version: 66.07
glider: 543
mission: 9
dive: 243
start: 1 10 114 16 12 28
data:
$ID,543
$MISSION,9
$DIVE,243
$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,-13306.392
$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
$GPS1,100114,160307,-4259.985,829.492,27,1.3,27,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-63.1
$GPS2,100114,161204,-4259.970,829.595,45,1.0,45,-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,120.8,552,-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,-42.12,0.000,2,0.000,0.000,48,3371,2527,0,0,0,0,0,0
$GC,61,-0.56,-80.3,3.2,-5.3,5,81,6.10,2.22,-7.78,0.000,4,0.229,0.044,1538,1963,2804,0,0,0,0,0,0
$GC,308,-0.56,-80.3,36.9,-12.1,45,315,0.00,2.33,0.00,0.000,6,0.000,0.051,1529,3389,2809,0,0,0,0,0,0
$GC,455,-0.56,-80.3,61.2,-16.9,70,462,0.00,0.90,0.00,0.000,4,0.000,0.057,1524,3948,2809,0,0,0,0,0,0
$GC,544,-0.56,-80.3,75.1,-14.5,85,551,0.00,0.85,0.00,0.000,6,0.000,0.034,1525,3385,2809,0,0,0,0,0,0
$GC,887,-0.56,-80.3,124.1,-13.7,131,891,0.00,0.90,0.00,0.000,4,0.000,0.058,1520,3944,2810,0,0,0,0,0,0
$GC,1005,-0.56,-80.3,141.8,-14.4,141,1012,0.00,0.88,0.00,0.000,6,0.000,0.033,1520,3371,2810,0,0,0,0,0,0
$GC,1330,-0.56,-80.3,187.0,-13.8,172,1334,0.00,0.93,0.00,0.000,4,0.000,0.058,1516,3946,2811,0,0,0,0,0,0
$GC,1537,-0.56,-80.3,219.8,-16.1,190,1545,0.00,0.85,0.00,0.000,6,0.000,0.034,1516,3383,2811,0,0,0,0,0,0
$GC,1865,-0.56,-80.3,268.6,-14.7,221,1868,0.00,0.90,0.00,0.000,4,0.000,0.058,1512,3947,2812,0,0,0,0,0,0
$GC,1971,-0.56,-80.3,286.8,-16.5,230,1979,0.00,0.88,0.00,0.000,6,0.000,0.034,1511,3375,2812,0,0,0,0,0,0
$GC,2299,-0.56,-80.3,336.4,-15.2,261,2303,0.00,0.93,0.00,0.000,4,0.000,0.059,1508,3952,2811,0,0,0,0,0,0
$GC,2483,-0.56,-80.3,367.7,-15.6,277,2492,0.12,0.88,0.00,0.000,6,0.182,0.034,1538,3382,2812,0,0,0,0,0,0
$GC,2819,-0.56,-80.3,410.7,-12.6,305,2822,0.00,0.90,0.00,0.000,4,0.000,0.059,1535,3945,2811,0,0,0,0,0,0
$GC,2981,-0.56,-80.3,433.3,-13.2,312,2985,0.00,0.85,0.00,0.000,6,0.000,0.035,1534,3382,2812,0,0,0,0,0,0
$GC,3308,-0.56,-80.3,474.7,-12.5,328,3311,0.00,0.90,0.00,0.000,4,0.000,0.060,1530,3946,2811,0,0,0,0,0,0
$GC,3470,-0.56,-80.3,496.9,-13.2,335,3474,0.00,0.85,0.00,0.000,6,0.000,0.037,1530,3384,2811,0,0,0,0,0,0
$GC,3797,-0.56,-80.3,539.3,-12.7,351,3801,0.00,0.90,0.00,0.000,4,0.000,0.060,1526,3946,2810,0,0,0,0,0,0
$GC,3933,-0.56,-80.3,557.6,-13.2,357,3936,0.00,0.85,0.00,0.000,6,0.000,0.037,1526,3383,2810,0,0,0,0,0,0
$GC,4265,-0.56,-80.3,600.2,-12.8,373,4269,0.00,0.90,0.00,0.000,4,0.000,0.060,1522,3944,2809,0,0,0,0,0,0
$GC,4424,-0.56,-80.3,622.4,-14.8,380,4428,0.00,0.85,0.00,0.000,6,0.000,0.037,1522,3384,2809,0,0,0,0,0,0
$GC,4756,-0.56,-80.3,668.1,-13.8,396,4760,0.00,0.90,0.00,0.000,4,0.000,0.060,1518,3946,2808,0,0,0,0,0,0
$GC,4907,-0.56,-80.3,690.3,-14.6,402,4914,0.00,0.88,0.00,0.000,6,0.000,0.037,1518,3366,2808,0,0,0,0,0,0
$GC,5223,-0.56,-80.3,732.8,-13.3,418,5226,0.00,0.93,0.00,0.000,4,0.000,0.060,1514,3944,2808,0,0,0,0,0,0
$GC,5336,-0.56,-80.3,748.3,-13.5,423,5339,0.00,0.85,0.00,0.000,6,0.000,0.037,1514,3385,2808,0,0,0,0,0,0
$GC,5668,-0.56,-80.3,791.3,-12.5,439,5671,0.00,0.90,0.00,0.000,4,0.000,0.060,1510,3944,2807,0,0,0,0,0,0
$GC,5925,-0.56,-80.3,825.0,-13.3,450,5929,0.00,0.88,0.00,0.000,6,0.000,0.037,1510,3379,2806,0,0,0,0,0,0
$GC,6247,-0.56,-80.3,863.4,-11.9,466,6250,0.00,0.93,0.00,0.000,4,0.000,0.060,1506,3954,2806,0,0,0,0,0,0
$GC,6352,-0.56,-80.3,876.9,-12.6,470,6360,0.10,0.90,0.00,0.000,6,0.187,0.037,1534,3372,2806,0,0,0,0,0,0
$GC,6670,-0.56,-80.3,908.9,-10.1,486,6671,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3372,2805,0,0,0,0,0,0
$GC,6978,-0.56,-80.3,939.3,-9.9,501,6979,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3372,2805,0,0,0,0,0,0
$GC,7287,-0.56,-80.3,969.0,-9.4,516,7290,0.00,0.93,0.00,0.000,4,0.000,0.063,1531,3943,2804,0,0,0,0,0,0
$STATE,7492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7492,begin apogee
$GC,7497,-0.09,0.0,990.3,9.4,525,7580,0.50,0.00,79.40,1.853,6,0.151,0.000,1681,3282,2473,0,0,0,0,0,0
$STATE,7581,end apogee,CONTROL_FINISHED_OK
$STATE,7581,begin climb
$GC,7582,0.56,80.3,991.6,0.0,529,7673,0.62,2.42,82.75,1.806,4,0.074,0.031,1906,1873,2146,0,0,0,0,0,0
$GC,7695,0.56,80.3,983.3,11.1,534,7699,0.00,2.50,0.00,0.000,6,0.000,0.050,1906,3277,2144,0,0,0,0,0,0
$GC,8018,0.56,80.3,938.4,14.8,550,8022,0.00,1.12,0.00,0.000,4,0.000,0.060,1906,3946,2136,0,0,0,0,0,0
$GC,8141,0.56,80.3,918.3,16.6,555,8145,0.00,1.02,0.00,0.000,6,0.000,0.036,1911,3293,2136,0,0,0,0,0,0
$GC,8462,0.56,80.3,873.6,13.5,571,8466,0.00,2.22,0.00,0.000,4,0.000,0.034,1922,1861,2134,0,0,0,0,0,0
$GC,8556,0.56,80.3,861.9,12.1,575,8560,0.00,2.38,0.00,0.000,6,0.000,0.051,1922,3291,2131,0,0,0,0,0,0
$GC,8878,0.56,80.3,819.8,12.5,591,8882,0.00,2.22,0.00,0.000,4,0.000,0.034,1932,1861,2130,0,0,0,0,0,0
$GC,8909,0.56,80.3,816.0,10.8,592,8918,0.08,2.35,0.00,0.000,6,0.173,0.051,1910,3286,2130,0,0,0,0,0,0
$GC,9229,0.56,80.3,781.4,11.0,608,9230,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3286,2129,0,0,0,0,0,0
$GC,9535,0.56,80.3,747.1,11.8,623,9536,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3286,2128,0,0,0,0,0,0
$GC,9844,0.56,80.3,710.8,11.9,638,9846,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3286,2128,0,0,0,0,0,0
$GC,10154,0.56,80.3,671.6,13.0,653,10158,0.00,2.17,0.00,0.000,4,0.000,0.033,1919,1855,2128,0,0,0,0,0,0
$GC,10203,0.56,80.3,665.6,11.2,655,10208,0.00,2.35,0.00,0.000,6,0.000,0.050,1920,3291,2126,0,0,0,0,0,0
$GC,10525,0.56,80.3,625.0,12.6,671,10529,0.00,2.17,0.00,0.000,4,0.000,0.033,1930,1865,2126,0,0,0,0,0,0
$GC,10610,0.56,80.3,615.8,10.2,675,10614,0.00,2.30,0.00,0.000,6,0.000,0.051,1931,3288,2126,0,0,0,0,0,0
$GC,10936,0.56,80.3,577.5,11.7,691,10937,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,3288,2126,0,0,0,0,0,0
$GC,11247,0.56,80.3,542.5,10.9,706,11251,0.00,1.08,0.00,0.000,4,0.000,0.059,1930,3954,2126,0,0,0,0,0,0
$GC,11292,0.56,80.3,536.7,12.7,708,11297,0.10,1.02,0.00,0.000,6,0.193,0.037,1908,3277,2125,0,0,0,0,0,0
$GC,11625,0.56,80.3,501.0,10.7,724,11629,0.00,2.17,0.00,0.000,4,0.000,0.033,1918,1860,2125,0,0,0,0,0,0
$GC,11668,0.56,80.3,496.7,9.1,726,11672,0.00,2.33,0.00,0.000,6,0.000,0.050,1917,3286,2124,0,0,0,0,0,0
$GC,11995,0.56,80.3,460.7,11.3,742,11999,0.00,2.17,0.00,0.000,4,0.000,0.032,1929,1866,2125,0,0,0,0,0,0
$GC,12046,0.56,80.3,455.5,10.5,744,12050,0.00,2.30,0.00,0.000,6,0.000,0.050,1929,3292,2124,0,0,0,0,0,0
$GC,12367,0.56,80.3,416.5,12.4,760,12370,0.00,1.05,0.00,0.000,4,0.000,0.059,1929,3948,2124,0,0,0,0,0,0
$GC,12559,0.56,80.3,390.1,13.7,771,12563,0.10,1.00,0.00,0.000,6,0.195,0.036,1907,3287,2124,0,0,0,0,0,0
$GC,12888,0.56,80.3,353.2,10.9,802,12890,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3287,2124,0,0,0,0,0,0
$GC,13208,0.56,80.3,318.4,10.6,832,13210,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3286,2124,0,0,0,0,0,0
$GC,13527,0.56,80.3,286.4,9.7,862,13531,0.00,2.17,0.00,0.000,4,0.000,0.032,1917,1861,2124,0,0,0,0,0,0
$GC,13571,0.56,80.3,282.3,9.1,865,13578,0.00,2.28,0.00,0.000,6,0.000,0.050,1917,3286,2124,0,0,0,0,0,0
$GC,13896,0.56,80.3,249.4,9.7,896,13900,0.00,2.17,0.00,0.000,4,0.000,0.031,1928,1855,2124,0,0,0,0,0,0
$GC,13939,0.56,80.3,245.0,9.5,899,13947,0.00,2.33,0.00,0.000,6,0.000,0.050,1928,3284,2124,0,0,0,0,0,0
$GC,14265,0.56,80.3,211.8,10.0,930,14268,0.00,1.08,0.00,0.000,4,0.000,0.058,1928,3951,2124,0,0,0,0,0,0
$GC,14359,0.56,80.3,199.9,13.0,938,14367,0.10,1.00,0.00,0.000,6,0.200,0.035,1906,3287,2124,0,0,0,0,0,0
$GC,14687,0.56,80.3,166.6,10.2,969,14688,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3287,2124,0,0,0,0,0,0
$GC,15004,0.56,80.3,135.2,9.4,999,15008,0.00,2.15,0.00,0.000,4,0.000,0.031,1915,1868,2124,0,0,0,0,0,0
$GC,15093,0.56,81.1,126.8,8.6,1006,15100,0.00,2.30,0.00,0.000,6,0.000,0.050,1916,3284,2124,0,0,0,0,0,0
$GC,15424,0.56,81.1,92.1,10.3,1043,15430,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3284,2124,0,0,0,0,0,0
$GC,15774,0.57,91.5,62.4,7.5,1104,15783,0.00,1.08,2.65,0.584,4,0.000,0.054,1915,3956,2098,0,0,0,0,0,0
$GC,16044,0.57,101.4,42.5,7.6,1150,16051,0.00,1.00,4.22,0.726,6,0.000,0.035,1921,3291,2057,0,0,0,0,0,0
$GC,16409,0.57,101.4,10.8,10.9,1211,16418,0.00,1.05,0.00,0.000,4,0.000,0.057,1921,3951,2057,0,0,0,0,0,0
$STATE,16486,end climb,SURFACE_DEPTH_REACHED
$STATE,16486,begin surface coast
$FINISH,1.7,1.026176
$STATE,16500,end surface coast,CONTROL_FINISHED_OK
$STATE,16500,begin surface
$SM_CCo,16514,49.35,0.777,0,0,1573,220.03
$SM_GC,1.34,0.00,0.00,49.35,0.000,0.000,0.777,53,3379,1573,-5.21,-0.03,220.03
$IRIDIUM_FIX,-4242.04,830.68,100114,111122
$TT8_MAMPS,0.026215
$HUMID,62.24
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.4,36.086
$10V_AH,9.9,26.944
$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,13.575,87.375,169.025,49.350,0.000,25.046,20.900,326.783,0.000,0.000,47.812,3079.373,9950.963,346.419,3466.033,255.640,0.000,1560.737,0.000,2918.196,0.000,1.010,0.000
$DEVICE_MAMPS,228.735,63.495,1852.830,777.240,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,850.365,2097.794,861.413,434.727,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354380
$DATA_FILE_SIZE,87054,1225
$CAP_FILE_SIZE,155678,0
$CFSIZE,259252224,240824320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100114,204934,-4259.576,832.019,27,0.9,27,-25.1