.00,0.88,0.00,0.000,6,0.000,0.035,1533,3382,2854,0,0,0,0,0,0
$GC,3822,-0.57,-90.9,527.8,-11.8,345,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3382,2853,0,0,0,0,0,0
$GC,4132,-0.57,-90.9,565.0,-12.0,360,4136,0.00,0.90,0.00,0.000,4,0.000,0.061,1529,3939,2853,0,0,0,0,0,0
$GC,4187,-0.57,-90.9,572.3,-12.4,362,4192,0.00,0.88,0.00,0.000,6,0.000,0.037,1529,3372,2852,0,0,0,0,0,0
$GC,4509,-0.57,-90.9,610.9,-12.3,378,4512,0.00,0.93,0.00,0.000,4,0.000,0.062,1525,3948,2852,0,0,0,0,0,0
$GC,4599,-0.57,-90.9,622.9,-13.4,382,4603,0.00,0.85,0.00,0.000,6,0.000,0.037,1525,3384,2852,0,0,0,0,0,0
$GC,4932,-0.57,-90.9,663.7,-12.4,398,4935,0.00,0.90,0.00,0.000,4,0.000,0.062,1521,3942,2851,0,0,0,0,0,0
$GC,5009,-0.57,-90.9,674.0,-12.6,401,5013,0.00,0.88,0.00,0.000,6,0.000,0.037,1521,3373,2851,0,0,0,0,0,0
$GC,5331,-0.57,-90.9,715.8,-13.5,417,5335,0.00,0.93,0.00,0.000,4,0.000,0.062,1516,3947,2850,0,0,0,0,0,0
$GC,5414,-0.57,-90.9,728.1,-14.2,420,5421,0.00,0.88,0.00,0.000,6,0.000,0.037,1517,3378,2850,0,0,0,0,0,0
$GC,5730,-0.57,-90.9,771.1,-13.3,436,5733,0.00,0.90,0.00,0.000,4,0.000,0.062,1512,3940,2849,0,0,0,0,0,0
$GC,5791,-0.57,-90.9,780.1,-14.2,438,5798,0.00,0.82,0.00,0.000,6,0.000,0.037,1512,3390,2849,0,0,0,0,0,0
$GC,6106,-0.57,-90.9,822.1,-13.0,454,6110,0.00,0.90,0.00,0.000,4,0.000,0.062,1508,3952,2848,0,0,0,0,0,0
$GC,6265,-0.57,-90.9,843.1,-13.4,461,6269,0.00,0.88,0.00,0.000,6,0.000,0.037,1508,3373,2848,0,0,0,0,0,0
$GC,6597,-0.57,-90.9,882.3,-11.4,477,6598,0.00,0.00,0.00,0.000,6,0.000,0.000,1508,3372,2848,0,0,0,0,0,0
$GC,6906,-0.57,-90.9,919.4,-12.3,492,6910,0.00,0.93,0.00,0.000,4,0.000,0.063,1504,3944,2847,0,0,0,0,0,0
$GC,7042,-0.57,-90.9,937.9,-13.4,498,7046,0.08,0.85,0.00,0.000,6,0.161,0.037,1527,3387,2847,0,0,0,0,0,0
$GC,7374,-0.57,-90.9,976.1,-11.5,514,7375,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3387,2847,0,0,0,0,0,0
$STATE,7516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7516,begin apogee
$GC,7521,-0.09,0.0,992.0,11.1,521,7619,0.52,0.00,89.35,1.864,6,0.155,0.000,1681,3292,2474,0,0,0,0,0,0
$STATE,7619,end apogee,CONTROL_FINISHED_OK
$STATE,7620,begin climb
$GC,7621,0.57,90.9,994.8,0.0,526,7723,0.65,2.42,93.35,1.815,4,0.072,0.030,1914,1869,2102,0,0,0,0,0,0
$GC,7761,0.57,90.9,984.1,12.2,531,7769,0.00,2.50,0.00,0.000,6,0.000,0.050,1914,3278,2098,0,0,0,0,0,0
$GC,8079,0.57,90.9,935.8,15.8,547,8083,0.00,2.22,0.00,0.000,4,0.000,0.032,1925,1866,2092,0,0,0,0,0,0
$GC,8118,0.57,90.9,929.9,14.0,549,8123,0.00,2.35,0.00,0.000,6,0.000,0.052,1925,3291,2090,0,0,0,0,0,0
$GC,8445,0.57,90.9,876.2,16.6,565,8446,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,3291,2089,0,0,0,0,0,0
$GC,8756,0.57,90.9,825.7,16.2,580,8760,0.00,2.22,0.00,0.000,4,0.000,0.033,1935,1865,2088,0,0,0,0,0,0
$GC,8782,0.57,90.9,821.1,14.8,581,8787,0.10,2.35,0.00,0.000,6,0.166,0.051,1906,3290,2087,0,0,0,0,0,0
$GC,9104,0.57,90.9,774.0,15.1,597,9107,0.00,1.08,0.00,0.000,4,0.000,0.061,1907,3947,2086,0,0,0,0,0,0
$GC,9186,0.57,90.9,760.2,16.7,600,9194,0.00,1.05,0.00,0.000,6,0.000,0.035,1910,3273,2086,0,0,0,0,0,0
$GC,9503,0.57,90.9,712.8,14.8,616,9504,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3273,2085,0,0,0,0,0,0
$GC,9812,0.57,90.9,668.2,14.1,631,9813,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3272,2085,0,0,0,0,0,0
$GC,10121,0.57,90.9,627.0,13.3,646,10125,0.00,1.10,0.00,0.000,4,0.000,0.061,1911,3947,2084,0,0,0,0,0,0
$GC,10204,0.57,90.9,614.9,14.4,649,10212,0.00,1.02,0.00,0.000,6,0.000,0.037,1915,3277,2084,0,0,0,0,0,0
$GC,10522,0.57,90.9,573.6,13.0,665,10523,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3277,2084,0,0,0,0,0,0
$GC,10830,0.57,90.9,532.9,13.1,680,10834,0.00,1.10,0.00,0.000,4,0.000,0.059,1915,3954,2083,0,0,0,0,0,0
$GC,10901,0.57,90.9,522.4,15.1,683,10906,0.00,1.05,0.00,0.000,6,0.000,0.036,1920,3277,2083,0,0,0,0,0,0
$GC,11229,0.57,90.9,480.4,13.0,699,11230,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3277,2083,0,0,0,0,0,0
$GC,11539,0.57,90.9,441.2,12.9,714,11542,0.00,1.10,0.00,0.000,4,0.000,0.059,1921,3955,2083,0,0,0,0,0,0
$GC,11578,0.57,90.9,435.7,14.8,715,11584,0.00,1.02,0.00,0.000,6,0.000,0.037,1926,3285,2082,0,0,0,0,0,0
$GC,11894,0.57,90.9,395.4,12.4,732,11895,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,3285,2082,0,0,0,0,0,0
$GC,12214,0.57,90.9,357.0,11.9,762,12217,0.00,1.08,0.00,0.000,4,0.000,0.060,1926,3954,2082,0,0,0,0,0,0
$GC,12250,0.57,90.9,352.4,13.0,765,12254,0.00,1.02,0.00,0.000,6,0.000,0.037,1931,3282,2082,0,0,0,0,0,0
$GC,12580,0.57,90.9,310.4,12.7,796,12581,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3282,2082,0,0,0,0,0,0
$GC,12899,0.57,90.9,268.9,13.1,826,12903,0.00,2.17,0.00,0.000,4,0.000,0.032,1942,1859,2082,0,0,0,0,0,0
$GC,12954,0.57,90.9,261.8,12.0,830,12962,0.10,2.33,0.00,0.000,6,0.166,0.050,1911,3285,2081,0,0,0,0,0,0
$GC,13282,0.57,90.9,219.7,12.4,861,13285,0.00,1.08,0.00,0.000,4,0.000,0.060,1911,3954,2081,0,0,0,0,0,0
$GC,13541,0.57,90.9,182.1,15.2,884,13545,0.00,1.02,0.00,0.000,6,0.000,0.036,1915,3278,2081,0,0,0,0,0,0
$GC,13871,0.57,90.9,141.7,11.6,915,13872,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3278,2081,0,0,0,0,0,0
$GC,14193,0.57,90.9,106.2,11.5,945,14199,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3277,2081,0,0,0,0,0,0
$GC,14536,0.57,90.9,67.3,11.5,1001,14542,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3277,2081,0,0,0,0,0,0
$GC,14889,0.58,111.3,36.1,6.4,1062,14904,0.00,2.17,6.68,0.838,4,0.000,0.031,1926,1870,2017,0,0,0,0,0,0
$GC,15108,0.58,116.7,19.1,8.1,1098,15118,0.00,2.30,1.90,0.206,6,0.000,0.050,1926,3284,1994,0,0,0,0,0,0
$GC,15169,0.58,116.7,13.1,9.9,1107,15177,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,3284,1994,0,0,0,0,0,0
$GC,15229,0.58,116.7,6.9,11.1,1116,15237,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,3284,1994,0,0,0,0,0,0
$STATE,15256,end climb,SURFACE_DEPTH_REACHED
$STATE,15256,begin surface coast
$FINISH,0.8,1.026369
$STATE,15282,end surface coast,CONTROL_FINISHED_OK
$STATE,15282,begin surface
$SM_CCo,15295,43.10,0.784,0,0,1572,220.03
$SM_GC,1.06,0.00,0.00,43.10,0.000,0.000,0.784,54,3401,1572,-5.20,0.57,220.03
$IRIDIUM_FIX,-4247.91,828.64,090114,000001
$TT8_MAMPS,0.026215
$HUMID,61.61
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.3,34.951
$10V_AH,9.9,25.887
$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,12.800,61.875,191.275,43.100,0.000,83.842,142.326,360.383,0.000,0.000,20.266,2769.683,9553.085,360.148,3218.832,222.771,0.000,1421.471,0.000,2490.567,0.000,1.011,0.000
$DEVICE_MAMPS,234.855,84.915,1863.540,784.125,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,779.960,1918.440,782.154,393.840,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354408
$DATA_FILE_SIZE,80617,1124
$CAP_FILE_SIZE,137693,0
$CFSIZE,259252224,241557504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090114,044128,-4258.716,830.783,68,0.9,68,-25.0