version: 66.07
glider: 543
mission: 9
dive: 260
start: 1 13 114 22 31 11
data:
$ID,543
$MISSION,9
$DIVE,260
$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,-13359.434
$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,52
$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
$GPS1,130114,222153,-4259.537,830.063,40,0.9,40,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-64.1
$GPS2,130114,223047,-4259.521,830.195,19,1.4,19,-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,221.6,926,-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,-41.62,0.000,2,0.000,0.000,51,3373,2521,0,0,0,0,0,0
$GC,60,-0.56,-81.3,3.2,-5.2,5,79,6.22,0.98,-7.62,0.000,4,0.238,0.089,1527,3954,2807,0,0,0,0,0,0
$GC,345,-0.56,-81.3,57.6,-17.2,52,352,0.00,0.88,0.00,0.000,6,0.000,0.036,1527,3383,2811,0,0,0,0,0,0
$GC,688,-0.56,-81.3,108.4,-12.9,107,692,0.00,0.93,0.00,0.000,4,0.000,0.060,1523,3954,2813,0,0,0,0,0,0
$GC,870,-0.56,-81.3,134.1,-14.3,123,873,0.00,0.88,0.00,0.000,6,0.000,0.035,1523,3381,2813,0,0,0,0,0,0
$GC,1200,-0.56,-81.3,178.6,-13.1,154,1203,0.00,0.93,0.00,0.000,4,0.000,0.059,1519,3952,2814,0,0,0,0,0,0
$GC,1268,-0.56,-81.3,188.1,-13.9,160,1271,0.00,0.88,0.00,0.000,6,0.000,0.035,1519,3374,2814,0,0,0,0,0,0
$GC,1598,-0.56,-81.3,232.3,-13.3,191,1601,0.00,0.93,0.00,0.000,4,0.000,0.059,1514,3949,2814,0,0,0,0,0,0
$GC,1658,-0.56,-81.3,241.0,-13.9,196,1668,0.00,0.88,0.00,0.000,6,0.000,0.034,1515,3379,2814,0,0,0,0,0,0
$GC,1984,-0.56,-81.3,284.9,-13.4,227,1988,0.00,0.93,0.00,0.000,4,0.000,0.059,1511,3955,2814,0,0,0,0,0,0
$GC,2056,-0.56,-81.3,295.7,-14.5,233,2064,0.00,0.88,0.00,0.000,6,0.000,0.034,1511,3379,2814,0,0,0,0,0,0
$GC,2382,-0.56,-81.3,338.9,-13.5,264,2385,0.00,0.93,0.00,0.000,4,0.000,0.060,1506,3955,2814,0,0,0,0,0,0
$GC,2531,-0.56,-81.3,360.6,-13.7,277,2536,0.08,0.88,0.00,0.000,6,0.168,0.036,1528,3380,2814,0,0,0,0,0,0
$GC,2871,-0.56,-81.3,403.3,-12.6,308,2875,0.00,0.95,0.00,0.000,4,0.000,0.061,1526,3955,2814,0,0,0,0,0,0
$GC,2933,-0.56,-81.3,411.6,-13.5,310,2940,0.00,0.88,0.00,0.000,6,0.000,0.036,1526,3379,2814,0,0,0,0,0,0
$GC,3248,-0.56,-81.3,453.6,-13.2,326,3252,0.00,0.93,0.00,0.000,4,0.000,0.060,1521,3953,2814,0,0,0,0,0,0
$GC,3326,-0.56,-81.3,464.7,-14.6,329,3330,0.00,0.90,0.00,0.000,6,0.000,0.036,1521,3367,2814,0,0,0,0,0,0
$GC,3647,-0.56,-81.3,506.3,-13.0,345,3651,0.00,0.93,0.00,0.000,4,0.000,0.060,1517,3943,2814,0,0,0,0,0,0
$GC,3738,-0.56,-81.3,518.6,-14.0,349,3742,0.00,0.85,0.00,0.000,6,0.000,0.037,1517,3385,2814,0,0,0,0,0,0
$GC,4070,-0.56,-81.3,563.0,-13.7,365,4073,0.00,0.90,0.00,0.000,4,0.000,0.061,1513,3944,2813,0,0,0,0,0,0
$GC,4238,-0.56,-81.3,589.1,-16.6,372,4242,0.00,0.85,0.00,0.000,6,0.000,0.037,1513,3387,2813,0,0,0,0,0,0
$GC,4559,-0.56,-81.3,636.0,-14.6,388,4563,0.00,0.90,0.00,0.000,4,0.000,0.061,1509,3946,2812,0,0,0,0,0,0
$GC,4671,-0.56,-81.3,653.2,-15.6,393,4676,0.00,0.85,0.00,0.000,6,0.000,0.037,1509,3385,2812,0,0,0,0,0,0
$GC,5004,-0.56,-81.3,702.3,-14.8,409,5008,0.00,0.90,0.00,0.000,4,0.000,0.062,1505,3946,2811,0,0,0,0,0,0
$GC,5075,-0.56,-81.3,713.4,-15.4,412,5081,0.12,0.88,0.00,0.000,6,0.182,0.037,1535,3380,2811,0,0,0,0,0,0
$GC,5403,-0.56,-81.3,751.1,-11.3,428,5407,0.00,0.95,0.00,0.000,4,0.000,0.063,1532,3950,2811,0,0,0,0,0,0
$GC,5486,-0.56,-81.3,761.6,-12.4,431,5494,0.00,0.90,0.00,0.000,6,0.000,0.037,1532,3370,2811,0,0,0,0,0,0
$GC,5804,-0.56,-81.3,797.3,-11.3,447,5805,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,3370,2810,0,0,0,0,0,0
$GC,6112,-0.56,-81.3,832.2,-11.0,462,6116,0.00,0.93,0.00,0.000,4,0.000,0.063,1527,3939,2809,0,0,0,0,0,0
$GC,6247,-0.56,-81.3,848.1,-12.1,468,6251,0.00,0.85,0.00,0.000,6,0.000,0.039,1527,3384,2809,0,0,0,0,0,0
$GC,6580,-0.56,-81.3,883.7,-10.3,484,6581,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3384,2808,0,0,0,0,0,0
$GC,6890,-0.56,-81.3,915.1,-10.0,499,6894,0.00,0.93,0.00,0.000,4,0.000,0.063,1524,3955,2808,0,0,0,0,0,0
$GC,6936,-0.56,-81.3,920.1,-11.4,501,6939,0.00,0.88,0.00,0.000,6,0.000,0.038,1524,3384,2808,0,0,0,0,0,0
$GC,7269,-0.56,-81.3,954.9,-10.3,517,7272,0.00,0.93,0.00,0.000,4,0.000,0.063,1520,3953,2808,0,0,0,0,0,0
$GC,7396,-0.56,-81.3,970.3,-12.5,522,7404,0.00,0.90,0.00,0.000,6,0.000,0.038,1519,3374,2808,0,0,0,0,0,0
$STATE,7587,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7588,begin apogee
$GC,7593,-0.09,0.0,991.8,11.3,532,7677,0.57,0.00,80.60,1.851,6,0.158,0.000,1684,3277,2473,0,0,0,0,0,0
$STATE,7677,end apogee,CONTROL_FINISHED_OK
$STATE,7677,begin climb
$GC,7679,0.56,81.3,994.0,0.0,536,7771,0.65,0.00,84.57,1.803,6,0.070,0.000,1904,3276,2143,0,0,0,0,0,0
$GC,8081,0.56,81.3,949.0,13.0,556,8083,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3276,2134,0,0,0,0,0,0
$GC,8389,0.56,81.3,908.0,13.3,571,8392,0.00,1.10,0.00,0.000,4,0.000,0.060,1904,3941,2130,0,0,0,0,0,0
$GC,8483,0.56,81.3,893.9,15.2,575,8488,0.00,1.05,0.00,0.000,6,0.000,0.035,1909,3278,2130,0,0,0,0,0,0
$GC,8811,0.56,81.3,848.3,14.0,591,8812,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3278,2128,0,0,0,0,0,0
$GC,9121,0.56,81.3,804.3,14.2,606,9125,0.00,1.10,0.00,0.000,4,0.000,0.058,1909,3952,2127,0,0,0,0,0,0
$GC,9221,0.56,81.3,787.9,16.5,610,9225,0.00,1.05,0.00,0.000,6,0.000,0.036,1914,3277,2127,0,0,0,0,0,0
$GC,9543,0.56,81.3,743.3,13.7,626,9544,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3277,2126,0,0,0,0,0,0
$GC,9853,0.56,81.3,701.2,13.6,641,9854,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3278,2125,0,0,0,0,0,0
$GC,10161,0.56,81.3,660.7,12.8,656,10163,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3277,2125,0,0,0,0,0,0
$GC,10470,0.56,81.3,622.5,12.2,671,10474,0.00,1.10,0.00,0.000,4,0.000,0.060,1914,3952,2125,0,0,0,0,0,0
$GC,10598,0.56,81.3,605.7,12.6,676,10606,0.00,1.02,0.00,0.000,6,0.000,0.035,1919,3285,2125,0,0,0,0,0,0
$GC,10915,0.56,81.3,568.7,11.8,692,10918,0.00,1.08,0.00,0.000,4,0.000,0.060,1919,3953,2124,0,0,0,0,0,0
$GC,11127,0.56,81.3,540.8,14.0,701,11131,0.00,1.02,0.00,0.000,6,0.000,0.035,1924,3282,2125,0,0,0,0,0,0
$GC,11449,0.56,81.3,502.0,12.0,717,11450,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,3282,2124,0,0,0,0,0,0
$GC,11758,0.56,81.3,464.4,12.1,732,11762,0.00,2.17,0.00,0.000,4,0.000,0.033,1935,1856,2124,0,0,0,0,0,0
$GC,11790,0.56,81.3,460.8,10.5,733,11798,0.12,2.30,0.00,0.000,6,0.185,0.050,1906,3286,2122,0,0,0,0,0,0
$GC,12106,0.56,81.3,424.9,11.3,749,12109,0.00,1.08,0.00,0.000,4,0.000,0.058,1906,3951,2121,0,0,0,0,0,0
$GC,12138,0.56,81.3,420.7,12.7,750,12143,0.00,1.05,0.00,0.000,6,0.000,0.035,1910,3272,2121,0,0,0,0,0,0
$GC,12464,0.56,81.3,383.2,11.6,772,12465,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3272,2121,0,0,0,0,0,0
$GC,12783,0.56,81.3,347.1,11.2,802,12784,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3272,2121,0,0,0,0,0,0
$GC,13102,0.56,81.3,312.2,10.4,832,13106,0.00,1.10,0.00,0.000,4,0.000,0.060,1909,3946,2120,0,0,0,0,0,0
$GC,13242,0.56,81.3,295.3,12.2,844,13251,0.00,1.00,0.00,0.000,6,0.000,0.035,1914,3289,2121,0,0,0,0,0,0
$GC,13566,0.56,81.3,259.8,10.3,875,13567,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3289,2121,0,0,0,0,0,0
$GC,13888,0.56,81.3,226.4,10.1,905,13894,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3289,2121,0,0,0,0,0,0
$GC,14214,0.56,81.3,194.1,9.0,936,14218,0.00,1.08,0.00,0.000,4,0.000,0.058,1915,3954,2121,0,0,0,0,0,0
$GC,14298,0.56,81.3,185.1,10.4,943,14306,0.00,1.05,0.00,0.000,6,0.000,0.034,1920,3271,2121,0,0,0,0,0,0
$GC,14623,0.56,81.3,151.1,11.1,974,14625,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3271,2121,0,0,0,0,0,0
$GC,14944,0.56,81.3,114.9,11.8,1004,14948,0.00,1.10,0.00,0.000,4,0.000,0.058,1920,3948,2121,0,0,0,0,0,0
$GC,14981,0.56,81.3,109.9,12.6,1007,14989,0.00,1.02,0.00,0.000,6,0.000,0.034,1925,3283,2120,0,0,0,0,0,0
$GC,15328,0.56,83.8,77.5,8.4,1060,15334,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,3283,2121,0,0,0,0,0,0
$GC,15679,0.58,116.7,52.9,4.9,1121,15700,0.00,1.10,13.50,0.957,4,0.000,0.060,1925,3956,1994,0,0,0,0,0,0
$GC,15964,0.58,116.7,18.8,14.0,1169,15974,0.00,1.02,0.00,0.000,6,0.000,0.034,1930,3280,1992,0,0,0,0,0,0
$GC,16025,0.58,116.7,10.7,12.5,1178,16034,0.00,1.08,0.00,0.000,4,0.000,0.056,1930,3952,1992,0,0,0,0,0,0
$STATE,16083,end climb,SURFACE_DEPTH_REACHED
$STATE,16083,begin surface coast
$FINISH,0.6,1.013026
$STATE,16109,end surface coast,CONTROL_FINISHED_OK
$STATE,16110,begin surface
$SM_CCo,16123,42.03,0.776,0,0,1573,220.03
$SM_GC,1.40,0.00,0.00,42.03,0.000,0.000,0.776,50,3373,1573,-5.22,-0.20,220.03
$IRIDIUM_FIX,-4242.04,830.68,130114,171732
$TT8_MAMPS,0.025466
$HUMID,62.12
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.3,38.217
$10V_AH,9.9,28.979
$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,12.875,54.475,178.675,42.025,0.000,27.987,39.710,325.728,0.000,0.000,21.865,2957.566,9928.844,353.027,3206.791,250.842,0.000,1478.023,0.000,2671.553,0.000,1.011,0.000
$DEVICE_MAMPS,237.915,88.740,1850.535,775.710,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,826.321,2011.046,788.532,345.839,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354468
$DATA_FILE_SIZE,83894,1191
$CAP_FILE_SIZE,144705,0
$CFSIZE,259252224,239476736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,140114,030204,-4259.948,830.052,51,1.3,51,-25.0