version: 66.07
glider: 543
mission: 9
dive: 238
start: 1 9 114 18 9 41
data:
$ID,543
$MISSION,9
$DIVE,238
$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,-13289.766
$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,50
$R_STBD_OVSHOOT,23
$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
$GPS1,090114,180104,-4258.936,831.273,26,0.7,26,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-68.2
$GPS2,090114,180917,-4258.927,831.263,18,0.8,18,-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,245.7,2622,-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,-42.17,0.000,2,0.000,0.000,53,3376,2538,0,0,0,0,0,0
$GC,61,-0.56,-87.6,3.2,-4.5,5,80,6.25,0.98,-8.38,0.000,4,0.240,0.090,1527,3958,2834,0,0,0,0,0,0
$GC,203,-0.56,-87.6,29.9,-19.5,27,210,0.00,0.88,0.00,0.000,6,0.000,0.034,1527,3383,2838,0,0,0,0,0,0
$GC,350,-0.56,-87.6,57.5,-20.2,52,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3384,2839,0,0,0,0,0,0
$GC,696,-0.56,-87.6,108.8,-14.1,107,698,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3384,2840,0,0,0,0,0,0
$GC,1018,-0.56,-87.6,152.7,-13.7,137,1021,0.00,0.93,0.00,0.000,4,0.000,0.060,1523,3954,2841,0,0,0,0,0,0
$GC,1086,-0.56,-87.6,163.6,-16.4,143,1090,0.00,0.85,0.00,0.000,6,0.000,0.034,1523,3386,2841,0,0,0,0,0,0
$GC,1416,-0.56,-87.6,212.2,-14.4,174,1420,0.00,2.15,0.00,0.000,4,0.000,0.030,1523,1963,2842,0,0,0,0,0,0
$GC,1448,-0.56,-87.6,216.7,-12.7,176,1457,0.00,2.30,0.00,0.000,6,0.000,0.050,1512,3379,2842,0,0,0,0,0,0
$GC,1773,-0.56,-87.6,267.1,-16.1,207,1774,0.00,0.00,0.00,0.000,6,0.000,0.000,1512,3378,2842,0,0,0,0,0,0
$GC,2095,-0.56,-87.6,319.2,-17.0,237,2099,0.00,2.10,0.00,0.000,4,0.000,0.029,1512,1966,2842,0,0,0,0,0,0
$GC,2135,-0.56,-87.6,326.1,-14.8,240,2140,0.12,2.28,0.00,0.000,6,0.166,0.050,1533,3384,2842,0,0,0,0,0,0
$GC,2460,-0.56,-87.6,373.7,-14.7,270,2464,0.00,0.90,0.00,0.000,4,0.000,0.059,1530,3948,2842,0,0,0,0,0,0
$GC,2496,-0.56,-87.6,378.9,-15.9,273,2500,0.00,0.85,0.00,0.000,6,0.000,0.036,1530,3382,2842,0,0,0,0,0,0
$GC,2830,-0.56,-87.6,426.6,-13.8,296,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3382,2842,0,0,0,0,0,0
$GC,3140,-0.56,-87.6,467.5,-12.9,311,3144,0.00,2.12,0.00,0.000,4,0.000,0.031,1530,1964,2842,0,0,0,0,0,0
$GC,3161,-0.56,-87.6,470.5,-13.1,312,3166,0.00,2.30,0.00,0.000,6,0.000,0.051,1519,3374,2842,0,0,0,0,0,0
$GC,3489,-0.56,-87.6,512.9,-13.1,328,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3374,2841,0,0,0,0,0,0
$GC,3798,-0.56,-87.6,553.2,-13.0,343,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3374,2841,0,0,0,0,0,0
$GC,4107,-0.56,-87.6,594.5,-13.7,358,4111,0.00,0.93,0.00,0.000,4,0.000,0.060,1515,3953,2840,0,0,0,0,0,0
$GC,4145,-0.56,-87.6,600.4,-15.6,359,4153,0.00,0.90,0.00,0.000,6,0.000,0.037,1515,3367,2840,0,0,0,0,0,0
$GC,4462,-0.56,-87.6,644.9,-14.1,375,4465,0.00,0.93,0.00,0.000,4,0.000,0.060,1510,3947,2839,0,0,0,0,0,0
$GC,4544,-0.56,-87.6,657.8,-15.1,378,4552,0.00,0.88,0.00,0.000,6,0.000,0.036,1510,3378,2839,0,0,0,0,0,0
$GC,4862,-0.56,-87.6,700.9,-13.4,394,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,1510,3377,2839,0,0,0,0,0,0
$GC,5170,-0.56,-87.6,740.9,-12.5,409,5171,0.00,0.00,0.00,0.000,6,0.000,0.000,1510,3377,2838,0,0,0,0,0,0
$GC,5479,-0.56,-87.6,779.2,-12.7,424,5480,0.00,0.00,0.00,0.000,6,0.000,0.000,1510,3377,2837,0,0,0,0,0,0
$GC,5789,-0.56,-87.6,818.3,-12.6,439,5790,0.00,0.00,0.00,0.000,6,0.000,0.000,1511,3377,2837,0,0,0,0,0,0
$GC,6098,-0.56,-87.6,857.6,-13.3,454,6102,0.00,0.93,0.00,0.000,4,0.000,0.061,1506,3950,2837,0,0,0,0,0,0
$GC,6192,-0.56,-87.6,872.1,-15.0,458,6197,0.12,0.88,0.00,0.000,6,0.181,0.037,1536,3385,2837,0,0,0,0,0,0
$GC,6520,-0.56,-87.6,910.4,-11.9,474,6521,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3385,2836,0,0,0,0,0,0
$GC,6829,-0.56,-87.6,947.3,-12.3,489,6833,0.00,2.15,0.00,0.000,4,0.000,0.032,1536,1964,2835,0,0,0,0,0,0
$GC,6849,-0.56,-87.6,949.9,-11.6,490,6854,0.00,2.33,0.00,0.000,6,0.000,0.054,1526,3380,2835,0,0,0,0,0,0
$GC,7179,-0.56,-87.6,989.2,-11.8,506,7182,0.00,0.93,0.00,0.000,4,0.000,0.063,1523,3940,2835,0,0,0,0,0,0
$STATE,7187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7187,begin apogee
$GC,7192,-0.09,0.0,990.7,11.7,506,7285,0.52,0.00,86.85,1.866,6,0.161,0.000,1677,3278,2473,0,0,0,0,0,0
$STATE,7286,end apogee,CONTROL_FINISHED_OK
$STATE,7286,begin climb
$GC,7287,0.56,87.6,994.0,0.0,511,7391,0.68,2.45,90.65,1.813,4,0.076,0.031,1910,1876,2115,0,0,0,0,0,0
$GC,7407,0.56,87.6,986.5,10.7,516,7415,0.00,2.50,0.00,0.000,6,0.000,0.050,1910,3278,2112,0,0,0,0,0,0
$GC,7723,0.56,87.6,944.4,13.1,532,7724,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3278,2105,0,0,0,0,0,0
$GC,8035,0.56,87.6,901.1,14.3,547,8038,0.00,1.12,0.00,0.000,4,0.000,0.060,1910,3957,2103,0,0,0,0,0,0
$GC,8102,0.56,87.6,890.4,15.9,550,8106,0.00,1.05,0.00,0.000,6,0.000,0.037,1915,3282,2102,0,0,0,0,0,0
$GC,8435,0.56,87.6,841.7,14.6,566,8438,0.00,1.10,0.00,0.000,4,0.000,0.059,1915,3953,2100,0,0,0,0,0,0
$GC,8517,0.56,87.6,828.5,16.1,569,8525,0.00,1.05,0.00,0.000,6,0.000,0.036,1920,3283,2100,0,0,0,0,0,0
$GC,8834,0.56,87.6,783.7,13.6,585,8835,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3283,2099,0,0,0,0,0,0
$GC,9143,0.56,87.6,741.3,13.7,600,9147,0.00,1.10,0.00,0.000,4,0.000,0.060,1920,3955,2098,0,0,0,0,0,0
$GC,9311,0.56,87.6,716.1,14.7,607,9315,0.00,1.02,0.00,0.000,6,0.000,0.037,1925,3285,2098,0,0,0,0,0,0
$GC,9633,0.56,87.6,672.9,13.5,623,9634,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,3285,2097,0,0,0,0,0,0
$GC,9943,0.56,87.6,631.3,13.5,638,9947,0.00,1.08,0.00,0.000,4,0.000,0.060,1925,3953,2097,0,0,0,0,0,0
$GC,10161,0.56,87.6,598.3,16.1,647,10169,0.00,1.05,0.00,0.000,6,0.000,0.037,1930,3279,2097,0,0,0,0,0,0
$GC,10479,0.56,87.6,554.4,14.1,663,10480,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3279,2096,0,0,0,0,0,0
$GC,10787,0.56,87.6,512.2,13.8,678,10788,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3279,2096,0,0,0,0,0,0
$GC,11097,0.56,87.6,470.2,13.7,693,11101,0.00,2.15,0.00,0.000,4,0.000,0.034,1941,1859,2096,0,0,0,0,0,0
$GC,11168,0.56,87.6,461.1,12.2,696,11173,0.10,2.33,0.00,0.000,6,0.168,0.050,1910,3288,2094,0,0,0,0,0,0
$GC,11490,0.56,87.6,421.7,12.3,712,11494,0.00,1.08,0.00,0.000,4,0.000,0.058,1911,3953,2094,0,0,0,0,0,0
$GC,11750,0.56,87.6,384.8,14.1,728,11754,0.00,1.02,0.00,0.000,6,0.000,0.037,1915,3280,2094,0,0,0,0,0,0
$GC,12081,0.56,87.6,342.1,12.6,759,12084,0.00,1.08,0.00,0.000,4,0.000,0.060,1915,3945,2094,0,0,0,0,0,0
$GC,12174,0.56,87.6,329.3,13.0,767,12182,0.00,1.02,0.00,0.000,6,0.000,0.036,1920,3282,2094,0,0,0,0,0,0
$GC,12500,0.56,87.6,288.5,12.3,798,12504,0.00,1.08,0.00,0.000,4,0.000,0.059,1920,3949,2094,0,0,0,0,0,0
$GC,12603,0.56,87.6,275.3,12.5,807,12606,0.00,1.00,0.00,0.000,6,0.000,0.037,1925,3289,2094,0,0,0,0,0,0
$GC,12933,0.56,87.6,235.2,12.1,838,12937,0.00,1.08,0.00,0.000,4,0.000,0.059,1925,3953,2094,0,0,0,0,0,0
$GC,13061,0.56,87.6,218.6,13.0,849,13069,0.00,1.02,0.00,0.000,6,0.000,0.035,1930,3278,2094,0,0,0,0,0,0
$GC,13386,0.56,87.6,182.8,10.8,880,13388,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,3279,2093,0,0,0,0,0,0
$GC,13706,0.56,87.6,146.0,12.1,910,13707,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3278,2094,0,0,0,0,0,0
$GC,14025,0.56,87.6,106.7,12.4,940,14028,0.00,1.10,0.00,0.000,4,0.000,0.060,1930,3954,2094,0,0,0,0,0,0
$GC,14084,0.56,87.6,98.9,13.1,945,14093,0.08,1.02,0.00,0.000,6,0.197,0.036,1914,3281,2094,0,0,0,0,0,0
$GC,14439,0.56,87.6,60.1,9.5,1006,14446,0.00,1.08,0.00,0.000,4,0.000,0.058,1914,3948,2094,0,0,0,0,0,0
$GC,14704,0.57,95.6,38.2,7.8,1052,14713,0.00,1.00,1.23,0.252,6,0.000,0.036,1917,3289,2080,0,0,0,0,0,0
$GC,14859,0.57,102.1,26.4,8.0,1077,14866,0.00,1.10,2.62,0.496,4,0.000,0.059,1917,3954,2053,0,0,0,0,0,0
$GC,14891,0.58,105.8,23.5,8.3,1082,14901,0.00,1.02,1.42,0.226,6,0.000,0.036,1922,3277,2038,0,0,0,0,0,0
$GC,15050,0.58,105.8,7.7,10.7,1107,15059,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3277,2037,0,0,0,0,0,0
$STATE,15096,end climb,SURFACE_DEPTH_REACHED
$STATE,15096,begin surface coast
$FINISH,0.8,1.019719
$STATE,15128,end surface coast,CONTROL_FINISHED_OK
$STATE,15128,begin surface
$SM_CCo,15141,47.40,0.787,0,0,1575,220.03
$SM_GC,1.24,0.00,0.00,47.40,0.000,0.000,0.787,58,3390,1575,-5.20,0.28,220.03
$IRIDIUM_FIX,-4244.98,831.12,090114,131310
$TT8_MAMPS,0.025466
$HUMID,61.41
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.3,35.452
$10V_AH,9.9,26.350
$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,12.875,63.350,182.775,47.400,0.000,25.821,26.326,309.967,0.000,0.000,20.847,2762.786,9387.051,350.231,2942.386,238.736,0.000,1380.401,0.000,2454.580,0.000,1.011,0.000
$DEVICE_MAMPS,240.210,89.505,1865.835,787.185,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,776.624,1916.993,782.162,395.813,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354416
$DATA_FILE_SIZE,80291,1119
$CAP_FILE_SIZE,136315,0
$CFSIZE,259252224,241250304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090114,222404,-4259.634,830.252,39,0.9,39,-25.0