version: 66.07
glider: 543
mission: 9
dive: 250
start: 1 12 114 0 28 17
data:
$ID,543
$MISSION,9
$DIVE,250
$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,-13329.784
$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,47
$R_STBD_OVSHOOT,23
$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
$GPS1,120114,001834,-4300.404,830.361,38,1.2,38,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-65.3
$GPS2,120114,002753,-4300.285,830.375,19,0.9,19,-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,341.0,732,-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,-42.03,0.000,2,0.000,0.000,54,3371,2536,0,0,0,0,0,0
$GC,61,-0.56,-80.0,3.3,-5.4,5,81,6.38,2.22,-7.12,0.000,4,0.246,0.045,1535,1971,2803,0,0,0,0,0,0
$GC,261,-0.56,-80.0,34.0,-13.5,37,267,0.00,2.30,0.00,0.000,6,0.000,0.052,1526,3381,2807,0,0,0,0,0,0
$GC,405,-0.56,-80.0,61.7,-18.6,62,411,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3381,2808,0,0,0,0,0,0
$GC,752,-0.56,-80.0,113.3,-13.3,115,756,0.00,0.90,0.00,0.000,4,0.000,0.058,1521,3941,2808,0,0,0,0,0,0
$GC,990,-0.56,-80.0,145.9,-13.9,136,994,0.00,0.85,0.00,0.000,6,0.000,0.034,1521,3380,2809,0,0,0,0,0,0
$GC,1320,-0.56,-80.0,190.7,-13.5,167,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3380,2809,0,0,0,0,0,0
$GC,1643,-0.56,-80.0,236.3,-15.2,197,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3380,2810,0,0,0,0,0,0
$GC,1968,-0.56,-80.0,287.8,-15.2,228,1972,0.00,0.90,0.00,0.000,4,0.000,0.058,1517,3944,2810,0,0,0,0,0,0
$GC,2075,-0.56,-80.0,305.4,-16.1,237,2082,0.00,0.88,0.00,0.000,6,0.000,0.034,1517,3370,2810,0,0,0,0,0,0
$GC,2400,-0.56,-80.0,352.2,-13.7,268,2401,0.00,0.00,0.00,0.000,6,0.000,0.000,1517,3370,2810,0,0,0,0,0,0
$GC,2720,-0.56,-80.0,394.1,-12.5,298,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,1517,3370,2810,0,0,0,0,0,0
$GC,3040,-0.56,-80.0,436.4,-13.2,316,3043,0.00,0.93,0.00,0.000,4,0.000,0.059,1513,3950,2810,0,0,0,0,0,0
$GC,3094,-0.56,-80.0,444.4,-14.4,318,3099,0.00,0.88,0.00,0.000,6,0.000,0.035,1513,3379,2810,0,0,0,0,0,0
$GC,3416,-0.56,-80.0,488.7,-13.4,334,3420,0.00,0.90,0.00,0.000,4,0.000,0.060,1509,3938,2810,0,0,0,0,0,0
$GC,3478,-0.56,-80.0,497.8,-14.5,336,3486,0.08,0.85,0.00,0.000,6,0.164,0.036,1531,3383,2810,0,0,0,0,0,0
$GC,3794,-0.56,-80.0,535.3,-11.8,352,3795,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3383,2809,0,0,0,0,0,0
$GC,4103,-0.56,-80.0,572.3,-11.9,367,4104,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3383,2809,0,0,0,0,0,0
$GC,4412,-0.56,-80.0,607.5,-11.5,382,4416,0.00,0.93,0.00,0.000,4,0.000,0.061,1528,3955,2808,0,0,0,0,0,0
$GC,4450,-0.56,-80.0,612.4,-13.0,383,4458,0.00,0.90,0.00,0.000,6,0.000,0.037,1528,3373,2808,0,0,0,0,0,0
$GC,4768,-0.56,-80.0,647.9,-11.1,399,4769,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3371,2807,0,0,0,0,0,0
$GC,5075,-0.56,-80.0,683.8,-11.5,414,5079,0.00,0.93,0.00,0.000,4,0.000,0.062,1524,3943,2808,0,0,0,0,0,0
$GC,5147,-0.56,-80.0,693.0,-12.7,417,5151,0.00,0.88,0.00,0.000,6,0.000,0.037,1524,3380,2808,0,0,0,0,0,0
$GC,5474,-0.56,-80.0,731.0,-11.3,433,5476,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3380,2807,0,0,0,0,0,0
$GC,5784,-0.56,-80.0,766.0,-11.2,448,5787,0.00,0.93,0.00,0.000,4,0.000,0.061,1520,3953,2806,0,0,0,0,0,0
$GC,5852,-0.56,-80.0,774.0,-11.8,451,5856,0.00,0.88,0.00,0.000,6,0.000,0.038,1520,3379,2806,0,0,0,0,0,0
$GC,6185,-0.56,-80.0,812.5,-11.4,467,6186,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3379,2805,0,0,0,0,0,0
$GC,6495,-0.56,-80.0,847.4,-11.1,482,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3379,2804,0,0,0,0,0,0
$GC,6803,-0.56,-80.0,881.6,-10.8,497,6805,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3379,2804,0,0,0,0,0,0
$GC,7112,-0.56,-80.0,915.4,-11.2,512,7113,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3379,2803,0,0,0,0,0,0
$GC,7422,-0.56,-80.0,951.4,-12.1,527,7423,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3379,2803,0,0,0,0,0,0
$GC,7731,-0.56,-80.0,987.6,-11.6,542,7735,0.00,0.93,0.00,0.000,4,0.000,0.063,1516,3944,2802,0,0,0,0,0,0
$STATE,7752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7752,begin apogee
$GC,7758,-0.09,0.0,990.4,12.3,543,7840,0.57,0.00,79.55,1.859,6,0.156,0.000,1681,3286,2473,0,0,0,0,0,0
$STATE,7841,end apogee,CONTROL_FINISHED_OK
$STATE,7841,begin climb
$GC,7843,0.56,80.0,993.0,0.0,547,7934,0.62,2.40,83.20,1.805,4,0.076,0.031,1905,1878,2146,0,0,0,0,0,0
$GC,7950,0.56,80.0,986.4,10.2,552,7955,0.00,2.50,0.00,0.000,6,0.000,0.050,1906,3277,2144,0,0,0,0,0,0
$GC,8279,0.56,80.0,940.9,14.3,568,8283,0.00,1.12,0.00,0.000,4,0.000,0.060,1906,3948,2136,0,0,0,0,0,0
$GC,8325,0.56,80.0,933.4,16.6,570,8328,0.00,1.02,0.00,0.000,6,0.000,0.036,1910,3294,2136,0,0,0,0,0,0
$GC,8657,0.56,80.0,883.0,15.0,586,8658,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3293,2134,0,0,0,0,0,0
$GC,8968,0.56,80.0,838.8,14.0,601,8969,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3294,2132,0,0,0,0,0,0
$GC,9275,0.56,80.0,798.8,12.3,616,9279,0.00,2.20,0.00,0.000,4,0.000,0.034,1921,1868,2131,0,0,0,0,0,0
$GC,9302,0.56,80.0,795.5,10.6,617,9307,0.00,2.35,0.00,0.000,6,0.000,0.051,1922,3289,2129,0,0,0,0,0,0
$GC,9624,0.56,80.0,754.4,13.1,633,9628,0.00,1.08,0.00,0.000,4,0.000,0.060,1922,3948,2129,0,0,0,0,0,0
$GC,9706,0.56,80.0,742.0,15.1,636,9714,0.00,1.05,0.00,0.000,6,0.000,0.036,1927,3272,2129,0,0,0,0,0,0
$GC,10023,0.56,80.0,697.8,13.8,652,10027,0.00,1.10,0.00,0.000,4,0.000,0.059,1926,3946,2129,0,0,0,0,0,0
$GC,10117,0.56,80.0,683.4,15.7,656,10122,0.12,1.02,0.00,0.000,6,0.220,0.037,1904,3284,2127,0,0,0,0,0,0
$GC,10445,0.56,80.0,642.4,12.2,672,10446,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3284,2127,0,0,0,0,0,0
$GC,10754,0.56,80.0,605.1,11.8,687,10758,0.00,1.08,0.00,0.000,4,0.000,0.060,1904,3947,2127,0,0,0,0,0,0
$GC,10781,0.56,80.0,601.5,13.2,688,10785,0.00,1.02,0.00,0.000,6,0.000,0.036,1908,3285,2127,0,0,0,0,0,0
$GC,11110,0.56,80.0,563.4,11.7,704,11111,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3286,2127,0,0,0,0,0,0
$GC,11418,0.56,80.0,529.0,11.2,719,11419,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3286,2126,0,0,0,0,0,0
$GC,11727,0.56,80.0,493.7,11.3,734,11731,0.00,1.08,0.00,0.000,4,0.000,0.060,1908,3948,2126,0,0,0,0,0,0
$GC,11832,0.56,80.0,480.7,12.0,738,11840,0.00,1.02,0.00,0.000,6,0.000,0.037,1913,3286,2126,0,0,0,0,0,0
$GC,12148,0.56,80.0,445.8,11.0,754,12152,0.00,1.08,0.00,0.000,4,0.000,0.060,1913,3954,2126,0,0,0,0,0,0
$GC,12225,0.56,80.0,436.6,11.9,757,12230,0.00,1.05,0.00,0.000,6,0.000,0.035,1919,3274,2126,0,0,0,0,0,0
$GC,12548,0.56,80.0,401.4,10.7,773,12549,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3274,2126,0,0,0,0,0,0
$GC,12866,0.56,80.0,365.4,11.9,802,12870,0.00,2.15,0.00,0.000,4,0.000,0.031,1929,1860,2126,0,0,0,0,0,0
$GC,12888,0.56,80.0,362.8,10.9,803,12895,0.00,2.30,0.00,0.000,6,0.000,0.050,1930,3297,2125,0,0,0,0,0,0
$GC,13213,0.56,80.0,322.4,12.6,834,13216,0.00,1.05,0.00,0.000,4,0.000,0.058,1929,3948,2125,0,0,0,0,0,0
$GC,13386,0.56,80.0,298.5,13.2,849,13394,0.12,1.02,0.00,0.000,6,0.219,0.035,1907,3283,2124,0,0,0,0,0,0
$GC,13711,0.56,80.0,264.7,9.7,880,13715,0.00,2.12,0.00,0.000,4,0.000,0.031,1917,1869,2124,0,0,0,0,0,0
$GC,13731,0.56,80.0,263.2,9.1,881,13735,0.00,2.28,0.00,0.000,6,0.000,0.050,1917,3285,2124,0,0,0,0,0,0
$GC,14055,0.56,80.0,229.8,10.6,911,14059,0.00,1.08,0.00,0.000,4,0.000,0.058,1917,3953,2124,0,0,0,0,0,0
$GC,14249,0.56,80.0,207.1,11.8,928,14253,0.00,1.00,0.00,0.000,6,0.000,0.036,1922,3292,2124,0,0,0,0,0,0
$GC,14580,0.56,80.0,171.9,10.7,959,14584,0.00,2.17,0.00,0.000,4,0.000,0.031,1933,1858,2124,0,0,0,0,0,0
$GC,14642,0.56,80.0,165.9,9.4,964,14647,0.12,2.28,0.00,0.000,6,0.187,0.050,1904,3287,2124,0,0,0,0,0,0
$GC,14967,0.56,80.0,134.0,9.0,994,14968,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3287,2124,0,0,0,0,0,0
$GC,15286,0.56,84.8,106.7,8.1,1024,15290,0.00,1.05,0.00,0.000,4,0.000,0.057,1904,3948,2124,0,0,0,0,0,0
$GC,15466,0.57,91.6,90.4,7.9,1048,15474,0.00,1.00,2.75,0.648,6,0.000,0.035,1907,3281,2098,0,0,0,0,0,0
$GC,15818,0.58,106.6,59.8,7.0,1109,15833,0.00,1.08,6.50,0.899,4,0.000,0.057,1907,3947,2036,0,0,0,0,0,0
$GC,16042,0.58,106.6,38.4,11.5,1147,16048,0.00,1.00,0.00,0.000,6,0.000,0.034,1913,3286,2036,0,0,0,0,0,0
$GC,16190,0.58,106.6,21.5,11.9,1172,16199,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3286,2036,0,0,0,0,0,0
$GC,16347,0.58,109.7,6.2,8.3,1197,16356,0.00,2.17,0.00,0.000,4,0.000,0.031,1923,1860,2035,0,0,0,0,0,0
$STATE,16376,end climb,SURFACE_DEPTH_REACHED
$STATE,16376,begin surface coast
$FINISH,0.7,1.026234
$STATE,16407,end surface coast,CONTROL_FINISHED_OK
$STATE,16408,begin surface
$SM_CCo,16422,47.05,0.779,0,0,1574,220.03
$SM_GC,1.15,0.00,0.00,47.05,0.000,0.000,0.779,63,3383,1574,-5.16,0.03,220.03
$IRIDIUM_FIX,-4242.04,827.77,110114,151510
$TT8_MAMPS,0.026215
$HUMID,61.34
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,22.4,36.961
$10V_AH,9.9,27.786
$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,13.050,67.375,172.000,47.050,0.000,31.939,41.829,347.307,0.000,0.000,21.545,2966.184,10337.121,337.591,3155.616,229.045,0.000,1414.751,0.000,2585.997,0.000,1.009,0.000
$DEVICE_MAMPS,245.565,62.730,1858.950,778.770,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,837.270,2062.667,825.020,400.243,0.000,0.000,0.000,0.000,0.000,0.000
$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,86988,1206
$CAP_FILE_SIZE,142812,0
$CFSIZE,259252224,240271360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120114,050458,-4258.127,829.128,96,0.9,96,-25.0