version: 66.07
glider: 543
mission: 9
dive: 307
start: 1 23 114 0 47 47
data:
$ID,543
$MISSION,9
$DIVE,307
$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,-13495.975
$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,49
$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
$GPS1,230114,003822,-4259.054,830.141,41,1.0,41,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-69.8
$GPS2,230114,004723,-4259.038,830.131,18,1.1,18,-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,210.7,1790,-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,-47.05,0.000,6,0.000,0.000,43,3385,2684,0,0,0,0,0,0
$GC,68,-0.56,-86.6,3.5,-4.6,6,86,6.30,0.93,-3.62,0.000,4,0.237,0.078,1529,3960,2829,0,0,0,0,0,0
$GC,351,-0.56,-86.6,56.9,-15.4,53,358,0.00,0.88,0.00,0.000,6,0.000,0.034,1529,3381,2833,0,0,0,0,0,0
$GC,705,-0.56,-86.6,106.0,-12.7,111,709,0.00,2.10,0.00,0.000,4,0.000,0.028,1529,1965,2834,0,0,0,0,0,0
$GC,767,-0.56,-86.6,112.9,-10.4,116,771,0.00,2.30,0.00,0.000,6,0.000,0.050,1518,3390,2835,0,0,0,0,0,0
$GC,1091,-0.56,-86.6,157.4,-13.8,146,1095,0.00,0.90,0.00,0.000,4,0.000,0.057,1513,3948,2836,0,0,0,0,0,0
$GC,1159,-0.56,-86.6,167.4,-14.9,152,1163,0.00,0.85,0.00,0.000,6,0.000,0.033,1514,3376,2836,0,0,0,0,0,0
$GC,1489,-0.56,-86.6,212.0,-13.3,183,1493,0.00,0.90,0.00,0.000,4,0.000,0.057,1510,3941,2836,0,0,0,0,0,0
$GC,1594,-0.56,-86.6,227.1,-14.0,192,1604,0.00,0.85,0.00,0.000,6,0.000,0.032,1510,3378,2837,0,0,0,0,0,0
$GC,1920,-0.56,-86.6,270.1,-13.6,223,1924,0.00,2.08,0.00,0.000,4,0.000,0.027,1510,1967,2836,0,0,0,0,0,0
$GC,1963,-0.56,-86.6,275.9,-11.3,226,1972,0.10,2.30,0.00,0.000,6,0.147,0.049,1529,3382,2837,0,0,0,0,0,0
$GC,2292,-0.56,-86.6,316.7,-12.4,257,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3382,2837,0,0,0,0,0,0
$GC,2608,-0.56,-86.6,357.2,-12.4,287,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3382,2837,0,0,0,0,0,0
$GC,2930,-0.56,-86.6,396.8,-12.5,317,2936,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3382,2837,0,0,0,0,0,0
$GC,3246,-0.56,-86.6,435.5,-12.0,334,3247,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3382,2837,0,0,0,0,0,0
$GC,3555,-0.56,-86.6,473.3,-12.4,349,3559,0.00,0.90,0.00,0.000,4,0.000,0.059,1527,3950,2837,0,0,0,0,0,0
$GC,3616,-0.56,-86.6,481.4,-13.5,351,3623,0.00,0.88,0.00,0.000,6,0.000,0.034,1527,3360,2837,0,0,0,0,0,0
$GC,3933,-0.56,-86.6,520.7,-12.5,367,3935,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3359,2836,0,0,0,0,0,0
$GC,4241,-0.56,-86.6,559.2,-12.2,382,4242,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3360,2836,0,0,0,0,0,0
$GC,4551,-0.56,-86.6,596.5,-12.0,397,4552,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3359,2835,0,0,0,0,0,0
$GC,4860,-0.56,-86.6,633.5,-12.1,412,4864,0.00,2.08,0.00,0.000,4,0.000,0.028,1527,1960,2834,0,0,0,0,0,0
$GC,4886,-0.56,-86.6,636.8,-12.1,413,4891,0.00,2.33,0.00,0.000,6,0.000,0.052,1516,3380,2834,0,0,0,0,0,0
$GC,5210,-0.56,-86.6,677.6,-12.8,429,5211,0.00,0.00,0.00,0.000,6,0.000,0.000,1516,3381,2834,0,0,0,0,0,0
$GC,5518,-0.56,-86.6,716.4,-12.6,444,5519,0.00,0.00,0.00,0.000,6,0.000,0.000,1516,3381,2832,0,0,0,0,0,0
$GC,5827,-0.56,-86.6,754.1,-12.1,459,5831,0.00,2.15,0.00,0.000,4,0.000,0.029,1516,1953,2832,0,0,0,0,0,0
$GC,5849,-0.56,-86.6,756.7,-11.9,460,5854,0.12,2.33,0.00,0.000,6,0.164,0.053,1537,3383,2832,0,0,0,0,0,0
$GC,6170,-0.56,-86.6,789.3,-10.0,476,6171,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3383,2831,0,0,0,0,0,0
$GC,6480,-0.56,-86.6,819.8,-9.9,491,6481,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3383,2831,0,0,0,0,0,0
$GC,6790,-0.56,-86.6,849.9,-9.7,506,6791,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3383,2830,0,0,0,0,0,0
$GC,7098,-0.56,-86.8,878.0,-8.7,521,7099,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3383,2829,0,0,0,0,0,0
$GC,7408,-0.56,-88.1,904.1,-8.5,536,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3384,2829,0,0,0,0,0,0
$GC,7717,-0.57,-91.7,930.3,-8.3,551,7721,0.00,2.12,0.00,0.000,4,0.000,0.031,1537,1969,2829,0,0,0,0,0,0
$GC,7749,-0.57,-95.4,933.2,-8.3,552,7756,0.00,2.35,0.00,0.000,6,0.000,0.054,1527,3386,2828,0,0,0,0,0,0
$GC,8067,-0.57,-95.4,961.9,-9.2,568,8071,0.00,2.15,0.00,0.000,4,0.000,0.031,1527,1966,2828,0,0,0,0,0,0
$GC,8093,-0.57,-95.4,964.7,-9.4,569,8097,0.00,2.35,0.00,0.000,6,0.000,0.054,1517,3386,2828,0,0,0,0,0,0
$STATE,8351,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8351,begin apogee
$GC,8356,-0.09,0.0,991.7,10.7,582,8446,0.57,0.00,86.32,1.862,6,0.155,0.000,1681,3293,2473,0,0,0,0,0,0
$STATE,8447,end apogee,CONTROL_FINISHED_OK
$STATE,8447,begin climb
$GC,8449,0.57,95.4,993.8,0.0,586,8562,0.62,2.53,99.78,1.809,4,0.072,0.031,1909,1858,2084,0,0,0,0,0,0
$GC,8567,0.57,95.4,986.0,12.0,592,8571,0.00,2.55,0.00,0.000,6,0.000,0.050,1909,3287,2082,0,0,0,0,0,0
$GC,8894,0.57,95.4,938.1,14.6,608,8896,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3287,2074,0,0,0,0,0,0
$GC,9205,0.57,95.4,891.3,15.2,623,9209,0.00,2.22,0.00,0.000,4,0.000,0.032,1920,1863,2071,0,0,0,0,0,0
$GC,9237,0.57,95.4,886.3,14.0,624,9244,0.00,2.38,0.00,0.000,6,0.000,0.051,1920,3306,2070,0,0,0,0,0,0
$GC,9553,0.57,95.4,837.9,14.8,640,9556,0.00,1.05,0.00,0.000,4,0.000,0.059,1920,3952,2069,0,0,0,0,0,0
$GC,9636,0.57,95.4,824.1,16.6,643,9643,0.00,1.05,0.00,0.000,6,0.000,0.033,1925,3272,2069,0,0,0,0,0,0
$GC,9953,0.57,95.4,777.6,14.3,659,9956,0.00,1.10,0.00,0.000,4,0.000,0.058,1925,3945,2068,0,0,0,0,0,0
$GC,10081,0.57,95.4,757.1,15.4,664,10088,0.00,1.02,0.00,0.000,6,0.000,0.034,1930,3284,2068,0,0,0,0,0,0
$GC,10397,0.57,95.4,712.7,13.9,680,10401,0.00,2.17,0.00,0.000,4,0.000,0.032,1941,1876,2066,0,0,0,0,0,0
$GC,10418,0.57,95.4,709.6,13.7,681,10423,0.10,2.30,0.00,0.000,6,0.168,0.050,1912,3285,2066,0,0,0,0,0,0
$GC,10748,0.57,95.4,667.9,13.0,697,10751,0.00,1.08,0.00,0.000,4,0.000,0.059,1911,3945,2065,0,0,0,0,0,0
$GC,10839,0.57,95.4,654.3,14.8,701,10842,0.00,1.00,0.00,0.000,6,0.000,0.036,1914,3287,2065,0,0,0,0,0,0
$GC,11171,0.57,95.4,608.3,13.5,717,11172,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3288,2065,0,0,0,0,0,0
$GC,11482,0.57,95.4,565.4,14.0,732,11486,0.00,1.08,0.00,0.000,4,0.000,0.058,1915,3951,2064,0,0,0,0,0,0
$GC,11542,0.57,95.4,555.9,15.3,734,11550,0.00,1.02,0.00,0.000,6,0.000,0.035,1920,3284,2064,0,0,0,0,0,0
$GC,11859,0.57,95.4,513.0,13.5,750,11860,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3284,2064,0,0,0,0,0,0
$GC,12169,0.57,95.4,472.4,13.1,765,12170,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3284,2064,0,0,0,0,0,0
$GC,12477,0.57,95.4,433.6,12.7,780,12481,0.00,1.08,0.00,0.000,4,0.000,0.058,1920,3947,2064,0,0,0,0,0,0
$GC,12583,0.57,95.4,418.9,14.1,784,12591,0.00,1.02,0.00,0.000,6,0.000,0.034,1925,3282,2063,0,0,0,0,0,0
$GC,12905,0.57,95.4,376.9,13.0,808,12909,0.00,1.08,0.00,0.000,4,0.000,0.058,1925,3948,2063,0,0,0,0,0,0
$GC,13046,0.57,95.4,356.4,13.9,820,13055,0.00,1.00,0.00,0.000,6,0.000,0.034,1930,3286,2063,0,0,0,0,0,0
$GC,13370,0.57,95.4,313.0,13.3,851,13374,0.00,1.08,0.00,0.000,4,0.000,0.057,1930,3951,2063,0,0,0,0,0,0
$GC,13461,0.57,95.4,299.2,15.8,859,13465,0.10,1.00,0.00,0.000,6,0.193,0.034,1908,3285,2064,0,0,0,0,0,0
$GC,13791,0.57,95.4,259.8,11.6,890,13795,0.00,1.08,0.00,0.000,4,0.000,0.059,1905,3945,2063,0,0,0,0,0,0
$GC,13898,0.57,95.4,245.8,12.1,899,13905,0.00,1.00,0.00,0.000,6,0.000,0.034,1908,3287,2063,0,0,0,0,0,0
$GC,14223,0.57,95.4,209.2,11.8,930,14227,0.00,2.17,0.00,0.000,4,0.000,0.030,1919,1857,2063,0,0,0,0,0,0
$GC,14320,0.57,95.4,199.6,9.7,938,14324,0.00,2.30,0.00,0.000,6,0.000,0.050,1920,3285,2062,0,0,0,0,0,0
$GC,14645,0.57,95.4,161.6,11.4,968,14648,0.00,1.08,0.00,0.000,4,0.000,0.057,1920,3954,2062,0,0,0,0,0,0
$GC,14815,0.57,95.4,138.9,13.3,983,14818,0.00,1.00,0.00,0.000,6,0.000,0.034,1925,3287,2062,0,0,0,0,0,0
$GC,15143,0.57,95.4,97.5,12.7,1015,15148,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,3287,2062,0,0,0,0,0,0
$GC,15490,0.57,95.4,59.6,9.0,1076,15497,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,3287,2062,0,0,0,0,0,0
$GC,15847,0.57,95.4,30.1,8.9,1137,15854,0.00,1.08,0.00,0.000,4,0.000,0.057,1924,3952,2062,0,0,0,0,0,0
$STATE,16127,end climb,SURFACE_DEPTH_REACHED
$STATE,16127,begin surface coast
$FINISH,0.5,1.026180
$STATE,16165,end surface coast,CONTROL_FINISHED_OK
$STATE,16165,begin surface
$SM_CCo,16179,49.92,0.777,0,0,1574,220.03
$SM_GC,1.65,0.00,0.00,49.92,0.000,0.000,0.777,51,3373,1574,-5.22,-0.23,220.03
$IRIDIUM_FIX,-4244.98,831.12,220114,191947
$TT8_MAMPS,0.026215
$HUMID,62.48
$INTERNAL_PRESSURE,9.58162
$TCM_TEMP,14.60
$XPDR_PINGS,0
$24V_AH,22.1,44.300
$10V_AH,9.8,34.707
$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,13.050,73.200,186.100,49.925,0.000,28.729,22.642,341.133,0.000,0.000,21.556,2910.804,10180.932,361.312,3061.505,251.188,0.000,1418.500,0.000,2529.419,0.000,1.012,0.000
$DEVICE_MAMPS,237.150,78.030,1862.010,777.240,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,823.709,2026.974,811.730,405.684,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354404
$DATA_FILE_SIZE,83510,1189
$CAP_FILE_SIZE,139798,0
$CFSIZE,259252224,235630592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230114,051935,-4300.182,830.575,42,1.0,42,-25.0