version: 66.07
glider: 543
mission: 9
dive: 269
start: 1 15 114 15 24 5
data:
$ID,543
$MISSION,9
$DIVE,269
$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,-13386.437
$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,47
$R_STBD_OVSHOOT,27
$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
$GPS1,150114,151459,-4258.412,830.622,41,1.3,41,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-64.4
$GPS2,150114,152341,-4258.269,830.730,17,0.8,17,-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,222.1,3355,-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,-51.0,0.0,0.0,0,67,0.00,0.00,-48.50,0.000,6,0.000,0.000,48,3389,2685,0,0,0,0,0,0
$GC,69,-0.57,-90.1,3.3,-4.2,6,87,6.15,0.90,-4.32,0.000,4,0.232,0.082,1529,3948,2844,0,0,0,0,0,0
$GC,263,-0.57,-90.1,40.7,-18.3,37,269,0.00,0.85,0.00,0.000,6,0.000,0.035,1529,3384,2848,0,0,0,0,0,0
$GC,611,-0.57,-90.1,94.4,-16.2,98,618,0.00,2.15,0.00,0.000,4,0.000,0.030,1529,1963,2849,0,0,0,0,0,0
$GC,645,-0.57,-90.1,99.2,-15.6,103,652,0.00,2.30,0.00,0.000,6,0.000,0.050,1518,3382,2849,0,0,0,0,0,0
$GC,969,-0.57,-90.1,151.4,-16.3,134,973,0.00,0.93,0.00,0.000,4,0.000,0.057,1514,3952,2851,0,0,0,0,0,0
$GC,1026,-0.57,-90.1,161.0,-17.1,139,1030,0.00,0.85,0.00,0.000,6,0.000,0.034,1514,3384,2851,0,0,0,0,0,0
$GC,1356,-0.57,-90.1,212.1,-15.4,170,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,1514,3384,2851,0,0,0,0,0,0
$GC,1676,-0.57,-90.1,260.2,-14.3,200,1680,0.00,0.90,0.00,0.000,4,0.000,0.058,1510,3946,2852,0,0,0,0,0,0
$GC,1812,-0.57,-90.1,281.4,-15.5,212,1816,0.00,0.85,0.00,0.000,6,0.000,0.034,1510,3378,2852,0,0,0,0,0,0
$GC,2143,-0.57,-90.1,331.0,-14.7,243,2146,0.00,0.90,0.00,0.000,4,0.000,0.058,1505,3943,2852,0,0,0,0,0,0
$GC,2187,-0.57,-90.1,337.8,-15.7,247,2192,0.08,0.85,0.00,0.000,6,0.160,0.034,1529,3379,2852,0,0,0,0,0,0
$GC,2518,-0.57,-90.1,380.1,-12.7,278,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3379,2852,0,0,0,0,0,0
$GC,2832,-0.57,-90.1,418.8,-12.2,301,2833,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3379,2851,0,0,0,0,0,0
$GC,3141,-0.57,-90.1,456.0,-11.6,316,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3379,2851,0,0,0,0,0,0
$GC,3451,-0.57,-90.1,492.3,-11.9,331,3454,0.00,0.93,0.00,0.000,4,0.000,0.060,1526,3953,2851,0,0,0,0,0,0
$GC,3496,-0.57,-90.1,498.3,-13.2,333,3500,0.00,0.88,0.00,0.000,6,0.000,0.036,1526,3373,2851,0,0,0,0,0,0
$GC,3830,-0.57,-90.1,539.5,-12.5,349,3831,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3372,2851,0,0,0,0,0,0
$GC,4138,-0.57,-90.1,579.5,-13.3,364,4141,0.00,0.93,0.00,0.000,4,0.000,0.060,1522,3948,2850,0,0,0,0,0,0
$GC,4198,-0.57,-90.1,588.4,-14.7,366,4205,0.00,0.88,0.00,0.000,6,0.000,0.035,1522,3377,2850,0,0,0,0,0,0
$GC,4516,-0.57,-90.1,630.1,-13.1,382,4520,0.00,0.93,0.00,0.000,4,0.000,0.060,1518,3954,2849,0,0,0,0,0,0
$GC,4610,-0.57,-90.1,643.6,-14.3,386,4614,0.00,0.88,0.00,0.000,6,0.000,0.036,1518,3383,2849,0,0,0,0,0,0
$GC,4938,-0.57,-90.1,686.9,-13.1,402,4939,0.00,0.00,0.00,0.000,6,0.000,0.000,1518,3383,2849,0,0,0,0,0,0
$GC,5248,-0.57,-90.1,728.0,-13.3,417,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,1518,3383,2848,0,0,0,0,0,0
$GC,5556,-0.57,-90.1,769.6,-13.3,432,5560,0.00,0.93,0.00,0.000,4,0.000,0.062,1513,3955,2847,0,0,0,0,0,0
$GC,5719,-0.57,-90.1,792.6,-14.7,439,5722,0.00,0.88,0.00,0.000,6,0.000,0.037,1514,3381,2846,0,0,0,0,0,0
$GC,6045,-0.57,-90.1,834.1,-12.3,455,6046,0.00,0.00,0.00,0.000,6,0.000,0.000,1513,3380,2846,0,0,0,0,0,0
$GC,6355,-0.57,-90.1,871.2,-11.9,470,6359,0.00,0.90,0.00,0.000,4,0.000,0.061,1509,3938,2845,0,0,0,0,0,0
$GC,6445,-0.57,-90.1,883.1,-13.2,474,6449,0.00,0.85,0.00,0.000,6,0.000,0.038,1509,3383,2845,0,0,0,0,0,0
$GC,6779,-0.57,-90.1,923.2,-11.6,490,6782,0.00,0.90,0.00,0.000,4,0.000,0.061,1505,3942,2844,0,0,0,0,0,0
$GC,6839,-0.57,-90.1,930.8,-12.3,492,6848,0.10,0.88,0.00,0.000,6,0.184,0.037,1534,3378,2844,0,0,0,0,0,0
$GC,7157,-0.57,-90.1,961.1,-9.5,508,7160,0.00,0.93,0.00,0.000,4,0.000,0.062,1531,3950,2844,0,0,0,0,0,0
$GC,7205,-0.57,-90.1,966.1,-9.8,510,7210,0.00,0.88,0.00,0.000,6,0.000,0.037,1531,3380,2844,0,0,0,0,0,0
$STATE,7469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7469,begin apogee
$GC,7475,-0.09,0.0,991.6,9.4,523,7572,0.52,0.00,88.88,1.847,6,0.142,0.000,1687,3280,2474,0,0,0,0,0,0
$STATE,7572,end apogee,CONTROL_FINISHED_OK
$STATE,7572,begin climb
$GC,7574,0.57,90.1,993.2,0.0,528,7675,0.60,2.42,92.97,1.798,4,0.066,0.030,1910,1871,2106,0,0,0,0,0,0
$GC,7708,0.57,90.1,981.9,12.7,533,7713,0.00,2.50,0.00,0.000,6,0.000,0.051,1910,3279,2102,0,0,0,0,0,0
$GC,8030,0.57,90.1,933.3,15.1,549,8031,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3279,2095,0,0,0,0,0,0
$GC,8340,0.57,90.1,888.2,14.4,564,8344,0.00,2.22,0.00,0.000,4,0.000,0.032,1921,1856,2092,0,0,0,0,0,0
$GC,8379,0.57,90.1,882.8,13.9,566,8384,0.00,2.38,0.00,0.000,6,0.000,0.052,1921,3296,2091,0,0,0,0,0,0
$GC,8708,0.57,90.1,834.0,15.1,582,8709,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3296,2090,0,0,0,0,0,0
$GC,9015,0.57,90.1,787.8,14.8,597,9019,0.00,2.22,0.00,0.000,4,0.000,0.032,1931,1859,2089,0,0,0,0,0,0
$GC,9077,0.57,90.1,779.6,12.6,600,9081,0.00,2.33,0.00,0.000,6,0.000,0.052,1931,3285,2088,0,0,0,0,0,0
$GC,9404,0.57,90.1,732.3,14.5,616,9405,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,3285,2088,0,0,0,0,0,0
$GC,9713,0.57,90.1,688.8,13.4,631,9717,0.00,2.17,0.00,0.000,4,0.000,0.032,1942,1863,2087,0,0,0,0,0,0
$GC,9820,0.57,90.1,675.8,12.2,636,9825,0.15,2.30,0.00,0.000,6,0.187,0.053,1906,3289,2086,0,0,0,0,0,0
$GC,10152,0.57,90.1,633.6,12.8,652,10156,0.00,1.08,0.00,0.000,4,0.000,0.061,1906,3949,2086,0,0,0,0,0,0
$GC,10246,0.57,90.1,619.9,14.9,656,10251,0.00,1.05,0.00,0.000,6,0.000,0.036,1910,3270,2086,0,0,0,0,0,0
$GC,10574,0.57,90.1,578.0,12.5,672,10578,0.00,1.10,0.00,0.000,4,0.000,0.060,1910,3946,2085,0,0,0,0,0,0
$GC,10606,0.57,90.1,573.3,14.2,673,10611,0.00,1.02,0.00,0.000,6,0.000,0.036,1915,3284,2085,0,0,0,0,0,0
$GC,10929,0.57,90.1,530.7,13.6,689,10932,0.00,2.17,0.00,0.000,4,0.000,0.032,1926,1863,2085,0,0,0,0,0,0
$GC,11036,0.57,90.1,518.2,11.7,694,11040,0.00,2.28,0.00,0.000,6,0.000,0.051,1926,3286,2084,0,0,0,0,0,0
$GC,11368,0.57,90.1,473.2,13.3,710,11369,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,3287,2084,0,0,0,0,0,0
$GC,11677,0.57,90.1,432.4,13.0,725,11681,0.00,2.17,0.00,0.000,4,0.000,0.031,1937,1859,2084,0,0,0,0,0,0
$GC,11732,0.57,90.1,426.0,10.2,727,11740,0.10,2.33,0.00,0.000,6,0.164,0.050,1908,3285,2083,0,0,0,0,0,0
$GC,12051,0.57,90.1,388.8,11.3,747,12055,0.00,2.15,0.00,0.000,4,0.000,0.031,1918,1863,2083,0,0,0,0,0,0
$GC,12083,0.57,90.1,385.0,10.6,749,12091,0.00,2.33,0.00,0.000,6,0.000,0.050,1918,3286,2083,0,0,0,0,0,0
$GC,12409,0.57,90.1,344.6,13.3,780,12410,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3285,2083,0,0,0,0,0,0
$GC,12729,0.57,90.1,301.3,13.3,810,12733,0.00,2.17,0.00,0.000,4,0.000,0.031,1929,1859,2082,0,0,0,0,0,0
$GC,12758,0.57,90.1,297.3,12.5,812,12762,0.00,2.33,0.00,0.000,6,0.000,0.051,1929,3293,2083,0,0,0,0,0,0
$GC,13082,0.57,90.1,251.5,14.4,842,13086,0.00,1.05,0.00,0.000,4,0.000,0.058,1929,3945,2082,0,0,0,0,0,0
$GC,13118,0.57,90.1,246.2,16.4,845,13123,0.10,1.00,0.00,0.000,6,0.194,0.035,1906,3281,2082,0,0,0,0,0,0
$GC,13448,0.57,90.1,203.2,12.0,876,13452,0.00,1.08,0.00,0.000,4,0.000,0.059,1904,3947,2082,0,0,0,0,0,0
$GC,13496,0.57,90.1,196.5,13.8,880,13507,0.00,1.02,0.00,0.000,6,0.000,0.034,1908,3280,2082,0,0,0,0,0,0
$GC,13822,0.57,90.1,160.1,9.9,911,13826,0.00,2.15,0.00,0.000,4,0.000,0.031,1919,1865,2082,0,0,0,0,0,0
$GC,13843,0.57,90.1,158.1,8.8,912,13853,0.00,2.33,0.00,0.000,6,0.000,0.050,1920,3288,2082,0,0,0,0,0,0
$GC,14169,0.57,90.1,125.9,10.3,943,14173,0.00,2.17,0.00,0.000,4,0.000,0.030,1930,1858,2082,0,0,0,0,0,0
$GC,14199,0.57,90.1,123.3,9.1,945,14203,0.00,2.33,0.00,0.000,6,0.000,0.050,1930,3294,2082,0,0,0,0,0,0
$GC,14533,0.57,90.1,85.4,10.8,986,14539,0.00,2.17,0.00,0.000,4,0.000,0.031,1941,1859,2082,0,0,0,0,0,0
$GC,14796,0.57,92.4,58.7,8.4,1032,14806,0.12,2.33,0.00,0.000,6,0.160,0.050,1904,3287,2082,0,0,0,0,0,0
$GC,15157,0.57,105.2,30.1,7.2,1093,15172,0.00,2.20,4.10,0.685,4,0.000,0.031,1914,1860,2042,0,0,0,0,0,0
$GC,15366,0.58,107.7,12.6,8.4,1127,15375,0.00,2.33,0.00,0.000,6,0.000,0.051,1914,3288,2042,0,0,0,0,0,0
$GC,15427,0.58,107.7,6.3,10.6,1136,15435,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3288,2042,0,0,0,0,0,0
$STATE,15461,end climb,SURFACE_DEPTH_REACHED
$STATE,15461,begin surface coast
$FINISH,0.7,1.013238
$STATE,15493,end surface coast,CONTROL_FINISHED_OK
$STATE,15493,begin surface
$SM_CCo,15506,47.42,0.759,0,0,1574,220.03
$SM_GC,1.39,0.00,0.00,47.42,0.000,0.000,0.759,58,3394,1574,-5.20,0.40,220.03
$IRIDIUM_FIX,-4244.98,828.21,150114,101023
$TT8_MAMPS,0.026215
$HUMID,61.38
$INTERNAL_PRESSURE,9.57185
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,22.3,39.396
$10V_AH,9.9,30.043
$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,12.975,87.150,185.950,47.425,0.000,26.171,42.410,317.937,0.000,0.000,19.244,2837.779,9610.396,357.592,3022.425,245.756,0.000,1424.590,0.000,2513.433,0.000,1.010,0.000
$DEVICE_MAMPS,231.795,87.975,1846.710,758.880,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,794.463,1966.098,805.056,405.646,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354432
$DATA_FILE_SIZE,83718,1146
$CAP_FILE_SIZE,142300,0
$CFSIZE,259252224,238759936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,150114,194435,-4258.527,829.746,39,0.9,39,-25.0