version: 66.07
glider: 543
mission: 9
dive: 288
start: 1 19 114 7 53 47
data:
$ID,543
$MISSION,9
$DIVE,288
$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,-13439.331
$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,43
$R_STBD_OVSHOOT,21
$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
$GPS1,190114,074352,-4259.562,829.446,37,0.8,37,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-62.8
$GPS2,190114,075323,-4259.458,829.575,20,0.8,20,-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,175.2,1157,-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,-51.0,0.0,0.0,0,59,0.00,0.00,-42.08,0.000,2,0.000,0.000,45,3378,2540,0,0,0,0,0,0
$GC,61,-0.57,-91.9,3.0,-4.0,5,80,6.20,0.98,-9.05,0.000,4,0.233,0.086,1528,3959,2850,0,0,0,0,0,0
$GC,349,-0.57,-91.9,51.7,-15.3,52,356,0.00,0.88,0.00,0.000,6,0.000,0.033,1529,3378,2855,0,0,0,0,0,0
$GC,697,-0.57,-91.9,102.0,-14.1,112,701,0.00,0.93,0.00,0.000,4,0.000,0.057,1524,3954,2856,0,0,0,0,0,0
$GC,834,-0.57,-91.9,122.0,-14.0,124,838,0.00,0.85,0.00,0.000,6,0.000,0.033,1525,3383,2856,0,0,0,0,0,0
$GC,1164,-0.57,-91.9,167.6,-13.7,155,1167,0.00,0.93,0.00,0.000,4,0.000,0.058,1521,3958,2858,0,0,0,0,0,0
$GC,1266,-0.57,-91.9,182.3,-14.9,164,1269,0.00,0.88,0.00,0.000,6,0.000,0.032,1520,3369,2858,0,0,0,0,0,0
$GC,1596,-0.57,-91.9,225.9,-12.3,195,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3369,2858,0,0,0,0,0,0
$GC,1918,-0.57,-91.9,265.3,-12.5,225,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3369,2858,0,0,0,0,0,0
$GC,2244,-0.57,-91.9,309.0,-13.7,256,2248,0.00,2.08,0.00,0.000,4,0.000,0.028,1520,1966,2858,0,0,0,0,0,0
$GC,2272,-0.57,-91.9,312.8,-13.4,258,2276,0.00,2.28,0.00,0.000,6,0.000,0.050,1510,3389,2859,0,0,0,0,0,0
$GC,2605,-0.57,-91.9,357.9,-13.2,289,2608,0.00,0.88,0.00,0.000,4,0.000,0.057,1505,3941,2859,0,0,0,0,0,0
$GC,2834,-0.57,-91.9,392.0,-14.6,309,2843,0.12,0.85,0.00,0.000,6,0.177,0.033,1536,3381,2858,0,0,0,0,0,0
$GC,3153,-0.57,-91.9,428.2,-11.3,328,3157,0.00,2.10,0.00,0.000,4,0.000,0.028,1536,1958,2858,0,0,0,0,0,0
$GC,3184,-0.57,-91.9,431.8,-9.8,329,3189,0.00,2.33,0.00,0.000,6,0.000,0.050,1526,3386,2859,0,0,0,0,0,0
$GC,3507,-0.57,-91.9,470.6,-12.5,345,3511,0.00,0.90,0.00,0.000,4,0.000,0.058,1522,3954,2858,0,0,0,0,0,0
$GC,3600,-0.57,-91.9,483.3,-13.3,349,3605,0.00,0.88,0.00,0.000,6,0.000,0.033,1522,3374,2858,0,0,0,0,0,0
$GC,3928,-0.57,-91.9,524.8,-12.7,365,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3373,2858,0,0,0,0,0,0
$GC,4238,-0.57,-91.9,563.6,-12.4,380,4239,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3373,2857,0,0,0,0,0,0
$GC,4546,-0.57,-91.9,602.1,-12.7,395,4548,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3373,2857,0,0,0,0,0,0
$GC,4856,-0.57,-91.9,640.7,-12.1,410,4857,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3373,2856,0,0,0,0,0,0
$GC,5167,-0.57,-91.9,678.3,-12.0,425,5169,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3373,2855,0,0,0,0,0,0
$GC,5475,-0.57,-91.9,716.3,-12.4,440,5478,0.00,0.93,0.00,0.000,4,0.000,0.060,1518,3949,2855,0,0,0,0,0,0
$GC,5529,-0.57,-91.9,723.9,-13.3,442,5534,0.00,0.88,0.00,0.000,6,0.000,0.034,1518,3377,2855,0,0,0,0,0,0
$GC,5853,-0.57,-91.9,764.1,-12.3,458,5857,0.00,0.93,0.00,0.000,4,0.000,0.060,1514,3950,2854,0,0,0,0,0,0
$GC,5947,-0.57,-91.9,777.2,-13.2,462,5952,0.00,0.88,0.00,0.000,6,0.000,0.034,1514,3378,2854,0,0,0,0,0,0
$GC,6275,-0.57,-91.9,817.4,-12.4,478,6279,0.00,2.12,0.00,0.000,4,0.000,0.030,1514,1963,2853,0,0,0,0,0,0
$GC,6301,-0.57,-91.9,820.6,-11.5,479,6306,0.08,2.33,0.00,0.000,6,0.145,0.053,1527,3380,2854,0,0,0,0,0,0
$GC,6624,-0.57,-91.9,855.9,-10.9,495,6625,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3380,2852,0,0,0,0,0,0
$GC,6932,-0.57,-91.9,888.3,-10.4,510,6933,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3380,2852,0,0,0,0,0,0
$GC,7241,-0.57,-91.9,919.6,-10.2,525,7245,0.00,0.95,0.00,0.000,4,0.000,0.061,1524,3955,2851,0,0,0,0,0,0
$GC,7301,-0.57,-91.9,926.3,-11.1,527,7309,0.00,0.88,0.00,0.000,6,0.000,0.037,1524,3382,2851,0,0,0,0,0,0
$GC,7620,-0.57,-91.9,957.0,-9.9,543,7621,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3382,2850,0,0,0,0,0,0
$GC,7927,-0.57,-91.9,987.1,-9.7,558,7931,0.00,0.93,0.00,0.000,4,0.000,0.061,1520,3954,2850,0,0,0,0,0,0
$STATE,7958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7958,begin apogee
$GC,7963,-0.09,0.0,990.6,10.9,559,8057,0.52,0.00,90.50,1.840,6,0.155,0.000,1675,3285,2473,0,0,0,0,0,0
$STATE,8058,end apogee,CONTROL_FINISHED_OK
$STATE,8058,begin climb
$GC,8060,0.57,91.9,992.3,0.0,564,8164,0.70,2.45,95.43,1.791,4,0.079,0.031,1915,1880,2098,0,0,0,0,0,0
$GC,8186,0.57,91.9,981.9,12.3,570,8190,0.00,2.45,0.00,0.000,6,0.000,0.050,1915,3282,2095,0,0,0,0,0,0
$GC,8514,0.57,91.9,931.6,15.4,586,8516,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3282,2088,0,0,0,0,0,0
$GC,8822,0.57,91.9,884.4,15.1,601,8823,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3282,2085,0,0,0,0,0,0
$GC,9132,0.57,91.9,840.5,13.9,616,9133,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3282,2084,0,0,0,0,0,0
$GC,9441,0.57,91.9,796.8,14.0,631,9442,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3282,2082,0,0,0,0,0,0
$GC,9750,0.57,91.9,754.0,13.8,646,9754,0.00,2.20,0.00,0.000,4,0.000,0.032,1926,1863,2082,0,0,0,0,0,0
$GC,9817,0.57,91.9,745.7,11.4,649,9821,0.00,2.30,0.00,0.000,6,0.000,0.051,1926,3290,2080,0,0,0,0,0,0
$GC,10145,0.57,91.9,699.7,14.4,665,10148,0.00,1.08,0.00,0.000,4,0.000,0.059,1926,3954,2080,0,0,0,0,0,0
$GC,10239,0.57,91.9,684.3,17.0,669,10243,0.00,1.00,0.00,0.000,6,0.000,0.035,1931,3292,2080,0,0,0,0,0,0
$GC,10566,0.57,91.9,637.6,14.1,685,10570,0.00,2.17,0.00,0.000,4,0.000,0.032,1942,1864,2080,0,0,0,0,0,0
$GC,10597,0.57,91.9,633.4,12.6,686,10606,0.12,2.33,0.00,0.000,6,0.168,0.050,1906,3284,2078,0,0,0,0,0,0
$GC,10916,0.57,91.9,596.1,11.7,702,10917,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3284,2078,0,0,0,0,0,0
$GC,11223,0.57,91.9,558.5,12.0,717,11224,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3284,2077,0,0,0,0,0,0
$GC,11533,0.57,91.9,520.2,12.5,732,11536,0.00,1.08,0.00,0.000,4,0.000,0.057,1906,3949,2077,0,0,0,0,0,0
$GC,11678,0.57,91.9,499.8,14.0,738,11682,0.00,1.00,0.00,0.000,6,0.000,0.036,1909,3290,2077,0,0,0,0,0,0
$GC,11999,0.57,91.9,460.1,12.2,754,12003,0.00,2.17,0.00,0.000,4,0.000,0.031,1921,1863,2077,0,0,0,0,0,0
$GC,12039,0.57,91.9,455.5,11.1,756,12043,0.00,2.28,0.00,0.000,6,0.000,0.049,1921,3286,2076,0,0,0,0,0,0
$GC,12366,0.57,91.9,414.6,11.9,772,12367,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3286,2076,0,0,0,0,0,0
$GC,12681,0.57,91.9,376.3,12.2,796,12685,0.00,1.08,0.00,0.000,4,0.000,0.058,1921,3952,2076,0,0,0,0,0,0
$GC,12786,0.57,91.9,362.1,13.7,805,12789,0.00,1.00,0.00,0.000,6,0.000,0.035,1926,3287,2076,0,0,0,0,0,0
$GC,13116,0.57,91.9,321.8,12.1,836,13120,0.00,1.08,0.00,0.000,4,0.000,0.057,1925,3954,2076,0,0,0,0,0,0
$GC,13357,0.57,91.9,287.2,14.4,857,13365,0.00,1.02,0.00,0.000,6,0.000,0.033,1931,3281,2076,0,0,0,0,0,0
$GC,13683,0.57,91.9,243.6,13.3,888,13687,0.00,2.12,0.00,0.000,4,0.000,0.031,1942,1867,2076,0,0,0,0,0,0
$GC,13749,0.57,91.9,235.2,12.3,893,13758,0.10,2.30,0.00,0.000,6,0.165,0.049,1912,3284,2075,0,0,0,0,0,0
$GC,14075,0.57,91.9,194.8,13.0,924,14079,0.00,2.12,0.00,0.000,4,0.000,0.029,1922,1864,2074,0,0,0,0,0,0
$GC,14152,0.57,91.9,185.5,11.0,930,14160,0.00,2.33,0.00,0.000,6,0.000,0.050,1922,3290,2074,0,0,0,0,0,0
$GC,14480,0.57,91.9,144.2,12.3,961,14481,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3290,2074,0,0,0,0,0,0
$GC,14797,0.57,91.9,106.2,12.3,991,14801,0.00,2.15,0.00,0.000,4,0.000,0.029,1933,1865,2074,0,0,0,0,0,0
$GC,14885,0.57,91.9,96.9,10.4,1000,14892,0.00,2.30,0.00,0.000,6,0.000,0.049,1933,3295,2074,0,0,0,0,0,0
$GC,15238,0.57,91.9,54.6,10.0,1061,15245,0.00,2.17,0.00,0.000,4,0.000,0.029,1944,1854,2074,0,0,0,0,0,0
$GC,15508,0.57,101.0,34.9,7.6,1107,15516,0.15,2.30,1.50,0.284,6,0.179,0.048,1907,3288,2060,0,0,0,0,0,0
$GC,15659,0.57,101.0,21.8,8.8,1132,15668,0.00,2.15,0.00,0.000,4,0.000,0.029,1917,1869,2059,0,0,0,0,0,0
$GC,15744,0.58,115.5,15.4,7.0,1145,15762,0.00,2.30,5.95,0.709,6,0.000,0.048,1917,3288,2000,0,0,0,0,0,0
$GC,15814,0.58,115.5,8.7,10.2,1155,15823,0.00,1.05,0.00,0.000,4,0.000,0.055,1917,3952,2000,0,0,0,0,0,0
$STATE,15866,end climb,SURFACE_DEPTH_REACHED
$STATE,15866,begin surface coast
$FINISH,1.1,1.026162
$STATE,15880,end surface coast,CONTROL_FINISHED_OK
$STATE,15880,begin surface
$SM_CCo,15894,42.95,0.765,0,0,1576,220.03
$SM_GC,1.22,0.00,0.00,42.95,0.000,0.000,0.765,65,3373,1576,-5.17,-0.20,220.03
$IRIDIUM_FIX,-4244.98,828.21,190114,030329
$TT8_MAMPS,0.026215
$HUMID,61.22
$INTERNAL_PRESSURE,9.57185
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,22.2,41.846
$10V_AH,9.9,32.360
$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,13.050,80.375,193.375,42.950,0.000,26.659,46.368,350.511,0.000,0.000,23.982,2876.065,9929.725,348.014,3097.512,253.306,0.000,1415.668,0.000,2532.496,0.000,1.014,0.000
$DEVICE_MAMPS,232.560,86.445,1839.825,765.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,806.342,1986.481,798.737,407.115,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354400
$DATA_FILE_SIZE,83743,1165
$CAP_FILE_SIZE,141410,0
$CFSIZE,259252224,237207552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190114,122034,-4300.542,831.303,33,1.0,33,-25.1