version: 66.07
glider: 543
mission: 9
dive: 314
start: 1 24 114 9 49 30
data:
$ID,543
$MISSION,9
$DIVE,314
$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,-13516.95
$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,45
$R_STBD_OVSHOOT,23
$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
$GPS1,240114,094035,-4300.576,830.206,28,0.9,28,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-72.4
$GPS2,240114,094906,-4300.479,830.239,16,1.3,16,-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,4.9,944,-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,-42.00,0.000,2,0.000,0.000,61,3387,2536,0,0,0,0,0,0
$GC,61,-0.57,-91.7,3.0,-4.0,5,88,6.25,2.22,-9.18,0.000,4,0.239,0.043,1533,1965,2851,0,0,0,0,0,0
$GC,268,-0.57,-91.7,31.1,-13.4,38,278,0.00,2.33,0.00,0.000,6,0.000,0.050,1524,3377,2854,0,0,0,0,0,0
$GC,417,-0.57,-91.7,55.9,-15.3,63,425,0.00,0.93,0.00,0.000,4,0.000,0.057,1520,3955,2854,0,0,0,0,0,0
$GC,480,-0.57,-91.7,65.2,-14.9,73,487,0.00,0.88,0.00,0.000,6,0.000,0.033,1520,3370,2854,0,0,0,0,0,0
$GC,824,-0.57,-91.7,113.9,-13.5,125,826,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3369,2856,0,0,0,0,0,0
$GC,1142,-0.57,-91.7,158.4,-13.8,155,1146,0.00,0.95,0.00,0.000,4,0.000,0.057,1515,3955,2857,0,0,0,0,0,0
$GC,1313,-0.57,-91.7,184.1,-15.0,170,1317,0.00,0.85,0.00,0.000,6,0.000,0.033,1515,3383,2857,0,0,0,0,0,0
$GC,1645,-0.57,-91.7,230.4,-13.5,201,1649,0.00,2.10,0.00,0.000,4,0.000,0.027,1515,1962,2857,0,0,0,0,0,0
$GC,1678,-0.57,-91.7,235.1,-11.9,203,1686,0.08,2.30,0.00,0.000,6,0.145,0.049,1528,3378,2857,0,0,0,0,0,0
$GC,2003,-0.57,-91.7,274.4,-11.9,234,2007,0.00,0.90,0.00,0.000,4,0.000,0.057,1525,3945,2857,0,0,0,0,0,0
$GC,2086,-0.57,-91.7,285.5,-12.6,241,2094,0.00,0.88,0.00,0.000,6,0.000,0.032,1525,3364,2857,0,0,0,0,0,0
$GC,2412,-0.57,-91.7,325.8,-12.5,272,2416,0.00,0.93,0.00,0.000,4,0.000,0.058,1521,3946,2858,0,0,0,0,0,0
$GC,2471,-0.57,-91.7,333.5,-13.9,277,2474,0.00,0.82,0.00,0.000,6,0.000,0.034,1521,3388,2857,0,0,0,0,0,0
$GC,2801,-0.57,-91.7,378.5,-13.7,308,2803,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3387,2857,0,0,0,0,0,0
$GC,3116,-0.57,-91.7,419.5,-13.0,331,3119,0.00,0.90,0.00,0.000,4,0.000,0.058,1517,3951,2857,0,0,0,0,0,0
$GC,3206,-0.57,-91.7,432.2,-14.7,335,3209,0.00,0.85,0.00,0.000,6,0.000,0.034,1517,3381,2857,0,0,0,0,0,0
$GC,3538,-0.57,-91.7,476.6,-13.3,351,3539,0.00,0.00,0.00,0.000,6,0.000,0.000,1517,3380,2857,0,0,0,0,0,0
$GC,3847,-0.57,-91.7,516.6,-12.5,366,3851,0.00,0.95,0.00,0.000,4,0.000,0.060,1513,3956,2857,0,0,0,0,0,0
$GC,3901,-0.57,-91.7,524.2,-13.3,368,3905,0.00,0.88,0.00,0.000,6,0.000,0.034,1512,3381,2857,0,0,0,0,0,0
$GC,4225,-0.57,-91.7,564.2,-12.2,384,4226,0.00,0.00,0.00,0.000,6,0.000,0.000,1513,3381,2856,0,0,0,0,0,0
$GC,4532,-0.57,-91.7,601.3,-11.9,399,4536,0.00,0.93,0.00,0.000,4,0.000,0.060,1509,3957,2856,0,0,0,0,0,0
$GC,4600,-0.57,-91.7,609.8,-12.6,402,4604,0.00,0.88,0.00,0.000,6,0.000,0.034,1508,3375,2856,0,0,0,0,0,0
$GC,4933,-0.57,-91.7,649.8,-12.4,418,4937,0.00,0.93,0.00,0.000,4,0.000,0.060,1504,3952,2855,0,0,0,0,0,0
$GC,4982,-0.57,-91.7,656.3,-13.1,420,4987,0.12,0.88,0.00,0.000,6,0.182,0.034,1534,3381,2855,0,0,0,0,0,0
$GC,5309,-0.57,-91.7,688.7,-9.7,436,5313,0.00,0.95,0.00,0.000,4,0.000,0.061,1531,3955,2855,0,0,0,0,0,0
$GC,5358,-0.57,-91.7,694.0,-10.3,438,5363,0.00,0.88,0.00,0.000,6,0.000,0.034,1531,3378,2854,0,0,0,0,0,0
$GC,5688,-0.57,-91.7,727.1,-10.3,454,5691,0.00,0.93,0.00,0.000,4,0.000,0.060,1527,3953,2853,0,0,0,0,0,0
$GC,5737,-0.57,-91.7,733.2,-11.3,456,5741,0.00,0.88,0.00,0.000,6,0.000,0.034,1527,3375,2853,0,0,0,0,0,0
$GC,6065,-0.57,-91.7,767.4,-10.7,472,6068,0.00,0.93,0.00,0.000,4,0.000,0.061,1523,3948,2853,0,0,0,0,0,0
$GC,6142,-0.57,-91.7,776.6,-11.9,475,6146,0.00,0.88,0.00,0.000,6,0.000,0.034,1523,3376,2852,0,0,0,0,0,0
$GC,6466,-0.57,-91.7,813.2,-11.6,491,6469,0.00,0.93,0.00,0.000,4,0.000,0.060,1519,3953,2852,0,0,0,0,0,0
$GC,6520,-0.57,-91.7,820.4,-12.4,493,6525,0.00,0.88,0.00,0.000,6,0.000,0.035,1519,3381,2852,0,0,0,0,0,0
$GC,6843,-0.57,-91.7,859.0,-11.8,509,6844,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3381,2851,0,0,0,0,0,0
$GC,7153,-0.57,-91.7,895.2,-11.7,524,7157,0.00,0.93,0.00,0.000,4,0.000,0.061,1515,3955,2850,0,0,0,0,0,0
$GC,7225,-0.57,-91.7,904.6,-12.9,527,7229,0.00,0.88,0.00,0.000,6,0.000,0.035,1515,3381,2850,0,0,0,0,0,0
$GC,7553,-0.57,-91.7,942.6,-11.7,543,7554,0.00,0.00,0.00,0.000,6,0.000,0.000,1515,3381,2849,0,0,0,0,0,0
$GC,7862,-0.57,-91.7,978.2,-11.0,558,7863,0.00,0.00,0.00,0.000,6,0.000,0.000,1515,3381,2849,0,0,0,0,0,0
$STATE,7984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7984,begin apogee
$GC,7989,-0.09,0.0,991.8,10.9,564,8087,0.57,0.00,91.28,1.847,6,0.152,0.000,1681,3281,2474,0,0,0,0,0,0
$STATE,8087,end apogee,CONTROL_FINISHED_OK
$STATE,8088,begin climb
$GC,8090,0.57,91.7,994.2,0.0,569,8197,0.65,2.45,96.07,1.792,4,0.073,0.030,1914,1877,2099,0,0,0,0,0,0
$GC,8221,0.57,91.7,984.7,11.0,575,8225,0.00,2.45,0.00,0.000,6,0.000,0.049,1914,3281,2096,0,0,0,0,0,0
$GC,8549,0.57,91.7,934.4,15.0,591,8553,0.00,1.12,0.00,0.000,4,0.000,0.058,1914,3959,2088,0,0,0,0,0,0
$GC,8575,0.57,91.7,929.5,15.7,592,8580,0.00,1.08,0.00,0.000,6,0.000,0.034,1919,3279,2088,0,0,0,0,0,0
$GC,8904,0.57,91.7,879.7,15.0,608,8907,0.00,1.10,0.00,0.000,4,0.000,0.057,1919,3954,2086,0,0,0,0,0,0
$GC,8997,0.57,91.7,864.2,16.3,612,9002,0.00,1.05,0.00,0.000,6,0.000,0.034,1924,3279,2085,0,0,0,0,0,0
$GC,9326,0.57,91.7,815.4,15.2,628,9327,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,3279,2084,0,0,0,0,0,0
$GC,9635,0.57,91.7,768.1,15.0,643,9638,0.00,1.10,0.00,0.000,4,0.000,0.058,1924,3957,2083,0,0,0,0,0,0
$GC,9740,0.57,91.7,750.5,16.6,647,9747,0.00,1.05,0.00,0.000,6,0.000,0.034,1929,3278,2083,0,0,0,0,0,0
$GC,10057,0.57,91.7,704.5,14.0,663,10058,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,3278,2081,0,0,0,0,0,0
$GC,10367,0.57,91.7,660.8,13.8,678,10371,0.00,1.10,0.00,0.000,4,0.000,0.059,1929,3954,2081,0,0,0,0,0,0
$GC,10596,0.57,91.7,626.0,15.9,688,10602,0.10,1.02,0.00,0.000,6,0.197,0.034,1907,3275,2081,0,0,0,0,0,0
$GC,10923,0.57,91.7,584.4,12.4,704,10927,0.00,1.10,0.00,0.000,4,0.000,0.057,1907,3954,2080,0,0,0,0,0,0
$GC,10972,0.57,91.7,577.3,14.5,706,10977,0.00,1.02,0.00,0.000,6,0.000,0.034,1911,3288,2080,0,0,0,0,0,0
$GC,11300,0.57,91.7,535.7,12.6,722,11304,0.00,1.08,0.00,0.000,4,0.000,0.058,1910,3952,2079,0,0,0,0,0,0
$GC,11413,0.57,91.7,519.5,14.5,727,11417,0.00,1.00,0.00,0.000,6,0.000,0.034,1916,3290,2079,0,0,0,0,0,0
$GC,11746,0.57,91.7,477.0,12.8,743,11749,0.00,1.08,0.00,0.000,4,0.000,0.057,1916,3954,2079,0,0,0,0,0,0
$GC,11874,0.57,91.7,459.4,13.6,748,11883,0.00,1.02,0.00,0.000,6,0.000,0.034,1921,3283,2079,0,0,0,0,0,0
$GC,12190,0.57,91.7,418.5,12.8,764,12194,0.00,2.15,0.00,0.000,4,0.000,0.031,1932,1866,2078,0,0,0,0,0,0
$GC,12258,0.57,91.7,410.5,10.9,767,12262,0.00,2.28,0.00,0.000,6,0.000,0.050,1932,3291,2077,0,0,0,0,0,0
$GC,12583,0.57,91.7,369.9,12.0,793,12587,0.00,1.08,0.00,0.000,4,0.000,0.057,1932,3956,2078,0,0,0,0,0,0
$GC,12842,0.57,91.7,334.4,14.4,816,12846,0.10,1.00,0.00,0.000,6,0.195,0.034,1910,3292,2077,0,0,0,0,0,0
$GC,13173,0.57,91.7,297.6,11.1,847,13176,0.00,1.08,0.00,0.000,4,0.000,0.058,1906,3955,2077,0,0,0,0,0,0
$GC,13435,0.57,91.7,262.4,13.9,870,13439,0.00,1.00,0.00,0.000,6,0.000,0.034,1909,3292,2077,0,0,0,0,0,0
$GC,13768,0.57,91.7,222.6,11.7,901,13769,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3292,2077,0,0,0,0,0,0
$GC,14085,0.57,91.7,186.4,11.8,931,14086,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3292,2077,0,0,0,0,0,0
$GC,14406,0.57,91.7,149.9,11.2,961,14409,0.00,1.08,0.00,0.000,4,0.000,0.057,1909,3954,2077,0,0,0,0,0,0
$GC,14499,0.57,91.7,137.8,12.8,969,14502,0.00,1.00,0.00,0.000,6,0.000,0.034,1912,3289,2076,0,0,0,0,0,0
$GC,14829,0.57,91.7,99.1,11.2,1000,14836,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3289,2077,0,0,0,0,0,0
$GC,15179,0.57,91.7,62.0,9.4,1061,15186,0.00,1.08,0.00,0.000,4,0.000,0.057,1912,3954,2077,0,0,0,0,0,0
$GC,15211,0.57,94.4,59.3,8.4,1066,15218,0.00,1.00,0.00,0.000,6,0.000,0.033,1917,3286,2077,0,0,0,0,0,0
$GC,15565,0.57,103.6,32.0,7.6,1127,15572,0.00,1.10,2.85,0.539,4,0.000,0.057,1917,3952,2049,0,0,0,0,0,0
$GC,15847,0.57,103.6,3.7,9.9,1173,15856,0.00,1.00,0.00,0.000,6,0.000,0.032,1923,3282,2050,0,0,0,0,0,0
$STATE,15863,end climb,SURFACE_DEPTH_REACHED
$STATE,15863,begin surface coast
$FINISH,0.7,1.025872
$STATE,15901,end surface coast,CONTROL_FINISHED_OK
$STATE,15901,begin surface
$SM_CCo,15915,48.28,0.763,0,0,1575,220.03
$SM_GC,1.20,0.00,0.00,48.28,0.000,0.000,0.763,51,3391,1575,-5.22,0.31,220.03
$IRIDIUM_FIX,-4242.04,833.59,240114,050553
$TT8_MAMPS,0.026215
$HUMID,61.61
$INTERNAL_PRESSURE,9.58162
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,22.1,45.197
$10V_AH,9.8,35.579
$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,12.875,67.225,190.200,48.275,0.000,25.054,17.693,327.114,0.000,0.000,18.758,2944.437,9679.171,354.023,3224.740,268.613,0.000,1495.406,0.000,2714.536,0.000,1.010,0.000
$DEVICE_MAMPS,238.680,84.150,1847.475,763.470,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,818.402,2038.336,845.386,440.555,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354408
$DATA_FILE_SIZE,83965,1181
$CAP_FILE_SIZE,146249,0
$CFSIZE,259252224,235048960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,240114,141652,-4258.908,830.176,42,0.8,42,-25.0