version: 66.07
glider: 543
mission: 9
dive: 264
start: 1 14 114 17 9 17
data:
$ID,543
$MISSION,9
$DIVE,264
$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,-13372.605
$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,49
$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
$GPS1,140114,165935,-4259.104,829.939,33,1.2,33,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-66.9
$GPS2,140114,170853,-4259.034,830.072,18,0.9,19,-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,208.1,1792,-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,-51.0,0.0,0.0,0,66,0.00,0.00,-48.30,0.000,6,0.000,0.000,57,3375,2684,0,0,0,0,0,0
$GC,69,-0.56,-87.2,3.3,-4.6,6,87,6.22,0.93,-3.80,0.000,4,0.239,0.080,1526,3951,2830,0,0,0,0,0,0
$GC,353,-0.56,-87.2,59.4,-18.3,53,360,0.00,0.85,0.00,0.000,6,0.000,0.034,1527,3388,2834,0,0,0,0,0,0
$GC,700,-0.56,-87.2,114.2,-14.4,105,703,0.00,0.90,0.00,0.000,4,0.000,0.059,1522,3947,2835,0,0,0,0,0,0
$GC,792,-0.56,-87.2,128.0,-14.6,113,796,0.00,0.85,0.00,0.000,6,0.000,0.034,1522,3382,2835,0,0,0,0,0,0
$GC,1122,-0.56,-87.2,172.6,-12.9,144,1126,0.00,0.90,0.00,0.000,4,0.000,0.059,1518,3944,2836,0,0,0,0,0,0
$GC,1226,-0.56,-87.2,186.8,-14.0,153,1230,0.00,0.85,0.00,0.000,6,0.000,0.034,1518,3378,2836,0,0,0,0,0,0
$GC,1557,-0.56,-87.2,230.8,-13.4,184,1560,0.00,0.90,0.00,0.000,4,0.000,0.058,1514,3940,2837,0,0,0,0,0,0
$GC,1717,-0.56,-87.2,255.6,-15.7,198,1720,0.00,0.85,0.00,0.000,6,0.000,0.034,1514,3373,2837,0,0,0,0,0,0
$GC,2049,-0.56,-87.2,302.5,-14.3,229,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,1514,3372,2837,0,0,0,0,0,0
$GC,2366,-0.56,-87.2,348.4,-14.1,259,2369,0.00,0.93,0.00,0.000,4,0.000,0.060,1510,3951,2837,0,0,0,0,0,0
$GC,2446,-0.56,-87.2,361.2,-16.2,266,2449,0.00,0.85,0.00,0.000,6,0.000,0.034,1510,3383,2837,0,0,0,0,0,0
$GC,2784,-0.56,-87.2,412.7,-15.5,294,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,1510,3382,2837,0,0,0,0,0,0
$GC,3095,-0.56,-87.2,459.2,-15.0,309,3099,0.00,0.90,0.00,0.000,4,0.000,0.060,1506,3942,2837,0,0,0,0,0,0
$GC,3172,-0.56,-87.2,471.9,-15.5,312,3178,0.12,0.88,0.00,0.000,6,0.181,0.034,1537,3371,2837,0,0,0,0,0,0
$GC,3494,-0.56,-87.2,510.2,-11.6,328,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3371,2837,0,0,0,0,0,0
$GC,3806,-0.56,-87.2,543.5,-10.3,343,3809,0.00,0.93,0.00,0.000,4,0.000,0.061,1533,3947,2836,0,0,0,0,0,0
$GC,3873,-0.56,-87.2,551.2,-11.3,346,3877,0.00,0.85,0.00,0.000,6,0.000,0.037,1533,3385,2836,0,0,0,0,0,0
$GC,4206,-0.56,-87.2,586.9,-10.7,362,4210,0.00,0.90,0.00,0.000,4,0.000,0.061,1529,3945,2836,0,0,0,0,0,0
$GC,4251,-0.56,-87.2,592.1,-11.8,364,4255,0.00,0.85,0.00,0.000,6,0.000,0.037,1529,3384,2835,0,0,0,0,0,0
$GC,4585,-0.56,-87.2,628.4,-10.6,380,4589,0.00,0.90,0.00,0.000,4,0.000,0.061,1525,3941,2835,0,0,0,0,0,0
$GC,4653,-0.56,-87.2,636.9,-12.9,383,4657,0.00,0.85,0.00,0.000,6,0.000,0.036,1525,3381,2834,0,0,0,0,0,0
$GC,4985,-0.56,-87.2,675.0,-11.4,399,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3381,2834,0,0,0,0,0,0
$GC,5295,-0.56,-87.2,710.9,-11.7,414,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3381,2833,0,0,0,0,0,0
$GC,5604,-0.56,-87.2,747.9,-12.0,429,5608,0.00,0.93,0.00,0.000,4,0.000,0.063,1521,3954,2832,0,0,0,0,0,0
$GC,5717,-0.56,-87.2,762.5,-13.3,434,5721,0.00,0.88,0.00,0.000,6,0.000,0.037,1521,3379,2832,0,0,0,0,0,0
$GC,6050,-0.56,-87.2,803.6,-12.4,450,6053,0.00,0.93,0.00,0.000,4,0.000,0.062,1517,3951,2831,0,0,0,0,0,0
$GC,6143,-0.56,-87.2,816.3,-13.1,454,6148,0.00,0.90,0.00,0.000,6,0.000,0.037,1517,3367,2831,0,0,0,0,0,0
$GC,6471,-0.56,-87.2,857.9,-12.9,470,6475,0.00,0.93,0.00,0.000,4,0.000,0.062,1513,3939,2831,0,0,0,0,0,0
$GC,6562,-0.56,-87.2,870.5,-13.2,474,6565,0.00,0.85,0.00,0.000,6,0.000,0.037,1513,3384,2831,0,0,0,0,0,0
$GC,6895,-0.56,-87.2,914.2,-13.2,490,6899,0.00,0.90,0.00,0.000,4,0.000,0.063,1509,3939,2830,0,0,0,0,0,0
$GC,6963,-0.56,-87.2,923.8,-14.5,493,6967,0.00,0.85,0.00,0.000,6,0.000,0.037,1509,3382,2830,0,0,0,0,0,0
$GC,7296,-0.56,-87.2,965.9,-12.3,509,7297,0.00,0.00,0.00,0.000,6,0.000,0.000,1509,3382,2829,0,0,0,0,0,0
$STATE,7500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7500,begin apogee
$GC,7505,-0.09,0.0,990.4,11.8,519,7594,0.60,0.00,85.70,1.853,6,0.156,0.000,1682,3284,2474,0,0,0,0,0,0
$STATE,7595,end apogee,CONTROL_FINISHED_OK
$STATE,7595,begin climb
$GC,7597,0.56,87.2,992.5,0.0,523,7696,0.62,2.45,90.75,1.803,4,0.073,0.031,1907,1876,2117,0,0,0,0,0,0
$GC,7740,0.56,87.2,981.0,11.7,529,7748,0.00,2.47,0.00,0.000,6,0.000,0.050,1906,3277,2112,0,0,0,0,0,0
$GC,8057,0.56,87.2,936.0,13.8,545,8061,0.00,2.25,0.00,0.000,4,0.000,0.032,1917,1863,2106,0,0,0,0,0,0
$GC,8100,0.56,87.2,930.2,12.1,547,8104,0.00,2.40,0.00,0.000,6,0.000,0.051,1917,3288,2105,0,0,0,0,0,0
$GC,8428,0.56,87.2,885.0,13.9,563,8429,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3288,2103,0,0,0,0,0,0
$GC,8737,0.56,87.2,842.5,13.7,578,8741,0.00,2.22,0.00,0.000,4,0.000,0.033,1928,1857,2102,0,0,0,0,0,0
$GC,8776,0.56,87.2,837.5,12.3,580,8781,0.00,2.35,0.00,0.000,6,0.000,0.050,1928,3292,2101,0,0,0,0,0,0
$GC,9105,0.56,87.2,792.1,13.7,596,9106,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,3292,2100,0,0,0,0,0,0
$GC,9413,0.56,87.2,748.5,13.8,611,9414,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,3292,2099,0,0,0,0,0,0
$GC,9722,0.56,87.2,704.4,14.2,626,9726,0.00,2.22,0.00,0.000,4,0.000,0.033,1939,1855,2099,0,0,0,0,0,0
$GC,9788,0.56,87.2,696.1,11.4,629,9793,0.10,2.35,0.00,0.000,6,0.169,0.051,1909,3286,2098,0,0,0,0,0,0
$GC,10114,0.56,87.2,654.8,12.9,645,10116,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3287,2097,0,0,0,0,0,0
$GC,10424,0.56,87.2,615.6,12.4,660,10427,0.00,1.08,0.00,0.000,4,0.000,0.060,1909,3949,2097,0,0,0,0,0,0
$GC,10473,0.56,87.2,608.9,13.9,662,10478,0.00,1.05,0.00,0.000,6,0.000,0.036,1913,3275,2097,0,0,0,0,0,0
$GC,10800,0.56,87.2,569.9,11.8,678,10801,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3275,2097,0,0,0,0,0,0
$GC,11110,0.56,87.2,533.2,12.0,693,11114,0.00,2.15,0.00,0.000,4,0.000,0.033,1924,1865,2097,0,0,0,0,0,0
$GC,11159,0.56,87.2,527.6,10.4,695,11163,0.00,2.33,0.00,0.000,6,0.000,0.050,1925,3288,2095,0,0,0,0,0,0
$GC,11481,0.56,87.2,488.3,12.2,711,11482,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,3289,2095,0,0,0,0,0,0
$GC,11790,0.56,87.2,449.2,12.6,726,11794,0.00,2.15,0.00,0.000,4,0.000,0.031,1935,1865,2095,0,0,0,0,0,0
$GC,11828,0.56,87.2,444.7,10.7,727,11836,0.10,2.33,0.00,0.000,6,0.163,0.050,1906,3289,2095,0,0,0,0,0,0
$GC,12145,0.56,87.2,408.8,11.6,743,12146,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3289,2095,0,0,0,0,0,0
$GC,12463,0.56,87.2,372.6,10.9,769,12466,0.00,1.08,0.00,0.000,4,0.000,0.059,1906,3953,2095,0,0,0,0,0,0
$GC,12556,0.56,87.2,361.0,12.2,777,12559,0.00,1.02,0.00,0.000,6,0.000,0.037,1910,3277,2095,0,0,0,0,0,0
$GC,12886,0.56,87.2,323.2,11.0,808,12890,0.00,2.15,0.00,0.000,4,0.000,0.031,1921,1866,2095,0,0,0,0,0,0
$GC,12950,0.56,87.2,317.0,9.6,813,12954,0.00,2.30,0.00,0.000,6,0.000,0.050,1921,3293,2094,0,0,0,0,0,0
$GC,13274,0.56,87.2,278.1,12.4,843,13276,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3293,2093,0,0,0,0,0,0
$GC,13597,0.56,87.2,238.0,12.8,873,13603,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3293,2093,0,0,0,0,0,0
$GC,13922,0.56,87.2,197.0,11.9,904,13924,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3293,2093,0,0,0,0,0,0
$GC,14242,0.56,87.2,160.3,11.3,934,14246,0.00,2.17,0.00,0.000,4,0.000,0.031,1932,1862,2093,0,0,0,0,0,0
$GC,14304,0.56,87.2,154.1,9.2,939,14308,0.00,2.30,0.00,0.000,6,0.000,0.050,1932,3288,2093,0,0,0,0,0,0
$GC,14631,0.56,87.2,115.3,11.2,969,14632,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,3287,2093,0,0,0,0,0,0
$GC,14959,0.56,87.2,77.2,10.2,1016,14966,0.00,2.15,0.00,0.000,4,0.000,0.031,1943,1864,2093,0,0,0,0,0,0
$GC,15027,0.57,90.4,71.8,8.3,1027,15034,0.15,2.30,0.00,0.000,6,0.180,0.051,1906,3291,2093,0,0,0,0,0,0
$GC,15378,0.58,107.1,42.8,6.8,1088,15394,0.00,2.20,6.18,0.833,4,0.000,0.030,1915,1857,2035,0,0,0,0,0,0
$GC,15661,0.58,109.9,21.3,8.4,1135,15668,0.00,2.30,0.00,0.000,6,0.000,0.050,1915,3290,2034,0,0,0,0,0,0
$GC,15818,0.58,109.9,4.2,12.5,1160,15827,0.00,2.17,0.00,0.000,4,0.000,0.031,1926,1867,2033,0,0,0,0,0,0
$STATE,15835,end climb,SURFACE_DEPTH_REACHED
$STATE,15835,begin surface coast
$FINISH,0.6,1.014388
$STATE,15860,end surface coast,CONTROL_FINISHED_OK
$STATE,15860,begin surface
$SM_CCo,15876,46.58,0.774,0,0,1576,220.03
$SM_GC,1.10,0.00,0.00,46.58,0.000,0.000,0.774,56,3383,1576,-5.20,0.11,220.03
$IRIDIUM_FIX,-4242.04,830.68,140114,121224
$TT8_MAMPS,0.026215
$HUMID,60.82
$INTERNAL_PRESSURE,9.57185
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,22.3,38.710
$10V_AH,9.9,29.464
$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,12.825,77.575,182.625,46.575,0.000,28.275,42.602,343.169,0.000,0.000,22.350,2888.415,9929.386,328.337,3081.244,248.815,0.000,1391.848,0.000,2534.315,0.000,1.010,0.000
$DEVICE_MAMPS,239.445,79.560,1852.830,774.180,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,809.342,1992.725,802.989,398.792,0.000,0.000,0.000,0.000,0.000,0.000
$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,83816,1166
$CAP_FILE_SIZE,141147,0
$CFSIZE,259252224,239153152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,140114,213552,-4259.541,829.950,37,1.0,37,-25.0