version: 66.07
glider: 543
mission: 9
dive: 235
start: 1 9 114 4 50 18
data:
$ID,543
$MISSION,9
$DIVE,235
$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,-13280.054
$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,46
$R_STBD_OVSHOOT,39
$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
$GPS1,090114,044128,-4258.716,830.783,68,0.9,68,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-66.0
$GPS2,090114,044954,-4258.728,830.785,16,1.1,17,-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,229.3,2585,-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,-42.10,0.000,2,0.000,0.000,54,3400,2538,0,0,0,0,0,0
$GC,61,-0.56,-76.0,3.4,-5.8,5,80,6.15,2.28,-6.90,0.000,4,0.234,0.044,1540,1964,2786,0,0,0,0,0,0
$GC,107,-0.56,-76.0,10.8,-16.4,11,116,0.00,2.33,0.00,0.000,6,0.000,0.050,1531,3364,2789,0,0,0,0,0,0
$GC,165,-0.56,-76.0,21.8,-20.6,20,174,0.00,0.95,0.00,0.000,4,0.000,0.057,1527,3948,2789,0,0,0,0,0,0
$GC,214,-0.56,-76.0,30.4,-19.6,27,220,0.00,0.88,0.00,0.000,6,0.000,0.034,1527,3375,2789,0,0,0,0,0,0
$GC,362,-0.56,-76.0,57.8,-17.9,52,368,0.00,0.93,0.00,0.000,4,0.000,0.059,1523,3949,2790,0,0,0,0,0,0
$GC,626,-0.56,-76.0,102.6,-15.3,97,629,0.00,0.85,0.00,0.000,6,0.000,0.034,1523,3383,2792,0,0,0,0,0,0
$GC,956,-0.56,-76.0,151.7,-14.6,128,957,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3383,2793,0,0,0,0,0,0
$GC,1275,-0.56,-76.0,194.8,-13.1,158,1279,0.00,0.93,0.00,0.000,4,0.000,0.058,1519,3954,2794,0,0,0,0,0,0
$GC,1370,-0.56,-76.0,208.8,-14.3,166,1378,0.00,0.88,0.00,0.000,6,0.000,0.034,1518,3380,2793,0,0,0,0,0,0
$GC,1698,-0.56,-76.0,253.6,-13.8,197,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3380,2794,0,0,0,0,0,0
$GC,2015,-0.56,-76.0,298.3,-13.7,227,2016,0.00,0.00,0.00,0.000,6,0.000,0.000,1518,3380,2794,0,0,0,0,0,0
$GC,2335,-0.56,-76.0,342.0,-13.4,257,2339,0.00,0.93,0.00,0.000,4,0.000,0.058,1515,3944,2793,0,0,0,0,0,0
$GC,2449,-0.56,-76.0,359.2,-14.5,267,2453,0.00,0.85,0.00,0.000,6,0.000,0.036,1515,3383,2793,0,0,0,0,0,0
$GC,2778,-0.56,-76.0,406.5,-14.0,296,2782,0.00,2.15,0.00,0.000,4,0.000,0.030,1515,1950,2793,0,0,0,0,0,0
$GC,2794,-0.56,-76.0,408.7,-13.9,297,2799,0.12,2.30,0.00,0.000,6,0.167,0.050,1535,3382,2793,0,0,0,0,0,0
$GC,3121,-0.56,-76.0,447.6,-11.5,313,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,1535,3382,2793,0,0,0,0,0,0
$GC,3430,-0.56,-76.0,483.2,-11.4,328,3433,0.00,0.90,0.00,0.000,4,0.000,0.059,1532,3950,2793,0,0,0,0,0,0
$GC,3479,-0.56,-76.0,489.5,-12.2,330,3484,0.00,0.88,0.00,0.000,6,0.000,0.035,1532,3377,2793,0,0,0,0,0,0
$GC,3808,-0.56,-76.0,527.9,-11.6,346,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,3376,2793,0,0,0,0,0,0
$GC,4116,-0.56,-76.0,565.2,-12.0,361,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,3376,2793,0,0,0,0,0,0
$GC,4425,-0.56,-76.0,603.1,-12.5,376,4429,0.00,0.93,0.00,0.000,4,0.000,0.061,1528,3954,2792,0,0,0,0,0,0
$GC,4538,-0.56,-76.0,618.6,-13.4,381,4542,0.00,0.88,0.00,0.000,6,0.000,0.037,1528,3376,2791,0,0,0,0,0,0
$GC,4871,-0.56,-76.0,661.8,-13.0,397,4874,0.00,0.93,0.00,0.000,4,0.000,0.060,1524,3953,2791,0,0,0,0,0,0
$GC,4919,-0.56,-76.0,669.1,-14.0,399,4924,0.00,0.90,0.00,0.000,6,0.000,0.036,1524,3366,2790,0,0,0,0,0,0
$GC,5248,-0.56,-76.0,712.0,-12.8,415,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3365,2790,0,0,0,0,0,0
$GC,5557,-0.56,-76.0,750.8,-12.6,430,5560,0.00,0.93,0.00,0.000,4,0.000,0.060,1520,3945,2789,0,0,0,0,0,0
$GC,5583,-0.56,-76.0,754.6,-14.1,431,5588,0.00,0.88,0.00,0.000,6,0.000,0.037,1520,3377,2789,0,0,0,0,0,0
$GC,5910,-0.56,-76.0,796.2,-12.8,447,5911,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3377,2789,0,0,0,0,0,0
$GC,6219,-0.56,-76.0,834.1,-11.9,462,6221,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3377,2789,0,0,0,0,0,0
$GC,6528,-0.56,-76.0,869.6,-11.1,477,6532,0.00,0.93,0.00,0.000,4,0.000,0.060,1515,3949,2787,0,0,0,0,0,0
$GC,6560,-0.56,-76.0,873.6,-12.5,478,6565,0.00,0.90,0.00,0.000,6,0.000,0.036,1515,3368,2788,0,0,0,0,0,0
$GC,6884,-0.56,-76.0,909.9,-11.1,494,6885,0.00,0.00,0.00,0.000,6,0.000,0.000,1515,3368,2787,0,0,0,0,0,0
$GC,7192,-0.56,-76.0,944.1,-10.8,509,7195,0.00,0.93,0.00,0.000,4,0.000,0.061,1511,3945,2787,0,0,0,0,0,0
$GC,7297,-0.56,-76.0,956.9,-12.2,513,7304,0.00,0.88,0.00,0.000,6,0.000,0.037,1511,3380,2787,0,0,0,0,0,0
$STATE,7611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7612,begin apogee
$GC,7616,-0.09,0.0,990.7,10.4,529,7695,0.60,0.00,75.35,1.867,6,0.161,0.000,1682,3283,2474,0,0,0,0,0,0
$STATE,7696,end apogee,CONTROL_FINISHED_OK
$STATE,7696,begin climb
$GC,7697,0.56,76.0,991.8,0.0,533,7784,0.62,2.47,78.30,1.808,4,0.073,0.031,1909,1869,2164,0,0,0,0,0,0
$GC,7817,0.56,76.0,981.5,12.2,538,7822,0.00,2.50,0.00,0.000,6,0.000,0.051,1909,3280,2160,0,0,0,0,0,0
$GC,8140,0.56,76.0,936.1,13.8,554,8143,0.00,1.12,0.00,0.000,4,0.000,0.059,1909,3954,2154,0,0,0,0,0,0
$GC,8230,0.56,76.0,922.5,16.2,558,8234,0.00,1.05,0.00,0.000,6,0.000,0.036,1914,3282,2153,0,0,0,0,0,0
$GC,8562,0.56,76.0,876.2,14.3,574,8566,0.00,1.10,0.00,0.000,4,0.000,0.060,1914,3952,2150,0,0,0,0,0,0
$GC,8617,0.56,76.0,867.5,15.5,576,8622,0.00,1.05,0.00,0.000,6,0.000,0.036,1919,3283,2150,0,0,0,0,0,0
$GC,8939,0.56,76.0,821.7,14.4,592,8940,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3282,2149,0,0,0,0,0,0
$GC,9248,0.56,76.0,779.9,13.2,607,9252,0.00,1.10,0.00,0.000,4,0.000,0.061,1918,3954,2148,0,0,0,0,0,0
$GC,9303,0.56,76.0,771.7,15.2,609,9308,0.00,1.05,0.00,0.000,6,0.000,0.036,1924,3282,2148,0,0,0,0,0,0
$GC,9625,0.56,76.0,730.1,13.0,625,9626,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,3282,2147,0,0,0,0,0,0
$GC,9934,0.56,76.0,691.7,12.4,640,9938,0.00,1.10,0.00,0.000,4,0.000,0.060,1924,3955,2147,0,0,0,0,0,0
$GC,9989,0.56,76.0,683.9,13.5,642,9993,0.00,1.05,0.00,0.000,6,0.000,0.035,1929,3281,2147,0,0,0,0,0,0
$GC,10311,0.56,76.0,641.9,13.2,658,10315,0.00,1.10,0.00,0.000,4,0.000,0.060,1929,3954,2146,0,0,0,0,0,0
$GC,10462,0.56,76.0,619.4,15.6,664,10470,0.08,1.02,0.00,0.000,6,0.203,0.036,1913,3284,2146,0,0,0,0,0,0
$GC,10779,0.56,76.0,579.6,12.4,680,10783,0.00,1.10,0.00,0.000,4,0.000,0.060,1913,3957,2146,0,0,0,0,0,0
$GC,10919,0.56,76.0,560.5,14.0,686,10923,0.00,1.02,0.00,0.000,6,0.000,0.037,1917,3288,2146,0,0,0,0,0,0
$GC,11246,0.56,76.0,521.1,12.2,702,11247,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3288,2145,0,0,0,0,0,0
$GC,11555,0.56,76.0,485.7,11.0,717,11556,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3288,2145,0,0,0,0,0,0
$GC,11865,0.56,76.0,454.3,9.7,732,11868,0.00,1.08,0.00,0.000,4,0.000,0.060,1917,3950,2145,0,0,0,0,0,0
$GC,12045,0.56,76.0,434.5,11.5,740,12048,0.00,1.00,0.00,0.000,6,0.000,0.037,1922,3293,2145,0,0,0,0,0,0
$GC,12377,0.56,76.0,401.8,10.0,756,12381,0.00,1.08,0.00,0.000,4,0.000,0.060,1921,3955,2145,0,0,0,0,0,0
$GC,12411,0.56,76.0,398.2,11.2,758,12415,0.00,1.02,0.00,0.000,6,0.000,0.036,1927,3284,2145,0,0,0,0,0,0
$GC,12744,0.56,76.0,363.8,10.2,789,12747,0.00,2.17,0.00,0.000,4,0.000,0.032,1938,1855,2144,0,0,0,0,0,0
$GC,12783,0.56,78.1,360.0,8.4,792,12788,0.15,2.30,0.00,0.000,6,0.187,0.050,1901,3290,2143,0,0,0,0,0,0
$GC,13108,0.56,78.1,328.1,10.4,822,13109,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,3290,2143,0,0,0,0,0,0
$GC,13427,0.56,78.1,292.5,11.4,852,13430,0.00,1.08,0.00,0.000,4,0.000,0.059,1901,3953,2143,0,0,0,0,0,0
$GC,13623,0.56,78.1,268.1,11.9,869,13631,0.00,1.05,0.00,0.000,6,0.000,0.036,1905,3273,2143,0,0,0,0,0,0
$GC,13948,0.56,78.1,231.1,11.2,900,13952,0.00,1.10,0.00,0.000,4,0.000,0.060,1905,3952,2143,0,0,0,0,0,0
$GC,14163,0.56,78.1,205.4,10.8,919,14166,0.00,1.00,0.00,0.000,6,0.000,0.036,1910,3292,2143,0,0,0,0,0,0
$GC,14493,0.56,78.1,173.0,9.5,950,14497,0.00,1.05,0.00,0.000,4,0.000,0.059,1910,3944,2143,0,0,0,0,0,0
$GC,14723,0.56,78.1,148.0,11.5,970,14731,0.00,1.02,0.00,0.000,6,0.000,0.034,1915,3277,2143,0,0,0,0,0,0
$GC,15051,0.56,78.1,115.4,10.2,1001,15054,0.00,1.10,0.00,0.000,4,0.000,0.059,1915,3955,2143,0,0,0,0,0,0
$GC,15216,0.56,78.1,96.8,10.8,1018,15223,0.00,1.00,0.00,0.000,6,0.000,0.036,1920,3293,2143,0,0,0,0,0,0
$GC,15568,0.56,79.7,66.5,8.5,1079,15575,0.00,1.05,0.00,0.000,4,0.000,0.059,1920,3950,2143,0,0,0,0,0,0
$GC,15593,0.56,81.2,64.3,8.5,1083,15602,0.00,1.00,0.00,0.000,6,0.000,0.036,1925,3288,2143,0,0,0,0,0,0
$GC,15949,0.58,110.1,40.8,5.4,1144,15970,0.00,1.08,12.73,0.916,4,0.000,0.056,1925,3951,2023,0,0,0,0,0,0
$GC,16240,0.58,110.1,8.9,12.7,1192,16249,0.00,1.02,0.00,0.000,6,0.000,0.035,1931,3277,2020,0,0,0,0,0,0
$STATE,16287,end climb,SURFACE_DEPTH_REACHED
$STATE,16287,begin surface coast
$FINISH,0.9,1.026232
$STATE,16313,end surface coast,CONTROL_FINISHED_OK
$STATE,16313,begin surface
$SM_CCo,16326,45.78,0.779,0,0,1574,220.03
$SM_GC,1.53,0.00,0.00,45.78,0.000,0.000,0.779,74,3385,1574,-5.14,0.14,220.03
$IRIDIUM_FIX,-4244.98,828.21,090114,000001
$TT8_MAMPS,0.025466
$HUMID,62.04
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.5,35.066
$10V_AH,9.9,26.010
$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,13.375,66.400,166.375,45.775,0.000,26.377,39.824,309.674,0.000,0.000,19.213,2988.884,10130.285,328.780,3196.108,233.551,0.000,1460.156,0.000,2681.724,0.000,1.010,0.000
$DEVICE_MAMPS,234.090,88.740,1866.600,778.770,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,835.513,2036.973,814.929,371.713,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354432
$DATA_FILE_SIZE,87000,1203
$CAP_FILE_SIZE,147780,0
$CFSIZE,259252224,241459200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090114,092423,-4259.548,830.190,37,1.0,37,-25.0