version: 66.07
glider: 543
mission: 9
dive: 266
start: 1 15 114 2 10 35
data:
$ID,543
$MISSION,9
$DIVE,266
$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,-13377.266
$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,46
$R_STBD_OVSHOOT,28
$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
$GPS1,150114,020121,-4259.866,830.078,28,1.1,42,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-64.2
$GPS2,150114,021011,-4259.805,830.091,20,1.0,20,-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,223.8,381,-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,-48.50,0.000,6,0.000,0.000,69,3387,2684,0,0,0,0,0,0
$GC,69,-0.57,-90.3,3.2,-4.2,6,87,6.05,0.90,-4.18,0.000,4,0.232,0.080,1527,3945,2844,0,0,0,0,0,0
$GC,262,-0.57,-90.3,41.3,-18.6,37,269,0.00,0.85,0.00,0.000,6,0.000,0.034,1528,3386,2847,0,0,0,0,0,0
$GC,612,-0.57,-90.3,99.2,-16.1,98,619,0.00,2.15,0.00,0.000,4,0.000,0.029,1528,1960,2848,0,0,0,0,0,0
$GC,718,-0.57,-90.3,113.0,-11.3,108,722,0.00,2.30,0.00,0.000,6,0.000,0.050,1518,3385,2849,0,0,0,0,0,0
$GC,1043,-0.57,-90.3,158.8,-13.7,138,1047,0.00,2.15,0.00,0.000,4,0.000,0.030,1517,1960,2850,0,0,0,0,0,0
$GC,1074,-0.57,-90.3,163.1,-11.5,140,1085,0.08,2.33,0.00,0.000,6,0.137,0.050,1531,3383,2849,0,0,0,0,0,0
$GC,1400,-0.57,-90.3,199.9,-11.5,171,1404,0.00,0.90,0.00,0.000,4,0.000,0.059,1528,3951,2850,0,0,0,0,0,0
$GC,1529,-0.57,-90.3,216.5,-12.8,182,1537,0.00,0.85,0.00,0.000,6,0.000,0.035,1528,3381,2850,0,0,0,0,0,0
$GC,1857,-0.57,-90.3,257.4,-13.2,213,1861,0.00,2.17,0.00,0.000,4,0.000,0.030,1528,1952,2850,0,0,0,0,0,0
$GC,1886,-0.57,-90.3,261.2,-12.7,215,1890,0.00,2.33,0.00,0.000,6,0.000,0.052,1518,3394,2850,0,0,0,0,0,0
$GC,2213,-0.57,-90.3,305.7,-14.0,245,2217,0.00,0.88,0.00,0.000,4,0.000,0.059,1513,3947,2850,0,0,0,0,0,0
$GC,2327,-0.57,-90.3,323.4,-15.1,255,2331,0.00,0.85,0.00,0.000,6,0.000,0.036,1513,3382,2850,0,0,0,0,0,0
$GC,2657,-0.57,-90.3,371.0,-13.5,286,2661,0.00,2.12,0.00,0.000,4,0.000,0.029,1513,1953,2850,0,0,0,0,0,0
$GC,2701,-0.57,-90.3,376.7,-11.5,289,2708,0.12,2.30,0.00,0.000,6,0.163,0.052,1534,3385,2850,0,0,0,0,0,0
$GC,3023,-0.57,-90.3,415.5,-12.2,314,3026,0.00,0.90,0.00,0.000,4,0.000,0.060,1532,3950,2850,0,0,0,0,0,0
$GC,3105,-0.57,-90.3,426.3,-12.3,317,3113,0.00,0.88,0.00,0.000,6,0.000,0.036,1531,3368,2850,0,0,0,0,0,0
$GC,3421,-0.57,-90.3,464.4,-11.9,333,3425,0.00,0.93,0.00,0.000,4,0.000,0.060,1527,3947,2850,0,0,0,0,0,0
$GC,3459,-0.57,-90.3,469.5,-12.5,334,3467,0.00,0.88,0.00,0.000,6,0.000,0.034,1527,3373,2850,0,0,0,0,0,0
$GC,3776,-0.57,-90.3,508.1,-12.4,350,3780,0.00,2.12,0.00,0.000,4,0.000,0.030,1527,1960,2849,0,0,0,0,0,0
$GC,3797,-0.57,-90.3,511.1,-12.9,351,3801,0.00,2.33,0.00,0.000,6,0.000,0.053,1517,3383,2850,0,0,0,0,0,0
$GC,4126,-0.57,-90.3,553.1,-12.7,367,4130,0.00,0.90,0.00,0.000,4,0.000,0.060,1512,3947,2849,0,0,0,0,0,0
$GC,4243,-0.57,-90.3,570.2,-14.2,372,4247,0.00,0.85,0.00,0.000,6,0.000,0.037,1512,3384,2849,0,0,0,0,0,0
$GC,4570,-0.57,-90.3,613.8,-13.4,388,4571,0.00,0.00,0.00,0.000,6,0.000,0.000,1512,3383,2848,0,0,0,0,0,0
$GC,4880,-0.57,-90.3,655.9,-13.6,403,4884,0.00,2.15,0.00,0.000,4,0.000,0.031,1512,1963,2848,0,0,0,0,0,0
$GC,4900,-0.57,-90.3,659.1,-14.1,404,4905,0.12,2.30,0.00,0.000,6,0.163,0.054,1533,3380,2848,0,0,0,0,0,0
$GC,5228,-0.57,-90.3,697.7,-12.0,420,5229,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3380,2847,0,0,0,0,0,0
$GC,5539,-0.57,-90.3,733.5,-11.3,435,5543,0.00,0.93,0.00,0.000,4,0.000,0.064,1530,3938,2846,0,0,0,0,0,0
$GC,5661,-0.57,-90.3,748.5,-11.5,440,5666,0.00,0.88,0.00,0.000,6,0.000,0.038,1530,3373,2845,0,0,0,0,0,0
$GC,5984,-0.57,-90.3,782.5,-10.1,456,5988,0.00,2.12,0.00,0.000,4,0.000,0.032,1530,1964,2845,0,0,0,0,0,0
$GC,6017,-0.57,-90.3,786.0,-9.7,457,6024,0.00,2.30,0.00,0.000,6,0.000,0.055,1520,3384,2844,0,0,0,0,0,0
$GC,6333,-0.57,-90.3,819.1,-10.6,473,6334,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3383,2844,0,0,0,0,0,0
$GC,6643,-0.57,-90.3,851.8,-10.6,488,6644,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3383,2844,0,0,0,0,0,0
$GC,6953,-0.57,-90.3,885.2,-11.0,503,6957,0.00,0.90,0.00,0.000,4,0.000,0.063,1515,3944,2843,0,0,0,0,0,0
$GC,7021,-0.57,-90.3,893.3,-11.6,506,7025,0.00,0.85,0.00,0.000,6,0.000,0.041,1515,3385,2843,0,0,0,0,0,0
$GC,7354,-0.57,-90.3,932.4,-11.9,522,7357,0.00,0.90,0.00,0.000,4,0.000,0.063,1511,3944,2843,0,0,0,0,0,0
$GC,7408,-0.57,-90.3,939.9,-13.3,524,7413,0.00,0.88,0.00,0.000,6,0.000,0.039,1511,3378,2843,0,0,0,0,0,0
$GC,7732,-0.57,-90.3,979.0,-11.9,540,7733,0.00,0.00,0.00,0.000,6,0.000,0.000,1511,3378,2843,0,0,0,0,0,0
$STATE,7832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7832,begin apogee
$GC,7837,-0.09,0.0,991.5,12.0,545,7934,0.60,0.00,88.70,1.858,6,0.154,0.000,1685,3283,2474,0,0,0,0,0,0
$STATE,7934,end apogee,CONTROL_FINISHED_OK
$STATE,7935,begin climb
$GC,7936,0.57,90.3,994.3,0.0,550,8038,0.62,2.45,93.68,1.808,4,0.068,0.031,1913,1869,2105,0,0,0,0,0,0
$GC,8061,0.57,90.3,985.3,11.9,555,8066,0.00,2.50,0.00,0.000,6,0.000,0.052,1913,3281,2102,0,0,0,0,0,0
$GC,8389,0.57,90.3,935.5,15.6,571,8392,0.00,1.12,0.00,0.000,4,0.000,0.060,1913,3951,2094,0,0,0,0,0,0
$GC,8472,0.57,90.3,920.3,18.1,574,8479,0.00,1.05,0.00,0.000,6,0.000,0.037,1918,3280,2094,0,0,0,0,0,0
$GC,8788,0.57,90.3,869.1,16.4,590,8791,0.00,1.10,0.00,0.000,4,0.000,0.058,1918,3952,2091,0,0,0,0,0,0
$GC,8865,0.57,90.3,855.5,18.3,593,8870,0.00,1.05,0.00,0.000,6,0.000,0.035,1923,3273,2091,0,0,0,0,0,0
$GC,9187,0.57,90.3,804.1,15.7,609,9191,0.00,2.20,0.00,0.000,4,0.000,0.035,1934,1863,2090,0,0,0,0,0,0
$GC,9219,0.57,90.3,799.1,14.9,610,9228,0.10,2.35,0.00,0.000,6,0.166,0.053,1905,3286,2089,0,0,0,0,0,0
$GC,9537,0.57,90.3,755.1,13.6,626,9539,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3286,2088,0,0,0,0,0,0
$GC,9845,0.57,90.3,713.5,13.0,641,9849,0.00,1.10,0.00,0.000,4,0.000,0.061,1905,3957,2087,0,0,0,0,0,0
$GC,9945,0.57,90.3,698.9,15.9,645,9949,0.00,1.05,0.00,0.000,6,0.000,0.035,1909,3282,2087,0,0,0,0,0,0
$GC,10267,0.57,90.3,657.3,13.1,661,10268,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3282,2086,0,0,0,0,0,0
$GC,10577,0.57,90.3,617.6,13.1,676,10579,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3282,2086,0,0,0,0,0,0
$GC,10885,0.57,90.3,576.6,13.4,691,10889,0.00,2.17,0.00,0.000,4,0.000,0.032,1920,1860,2086,0,0,0,0,0,0
$GC,10919,0.57,90.3,572.6,10.9,692,10926,0.00,2.33,0.00,0.000,6,0.000,0.050,1920,3299,2085,0,0,0,0,0,0
$GC,11234,0.57,90.3,530.2,13.7,708,11238,0.00,1.05,0.00,0.000,4,0.000,0.059,1920,3949,2084,0,0,0,0,0,0
$GC,11374,0.57,90.3,508.7,15.5,714,11378,0.00,1.00,0.00,0.000,6,0.000,0.036,1925,3288,2084,0,0,0,0,0,0
$GC,11701,0.57,90.3,463.9,13.5,730,11702,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,3288,2084,0,0,0,0,0,0
$GC,12010,0.57,90.3,421.1,13.9,745,12011,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,3288,2084,0,0,0,0,0,0
$GC,12324,0.57,90.3,378.7,13.1,767,12328,0.00,1.08,0.00,0.000,4,0.000,0.060,1925,3953,2084,0,0,0,0,0,0
$GC,12381,0.57,90.3,370.2,15.0,772,12385,0.00,1.02,0.00,0.000,6,0.000,0.036,1930,3279,2084,0,0,0,0,0,0
$GC,12711,0.57,90.3,324.6,14.1,803,12712,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3278,2084,0,0,0,0,0,0
$GC,13033,0.57,90.3,279.5,14.5,833,13039,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3278,2084,0,0,0,0,0,0
$GC,13359,0.57,90.3,232.3,14.2,864,13363,0.00,1.10,0.00,0.000,4,0.000,0.058,1930,3955,2084,0,0,0,0,0,0
$GC,13543,0.57,90.3,203.2,15.8,880,13553,0.10,1.02,0.00,0.000,6,0.199,0.034,1908,3276,2083,0,0,0,0,0,0
$GC,13868,0.57,90.3,164.4,11.8,911,13869,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3276,2084,0,0,0,0,0,0
$GC,14190,0.57,90.3,128.4,11.0,941,14194,0.00,1.10,0.00,0.000,4,0.000,0.058,1908,3954,2083,0,0,0,0,0,0
$GC,14273,0.57,90.3,116.7,14.4,948,14283,0.00,1.02,0.00,0.000,6,0.000,0.034,1912,3286,2083,0,0,0,0,0,0
$GC,14612,0.57,90.3,77.8,10.9,996,14621,0.00,1.08,0.00,0.000,4,0.000,0.058,1912,3951,2083,0,0,0,0,0,0
$GC,14864,0.57,91.4,50.6,8.6,1039,14871,0.00,1.00,0.00,0.000,6,0.000,0.034,1917,3285,2084,0,0,0,0,0,0
$GC,15219,0.57,91.4,25.1,8.7,1100,15228,0.00,2.15,0.00,0.000,4,0.000,0.029,1928,1863,2084,0,0,0,0,0,0
$GC,15301,0.57,91.4,18.2,8.7,1113,15310,0.00,2.30,0.00,0.000,6,0.000,0.050,1928,3281,2083,0,0,0,0,0,0
$GC,15361,0.58,107.3,13.4,6.9,1122,15371,0.00,1.10,5.03,0.690,4,0.000,0.057,1928,3955,2032,0,0,0,0,0,0
$GC,15405,0.58,107.3,8.8,11.4,1128,15414,0.00,1.00,0.00,0.000,6,0.000,0.034,1933,3292,2032,0,0,0,0,0,0
$STATE,15451,end climb,SURFACE_DEPTH_REACHED
$STATE,15451,begin surface coast
$FINISH,0.6,1.002067
$STATE,15477,end surface coast,CONTROL_FINISHED_OK
$STATE,15477,begin surface
$SM_CCo,15490,46.65,0.771,0,0,1572,220.03
$SM_GC,1.19,0.00,0.00,46.65,0.000,0.000,0.771,53,3395,1572,-5.21,0.42,220.03
$IRIDIUM_FIX,-4242.04,827.77,140114,212155
$TT8_MAMPS,0.026215
$HUMID,61.06
$INTERNAL_PRESSURE,9.56208
$TCM_TEMP,14.50
$XPDR_PINGS,0
$24V_AH,22.2,38.976
$10V_AH,9.9,29.699
$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,12.725,84.825,187.400,46.650,0.000,25.938,44.873,321.492,0.000,0.000,22.720,2828.093,9584.111,374.424,3034.912,244.419,0.000,1453.765,0.000,2509.726,0.000,2.070,0.000
$DEVICE_MAMPS,231.795,91.035,1858.185,771.120,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,789.243,1949.899,784.011,391.024,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354396
$DATA_FILE_SIZE,80444,1139
$CAP_FILE_SIZE,143820,0
$CFSIZE,259252224,238993408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,150114,063034,-4300.486,829.656,25,1.4,25,-25.0