version: 66.07
glider: 543
mission: 9
dive: 248
start: 1 11 114 15 15 33
data:
$ID,543
$MISSION,9
$DIVE,248
$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,-13322.312
$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,45
$R_STBD_OVSHOOT,51
$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
$GPS1,110114,150328,-4258.711,829.498,42,0.8,46,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-60.7
$GPS2,110114,151510,-4258.590,829.555,22,1.2,22,-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,192.0,2679,-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,-41.62,0.000,2,0.000,0.000,58,3419,2508,0,0,0,0,0,0
$GC,61,-0.56,-81.1,3.1,-5.2,5,80,6.18,0.85,-8.52,0.000,4,0.236,0.095,1527,3915,2807,0,0,0,0,0,0
$GC,298,-0.56,-81.1,46.3,-17.9,44,305,0.00,0.82,0.00,0.000,6,0.000,0.034,1527,3376,2810,0,0,0,0,0,0
$GC,648,-0.56,-81.1,98.4,-15.5,105,656,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3376,2812,0,0,0,0,0,0
$GC,985,-0.56,-81.1,149.7,-16.0,137,988,0.00,0.88,0.00,0.000,4,0.000,0.058,1523,3914,2813,0,0,0,0,0,0
$GC,1137,-0.56,-81.1,175.5,-16.2,150,1143,0.00,0.82,0.00,0.000,6,0.000,0.034,1523,3369,2813,0,0,0,0,0,0
$GC,1463,-0.56,-81.1,224.6,-14.5,181,1467,0.00,0.88,0.00,0.000,4,0.000,0.058,1519,3913,2813,0,0,0,0,0,0
$GC,1535,-0.56,-81.1,236.2,-15.9,187,1543,0.00,0.82,0.00,0.000,6,0.000,0.034,1519,3374,2813,0,0,0,0,0,0
$GC,1861,-0.56,-81.1,281.1,-13.0,218,1864,0.00,0.88,0.00,0.000,4,0.000,0.057,1515,3917,2813,0,0,0,0,0,0
$GC,1906,-0.56,-81.1,287.6,-14.8,222,1910,0.00,0.80,0.00,0.000,6,0.000,0.035,1515,3385,2813,0,0,0,0,0,0
$GC,2239,-0.56,-81.1,331.1,-13.2,253,2240,0.00,0.00,0.00,0.000,6,0.000,0.000,1515,3385,2813,0,0,0,0,0,0
$GC,2556,-0.56,-81.1,373.5,-13.9,283,2559,0.00,0.85,0.00,0.000,4,0.000,0.058,1511,3914,2813,0,0,0,0,0,0
$GC,2661,-0.56,-81.1,389.6,-14.8,292,2671,0.00,0.82,0.00,0.000,6,0.000,0.035,1511,3374,2813,0,0,0,0,0,0
$GC,2990,-0.56,-81.1,435.1,-13.9,312,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,1511,3374,2813,0,0,0,0,0,0
$GC,3299,-0.56,-81.1,476.6,-13.3,327,3303,0.00,0.88,0.00,0.000,4,0.000,0.059,1507,3919,2813,0,0,0,0,0,0
$GC,3404,-0.56,-81.1,492.2,-14.8,331,3413,0.12,0.82,0.00,0.000,6,0.177,0.035,1538,3384,2813,0,0,0,0,0,0
$GC,3722,-0.56,-81.1,527.6,-11.3,347,3726,0.00,0.85,0.00,0.000,4,0.000,0.060,1535,3912,2812,0,0,0,0,0,0
$GC,3799,-0.56,-81.1,537.5,-12.0,350,3804,0.00,0.82,0.00,0.000,6,0.000,0.036,1535,3378,2813,0,0,0,0,0,0
$GC,4122,-0.56,-81.1,575.8,-12.2,366,4125,0.00,0.88,0.00,0.000,4,0.000,0.060,1531,3917,2812,0,0,0,0,0,0
$GC,4199,-0.56,-81.1,586.2,-13.6,369,4204,0.00,0.85,0.00,0.000,6,0.000,0.036,1531,3367,2812,0,0,0,0,0,0
$GC,4521,-0.56,-81.1,626.8,-12.7,385,4524,0.00,0.88,0.00,0.000,4,0.000,0.061,1527,3910,2811,0,0,0,0,0,0
$GC,4581,-0.56,-81.1,635.4,-14.7,387,4589,0.00,0.82,0.00,0.000,6,0.000,0.036,1527,3378,2811,0,0,0,0,0,0
$GC,4899,-0.56,-81.1,678.2,-13.9,403,4900,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3378,2810,0,0,0,0,0,0
$GC,5206,-0.56,-81.1,719.2,-13.2,418,5210,0.00,0.88,0.00,0.000,4,0.000,0.061,1523,3916,2809,0,0,0,0,0,0
$GC,5284,-0.56,-81.1,730.2,-14.0,421,5289,0.00,0.82,0.00,0.000,6,0.000,0.037,1524,3382,2809,0,0,0,0,0,0
$GC,5606,-0.56,-81.1,771.5,-12.4,437,5607,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3382,2809,0,0,0,0,0,0
$GC,5915,-0.56,-81.1,809.0,-11.8,452,5916,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3382,2808,0,0,0,0,0,0
$GC,6224,-0.56,-81.1,842.9,-10.9,467,6228,0.00,0.88,0.00,0.000,4,0.000,0.061,1519,3917,2808,0,0,0,0,0,0
$GC,6295,-0.56,-81.1,851.1,-11.3,470,6299,0.00,0.85,0.00,0.000,6,0.000,0.037,1520,3371,2808,0,0,0,0,0,0
$GC,6624,-0.56,-81.1,886.0,-10.4,486,6625,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3372,2808,0,0,0,0,0,0
$GC,6932,-0.56,-81.1,917.9,-10.2,501,6935,0.00,0.88,0.00,0.000,4,0.000,0.062,1516,3911,2807,0,0,0,0,0,0
$GC,7048,-0.56,-81.1,930.9,-10.5,506,7053,0.00,0.82,0.00,0.000,6,0.000,0.037,1516,3382,2807,0,0,0,0,0,0
$GC,7376,-0.56,-81.1,964.3,-10.4,522,7377,0.00,0.00,0.00,0.000,6,0.000,0.000,1516,3382,2806,0,0,0,0,0,0
$STATE,7623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7623,begin apogee
$GC,7628,-0.09,0.0,990.4,10.5,534,7711,0.57,0.00,80.12,1.856,6,0.152,0.000,1682,3286,2473,0,0,0,0,0,0
$STATE,7712,end apogee,CONTROL_FINISHED_OK
$STATE,7712,begin climb
$GC,7714,0.56,81.1,992.2,0.0,538,7805,0.65,0.00,84.62,1.805,6,0.074,0.000,1898,3286,2142,0,0,0,0,0,0
$GC,8115,0.56,81.1,944.9,13.3,558,8119,0.00,2.28,0.00,0.000,4,0.000,0.033,1909,1856,2133,0,0,0,0,0,0
$GC,8147,0.56,81.1,940.4,12.6,559,8154,0.00,2.35,0.00,0.000,6,0.000,0.051,1909,3248,2130,0,0,0,0,0,0
$GC,8463,0.56,81.1,896.8,13.8,575,8467,0.00,1.15,0.00,0.000,4,0.000,0.059,1909,3943,2129,0,0,0,0,0,0
$GC,8518,0.56,81.1,888.4,15.9,577,8522,0.00,1.05,0.00,0.000,6,0.000,0.035,1914,3274,2128,0,0,0,0,0,0
$GC,8842,0.56,81.1,844.3,13.3,593,8843,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3275,2127,0,0,0,0,0,0
$GC,9149,0.56,81.1,802.8,13.3,608,9153,0.00,1.10,0.00,0.000,4,0.000,0.058,1915,3953,2126,0,0,0,0,0,0
$GC,9194,0.56,81.1,796.2,15.0,610,9198,0.00,1.02,0.00,0.000,6,0.000,0.036,1919,3286,2126,0,0,0,0,0,0
$GC,9527,0.56,81.1,752.7,13.3,626,9531,0.00,2.17,0.00,0.000,4,0.000,0.035,1930,1877,2125,0,0,0,0,0,0
$GC,9581,0.56,81.1,746.0,11.7,628,9589,0.00,2.33,0.00,0.000,6,0.000,0.051,1930,3293,2124,0,0,0,0,0,0
$GC,9897,0.56,81.1,704.2,13.6,644,9898,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3293,2124,0,0,0,0,0,0
$GC,10207,0.56,81.1,664.1,12.8,659,10208,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3293,2124,0,0,0,0,0,0
$GC,10516,0.56,81.1,626.1,12.2,674,10517,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3293,2124,0,0,0,0,0,0
$GC,10827,0.56,81.1,588.3,12.2,689,10828,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3293,2124,0,0,0,0,0,0
$GC,11135,0.56,81.1,551.3,11.7,704,11136,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3293,2123,0,0,0,0,0,0
$GC,11444,0.56,81.1,515.2,11.8,719,11447,0.00,1.08,0.00,0.000,4,0.000,0.059,1930,3955,2123,0,0,0,0,0,0
$GC,11583,0.56,81.1,496.5,14.0,725,11588,0.10,1.02,0.00,0.000,6,0.197,0.037,1908,3278,2123,0,0,0,0,0,0
$GC,11910,0.56,81.1,460.0,11.0,741,11911,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3277,2122,0,0,0,0,0,0
$GC,12219,0.56,81.1,425.8,10.9,756,12223,0.00,1.10,0.00,0.000,4,0.000,0.058,1908,3952,2122,0,0,0,0,0,0
$GC,12325,0.56,81.1,412.9,11.7,760,12332,0.00,1.05,0.00,0.000,6,0.000,0.035,1912,3276,2122,0,0,0,0,0,0
$GC,12650,0.56,81.1,378.1,10.8,785,12654,0.00,1.10,0.00,0.000,4,0.000,0.058,1912,3953,2122,0,0,0,0,0,0
$GC,12743,0.56,81.1,366.7,11.9,793,12747,0.00,1.02,0.00,0.000,6,0.000,0.036,1917,3281,2122,0,0,0,0,0,0
$GC,13073,0.56,81.1,329.9,10.7,824,13077,0.00,2.15,0.00,0.000,4,0.000,0.032,1928,1870,2122,0,0,0,0,0,0
$GC,13117,0.56,81.1,325.5,9.3,827,13124,0.00,2.30,0.00,0.000,6,0.000,0.050,1928,3284,2120,0,0,0,0,0,0
$GC,13442,0.56,81.1,288.1,11.9,858,13443,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,3284,2120,0,0,0,0,0,0
$GC,13762,0.56,81.1,249.0,12.2,888,13763,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,3285,2120,0,0,0,0,0,0
$GC,14081,0.56,81.1,208.9,12.5,918,14084,0.00,1.08,0.00,0.000,4,0.000,0.057,1928,3952,2121,0,0,0,0,0,0
$GC,14251,0.56,81.1,186.0,12.4,933,14255,0.10,1.00,0.00,0.000,6,0.196,0.035,1906,3285,2120,0,0,0,0,0,0
$GC,14580,0.56,81.1,152.2,9.8,964,14582,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3285,2120,0,0,0,0,0,0
$GC,14900,0.56,81.1,120.8,9.7,994,14904,0.00,2.15,0.00,0.000,4,0.000,0.031,1916,1862,2120,0,0,0,0,0,0
$GC,14942,0.56,85.5,117.1,8.2,997,14946,0.00,2.28,0.00,0.000,6,0.000,0.049,1915,3292,2120,0,0,0,0,0,0
$GC,15279,0.56,85.5,83.8,10.1,1042,15287,0.00,1.05,0.00,0.000,4,0.000,0.057,1916,3952,2120,0,0,0,0,0,0
$GC,15483,0.56,85.5,61.6,10.2,1077,15491,0.00,1.00,0.00,0.000,6,0.000,0.034,1921,3289,2120,0,0,0,0,0,0
$GC,15836,0.57,104.1,39.8,6.6,1138,15851,0.00,1.08,7.90,0.860,4,0.000,0.059,1921,3953,2046,0,0,0,0,0,0
$GC,16122,0.57,104.1,10.2,10.3,1185,16131,0.00,1.02,0.00,0.000,6,0.000,0.033,1926,3271,2045,0,0,0,0,0,0
$STATE,16174,end climb,SURFACE_DEPTH_REACHED
$STATE,16174,begin surface coast
$FINISH,1.0,1.026230
$STATE,16200,end surface coast,CONTROL_FINISHED_OK
$STATE,16200,begin surface
$SM_CCo,16213,48.22,0.769,0,0,1572,220.03
$SM_GC,1.39,0.00,0.00,48.22,0.000,0.000,0.769,61,3385,1572,-5.19,0.14,220.03
$IRIDIUM_FIX,-4242.04,830.68,110114,151522
$TT8_MAMPS,0.026215
$HUMID,61.61
$INTERNAL_PRESSURE,9.56208
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,22.4,36.712
$10V_AH,9.9,27.547
$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,12.750,55.575,172.650,48.225,0.000,59.589,121.968,316.485,0.000,0.000,25.607,2944.735,10211.496,354.007,3210.866,239.411,0.000,1416.219,0.000,2572.475,0.000,1.012,0.000
$DEVICE_MAMPS,236.385,94.860,1855.890,768.825,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,830.889,2029.967,811.728,381.088,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354404
$DATA_FILE_SIZE,83944,1197
$CAP_FILE_SIZE,140377,0
$CFSIZE,259252224,240435200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110114,194735,-4259.495,829.784,24,1.2,24,-25.0