version: 66.07
glider: 543
mission: 9
dive: 261
start: 1 14 114 3 10 55
data:
$ID,543
$MISSION,9
$DIVE,261
$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,-13362.373
$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
$GPS1,140114,030204,-4259.948,830.052,51,1.3,51,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-66.2
$GPS2,140114,031031,-4259.860,830.131,18,0.9,19,-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,239.3,314,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.54,-51.0,0.0,0.0,0,67,0.00,0.00,-48.15,0.000,6,0.000,0.000,49,3373,2684,0,0,0,0,0,0
$GC,70,-0.56,-81.3,3.7,-5.2,6,88,6.25,0.93,-3.12,0.000,4,0.238,0.077,1530,3952,2809,0,0,0,0,0,0
$GC,280,-0.56,-81.3,43.1,-16.6,40,287,0.00,0.88,0.00,0.000,6,0.000,0.036,1530,3381,2812,0,0,0,0,0,0
$GC,628,-0.56,-81.3,90.0,-12.8,101,634,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3381,2813,0,0,0,0,0,0
$GC,960,-0.56,-81.3,130.8,-12.7,139,964,0.00,2.15,0.00,0.000,4,0.000,0.030,1529,1964,2814,0,0,0,0,0,0
$GC,980,-0.56,-81.3,133.4,-12.0,140,990,0.00,2.33,0.00,0.000,6,0.000,0.050,1520,3387,2814,0,0,0,0,0,0
$GC,1306,-0.56,-81.3,174.7,-12.8,171,1309,0.00,0.90,0.00,0.000,4,0.000,0.057,1515,3949,2814,0,0,0,0,0,0
$GC,1385,-0.56,-81.3,186.2,-14.8,178,1389,0.00,0.85,0.00,0.000,6,0.000,0.034,1515,3383,2815,0,0,0,0,0,0
$GC,1718,-0.56,-81.3,230.4,-13.4,209,1721,0.00,0.90,0.00,0.000,4,0.000,0.058,1511,3949,2814,0,0,0,0,0,0
$GC,1835,-0.56,-81.3,248.3,-14.9,219,1842,0.00,0.88,0.00,0.000,6,0.000,0.034,1511,3370,2815,0,0,0,0,0,0
$GC,2160,-0.56,-81.3,294.7,-14.6,250,2164,0.00,0.93,0.00,0.000,4,0.000,0.058,1506,3952,2815,0,0,0,0,0,0
$GC,2398,-0.56,-81.3,330.8,-14.5,271,2402,0.00,0.85,0.00,0.000,6,0.000,0.034,1507,3382,2815,0,0,0,0,0,0
$GC,2728,-0.56,-81.3,377.1,-14.4,302,2732,0.12,0.93,0.00,0.000,4,0.184,0.060,1534,3947,2815,0,0,0,0,0,0
$GC,2855,-0.56,-81.3,392.9,-11.8,313,2859,0.00,0.85,0.00,0.000,6,0.000,0.036,1534,3384,2814,0,0,0,0,0,0
$GC,3188,-0.56,-81.3,430.7,-11.3,332,3191,0.00,0.90,0.00,0.000,4,0.000,0.060,1530,3945,2815,0,0,0,0,0,0
$GC,3303,-0.56,-81.3,444.1,-11.9,337,3306,0.00,0.85,0.00,0.000,6,0.000,0.036,1530,3381,2815,0,0,0,0,0,0
$GC,3635,-0.56,-81.3,482.5,-11.3,353,3638,0.00,0.93,0.00,0.000,4,0.000,0.063,1526,3940,2815,0,0,0,0,0,0
$GC,3786,-0.56,-81.3,501.7,-12.5,359,3793,0.00,0.85,0.00,0.000,6,0.000,0.036,1526,3380,2815,0,0,0,0,0,0
$GC,4101,-0.56,-81.3,537.5,-11.4,375,4105,0.00,0.93,0.00,0.000,4,0.000,0.063,1522,3940,2814,0,0,0,0,0,0
$GC,4183,-0.56,-81.3,548.0,-12.9,378,4191,0.00,0.88,0.00,0.000,6,0.000,0.036,1522,3370,2814,0,0,0,0,0,0
$GC,4500,-0.56,-81.3,585.7,-11.9,394,4504,0.00,0.93,0.00,0.000,4,0.000,0.061,1518,3947,2813,0,0,0,0,0,0
$GC,4680,-0.56,-81.3,608.6,-12.7,402,4684,0.00,0.85,0.00,0.000,6,0.000,0.037,1518,3384,2813,0,0,0,0,0,0
$GC,5013,-0.56,-81.3,646.8,-11.2,418,5016,0.00,0.90,0.00,0.000,4,0.000,0.061,1513,3945,2813,0,0,0,0,0,0
$GC,5129,-0.56,-81.3,661.4,-12.2,423,5134,0.00,0.88,0.00,0.000,6,0.000,0.036,1513,3377,2813,0,0,0,0,0,0
$GC,5457,-0.56,-81.3,698.5,-11.3,439,5461,0.00,0.93,0.00,0.000,4,0.000,0.062,1509,3951,2812,0,0,0,0,0,0
$GC,5592,-0.56,-81.3,715.8,-13.1,445,5596,0.00,0.85,0.00,0.000,6,0.000,0.037,1509,3386,2811,0,0,0,0,0,0
$GC,5925,-0.56,-81.3,757.8,-12.6,461,5928,0.00,0.90,0.00,0.000,4,0.000,0.062,1505,3945,2811,0,0,0,0,0,0
$GC,6175,-0.56,-81.3,792.8,-14.0,472,6181,0.12,0.88,0.00,0.000,6,0.180,0.037,1536,3380,2810,0,0,0,0,0,0
$GC,6503,-0.56,-81.3,825.9,-10.1,488,6506,0.00,0.95,0.00,0.000,4,0.000,0.064,1532,3951,2810,0,0,0,0,0,0
$GC,6574,-0.56,-81.3,834.1,-11.5,491,6578,0.00,0.90,0.00,0.000,6,0.000,0.037,1533,3369,2810,0,0,0,0,0,0
$GC,6902,-0.56,-81.3,868.2,-10.3,507,6905,0.00,0.93,0.00,0.000,4,0.000,0.063,1529,3940,2809,0,0,0,0,0,0
$GC,7015,-0.56,-81.3,880.9,-12.1,512,7018,0.00,0.85,0.00,0.000,6,0.000,0.038,1528,3384,2809,0,0,0,0,0,0
$GC,7347,-0.56,-81.3,916.3,-10.6,528,7348,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3384,2809,0,0,0,0,0,0
$GC,7658,-0.56,-81.3,948.5,-10.2,543,7659,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3384,2808,0,0,0,0,0,0
$GC,7966,-0.56,-81.3,979.9,-10.3,558,7969,0.00,0.90,0.00,0.000,4,0.000,0.063,1525,3940,2808,0,0,0,0,0,0
$STATE,8054,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8054,begin apogee
$GC,8060,-0.09,0.0,990.0,11.5,562,8144,0.55,0.00,80.88,1.853,6,0.152,0.000,1684,3277,2473,0,0,0,0,0,0
$STATE,8145,end apogee,CONTROL_FINISHED_OK
$STATE,8145,begin climb
$GC,8147,0.56,81.3,991.9,0.0,566,8238,0.65,0.00,85.05,1.804,6,0.070,0.000,1903,3277,2141,0,0,0,0,0,0
$GC,8548,0.56,81.3,942.5,14.5,586,8549,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3277,2132,0,0,0,0,0,0
$GC,8856,0.56,81.3,897.8,14.2,601,8860,0.00,2.20,0.00,0.000,4,0.000,0.033,1914,1876,2128,0,0,0,0,0,0
$GC,8910,0.56,81.3,890.3,12.8,603,8918,0.00,2.35,0.00,0.000,6,0.000,0.053,1915,3287,2126,0,0,0,0,0,0
$GC,9229,0.56,81.3,840.3,16.3,619,9232,0.00,2.17,0.00,0.000,4,0.000,0.033,1925,1876,2126,0,0,0,0,0,0
$GC,9255,0.56,81.3,835.7,14.5,620,9260,0.00,2.33,0.00,0.000,6,0.000,0.051,1925,3286,2125,0,0,0,0,0,0
$GC,9577,0.56,81.3,784.2,16.2,636,9578,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,3286,2125,0,0,0,0,0,0
$GC,9887,0.56,81.3,736.0,15.4,651,9888,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,3286,2124,0,0,0,0,0,0
$GC,10196,0.56,81.3,689.1,15.2,666,10197,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,3286,2124,0,0,0,0,0,0
$GC,10505,0.56,81.3,645.7,14.1,681,10506,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,3286,2124,0,0,0,0,0,0
$GC,10816,0.56,81.3,604.2,13.0,696,10820,0.00,2.17,0.00,0.000,4,0.000,0.033,1936,1875,2123,0,0,0,0,0,0
$GC,10848,0.56,81.3,599.7,12.8,697,10857,0.10,2.30,0.00,0.000,6,0.166,0.050,1907,3283,2122,0,0,0,0,0,0
$GC,11165,0.56,81.3,560.3,12.8,713,11166,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3283,2122,0,0,0,0,0,0
$GC,11475,0.56,81.3,521.4,12.0,728,11478,0.00,1.08,0.00,0.000,4,0.000,0.059,1907,3942,2121,0,0,0,0,0,0
$GC,11542,0.56,81.3,512.3,14.3,731,11546,0.00,1.00,0.00,0.000,6,0.000,0.037,1911,3291,2121,0,0,0,0,0,0
$GC,11875,0.56,81.3,470.4,12.8,747,11879,0.00,2.20,0.00,0.000,4,0.000,0.032,1922,1859,2121,0,0,0,0,0,0
$GC,11946,0.56,81.3,462.4,10.3,750,11951,0.00,2.33,0.00,0.000,6,0.000,0.050,1922,3281,2120,0,0,0,0,0,0
$GC,12268,0.56,81.3,422.3,12.7,766,12271,0.00,1.08,0.00,0.000,4,0.000,0.059,1922,3944,2120,0,0,0,0,0,0
$GC,12317,0.56,81.3,415.2,14.4,768,12321,0.00,1.02,0.00,0.000,6,0.000,0.036,1927,3274,2120,0,0,0,0,0,0
$GC,12640,0.56,81.3,375.5,11.9,792,12641,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,3275,2120,0,0,0,0,0,0
$GC,12959,0.56,81.3,338.5,11.1,822,12963,0.00,2.15,0.00,0.000,4,0.000,0.032,1938,1865,2120,0,0,0,0,0,0
$GC,13105,0.56,81.3,323.6,9.8,834,13112,0.15,2.28,0.00,0.000,6,0.184,0.050,1902,3286,2120,0,0,0,0,0,0
$GC,13432,0.56,81.3,290.8,9.9,865,13433,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3286,2119,0,0,0,0,0,0
$GC,13749,0.56,81.3,259.6,9.9,895,13753,0.00,1.08,0.00,0.000,4,0.000,0.058,1901,3955,2119,0,0,0,0,0,0
$GC,13806,0.56,81.3,253.2,11.4,900,13809,0.00,1.02,0.00,0.000,6,0.000,0.036,1905,3278,2119,0,0,0,0,0,0
$GC,14136,0.56,81.3,218.5,10.1,931,14137,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3278,2119,0,0,0,0,0,0
$GC,14458,0.56,81.3,182.4,12.0,961,14462,0.00,2.15,0.00,0.000,4,0.000,0.031,1916,1865,2119,0,0,0,0,0,0
$GC,14576,0.56,81.3,169.8,9.0,971,14581,0.00,2.30,0.00,0.000,6,0.000,0.050,1917,3294,2119,0,0,0,0,0,0
$GC,14903,0.56,81.3,131.0,11.3,1001,14907,0.00,2.17,0.00,0.000,4,0.000,0.030,1927,1864,2119,0,0,0,0,0,0
$GC,14947,0.56,81.3,126.2,10.0,1004,14957,0.00,2.33,0.00,0.000,6,0.000,0.050,1928,3289,2119,0,0,0,0,0,0
$GC,15279,0.56,81.3,90.7,9.8,1043,15286,0.00,1.05,0.00,0.000,4,0.000,0.057,1927,3944,2119,0,0,0,0,0,0
$GC,15474,0.56,81.3,68.2,9.5,1077,15484,0.08,1.00,0.00,0.000,6,0.203,0.034,1912,3280,2119,0,0,0,0,0,0
$GC,15830,0.57,102.4,49.4,6.3,1138,15844,0.00,2.12,6.85,0.871,4,0.000,0.028,1922,1857,2054,0,0,0,0,0,0
$GC,16017,0.57,102.4,34.3,8.8,1169,16024,0.00,2.30,0.00,0.000,6,0.000,0.050,1921,3289,2053,0,0,0,0,0,0
$GC,16169,0.57,102.4,18.6,10.7,1194,16178,0.00,2.15,0.00,0.000,4,0.000,0.029,1932,1873,2053,0,0,0,0,0,0
$GC,16211,0.57,102.4,14.3,9.5,1200,16220,0.00,2.30,0.00,0.000,6,0.000,0.049,1932,3290,2052,0,0,0,0,0,0
$GC,16272,0.57,102.4,7.6,11.0,1209,16281,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,3290,2052,0,0,0,0,0,0
$STATE,16312,end climb,SURFACE_DEPTH_REACHED
$STATE,16312,begin surface coast
$FINISH,0.6,1.012859
$STATE,16344,end surface coast,CONTROL_FINISHED_OK
$STATE,16344,begin surface
$SM_CCo,16357,48.50,0.767,0,0,1575,220.03
$SM_GC,1.53,0.00,0.00,48.50,0.000,0.000,0.767,47,3396,1575,-5.23,0.45,220.03
$IRIDIUM_FIX,-4242.04,830.68,130114,222245
$TT8_MAMPS,0.026215
$HUMID,60.90
$INTERNAL_PRESSURE,9.57185
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,22.3,38.337
$10V_AH,9.9,29.105
$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,13.025,80.100,172.775,48.500,0.000,24.721,18.387,322.936,0.000,0.000,21.293,3040.893,9954.209,366.296,3290.510,256.228,0.000,1531.634,0.000,2783.606,0.000,2.069,0.000
$DEVICE_MAMPS,237.915,88.740,1852.830,766.530,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,846.107,2059.273,841.330,392.118,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354392
$DATA_FILE_SIZE,87178,1220
$CAP_FILE_SIZE,151030,0
$CFSIZE,259252224,239390720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,140114,074534,-4259.670,828.865,38,0.8,38,-25.0