version: 66.07
glider: 543
mission: 9
dive: 268
start: 1 15 114 11 0 34
data:
$ID,543
$MISSION,9
$DIVE,268
$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,-13384.101
$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,35
$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
$GPS1,150114,105034,-4258.057,831.151,32,0.9,32,-25.0
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-63.8
$GPS2,150114,110011,-4258.033,831.331,20,0.9,20,-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,231.3,4065,-22.7,-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,-0.47,-71.5,0.0,0.0,0,66,0.00,0.00,-49.05,0.000,2,0.000,0.000,55,3410,2718,0,0,0,0,0,0
$GC,68,-0.50,-121.7,3.2,-4.2,6,87,6.28,0.90,-6.35,0.000,4,0.236,0.090,1546,3948,2974,0,0,0,0,0,0
$GC,351,-0.50,-121.7,55.2,-16.5,53,358,0.00,0.88,0.00,0.000,6,0.000,0.035,1545,3371,2978,0,0,0,0,0,0
$GC,698,-0.50,-121.7,106.5,-14.7,110,701,0.00,0.90,0.00,0.000,4,0.000,0.060,1541,3927,2979,0,0,0,0,0,0
$GC,792,-0.50,-121.7,121.9,-15.7,118,800,0.00,0.85,0.00,0.000,6,0.000,0.034,1541,3377,2980,0,0,0,0,0,0
$GC,1120,-0.50,-121.7,169.4,-14.6,149,1124,0.00,2.15,0.00,0.000,4,0.000,0.029,1541,1958,2981,0,0,0,0,0,0
$GC,1137,-0.50,-121.7,172.1,-14.3,150,1141,0.00,2.28,0.00,0.000,6,0.000,0.050,1530,3369,2981,0,0,0,0,0,0
$GC,1461,-0.50,-121.7,221.8,-15.1,180,1465,0.00,0.93,0.00,0.000,4,0.000,0.057,1527,3947,2981,0,0,0,0,0,0
$GC,1529,-0.50,-121.7,232.3,-15.1,186,1534,0.08,0.85,0.00,0.000,6,0.152,0.034,1549,3383,2981,0,0,0,0,0,0
$GC,1862,-0.50,-121.7,273.4,-12.3,217,1863,0.00,0.00,0.00,0.000,6,0.000,0.000,1549,3383,2981,0,0,0,0,0,0
$GC,2179,-0.50,-121.7,312.7,-12.4,247,2183,0.00,2.10,0.00,0.000,4,0.000,0.028,1549,1962,2981,0,0,0,0,0,0
$GC,2222,-0.50,-121.7,318.1,-10.2,250,2230,0.00,2.30,0.00,0.000,6,0.000,0.051,1540,3371,2981,0,0,0,0,0,0
$GC,2550,-0.50,-121.7,360.8,-13.1,281,2554,0.00,0.93,0.00,0.000,4,0.000,0.059,1536,3952,2981,0,0,0,0,0,0
$GC,2652,-0.50,-121.7,375.2,-14.0,290,2656,0.00,0.85,0.00,0.000,6,0.000,0.034,1536,3379,2981,0,0,0,0,0,0
$GC,2979,-0.50,-121.7,419.6,-13.3,314,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3379,2981,0,0,0,0,0,0
$GC,3287,-0.50,-121.7,460.9,-13.1,329,3289,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3379,2981,0,0,0,0,0,0
$GC,3597,-0.50,-121.7,500.4,-12.3,344,3598,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3379,2981,0,0,0,0,0,0
$GC,3906,-0.50,-121.7,539.1,-12.4,359,3910,0.00,0.93,0.00,0.000,4,0.000,0.060,1531,3954,2981,0,0,0,0,0,0
$GC,3952,-0.50,-121.7,544.9,-13.2,361,3956,0.00,0.85,0.00,0.000,6,0.000,0.036,1531,3386,2981,0,0,0,0,0,0
$GC,4285,-0.50,-121.7,586.9,-12.7,377,4288,0.00,2.15,0.00,0.000,4,0.000,0.029,1531,1955,2980,0,0,0,0,0,0
$GC,4307,-0.50,-121.7,589.8,-12.9,378,4312,0.12,2.33,0.00,0.000,6,0.157,0.053,1552,3390,2980,0,0,0,0,0,0
$GC,4628,-0.50,-121.7,624.4,-11.2,394,4631,0.00,0.90,0.00,0.000,4,0.000,0.061,1550,3950,2979,0,0,0,0,0,0
$GC,4699,-0.50,-121.7,633.0,-11.0,397,4704,0.00,0.88,0.00,0.000,6,0.000,0.035,1550,3377,2979,0,0,0,0,0,0
$GC,5027,-0.50,-121.7,669.5,-11.3,413,5028,0.00,0.00,0.00,0.000,6,0.000,0.000,1550,3378,2978,0,0,0,0,0,0
$GC,5338,-0.50,-121.7,703.0,-10.4,428,5341,0.00,0.93,0.00,0.000,4,0.000,0.063,1546,3950,2977,0,0,0,0,0,0
$GC,5406,-0.50,-121.7,710.4,-10.6,431,5409,0.00,0.85,0.00,0.000,6,0.000,0.037,1546,3386,2977,0,0,0,0,0,0
$GC,5738,-0.50,-121.7,743.5,-9.6,447,5739,0.00,0.00,0.00,0.000,6,0.000,0.000,1546,3385,2976,0,0,0,0,0,0
$GC,6047,-0.50,-121.7,772.4,-8.9,462,6048,0.00,0.00,0.00,0.000,6,0.000,0.000,1546,3385,2976,0,0,0,0,0,0
$GC,6357,-0.50,-121.7,798.3,-8.2,477,6358,0.00,0.00,0.00,0.000,6,0.000,0.000,1546,3385,2975,0,0,0,0,0,0
$GC,6668,-0.50,-121.7,824.4,-8.7,492,6671,0.00,0.93,0.00,0.000,4,0.000,0.063,1541,3956,2975,0,0,0,0,0,0
$GC,6717,-0.50,-121.7,829.6,-9.7,494,6721,0.00,0.90,0.00,0.000,6,0.000,0.037,1542,3373,2975,0,0,0,0,0,0
$GC,7045,-0.50,-121.7,861.0,-9.8,510,7046,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,3373,2974,0,0,0,0,0,0
$GC,7355,-0.50,-121.7,892.6,-10.4,525,7359,0.00,0.93,0.00,0.000,4,0.000,0.063,1537,3945,2974,0,0,0,0,0,0
$GC,7404,-0.50,-121.7,898.5,-11.4,527,7409,0.00,0.88,0.00,0.000,6,0.000,0.037,1537,3380,2974,0,0,0,0,0,0
$GC,7732,-0.50,-121.7,932.4,-10.5,543,7733,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3380,2973,0,0,0,0,0,0
$GC,8043,-0.50,-121.7,965.0,-10.3,558,8044,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,3380,2972,0,0,0,0,0,0
$STATE,8287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8287,begin apogee
$GC,8292,-0.09,0.0,990.3,10.3,570,8414,0.50,0.00,119.05,1.846,6,0.143,0.000,1685,3283,2473,0,0,0,0,0,0
$STATE,8415,end apogee,CONTROL_FINISHED_OK
$STATE,8415,begin climb
$GC,8417,0.50,121.7,993.2,0.0,576,8553,0.57,2.50,125.35,1.793,4,0.063,0.031,1894,1868,1975,0,0,0,0,0,0
$GC,8602,0.50,121.7,976.5,14.0,584,8610,0.00,2.50,0.00,0.000,6,0.000,0.051,1894,3281,1969,0,0,0,0,0,0
$GC,8919,0.50,121.7,925.5,16.0,600,8922,0.00,1.12,0.00,0.000,4,0.000,0.061,1894,3951,1963,0,0,0,0,0,0
$GC,9070,0.50,121.7,898.1,16.3,606,9077,0.00,1.05,0.00,0.000,6,0.000,0.036,1899,3279,1962,0,0,0,0,0,0
$GC,9387,0.50,121.7,847.1,16.3,622,9391,0.00,1.10,0.00,0.000,4,0.000,0.060,1899,3950,1960,0,0,0,0,0,0
$GC,9447,0.50,121.7,836.0,18.3,624,9455,0.00,1.05,0.00,0.000,6,0.000,0.036,1904,3282,1960,0,0,0,0,0,0
$GC,9764,0.50,121.7,783.7,16.2,640,9767,0.00,1.10,0.00,0.000,4,0.000,0.060,1905,3953,1959,0,0,0,0,0,0
$GC,9802,0.50,121.7,776.8,18.9,641,9809,0.00,1.02,0.00,0.000,6,0.000,0.036,1909,3286,1959,0,0,0,0,0,0
$GC,10120,0.50,121.7,726.1,15.9,657,10123,0.00,1.10,0.00,0.000,4,0.000,0.060,1909,3956,1958,0,0,0,0,0,0
$GC,10165,0.50,121.7,718.0,17.4,659,10169,0.10,1.02,0.00,0.000,6,0.199,0.037,1889,3287,1958,0,0,0,0,0,0
$GC,10497,0.50,121.7,669.0,15.1,675,10500,0.00,1.10,0.00,0.000,4,0.000,0.060,1888,3959,1956,0,0,0,0,0,0
$GC,10529,0.50,121.7,663.7,15.7,676,10534,0.00,1.05,0.00,0.000,6,0.000,0.036,1892,3287,1957,0,0,0,0,0,0
$GC,10853,0.50,121.7,615.1,15.3,692,10857,0.00,1.10,0.00,0.000,4,0.000,0.061,1892,3959,1956,0,0,0,0,0,0
$GC,10952,0.50,121.7,597.9,17.2,696,10957,0.00,1.05,0.00,0.000,6,0.000,0.036,1897,3282,1957,0,0,0,0,0,0
$GC,11275,0.50,121.7,549.3,15.4,712,11278,0.00,1.10,0.00,0.000,4,0.000,0.061,1897,3955,1956,0,0,0,0,0,0
$GC,11343,0.50,121.7,538.1,16.5,715,11346,0.00,1.02,0.00,0.000,6,0.000,0.036,1902,3284,1956,0,0,0,0,0,0
$GC,11675,0.50,121.7,486.6,15.5,731,11676,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3284,1955,0,0,0,0,0,0
$GC,11984,0.50,121.7,438.5,15.5,746,11988,0.00,1.10,0.00,0.000,4,0.000,0.060,1902,3958,1955,0,0,0,0,0,0
$GC,12101,0.50,121.7,418.6,17.1,751,12106,0.00,1.05,0.00,0.000,6,0.000,0.035,1907,3280,1955,0,0,0,0,0,0
$GC,12425,0.50,121.7,367.7,15.6,776,12427,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3280,1954,0,0,0,0,0,0
$GC,12744,0.50,121.7,318.1,15.3,806,12747,0.00,1.10,0.00,0.000,4,0.000,0.060,1907,3955,1954,0,0,0,0,0,0
$GC,12826,0.50,121.7,305.1,16.4,813,12830,0.08,1.02,0.00,0.000,6,0.197,0.035,1892,3278,1954,0,0,0,0,0,0
$GC,13155,0.50,121.7,258.9,13.6,844,13159,0.00,1.10,0.00,0.000,4,0.000,0.060,1891,3955,1954,0,0,0,0,0,0
$GC,13224,0.50,121.7,248.8,14.1,850,13228,0.00,1.00,0.00,0.000,6,0.000,0.035,1895,3293,1954,0,0,0,0,0,0
$GC,13557,0.50,121.7,204.6,12.8,881,13561,0.00,1.08,0.00,0.000,4,0.000,0.060,1895,3954,1954,0,0,0,0,0,0
$GC,13595,0.50,121.7,198.7,14.1,884,13605,0.00,1.05,0.00,0.000,6,0.000,0.034,1900,3270,1954,0,0,0,0,0,0
$GC,13921,0.50,121.7,155.0,14.1,915,13924,0.00,1.10,0.00,0.000,4,0.000,0.060,1900,3951,1954,0,0,0,0,0,0
$GC,13993,0.50,121.7,144.3,15.3,921,14000,0.00,1.02,0.00,0.000,6,0.000,0.034,1905,3282,1954,0,0,0,0,0,0
$GC,14318,0.50,121.7,100.2,13.8,952,14322,0.00,2.15,0.00,0.000,4,0.000,0.031,1916,1870,1954,0,0,0,0,0,0
$GC,14369,0.50,121.7,94.2,11.5,960,14379,0.10,2.30,0.00,0.000,6,0.160,0.051,1887,3285,1953,0,0,0,0,0,0
$GC,14723,0.50,121.7,50.9,12.3,1021,14730,0.00,1.05,0.00,0.000,4,0.000,0.058,1887,3942,1953,0,0,0,0,0,0
$GC,14997,0.50,121.7,16.1,14.2,1067,15006,0.00,1.00,0.00,0.000,6,0.000,0.034,1890,3278,1953,0,0,0,0,0,0
$GC,15057,0.50,121.7,8.2,14.4,1076,15066,0.00,0.00,0.00,0.000,6,0.000,0.000,1890,3278,1953,0,0,0,0,0,0
$STATE,15103,end climb,SURFACE_DEPTH_REACHED
$STATE,15103,begin surface coast
$FINISH,0.5,1.026270
$STATE,15135,end surface coast,CONTROL_FINISHED_OK
$STATE,15135,begin surface
$SM_CCo,15149,38.75,0.772,0,0,1575,220.03
$SM_GC,1.08,0.00,0.00,38.75,0.000,0.000,0.772,49,3389,1575,-5.22,0.23,220.03
$IRIDIUM_FIX,-4244.98,831.12,150114,060632
$TT8_MAMPS,0.026215
$HUMID,62.71
$INTERNAL_PRESSURE,9.57185
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.2,39.269
$10V_AH,9.9,29.925
$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,12.750,66.750,244.400,38.750,0.000,25.893,18.597,392.007,0.000,0.000,23.014,2702.035,9523.813,385.956,2933.418,217.274,0.000,1416.141,0.000,2358.647,0.000,1.010,0.000
$DEVICE_MAMPS,236.385,89.505,1845.945,771.885,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,754.368,1846.180,712.231,338.730,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354336
$DATA_FILE_SIZE,76992,1088
$CAP_FILE_SIZE,138358,0
$CFSIZE,259252224,238850048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,150114,151459,-4258.412,830.622,41,1.3,41,-25.0