version: 66.07
glider: 543
mission: 9
dive: 215
start: 1 5 114 10 46 3
data:
$ID,543
$MISSION,9
$DIVE,215
$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,350
$T_MISSION,390
$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,225
$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,-13213.418
$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,58
$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,3420
$C_ROLL_CLIMB,3280
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,24
$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
$GPS1,050114,103122,-4300.380,829.242,38,0.9,38,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-69.4
$GPS2,050114,104540,-4300.373,829.191,19,0.8,19,-25.0
$SPEED_LIMITS,0.163,0.235
$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,82.8,1295,-27.2,-9.429
$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,-0.50,-57.7,0.0,0.0,0,66,0.00,0.00,-49.45,0.000,6,0.000,0.000,61,3434,2711,0,0,0,0,0,0
$GC,69,-0.54,-110.3,3.2,-3.7,6,88,6.18,2.22,-5.68,0.000,4,0.239,0.044,1546,1998,2926,0,0,0,0,0,0
$GC,193,-0.54,-110.3,21.8,-11.4,25,200,0.00,2.33,0.00,0.000,6,0.000,0.054,1537,3418,2930,0,0,0,0,0,0
$GC,341,-0.54,-110.3,45.5,-16.8,50,347,0.00,0.85,0.00,0.000,4,0.000,0.060,1533,3943,2930,0,0,0,0,0,0
$GC,390,-0.54,-110.3,53.8,-17.2,58,397,0.00,0.80,0.00,0.000,6,0.000,0.037,1533,3420,2930,0,0,0,0,0,0
$GC,746,-0.54,-110.3,105.8,-15.8,117,750,0.00,0.88,0.00,0.000,4,0.000,0.062,1529,3946,2931,0,0,0,0,0,0
$GC,825,-0.54,-110.3,119.8,-17.7,124,829,0.00,0.80,0.00,0.000,6,0.000,0.037,1529,3419,2932,0,0,0,0,0,0
$GC,1155,-0.54,-110.3,174.7,-15.6,155,1159,0.00,2.15,0.00,0.000,4,0.000,0.031,1529,1997,2933,0,0,0,0,0,0
$GC,1186,-0.54,-110.3,178.7,-14.3,157,1190,0.00,2.30,0.00,0.000,6,0.000,0.054,1518,3429,2933,0,0,0,0,0,0
$GC,1516,-0.54,-110.3,231.2,-16.0,188,1519,0.00,0.82,0.00,0.000,4,0.000,0.060,1514,3949,2933,0,0,0,0,0,0
$GC,1561,-0.54,-110.3,238.9,-17.5,192,1565,0.08,0.80,0.00,0.000,6,0.162,0.037,1537,3420,2933,0,0,0,0,0,0
$GC,1890,-0.54,-110.3,282.9,-13.1,223,1894,0.00,2.15,0.00,0.000,4,0.000,0.032,1537,1992,2933,0,0,0,0,0,0
$GC,1924,-0.54,-110.3,287.2,-11.3,225,1931,0.00,2.33,0.00,0.000,6,0.000,0.054,1528,3415,2933,0,0,0,0,0,0
$GC,2249,-0.54,-110.3,332.8,-14.6,256,2252,0.00,0.85,0.00,0.000,4,0.000,0.061,1524,3950,2933,0,0,0,0,0,0
$GC,2308,-0.54,-110.3,341.3,-15.1,261,2311,0.00,0.80,0.00,0.000,6,0.000,0.038,1524,3417,2933,0,0,0,0,0,0
$GC,2638,-0.54,-110.3,388.7,-14.2,292,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3417,2933,0,0,0,0,0,0
$GC,2950,-0.54,-110.3,431.1,-13.3,311,2953,0.00,0.85,0.00,0.000,4,0.000,0.063,1520,3947,2933,0,0,0,0,0,0
$GC,3021,-0.54,-110.3,441.6,-14.0,314,3026,0.00,0.82,0.00,0.000,6,0.000,0.039,1520,3414,2933,0,0,0,0,0,0
$GC,3349,-0.54,-110.3,484.4,-13.0,330,3350,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3414,2932,0,0,0,0,0,0
$GC,3658,-0.54,-110.3,525.9,-13.8,345,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3414,2932,0,0,0,0,0,0
$GC,3967,-0.54,-110.3,568.7,-13.8,360,3969,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3414,2931,0,0,0,0,0,0
$GC,4276,-0.54,-110.3,612.7,-14.5,375,4280,0.00,2.15,0.00,0.000,4,0.000,0.034,1519,2000,2931,0,0,0,0,0,0
$GC,4316,-0.54,-110.3,618.1,-12.9,377,4321,0.12,2.30,0.00,0.000,6,0.164,0.056,1541,3419,2931,0,0,0,0,0,0
$GC,4642,-0.54,-110.3,657.6,-12.1,393,4646,0.00,0.85,0.00,0.000,4,0.000,0.063,1538,3951,2930,0,0,0,0,0,0
$GC,4688,-0.54,-110.3,663.3,-12.9,395,4691,0.00,0.80,0.00,0.000,6,0.000,0.039,1539,3421,2930,0,0,0,0,0,0
$GC,5021,-0.54,-110.3,703.4,-11.8,411,5022,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,3421,2929,0,0,0,0,0,0
$GC,5329,-0.54,-110.3,738.9,-11.3,426,5331,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,3421,2929,0,0,0,0,0,0
$GC,5638,-0.54,-110.3,773.8,-11.4,441,5639,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,3421,2928,0,0,0,0,0,0
$GC,5948,-0.54,-110.3,809.2,-11.3,456,5949,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,3421,2928,0,0,0,0,0,0
$GC,6257,-0.54,-110.3,842.9,-10.6,471,6261,0.00,2.15,0.00,0.000,4,0.000,0.033,1538,1995,2927,0,0,0,0,0,0
$GC,6284,-0.54,-110.3,845.7,-10.2,472,6288,0.00,2.33,0.00,0.000,6,0.000,0.055,1528,3419,2928,0,0,0,0,0,0
$GC,6607,-0.54,-110.3,881.2,-11.1,488,6611,0.00,0.85,0.00,0.000,4,0.000,0.063,1523,3951,2927,0,0,0,0,0,0
$GC,6701,-0.54,-110.3,893.1,-13.0,492,6706,0.00,0.82,0.00,0.000,6,0.000,0.038,1524,3418,2927,0,0,0,0,0,0
$GC,7029,-0.54,-110.3,932.6,-11.9,508,7030,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3417,2927,0,0,0,0,0,0
$GC,7340,-0.54,-110.3,968.5,-11.3,523,7341,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3417,2926,0,0,0,0,0,0
$STATE,7543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7543,begin apogee
$GC,7547,-0.09,0.0,991.8,11.4,533,7658,0.55,0.00,107.40,1.865,6,0.155,0.000,1683,3283,2473,0,0,0,0,0,0
$STATE,7659,end apogee,CONTROL_FINISHED_OK
$STATE,7659,begin climb
$GC,7661,0.54,110.3,994.8,0.0,538,7781,0.60,2.47,112.57,1.811,4,0.067,0.033,1901,1858,2023,0,0,0,0,0,0
$GC,7842,0.54,110.3,979.4,12.5,546,7847,0.00,2.50,0.00,0.000,6,0.000,0.050,1902,3276,2015,0,0,0,0,0,0
$GC,8164,0.54,110.3,930.0,15.7,562,8168,0.00,1.12,0.00,0.000,4,0.000,0.060,1902,3949,2010,0,0,0,0,0,0
$GC,8281,0.54,110.3,909.6,16.7,567,8285,0.00,1.08,0.00,0.000,6,0.000,0.038,1907,3279,2010,0,0,0,0,0,0
$GC,8608,0.54,110.3,856.9,16.2,583,8612,0.00,1.10,0.00,0.000,4,0.000,0.060,1907,3951,2007,0,0,0,0,0,0
$GC,8770,0.54,110.3,828.8,17.9,590,8774,0.00,1.05,0.00,0.000,6,0.000,0.037,1912,3271,2007,0,0,0,0,0,0
$GC,9096,0.54,110.3,777.9,15.1,606,9100,0.00,1.12,0.00,0.000,4,0.000,0.059,1912,3958,2006,0,0,0,0,0,0
$GC,9145,0.54,110.3,769.5,17.2,608,9150,0.00,1.08,0.00,0.000,6,0.000,0.036,1917,3272,2006,0,0,0,0,0,0
$GC,9472,0.54,110.3,718.5,15.0,624,9475,0.00,1.10,0.00,0.000,4,0.000,0.059,1917,3950,2005,0,0,0,0,0,0
$GC,9611,0.54,110.3,694.7,17.4,630,9615,0.00,1.05,0.00,0.000,6,0.000,0.035,1922,3274,2005,0,0,0,0,0,0
$GC,9940,0.54,110.3,644.3,15.3,646,9943,0.00,1.10,0.00,0.000,4,0.000,0.059,1922,3953,2004,0,0,0,0,0,0
$GC,10008,0.54,110.3,632.7,16.6,649,10012,0.10,1.02,0.00,0.000,6,0.195,0.037,1900,3280,2004,0,0,0,0,0,0
$GC,10340,0.54,110.3,586.7,13.9,665,10344,0.00,1.10,0.00,0.000,4,0.000,0.060,1900,3955,2003,0,0,0,0,0,0
$GC,10395,0.54,110.3,578.1,15.8,667,10399,0.00,1.05,0.00,0.000,6,0.000,0.036,1904,3281,2003,0,0,0,0,0,0
$GC,10719,0.54,110.3,533.6,13.6,683,10722,0.00,1.10,0.00,0.000,4,0.000,0.060,1903,3956,2003,0,0,0,0,0,0
$GC,10809,0.54,110.3,519.6,15.6,687,10813,0.00,1.02,0.00,0.000,6,0.000,0.037,1909,3285,2003,0,0,0,0,0,0
$GC,11141,0.54,110.3,474.5,13.3,703,11145,0.00,1.08,0.00,0.000,4,0.000,0.060,1909,3948,2003,0,0,0,0,0,0
$GC,11211,0.54,110.3,464.7,14.6,706,11214,0.00,1.02,0.00,0.000,6,0.000,0.037,1914,3277,2002,0,0,0,0,0,0
$GC,11543,0.54,110.3,418.5,14.1,722,11546,0.00,1.10,0.00,0.000,4,0.000,0.059,1914,3956,2002,0,0,0,0,0,0
$GC,11620,0.54,110.3,406.1,16.0,725,11624,0.00,1.02,0.00,0.000,6,0.000,0.037,1919,3282,2003,0,0,0,0,0,0
$GC,11950,0.54,110.3,358.5,14.4,754,11953,0.00,1.08,0.00,0.000,4,0.000,0.059,1919,3946,2002,0,0,0,0,0,0
$GC,12145,0.54,110.3,328.3,15.4,771,12153,0.12,1.05,0.00,0.000,6,0.219,0.036,1897,3265,2002,0,0,0,0,0,0
$GC,12470,0.54,110.3,287.7,12.9,802,12474,0.00,1.12,0.00,0.000,4,0.000,0.060,1897,3955,2001,0,0,0,0,0,0
$GC,12573,0.54,110.3,273.8,14.2,811,12576,0.00,1.02,0.00,0.000,6,0.000,0.037,1901,3279,2001,0,0,0,0,0,0
$GC,12904,0.54,110.3,232.1,12.6,842,12905,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,3279,2001,0,0,0,0,0,0
$GC,13223,0.54,110.3,191.8,11.5,872,13227,0.00,1.10,0.00,0.000,4,0.000,0.060,1901,3956,2001,0,0,0,0,0,0
$GC,13359,0.54,110.3,172.7,14.2,884,13362,0.00,1.02,0.00,0.000,6,0.000,0.037,1906,3280,2001,0,0,0,0,0,0
$GC,13689,0.54,110.3,130.3,12.6,915,13690,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3280,2001,0,0,0,0,0,0
$GC,14013,0.54,110.3,88.7,12.2,953,14019,0.00,1.08,0.00,0.000,4,0.000,0.059,1906,3951,2001,0,0,0,0,0,0
$GC,14268,0.54,110.3,52.8,13.5,997,14275,0.00,1.00,0.00,0.000,6,0.000,0.036,1911,3287,2001,0,0,0,0,0,0
$GC,14629,0.54,112.5,18.3,9.2,1058,14638,0.00,2.17,0.00,0.000,4,0.000,0.031,1922,1863,2001,0,0,0,0,0,0
$GC,14672,0.54,120.2,14.2,8.6,1064,14682,0.00,2.30,1.83,0.192,6,0.000,0.051,1922,3289,1981,0,0,0,0,0,0
$GC,14733,0.54,120.2,8.1,10.5,1073,14741,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3290,1980,0,0,0,0,0,0
$STATE,14785,end climb,SURFACE_DEPTH_REACHED
$STATE,14785,begin surface coast
$FINISH,0.7,1.019275
$STATE,14817,end surface coast,CONTROL_FINISHED_OK
$STATE,14817,begin surface
$SM_CCo,14830,43.85,0.789,0,0,1552,225.18
$SM_GC,1.31,0.00,0.00,43.85,0.000,0.000,0.789,52,3426,1552,-5.21,0.17,225.18
$IRIDIUM_FIX,-4244.98,1547.83,050114,101005
$TT8_MAMPS,0.026215
$HUMID,62.08
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.4,32.296
$10V_AH,9.9,23.646
$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,12.850,71.625,221.800,43.850,0.000,70.498,60.108,514.327,0.000,0.000,21.975,2707.556,9200.602,358.465,3242.464,222.073,0.000,1400.031,0.000,2451.659,0.000,1.010,0.000
$DEVICE_MAMPS,238.680,79.560,1865.070,789.480,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,754.367,1878.036,766.414,400.366,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354356
$DATA_FILE_SIZE,77126,1086
$CAP_FILE_SIZE,141056,0
$CFSIZE,259252224,243052544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050114,145505,-4258.883,831.432,32,0.9,32,-25.1