version: 66.07
glider: 543
mission: 9
dive: 237
start: 1 9 114 13 56 6
data:
$ID,543
$MISSION,9
$DIVE,237
$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,-13286.854
$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,41
$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
$GPS1,090114,134723,-4300.338,829.410,41,1.0,41,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-70.2
$GPS2,090114,135542,-4300.271,829.402,15,1.2,16,-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,83.2,953,-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,-41.60,0.000,2,0.000,0.000,56,3411,2521,0,0,0,0,0,0
$GC,60,-0.57,-96.8,3.0,-3.5,5,87,6.18,0.85,-10.35,0.000,4,0.237,0.090,1524,3925,2872,0,0,0,0,0,0
$GC,352,-0.57,-96.8,57.4,-18.7,53,359,0.00,0.85,0.00,0.000,6,0.000,0.035,1524,3371,2875,0,0,0,0,0,0
$GC,701,-0.57,-96.8,116.4,-16.9,106,705,0.00,0.90,0.00,0.000,4,0.000,0.059,1520,3924,2876,0,0,0,0,0,0
$GC,963,-0.57,-96.8,160.9,-15.8,129,967,0.00,0.82,0.00,0.000,6,0.000,0.034,1520,3382,2877,0,0,0,0,0,0
$GC,1293,-0.57,-96.8,212.8,-15.8,160,1297,0.00,0.88,0.00,0.000,4,0.000,0.058,1516,3925,2878,0,0,0,0,0,0
$GC,1553,-0.57,-96.8,256.9,-16.3,183,1557,0.00,0.82,0.00,0.000,6,0.000,0.035,1516,3382,2878,0,0,0,0,0,0
$GC,1883,-0.57,-96.8,307.3,-15.1,214,1887,0.00,0.88,0.00,0.000,4,0.000,0.057,1512,3928,2878,0,0,0,0,0,0
$GC,2012,-0.57,-96.8,327.8,-15.9,225,2020,0.00,0.85,0.00,0.000,6,0.000,0.034,1512,3373,2878,0,0,0,0,0,0
$GC,2338,-0.57,-96.8,376.5,-15.0,256,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,1512,3373,2878,0,0,0,0,0,0
$GC,2663,-0.57,-96.8,425.8,-15.1,279,2667,0.00,0.90,0.00,0.000,4,0.000,0.060,1508,3929,2878,0,0,0,0,0,0
$GC,2756,-0.57,-96.8,441.5,-16.9,283,2761,0.00,0.85,0.00,0.000,6,0.000,0.035,1508,3379,2877,0,0,0,0,0,0
$GC,3086,-0.57,-96.8,490.7,-14.6,299,3087,0.00,0.00,0.00,0.000,6,0.000,0.000,1508,3378,2878,0,0,0,0,0,0
$GC,3393,-0.57,-96.8,536.4,-14.9,314,3397,0.00,0.88,0.00,0.000,4,0.000,0.060,1504,3922,2877,0,0,0,0,0,0
$GC,3465,-0.57,-96.8,548.2,-16.4,317,3470,0.12,0.85,0.00,0.000,6,0.181,0.036,1534,3373,2877,0,0,0,0,0,0
$GC,3793,-0.57,-96.8,590.5,-13.0,333,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3373,2877,0,0,0,0,0,0
$GC,4101,-0.57,-96.8,629.9,-12.8,348,4105,0.00,0.90,0.00,0.000,4,0.000,0.062,1531,3928,2876,0,0,0,0,0,0
$GC,4147,-0.57,-96.8,635.9,-13.3,350,4150,0.00,0.82,0.00,0.000,6,0.000,0.037,1531,3385,2876,0,0,0,0,0,0
$GC,4479,-0.57,-96.8,675.7,-11.4,366,4483,0.00,0.88,0.00,0.000,4,0.000,0.062,1527,3924,2876,0,0,0,0,0,0
$GC,4548,-0.57,-96.8,683.7,-11.4,369,4552,0.00,0.82,0.00,0.000,6,0.000,0.038,1527,3383,2875,0,0,0,0,0,0
$GC,4880,-0.57,-96.8,720.0,-10.4,385,4883,0.00,0.88,0.00,0.000,4,0.000,0.062,1523,3922,2875,0,0,0,0,0,0
$GC,4963,-0.57,-96.8,729.6,-12.0,388,4970,0.00,0.85,0.00,0.000,6,0.000,0.037,1523,3375,2874,0,0,0,0,0,0
$GC,5279,-0.57,-96.8,764.3,-11.3,404,5282,0.00,0.90,0.00,0.000,4,0.000,0.063,1519,3928,2874,0,0,0,0,0,0
$GC,5384,-0.57,-96.8,777.7,-12.5,408,5392,0.00,0.85,0.00,0.000,6,0.000,0.037,1519,3382,2873,0,0,0,0,0,0
$GC,5700,-0.57,-96.8,815.8,-12.2,424,5701,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3381,2873,0,0,0,0,0,0
$GC,6009,-0.57,-96.8,852.5,-11.7,439,6011,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3382,2873,0,0,0,0,0,0
$GC,6319,-0.57,-96.8,888.3,-11.6,454,6323,0.00,0.88,0.00,0.000,4,0.000,0.063,1515,3920,2872,0,0,0,0,0,0
$GC,6380,-0.57,-96.8,896.2,-13.0,456,6387,0.00,0.85,0.00,0.000,6,0.000,0.037,1516,3374,2872,0,0,0,0,0,0
$GC,6696,-0.57,-96.8,934.0,-11.8,472,6699,0.00,0.90,0.00,0.000,4,0.000,0.063,1511,3926,2872,0,0,0,0,0,0
$GC,6823,-0.57,-96.8,950.7,-13.3,477,6831,0.00,0.85,0.00,0.000,6,0.000,0.037,1511,3380,2871,0,0,0,0,0,0
$GC,7140,-0.57,-96.8,987.3,-11.3,493,7141,0.00,0.00,0.00,0.000,6,0.000,0.000,1511,3379,2871,0,0,0,0,0,0
$STATE,7180,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7180,begin apogee
$GC,7185,-0.09,0.0,991.8,11.0,495,7283,0.60,0.00,95.10,1.853,6,0.157,0.000,1684,3281,2473,0,0,0,0,0,0
$STATE,7284,end apogee,CONTROL_FINISHED_OK
$STATE,7284,begin climb
$GC,7285,0.57,96.8,993.6,0.0,500,7389,0.65,0.00,100.45,1.806,6,0.068,0.000,1903,3281,2078,0,0,0,0,0,0
$GC,7693,0.57,96.8,938.3,15.8,520,7697,0.00,2.28,0.00,0.000,4,0.000,0.032,1914,1856,2067,0,0,0,0,0,0
$GC,7719,0.57,96.8,933.9,14.1,521,7724,0.00,2.38,0.00,0.000,6,0.000,0.052,1914,3263,2066,0,0,0,0,0,0
$GC,8041,0.57,96.8,883.4,15.8,537,8044,0.00,1.12,0.00,0.000,4,0.000,0.060,1914,3942,2064,0,0,0,0,0,0
$GC,8131,0.57,96.8,868.2,17.7,541,8135,0.00,1.02,0.00,0.000,6,0.000,0.037,1919,3282,2063,0,0,0,0,0,0
$GC,8463,0.57,96.8,815.0,15.8,557,8465,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3282,2062,0,0,0,0,0,0
$GC,8774,0.57,96.8,766.9,15.4,572,8775,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3282,2062,0,0,0,0,0,0
$GC,9082,0.57,96.8,718.9,15.4,587,9084,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3282,2061,0,0,0,0,0,0
$GC,9391,0.57,96.8,671.2,15.2,602,9393,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3282,2061,0,0,0,0,0,0
$GC,9701,0.57,96.8,626.1,14.2,617,9702,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3282,2060,0,0,0,0,0,0
$GC,10011,0.57,96.8,582.2,14.0,632,10014,0.00,1.10,0.00,0.000,4,0.000,0.060,1919,3955,2060,0,0,0,0,0,0
$GC,10087,0.57,96.8,569.9,16.4,635,10092,0.00,1.05,0.00,0.000,6,0.000,0.037,1924,3282,2059,0,0,0,0,0,0
$GC,10412,0.57,96.8,524.4,14.4,651,10416,0.00,2.15,0.00,0.000,4,0.000,0.034,1935,1863,2059,0,0,0,0,0,0
$GC,10432,0.57,96.8,520.9,14.0,652,10438,0.08,2.33,0.00,0.000,6,0.164,0.051,1912,3288,2058,0,0,0,0,0,0
$GC,10760,0.57,96.8,475.5,14.2,668,10761,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3288,2057,0,0,0,0,0,0
$GC,11070,0.57,96.8,431.5,13.8,683,11074,0.00,1.08,0.00,0.000,4,0.000,0.059,1912,3954,2057,0,0,0,0,0,0
$GC,11216,0.57,96.8,409.3,15.6,689,11220,0.00,1.02,0.00,0.000,6,0.000,0.037,1916,3282,2057,0,0,0,0,0,0
$GC,11547,0.57,96.8,364.2,13.1,717,11551,0.00,2.17,0.00,0.000,4,0.000,0.033,1927,1855,2057,0,0,0,0,0,0
$GC,11586,0.57,96.8,358.9,12.7,720,11590,0.00,2.30,0.00,0.000,6,0.000,0.050,1927,3285,2056,0,0,0,0,0,0
$GC,11911,0.57,96.8,314.5,14.0,750,11915,0.00,2.15,0.00,0.000,4,0.000,0.032,1938,1855,2057,0,0,0,0,0,0
$GC,11931,0.57,96.8,311.5,12.8,751,11939,0.10,2.33,0.00,0.000,6,0.162,0.050,1908,3284,2056,0,0,0,0,0,0
$GC,12257,0.57,96.8,270.2,12.6,782,12261,0.00,1.08,0.00,0.000,4,0.000,0.060,1908,3948,2056,0,0,0,0,0,0
$GC,12374,0.57,96.8,253.7,12.9,792,12384,0.00,1.02,0.00,0.000,6,0.000,0.036,1912,3282,2056,0,0,0,0,0,0
$GC,12700,0.57,96.8,213.0,12.0,823,12704,0.00,1.08,0.00,0.000,4,0.000,0.060,1912,3944,2056,0,0,0,0,0,0
$GC,12749,0.57,96.8,206.6,12.6,827,12757,0.00,1.02,0.00,0.000,6,0.000,0.036,1917,3281,2056,0,0,0,0,0,0
$GC,13075,0.57,96.8,168.5,11.3,858,13078,0.00,1.08,0.00,0.000,4,0.000,0.059,1917,3945,2056,0,0,0,0,0,0
$GC,13147,0.57,96.8,159.0,13.8,864,13156,0.00,1.00,0.00,0.000,6,0.000,0.036,1922,3286,2056,0,0,0,0,0,0
$GC,13472,0.57,96.8,119.4,12.6,895,13476,0.00,2.15,0.00,0.000,4,0.000,0.031,1933,1855,2056,0,0,0,0,0,0
$GC,13523,0.57,96.8,113.6,11.2,899,13527,0.00,2.30,0.00,0.000,6,0.000,0.051,1933,3284,2056,0,0,0,0,0,0
$GC,13866,0.57,96.8,71.7,10.6,949,13872,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,3285,2056,0,0,0,0,0,0
$GC,14217,0.57,96.8,35.9,9.5,1010,14226,0.00,1.05,0.00,0.000,4,0.000,0.057,1933,3940,2056,0,0,0,0,0,0
$GC,14395,0.57,96.8,16.7,11.1,1039,14405,0.10,1.00,0.00,0.000,6,0.196,0.036,1910,3278,2056,0,0,0,0,0,0
$GC,14457,0.57,96.8,11.0,9.0,1048,14466,0.00,1.08,0.00,0.000,4,0.000,0.057,1911,3939,2056,0,0,0,0,0,0
$STATE,14540,end climb,SURFACE_DEPTH_REACHED
$STATE,14540,begin surface coast
$FINISH,0.7,1.025725
$STATE,14572,end surface coast,CONTROL_FINISHED_OK
$STATE,14573,begin surface
$SM_CCo,14586,49.70,0.793,0,0,1572,220.03
$SM_GC,1.43,0.00,0.00,49.70,0.000,0.000,0.793,54,3378,1572,-5.21,-0.08,220.03
$IRIDIUM_FIX,-4242.04,830.68,090114,090925
$TT8_MAMPS,0.025466
$HUMID,61.77
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.3,35.328
$10V_AH,9.9,26.235
$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,12.725,60.000,195.550,49.700,0.000,27.418,20.540,320.321,0.000,0.000,18.490,2644.360,9026.378,377.846,2866.088,220.339,0.000,1376.641,0.000,2376.115,0.000,1.010,0.000
$DEVICE_MAMPS,237.150,89.505,1852.830,793.305,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,740.198,1837.437,742.463,378.492,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354404
$DATA_FILE_SIZE,77206,1066
$CAP_FILE_SIZE,130561,0
$CFSIZE,259252224,241336320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090114,180104,-4258.936,831.273,26,0.7,26,-25.0