version: 66.07
glider: 543
mission: 9
dive: 318
start: 1 25 114 4 35 41
data:
$ID,543
$MISSION,9
$DIVE,318
$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,-13528.496
$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,48
$R_STBD_OVSHOOT,18
$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
$GPS1,250114,042634,-4300.750,830.258,41,0.9,41,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-65.7
$GPS2,250114,043517,-4300.755,830.326,18,1.6,18,-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,7.4,1466,-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,12,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,-48.20,0.000,6,0.000,0.000,55,3384,2684,0,0,0,0,0,0
$GC,68,-0.57,-96.8,3.2,-3.5,6,86,6.22,0.93,-4.90,0.000,4,0.236,0.076,1524,3962,2870,0,0,0,0,0,0
$GC,171,-0.57,-96.8,25.5,-19.4,22,180,0.00,0.88,0.00,0.000,6,0.000,0.034,1524,3383,2873,0,0,0,0,0,0
$GC,319,-0.57,-96.8,51.7,-16.9,47,326,0.00,2.15,0.00,0.000,4,0.000,0.028,1524,1962,2874,0,0,0,0,0,0
$GC,386,-0.57,-96.8,60.2,-11.8,58,393,0.00,2.30,0.00,0.000,6,0.000,0.050,1513,3385,2875,0,0,0,0,0,0
$GC,730,-0.57,-96.8,111.9,-14.7,112,733,0.00,0.90,0.00,0.000,4,0.000,0.057,1508,3951,2876,0,0,0,0,0,0
$GC,813,-0.57,-96.8,126.0,-15.9,119,821,0.00,0.88,0.00,0.000,6,0.000,0.031,1509,3370,2876,0,0,0,0,0,0
$GC,1139,-0.57,-96.8,175.7,-15.2,150,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,1509,3370,2877,0,0,0,0,0,0
$GC,1459,-0.57,-96.8,226.1,-16.2,180,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,1509,3370,2878,0,0,0,0,0,0
$GC,1778,-0.57,-96.8,276.3,-15.4,210,1782,0.00,2.10,0.00,0.000,4,0.000,0.027,1509,1966,2878,0,0,0,0,0,0
$GC,1819,-0.57,-96.8,282.3,-13.8,213,1824,0.12,2.28,0.00,0.000,6,0.168,0.049,1529,3387,2878,0,0,0,0,0,0
$GC,2149,-0.57,-96.8,325.3,-12.9,244,2153,0.00,2.10,0.00,0.000,4,0.000,0.027,1529,1966,2878,0,0,0,0,0,0
$GC,2178,-0.57,-96.8,328.7,-12.6,246,2182,0.00,2.28,0.00,0.000,6,0.000,0.050,1520,3389,2878,0,0,0,0,0,0
$GC,2510,-0.57,-96.8,373.0,-13.3,277,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3389,2878,0,0,0,0,0,0
$GC,2823,-0.57,-96.8,414.0,-13.0,302,2824,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3390,2878,0,0,0,0,0,0
$GC,3134,-0.57,-96.8,452.9,-12.5,317,3138,0.00,2.12,0.00,0.000,4,0.000,0.029,1520,1969,2878,0,0,0,0,0,0
$GC,3152,-0.57,-96.8,455.2,-12.0,318,3156,0.00,2.30,0.00,0.000,6,0.000,0.051,1509,3391,2878,0,0,0,0,0,0
$GC,3478,-0.57,-96.8,497.8,-12.8,334,3482,0.00,2.12,0.00,0.000,4,0.000,0.028,1509,1969,2878,0,0,0,0,0,0
$GC,3493,-0.57,-96.8,499.9,-13.0,334,3501,0.08,2.30,0.00,0.000,6,0.148,0.051,1522,3374,2877,0,0,0,0,0,0
$GC,3810,-0.57,-96.8,537.1,-12.0,350,3813,0.00,0.93,0.00,0.000,4,0.000,0.059,1519,3955,2878,0,0,0,0,0,0
$GC,3847,-0.57,-96.8,542.4,-13.5,351,3855,0.00,0.88,0.00,0.000,6,0.000,0.034,1519,3382,2877,0,0,0,0,0,0
$GC,4166,-0.57,-96.8,581.9,-12.7,367,4170,0.00,2.12,0.00,0.000,4,0.000,0.030,1519,1955,2877,0,0,0,0,0,0
$GC,4192,-0.57,-96.8,585.6,-12.9,368,4197,0.00,2.35,0.00,0.000,6,0.000,0.053,1509,3379,2877,0,0,0,0,0,0
$GC,4514,-0.57,-96.8,628.8,-14.0,384,4518,0.00,2.12,0.00,0.000,4,0.000,0.029,1509,1957,2876,0,0,0,0,0,0
$GC,4548,-0.57,-96.8,633.4,-13.2,385,4556,0.12,2.33,0.00,0.000,6,0.168,0.054,1529,3390,2876,0,0,0,0,0,0
$GC,4864,-0.57,-96.8,670.0,-11.6,401,4865,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3390,2875,0,0,0,0,0,0
$GC,5173,-0.57,-96.8,707.1,-12.1,416,5177,0.00,2.15,0.00,0.000,4,0.000,0.031,1529,1966,2875,0,0,0,0,0,0
$GC,5200,-0.57,-96.8,710.4,-12.5,417,5204,0.00,2.28,0.00,0.000,6,0.000,0.054,1520,3379,2875,0,0,0,0,0,0
$GC,5523,-0.57,-96.8,749.3,-12.4,433,5525,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3380,2874,0,0,0,0,0,0
$GC,5831,-0.57,-96.8,788.0,-12.4,448,5835,0.00,2.12,0.00,0.000,4,0.000,0.031,1520,1956,2873,0,0,0,0,0,0
$GC,5874,-0.57,-96.8,793.2,-11.2,450,5878,0.00,2.30,0.00,0.000,6,0.000,0.054,1509,3381,2873,0,0,0,0,0,0
$GC,6204,-0.57,-96.8,837.6,-13.7,466,6205,0.00,0.00,0.00,0.000,6,0.000,0.000,1509,3381,2873,0,0,0,0,0,0
$GC,6511,-0.57,-96.8,878.9,-13.1,481,6512,0.00,0.00,0.00,0.000,6,0.000,0.000,1509,3381,2872,0,0,0,0,0,0
$GC,6821,-0.57,-96.8,918.3,-12.4,496,6825,0.00,2.12,0.00,0.000,4,0.000,0.031,1509,1966,2872,0,0,0,0,0,0
$GC,6847,-0.57,-96.8,921.8,-12.8,497,6852,0.10,2.33,0.00,0.000,6,0.143,0.054,1529,3374,2871,0,0,0,0,0,0
$GC,7169,-0.57,-96.8,954.9,-10.3,513,7173,0.00,2.12,0.00,0.000,4,0.000,0.031,1529,1960,2871,0,0,0,0,0,0
$GC,7191,-0.57,-96.8,957.2,-10.4,514,7195,0.00,2.30,0.00,0.000,6,0.000,0.054,1520,3382,2871,0,0,0,0,0,0
$STATE,7495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7496,begin apogee
$GC,7500,-0.09,0.0,991.4,11.2,529,7600,0.57,0.00,96.20,1.857,6,0.152,0.000,1685,3289,2473,0,0,0,0,0,0
$STATE,7601,end apogee,CONTROL_FINISHED_OK
$STATE,7601,begin climb
$GC,7603,0.57,96.8,994.0,0.0,534,7709,0.62,0.00,102.10,1.799,6,0.067,0.000,1902,3289,2078,0,0,0,0,0,0
$GC,8017,0.57,96.8,943.8,14.5,554,8020,0.00,1.12,0.00,0.000,4,0.000,0.059,1902,3954,2067,0,0,0,0,0,0
$GC,8117,0.57,96.8,927.1,17.3,558,8121,0.00,1.05,0.00,0.000,6,0.000,0.034,1907,3276,2067,0,0,0,0,0,0
$GC,8439,0.57,96.8,879.8,14.3,574,8442,0.00,1.10,0.00,0.000,4,0.000,0.058,1908,3948,2064,0,0,0,0,0,0
$GC,8598,0.57,96.8,854.0,18.2,581,8602,0.00,1.02,0.00,0.000,6,0.000,0.035,1912,3279,2064,0,0,0,0,0,0
$GC,8931,0.57,96.8,803.4,14.9,597,8934,0.00,1.10,0.00,0.000,4,0.000,0.057,1912,3957,2063,0,0,0,0,0,0
$GC,8976,0.57,96.8,795.9,17.0,599,8979,0.00,1.02,0.00,0.000,6,0.000,0.035,1917,3286,2063,0,0,0,0,0,0
$GC,9309,0.57,96.8,746.9,14.9,615,9310,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3286,2062,0,0,0,0,0,0
$GC,9618,0.57,96.8,701.7,14.0,630,9621,0.00,1.08,0.00,0.000,4,0.000,0.058,1917,3953,2061,0,0,0,0,0,0
$GC,9846,0.57,96.8,665.9,14.7,640,9851,0.00,1.05,0.00,0.000,6,0.000,0.034,1923,3271,2061,0,0,0,0,0,0
$GC,10177,0.57,96.8,621.5,13.6,656,10178,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3271,2060,0,0,0,0,0,0
$GC,10484,0.57,96.8,580.4,13.1,671,10485,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3271,2060,0,0,0,0,0,0
$GC,10793,0.57,96.8,540.9,12.4,686,10796,0.00,1.10,0.00,0.000,4,0.000,0.058,1923,3950,2059,0,0,0,0,0,0
$GC,10988,0.57,96.8,512.7,14.8,694,10996,0.00,1.00,0.00,0.000,6,0.000,0.034,1927,3292,2060,0,0,0,0,0,0
$GC,11304,0.57,96.8,472.3,12.8,710,11308,0.00,1.08,0.00,0.000,4,0.000,0.058,1928,3955,2059,0,0,0,0,0,0
$GC,11404,0.57,96.8,458.0,14.2,714,11409,0.00,1.02,0.00,0.000,6,0.000,0.034,1933,3282,2059,0,0,0,0,0,0
$GC,11726,0.57,96.8,416.2,12.9,730,11730,0.00,1.08,0.00,0.000,4,0.000,0.058,1933,3943,2059,0,0,0,0,0,0
$GC,11850,0.57,96.8,397.7,15.8,736,11855,0.10,1.00,0.00,0.000,6,0.196,0.034,1910,3281,2058,0,0,0,0,0,0
$GC,12181,0.57,96.8,359.5,11.2,767,12184,0.00,1.08,0.00,0.000,4,0.000,0.057,1909,3944,2058,0,0,0,0,0,0
$GC,12316,0.57,96.8,342.3,13.2,779,12319,0.00,1.00,0.00,0.000,6,0.000,0.034,1913,3285,2057,0,0,0,0,0,0
$GC,12646,0.57,96.8,303.4,12.0,810,12650,0.00,1.08,0.00,0.000,4,0.000,0.057,1913,3955,2058,0,0,0,0,0,0
$GC,12838,0.57,96.8,276.3,14.8,827,12842,0.00,1.02,0.00,0.000,6,0.000,0.034,1918,3275,2058,0,0,0,0,0,0
$GC,13169,0.57,96.8,234.0,12.0,858,13170,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3275,2058,0,0,0,0,0,0
$GC,13489,0.57,96.8,193.7,12.8,888,13493,0.00,1.10,0.00,0.000,4,0.000,0.057,1918,3953,2057,0,0,0,0,0,0
$GC,13549,0.57,96.8,185.0,13.6,893,13557,0.00,1.02,0.00,0.000,6,0.000,0.033,1923,3282,2057,0,0,0,0,0,0
$GC,13875,0.57,96.8,145.3,11.9,924,13876,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3282,2058,0,0,0,0,0,0
$GC,14194,0.57,96.8,106.4,12.7,954,14196,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3282,2057,0,0,0,0,0,0
$GC,14532,0.57,96.8,67.6,12.4,1008,14541,0.00,1.08,0.00,0.000,4,0.000,0.057,1924,3949,2058,0,0,0,0,0,0
$GC,14715,0.57,96.8,48.1,11.2,1039,14722,0.00,1.00,0.00,0.000,6,0.000,0.033,1928,3281,2058,0,0,0,0,0,0
$GC,15072,0.57,98.3,21.1,8.5,1100,15081,0.00,2.15,0.00,0.000,4,0.000,0.028,1940,1866,2057,0,0,0,0,0,0
$GC,15249,0.58,110.8,8.4,7.3,1128,15259,0.10,2.30,3.60,0.545,6,0.156,0.049,1909,3286,2019,0,0,0,0,0,0
$STATE,15309,end climb,SURFACE_DEPTH_REACHED
$STATE,15309,begin surface coast
$FINISH,0.8,1.026064
$STATE,15349,end surface coast,CONTROL_FINISHED_OK
$STATE,15349,begin surface
$SM_CCo,15362,45.35,0.766,0,0,1575,220.03
$SM_GC,1.19,0.00,0.00,45.35,0.000,0.000,0.766,51,3392,1575,-5.22,0.37,220.03
$IRIDIUM_FIX,-4242.04,830.68,240114,232314
$TT8_MAMPS,0.026215
$HUMID,61.73
$INTERNAL_PRESSURE,9.57185
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,22.0,45.713
$10V_AH,9.8,36.071
$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,13.150,82.000,201.900,45.350,0.000,24.895,21.207,334.249,0.000,0.000,20.541,2825.271,9440.334,359.235,3038.204,264.413,0.000,1412.963,0.000,2530.386,0.000,1.010,0.000
$DEVICE_MAMPS,235.620,89.505,1856.655,765.765,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,792.010,1981.065,824.861,444.309,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354420
$DATA_FILE_SIZE,80522,1143
$CAP_FILE_SIZE,138396,0
$CFSIZE,259252224,234737664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,250114,085334,-4259.366,830.393,28,1.1,28,-25.0