version: 66.07
glider: 543
mission: 9
dive: 286
start: 1 18 114 22 29 17
data:
$ID,543
$MISSION,9
$DIVE,286
$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,-13433.564
$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,46
$R_STBD_OVSHOOT,33
$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
$GPS1,180114,221904,-4259.227,830.139,29,0.9,29,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-68.4
$GPS2,180114,222853,-4259.282,830.117,18,1.0,18,-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,211.8,1339,-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,-51.0,0.0,0.0,0,58,0.00,0.00,-41.42,0.000,2,0.000,0.000,60,3391,2518,0,0,0,0,0,0
$GC,61,-0.56,-86.9,3.1,-4.6,5,80,6.20,0.93,-8.95,0.000,4,0.236,0.092,1528,3944,2829,0,0,0,0,0,0
$GC,252,-0.56,-86.9,35.7,-16.5,36,261,0.00,0.85,0.00,0.000,6,0.000,0.034,1528,3382,2835,0,0,0,0,0,0
$GC,400,-0.56,-86.9,59.6,-16.5,61,407,0.00,2.15,0.00,0.000,4,0.000,0.029,1527,1968,2835,0,0,0,0,0,0
$GC,465,-0.56,-86.9,68.9,-11.6,72,474,0.00,2.30,0.00,0.000,6,0.000,0.050,1517,3372,2835,0,0,0,0,0,0
$GC,810,-0.56,-86.9,115.2,-13.7,123,813,0.00,0.93,0.00,0.000,4,0.000,0.057,1513,3946,2837,0,0,0,0,0,0
$GC,1070,-0.56,-86.9,153.4,-14.1,146,1074,0.00,0.85,0.00,0.000,6,0.000,0.033,1513,3374,2837,0,0,0,0,0,0
$GC,1403,-0.56,-86.9,201.4,-14.9,177,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,1513,3374,2838,0,0,0,0,0,0
$GC,1719,-0.56,-86.9,248.6,-14.7,207,1723,0.00,0.93,0.00,0.000,4,0.000,0.057,1508,3954,2838,0,0,0,0,0,0
$GC,1837,-0.56,-86.9,266.7,-15.0,217,1844,0.00,0.88,0.00,0.000,6,0.000,0.032,1508,3364,2838,0,0,0,0,0,0
$GC,2162,-0.56,-86.9,312.0,-13.4,248,2165,0.00,0.93,0.00,0.000,4,0.000,0.057,1504,3946,2838,0,0,0,0,0,0
$GC,2234,-0.56,-86.9,322.7,-14.4,254,2242,0.12,0.85,0.00,0.000,6,0.179,0.033,1534,3383,2838,0,0,0,0,0,0
$GC,2562,-0.56,-86.9,358.0,-11.1,285,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3383,2838,0,0,0,0,0,0
$GC,2879,-0.56,-86.9,394.0,-11.6,315,2880,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3383,2838,0,0,0,0,0,0
$GC,3199,-0.56,-86.9,430.3,-11.4,333,3203,0.00,0.90,0.00,0.000,4,0.000,0.058,1531,3948,2838,0,0,0,0,0,0
$GC,3335,-0.56,-86.9,446.8,-12.5,339,3338,0.00,0.85,0.00,0.000,6,0.000,0.034,1531,3379,2838,0,0,0,0,0,0
$GC,3667,-0.56,-86.9,487.5,-12.3,355,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3379,2838,0,0,0,0,0,0
$GC,3977,-0.56,-86.9,526.0,-12.1,370,3981,0.00,0.93,0.00,0.000,4,0.000,0.059,1527,3957,2838,0,0,0,0,0,0
$GC,4038,-0.56,-86.9,534.4,-13.6,372,4045,0.00,0.85,0.00,0.000,6,0.000,0.034,1527,3385,2838,0,0,0,0,0,0
$GC,4354,-0.56,-86.9,574.5,-12.5,388,4357,0.00,0.90,0.00,0.000,4,0.000,0.060,1523,3945,2837,0,0,0,0,0,0
$GC,4414,-0.56,-86.9,582.9,-13.8,390,4422,0.00,0.88,0.00,0.000,6,0.000,0.034,1523,3373,2837,0,0,0,0,0,0
$GC,4732,-0.56,-86.9,622.6,-12.7,406,4736,0.00,0.93,0.00,0.000,4,0.000,0.060,1519,3952,2836,0,0,0,0,0,0
$GC,4792,-0.56,-86.9,631.4,-14.3,408,4800,0.00,0.88,0.00,0.000,6,0.000,0.034,1519,3377,2836,0,0,0,0,0,0
$GC,5109,-0.56,-86.9,672.0,-12.7,424,5110,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3377,2835,0,0,0,0,0,0
$GC,5420,-0.56,-86.9,710.8,-12.4,439,5424,0.00,0.93,0.00,0.000,4,0.000,0.060,1515,3954,2835,0,0,0,0,0,0
$GC,5466,-0.56,-86.9,717.2,-14.5,441,5469,0.00,0.85,0.00,0.000,6,0.000,0.035,1515,3386,2834,0,0,0,0,0,0
$GC,5798,-0.56,-86.9,758.7,-12.2,457,5802,0.00,2.12,0.00,0.000,4,0.000,0.030,1515,1960,2834,0,0,0,0,0,0
$GC,5818,-0.56,-86.9,761.6,-13.0,458,5824,0.08,2.33,0.00,0.000,6,0.143,0.053,1528,3382,2834,0,0,0,0,0,0
$GC,6148,-0.56,-86.9,797.4,-11.0,474,6151,0.00,0.90,0.00,0.000,4,0.000,0.061,1525,3942,2833,0,0,0,0,0,0
$GC,6320,-0.56,-86.9,818.7,-12.6,481,6327,0.00,0.88,0.00,0.000,6,0.000,0.035,1525,3370,2833,0,0,0,0,0,0
$GC,6638,-0.56,-86.9,854.7,-11.3,497,6639,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3370,2832,0,0,0,0,0,0
$GC,6946,-0.56,-86.9,889.7,-11.4,512,6947,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3370,2831,0,0,0,0,0,0
$GC,7255,-0.56,-86.9,924.5,-11.1,527,7258,0.00,0.93,0.00,0.000,4,0.000,0.062,1521,3945,2831,0,0,0,0,0,0
$GC,7368,-0.56,-86.9,938.2,-12.4,532,7371,0.00,0.85,0.00,0.000,6,0.000,0.037,1521,3383,2831,0,0,0,0,0,0
$GC,7700,-0.56,-86.9,975.6,-10.9,548,7701,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3382,2830,0,0,0,0,0,0
$STATE,7842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7842,begin apogee
$GC,7847,-0.09,0.0,991.4,10.9,555,7936,0.55,0.00,85.85,1.843,6,0.152,0.000,1680,3281,2474,0,0,0,0,0,0
$STATE,7937,end apogee,CONTROL_FINISHED_OK
$STATE,7937,begin climb
$GC,7939,0.56,86.9,993.6,0.0,559,8034,0.65,0.00,91.07,1.790,6,0.075,0.000,1901,3281,2118,0,0,0,0,0,0
$GC,8338,0.56,86.9,946.3,13.8,579,8339,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3281,2108,0,0,0,0,0,0
$GC,8644,0.56,86.9,904.0,13.7,594,8648,0.00,1.10,0.00,0.000,4,0.000,0.060,1902,3941,2105,0,0,0,0,0,0
$GC,8739,0.56,86.9,889.1,16.5,598,8743,0.00,1.02,0.00,0.000,6,0.000,0.035,1907,3285,2104,0,0,0,0,0,0
$GC,9067,0.56,86.9,843.0,13.6,614,9071,0.00,2.20,0.00,0.000,4,0.000,0.031,1918,1856,2103,0,0,0,0,0,0
$GC,9110,0.56,86.9,837.3,12.3,616,9114,0.00,2.33,0.00,0.000,6,0.000,0.050,1918,3285,2102,0,0,0,0,0,0
$GC,9437,0.56,86.9,792.4,13.4,632,9441,0.00,1.08,0.00,0.000,4,0.000,0.059,1918,3951,2101,0,0,0,0,0,0
$GC,9695,0.56,86.9,755.0,14.6,643,9699,0.00,1.02,0.00,0.000,6,0.000,0.034,1923,3281,2101,0,0,0,0,0,0
$GC,10016,0.56,86.9,716.0,11.8,659,10018,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3281,2099,0,0,0,0,0,0
$GC,10326,0.56,86.9,679.3,11.3,674,10327,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3281,2099,0,0,0,0,0,0
$GC,10636,0.56,86.9,644.3,11.5,689,10639,0.00,1.08,0.00,0.000,4,0.000,0.057,1923,3943,2099,0,0,0,0,0,0
$GC,10853,0.56,86.9,615.2,13.6,698,10861,0.00,1.02,0.00,0.000,6,0.000,0.034,1928,3279,2099,0,0,0,0,0,0
$GC,11170,0.56,86.9,574.5,13.0,714,11174,0.00,1.08,0.00,0.000,4,0.000,0.057,1928,3949,2098,0,0,0,0,0,0
$GC,11428,0.56,86.9,537.9,14.0,725,11433,0.10,1.00,0.00,0.000,6,0.207,0.034,1906,3281,2098,0,0,0,0,0,0
$GC,11749,0.56,86.9,499.5,11.8,741,11752,0.00,1.08,0.00,0.000,4,0.000,0.058,1904,3951,2097,0,0,0,0,0,0
$GC,12005,0.56,86.9,466.2,12.6,752,12010,0.00,1.02,0.00,0.000,6,0.000,0.034,1908,3283,2097,0,0,0,0,0,0
$GC,12327,0.56,86.9,428.7,11.1,768,12331,0.00,1.08,0.00,0.000,4,0.000,0.057,1908,3951,2097,0,0,0,0,0,0
$GC,12586,0.56,86.9,397.5,12.1,780,12590,0.00,1.00,0.00,0.000,6,0.000,0.034,1912,3287,2097,0,0,0,0,0,0
$GC,12916,0.56,86.9,360.8,11.4,811,12920,0.00,1.08,0.00,0.000,4,0.000,0.057,1912,3955,2098,0,0,0,0,0,0
$GC,13178,0.56,86.9,327.6,11.8,834,13181,0.00,1.02,0.00,0.000,6,0.000,0.034,1918,3275,2097,0,0,0,0,0,0
$GC,13510,0.56,86.9,292.6,10.3,865,13514,0.00,1.10,0.00,0.000,4,0.000,0.056,1917,3954,2097,0,0,0,0,0,0
$GC,13659,0.56,86.9,274.8,12.5,878,13662,0.00,1.00,0.00,0.000,6,0.000,0.034,1923,3287,2097,0,0,0,0,0,0
$GC,13991,0.56,86.9,238.0,10.4,909,13995,0.00,1.08,0.00,0.000,4,0.000,0.057,1923,3955,2097,0,0,0,0,0,0
$GC,14251,0.56,86.9,206.3,12.2,932,14254,0.00,1.00,0.00,0.000,6,0.000,0.033,1928,3285,2097,0,0,0,0,0,0
$GC,14582,0.56,86.9,170.6,10.8,963,14585,0.00,1.08,0.00,0.000,4,0.000,0.057,1927,3956,2097,0,0,0,0,0,0
$GC,14843,0.56,86.9,135.0,14.6,986,14847,0.10,1.00,0.00,0.000,6,0.197,0.033,1906,3288,2097,0,0,0,0,0,0
$GC,15170,0.56,86.9,97.4,11.2,1018,15177,0.00,1.08,0.00,0.000,4,0.000,0.057,1904,3955,2097,0,0,0,0,0,0
$GC,15384,0.56,86.9,71.2,12.4,1055,15391,0.00,1.00,0.00,0.000,6,0.000,0.034,1908,3288,2097,0,0,0,0,0,0
$GC,15733,0.57,102.4,41.4,6.9,1116,15744,0.00,1.10,4.47,0.738,4,0.000,0.057,1908,3959,2053,0,0,0,0,0,0
$GC,15841,0.57,102.4,31.5,9.8,1133,15848,0.00,1.00,0.00,0.000,6,0.000,0.033,1913,3291,2053,0,0,0,0,0,0
$GC,15995,0.57,102.4,17.2,8.9,1158,16004,0.00,2.17,0.00,0.000,4,0.000,0.029,1924,1857,2053,0,0,0,0,0,0
$GC,16019,0.57,105.0,15.2,8.4,1161,16028,0.00,2.30,0.00,0.000,6,0.000,0.048,1924,3283,2052,0,0,0,0,0,0
$GC,16079,0.57,105.0,9.7,9.5,1170,16087,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,3283,2052,0,0,0,0,0,0
$GC,16139,0.57,105.0,4.0,9.6,1179,16148,0.00,1.05,0.00,0.000,4,0.000,0.054,1924,3952,2052,0,0,0,0,0,0
$STATE,16155,end climb,SURFACE_DEPTH_REACHED
$STATE,16155,begin surface coast
$FINISH,0.6,1.010986
$STATE,16187,end surface coast,CONTROL_FINISHED_OK
$STATE,16187,begin surface
$SM_CCo,16201,48.60,0.755,0,0,1576,220.03
$SM_GC,1.50,0.00,0.00,48.60,0.000,0.000,0.755,57,3370,1576,-5.20,-0.28,220.03
$IRIDIUM_FIX,-4244.98,831.12,180114,171740
$TT8_MAMPS,0.026215
$HUMID,61.45
$INTERNAL_PRESSURE,9.58162
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,22.2,41.590
$10V_AH,9.9,32.118
$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,12.775,64.600,181.400,48.600,0.000,28.259,44.683,363.644,0.000,0.000,21.630,2986.760,9779.226,367.699,3424.657,275.394,0.000,1553.943,0.000,2842.104,0.000,1.012,0.000
$DEVICE_MAMPS,236.385,91.800,1842.885,755.055,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,820.849,2035.171,818.264,409.146,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354380
$DATA_FILE_SIZE,83729,1186
$CAP_FILE_SIZE,151048,0
$CFSIZE,259252224,237363200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190114,030127,-4259.923,830.700,44,1.0,44,-25.0