version: 66.07
glider: 543
mission: 9
dive: 227
start: 1 7 114 16 16 53
data:
$ID,543
$MISSION,9
$DIVE,227
$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,-13253.945
$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,44
$R_STBD_OVSHOOT,40
$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
$GPS1,070114,160158,-4300.038,831.615,38,0.9,38,-25.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,3
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-69.3
$GPS2,070114,161630,-4300.095,831.578,16,0.9,17,-25.1
$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,299.8,2145,-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,-41.92,0.000,2,0.000,0.000,53,3413,2539,0,0,0,0,0,0
$GC,61,-0.56,-85.6,3.1,-4.7,5,80,6.22,0.88,-8.25,0.000,4,0.239,0.091,1529,3930,2826,0,0,0,0,0,0
$GC,315,-0.56,-85.6,49.4,-18.0,47,322,0.00,0.85,0.00,0.000,6,0.000,0.035,1529,3377,2831,0,0,0,0,0,0
$GC,664,-0.56,-85.6,101.9,-14.0,107,668,0.00,0.90,0.00,0.000,4,0.000,0.059,1525,3926,2832,0,0,0,0,0,0
$GC,925,-0.56,-85.6,141.2,-15.0,130,929,0.00,0.82,0.00,0.000,6,0.000,0.035,1525,3383,2833,0,0,0,0,0,0
$GC,1258,-0.56,-85.6,189.9,-14.7,161,1261,0.00,0.90,0.00,0.000,4,0.000,0.059,1521,3933,2835,0,0,0,0,0,0
$GC,1284,-0.56,-85.6,194.5,-16.1,163,1292,0.00,0.88,0.00,0.000,6,0.000,0.034,1521,3362,2834,0,0,0,0,0,0
$GC,1610,-0.56,-85.6,243.4,-15.2,194,1613,0.00,0.90,0.00,0.000,4,0.000,0.058,1517,3926,2834,0,0,0,0,0,0
$GC,1723,-0.56,-85.6,262.2,-17.0,204,1727,0.00,0.82,0.00,0.000,6,0.000,0.036,1517,3382,2834,0,0,0,0,0,0
$GC,2053,-0.56,-85.6,312.4,-14.5,235,2057,0.00,0.88,0.00,0.000,4,0.000,0.059,1513,3923,2834,0,0,0,0,0,0
$GC,2133,-0.56,-85.6,324.7,-15.0,242,2136,0.00,0.82,0.00,0.000,6,0.000,0.034,1513,3377,2834,0,0,0,0,0,0
$GC,2465,-0.56,-85.6,371.9,-14.3,273,2469,0.00,0.88,0.00,0.000,4,0.000,0.059,1509,3923,2834,0,0,0,0,0,0
$GC,2512,-0.56,-85.6,378.7,-14.4,277,2516,0.00,0.82,0.00,0.000,6,0.000,0.036,1509,3376,2834,0,0,0,0,0,0
$GC,2848,-0.56,-85.6,427.7,-14.7,300,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,1509,3376,2834,0,0,0,0,0,0
$GC,3157,-0.56,-85.6,472.7,-15.0,315,3160,0.00,0.88,0.00,0.000,4,0.000,0.060,1505,3920,2834,0,0,0,0,0,0
$GC,3324,-0.56,-85.6,498.8,-15.5,322,3329,0.08,0.80,0.00,0.000,6,0.171,0.036,1527,3390,2834,0,0,0,0,0,0
$GC,3646,-0.56,-85.6,542.1,-13.4,338,3649,0.00,0.85,0.00,0.000,4,0.000,0.061,1524,3920,2833,0,0,0,0,0,0
$GC,3694,-0.56,-85.6,549.6,-14.0,340,3699,0.00,0.85,0.00,0.000,6,0.000,0.037,1525,3370,2833,0,0,0,0,0,0
$GC,4022,-0.56,-85.6,593.6,-13.3,356,4026,0.00,0.90,0.00,0.000,4,0.000,0.061,1521,3926,2832,0,0,0,0,0,0
$GC,4082,-0.56,-85.6,602.1,-13.6,358,4090,0.00,0.85,0.00,0.000,6,0.000,0.037,1521,3379,2831,0,0,0,0,0,0
$GC,4400,-0.56,-85.6,642.4,-12.6,374,4403,0.00,0.88,0.00,0.000,4,0.000,0.061,1517,3922,2830,0,0,0,0,0,0
$GC,4477,-0.56,-85.6,653.6,-13.8,377,4482,0.00,0.85,0.00,0.000,6,0.000,0.037,1517,3375,2830,0,0,0,0,0,0
$GC,4799,-0.56,-85.6,695.6,-13.3,393,4802,0.00,0.90,0.00,0.000,4,0.000,0.062,1513,3931,2830,0,0,0,0,0,0
$GC,4916,-0.56,-85.6,712.5,-14.1,398,4920,0.00,0.85,0.00,0.000,6,0.000,0.037,1513,3383,2830,0,0,0,0,0,0
$GC,5243,-0.56,-85.6,757.2,-13.9,414,5246,0.00,0.88,0.00,0.000,4,0.000,0.062,1509,3923,2829,0,0,0,0,0,0
$GC,5320,-0.56,-85.6,768.7,-14.9,417,5324,0.00,0.85,0.00,0.000,6,0.000,0.037,1508,3376,2829,0,0,0,0,0,0
$GC,5642,-0.56,-85.6,812.8,-13.6,433,5645,0.00,0.90,0.00,0.000,4,0.000,0.062,1505,3932,2829,0,0,0,0,0,0
$GC,5732,-0.56,-85.6,825.6,-14.6,437,5736,0.08,0.85,0.00,0.000,6,0.169,0.038,1527,3378,2828,0,0,0,0,0,0
$GC,6064,-0.56,-85.6,864.6,-11.5,453,6065,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3378,2827,0,0,0,0,0,0
$GC,6373,-0.56,-85.6,899.4,-11.3,468,6374,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3378,2827,0,0,0,0,0,0
$GC,6682,-0.56,-85.6,932.9,-10.4,483,6686,0.00,0.90,0.00,0.000,4,0.000,0.063,1524,3928,2827,0,0,0,0,0,0
$GC,6743,-0.56,-85.6,939.6,-11.0,485,6750,0.00,0.85,0.00,0.000,6,0.000,0.039,1525,3379,2827,0,0,0,0,0,0
$GC,7059,-0.56,-85.6,973.1,-10.6,501,7060,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3378,2826,0,0,0,0,0,0
$STATE,7222,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7222,begin apogee
$GC,7227,-0.09,0.0,990.7,10.8,509,7315,0.55,0.00,84.47,1.871,6,0.156,0.000,1684,3283,2473,0,0,0,0,0,0
$STATE,7316,end apogee,CONTROL_FINISHED_OK
$STATE,7316,begin climb
$GC,7317,0.56,85.6,992.4,0.0,513,7411,0.62,0.00,88.20,1.815,6,0.070,0.000,1899,3283,2123,0,0,0,0,0,0
$GC,7733,0.56,85.6,941.8,13.9,533,7737,0.00,2.28,0.00,0.000,4,0.000,0.033,1910,1860,2113,0,0,0,0,0,0
$GC,7754,0.56,85.6,938.9,12.6,534,7759,0.00,2.38,0.00,0.000,6,0.000,0.052,1910,3268,2111,0,0,0,0,0,0
$GC,8082,0.56,85.6,894.9,13.0,550,8085,0.00,1.12,0.00,0.000,4,0.000,0.060,1910,3950,2109,0,0,0,0,0,0
$GC,8119,0.56,85.6,889.2,14.9,551,8127,0.00,1.08,0.00,0.000,6,0.000,0.037,1915,3271,2108,0,0,0,0,0,0
$GC,8437,0.56,85.6,845.5,13.7,567,8441,0.00,2.20,0.00,0.000,4,0.000,0.034,1926,1861,2107,0,0,0,0,0,0
$GC,8463,0.56,85.6,841.9,11.5,568,8468,0.00,2.35,0.00,0.000,6,0.000,0.051,1926,3285,2106,0,0,0,0,0,0
$GC,8785,0.56,85.6,797.9,13.7,584,8786,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,3285,2106,0,0,0,0,0,0
$GC,9094,0.56,85.6,756.1,13.8,599,9098,0.00,2.17,0.00,0.000,4,0.000,0.034,1937,1859,2105,0,0,0,0,0,0
$GC,9137,0.56,85.6,750.6,11.9,601,9142,0.10,2.35,0.00,0.000,6,0.167,0.052,1908,3288,2105,0,0,0,0,0,0
$GC,9464,0.56,85.6,708.8,13.0,617,9468,0.00,2.20,0.00,0.000,4,0.000,0.033,1917,1861,2104,0,0,0,0,0,0
$GC,9530,0.56,85.6,700.9,10.9,620,9535,0.00,2.33,0.00,0.000,6,0.000,0.051,1917,3280,2104,0,0,0,0,0,0
$GC,9858,0.56,85.6,656.7,13.8,636,9862,0.00,1.08,0.00,0.000,4,0.000,0.060,1917,3944,2103,0,0,0,0,0,0
$GC,9926,0.56,85.6,646.3,15.6,639,9929,0.00,1.02,0.00,0.000,6,0.000,0.037,1923,3277,2104,0,0,0,0,0,0
$GC,10258,0.56,85.6,599.2,14.3,655,10259,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3277,2104,0,0,0,0,0,0
$GC,10568,0.56,85.6,557.6,13.2,670,10569,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3277,2103,0,0,0,0,0,0
$GC,10876,0.56,85.6,517.6,12.9,685,10880,0.00,2.17,0.00,0.000,4,0.000,0.034,1933,1855,2103,0,0,0,0,0,0
$GC,10920,0.56,85.6,512.2,11.7,687,10925,0.10,2.33,0.00,0.000,6,0.169,0.051,1905,3285,2102,0,0,0,0,0,0
$GC,11248,0.56,85.6,475.9,11.0,703,11249,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3285,2101,0,0,0,0,0,0
$GC,11556,0.56,85.6,443.0,10.6,718,11560,0.00,1.08,0.00,0.000,4,0.000,0.060,1904,3955,2101,0,0,0,0,0,0
$GC,11691,0.56,85.6,426.5,12.0,724,11694,0.00,1.02,0.00,0.000,6,0.000,0.037,1908,3286,2101,0,0,0,0,0,0
$GC,12015,0.56,85.6,390.8,11.2,743,12016,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3285,2101,0,0,0,0,0,0
$GC,12337,0.56,85.6,354.4,11.3,773,12343,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3286,2101,0,0,0,0,0,0
$GC,12663,0.56,85.6,314.7,12.4,804,12667,0.00,2.15,0.00,0.000,4,0.000,0.033,1919,1863,2101,0,0,0,0,0,0
$GC,12727,0.56,85.6,307.4,11.1,809,12732,0.00,2.30,0.00,0.000,6,0.000,0.051,1919,3290,2100,0,0,0,0,0,0
$GC,13052,0.56,85.6,265.0,13.4,839,13056,0.00,1.05,0.00,0.000,4,0.000,0.058,1919,3944,2099,0,0,0,0,0,0
$GC,13087,0.56,85.6,260.1,14.2,842,13091,0.00,1.00,0.00,0.000,6,0.000,0.036,1925,3283,2100,0,0,0,0,0,0
$GC,13420,0.56,85.6,217.4,12.9,873,13424,0.00,2.15,0.00,0.000,4,0.000,0.032,1935,1868,2100,0,0,0,0,0,0
$GC,13462,0.56,85.6,212.0,11.2,876,13473,0.10,2.30,0.00,0.000,6,0.164,0.051,1906,3285,2100,0,0,0,0,0,0
$GC,13788,0.56,85.6,176.1,10.7,907,13792,0.00,2.15,0.00,0.000,4,0.000,0.034,1915,1870,2099,0,0,0,0,0,0
$GC,13839,0.56,85.6,171.1,9.0,911,13843,0.00,2.30,0.00,0.000,6,0.000,0.053,1916,3292,2099,0,0,0,0,0,0
$GC,14166,0.56,85.6,134.9,11.3,941,14167,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3292,2099,0,0,0,0,0,0
$GC,14484,0.56,85.6,98.6,12.1,972,14493,0.00,1.05,0.00,0.000,4,0.000,0.059,1916,3947,2099,0,0,0,0,0,0
$GC,14754,0.56,85.6,67.4,9.4,1018,14761,0.00,1.00,0.00,0.000,6,0.000,0.036,1921,3286,2099,0,0,0,0,0,0
$GC,15104,0.58,107.0,44.4,6.2,1079,15119,0.00,1.08,6.72,0.868,4,0.000,0.057,1921,3955,2035,0,0,0,0,0,0
$GC,15387,0.58,107.0,14.7,11.6,1126,15396,0.00,1.02,0.00,0.000,6,0.000,0.036,1926,3275,2035,0,0,0,0,0,0
$GC,15447,0.58,107.0,7.8,11.0,1135,15456,0.00,1.08,0.00,0.000,4,0.000,0.058,1926,3947,2034,0,0,0,0,0,0
$STATE,15488,end climb,SURFACE_DEPTH_REACHED
$STATE,15488,begin surface coast
$FINISH,0.8,1.016648
$STATE,15513,end surface coast,CONTROL_FINISHED_OK
$STATE,15514,begin surface
$SM_CCo,15527,46.72,0.788,0,0,1573,220.03
$SM_GC,1.26,0.00,0.00,46.72,0.000,0.000,0.788,54,3377,1573,-5.21,-0.08,220.03
$IRIDIUM_FIX,-4244.98,831.12,070114,111143
$TT8_MAMPS,0.026215
$HUMID,61.89
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,22.4,34.009
$10V_AH,9.9,25.052
$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,12.950,74.950,179.400,46.725,0.000,39.479,39.561,663.181,0.000,0.000,19.614,2846.812,9615.654,335.645,3367.094,276.710,0.000,1416.005,0.000,2541.779,0.000,1.010,0.000
$DEVICE_MAMPS,239.445,91.035,1871.190,787.950,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,795.273,1945.592,785.246,377.889,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354544
$DATA_FILE_SIZE,80384,1145
$CAP_FILE_SIZE,147078,0
$CFSIZE,259252224,242098176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,070114,203735,-4259.570,830.159,33,0.9,33,-25.0