version: 66.07
glider: 543
mission: 9
dive: 252
start: 1 12 114 9 58 37
data:
$ID,543
$MISSION,9
$DIVE,252
$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,-13337.073
$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,45
$R_STBD_OVSHOOT,38
$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
$GPS1,120114,094904,-4259.127,829.786,28,1.6,28,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-60.7
$GPS2,120114,095813,-4259.063,829.844,17,1.1,18,-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,198.1,1747,-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,14,-0.54,-51.0,0.0,0.0,0,58,0.00,0.00,-41.58,0.000,2,0.000,0.000,52,3397,2527,0,0,0,0,0,0
$GC,60,-0.57,-89.3,3.0,-4.3,5,79,6.07,0.93,-9.27,0.000,4,0.228,0.091,1531,3941,2840,0,0,0,0,0,0
$GC,238,-0.57,-89.3,36.5,-19.3,33,245,0.00,0.85,0.00,0.000,6,0.000,0.034,1531,3386,2844,0,0,0,0,0,0
$GC,384,-0.57,-89.3,60.9,-15.2,58,390,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3385,2845,0,0,0,0,0,0
$GC,736,-0.57,-89.3,107.1,-12.7,115,737,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3385,2847,0,0,0,0,0,0
$GC,1058,-0.57,-89.3,149.4,-13.4,145,1061,0.00,0.90,0.00,0.000,4,0.000,0.060,1528,3934,2847,0,0,0,0,0,0
$GC,1092,-0.57,-89.3,154.5,-13.7,148,1096,0.00,0.85,0.00,0.000,6,0.000,0.034,1528,3375,2847,0,0,0,0,0,0
$GC,1422,-0.57,-89.3,200.3,-13.9,179,1423,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3375,2848,0,0,0,0,0,0
$GC,1745,-0.57,-89.3,245.8,-14.0,209,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3374,2849,0,0,0,0,0,0
$GC,2070,-0.57,-89.3,292.4,-14.6,240,2074,0.00,0.90,0.00,0.000,4,0.000,0.060,1523,3929,2849,0,0,0,0,0,0
$GC,2143,-0.57,-89.3,303.9,-15.6,246,2150,0.00,0.85,0.00,0.000,6,0.000,0.034,1524,3378,2849,0,0,0,0,0,0
$GC,2470,-0.57,-89.3,350.0,-14.4,277,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3378,2849,0,0,0,0,0,0
$GC,2787,-0.57,-89.3,396.5,-14.3,307,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3378,2849,0,0,0,0,0,0
$GC,3106,-0.57,-89.3,444.1,-14.8,324,3110,0.00,0.88,0.00,0.000,4,0.000,0.060,1520,3922,2849,0,0,0,0,0,0
$GC,3178,-0.57,-89.3,455.5,-15.2,327,3183,0.00,0.85,0.00,0.000,6,0.000,0.036,1520,3371,2849,0,0,0,0,0,0
$GC,3506,-0.57,-89.3,502.0,-13.9,343,3509,0.00,0.90,0.00,0.000,4,0.000,0.060,1515,3926,2848,0,0,0,0,0,0
$GC,3596,-0.57,-89.3,515.6,-15.0,347,3600,0.00,0.82,0.00,0.000,6,0.000,0.037,1515,3385,2848,0,0,0,0,0,0
$GC,3929,-0.57,-89.3,560.7,-13.3,363,3932,0.00,0.88,0.00,0.000,4,0.000,0.060,1511,3927,2847,0,0,0,0,0,0
$GC,3974,-0.57,-89.3,566.9,-14.1,365,3977,0.00,0.82,0.00,0.000,6,0.000,0.037,1511,3385,2847,0,0,0,0,0,0
$GC,4306,-0.57,-89.3,610.3,-12.9,381,4307,0.00,0.00,0.00,0.000,6,0.000,0.000,1511,3385,2847,0,0,0,0,0,0
$GC,4616,-0.57,-89.3,650.5,-12.9,396,4619,0.00,0.88,0.00,0.000,4,0.000,0.060,1507,3927,2846,0,0,0,0,0,0
$GC,4670,-0.57,-89.3,658.5,-14.4,398,4675,0.00,0.85,0.00,0.000,6,0.000,0.037,1507,3378,2846,0,0,0,0,0,0
$GC,4992,-0.57,-89.3,699.8,-13.0,414,4994,0.10,0.00,0.00,0.000,6,0.191,0.000,1531,3378,2845,0,0,0,0,0,0
$GC,5301,-0.57,-89.3,733.7,-10.9,429,5302,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3378,2845,0,0,0,0,0,0
$GC,5610,-0.57,-89.3,766.4,-10.8,444,5611,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3378,2844,0,0,0,0,0,0
$GC,5922,-0.57,-89.3,799.1,-10.5,459,5925,0.00,0.90,0.00,0.000,4,0.000,0.063,1528,3925,2843,0,0,0,0,0,0
$GC,5967,-0.57,-89.3,804.4,-10.9,461,5970,0.00,0.85,0.00,0.000,6,0.000,0.039,1528,3377,2843,0,0,0,0,0,0
$GC,6299,-0.57,-89.3,841.9,-11.0,477,6300,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3377,2843,0,0,0,0,0,0
$GC,6610,-0.57,-89.3,874.8,-10.6,492,6614,0.00,0.90,0.00,0.000,4,0.000,0.063,1525,3926,2843,0,0,0,0,0,0
$GC,6655,-0.57,-89.3,880.0,-10.9,494,6659,0.00,0.85,0.00,0.000,6,0.000,0.038,1524,3375,2842,0,0,0,0,0,0
$GC,6988,-0.57,-89.3,916.7,-11.1,510,6991,0.00,0.90,0.00,0.000,4,0.000,0.063,1520,3923,2842,0,0,0,0,0,0
$GC,7033,-0.57,-89.3,922.4,-12.6,512,7037,0.00,0.85,0.00,0.000,6,0.000,0.039,1520,3371,2842,0,0,0,0,0,0
$GC,7365,-0.57,-89.3,962.7,-12.6,528,7369,0.00,0.90,0.00,0.000,4,0.000,0.063,1516,3923,2841,0,0,0,0,0,0
$GC,7448,-0.57,-89.3,973.8,-14.0,531,7456,0.00,0.85,0.00,0.000,6,0.000,0.037,1516,3380,2841,0,0,0,0,0,0
$STATE,7599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7600,begin apogee
$GC,7604,-0.09,0.0,992.4,12.5,539,7701,0.57,0.00,88.25,1.857,6,0.152,0.000,1683,3285,2473,0,0,0,0,0,0
$STATE,7701,end apogee,CONTROL_FINISHED_OK
$STATE,7702,begin climb
$GC,7703,0.57,89.3,995.7,0.0,544,7801,0.65,0.00,93.10,1.806,6,0.071,0.000,1901,3285,2108,0,0,0,0,0,0
$GC,8112,0.57,89.3,947.7,14.2,564,8115,0.00,1.08,0.00,0.000,4,0.000,0.060,1900,3922,2099,0,0,0,0,0,0
$GC,8179,0.57,89.3,936.5,15.9,567,8183,0.00,1.02,0.00,0.000,6,0.000,0.037,1905,3278,2098,0,0,0,0,0,0
$GC,8512,0.57,89.3,885.5,15.1,583,8516,0.00,1.08,0.00,0.000,4,0.000,0.060,1905,3922,2095,0,0,0,0,0,0
$GC,8544,0.57,89.3,880.1,16.7,584,8549,0.00,1.02,0.00,0.000,6,0.000,0.036,1910,3279,2095,0,0,0,0,0,0
$GC,8866,0.57,89.3,831.6,15.4,600,8867,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3279,2094,0,0,0,0,0,0
$GC,9176,0.57,89.3,785.8,15.0,615,9177,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3279,2093,0,0,0,0,0,0
$GC,9486,0.57,89.3,741.3,13.7,630,9488,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3279,2092,0,0,0,0,0,0
$GC,9794,0.57,89.3,701.5,12.7,645,9798,0.00,1.08,0.00,0.000,4,0.000,0.060,1910,3929,2091,0,0,0,0,0,0
$GC,9866,0.57,89.3,691.3,14.2,648,9870,0.00,1.00,0.00,0.000,6,0.000,0.037,1915,3285,2091,0,0,0,0,0,0
$GC,10193,0.57,89.3,650.0,12.4,664,10197,0.00,2.17,0.00,0.000,4,0.000,0.034,1926,1868,2091,0,0,0,0,0,0
$GC,10219,0.57,89.3,646.8,11.5,665,10224,0.00,2.30,0.00,0.000,6,0.000,0.051,1926,3275,2089,0,0,0,0,0,0
$GC,10541,0.57,89.3,606.2,12.5,681,10543,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,3275,2089,0,0,0,0,0,0
$GC,10850,0.57,89.3,567.6,12.5,696,10851,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,3275,2089,0,0,0,0,0,0
$GC,11161,0.57,89.3,528.3,12.7,711,11165,0.00,1.10,0.00,0.000,4,0.000,0.060,1927,3953,2089,0,0,0,0,0,0
$GC,11255,0.57,89.3,514.7,14.6,715,11260,0.08,1.02,0.00,0.000,6,0.203,0.035,1911,3277,2089,0,0,0,0,0,0
$GC,11582,0.57,89.3,474.6,12.7,731,11586,0.00,1.10,0.00,0.000,4,0.000,0.059,1910,3954,2088,0,0,0,0,0,0
$GC,11637,0.57,89.3,466.6,15.3,733,11641,0.00,1.02,0.00,0.000,6,0.000,0.037,1914,3282,2088,0,0,0,0,0,0
$GC,11959,0.57,89.3,425.4,12.7,749,11963,0.00,2.15,0.00,0.000,4,0.000,0.032,1926,1861,2088,0,0,0,0,0,0
$GC,11985,0.57,89.3,421.9,10.4,750,11990,0.00,2.33,0.00,0.000,6,0.000,0.050,1926,3288,2087,0,0,0,0,0,0
$GC,12307,0.57,89.3,380.4,12.7,772,12311,0.00,1.08,0.00,0.000,4,0.000,0.059,1926,3951,2087,0,0,0,0,0,0
$GC,12390,0.57,89.3,368.2,14.3,779,12398,0.00,1.05,0.00,0.000,6,0.000,0.035,1931,3273,2087,0,0,0,0,0,0
$GC,12716,0.57,89.3,323.7,14.3,810,12717,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,3273,2087,0,0,0,0,0,0
$GC,13036,0.57,89.3,280.5,13.3,840,13037,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,3273,2088,0,0,0,0,0,0
$GC,13355,0.57,89.3,239.8,12.3,870,13356,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,3273,2087,0,0,0,0,0,0
$GC,13673,0.57,89.3,199.9,12.5,900,13677,0.00,1.10,0.00,0.000,4,0.000,0.059,1931,3951,2087,0,0,0,0,0,0
$GC,13752,0.57,89.3,189.3,13.3,907,13756,0.10,1.02,0.00,0.000,6,0.197,0.035,1908,3274,2087,0,0,0,0,0,0
$GC,14083,0.57,89.3,154.3,10.2,938,14084,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3274,2087,0,0,0,0,0,0
$GC,14402,0.57,89.3,119.9,10.7,968,14406,0.00,1.10,0.00,0.000,4,0.000,0.058,1908,3952,2087,0,0,0,0,0,0
$GC,14436,0.57,89.3,115.6,13.2,971,14440,0.00,1.00,0.00,0.000,6,0.000,0.035,1911,3291,2087,0,0,0,0,0,0
$GC,14779,0.57,89.3,74.2,12.7,1019,14785,0.00,2.17,0.00,0.000,4,0.000,0.031,1923,1852,2087,0,0,0,0,0,0
$GC,14914,0.57,89.3,58.7,10.1,1042,14921,0.00,2.30,0.00,0.000,6,0.000,0.050,1923,3293,2086,0,0,0,0,0,0
$GC,15273,0.57,95.3,26.8,8.0,1103,15280,0.00,1.05,0.00,0.000,4,0.000,0.058,1923,3951,2086,0,0,0,0,0,0
$STATE,15529,end climb,SURFACE_DEPTH_REACHED
$STATE,15529,begin surface coast
$FINISH,0.8,1.011937
$STATE,15561,end surface coast,CONTROL_FINISHED_OK
$STATE,15561,begin surface
$SM_CCo,15575,52.72,0.780,0,0,1576,220.03
$SM_GC,1.73,0.00,0.00,52.72,0.000,0.000,0.780,55,3360,1576,-5.20,-0.57,220.03
$IRIDIUM_FIX,-4242.04,830.68,120114,050551
$TT8_MAMPS,0.026215
$HUMID,61.73
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.3,37.223
$10V_AH,9.9,28.024
$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,12.775,51.525,181.350,52.725,0.000,27.286,19.546,358.942,0.000,0.000,21.358,2829.120,9794.225,348.360,2960.321,241.268,0.000,1338.251,0.000,2430.485,0.000,1.011,0.000
$DEVICE_MAMPS,227.970,91.035,1856.655,780.300,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,799.046,1983.056,801.709,408.500,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354456
$DATA_FILE_SIZE,80494,1150
$CAP_FILE_SIZE,133294,0
$CFSIZE,259252224,240128000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120114,142022,-4300.159,830.511,41,0.9,41,-25.0