version: 66.07
glider: 543
mission: 9
dive: 267
start: 1 15 114 6 40 23
data:
$ID,543
$MISSION,9
$DIVE,267
$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,-13381.764
$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,42
$R_STBD_OVSHOOT,30
$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
$GPS1,150114,063034,-4300.486,829.656,25,1.4,25,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-58.6
$GPS2,150114,063959,-4300.487,829.740,21,1.0,22,-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,46.3,968,-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,-48.33,0.000,6,0.000,0.000,53,3396,2683,0,0,0,0,0,0
$GC,69,-0.57,-95.6,3.2,-3.6,6,87,6.18,2.17,-4.70,0.000,4,0.235,0.041,1533,1950,2866,0,0,0,0,0,0
$GC,192,-0.57,-95.6,24.1,-11.3,25,199,0.00,2.33,0.00,0.000,6,0.000,0.053,1524,3373,2869,0,0,0,0,0,0
$GC,339,-0.57,-95.6,50.0,-17.0,50,345,0.00,0.93,0.00,0.000,4,0.000,0.058,1520,3945,2869,0,0,0,0,0,0
$GC,450,-0.57,-95.6,69.6,-17.8,69,458,0.00,0.88,0.00,0.000,6,0.000,0.034,1520,3366,2870,0,0,0,0,0,0
$GC,790,-0.57,-95.6,124.5,-15.8,116,794,0.00,2.12,0.00,0.000,4,0.000,0.028,1520,1960,2871,0,0,0,0,0,0
$GC,841,-0.57,-95.6,131.4,-12.7,120,845,0.00,2.30,0.00,0.000,6,0.000,0.050,1509,3383,2872,0,0,0,0,0,0
$GC,1165,-0.57,-95.6,179.9,-14.9,150,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,1509,3383,2872,0,0,0,0,0,0
$GC,1485,-0.57,-95.6,231.5,-16.5,180,1489,0.00,0.90,0.00,0.000,4,0.000,0.057,1504,3949,2873,0,0,0,0,0,0
$GC,1545,-0.57,-95.6,242.7,-17.4,185,1553,0.12,0.88,0.00,0.000,6,0.178,0.034,1536,3375,2873,0,0,0,0,0,0
$GC,1871,-0.57,-95.6,287.4,-13.3,216,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3375,2873,0,0,0,0,0,0
$GC,2190,-0.57,-95.6,326.7,-11.8,246,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,1535,3375,2873,0,0,0,0,0,0
$GC,2509,-0.57,-95.6,363.4,-11.6,276,2513,0.00,0.93,0.00,0.000,4,0.000,0.060,1532,3949,2873,0,0,0,0,0,0
$GC,2536,-0.57,-95.6,367.0,-12.5,278,2544,0.00,0.88,0.00,0.000,6,0.000,0.034,1532,3379,2873,0,0,0,0,0,0
$GC,2861,-0.57,-95.6,404.9,-11.6,307,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,3379,2873,0,0,0,0,0,0
$GC,3170,-0.57,-95.6,440.7,-11.4,322,3174,0.00,2.12,0.00,0.000,4,0.000,0.029,1532,1964,2873,0,0,0,0,0,0
$GC,3191,-0.57,-95.6,443.3,-11.5,323,3195,0.00,2.30,0.00,0.000,6,0.000,0.051,1522,3390,2873,0,0,0,0,0,0
$GC,3518,-0.57,-95.6,484.4,-13.3,339,3522,0.00,0.90,0.00,0.000,4,0.000,0.060,1517,3954,2873,0,0,0,0,0,0
$GC,3595,-0.57,-95.6,495.9,-15.4,342,3600,0.00,0.88,0.00,0.000,6,0.000,0.035,1518,3380,2873,0,0,0,0,0,0
$GC,3917,-0.57,-95.6,541.5,-14.2,358,3918,0.00,0.00,0.00,0.000,6,0.000,0.000,1517,3380,2872,0,0,0,0,0,0
$GC,4226,-0.57,-95.6,584.5,-13.6,373,4227,0.00,0.00,0.00,0.000,6,0.000,0.000,1517,3380,2872,0,0,0,0,0,0
$GC,4536,-0.57,-95.6,623.2,-11.9,388,4539,0.00,0.95,0.00,0.000,4,0.000,0.061,1513,3955,2871,0,0,0,0,0,0
$GC,4613,-0.57,-95.6,633.4,-12.9,391,4617,0.00,0.90,0.00,0.000,6,0.000,0.036,1513,3370,2871,0,0,0,0,0,0
$GC,4937,-0.57,-95.6,670.9,-11.7,407,4938,0.00,0.00,0.00,0.000,6,0.000,0.000,1513,3370,2870,0,0,0,0,0,0
$GC,5244,-0.57,-95.6,707.1,-12.3,422,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,1513,3370,2869,0,0,0,0,0,0
$GC,5553,-0.57,-95.6,748.1,-13.8,437,5557,0.00,0.93,0.00,0.000,4,0.000,0.060,1509,3947,2869,0,0,0,0,0,0
$GC,5608,-0.57,-95.6,756.4,-14.7,439,5612,0.00,0.85,0.00,0.000,6,0.000,0.037,1509,3384,2869,0,0,0,0,0,0
$GC,5931,-0.57,-95.6,801.4,-14.2,455,5933,0.00,0.00,0.00,0.000,6,0.000,0.000,1509,3384,2868,0,0,0,0,0,0
$GC,6239,-0.57,-95.6,844.9,-14.2,470,6243,0.00,0.90,0.00,0.000,4,0.000,0.061,1505,3950,2867,0,0,0,0,0,0
$GC,6285,-0.57,-95.6,851.8,-15.0,472,6289,0.08,0.88,0.00,0.000,6,0.161,0.037,1527,3375,2867,0,0,0,0,0,0
$GC,6618,-0.57,-95.6,892.3,-12.0,488,6619,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3375,2867,0,0,0,0,0,0
$GC,6926,-0.57,-95.6,929.7,-11.9,503,6929,0.00,0.93,0.00,0.000,4,0.000,0.063,1525,3948,2865,0,0,0,0,0,0
$GC,6972,-0.57,-95.6,935.4,-13.4,505,6975,0.00,0.88,0.00,0.000,6,0.000,0.038,1524,3371,2866,0,0,0,0,0,0
$GC,7305,-0.57,-95.6,974.1,-11.6,521,7306,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3371,2865,0,0,0,0,0,0
$STATE,7446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7446,begin apogee
$GC,7452,-0.09,0.0,990.2,11.2,528,7550,0.55,0.00,93.90,1.859,6,0.149,0.000,1685,3286,2473,0,0,0,0,0,0
$STATE,7551,end apogee,CONTROL_FINISHED_OK
$STATE,7551,begin climb
$GC,7552,0.57,95.6,992.6,0.0,533,7655,0.62,0.00,99.55,1.802,6,0.069,0.000,1901,3285,2083,0,0,0,0,0,0
$GC,7965,0.57,95.6,939.8,15.2,553,7969,0.00,2.25,0.00,0.000,4,0.000,0.032,1912,1873,2073,0,0,0,0,0,0
$GC,7986,0.57,95.6,936.1,14.6,554,7990,0.00,2.35,0.00,0.000,6,0.000,0.051,1912,3286,2072,0,0,0,0,0,0
$GC,8313,0.57,95.6,885.3,15.6,570,8314,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3286,2070,0,0,0,0,0,0
$GC,8622,0.57,95.6,838.4,14.9,585,8623,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3286,2068,0,0,0,0,0,0
$GC,8932,0.57,95.6,790.7,15.6,600,8936,0.00,1.10,0.00,0.000,4,0.000,0.060,1912,3953,2067,0,0,0,0,0,0
$GC,8958,0.57,95.6,786.1,15.8,601,8963,0.00,1.05,0.00,0.000,6,0.000,0.036,1917,3282,2067,0,0,0,0,0,0
$GC,9288,0.57,95.6,735.5,15.3,617,9289,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3282,2066,0,0,0,0,0,0
$GC,9596,0.57,95.6,689.0,14.4,632,9597,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3282,2065,0,0,0,0,0,0
$GC,9905,0.57,95.6,643.9,14.7,647,9909,0.00,2.17,0.00,0.000,4,0.000,0.033,1928,1869,2065,0,0,0,0,0,0
$GC,9948,0.57,95.6,638.0,13.1,649,9953,0.00,2.33,0.00,0.000,6,0.000,0.052,1928,3282,2063,0,0,0,0,0,0
$GC,10278,0.57,95.6,588.3,15.1,665,10281,0.00,1.08,0.00,0.000,4,0.000,0.060,1928,3942,2063,0,0,0,0,0,0
$GC,10382,0.57,95.6,570.1,17.5,669,10390,0.00,1.02,0.00,0.000,6,0.000,0.036,1933,3282,2063,0,0,0,0,0,0
$GC,10699,0.57,95.6,520.7,15.5,685,10700,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,3282,2063,0,0,0,0,0,0
$GC,11008,0.57,95.6,475.2,14.3,700,11009,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,3282,2063,0,0,0,0,0,0
$GC,11317,0.57,95.6,431.3,14.1,715,11319,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,3282,2062,0,0,0,0,0,0
$GC,11631,0.57,95.6,388.5,14.6,733,11635,0.00,2.15,0.00,0.000,4,0.000,0.032,1944,1866,2062,0,0,0,0,0,0
$GC,11684,0.57,95.6,381.7,12.0,737,11689,0.15,2.28,0.00,0.000,6,0.189,0.050,1908,3291,2061,0,0,0,0,0,0
$GC,12014,0.57,95.6,339.3,13.3,768,12018,0.00,2.17,0.00,0.000,4,0.000,0.031,1918,1864,2061,0,0,0,0,0,0
$GC,12112,0.57,95.6,328.1,11.0,776,12116,0.00,2.30,0.00,0.000,6,0.000,0.051,1918,3288,2060,0,0,0,0,0,0
$GC,12436,0.57,95.6,283.5,13.2,806,12440,0.00,1.08,0.00,0.000,4,0.000,0.058,1918,3952,2060,0,0,0,0,0,0
$GC,12520,0.57,95.6,271.0,14.5,813,12527,0.00,1.02,0.00,0.000,6,0.000,0.034,1923,3283,2060,0,0,0,0,0,0
$GC,12845,0.57,95.6,227.5,12.8,844,12849,0.00,1.08,0.00,0.000,4,0.000,0.060,1923,3944,2060,0,0,0,0,0,0
$GC,13049,0.57,95.6,198.7,13.4,862,13053,0.00,1.00,0.00,0.000,6,0.000,0.034,1928,3282,2060,0,0,0,0,0,0
$GC,13382,0.57,95.6,154.7,14.0,893,13383,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,3282,2060,0,0,0,0,0,0
$GC,13699,0.57,95.6,112.8,12.9,923,13703,0.00,2.15,0.00,0.000,4,0.000,0.030,1939,1859,2060,0,0,0,0,0,0
$GC,13719,0.57,95.6,110.0,11.4,924,13729,0.10,2.33,0.00,0.000,6,0.158,0.050,1909,3286,2060,0,0,0,0,0,0
$GC,14064,0.57,95.6,74.0,9.8,977,14071,0.00,2.15,0.00,0.000,4,0.000,0.030,1919,1855,2060,0,0,0,0,0,0
$GC,14124,0.57,95.6,68.4,9.1,987,14132,0.00,2.33,0.00,0.000,6,0.000,0.049,1919,3289,2060,0,0,0,0,0,0
$GC,14475,0.57,95.6,34.7,10.6,1048,14484,0.00,2.17,0.00,0.000,4,0.000,0.030,1930,1865,2061,0,0,0,0,0,0
$GC,14754,0.57,95.6,10.9,9.9,1094,14764,0.00,2.30,0.00,0.000,6,0.000,0.051,1930,3281,2060,0,0,0,0,0,0
$GC,14815,0.57,95.6,4.5,10.2,1103,14823,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3282,2060,0,0,0,0,0,0
$STATE,14836,end climb,SURFACE_DEPTH_REACHED
$STATE,14837,begin surface coast
$FINISH,0.5,1.009949
$STATE,14881,end surface coast,CONTROL_FINISHED_OK
$STATE,14881,begin surface
$SM_CCo,14894,49.55,0.761,0,0,1575,220.03
$SM_GC,1.75,0.00,0.00,49.55,0.000,0.000,0.761,55,3409,1575,-5.20,0.82,220.03
$IRIDIUM_FIX,-4244.98,828.21,150114,020214
$TT8_MAMPS,0.026215
$HUMID,61.69
$INTERNAL_PRESSURE,9.57185
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,22.2,39.110
$10V_AH,9.9,29.813
$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,12.700,67.825,193.450,49.550,0.000,28.188,44.299,348.197,0.000,0.000,25.720,2718.103,9290.807,365.731,2889.386,241.158,0.000,1331.872,0.000,2342.289,0.000,1.011,0.000
$DEVICE_MAMPS,234.855,81.090,1858.950,761.175,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,771.520,1920.418,804.794,417.183,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354388
$DATA_FILE_SIZE,80536,1113
$CAP_FILE_SIZE,128778,0
$CFSIZE,259252224,238931968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,150114,105034,-4258.057,831.151,32,0.9,32,-25.0