version: 66.07
glider: 543
mission: 9
dive: 249
start: 1 11 114 19 57 43
data:
$ID,543
$MISSION,9
$DIVE,249
$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,-13326.859
$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,47
$R_STBD_OVSHOOT,29
$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
$GPS1,110114,194735,-4259.495,829.784,24,1.2,24,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-60.7
$GPS2,110114,195719,-4259.423,829.850,15,0.9,17,-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,194.2,1087,-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,-51.0,0.0,0.0,0,66,0.00,0.00,-47.67,0.000,6,0.000,0.000,60,3385,2685,0,0,0,0,0,0
$GC,69,-0.56,-86.8,3.5,-4.6,6,87,5.95,0.90,-3.72,0.000,4,0.225,0.080,1526,3948,2831,0,0,0,0,0,0
$GC,352,-0.56,-86.8,61.3,-18.6,53,358,0.00,0.88,0.00,0.000,6,0.000,0.036,1527,3373,2834,0,0,0,0,0,0
$GC,701,-0.56,-86.8,113.2,-15.0,107,705,0.00,0.93,0.00,0.000,4,0.000,0.060,1522,3947,2836,0,0,0,0,0,0
$GC,808,-0.56,-86.8,130.1,-15.6,116,817,0.00,0.85,0.00,0.000,6,0.000,0.034,1523,3385,2836,0,0,0,0,0,0
$GC,1132,-0.56,-86.8,178.3,-14.7,147,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3385,2837,0,0,0,0,0,0
$GC,1454,-0.56,-86.8,223.7,-13.6,177,1458,0.00,0.90,0.00,0.000,4,0.000,0.058,1518,3942,2837,0,0,0,0,0,0
$GC,1547,-0.56,-86.8,237.7,-15.7,185,1551,0.00,0.85,0.00,0.000,6,0.000,0.035,1518,3383,2837,0,0,0,0,0,0
$GC,1877,-0.56,-86.8,286.8,-13.7,216,1881,0.00,0.90,0.00,0.000,4,0.000,0.059,1514,3942,2837,0,0,0,0,0,0
$GC,2029,-0.56,-86.8,309.1,-14.6,229,2036,0.00,0.85,0.00,0.000,6,0.000,0.035,1514,3380,2837,0,0,0,0,0,0
$GC,2354,-0.56,-86.8,355.2,-14.9,260,2357,0.00,0.93,0.00,0.000,4,0.000,0.060,1510,3936,2837,0,0,0,0,0,0
$GC,2494,-0.56,-86.8,377.6,-15.1,272,2504,0.00,0.85,0.00,0.000,6,0.000,0.034,1510,3385,2837,0,0,0,0,0,0
$GC,2825,-0.56,-86.8,424.3,-13.8,296,2828,0.00,0.90,0.00,0.000,4,0.000,0.060,1506,3943,2837,0,0,0,0,0,0
$GC,2924,-0.56,-86.8,439.6,-15.1,300,2929,0.10,0.88,0.00,0.000,6,0.187,0.034,1533,3376,2837,0,0,0,0,0,0
$GC,3246,-0.56,-86.8,477.0,-11.3,316,3250,0.00,0.90,0.00,0.000,4,0.000,0.060,1530,3933,2837,0,0,0,0,0,0
$GC,3351,-0.56,-86.8,490.4,-11.7,320,3359,0.00,0.85,0.00,0.000,6,0.000,0.035,1530,3379,2837,0,0,0,0,0,0
$GC,3669,-0.56,-86.8,527.4,-11.5,336,3673,0.00,0.90,0.00,0.000,4,0.000,0.060,1526,3936,2837,0,0,0,0,0,0
$GC,3718,-0.56,-86.8,534.1,-12.8,338,3723,0.00,0.88,0.00,0.000,6,0.000,0.036,1526,3369,2836,0,0,0,0,0,0
$GC,4046,-0.56,-86.8,572.9,-11.8,354,4049,0.00,0.93,0.00,0.000,4,0.000,0.061,1521,3944,2836,0,0,0,0,0,0
$GC,4190,-0.56,-86.8,592.0,-12.8,360,4195,0.00,0.88,0.00,0.000,6,0.000,0.035,1521,3378,2835,0,0,0,0,0,0
$GC,4513,-0.56,-86.8,631.1,-12.4,376,4516,0.00,0.90,0.00,0.000,4,0.000,0.061,1517,3932,2835,0,0,0,0,0,0
$GC,4612,-0.56,-86.8,645.0,-14.2,380,4617,0.00,0.88,0.00,0.000,6,0.000,0.036,1517,3368,2834,0,0,0,0,0,0
$GC,4934,-0.56,-86.8,685.7,-12.8,396,4938,0.00,0.93,0.00,0.000,4,0.000,0.061,1513,3939,2834,0,0,0,0,0,0
$GC,5025,-0.56,-86.8,698.0,-13.3,400,5029,0.00,0.85,0.00,0.000,6,0.000,0.037,1513,3384,2834,0,0,0,0,0,0
$GC,5358,-0.56,-86.8,740.4,-13.0,416,5361,0.00,0.90,0.00,0.000,4,0.000,0.061,1509,3939,2833,0,0,0,0,0,0
$GC,5457,-0.56,-86.8,754.7,-14.4,420,5462,0.00,0.88,0.00,0.000,6,0.000,0.037,1509,3374,2833,0,0,0,0,0,0
$GC,5781,-0.56,-86.8,796.6,-12.9,436,5784,0.00,0.93,0.00,0.000,4,0.000,0.062,1505,3945,2832,0,0,0,0,0,0
$GC,5874,-0.56,-86.8,810.2,-14.3,440,5879,0.12,0.88,0.00,0.000,6,0.181,0.037,1535,3384,2832,0,0,0,0,0,0
$GC,6201,-0.56,-86.8,845.9,-11.0,456,6205,0.00,0.90,0.00,0.000,4,0.000,0.063,1532,3941,2832,0,0,0,0,0,0
$GC,6269,-0.56,-86.8,853.8,-12.3,459,6273,0.00,0.85,0.00,0.000,6,0.000,0.038,1532,3382,2831,0,0,0,0,0,0
$GC,6601,-0.56,-86.8,892.3,-11.6,475,6605,0.00,0.90,0.00,0.000,4,0.000,0.063,1528,3934,2830,0,0,0,0,0,0
$GC,6740,-0.56,-86.8,909.9,-11.8,481,6745,0.00,0.88,0.00,0.000,6,0.000,0.037,1528,3371,2830,0,0,0,0,0,0
$GC,7068,-0.56,-86.8,947.3,-11.2,497,7072,0.00,0.93,0.00,0.000,4,0.000,0.063,1524,3941,2830,0,0,0,0,0,0
$GC,7185,-0.56,-86.8,961.0,-11.2,502,7190,0.00,0.88,0.00,0.000,6,0.000,0.037,1524,3380,2830,0,0,0,0,0,0
$STATE,7471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7471,begin apogee
$GC,7476,-0.09,0.0,990.4,10.0,516,7565,0.55,0.00,85.80,1.859,6,0.152,0.000,1683,3280,2473,0,0,0,0,0,0
$STATE,7566,end apogee,CONTROL_FINISHED_OK
$STATE,7566,begin climb
$GC,7568,0.56,86.8,992.0,0.0,520,7667,0.62,2.47,89.93,1.807,4,0.072,0.031,1908,1871,2119,0,0,0,0,0,0
$GC,7728,0.56,86.8,977.0,13.5,527,7733,0.00,2.47,0.00,0.000,6,0.000,0.051,1909,3275,2112,0,0,0,0,0,0
$GC,8050,0.56,86.8,928.3,15.1,543,8051,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3275,2107,0,0,0,0,0,0
$GC,8361,0.56,86.8,882.6,14.4,558,8362,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3275,2105,0,0,0,0,0,0
$GC,8669,0.56,86.8,839.0,14.0,573,8670,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3275,2104,0,0,0,0,0,0
$GC,8978,0.56,86.8,796.5,14.2,588,8979,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3275,2103,0,0,0,0,0,0
$GC,9288,0.56,86.8,754.2,13.4,603,9292,0.00,2.17,0.00,0.000,4,0.000,0.033,1919,1861,2102,0,0,0,0,0,0
$GC,9372,0.56,86.8,744.3,11.5,607,9376,0.00,2.30,0.00,0.000,6,0.000,0.052,1919,3289,2101,0,0,0,0,0,0
$GC,9698,0.56,86.8,699.4,14.3,623,9699,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3289,2100,0,0,0,0,0,0
$GC,10008,0.56,86.8,655.1,14.5,638,10009,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3289,2100,0,0,0,0,0,0
$GC,10316,0.56,86.8,612.9,13.4,653,10320,0.00,2.20,0.00,0.000,4,0.000,0.034,1930,1867,2100,0,0,0,0,0,0
$GC,10356,0.56,86.8,607.7,13.1,655,10360,0.00,2.30,0.00,0.000,6,0.000,0.054,1930,3293,2099,0,0,0,0,0,0
$GC,10683,0.56,86.8,561.8,14.0,671,10684,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3293,2099,0,0,0,0,0,0
$GC,10991,0.56,86.8,519.3,13.7,686,10995,0.00,2.17,0.00,0.000,4,0.000,0.034,1941,1864,2099,0,0,0,0,0,0
$GC,11046,0.56,86.8,512.5,11.8,688,11054,0.10,2.33,0.00,0.000,6,0.170,0.053,1903,3281,2098,0,0,0,0,0,0
$GC,11362,0.56,86.8,476.1,11.8,704,11366,0.00,1.10,0.00,0.000,4,0.000,0.060,1903,3955,2097,0,0,0,0,0,0
$GC,11410,0.56,86.8,469.7,13.0,706,11415,0.00,1.05,0.00,0.000,6,0.000,0.037,1907,3280,2097,0,0,0,0,0,0
$GC,11738,0.56,86.8,430.3,12.0,722,11740,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3279,2097,0,0,0,0,0,0
$GC,12049,0.56,86.8,394.1,12.3,739,12053,0.00,2.17,0.00,0.000,4,0.000,0.034,1918,1861,2097,0,0,0,0,0,0
$GC,12081,0.56,86.8,390.4,10.9,741,12089,0.00,2.33,0.00,0.000,6,0.000,0.051,1918,3284,2097,0,0,0,0,0,0
$GC,12407,0.56,86.8,351.4,12.1,772,12408,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3284,2097,0,0,0,0,0,0
$GC,12727,0.56,86.8,313.3,12.0,802,12730,0.00,1.08,0.00,0.000,4,0.000,0.059,1918,3948,2097,0,0,0,0,0,0
$GC,12840,0.56,86.8,297.9,13.5,812,12844,0.00,1.00,0.00,0.000,6,0.000,0.036,1923,3288,2096,0,0,0,0,0,0
$GC,13170,0.56,86.8,255.4,12.6,843,13174,0.00,2.17,0.00,0.000,4,0.000,0.032,1934,1863,2096,0,0,0,0,0,0
$GC,13271,0.56,86.8,243.6,11.3,851,13279,0.10,2.33,0.00,0.000,6,0.163,0.051,1904,3288,2096,0,0,0,0,0,0
$GC,13596,0.56,86.8,205.5,11.9,882,13597,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3287,2096,0,0,0,0,0,0
$GC,13916,0.56,86.8,168.4,11.1,912,13919,0.00,1.08,0.00,0.000,4,0.000,0.059,1905,3955,2096,0,0,0,0,0,0
$GC,13999,0.56,86.8,157.6,12.5,919,14007,0.00,1.02,0.00,0.000,6,0.000,0.036,1908,3285,2096,0,0,0,0,0,0
$GC,14325,0.56,86.8,120.5,11.0,950,14329,0.00,2.15,0.00,0.000,4,0.000,0.032,1919,1865,2096,0,0,0,0,0,0
$GC,14346,0.56,86.8,118.2,9.7,951,14353,0.00,2.33,0.00,0.000,6,0.000,0.051,1919,3290,2096,0,0,0,0,0,0
$GC,14683,0.56,86.8,82.0,9.6,996,14693,0.00,2.20,0.00,0.000,4,0.000,0.032,1930,1861,2096,0,0,0,0,0,0
$GC,14781,0.57,93.4,74.0,7.9,1012,14789,0.00,2.30,0.00,0.000,6,0.000,0.052,1931,3294,2096,0,0,0,0,0,0
$GC,15133,0.58,106.1,47.2,7.2,1073,15148,0.00,1.05,6.03,0.845,4,0.000,0.055,1930,3952,2039,0,0,0,0,0,0
$GC,15413,0.58,106.1,13.7,15.1,1120,15422,0.00,1.00,0.00,0.000,6,0.000,0.034,1935,3286,2038,0,0,0,0,0,0
$GC,15474,0.58,106.1,5.2,12.5,1129,15482,0.00,1.08,0.00,0.000,4,0.000,0.062,1935,3951,2038,0,0,0,0,0,0
$STATE,15489,end climb,SURFACE_DEPTH_REACHED
$STATE,15490,begin surface coast
$FINISH,0.7,1.026223
$STATE,15516,end surface coast,CONTROL_FINISHED_OK
$STATE,15516,begin surface
$SM_CCo,15529,47.45,0.777,0,0,1575,220.03
$SM_GC,1.20,0.00,0.00,47.45,0.000,0.000,0.777,54,3371,1575,-5.20,-0.25,220.03
$IRIDIUM_FIX,-4242.04,827.77,110114,151510
$TT8_MAMPS,0.026215
$HUMID,61.77
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.3,36.841
$10V_AH,9.9,27.663
$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,12.650,75.225,181.750,47.450,0.000,33.196,50.181,363.321,0.000,0.000,20.198,2834.066,9598.689,353.537,3134.173,237.771,0.000,1456.804,0.000,2557.232,0.000,1.011,0.000
$DEVICE_MAMPS,224.910,79.560,1858.950,777.240,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,787.635,1909.854,745.781,342.406,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354436
$DATA_FILE_SIZE,80408,1135
$CAP_FILE_SIZE,144056,0
$CFSIZE,259252224,240353280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120114,001834,-4300.404,830.361,38,1.2,38,-25.0