version: 66.07
glider: 543
mission: 9
dive: 311
start: 1 23 114 19 48 18
data:
$ID,543
$MISSION,9
$DIVE,311
$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,-13508.772
$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,50
$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
$GPS1,230114,193828,-4259.205,829.508,39,0.9,39,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-65.1
$GPS2,230114,194754,-4259.166,829.495,17,1.0,17,-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,181.1,1690,-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,-47.60,0.000,6,0.000,0.000,62,3412,2684,0,0,0,0,0,0
$GC,68,-0.57,-90.3,3.3,-4.2,6,86,6.15,0.82,-4.12,0.000,4,0.233,0.082,1528,3920,2845,0,0,0,0,0,0
$GC,169,-0.57,-90.3,24.5,-19.6,21,176,0.00,0.82,0.00,0.000,6,0.000,0.035,1528,3384,2848,0,0,0,0,0,0
$GC,317,-0.57,-90.3,49.0,-14.8,46,324,0.00,2.15,0.00,0.000,4,0.000,0.028,1528,1959,2849,0,0,0,0,0,0
$GC,339,-0.57,-90.3,52.2,-15.1,49,346,0.00,2.28,0.00,0.000,6,0.000,0.050,1517,3359,2849,0,0,0,0,0,0
$GC,693,-0.57,-90.3,103.9,-14.6,109,697,0.00,2.10,0.00,0.000,4,0.000,0.027,1517,1957,2850,0,0,0,0,0,0
$GC,748,-0.57,-90.3,111.2,-11.3,113,757,0.12,2.33,0.00,0.000,6,0.165,0.050,1538,3405,2850,0,0,0,0,0,0
$GC,1074,-0.57,-90.3,150.6,-12.7,144,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,3405,2851,0,0,0,0,0,0
$GC,1394,-0.57,-90.3,191.4,-13.3,174,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,3405,2852,0,0,0,0,0,0
$GC,1712,-0.57,-90.3,230.6,-12.0,204,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,3405,2852,0,0,0,0,0,0
$GC,2031,-0.57,-90.3,268.9,-12.2,234,2035,0.00,2.15,0.00,0.000,4,0.000,0.028,1538,1959,2852,0,0,0,0,0,0
$GC,2075,-0.57,-90.3,274.0,-10.1,237,2083,0.00,2.33,0.00,0.000,6,0.000,0.051,1528,3378,2852,0,0,0,0,0,0
$GC,2401,-0.57,-90.3,315.4,-12.9,268,2405,0.00,0.90,0.00,0.000,4,0.000,0.060,1524,3946,2852,0,0,0,0,0,0
$GC,2515,-0.57,-90.3,330.3,-13.1,278,2518,0.00,0.85,0.00,0.000,6,0.000,0.035,1524,3378,2853,0,0,0,0,0,0
$GC,2847,-0.57,-90.3,370.8,-11.6,309,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3377,2853,0,0,0,0,0,0
$GC,3171,-0.57,-90.3,410.5,-12.2,336,3172,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3377,2853,0,0,0,0,0,0
$GC,3481,-0.57,-90.3,450.2,-13.0,351,3482,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3377,2852,0,0,0,0,0,0
$GC,3790,-0.57,-90.3,490.9,-13.3,366,3791,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3377,2852,0,0,0,0,0,0
$GC,4099,-0.57,-90.3,531.5,-13.0,381,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3377,2851,0,0,0,0,0,0
$GC,4409,-0.57,-90.3,570.3,-12.3,396,4412,0.00,2.12,0.00,0.000,4,0.000,0.030,1524,1957,2851,0,0,0,0,0,0
$GC,4441,-0.57,-90.3,574.1,-10.9,397,4448,0.00,2.33,0.00,0.000,6,0.000,0.054,1512,3386,2851,0,0,0,0,0,0
$GC,4757,-0.57,-90.3,613.9,-12.8,413,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,1513,3386,2850,0,0,0,0,0,0
$GC,5068,-0.57,-90.3,654.2,-13.2,428,5072,0.00,2.15,0.00,0.000,4,0.000,0.030,1513,1951,2849,0,0,0,0,0,0
$GC,5089,-0.57,-90.3,657.3,-13.0,429,5094,0.12,2.35,0.00,0.000,6,0.165,0.054,1533,3391,2849,0,0,0,0,0,0
$GC,5416,-0.57,-90.3,694.9,-11.3,445,5417,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3391,2849,0,0,0,0,0,0
$GC,5726,-0.57,-90.3,729.7,-11.1,460,5730,0.00,2.15,0.00,0.000,4,0.000,0.031,1533,1960,2848,0,0,0,0,0,0
$GC,5752,-0.57,-90.3,732.8,-11.2,461,5756,0.00,2.35,0.00,0.000,6,0.000,0.054,1524,3382,2848,0,0,0,0,0,0
$GC,6075,-0.57,-90.3,770.2,-11.9,477,6077,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3382,2847,0,0,0,0,0,0
$GC,6384,-0.57,-90.3,806.7,-11.3,492,6385,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3382,2846,0,0,0,0,0,0
$GC,6692,-0.57,-90.3,841.8,-11.3,507,6694,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3382,2846,0,0,0,0,0,0
$GC,7002,-0.57,-90.3,875.2,-10.7,522,7003,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3382,2845,0,0,0,0,0,0
$GC,7312,-0.57,-90.3,908.0,-10.5,537,7315,0.00,0.93,0.00,0.000,4,0.000,0.060,1520,3957,2845,0,0,0,0,0,0
$GC,7379,-0.57,-90.3,915.5,-11.2,540,7383,0.00,0.88,0.00,0.000,6,0.000,0.037,1520,3380,2845,0,0,0,0,0,0
$GC,7712,-0.57,-90.3,951.4,-10.7,556,7713,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3380,2844,0,0,0,0,0,0
$GC,8023,-0.57,-90.3,985.4,-10.9,571,8024,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3380,2844,0,0,0,0,0,0
$STATE,8081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8081,begin apogee
$GC,8086,-0.09,0.0,992.1,10.9,574,8184,0.57,0.00,90.07,1.854,6,0.151,0.000,1685,3280,2474,0,0,0,0,0,0
$STATE,8185,end apogee,CONTROL_FINISHED_OK
$STATE,8185,begin climb
$GC,8187,0.57,90.3,994.6,0.0,579,8286,0.65,0.00,95.50,1.802,6,0.067,0.000,1907,3279,2104,0,0,0,0,0,0
$GC,8596,0.57,90.3,943.3,15.5,599,8599,0.00,1.12,0.00,0.000,4,0.000,0.059,1907,3950,2095,0,0,0,0,0,0
$GC,8740,0.57,90.3,918.7,16.6,605,8745,0.00,1.08,0.00,0.000,6,0.000,0.034,1913,3270,2094,0,0,0,0,0,0
$GC,9063,0.57,90.3,869.9,15.2,621,9066,0.00,1.12,0.00,0.000,4,0.000,0.059,1912,3953,2091,0,0,0,0,0,0
$GC,9266,0.57,90.3,835.9,18.1,630,9270,0.00,1.02,0.00,0.000,6,0.000,0.035,1918,3286,2090,0,0,0,0,0,0
$GC,9598,0.57,90.3,785.4,14.9,646,9599,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3286,2088,0,0,0,0,0,0
$GC,9908,0.57,90.3,741.6,14.1,661,9911,0.00,1.10,0.00,0.000,4,0.000,0.060,1918,3957,2087,0,0,0,0,0,0
$GC,10067,0.57,90.3,716.8,14.5,668,10070,0.00,1.02,0.00,0.000,6,0.000,0.035,1923,3286,2087,0,0,0,0,0,0
$GC,10399,0.57,90.3,669.5,14.2,684,10400,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3287,2086,0,0,0,0,0,0
$GC,10711,0.57,90.3,626.5,13.9,699,10714,0.00,1.08,0.00,0.000,4,0.000,0.060,1923,3951,2086,0,0,0,0,0,0
$GC,10810,0.57,90.3,610.9,15.2,703,10814,0.00,1.02,0.00,0.000,6,0.000,0.034,1928,3282,2086,0,0,0,0,0,0
$GC,11132,0.57,90.3,566.4,13.7,719,11133,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,3283,2085,0,0,0,0,0,0
$GC,11443,0.57,90.3,523.9,13.6,734,11447,0.00,1.10,0.00,0.000,4,0.000,0.060,1928,3957,2085,0,0,0,0,0,0
$GC,11560,0.57,90.3,505.7,15.6,739,11565,0.12,1.05,0.00,0.000,6,0.220,0.034,1905,3277,2085,0,0,0,0,0,0
$GC,11888,0.57,90.3,465.0,12.2,755,11891,0.00,1.10,0.00,0.000,4,0.000,0.058,1904,3956,2084,0,0,0,0,0,0
$GC,12023,0.57,90.3,446.7,13.2,761,12026,0.00,1.02,0.00,0.000,6,0.000,0.035,1908,3281,2085,0,0,0,0,0,0
$GC,12357,0.57,90.3,406.3,12.2,777,12359,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3281,2084,0,0,0,0,0,0
$GC,12672,0.57,90.3,368.0,11.3,804,12676,0.00,1.08,0.00,0.000,4,0.000,0.059,1908,3949,2084,0,0,0,0,0,0
$GC,12933,0.57,90.3,335.4,13.4,827,12937,0.00,1.00,0.00,0.000,6,0.000,0.035,1913,3287,2084,0,0,0,0,0,0
$GC,13264,0.57,90.3,300.8,10.1,858,13267,0.00,1.08,0.00,0.000,4,0.000,0.060,1913,3950,2084,0,0,0,0,0,0
$GC,13436,0.57,90.3,281.5,11.0,873,13444,0.00,1.02,0.00,0.000,6,0.000,0.034,1918,3281,2084,0,0,0,0,0,0
$GC,13762,0.57,90.3,248.2,10.6,904,13766,0.00,2.12,0.00,0.000,4,0.000,0.030,1929,1868,2084,0,0,0,0,0,0
$GC,13794,0.57,90.3,244.9,9.4,906,13802,0.00,2.33,0.00,0.000,6,0.000,0.050,1929,3290,2082,0,0,0,0,0,0
$GC,14122,0.57,90.3,206.8,11.7,937,14123,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,3290,2082,0,0,0,0,0,0
$GC,14439,0.57,90.3,167.4,13.4,967,14442,0.00,1.08,0.00,0.000,4,0.000,0.057,1929,3959,2082,0,0,0,0,0,0
$GC,14579,0.57,90.3,147.3,13.8,979,14586,0.00,1.02,0.00,0.000,6,0.000,0.034,1934,3278,2082,0,0,0,0,0,0
$GC,14903,0.57,90.3,106.0,12.0,1010,14908,0.12,1.10,0.00,0.000,4,0.204,0.056,1901,3959,2082,0,0,0,0,0,0
$GC,14960,0.57,90.3,98.7,13.4,1015,14967,0.00,1.02,0.00,0.000,6,0.000,0.034,1904,3284,2082,0,0,0,0,0,0
$GC,15311,0.57,90.3,61.7,9.2,1076,15318,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3284,2082,0,0,0,0,0,0
$GC,15667,0.58,120.4,32.9,5.2,1137,15683,0.00,2.22,10.95,0.860,4,0.000,0.029,1915,1857,1978,0,0,0,0,0,0
$GC,15797,0.59,122.3,23.2,8.5,1158,15806,0.00,2.33,0.00,0.000,6,0.000,0.050,1915,3281,1976,0,0,0,0,0,0
$GC,15954,0.59,122.3,6.8,11.7,1183,15963,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3281,1975,0,0,0,0,0,0
$STATE,15988,end climb,SURFACE_DEPTH_REACHED
$STATE,15988,begin surface coast
$FINISH,0.7,1.026110
$STATE,16020,end surface coast,CONTROL_FINISHED_OK
$STATE,16020,begin surface
$SM_CCo,16033,40.85,0.761,0,0,1575,220.03
$SM_GC,1.14,0.00,0.00,40.85,0.000,0.000,0.761,54,3402,1575,-5.21,0.62,220.03
$IRIDIUM_FIX,-4244.98,831.12,230114,141454
$TT8_MAMPS,0.026215
$HUMID,61.81
$INTERNAL_PRESSURE,9.57185
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,22.1,44.817
$10V_AH,9.8,35.211
$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,12.825,62.525,196.525,40.850,0.000,27.687,40.797,350.228,0.000,0.000,20.788,2932.177,9923.886,360.949,3145.079,271.797,0.000,1419.921,0.000,2599.090,0.000,1.010,0.000
$DEVICE_MAMPS,233.325,81.855,1853.595,761.175,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,826.308,2055.292,834.787,408.149,0.000,0.000,0.000,0.000,0.000,0.000
$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,83760,1193
$CAP_FILE_SIZE,139129,0
$CFSIZE,259252224,235298816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,240114,001728,-4300.495,831.473,39,1.0,39,-25.1