version: 66.07
glider: 543
mission: 9
dive: 281
start: 1 17 114 22 59 13
data:
$ID,543
$MISSION,9
$DIVE,281
$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,-13419.714
$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,20
$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
$GPS1,170114,224928,-4258.830,830.358,50,0.9,50,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-63.4
$GPS2,170114,225849,-4258.765,830.344,16,0.7,17,-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,216.5,2335,-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,-46.97,0.000,6,0.000,0.000,56,3380,2685,0,0,0,0,0,0
$GC,69,-0.57,-89.4,3.3,-4.3,6,87,6.15,0.93,-3.92,0.000,4,0.233,0.078,1526,3958,2839,0,0,0,0,0,0
$GC,353,-0.57,-89.4,54.9,-16.1,53,360,0.00,0.88,0.00,0.000,6,0.000,0.034,1526,3378,2842,0,0,0,0,0,0
$GC,699,-0.57,-89.4,105.0,-14.6,111,703,0.00,2.12,0.00,0.000,4,0.000,0.028,1526,1955,2843,0,0,0,0,0,0
$GC,744,-0.57,-89.4,111.0,-11.8,114,751,0.00,2.30,0.00,0.000,6,0.000,0.049,1515,3384,2844,0,0,0,0,0,0
$GC,1070,-0.57,-89.4,160.3,-14.8,145,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,1515,3384,2844,0,0,0,0,0,0
$GC,1388,-0.57,-89.4,207.5,-14.6,175,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,1515,3384,2845,0,0,0,0,0,0
$GC,1709,-0.57,-89.4,255.1,-14.9,205,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,1515,3384,2846,0,0,0,0,0,0
$GC,2035,-0.57,-89.4,301.9,-13.6,236,2039,0.00,2.12,0.00,0.000,4,0.000,0.028,1515,1956,2846,0,0,0,0,0,0
$GC,2074,-0.57,-89.4,307.1,-12.2,239,2079,0.12,2.30,0.00,0.000,6,0.162,0.050,1536,3384,2846,0,0,0,0,0,0
$GC,2402,-0.57,-89.4,343.8,-11.1,269,2405,0.00,0.90,0.00,0.000,4,0.000,0.059,1533,3951,2846,0,0,0,0,0,0
$GC,2594,-0.57,-89.4,367.3,-11.6,286,2597,0.00,0.85,0.00,0.000,6,0.000,0.034,1533,3379,2846,0,0,0,0,0,0
$GC,2934,-0.57,-89.4,405.1,-11.1,316,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3379,2846,0,0,0,0,0,0
$GC,3243,-0.57,-89.4,440.1,-11.7,331,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3379,2846,0,0,0,0,0,0
$GC,3552,-0.57,-89.4,475.6,-11.3,346,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3379,2846,0,0,0,0,0,0
$GC,3861,-0.57,-89.4,511.0,-11.5,361,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3379,2845,0,0,0,0,0,0
$GC,4171,-0.57,-89.4,546.7,-12.0,376,4175,0.00,0.90,0.00,0.000,4,0.000,0.060,1529,3942,2844,0,0,0,0,0,0
$GC,4428,-0.57,-89.4,581.5,-13.3,387,4433,0.00,0.88,0.00,0.000,6,0.000,0.035,1529,3370,2844,0,0,0,0,0,0
$GC,4750,-0.57,-89.4,622.4,-13.1,403,4754,0.00,0.93,0.00,0.000,4,0.000,0.060,1525,3947,2843,0,0,0,0,0,0
$GC,5007,-0.57,-89.4,658.2,-13.6,414,5011,0.00,0.88,0.00,0.000,6,0.000,0.035,1525,3373,2842,0,0,0,0,0,0
$GC,5328,-0.57,-89.4,698.6,-12.4,430,5332,0.00,0.93,0.00,0.000,4,0.000,0.061,1520,3951,2841,0,0,0,0,0,0
$GC,5580,-0.57,-89.4,730.9,-12.0,441,5584,0.00,0.88,0.00,0.000,6,0.000,0.034,1521,3378,2841,0,0,0,0,0,0
$GC,5909,-0.57,-89.4,768.5,-11.6,457,5912,0.00,0.93,0.00,0.000,4,0.000,0.061,1516,3954,2841,0,0,0,0,0,0
$GC,5969,-0.57,-89.4,776.5,-12.8,459,5978,0.00,0.88,0.00,0.000,6,0.000,0.036,1516,3382,2841,0,0,0,0,0,0
$GC,6287,-0.57,-89.4,815.4,-12.5,475,6291,0.00,0.90,0.00,0.000,4,0.000,0.061,1512,3940,2840,0,0,0,0,0,0
$GC,6392,-0.57,-89.4,830.1,-13.8,479,6400,0.00,0.88,0.00,0.000,6,0.000,0.035,1512,3369,2840,0,0,0,0,0,0
$GC,6709,-0.57,-89.4,869.0,-12.5,495,6713,0.00,0.93,0.00,0.000,4,0.000,0.061,1508,3945,2839,0,0,0,0,0,0
$GC,6741,-0.57,-89.4,873.5,-13.6,496,6746,0.00,0.88,0.00,0.000,6,0.000,0.035,1508,3375,2839,0,0,0,0,0,0
$GC,7065,-0.57,-89.4,913.0,-12.3,512,7066,0.00,0.00,0.00,0.000,6,0.000,0.000,1508,3375,2838,0,0,0,0,0,0
$GC,7373,-0.57,-89.4,949.2,-11.6,527,7374,0.00,0.00,0.00,0.000,6,0.000,0.000,1508,3375,2838,0,0,0,0,0,0
$GC,7682,-0.57,-89.4,984.5,-11.5,542,7686,0.00,2.12,0.00,0.000,4,0.000,0.031,1508,1968,2837,0,0,0,0,0,0
$GC,7704,-0.57,-89.4,987.0,-11.4,543,7709,0.15,2.30,0.00,0.000,6,0.164,0.054,1536,3382,2837,0,0,0,0,0,0
$STATE,7734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7735,begin apogee
$GC,7740,-0.09,0.0,990.2,10.1,545,7831,0.50,0.00,87.88,1.847,6,0.152,0.000,1682,3291,2473,0,0,0,0,0,0
$STATE,7831,end apogee,CONTROL_FINISHED_OK
$STATE,7832,begin climb
$GC,7833,0.57,89.4,992.3,0.0,549,7930,0.62,0.00,92.70,1.788,6,0.070,0.000,1898,3291,2108,0,0,0,0,0,0
$GC,8234,0.57,89.4,947.3,13.5,569,8238,0.00,2.25,0.00,0.000,4,0.000,0.031,1909,1857,2099,0,0,0,0,0,0
$GC,8327,0.57,89.4,935.7,10.9,573,8332,0.00,2.38,0.00,0.000,6,0.000,0.050,1909,3277,2096,0,0,0,0,0,0
$GC,8650,0.57,89.4,891.2,13.5,589,8653,0.00,1.12,0.00,0.000,4,0.000,0.060,1909,3959,2094,0,0,0,0,0,0
$GC,8721,0.57,89.4,879.9,15.9,592,8726,0.00,1.08,0.00,0.000,6,0.000,0.035,1914,3270,2094,0,0,0,0,0,0
$GC,9050,0.57,89.4,835.3,13.5,608,9051,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3270,2093,0,0,0,0,0,0
$GC,9358,0.57,89.4,794.1,12.8,623,9360,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3270,2091,0,0,0,0,0,0
$GC,9667,0.57,89.4,753.2,13.3,638,9671,0.00,2.15,0.00,0.000,4,0.000,0.032,1925,1872,2090,0,0,0,0,0,0
$GC,9722,0.57,89.4,746.3,11.9,640,9730,0.00,2.33,0.00,0.000,6,0.000,0.050,1925,3289,2090,0,0,0,0,0,0
$GC,10040,0.57,89.4,701.7,14.5,656,10042,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,3289,2089,0,0,0,0,0,0
$GC,10348,0.57,89.4,657.0,14.4,671,10352,0.00,2.17,0.00,0.000,4,0.000,0.031,1936,1870,2089,0,0,0,0,0,0
$GC,10365,0.57,89.4,654.7,14.4,672,10370,0.12,2.30,0.00,0.000,6,0.186,0.050,1907,3290,2089,0,0,0,0,0,0
$GC,10692,0.57,89.4,610.1,13.4,688,10696,0.00,1.08,0.00,0.000,4,0.000,0.060,1906,3952,2089,0,0,0,0,0,0
$GC,10949,0.57,89.4,574.3,13.8,699,10954,0.00,1.00,0.00,0.000,6,0.000,0.036,1910,3291,2088,0,0,0,0,0,0
$GC,11271,0.57,89.4,534.2,12.7,715,11272,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3291,2087,0,0,0,0,0,0
$GC,11580,0.57,89.4,496.6,12.0,730,11581,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3291,2088,0,0,0,0,0,0
$GC,11890,0.57,89.4,460.1,11.7,745,11891,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3291,2088,0,0,0,0,0,0
$GC,12199,0.57,89.4,421.9,12.3,760,12200,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3291,2087,0,0,0,0,0,0
$GC,12515,0.57,89.4,383.7,11.8,781,12516,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3291,2087,0,0,0,0,0,0
$GC,12831,0.57,89.4,346.7,11.9,811,12835,0.00,2.17,0.00,0.000,4,0.000,0.031,1922,1862,2087,0,0,0,0,0,0
$GC,12908,0.57,89.4,339.1,8.9,817,12912,0.00,2.30,0.00,0.000,6,0.000,0.050,1922,3287,2086,0,0,0,0,0,0
$GC,13232,0.57,89.4,299.9,12.0,847,13236,0.00,1.08,0.00,0.000,4,0.000,0.058,1922,3954,2085,0,0,0,0,0,0
$GC,13259,0.57,89.4,296.3,12.9,849,13267,0.00,1.05,0.00,0.000,6,0.000,0.034,1927,3269,2085,0,0,0,0,0,0
$GC,13584,0.57,89.4,256.8,11.6,880,13586,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,3269,2085,0,0,0,0,0,0
$GC,13905,0.57,89.4,218.4,11.6,910,13908,0.00,1.10,0.00,0.000,4,0.000,0.058,1927,3949,2086,0,0,0,0,0,0
$GC,14084,0.57,89.4,194.3,13.9,926,14088,0.00,1.00,0.00,0.000,6,0.000,0.034,1932,3287,2085,0,0,0,0,0,0
$GC,14417,0.57,89.4,154.3,12.6,957,14418,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,3286,2085,0,0,0,0,0,0
$GC,14734,0.57,89.4,113.3,13.3,987,14737,0.00,2.15,0.00,0.000,4,0.000,0.030,1943,1864,2086,0,0,0,0,0,0
$GC,14751,0.57,89.4,111.0,13.0,988,14756,0.15,2.30,0.00,0.000,6,0.180,0.050,1906,3290,2086,0,0,0,0,0,0
$GC,15094,0.57,89.4,73.4,11.3,1039,15100,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3290,2086,0,0,0,0,0,0
$GC,15444,0.58,107.6,43.0,6.6,1100,15459,0.00,2.20,5.57,0.798,4,0.000,0.029,1916,1854,2032,0,0,0,0,0,0
$GC,15516,0.58,120.0,38.4,7.3,1111,15531,0.00,2.30,5.38,0.775,6,0.000,0.049,1916,3288,1980,0,0,0,0,0,0
$GC,15676,0.58,120.0,21.6,11.5,1137,15682,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3288,1980,0,0,0,0,0,0
$GC,15832,0.58,120.0,3.3,10.9,1162,15841,0.00,1.05,0.00,0.000,4,0.000,0.055,1916,3952,1978,0,0,0,0,0,0
$STATE,15848,end climb,SURFACE_DEPTH_REACHED
$STATE,15848,begin surface coast
$FINISH,0.5,1.025429
$STATE,15880,end surface coast,CONTROL_FINISHED_OK
$STATE,15880,begin surface
$SM_CCo,15893,40.88,0.759,0,0,1576,220.03
$SM_GC,1.17,0.00,0.00,40.88,0.000,0.000,0.759,54,3373,1576,-5.20,-0.20,220.03
$IRIDIUM_FIX,-4244.98,831.12,170114,181831
$TT8_MAMPS,0.025466
$HUMID,61.77
$INTERNAL_PRESSURE,9.58162
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,22.2,40.958
$10V_AH,9.9,31.496
$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,12.900,65.125,191.525,40.875,0.000,25.491,40.274,351.195,0.000,0.000,20.688,2894.366,9842.392,339.309,3162.189,254.170,0.000,1424.053,0.000,2610.048,0.000,1.010,0.000
$DEVICE_MAMPS,233.325,78.030,1846.710,758.880,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,809.705,1991.347,802.857,382.854,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354424
$DATA_FILE_SIZE,83717,1169
$CAP_FILE_SIZE,140335,0
$CFSIZE,259252224,237785088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180114,032604,-4259.510,830.339,40,0.9,40,-25.0