version: 66.07
glider: 543
mission: 9
dive: 296
start: 1 20 114 21 18 53
data:
$ID,543
$MISSION,9
$DIVE,296
$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,-13462.313
$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,56
$R_STBD_OVSHOOT,31
$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
$GPS1,200114,210905,-4300.201,829.847,42,1.0,42,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-62.9
$GPS2,200114,211829,-4300.110,829.904,26,1.0,26,-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,57.6,242,-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,-42.15,0.000,2,0.000,0.000,46,3390,2553,0,0,0,0,0,0
$GC,62,-0.57,-90.1,3.2,-4.2,5,88,6.18,2.22,-8.00,0.000,4,0.231,0.042,1536,1955,2844,0,0,0,0,0,0
$GC,176,-0.57,-90.1,17.9,-11.9,22,185,0.00,2.33,0.00,0.000,6,0.000,0.050,1527,3367,2847,0,0,0,0,0,0
$GC,234,-0.57,-90.1,27.1,-16.9,31,240,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3366,2847,0,0,0,0,0,0
$GC,379,-0.57,-90.1,55.6,-17.9,56,386,0.00,0.93,0.00,0.000,4,0.000,0.058,1523,3938,2848,0,0,0,0,0,0
$GC,607,-0.57,-90.1,93.2,-15.6,95,614,0.00,0.82,0.00,0.000,6,0.000,0.034,1523,3385,2849,0,0,0,0,0,0
$GC,941,-0.57,-90.1,141.0,-14.4,130,944,0.00,0.90,0.00,0.000,4,0.000,0.057,1518,3948,2850,0,0,0,0,0,0
$GC,1137,-0.57,-90.1,172.2,-15.4,147,1145,0.00,0.88,0.00,0.000,6,0.000,0.032,1519,3367,2850,0,0,0,0,0,0
$GC,1463,-0.57,-90.1,220.5,-14.7,178,1466,0.00,0.93,0.00,0.000,4,0.000,0.058,1514,3950,2851,0,0,0,0,0,0
$GC,1557,-0.57,-90.1,235.3,-15.1,186,1564,0.00,0.85,0.00,0.000,6,0.000,0.033,1515,3384,2851,0,0,0,0,0,0
$GC,1885,-0.57,-90.1,284.0,-14.8,217,1888,0.00,0.90,0.00,0.000,4,0.000,0.059,1510,3951,2851,0,0,0,0,0,0
$GC,1990,-0.57,-90.1,301.2,-16.5,226,1998,0.00,0.88,0.00,0.000,6,0.000,0.033,1510,3369,2851,0,0,0,0,0,0
$GC,2318,-0.57,-90.1,349.2,-14.4,257,2321,0.00,0.93,0.00,0.000,4,0.000,0.059,1506,3951,2851,0,0,0,0,0,0
$GC,2413,-0.57,-90.1,364.7,-15.9,265,2421,0.12,0.85,0.00,0.000,6,0.184,0.033,1536,3384,2851,0,0,0,0,0,0
$GC,2737,-0.57,-90.1,406.1,-13.1,294,2740,0.00,0.93,0.00,0.000,4,0.000,0.060,1533,3959,2851,0,0,0,0,0,0
$GC,2814,-0.57,-90.1,417.0,-14.1,297,2819,0.00,0.88,0.00,0.000,6,0.000,0.034,1533,3382,2851,0,0,0,0,0,0
$GC,3137,-0.57,-90.1,458.9,-13.0,313,3141,0.00,0.93,0.00,0.000,4,0.000,0.060,1529,3956,2851,0,0,0,0,0,0
$GC,3220,-0.57,-90.1,470.9,-13.6,316,3227,0.00,0.85,0.00,0.000,6,0.000,0.034,1529,3386,2851,0,0,0,0,0,0
$GC,3536,-0.57,-90.1,512.7,-12.8,332,3540,0.00,0.90,0.00,0.000,4,0.000,0.060,1525,3951,2850,0,0,0,0,0,0
$GC,3614,-0.57,-90.1,523.6,-13.8,335,3618,0.00,0.85,0.00,0.000,6,0.000,0.034,1525,3381,2850,0,0,0,0,0,0
$GC,3937,-0.57,-90.1,565.0,-12.7,351,3940,0.00,0.93,0.00,0.000,4,0.000,0.060,1520,3958,2850,0,0,0,0,0,0
$GC,4020,-0.57,-90.1,576.7,-13.5,354,4027,0.00,0.88,0.00,0.000,6,0.000,0.034,1521,3378,2849,0,0,0,0,0,0
$GC,4337,-0.57,-90.1,617.0,-12.8,370,4340,0.00,0.93,0.00,0.000,4,0.000,0.060,1516,3955,2849,0,0,0,0,0,0
$GC,4419,-0.57,-90.1,628.5,-13.6,373,4427,0.00,0.88,0.00,0.000,6,0.000,0.034,1516,3381,2849,0,0,0,0,0,0
$GC,4736,-0.57,-90.1,668.2,-12.4,389,4739,0.00,0.93,0.00,0.000,4,0.000,0.061,1512,3955,2848,0,0,0,0,0,0
$GC,4916,-0.57,-90.1,692.6,-13.8,397,4919,0.00,0.88,0.00,0.000,6,0.000,0.035,1512,3374,2847,0,0,0,0,0,0
$GC,5248,-0.57,-90.1,735.2,-12.6,413,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,1512,3373,2846,0,0,0,0,0,0
$GC,5558,-0.57,-90.1,776.1,-13.4,428,5559,0.00,0.00,0.00,0.000,6,0.000,0.000,1512,3373,2846,0,0,0,0,0,0
$GC,5867,-0.57,-90.1,816.1,-12.5,443,5870,0.00,0.93,0.00,0.000,4,0.000,0.062,1508,3949,2845,0,0,0,0,0,0
$GC,6124,-0.57,-90.1,851.3,-13.9,454,6129,0.00,0.88,0.00,0.000,6,0.000,0.036,1508,3381,2845,0,0,0,0,0,0
$GC,6446,-0.57,-90.1,891.7,-12.7,470,6449,0.00,0.93,0.00,0.000,4,0.000,0.061,1504,3955,2844,0,0,0,0,0,0
$GC,6693,-0.57,-90.1,926.3,-13.5,481,6698,0.08,0.88,0.00,0.000,6,0.163,0.036,1526,3379,2843,0,0,0,0,0,0
$GC,7026,-0.57,-90.1,965.0,-11.7,497,7029,0.00,0.93,0.00,0.000,4,0.000,0.062,1523,3954,2843,0,0,0,0,0,0
$GC,7103,-0.57,-90.1,974.8,-13.0,500,7108,0.00,0.88,0.00,0.000,6,0.000,0.037,1523,3377,2843,0,0,0,0,0,0
$STATE,7237,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7238,begin apogee
$GC,7242,-0.09,0.0,990.6,11.5,507,7340,0.55,0.00,89.28,1.853,6,0.151,0.000,1682,3279,2473,0,0,0,0,0,0
$STATE,7341,end apogee,CONTROL_FINISHED_OK
$STATE,7341,begin climb
$GC,7343,0.57,90.1,993.8,0.0,512,7445,0.62,2.40,93.75,1.802,4,0.071,0.028,1910,1869,2106,0,0,0,0,0,0
$GC,7472,0.57,90.1,985.3,10.5,517,7476,0.00,2.55,0.00,0.000,6,0.000,0.056,1909,3280,2102,0,0,0,0,0,0
$GC,7800,0.57,90.1,938.5,15.6,533,7804,0.00,2.22,0.00,0.000,4,0.000,0.031,1921,1856,2095,0,0,0,0,0,0
$GC,7848,0.57,90.1,931.1,13.9,535,7853,0.00,2.40,0.00,0.000,6,0.000,0.050,1921,3289,2092,0,0,0,0,0,0
$GC,8172,0.57,90.1,879.8,15.8,551,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3289,2091,0,0,0,0,0,0
$GC,8480,0.57,90.1,831.1,15.1,566,8481,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3289,2090,0,0,0,0,0,0
$GC,8789,0.57,90.1,785.4,14.7,581,8792,0.00,1.08,0.00,0.000,4,0.000,0.061,1921,3945,2089,0,0,0,0,0,0
$GC,8906,0.57,90.1,766.6,17.0,586,8910,0.00,1.02,0.00,0.000,6,0.000,0.034,1926,3272,2089,0,0,0,0,0,0
$GC,9233,0.57,90.1,718.4,14.4,602,9237,0.00,2.15,0.00,0.000,4,0.000,0.032,1937,1861,2087,0,0,0,0,0,0
$GC,9310,0.57,90.1,708.5,12.2,605,9318,0.10,2.33,0.00,0.000,6,0.163,0.050,1908,3286,2086,0,0,0,0,0,0
$GC,9626,0.57,90.1,665.6,14.0,621,9630,0.00,1.08,0.00,0.000,4,0.000,0.060,1908,3948,2086,0,0,0,0,0,0
$GC,9748,0.57,90.1,646.8,15.3,626,9753,0.00,1.02,0.00,0.000,6,0.000,0.035,1911,3283,2086,0,0,0,0,0,0
$GC,10071,0.57,90.1,604.4,12.6,642,10075,0.00,2.15,0.00,0.000,4,0.000,0.031,1922,1864,2086,0,0,0,0,0,0
$GC,10133,0.57,90.1,596.9,11.5,645,10137,0.00,2.30,0.00,0.000,6,0.000,0.050,1923,3288,2085,0,0,0,0,0,0
$GC,10459,0.57,90.1,554.0,13.5,661,10460,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3288,2084,0,0,0,0,0,0
$GC,10770,0.57,90.1,514.1,12.9,676,10771,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3288,2084,0,0,0,0,0,0
$GC,11078,0.57,90.1,476.3,12.7,691,11079,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3288,2084,0,0,0,0,0,0
$GC,11387,0.57,90.1,435.5,12.8,706,11388,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3288,2084,0,0,0,0,0,0
$GC,11697,0.57,90.1,395.2,12.8,722,11698,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3288,2084,0,0,0,0,0,0
$GC,12016,0.57,90.1,352.9,13.6,752,12020,0.00,2.17,0.00,0.000,4,0.000,0.031,1933,1864,2084,0,0,0,0,0,0
$GC,12083,0.57,90.1,344.3,12.0,757,12091,0.08,2.33,0.00,0.000,6,0.161,0.050,1902,3284,2083,0,0,0,0,0,0
$GC,12408,0.57,90.1,305.0,11.6,788,12409,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3284,2083,0,0,0,0,0,0
$GC,12728,0.57,90.1,267.5,11.8,818,12732,0.00,2.15,0.00,0.000,4,0.000,0.030,1912,1857,2083,0,0,0,0,0,0
$GC,12760,0.57,90.1,263.9,9.9,820,12770,0.00,2.33,0.00,0.000,6,0.000,0.050,1912,3281,2083,0,0,0,0,0,0
$GC,13086,0.57,90.1,225.2,12.0,851,13090,0.00,2.12,0.00,0.000,4,0.000,0.030,1923,1865,2083,0,0,0,0,0,0
$GC,13125,0.57,90.1,220.9,10.1,854,13129,0.00,2.30,0.00,0.000,6,0.000,0.050,1923,3289,2083,0,0,0,0,0,0
$GC,13450,0.57,90.1,181.9,12.3,884,13451,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3289,2083,0,0,0,0,0,0
$GC,13770,0.57,90.1,144.9,11.2,914,13773,0.00,1.05,0.00,0.000,4,0.000,0.057,1923,3944,2083,0,0,0,0,0,0
$GC,13796,0.57,90.1,141.2,12.1,916,13806,0.00,1.00,0.00,0.000,6,0.000,0.034,1928,3280,2083,0,0,0,0,0,0
$GC,14121,0.57,90.1,99.9,12.8,947,14128,0.00,2.12,0.00,0.000,4,0.000,0.030,1939,1855,2083,0,0,0,0,0,0
$GC,14188,0.57,90.1,92.0,11.9,958,14195,0.12,2.30,0.00,0.000,6,0.181,0.049,1908,3289,2083,0,0,0,0,0,0
$GC,14540,0.57,90.1,53.0,8.9,1019,14547,0.00,1.05,0.00,0.000,4,0.000,0.057,1908,3942,2083,0,0,0,0,0,0
$GC,14810,0.57,90.1,29.3,8.8,1065,14817,0.00,0.98,0.00,0.000,6,0.000,0.033,1912,3289,2083,0,0,0,0,0,0
$GC,14962,0.57,90.1,17.0,9.5,1090,14971,0.00,1.08,0.00,0.000,4,0.000,0.056,1913,3956,2083,0,0,0,0,0,0
$STATE,15094,end climb,SURFACE_DEPTH_REACHED
$STATE,15094,begin surface coast
$FINISH,0.6,1.026199
$STATE,15121,end surface coast,CONTROL_FINISHED_OK
$STATE,15121,begin surface
$SM_CCo,15135,52.38,0.767,0,0,1574,220.03
$SM_GC,1.44,0.00,0.00,52.38,0.000,0.000,0.767,48,3373,1574,-5.22,-0.23,220.03
$IRIDIUM_FIX,-4244.98,831.12,200114,161607
$TT8_MAMPS,0.026215
$HUMID,61.65
$INTERNAL_PRESSURE,9.58162
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,22.1,42.851
$10V_AH,9.8,33.344
$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,12.850,76.200,183.025,52.375,0.000,26.644,23.807,354.415,0.000,0.000,29.630,2773.319,9219.135,379.078,3129.605,244.668,0.000,1468.092,0.000,2572.009,0.000,1.011,0.000
$DEVICE_MAMPS,231.030,68.850,1852.830,766.530,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,771.881,1926.289,795.941,409.094,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354396
$DATA_FILE_SIZE,80342,1115
$CAP_FILE_SIZE,140546,0
$CFSIZE,259252224,236552192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210114,013305,-4258.274,832.342,28,1.0,28,-25.1