version: 66.07
glider: 543
mission: 9
dive: 163
start: 12 27 113 0 16 55
data:
$ID,543
$MISSION,9
$DIVE,163
$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,350
$T_MISSION,390
$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,225
$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,-13034.695
$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,58
$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,3420
$C_ROLL_CLIMB,3280
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,32
$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
$GPS1,271213,000752,-4259.660,830.670,37,0.8,37,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-64.1
$GPS2,271213,001630,-4259.524,830.794,19,1.3,20,-25.0
$SPEED_LIMITS,0.163,0.235
$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,255.6,1390,-27.2,-9.429
$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,-0.50,-57.7,0.0,0.0,0,59,0.00,0.00,-42.12,0.000,2,0.000,0.000,62,3431,2475,0,0,0,0,0,0
$GC,61,-0.53,-98.3,3.1,-5.0,5,87,6.32,0.85,-11.40,0.000,4,0.249,0.090,1540,3947,2877,0,0,0,0,0,0
$GC,280,-0.53,-98.3,41.3,-17.9,40,287,0.00,0.80,0.00,0.000,6,0.000,0.037,1540,3421,2880,0,0,0,0,0,0
$GC,631,-0.53,-98.3,89.4,-13.1,101,637,0.00,2.15,0.00,0.000,4,0.000,0.031,1540,1992,2882,0,0,0,0,0,0
$GC,750,-0.53,-98.3,102.9,-10.7,120,760,0.00,2.30,0.00,0.000,6,0.000,0.050,1529,3417,2883,0,0,0,0,0,0
$GC,1076,-0.53,-98.3,152.1,-15.8,151,1079,0.00,0.85,0.00,0.000,4,0.000,0.058,1525,3949,2883,0,0,0,0,0,0
$GC,1110,-0.53,-98.3,157.7,-16.7,154,1114,0.00,0.80,0.00,0.000,6,0.000,0.035,1525,3411,2883,0,0,0,0,0,0
$GC,1442,-0.53,-98.3,209.8,-16.0,185,1446,0.00,2.10,0.00,0.000,4,0.000,0.029,1525,1998,2884,0,0,0,0,0,0
$GC,1472,-0.53,-98.3,214.1,-14.9,187,1477,0.12,2.28,0.00,0.000,6,0.156,0.051,1547,3426,2884,0,0,0,0,0,0
$GC,1799,-0.53,-98.3,257.7,-13.8,217,1803,0.00,2.15,0.00,0.000,4,0.000,0.031,1547,1993,2884,0,0,0,0,0,0
$GC,1827,-0.53,-98.3,261.5,-13.3,219,1831,0.00,2.28,0.00,0.000,6,0.000,0.053,1537,3419,2884,0,0,0,0,0,0
$GC,2154,-0.53,-98.3,308.1,-14.6,249,2157,0.00,0.82,0.00,0.000,4,0.000,0.060,1533,3943,2884,0,0,0,0,0,0
$GC,2201,-0.53,-98.3,315.2,-15.0,253,2205,0.00,0.77,0.00,0.000,6,0.000,0.036,1533,3421,2884,0,0,0,0,0,0
$GC,2531,-0.53,-98.3,363.1,-14.5,284,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3421,2884,0,0,0,0,0,0
$GC,2858,-0.53,-98.3,409.7,-13.9,312,2862,0.00,0.82,0.00,0.000,4,0.000,0.060,1530,3938,2884,0,0,0,0,0,0
$GC,2907,-0.53,-98.3,416.8,-14.1,314,2912,0.00,0.80,0.00,0.000,6,0.000,0.036,1530,3414,2884,0,0,0,0,0,0
$GC,3234,-0.53,-98.3,461.3,-13.7,330,3238,0.00,2.08,0.00,0.000,4,0.000,0.030,1529,1996,2883,0,0,0,0,0,0
$GC,3289,-0.53,-98.3,468.3,-11.0,332,3293,0.00,2.28,0.00,0.000,6,0.000,0.053,1519,3422,2883,0,0,0,0,0,0
$GC,3611,-0.53,-98.3,513.9,-14.7,348,3615,0.00,2.12,0.00,0.000,4,0.000,0.031,1519,1997,2883,0,0,0,0,0,0
$GC,3654,-0.53,-98.3,519.8,-11.5,350,3659,0.10,2.30,0.00,0.000,6,0.134,0.054,1541,3423,2883,0,0,0,0,0,0
$GC,3983,-0.53,-98.3,558.0,-11.6,366,3986,0.00,0.82,0.00,0.000,4,0.000,0.063,1538,3945,2882,0,0,0,0,0,0
$GC,4065,-0.53,-98.3,568.5,-11.8,369,4074,0.00,0.80,0.00,0.000,6,0.000,0.039,1539,3425,2882,0,0,0,0,0,0
$GC,4382,-0.53,-98.3,604.5,-11.6,385,4383,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,3425,2881,0,0,0,0,0,0
$GC,4690,-0.53,-98.3,640.8,-11.4,400,4694,0.00,2.15,0.00,0.000,4,0.000,0.034,1539,1994,2881,0,0,0,0,0,0
$GC,4753,-0.53,-98.3,647.0,-9.6,403,4757,0.00,2.30,0.00,0.000,6,0.000,0.056,1528,3429,2881,0,0,0,0,0,0
$GC,5079,-0.53,-98.3,682.1,-10.6,419,5082,0.00,0.82,0.00,0.000,4,0.000,0.063,1524,3951,2881,0,0,0,0,0,0
$GC,5237,-0.53,-98.3,700.5,-11.5,426,5241,0.00,0.80,0.00,0.000,6,0.000,0.040,1524,3420,2880,0,0,0,0,0,0
$GC,5570,-0.53,-98.3,738.7,-11.6,442,5573,0.00,0.88,0.00,0.000,4,0.000,0.065,1520,3953,2879,0,0,0,0,0,0
$GC,5714,-0.53,-98.3,756.8,-12.4,448,5718,0.00,0.82,0.00,0.000,6,0.000,0.040,1520,3417,2879,0,0,0,0,0,0
$GC,6036,-0.53,-98.3,795.8,-12.6,464,6040,0.00,2.15,0.00,0.000,4,0.000,0.034,1520,1990,2879,0,0,0,0,0,0
$GC,6291,-0.53,-98.3,823.8,-11.8,475,6300,0.10,2.33,0.00,0.000,6,0.142,0.057,1541,3423,2878,0,0,0,0,0,0
$GC,6610,-0.53,-98.3,856.8,-10.2,491,6614,0.00,2.15,0.00,0.000,4,0.000,0.034,1541,1999,2877,0,0,0,0,0,0
$GC,6838,-0.53,-108.3,877.2,-8.3,501,6843,0.00,2.30,0.00,0.000,6,0.000,0.057,1531,3413,2877,0,0,0,0,0,0
$GC,7160,-0.53,-108.3,911.4,-10.6,517,7164,0.00,2.15,0.00,0.000,4,0.000,0.034,1531,1990,2877,0,0,0,0,0,0
$GC,7199,-0.54,-109.1,915.3,-9.3,519,7204,0.00,2.30,0.00,0.000,6,0.000,0.057,1521,3421,2877,0,0,0,0,0,0
$GC,7528,-0.54,-109.1,953.0,-12.3,535,7532,0.00,2.15,0.00,0.000,4,0.000,0.034,1521,1995,2876,0,0,0,0,0,0
$GC,7571,-0.54,-109.1,958.3,-10.3,537,7576,0.10,2.33,0.00,0.000,6,0.134,0.057,1542,3423,2876,0,0,0,0,0,0
$STATE,7897,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7897,begin apogee
$GC,7902,-0.09,0.0,991.9,10.5,553,8001,0.47,0.00,95.05,1.862,6,0.151,0.000,1685,3282,2473,0,0,0,0,0,0
$STATE,8001,end apogee,CONTROL_FINISHED_OK
$STATE,8002,begin climb
$GC,8003,0.54,109.1,994.7,0.0,558,8119,0.60,1.23,109.95,1.807,4,0.071,0.062,1891,3939,2028,0,0,0,0,0,0
$GC,8148,0.54,109.1,983.8,15.9,565,8151,0.00,1.10,0.00,0.000,6,0.000,0.037,1896,3285,2026,0,0,0,0,0,0
$GC,8480,0.54,109.1,934.1,15.1,581,8481,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,3285,2018,0,0,0,0,0,0
$GC,8789,0.54,109.1,889.5,14.1,596,8790,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,3286,2015,0,0,0,0,0,0
$GC,9098,0.54,109.1,845.1,14.8,611,9102,0.00,1.10,0.00,0.000,4,0.000,0.059,1896,3955,2013,0,0,0,0,0,0
$GC,9130,0.54,109.1,839.7,16.7,612,9135,0.00,1.08,0.00,0.000,6,0.000,0.036,1901,3269,2013,0,0,0,0,0,0
$GC,9454,0.54,109.1,789.5,16.3,628,9455,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,3269,2012,0,0,0,0,0,0
$GC,9762,0.54,109.1,739.4,16.4,643,9765,0.00,1.10,0.00,0.000,4,0.000,0.060,1901,3943,2011,0,0,0,0,0,0
$GC,9906,0.54,109.1,713.3,18.9,649,9910,0.00,1.02,0.00,0.000,6,0.000,0.036,1906,3281,2011,0,0,0,0,0,0
$GC,10228,0.54,109.1,660.5,16.3,665,10231,0.00,1.08,0.00,0.000,4,0.000,0.060,1906,3944,2010,0,0,0,0,0,0
$GC,10327,0.54,109.1,642.8,17.7,669,10332,0.00,1.02,0.00,0.000,6,0.000,0.037,1911,3280,2010,0,0,0,0,0,0
$GC,10648,0.54,109.1,593.6,15.0,685,10652,0.00,1.08,0.00,0.000,4,0.000,0.060,1911,3951,2010,0,0,0,0,0,0
$GC,10720,0.54,109.1,581.2,17.2,688,10725,0.00,1.05,0.00,0.000,6,0.000,0.036,1917,3273,2010,0,0,0,0,0,0
$GC,11047,0.54,109.1,531.7,14.6,704,11051,0.00,1.10,0.00,0.000,4,0.000,0.060,1917,3953,2009,0,0,0,0,0,0
$GC,11303,0.54,109.1,491.1,16.4,715,11308,0.00,1.05,0.00,0.000,6,0.000,0.036,1922,3272,2009,0,0,0,0,0,0
$GC,11625,0.54,109.1,446.3,13.9,731,11626,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3271,2009,0,0,0,0,0,0
$GC,11935,0.54,109.1,404.0,13.8,746,11939,0.00,2.15,0.00,0.000,4,0.000,0.033,1933,1857,2009,0,0,0,0,0,0
$GC,12034,0.54,109.1,391.5,11.9,753,12042,0.12,2.30,0.00,0.000,6,0.169,0.050,1896,3284,2007,0,0,0,0,0,0
$GC,12360,0.54,109.1,353.0,11.4,784,12363,0.00,1.08,0.00,0.000,4,0.000,0.058,1896,3957,2007,0,0,0,0,0,0
$GC,12510,0.54,109.1,333.4,13.8,797,12513,0.00,1.02,0.00,0.000,6,0.000,0.037,1900,3281,2007,0,0,0,0,0,0
$GC,12840,0.54,109.1,294.1,11.2,828,12843,0.00,1.08,0.00,0.000,4,0.000,0.060,1900,3946,2007,0,0,0,0,0,0
$GC,13081,0.54,109.1,260.8,13.8,849,13089,0.00,1.02,0.00,0.000,6,0.000,0.035,1905,3277,2007,0,0,0,0,0,0
$GC,13407,0.54,109.1,219.6,13.1,880,13411,0.00,1.08,0.00,0.000,4,0.000,0.059,1905,3948,2007,0,0,0,0,0,0
$GC,13532,0.54,109.1,200.9,15.1,891,13535,0.00,1.00,0.00,0.000,6,0.000,0.036,1910,3281,2007,0,0,0,0,0,0
$GC,13862,0.54,109.1,154.6,14.2,922,13865,0.00,1.08,0.00,0.000,4,0.000,0.060,1910,3949,2007,0,0,0,0,0,0
$GC,13943,0.54,109.1,142.6,15.6,929,13947,0.00,1.00,0.00,0.000,6,0.000,0.035,1916,3284,2007,0,0,0,0,0,0
$GC,14271,0.54,109.1,96.9,13.4,961,14278,0.00,1.08,0.00,0.000,4,0.000,0.059,1915,3952,2007,0,0,0,0,0,0
$GC,14377,0.54,109.1,81.3,14.5,979,14384,0.00,1.00,0.00,0.000,6,0.000,0.035,1920,3284,2007,0,0,0,0,0,0
$GC,14728,0.54,109.1,43.0,10.2,1040,14735,0.00,2.15,0.00,0.000,4,0.000,0.032,1931,1852,2007,0,0,0,0,0,0
$GC,14892,0.54,114.4,30.7,8.8,1067,14899,0.12,2.28,0.00,0.000,6,0.178,0.050,1900,3288,2006,0,0,0,0,0,0
$GC,15044,0.54,114.4,16.4,10.0,1092,15053,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,3288,2006,0,0,0,0,0,0
$GC,15104,0.54,114.4,10.7,10.0,1101,15112,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,3288,2006,0,0,0,0,0,0
$GC,15163,0.54,114.4,4.7,10.3,1110,15172,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,3288,2006,0,0,0,0,0,0
$STATE,15180,end climb,SURFACE_DEPTH_REACHED
$STATE,15180,begin surface coast
$FINISH,0.4,1.025800
$STATE,15213,end surface coast,CONTROL_FINISHED_OK
$STATE,15213,begin surface
$SM_CCo,15225,46.60,0.781,0,0,1552,225.18
$SM_GC,1.21,0.00,0.00,46.60,0.000,0.000,0.781,54,3423,1552,-5.21,0.08,225.18
$IRIDIUM_FIX,-4244.98,834.03,261213,191938
$TT8_MAMPS,0.025466
$HUMID,61.34
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.5,24.925
$10V_AH,10.0,17.709
$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,13.025,88.500,205.000,46.600,0.000,24.610,20.390,343.888,0.000,0.000,22.304,2818.200,9219.390,390.410,3157.671,203.446,0.000,1508.002,0.000,2627.011,0.000,1.010,0.000
$DEVICE_MAMPS,248.625,89.505,1862.010,781.065,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,775.278,1912.967,782.364,402.417,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354348
$DATA_FILE_SIZE,80393,1117
$CAP_FILE_SIZE,146026,0
$CFSIZE,259252224,247054336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,271213,043234,-4259.971,830.402,32,1.3,32,-25.0