version: 66.07
glider: 543
mission: 9
dive: 226
start: 1 7 114 11 48 40
data:
$ID,543
$MISSION,9
$DIVE,226
$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,-13250.486
$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,35
$R_STBD_OVSHOOT,19
$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
$GPS1,070114,113659,-4300.055,829.411,41,0.8,41,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-69.4
$GPS2,070114,114817,-4259.997,829.420,17,0.8,18,-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,115.5,786,-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,-51.0,0.0,0.0,0,59,0.00,0.00,-41.78,0.000,2,0.000,0.000,54,3429,2508,0,0,0,0,0,0
$GC,61,-0.57,-91.8,3.0,-4.0,5,88,6.15,2.35,-10.32,0.000,4,0.235,0.045,1532,1947,2851,0,0,0,0,0,0
$GC,216,-0.57,-91.8,23.5,-13.2,29,223,0.00,2.38,0.00,0.000,6,0.000,0.056,1522,3385,2853,0,0,0,0,0,0
$GC,363,-0.57,-91.8,49.8,-18.4,54,372,0.00,0.90,0.00,0.000,4,0.000,0.061,1518,3941,2854,0,0,0,0,0,0
$GC,547,-0.57,-91.8,81.3,-16.3,85,553,0.00,0.88,0.00,0.000,6,0.000,0.039,1518,3374,2855,0,0,0,0,0,0
$GC,885,-0.57,-91.8,134.4,-15.5,126,889,0.00,0.93,0.00,0.000,4,0.000,0.063,1514,3947,2856,0,0,0,0,0,0
$GC,1148,-0.57,-91.8,179.3,-16.8,149,1151,0.00,0.88,0.00,0.000,6,0.000,0.037,1514,3369,2857,0,0,0,0,0,0
$GC,1478,-0.57,-91.8,233.1,-15.9,180,1481,0.00,0.93,0.00,0.000,4,0.000,0.061,1510,3947,2857,0,0,0,0,0,0
$GC,1738,-0.57,-91.8,277.3,-16.9,203,1741,0.00,0.85,0.00,0.000,6,0.000,0.037,1510,3385,2857,0,0,0,0,0,0
$GC,2068,-0.57,-91.8,328.4,-14.8,234,2071,0.00,0.90,0.00,0.000,4,0.000,0.060,1506,3947,2857,0,0,0,0,0,0
$GC,2331,-0.57,-91.8,368.7,-14.9,257,2335,0.05,0.85,0.00,0.000,6,0.175,0.037,1521,3385,2857,0,0,0,0,0,0
$GC,2670,-0.57,-91.8,410.7,-12.0,285,2674,0.00,0.90,0.00,0.000,4,0.000,0.062,1518,3947,2857,0,0,0,0,0,0
$GC,2929,-0.57,-91.8,445.8,-13.8,296,2932,0.00,0.88,0.00,0.000,6,0.000,0.038,1518,3372,2857,0,0,0,0,0,0
$GC,3250,-0.57,-91.8,487.8,-13.4,312,3253,0.00,0.93,0.00,0.000,4,0.000,0.063,1514,3947,2857,0,0,0,0,0,0
$GC,3506,-0.57,-91.8,526.0,-14.3,323,3510,0.00,0.88,0.00,0.000,6,0.000,0.038,1514,3379,2856,0,0,0,0,0,0
$GC,3828,-0.57,-91.8,569.9,-13.6,339,3832,0.00,0.90,0.00,0.000,4,0.000,0.061,1510,3941,2855,0,0,0,0,0,0
$GC,4085,-0.57,-91.8,608.6,-14.5,350,4089,0.00,0.88,0.00,0.000,6,0.000,0.039,1509,3378,2855,0,0,0,0,0,0
$GC,4408,-0.57,-91.8,653.3,-13.7,366,4411,0.00,0.93,0.00,0.000,4,0.000,0.060,1505,3956,2854,0,0,0,0,0,0
$GC,4665,-0.57,-91.8,692.6,-14.9,377,4670,0.12,0.90,0.00,0.000,6,0.183,0.037,1536,3371,2854,0,0,0,0,0,0
$GC,4986,-0.57,-91.8,728.4,-10.7,393,4990,0.00,0.93,0.00,0.000,4,0.000,0.063,1532,3947,2853,0,0,0,0,0,0
$GC,5198,-0.57,-91.8,753.4,-12.4,402,5203,0.00,0.88,0.00,0.000,6,0.000,0.037,1532,3381,2853,0,0,0,0,0,0
$GC,5520,-0.57,-91.8,789.7,-11.7,418,5524,0.00,0.93,0.00,0.000,4,0.000,0.063,1528,3942,2852,0,0,0,0,0,0
$GC,5610,-0.57,-91.8,800.7,-11.8,422,5614,0.00,0.85,0.00,0.000,6,0.000,0.038,1528,3381,2851,0,0,0,0,0,0
$GC,5943,-0.57,-91.8,839.0,-11.3,438,5946,0.00,0.90,0.00,0.000,4,0.000,0.062,1524,3942,2851,0,0,0,0,0,0
$GC,6048,-0.57,-91.8,852.1,-11.9,442,6055,0.00,0.88,0.00,0.000,6,0.000,0.037,1524,3374,2851,0,0,0,0,0,0
$GC,6364,-0.57,-91.8,888.9,-11.8,458,6368,0.00,0.93,0.00,0.000,4,0.000,0.063,1520,3948,2850,0,0,0,0,0,0
$GC,6567,-0.57,-91.8,914.7,-12.9,467,6571,0.00,0.85,0.00,0.000,6,0.000,0.038,1520,3386,2849,0,0,0,0,0,0
$GC,6899,-0.57,-91.8,952.2,-11.3,483,6903,0.00,0.90,0.00,0.000,4,0.000,0.062,1516,3949,2849,0,0,0,0,0,0
$GC,7038,-0.57,-91.8,968.7,-11.4,489,7043,0.00,0.90,0.00,0.000,6,0.000,0.038,1516,3366,2849,0,0,0,0,0,0
$STATE,7240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7240,begin apogee
$GC,7245,-0.09,0.0,990.1,10.5,499,7343,0.57,0.00,89.90,1.867,6,0.158,0.000,1682,3283,2473,0,0,0,0,0,0
$STATE,7344,end apogee,CONTROL_FINISHED_OK
$STATE,7344,begin climb
$GC,7346,0.57,91.8,991.4,0.0,504,7449,0.62,0.00,94.68,1.809,6,0.073,0.000,1898,3283,2098,0,0,0,0,0,0
$GC,7757,0.57,91.8,934.6,15.8,524,7761,0.00,2.22,0.00,0.000,4,0.000,0.032,1909,1870,2087,0,0,0,0,0,0
$GC,7864,0.57,91.8,919.8,13.8,529,7868,0.00,2.35,0.00,0.000,6,0.000,0.052,1909,3284,2084,0,0,0,0,0,0
$GC,8190,0.57,91.8,869.3,14.7,545,8194,0.00,1.10,0.00,0.000,4,0.000,0.060,1909,3952,2083,0,0,0,0,0,0
$GC,8235,0.57,91.8,862.1,16.5,547,8239,0.00,1.02,0.00,0.000,6,0.000,0.037,1914,3290,2083,0,0,0,0,0,0
$GC,8567,0.57,91.8,813.3,14.2,563,8571,0.00,2.22,0.00,0.000,4,0.000,0.034,1925,1856,2081,0,0,0,0,0,0
$GC,8622,0.57,91.8,806.2,12.2,565,8630,0.00,2.35,0.00,0.000,6,0.000,0.051,1925,3284,2080,0,0,0,0,0,0
$GC,8938,0.57,91.8,761.8,13.9,581,8942,0.00,2.20,0.00,0.000,4,0.000,0.033,1936,1861,2080,0,0,0,0,0,0
$GC,8981,0.57,91.8,756.0,12.5,583,8987,0.10,2.35,0.00,0.000,6,0.165,0.051,1906,3291,2079,0,0,0,0,0,0
$GC,9309,0.57,91.8,714.8,12.5,599,9310,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3291,2079,0,0,0,0,0,0
$GC,9618,0.57,91.8,673.9,13.1,614,9622,0.00,2.20,0.00,0.000,4,0.000,0.032,1916,1853,2079,0,0,0,0,0,0
$GC,9666,0.57,91.8,667.8,11.8,616,9671,0.00,2.35,0.00,0.000,6,0.000,0.051,1917,3287,2077,0,0,0,0,0,0
$GC,9990,0.57,91.8,622.9,14.3,632,9994,0.00,2.17,0.00,0.000,4,0.000,0.032,1927,1857,2078,0,0,0,0,0,0
$GC,10032,0.57,91.8,616.9,13.0,634,10037,0.00,2.33,0.00,0.000,6,0.000,0.051,1927,3279,2077,0,0,0,0,0,0
$GC,10360,0.57,91.8,569.1,15.1,650,10364,0.00,2.20,0.00,0.000,4,0.000,0.035,1938,1854,2077,0,0,0,0,0,0
$GC,10437,0.57,91.8,558.4,13.0,653,10446,0.10,2.35,0.00,0.000,6,0.168,0.053,1909,3289,2077,0,0,0,0,0,0
$GC,10756,0.57,91.8,513.6,14.2,669,10760,0.00,2.20,0.00,0.000,4,0.000,0.034,1919,1860,2076,0,0,0,0,0,0
$GC,10798,0.57,91.8,507.3,13.0,671,10803,0.00,2.35,0.00,0.000,6,0.000,0.053,1919,3290,2076,0,0,0,0,0,0
$GC,11126,0.57,91.8,461.7,13.2,687,11130,0.00,2.20,0.00,0.000,4,0.000,0.034,1930,1861,2076,0,0,0,0,0,0
$GC,11158,0.57,91.8,457.6,11.2,688,11165,0.00,2.33,0.00,0.000,6,0.000,0.054,1930,3279,2076,0,0,0,0,0,0
$GC,11474,0.57,91.8,417.4,12.6,704,11478,0.00,2.17,0.00,0.000,4,0.000,0.034,1941,1863,2075,0,0,0,0,0,0
$GC,11505,0.57,91.8,413.8,11.2,705,11514,0.10,2.33,0.00,0.000,6,0.171,0.054,1911,3282,2076,0,0,0,0,0,0
$GC,11828,0.57,91.8,377.7,11.4,730,11832,0.00,1.08,0.00,0.000,4,0.000,0.062,1911,3944,2075,0,0,0,0,0,0
$GC,11885,0.57,91.8,370.1,14.2,735,11889,0.00,1.02,0.00,0.000,6,0.000,0.039,1915,3279,2075,0,0,0,0,0,0
$GC,12215,0.57,91.8,328.5,12.9,766,12219,0.00,1.08,0.00,0.000,4,0.000,0.063,1914,3941,2075,0,0,0,0,0,0
$GC,12251,0.57,91.8,323.8,14.1,769,12255,0.00,1.00,0.00,0.000,6,0.000,0.040,1919,3290,2075,0,0,0,0,0,0
$GC,12580,0.57,91.8,280.8,12.5,800,12584,0.00,2.20,0.00,0.000,4,0.000,0.035,1931,1856,2075,0,0,0,0,0,0
$GC,12601,0.57,91.8,278.1,11.7,801,12610,0.00,2.33,0.00,0.000,6,0.000,0.054,1931,3279,2075,0,0,0,0,0,0
$GC,12927,0.57,91.8,235.0,13.0,832,12931,0.00,2.17,0.00,0.000,4,0.000,0.034,1941,1859,2074,0,0,0,0,0,0
$GC,12982,0.57,91.8,228.1,11.8,836,12994,0.10,2.33,0.00,0.000,6,0.169,0.054,1912,3278,2074,0,0,0,0,0,0
$GC,13308,0.57,91.8,187.7,12.4,867,13310,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3278,2074,0,0,0,0,0,0
$GC,13630,0.57,91.8,150.3,11.6,897,13636,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3278,2074,0,0,0,0,0,0
$GC,13956,0.57,91.8,111.0,12.0,928,13957,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3278,2074,0,0,0,0,0,0
$GC,14290,0.57,91.8,68.5,12.5,979,14296,0.00,1.10,0.00,0.000,4,0.000,0.059,1912,3958,2074,0,0,0,0,0,0
$GC,14388,0.57,91.8,55.0,12.0,996,14397,0.00,1.02,0.00,0.000,6,0.000,0.036,1915,3279,2074,0,0,0,0,0,0
$GC,14749,0.58,108.0,25.4,6.8,1057,14765,0.00,2.20,4.50,0.722,4,0.000,0.031,1927,1856,2029,0,0,0,0,0,0
$GC,14967,0.58,109.0,7.4,8.6,1092,14977,0.00,2.33,0.00,0.000,6,0.000,0.050,1927,3296,2028,0,0,0,0,0,0
$STATE,15020,end climb,SURFACE_DEPTH_REACHED
$STATE,15020,begin surface coast
$FINISH,0.8,1.016808
$STATE,15065,end surface coast,CONTROL_FINISHED_OK
$STATE,15065,begin surface
$SM_CCo,15078,46.33,0.793,0,0,1575,220.03
$SM_GC,1.22,0.00,0.00,46.33,0.000,0.000,0.793,53,3417,1575,-5.21,1.02,220.03
$IRIDIUM_FIX,-4244.98,831.12,070114,111143
$TT8_MAMPS,0.025466
$HUMID,61.45
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.4,33.863
$10V_AH,9.9,24.931
$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,12.925,91.025,189.075,46.325,0.000,51.157,121.301,314.327,0.000,0.000,21.156,2807.629,9024.396,375.200,3361.600,231.066,0.000,1533.247,0.000,2735.090,0.000,1.011,0.000
$DEVICE_MAMPS,234.855,84.915,1867.365,792.540,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,768.292,1929.453,804.797,448.372,0.000,0.000,0.000,0.000,0.000,0.000
$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,80319,1107
$CAP_FILE_SIZE,147384,0
$CFSIZE,259252224,242184192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,070114,160158,-4300.038,831.615,38,0.9,38,-25.1