version: 66.07
glider: 543
mission: 9
dive: 221
start: 1 6 114 13 46 42
data:
$ID,543
$MISSION,9
$DIVE,221
$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,-13232.881
$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,39
$R_STBD_OVSHOOT,21
$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
$GPS1,060114,133729,-4300.010,828.717,37,1.1,37,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-69.1
$GPS2,060114,134617,-4259.943,828.756,20,1.1,20,-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,118.6,1688,-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,-49.22,0.000,2,0.000,0.000,45,3418,2689,0,0,0,0,0,0
$GC,68,-0.53,-104.4,3.3,-4.3,6,87,6.25,0.82,-5.68,0.000,4,0.238,0.089,1539,3955,2903,0,0,0,0,0,0
$GC,351,-0.53,-104.4,57.2,-17.9,53,357,0.00,0.82,0.00,0.000,6,0.000,0.038,1539,3419,2907,0,0,0,0,0,0
$GC,700,-0.53,-104.4,111.4,-14.9,108,701,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,3419,2909,0,0,0,0,0,0
$GC,1019,-0.53,-104.4,156.6,-13.6,138,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,3419,2909,0,0,0,0,0,0
$GC,1338,-0.53,-104.4,197.7,-12.8,168,1342,0.00,0.85,0.00,0.000,4,0.000,0.061,1535,3948,2910,0,0,0,0,0,0
$GC,1397,-0.53,-104.4,205.3,-13.1,173,1401,0.00,0.80,0.00,0.000,6,0.000,0.037,1535,3419,2910,0,0,0,0,0,0
$GC,1728,-0.53,-104.4,249.0,-13.4,204,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,1535,3418,2911,0,0,0,0,0,0
$GC,2047,-0.53,-104.4,290.7,-12.5,234,2048,0.00,0.00,0.00,0.000,6,0.000,0.000,1535,3418,2911,0,0,0,0,0,0
$GC,2366,-0.53,-104.4,332.1,-13.4,264,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,1535,3419,2911,0,0,0,0,0,0
$GC,2684,-0.53,-104.4,374.6,-13.5,294,2688,0.00,2.12,0.00,0.000,4,0.000,0.033,1535,1999,2911,0,0,0,0,0,0
$GC,2715,-0.53,-104.4,379.0,-12.4,296,2725,0.00,2.33,0.00,0.000,6,0.000,0.054,1524,3421,2910,0,0,0,0,0,0
$GC,3037,-0.53,-104.4,427.1,-15.4,319,3041,0.00,0.85,0.00,0.000,4,0.000,0.060,1520,3956,2911,0,0,0,0,0,0
$GC,3091,-0.53,-104.4,436.5,-16.9,321,3096,0.00,0.82,0.00,0.000,6,0.000,0.037,1520,3416,2910,0,0,0,0,0,0
$GC,3414,-0.53,-104.4,486.2,-15.1,337,3417,0.00,0.85,0.00,0.000,4,0.000,0.060,1516,3948,2910,0,0,0,0,0,0
$GC,3462,-0.53,-104.4,494.3,-16.0,339,3467,0.12,0.82,0.00,0.000,6,0.177,0.037,1547,3413,2910,0,0,0,0,0,0
$GC,3790,-0.53,-104.4,533.8,-11.7,355,3791,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,3413,2910,0,0,0,0,0,0
$GC,4100,-0.53,-104.4,569.1,-11.1,370,4103,0.00,0.85,0.00,0.000,4,0.000,0.063,1544,3941,2909,0,0,0,0,0,0
$GC,4171,-0.53,-104.4,577.8,-12.2,373,4176,0.00,0.80,0.00,0.000,6,0.000,0.039,1544,3421,2909,0,0,0,0,0,0
$GC,4498,-0.53,-104.4,616.6,-12.1,389,4499,0.00,0.00,0.00,0.000,6,0.000,0.000,1544,3421,2908,0,0,0,0,0,0
$GC,4807,-0.53,-104.4,655.1,-12.5,404,4809,0.00,0.00,0.00,0.000,6,0.000,0.000,1544,3421,2908,0,0,0,0,0,0
$GC,5118,-0.53,-104.4,693.4,-12.4,419,5122,0.00,0.85,0.00,0.000,4,0.000,0.062,1540,3950,2907,0,0,0,0,0,0
$GC,5178,-0.53,-104.4,701.5,-12.5,421,5186,0.00,0.82,0.00,0.000,6,0.000,0.037,1540,3412,2907,0,0,0,0,0,0
$GC,5495,-0.53,-104.4,739.0,-11.6,437,5498,0.00,0.88,0.00,0.000,4,0.000,0.062,1536,3956,2907,0,0,0,0,0,0
$GC,5540,-0.53,-104.4,744.2,-11.8,439,5543,0.00,0.80,0.00,0.000,6,0.000,0.040,1536,3428,2907,0,0,0,0,0,0
$GC,5872,-0.53,-104.4,781.1,-10.8,455,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3427,2906,0,0,0,0,0,0
$GC,6181,-0.53,-104.4,813.8,-10.2,470,6182,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3427,2906,0,0,0,0,0,0
$GC,6491,-0.53,-104.4,847.2,-11.0,485,6492,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3427,2905,0,0,0,0,0,0
$GC,6802,-0.53,-104.4,881.3,-11.5,500,6803,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3427,2905,0,0,0,0,0,0
$GC,7109,-0.53,-104.4,916.6,-11.6,515,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3428,2905,0,0,0,0,0,0
$GC,7418,-0.53,-104.4,951.0,-10.9,530,7420,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3427,2904,0,0,0,0,0,0
$GC,7728,-0.53,-104.4,983.9,-10.6,545,7732,0.00,0.85,0.00,0.000,4,0.000,0.063,1532,3953,2903,0,0,0,0,0,0
$STATE,7781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7781,begin apogee
$GC,7787,-0.09,0.0,990.1,11.2,547,7892,0.50,0.00,102.47,1.860,6,0.149,0.000,1683,3275,2473,0,0,0,0,0,0
$STATE,7893,end apogee,CONTROL_FINISHED_OK
$STATE,7893,begin climb
$GC,7895,0.53,104.4,992.4,0.0,552,8010,0.60,2.47,106.72,1.808,4,0.069,0.032,1899,1867,2047,0,0,0,0,0,0
$GC,8060,0.53,104.4,978.7,12.6,559,8068,0.00,2.50,0.00,0.000,6,0.000,0.051,1899,3278,2042,0,0,0,0,0,0
$GC,8376,0.53,104.4,928.6,16.0,575,8380,0.00,1.12,0.00,0.000,4,0.000,0.059,1900,3948,2035,0,0,0,0,0,0
$GC,8422,0.53,104.4,920.5,18.4,577,8425,0.00,1.05,0.00,0.000,6,0.000,0.037,1904,3283,2035,0,0,0,0,0,0
$GC,8756,0.53,104.4,866.2,16.0,593,8760,0.00,2.22,0.00,0.000,4,0.000,0.034,1915,1857,2033,0,0,0,0,0,0
$GC,8810,0.53,104.4,857.5,13.7,595,8818,0.00,2.38,0.00,0.000,6,0.000,0.052,1915,3284,2031,0,0,0,0,0,0
$GC,9127,0.53,104.4,804.3,16.7,611,9131,0.00,2.22,0.00,0.000,4,0.000,0.034,1927,1856,2030,0,0,0,0,0,0
$GC,9144,0.53,104.4,801.5,16.8,612,9149,0.12,2.33,0.00,0.000,6,0.190,0.052,1898,3282,2030,0,0,0,0,0,0
$GC,9472,0.53,104.4,752.0,14.8,628,9476,0.00,2.20,0.00,0.000,4,0.000,0.035,1907,1860,2029,0,0,0,0,0,0
$GC,9511,0.53,104.4,746.3,13.4,630,9515,0.00,2.33,0.00,0.000,6,0.000,0.053,1907,3288,2028,0,0,0,0,0,0
$GC,9838,0.53,104.4,694.6,15.9,646,9839,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3288,2028,0,0,0,0,0,0
$GC,10149,0.53,104.4,645.2,15.5,661,10150,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3288,2028,0,0,0,0,0,0
$GC,10456,0.53,104.4,598.3,15.0,676,10460,0.00,2.20,0.00,0.000,4,0.000,0.034,1918,1860,2027,0,0,0,0,0,0
$GC,10500,0.53,104.4,592.2,13.4,678,10504,0.00,2.33,0.00,0.000,6,0.000,0.054,1919,3274,2027,0,0,0,0,0,0
$GC,10829,0.53,104.4,542.4,15.2,694,10830,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3274,2026,0,0,0,0,0,0
$GC,11137,0.53,104.4,496.5,14.7,709,11138,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3274,2027,0,0,0,0,0,0
$GC,11446,0.53,104.4,452.1,14.3,724,11450,0.00,2.17,0.00,0.000,4,0.000,0.037,1929,1860,2026,0,0,0,0,0,0
$GC,11483,0.53,104.4,447.1,12.1,725,11491,0.10,2.35,0.00,0.000,6,0.168,0.055,1900,3285,2026,0,0,0,0,0,0
$GC,11800,0.53,104.4,408.2,12.0,741,11801,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,3285,2026,0,0,0,0,0,0
$GC,12115,0.53,104.4,370.5,12.2,767,12117,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,3285,2026,0,0,0,0,0,0
$GC,12438,0.53,104.4,332.4,12.1,797,12442,0.00,2.20,0.00,0.000,4,0.000,0.037,1909,1860,2025,0,0,0,0,0,0
$GC,12470,0.53,104.4,328.0,11.2,799,12477,0.00,2.35,0.00,0.000,6,0.000,0.056,1910,3284,2026,0,0,0,0,0,0
$GC,12796,0.53,104.4,284.9,14.4,830,12800,0.00,2.20,0.00,0.000,4,0.000,0.037,1921,1857,2026,0,0,0,0,0,0
$GC,12858,0.53,104.4,276.8,12.3,835,12862,0.00,2.33,0.00,0.000,6,0.000,0.057,1921,3288,2025,0,0,0,0,0,0
$GC,13185,0.53,104.4,227.2,15.8,865,13189,0.00,2.20,0.00,0.000,4,0.000,0.036,1933,1858,2025,0,0,0,0,0,0
$GC,13213,0.53,104.4,222.9,13.8,867,13218,0.15,2.30,0.00,0.000,6,0.185,0.056,1895,3281,2025,0,0,0,0,0,0
$GC,13540,0.53,104.4,179.7,12.6,897,13541,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,3282,2025,0,0,0,0,0,0
$GC,13857,0.53,104.4,142.6,11.7,927,13861,0.00,1.08,0.00,0.000,4,0.000,0.060,1895,3951,2025,0,0,0,0,0,0
$GC,13895,0.53,104.4,137.6,13.0,930,13903,0.00,1.05,0.00,0.000,6,0.000,0.037,1898,3271,2025,0,0,0,0,0,0
$GC,14223,0.53,104.4,101.9,10.7,961,14224,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3271,2025,0,0,0,0,0,0
$GC,14562,0.53,104.4,66.5,10.4,1019,14568,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3271,2025,0,0,0,0,0,0
$GC,14913,0.53,106.7,33.3,9.2,1080,14922,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3271,2025,0,0,0,0,0,0
$GC,15066,0.54,110.1,19.8,9.1,1105,15075,0.00,1.10,0.00,0.000,4,0.000,0.060,1899,3952,2025,0,0,0,0,0,0
$STATE,15223,end climb,SURFACE_DEPTH_REACHED
$STATE,15223,begin surface coast
$FINISH,0.7,1.026186
$STATE,15255,end surface coast,CONTROL_FINISHED_OK
$STATE,15255,begin surface
$SM_CCo,15268,48.15,0.789,0,0,1551,225.18
$SM_GC,1.72,0.00,0.00,48.15,0.000,0.000,0.789,53,3412,1551,-5.21,-0.23,225.18
$IRIDIUM_FIX,-4244.98,828.21,060114,090927
$TT8_MAMPS,0.026215
$HUMID,61.61
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.3,33.150
$10V_AH,9.9,24.346
$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,12.875,65.500,209.200,48.150,0.000,24.712,42.514,329.517,0.000,0.000,21.872,2768.800,9617.639,355.883,2885.608,216.487,0.000,1337.078,0.000,2362.128,0.000,1.008,0.000
$DEVICE_MAMPS,237.915,88.740,1860.480,788.715,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,788.395,1953.863,788.497,389.061,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354468
$DATA_FILE_SIZE,80606,1135
$CAP_FILE_SIZE,130329,0
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$GPS,060114,180304,-4259.712,831.253,30,0.8,30,-25.1