version: 66.07
glider: 543
mission: 9
dive: 319
start: 1 25 114 9 5 17
data:
$ID,543
$MISSION,9
$DIVE,319
$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,-13530.895
$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,47
$R_STBD_OVSHOOT,28
$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
$GPS1,250114,085334,-4259.366,830.393,28,1.1,28,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-64.9
$GPS2,250114,090454,-4259.323,830.540,21,1.1,21,-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,235.3,1451,-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,-47.97,0.000,6,0.000,0.000,51,3393,2684,0,0,0,0,0,0
$GC,68,-0.57,-96.0,3.2,-3.6,6,86,6.22,0.90,-4.88,0.000,4,0.235,0.079,1525,3948,2868,0,0,0,0,0,0
$GC,226,-0.57,-96.0,33.9,-18.4,31,233,0.00,0.85,0.00,0.000,6,0.000,0.033,1526,3384,2871,0,0,0,0,0,0
$GC,371,-0.57,-96.0,58.0,-16.3,56,378,0.00,2.15,0.00,0.000,4,0.000,0.028,1525,1954,2872,0,0,0,0,0,0
$GC,449,-0.57,-96.0,68.3,-12.0,69,458,0.00,2.33,0.00,0.000,6,0.000,0.050,1515,3376,2873,0,0,0,0,0,0
$GC,792,-0.57,-96.0,119.0,-14.7,118,796,0.00,0.90,0.00,0.000,4,0.000,0.056,1510,3943,2873,0,0,0,0,0,0
$GC,1009,-0.57,-96.0,153.0,-16.6,137,1013,0.00,0.85,0.00,0.000,6,0.000,0.032,1511,3368,2874,0,0,0,0,0,0
$GC,1339,-0.57,-96.0,201.6,-14.8,168,1343,0.00,0.93,0.00,0.000,4,0.000,0.056,1506,3952,2875,0,0,0,0,0,0
$GC,1419,-0.57,-96.0,214.5,-16.5,175,1422,0.00,0.82,0.00,0.000,6,0.000,0.032,1506,3389,2875,0,0,0,0,0,0
$GC,1749,-0.57,-96.0,264.9,-14.9,206,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,1506,3388,2875,0,0,0,0,0,0
$GC,2069,-0.57,-96.0,311.3,-14.2,236,2073,0.00,0.90,0.00,0.000,4,0.000,0.057,1502,3956,2875,0,0,0,0,0,0
$GC,2118,-0.57,-96.0,319.3,-15.5,240,2129,0.12,0.88,0.00,0.000,6,0.181,0.031,1532,3374,2875,0,0,0,0,0,0
$GC,2444,-0.57,-96.0,357.9,-11.3,271,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,3374,2876,0,0,0,0,0,0
$GC,2766,-0.57,-96.0,394.2,-11.4,301,2769,0.00,0.93,0.00,0.000,4,0.000,0.057,1529,3955,2876,0,0,0,0,0,0
$GC,2816,-0.57,-96.0,400.7,-12.2,305,2820,0.00,0.85,0.00,0.000,6,0.000,0.033,1529,3379,2876,0,0,0,0,0,0
$GC,3144,-0.57,-96.0,438.1,-11.6,321,3147,0.00,0.90,0.00,0.000,4,0.000,0.057,1525,3942,2875,0,0,0,0,0,0
$GC,3272,-0.57,-96.0,454.8,-12.6,326,3279,0.00,0.85,0.00,0.000,6,0.000,0.033,1525,3372,2875,0,0,0,0,0,0
$GC,3588,-0.57,-96.0,492.6,-11.9,342,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3372,2875,0,0,0,0,0,0
$GC,3899,-0.57,-96.0,529.8,-12.1,357,3900,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3372,2875,0,0,0,0,0,0
$GC,4207,-0.57,-96.0,569.8,-13.4,372,4208,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3372,2874,0,0,0,0,0,0
$GC,4516,-0.57,-96.0,610.4,-12.9,387,4517,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3372,2874,0,0,0,0,0,0
$GC,4825,-0.57,-96.0,649.4,-12.5,402,4826,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3372,2873,0,0,0,0,0,0
$GC,5135,-0.57,-96.0,687.3,-12.1,417,5136,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3372,2872,0,0,0,0,0,0
$GC,5445,-0.57,-96.0,723.7,-11.8,432,5447,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3372,2871,0,0,0,0,0,0
$GC,5754,-0.57,-96.0,757.3,-10.6,447,5757,0.00,0.93,0.00,0.000,4,0.000,0.060,1521,3944,2870,0,0,0,0,0,0
$GC,5803,-0.57,-96.0,763.3,-11.1,449,5807,0.00,0.88,0.00,0.000,6,0.000,0.034,1521,3376,2870,0,0,0,0,0,0
$GC,6132,-0.57,-96.0,800.7,-11.3,465,6136,0.00,2.15,0.00,0.000,4,0.000,0.030,1521,1955,2870,0,0,0,0,0,0
$GC,6173,-0.57,-96.0,804.7,-9.4,467,6177,0.00,2.33,0.00,0.000,6,0.000,0.053,1510,3385,2870,0,0,0,0,0,0
$GC,6499,-0.57,-96.0,842.4,-11.7,483,6503,0.00,0.90,0.00,0.000,4,0.000,0.060,1506,3948,2869,0,0,0,0,0,0
$GC,6531,-0.57,-96.0,846.7,-13.3,484,6536,0.00,0.88,0.00,0.000,6,0.000,0.034,1506,3377,2869,0,0,0,0,0,0
$GC,6856,-0.57,-96.0,884.2,-11.6,500,6857,0.00,0.00,0.00,0.000,6,0.000,0.000,1506,3377,2868,0,0,0,0,0,0
$GC,7163,-0.57,-96.0,919.9,-11.5,515,7166,0.00,0.93,0.00,0.000,4,0.000,0.060,1501,3947,2867,0,0,0,0,0,0
$GC,7223,-0.57,-96.0,927.5,-12.6,517,7231,0.12,0.88,0.00,0.000,6,0.179,0.035,1531,3383,2868,0,0,0,0,0,0
$GC,7541,-0.57,-96.0,957.1,-9.3,533,7542,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3383,2867,0,0,0,0,0,0
$GC,7848,-0.57,-96.0,986.7,-9.7,548,7852,0.00,0.90,0.00,0.000,4,0.000,0.060,1529,3941,2867,0,0,0,0,0,0
$STATE,7879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7879,begin apogee
$GC,7885,-0.09,0.0,990.4,11.4,549,7983,0.50,0.00,95.35,1.857,6,0.148,0.000,1679,3277,2474,0,0,0,0,0,0
$STATE,7984,end apogee,CONTROL_FINISHED_OK
$STATE,7984,begin climb
$GC,7986,0.57,96.0,993.0,0.0,554,8097,0.65,2.45,100.78,1.802,4,0.070,0.029,1914,1879,2082,0,0,0,0,0,0
$GC,8137,0.57,96.0,981.7,12.9,561,8142,0.00,2.47,0.00,0.000,6,0.000,0.050,1913,3290,2078,0,0,0,0,0,0
$GC,8464,0.57,96.0,933.1,14.9,577,8467,0.00,1.10,0.00,0.000,4,0.000,0.057,1913,3951,2071,0,0,0,0,0,0
$GC,8603,0.57,96.0,909.5,16.9,583,8607,0.00,1.02,0.00,0.000,6,0.000,0.034,1919,3287,2071,0,0,0,0,0,0
$GC,8932,0.57,96.0,860.1,15.0,599,8933,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3287,2068,0,0,0,0,0,0
$GC,9239,0.57,96.0,813.9,14.6,614,9243,0.00,2.17,0.00,0.000,4,0.000,0.032,1930,1867,2066,0,0,0,0,0,0
$GC,9283,0.57,96.0,807.7,13.0,616,9288,0.00,2.33,0.00,0.000,6,0.000,0.050,1930,3292,2065,0,0,0,0,0,0
$GC,9611,0.57,96.0,757.7,15.2,632,9615,0.00,2.20,0.00,0.000,4,0.000,0.031,1940,1868,2064,0,0,0,0,0,0
$GC,9644,0.57,96.0,752.6,13.7,633,9652,0.10,2.33,0.00,0.000,6,0.168,0.050,1911,3285,2064,0,0,0,0,0,0
$GC,9960,0.57,96.0,707.3,14.3,649,9964,0.00,1.08,0.00,0.000,4,0.000,0.059,1911,3952,2063,0,0,0,0,0,0
$GC,10073,0.57,96.0,689.9,16.5,654,10077,0.00,1.00,0.00,0.000,6,0.000,0.035,1914,3292,2063,0,0,0,0,0,0
$GC,10406,0.57,96.0,645.0,13.7,670,10407,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3292,2063,0,0,0,0,0,0
$GC,10715,0.57,96.0,603.6,13.3,685,10716,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3292,2062,0,0,0,0,0,0
$GC,11024,0.57,96.0,563.3,13.0,700,11028,0.00,1.08,0.00,0.000,4,0.000,0.058,1915,3953,2062,0,0,0,0,0,0
$GC,11074,0.57,96.0,556.0,15.6,702,11078,0.00,1.02,0.00,0.000,6,0.000,0.034,1919,3280,2062,0,0,0,0,0,0
$GC,11401,0.57,96.0,512.4,13.2,718,11402,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3280,2062,0,0,0,0,0,0
$GC,11711,0.57,96.0,470.7,13.5,733,11714,0.00,1.10,0.00,0.000,4,0.000,0.058,1920,3959,2062,0,0,0,0,0,0
$GC,11771,0.57,96.0,461.6,14.8,735,11779,0.00,1.05,0.00,0.000,6,0.000,0.034,1925,3277,2062,0,0,0,0,0,0
$GC,12087,0.57,96.0,418.8,13.7,751,12091,0.00,1.10,0.00,0.000,4,0.000,0.057,1925,3955,2062,0,0,0,0,0,0
$GC,12156,0.57,96.0,408.5,15.4,754,12159,0.00,1.00,0.00,0.000,6,0.000,0.034,1930,3295,2062,0,0,0,0,0,0
$GC,12485,0.57,96.0,362.8,13.7,782,12486,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,3294,2062,0,0,0,0,0,0
$GC,12806,0.57,96.0,319.8,13.0,812,12807,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3294,2062,0,0,0,0,0,0
$GC,13124,0.57,96.0,278.8,12.7,842,13127,0.00,1.08,0.00,0.000,4,0.000,0.059,1930,3953,2060,0,0,0,0,0,0
$GC,13196,0.57,96.0,268.4,14.5,848,13206,0.10,1.02,0.00,0.000,6,0.190,0.034,1907,3274,2060,0,0,0,0,0,0
$GC,13521,0.57,96.0,230.7,11.1,879,13522,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3274,2060,0,0,0,0,0,0
$GC,13844,0.57,96.0,194.6,11.0,909,13848,0.00,2.12,0.00,0.000,4,0.000,0.030,1916,1869,2060,0,0,0,0,0,0
$GC,13872,0.57,96.0,191.1,9.6,911,13876,0.00,2.30,0.00,0.000,6,0.000,0.050,1917,3295,2059,0,0,0,0,0,0
$GC,14199,0.57,96.0,153.6,11.7,941,14200,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3295,2059,0,0,0,0,0,0
$GC,14516,0.57,96.0,116.1,11.6,971,14517,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3295,2059,0,0,0,0,0,0
$GC,14846,0.57,96.0,77.8,11.0,1017,14855,0.00,2.20,0.00,0.000,4,0.000,0.029,1928,1856,2059,0,0,0,0,0,0
$GC,14867,0.57,96.0,75.3,11.4,1020,14876,0.00,2.33,0.00,0.000,6,0.000,0.050,1928,3284,2059,0,0,0,0,0,0
$GC,15222,0.58,109.6,38.7,7.1,1081,15230,0.00,1.10,3.62,0.666,4,0.000,0.056,1928,3957,2024,0,0,0,0,0,0
$GC,15251,0.59,122.6,36.6,7.2,1085,15267,0.00,1.00,5.32,0.763,6,0.000,0.033,1933,3288,1974,0,0,0,0,0,0
$GC,15410,0.59,122.6,20.7,12.4,1111,15417,0.00,2.12,0.00,0.000,4,0.000,0.028,1944,1861,1972,0,0,0,0,0,0
$STATE,15579,end climb,SURFACE_DEPTH_REACHED
$STATE,15579,begin surface coast
$FINISH,1.7,1.026079
$STATE,15586,end surface coast,CONTROL_FINISHED_OK
$STATE,15586,begin surface
$SM_CCo,15602,40.25,0.773,0,0,1576,220.03
$SM_GC,1.24,0.00,0.00,40.25,0.000,0.000,0.773,46,3392,1576,-5.23,0.34,220.03
$IRIDIUM_FIX,-4242.04,830.68,240114,232314
$TT8_MAMPS,0.026215
$HUMID,62.01
$INTERNAL_PRESSURE,9.57185
$TCM_TEMP,14.60
$XPDR_PINGS,0
$24V_AH,22.0,45.849
$10V_AH,9.8,36.187
$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,12.850,69.075,205.075,40.250,0.000,108.752,44.481,320.816,0.000,0.000,24.325,2806.521,9860.887,349.870,3043.109,258.212,0.000,1390.727,0.000,2436.218,0.000,1.010,0.000
$DEVICE_MAMPS,234.855,78.795,1857.420,773.415,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,789.089,1948.063,768.707,365.188,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354416
$DATA_FILE_SIZE,80591,1139
$CAP_FILE_SIZE,138466,0
$CFSIZE,259252224,234659840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,250114,132705,-4300.462,830.119,29,1.1,29,-25.0