version: 66.07
glider: 543
mission: 9
dive: 283
start: 1 18 114 8 7 36
data:
$ID,543
$MISSION,9
$DIVE,283
$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,-13424.385
$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,52
$R_STBD_OVSHOOT,22
$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
$GPS1,180114,075827,-4259.904,829.900,44,1.1,47,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-60.3
$GPS2,180114,080712,-4259.935,830.082,17,1.0,17,-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,247.6,163,-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,-51.0,0.0,0.0,0,65,0.00,0.00,-47.20,0.000,6,0.000,0.000,49,3367,2684,0,0,0,0,0,0
$GC,68,-0.57,-91.6,3.4,-4.1,6,86,6.18,0.95,-4.22,0.000,4,0.234,0.079,1524,3956,2850,0,0,0,0,0,0
$GC,351,-0.57,-91.6,57.3,-16.7,53,358,0.00,0.85,0.00,0.000,6,0.000,0.034,1524,3388,2853,0,0,0,0,0,0
$GC,704,-0.57,-91.6,110.0,-15.0,109,708,0.00,0.90,0.00,0.000,4,0.000,0.057,1520,3952,2855,0,0,0,0,0,0
$GC,952,-0.57,-91.6,148.6,-15.2,131,955,0.00,0.85,0.00,0.000,6,0.000,0.032,1520,3374,2856,0,0,0,0,0,0
$GC,1282,-0.57,-91.6,196.0,-14.3,162,1285,0.00,0.93,0.00,0.000,4,0.000,0.057,1516,3955,2856,0,0,0,0,0,0
$GC,1373,-0.57,-91.6,209.4,-14.8,170,1377,0.00,0.85,0.00,0.000,6,0.000,0.032,1516,3380,2856,0,0,0,0,0,0
$GC,1705,-0.57,-91.6,256.3,-14.0,201,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,1516,3380,2857,0,0,0,0,0,0
$GC,2022,-0.57,-91.6,301.0,-14.1,231,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,1516,3380,2857,0,0,0,0,0,0
$GC,2344,-0.57,-91.6,347.2,-14.8,261,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,1516,3380,2857,0,0,0,0,0,0
$GC,2670,-0.57,-91.6,395.1,-14.5,292,2673,0.00,0.93,0.00,0.000,4,0.000,0.059,1512,3944,2857,0,0,0,0,0,0
$GC,2821,-0.57,-91.6,419.1,-15.9,300,2828,0.00,0.82,0.00,0.000,6,0.000,0.034,1512,3387,2857,0,0,0,0,0,0
$GC,3136,-0.57,-91.6,466.1,-14.8,316,3140,0.00,0.90,0.00,0.000,4,0.000,0.058,1508,3955,2857,0,0,0,0,0,0
$GC,3241,-0.57,-91.6,482.5,-15.1,320,3249,0.00,0.88,0.00,0.000,6,0.000,0.034,1508,3373,2857,0,0,0,0,0,0
$GC,3557,-0.57,-91.6,527.7,-14.4,336,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,1508,3373,2856,0,0,0,0,0,0
$GC,3869,-0.57,-91.6,572.4,-14.5,351,3872,0.00,0.93,0.00,0.000,4,0.000,0.059,1503,3955,2856,0,0,0,0,0,0
$GC,3962,-0.57,-91.6,587.2,-14.8,355,3967,0.12,0.88,0.00,0.000,6,0.180,0.034,1533,3380,2856,0,0,0,0,0,0
$GC,4290,-0.57,-91.6,625.8,-11.7,371,4293,0.00,0.93,0.00,0.000,4,0.000,0.060,1531,3955,2855,0,0,0,0,0,0
$GC,4345,-0.57,-91.6,632.6,-11.7,373,4349,0.00,0.88,0.00,0.000,6,0.000,0.034,1531,3372,2855,0,0,0,0,0,0
$GC,4666,-0.57,-91.6,669.2,-11.2,389,4668,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3372,2854,0,0,0,0,0,0
$GC,4976,-0.57,-91.6,704.8,-11.5,404,4979,0.00,0.93,0.00,0.000,4,0.000,0.060,1526,3950,2855,0,0,0,0,0,0
$GC,5022,-0.57,-91.6,710.5,-12.7,406,5025,0.00,0.85,0.00,0.000,6,0.000,0.035,1527,3383,2854,0,0,0,0,0,0
$GC,5354,-0.57,-91.6,752.0,-12.8,422,5357,0.00,0.90,0.00,0.000,4,0.000,0.060,1523,3945,2853,0,0,0,0,0,0
$GC,5522,-0.57,-91.6,774.8,-14.2,429,5526,0.00,0.85,0.00,0.000,6,0.000,0.036,1523,3379,2853,0,0,0,0,0,0
$GC,5843,-0.57,-91.6,814.4,-12.2,445,5846,0.00,0.93,0.00,0.000,4,0.000,0.060,1518,3955,2852,0,0,0,0,0,0
$GC,5875,-0.57,-91.6,818.6,-13.3,446,5879,0.00,0.90,0.00,0.000,6,0.000,0.035,1519,3367,2853,0,0,0,0,0,0
$GC,6197,-0.57,-91.6,854.7,-11.0,462,6198,0.00,0.00,0.00,0.000,6,0.000,0.000,1518,3367,2852,0,0,0,0,0,0
$GC,6506,-0.57,-91.6,887.1,-10.2,477,6509,0.00,0.93,0.00,0.000,4,0.000,0.061,1514,3943,2850,0,0,0,0,0,0
$GC,6574,-0.57,-91.6,894.5,-11.1,480,6578,0.00,0.85,0.00,0.000,6,0.000,0.037,1514,3383,2850,0,0,0,0,0,0
$GC,6908,-0.57,-91.6,929.2,-10.1,496,6911,0.00,0.90,0.00,0.000,4,0.000,0.061,1510,3942,2850,0,0,0,0,0,0
$GC,7030,-0.57,-91.6,943.2,-11.0,501,7035,0.00,0.88,0.00,0.000,6,0.000,0.036,1510,3372,2849,0,0,0,0,0,0
$GC,7352,-0.57,-91.6,977.4,-11.2,517,7356,0.00,0.93,0.00,0.000,4,0.000,0.062,1505,3946,2849,0,0,0,0,0,0
$STATE,7456,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7456,begin apogee
$GC,7462,-0.09,0.0,990.6,13.0,521,7555,0.60,0.00,90.32,1.841,6,0.160,0.000,1680,3277,2473,0,0,0,0,0,0
$STATE,7556,end apogee,CONTROL_FINISHED_OK
$STATE,7556,begin climb
$GC,7558,0.57,91.6,993.0,0.0,526,7661,0.68,2.38,95.30,1.786,4,0.073,0.031,1916,1884,2099,0,0,0,0,0,0
$GC,7699,0.57,91.6,981.8,13.0,533,7704,0.00,2.47,0.00,0.000,6,0.000,0.050,1916,3279,2095,0,0,0,0,0,0
$GC,8022,0.57,91.6,934.2,14.7,549,8023,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3278,2088,0,0,0,0,0,0
$GC,8331,0.57,91.6,889.8,14.5,564,8335,0.00,2.20,0.00,0.000,4,0.000,0.032,1927,1872,2086,0,0,0,0,0,0
$GC,8357,0.57,91.6,886.2,12.1,565,8362,0.00,2.33,0.00,0.000,6,0.000,0.051,1927,3288,2084,0,0,0,0,0,0
$GC,8679,0.57,91.6,841.7,13.6,581,8683,0.00,2.17,0.00,0.000,4,0.000,0.032,1937,1869,2084,0,0,0,0,0,0
$GC,8741,0.57,91.6,834.1,12.2,584,8746,0.12,2.33,0.00,0.000,6,0.193,0.051,1909,3292,2082,0,0,0,0,0,0
$GC,9068,0.57,91.6,791.4,13.1,600,9072,0.00,2.20,0.00,0.000,4,0.000,0.031,1918,1866,2081,0,0,0,0,0,0
$GC,9213,0.57,91.6,774.2,11.8,606,9220,0.00,2.33,0.00,0.000,6,0.000,0.051,1919,3281,2081,0,0,0,0,0,0
$GC,9529,0.57,91.6,733.0,13.2,622,9533,0.00,1.08,0.00,0.000,4,0.000,0.060,1918,3943,2080,0,0,0,0,0,0
$GC,9651,0.57,91.6,714.3,15.4,627,9656,0.00,1.02,0.00,0.000,6,0.000,0.036,1923,3281,2080,0,0,0,0,0,0
$GC,9973,0.57,91.6,670.9,13.6,643,9977,0.00,2.17,0.00,0.000,4,0.000,0.031,1934,1867,2080,0,0,0,0,0,0
$GC,10016,0.57,91.6,665.3,12.2,645,10021,0.08,2.33,0.00,0.000,6,0.167,0.050,1912,3285,2079,0,0,0,0,0,0
$GC,10343,0.57,91.6,622.8,13.5,661,10347,0.00,2.15,0.00,0.000,4,0.000,0.031,1922,1869,2079,0,0,0,0,0,0
$GC,10392,0.57,91.6,616.5,12.0,663,10396,0.00,2.30,0.00,0.000,6,0.000,0.050,1922,3278,2078,0,0,0,0,0,0
$GC,10715,0.57,91.6,572.2,14.1,679,10719,0.00,2.17,0.00,0.000,4,0.000,0.031,1932,1860,2078,0,0,0,0,0,0
$GC,10757,0.57,91.6,566.3,12.5,681,10762,0.08,2.33,0.00,0.000,6,0.170,0.050,1910,3284,2077,0,0,0,0,0,0
$GC,11085,0.57,91.6,525.5,12.2,697,11089,0.00,2.17,0.00,0.000,4,0.000,0.031,1920,1861,2077,0,0,0,0,0,0
$GC,11173,0.57,91.6,515.9,10.7,701,11178,0.00,2.33,0.00,0.000,6,0.000,0.050,1920,3281,2077,0,0,0,0,0,0
$GC,11501,0.57,91.6,475.3,12.7,717,11502,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3282,2077,0,0,0,0,0,0
$GC,11810,0.57,91.6,436.1,12.9,732,11814,0.00,2.15,0.00,0.000,4,0.000,0.031,1931,1857,2077,0,0,0,0,0,0
$GC,11904,0.57,91.6,425.3,11.1,736,11908,0.00,2.35,0.00,0.000,6,0.000,0.050,1931,3306,2076,0,0,0,0,0,0
$GC,12229,0.57,91.6,381.6,13.5,758,12231,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,3306,2077,0,0,0,0,0,0
$GC,12549,0.57,91.6,340.3,13.3,788,12550,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,3306,2076,0,0,0,0,0,0
$GC,12867,0.57,91.6,300.3,12.5,818,12871,0.00,2.20,0.00,0.000,4,0.000,0.031,1942,1863,2076,0,0,0,0,0,0
$GC,12987,0.57,91.6,286.7,10.9,828,12992,0.15,2.30,0.00,0.000,6,0.184,0.050,1906,3286,2076,0,0,0,0,0,0
$GC,13312,0.57,91.6,251.5,10.2,858,13316,0.00,2.17,0.00,0.000,4,0.000,0.030,1916,1859,2076,0,0,0,0,0,0
$GC,13363,0.57,91.6,246.7,9.0,862,13367,0.00,2.30,0.00,0.000,6,0.000,0.050,1915,3286,2076,0,0,0,0,0,0
$GC,13688,0.57,91.6,210.9,11.4,892,13692,0.00,2.17,0.00,0.000,4,0.000,0.030,1926,1857,2075,0,0,0,0,0,0
$GC,13766,0.57,91.6,202.7,10.1,898,13773,0.00,2.33,0.00,0.000,6,0.000,0.050,1926,3284,2076,0,0,0,0,0,0
$GC,14093,0.57,91.6,163.3,12.3,929,14097,0.00,1.08,0.00,0.000,4,0.000,0.057,1927,3952,2076,0,0,0,0,0,0
$GC,14200,0.57,91.6,148.6,13.3,938,14207,0.00,1.00,0.00,0.000,6,0.000,0.034,1931,3281,2076,0,0,0,0,0,0
$GC,14527,0.57,91.6,108.4,11.6,969,14531,0.00,2.15,0.00,0.000,4,0.000,0.030,1943,1860,2076,0,0,0,0,0,0
$GC,14657,0.57,91.6,94.1,10.6,984,14666,0.12,2.33,0.00,0.000,6,0.158,0.050,1906,3288,2076,0,0,0,0,0,0
$GC,15014,0.57,97.9,59.2,8.0,1045,15021,0.00,1.05,0.00,0.000,4,0.000,0.056,1906,3952,2076,0,0,0,0,0,0
$GC,15281,0.57,97.9,37.1,10.0,1091,15288,0.00,1.00,0.00,0.000,6,0.000,0.034,1909,3281,2076,0,0,0,0,0,0
$GC,15432,0.58,106.5,25.5,7.7,1116,15442,0.00,1.10,4.03,0.653,4,0.000,0.057,1909,3956,2036,0,0,0,0,0,0
$STATE,15643,end climb,SURFACE_DEPTH_REACHED
$STATE,15643,begin surface coast
$FINISH,0.6,1.025407
$STATE,15675,end surface coast,CONTROL_FINISHED_OK
$STATE,15675,begin surface
$SM_CCo,15689,46.97,0.752,0,0,1575,220.03
$SM_GC,1.00,0.00,0.00,46.97,0.000,0.000,0.752,64,3361,1575,-5.17,-0.54,220.03
$IRIDIUM_FIX,-4244.98,825.29,180114,030303
$TT8_MAMPS,0.026215
$HUMID,61.65
$INTERNAL_PRESSURE,9.59138
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,22.2,41.214
$10V_AH,9.9,31.737
$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,13.100,90.300,189.650,46.975,0.000,28.693,19.012,339.778,0.000,0.000,20.125,2891.533,9586.693,349.706,3177.359,252.491,0.000,1467.693,0.000,2650.008,0.000,2.035,0.000
$DEVICE_MAMPS,234.090,78.795,1840.590,751.995,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,800.078,1969.215,791.840,390.372,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354420
$DATA_FILE_SIZE,83776,1155
$CAP_FILE_SIZE,146699,0
$CFSIZE,259252224,237621248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180114,123104,-4259.690,829.084,36,1.0,36,-25.0