version: 66.07
glider: 543
mission: 9
dive: 244
start: 1 10 114 20 59 31
data:
$ID,543
$MISSION,9
$DIVE,244
$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,-13310.29
$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,46
$R_STBD_OVSHOOT,22
$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
$GPS1,100114,204934,-4259.576,832.019,27,0.9,27,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-68.4
$GPS2,100114,205907,-4259.537,832.148,17,1.4,18,-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,278.7,3033,-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,-41.58,0.000,2,0.000,0.000,53,3379,2523,0,0,0,0,0,0
$GC,61,-0.56,-80.4,3.3,-5.3,5,80,6.25,0.98,-7.68,0.000,4,0.239,0.090,1530,3956,2804,0,0,0,0,0,0
$GC,193,-0.56,-80.4,28.0,-20.2,25,200,0.00,0.88,0.00,0.000,6,0.000,0.035,1531,3386,2807,0,0,0,0,0,0
$GC,339,-0.56,-80.4,57.6,-18.6,50,345,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3386,2808,0,0,0,0,0,0
$GC,686,-0.56,-80.4,111.6,-12.7,104,687,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3386,2809,0,0,0,0,0,0
$GC,1005,-0.56,-80.4,154.4,-13.6,134,1007,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3386,2810,0,0,0,0,0,0
$GC,1324,-0.56,-80.4,197.6,-13.1,164,1328,0.00,0.93,0.00,0.000,4,0.000,0.058,1528,3956,2811,0,0,0,0,0,0
$GC,1460,-0.56,-80.4,216.8,-14.6,176,1464,0.00,0.88,0.00,0.000,6,0.000,0.034,1528,3378,2811,0,0,0,0,0,0
$GC,1790,-0.56,-80.4,260.2,-13.1,207,1794,0.00,2.10,0.00,0.000,4,0.000,0.030,1528,1966,2811,0,0,0,0,0,0
$GC,1807,-0.56,-80.4,262.5,-13.2,208,1812,0.00,2.28,0.00,0.000,6,0.000,0.050,1517,3383,2811,0,0,0,0,0,0
$GC,2132,-0.56,-80.4,305.3,-13.5,238,2135,0.00,0.90,0.00,0.000,4,0.000,0.057,1513,3947,2811,0,0,0,0,0,0
$GC,2213,-0.56,-80.4,316.9,-14.7,245,2217,0.00,0.85,0.00,0.000,6,0.000,0.034,1513,3378,2811,0,0,0,0,0,0
$GC,2543,-0.56,-80.4,363.3,-13.5,276,2547,0.00,0.90,0.00,0.000,4,0.000,0.058,1509,3941,2811,0,0,0,0,0,0
$GC,2668,-0.56,-80.4,381.1,-13.8,287,2672,0.08,0.85,0.00,0.000,6,0.166,0.034,1531,3380,2811,0,0,0,0,0,0
$GC,3005,-0.56,-80.4,420.1,-11.9,311,3006,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3379,2811,0,0,0,0,0,0
$GC,3314,-0.56,-80.4,456.5,-11.1,326,3318,0.00,0.90,0.00,0.000,4,0.000,0.059,1528,3941,2810,0,0,0,0,0,0
$GC,3374,-0.56,-80.4,463.9,-11.4,328,3382,0.00,0.88,0.00,0.000,6,0.000,0.035,1528,3369,2811,0,0,0,0,0,0
$GC,3691,-0.56,-80.4,500.6,-12.0,344,3695,0.00,0.93,0.00,0.000,4,0.000,0.059,1524,3946,2810,0,0,0,0,0,0
$GC,3762,-0.56,-80.4,509.9,-12.1,347,3767,0.00,0.88,0.00,0.000,6,0.000,0.035,1524,3378,2810,0,0,0,0,0,0
$GC,4090,-0.56,-80.4,548.8,-11.9,363,4094,0.00,0.90,0.00,0.000,4,0.000,0.059,1520,3938,2810,0,0,0,0,0,0
$GC,4167,-0.56,-80.4,558.9,-12.8,366,4172,0.00,0.88,0.00,0.000,6,0.000,0.035,1520,3370,2810,0,0,0,0,0,0
$GC,4489,-0.56,-80.4,598.0,-12.2,382,4492,0.00,0.93,0.00,0.000,4,0.000,0.059,1516,3947,2808,0,0,0,0,0,0
$GC,4572,-0.56,-80.4,609.4,-14.1,385,4579,0.00,0.88,0.00,0.000,6,0.000,0.036,1516,3378,2808,0,0,0,0,0,0
$GC,4889,-0.56,-80.4,648.4,-11.8,401,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,1516,3378,2808,0,0,0,0,0,0
$GC,5198,-0.56,-80.4,684.7,-11.5,416,5201,0.00,0.90,0.00,0.000,4,0.000,0.059,1512,3938,2808,0,0,0,0,0,0
$GC,5319,-0.56,-80.4,700.6,-12.7,421,5323,0.00,0.88,0.00,0.000,6,0.000,0.036,1512,3372,2807,0,0,0,0,0,0
$GC,5641,-0.56,-80.4,739.3,-11.8,437,5642,0.00,0.00,0.00,0.000,6,0.000,0.000,1512,3372,2807,0,0,0,0,0,0
$GC,5951,-0.56,-80.4,776.6,-12.0,452,5954,0.00,0.93,0.00,0.000,4,0.000,0.060,1507,3946,2807,0,0,0,0,0,0
$GC,6033,-0.56,-80.4,787.8,-13.7,455,6042,0.12,0.88,0.00,0.000,6,0.181,0.037,1538,3383,2806,0,0,0,0,0,0
$GC,6350,-0.56,-80.4,819.1,-9.5,471,6354,0.00,0.90,0.00,0.000,4,0.000,0.063,1534,3940,2806,0,0,0,0,0,0
$GC,6388,-0.56,-80.4,823.3,-10.9,472,6395,0.00,0.88,0.00,0.000,6,0.000,0.037,1534,3375,2806,0,0,0,0,0,0
$GC,6706,-0.56,-80.4,854.9,-9.9,488,6709,0.00,0.93,0.00,0.000,4,0.000,0.061,1530,3953,2805,0,0,0,0,0,0
$GC,6744,-0.56,-80.4,859.3,-11.3,489,6751,0.00,0.88,0.00,0.000,6,0.000,0.037,1531,3381,2805,0,0,0,0,0,0
$GC,7060,-0.56,-80.4,890.7,-9.6,505,7063,0.00,0.93,0.00,0.000,4,0.000,0.062,1526,3943,2804,0,0,0,0,0,0
$GC,7097,-0.56,-80.4,894.9,-11.0,506,7105,0.00,0.88,0.00,0.000,6,0.000,0.038,1526,3378,2804,0,0,0,0,0,0
$GC,7414,-0.56,-80.4,925.2,-9.7,522,7415,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3378,2804,0,0,0,0,0,0
$GC,7723,-0.56,-80.4,957.5,-11.1,537,7726,0.00,0.90,0.00,0.000,4,0.000,0.061,1522,3936,2803,0,0,0,0,0,0
$GC,7858,-0.56,-80.4,974.2,-13.0,543,7862,0.00,0.85,0.00,0.000,6,0.000,0.039,1522,3383,2803,0,0,0,0,0,0
$STATE,8003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8003,begin apogee
$GC,8008,-0.09,0.0,991.8,12.1,550,8091,0.55,0.00,79.62,1.854,6,0.155,0.000,1680,3285,2473,0,0,0,0,0,0
$STATE,8092,end apogee,CONTROL_FINISHED_OK
$STATE,8092,begin climb
$GC,8094,0.56,80.4,994.8,0.0,554,8186,0.68,0.00,83.90,1.806,6,0.076,0.000,1904,3285,2145,0,0,0,0,0,0
$GC,8497,0.56,80.4,954.0,11.9,574,8498,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3285,2136,0,0,0,0,0,0
$GC,8803,0.56,80.4,915.4,12.7,589,8807,0.00,1.08,0.00,0.000,4,0.000,0.060,1903,3937,2133,0,0,0,0,0,0
$GC,9054,0.56,80.4,878.9,15.0,600,9059,0.00,1.05,0.00,0.000,6,0.000,0.035,1909,3271,2132,0,0,0,0,0,0
$GC,9384,0.56,80.4,833.7,13.5,616,9387,0.00,1.10,0.00,0.000,4,0.000,0.059,1909,3940,2130,0,0,0,0,0,0
$GC,9475,0.56,80.4,819.9,15.6,620,9478,0.00,1.00,0.00,0.000,6,0.000,0.036,1914,3289,2130,0,0,0,0,0,0
$GC,9807,0.56,80.4,776.3,12.5,636,9808,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3289,2128,0,0,0,0,0,0
$GC,10118,0.56,80.4,737.8,12.5,651,10121,0.00,1.08,0.00,0.000,4,0.000,0.060,1914,3949,2127,0,0,0,0,0,0
$GC,10164,0.56,80.4,731.4,15.1,653,10167,0.00,1.02,0.00,0.000,6,0.000,0.036,1919,3278,2127,0,0,0,0,0,0
$GC,10496,0.56,80.4,688.4,12.8,669,10500,0.00,2.15,0.00,0.000,4,0.000,0.034,1929,1870,2127,0,0,0,0,0,0
$GC,10522,0.56,80.4,685.1,10.9,670,10526,0.00,2.30,0.00,0.000,6,0.000,0.051,1930,3276,2126,0,0,0,0,0,0
$GC,10846,0.56,80.4,643.0,13.6,686,10849,0.00,1.10,0.00,0.000,4,0.000,0.059,1930,3953,2126,0,0,0,0,0,0
$GC,10967,0.56,80.4,624.8,14.8,691,10972,0.12,1.05,0.00,0.000,6,0.220,0.035,1908,3274,2126,0,0,0,0,0,0
$GC,11290,0.56,80.4,587.0,11.9,707,11293,0.00,1.10,0.00,0.000,4,0.000,0.060,1907,3952,2125,0,0,0,0,0,0
$GC,11372,0.56,80.4,576.4,13.2,710,11379,0.00,1.02,0.00,0.000,6,0.000,0.035,1911,3278,2125,0,0,0,0,0,0
$GC,11689,0.56,80.4,537.6,12.6,726,11690,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3278,2125,0,0,0,0,0,0
$GC,11998,0.56,80.4,498.7,13.1,741,12001,0.00,1.08,0.00,0.000,4,0.000,0.060,1912,3945,2125,0,0,0,0,0,0
$GC,12187,0.56,80.4,471.4,13.8,749,12192,0.00,1.00,0.00,0.000,6,0.000,0.036,1917,3288,2125,0,0,0,0,0,0
$GC,12509,0.56,80.4,429.7,13.0,765,12513,0.00,1.08,0.00,0.000,4,0.000,0.059,1916,3951,2125,0,0,0,0,0,0
$GC,12554,0.56,80.4,423.7,14.0,767,12557,0.00,1.02,0.00,0.000,6,0.000,0.036,1922,3278,2125,0,0,0,0,0,0
$GC,12883,0.56,80.4,382.2,12.4,789,12890,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3278,2125,0,0,0,0,0,0
$GC,13209,0.56,80.4,342.6,11.7,820,13213,0.00,1.08,0.00,0.000,4,0.000,0.059,1922,3944,2125,0,0,0,0,0,0
$GC,13470,0.56,80.4,309.4,12.2,843,13473,0.00,1.00,0.00,0.000,6,0.000,0.037,1927,3286,2125,0,0,0,0,0,0
$GC,13800,0.56,80.4,274.7,10.0,874,13804,0.00,2.15,0.00,0.000,4,0.000,0.031,1938,1866,2125,0,0,0,0,0,0
$GC,13832,0.56,81.0,271.7,8.6,876,13842,0.10,2.33,0.00,0.000,6,0.170,0.050,1908,3287,2124,0,0,0,0,0,0
$GC,14157,0.56,81.0,241.5,9.2,907,14159,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3287,2123,0,0,0,0,0,0
$GC,14479,0.56,81.0,210.0,9.7,937,14483,0.00,1.08,0.00,0.000,4,0.000,0.057,1908,3954,2123,0,0,0,0,0,0
$GC,14662,0.56,81.0,188.4,11.8,953,14666,0.00,1.02,0.00,0.000,6,0.000,0.035,1912,3274,2123,0,0,0,0,0,0
$GC,14992,0.56,81.0,151.8,11.5,984,14996,0.00,2.12,0.00,0.000,4,0.000,0.031,1923,1866,2123,0,0,0,0,0,0
$GC,15021,0.56,81.0,148.9,10.9,986,15025,0.00,2.28,0.00,0.000,6,0.000,0.050,1923,3286,2123,0,0,0,0,0,0
$GC,15353,0.56,81.0,111.3,10.8,1017,15354,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3287,2123,0,0,0,0,0,0
$GC,15687,0.56,81.0,76.2,9.1,1067,15693,0.00,2.15,0.00,0.000,4,0.000,0.030,1934,1864,2123,0,0,0,0,0,0
$GC,15758,0.56,81.0,69.6,8.8,1079,15765,0.12,2.28,0.00,0.000,6,0.187,0.050,1905,3287,2122,0,0,0,0,0,0
$GC,16111,0.57,103.8,42.5,6.1,1140,16126,0.00,1.08,7.78,0.871,4,0.000,0.057,1905,3951,2049,0,0,0,0,0,0
$GC,16397,0.57,103.8,15.3,10.7,1187,16406,0.00,1.00,0.00,0.000,6,0.000,0.034,1908,3285,2049,0,0,0,0,0,0
$GC,16457,0.59,132.7,10.8,5.4,1196,16475,0.00,1.10,12.15,0.789,4,0.000,0.057,1909,3955,1928,0,0,0,0,0,0
$STATE,16526,end climb,SURFACE_DEPTH_REACHED
$STATE,16526,begin surface coast
$FINISH,1.0,1.026319
$STATE,16546,end surface coast,CONTROL_FINISHED_OK
$STATE,16547,begin surface
$SM_CCo,16560,35.45,0.771,0,0,1574,220.03
$SM_GC,1.43,0.00,0.00,35.45,0.000,0.000,0.771,49,3364,1574,-5.22,-0.48,220.03
$IRIDIUM_FIX,-4242.04,831.12,100114,161656
$TT8_MAMPS,0.025466
$HUMID,61.38
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.4,36.208
$10V_AH,9.9,27.069
$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,12.900,70.275,183.450,35.450,0.000,33.616,41.870,357.173,0.000,0.000,20.207,3022.682,10212.946,356.193,3296.865,274.716,0.000,1505.945,0.000,2734.705,0.000,1.011,0.000
$DEVICE_MAMPS,239.445,89.505,1854.360,771.120,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,839.208,2065.738,815.351,385.201,0.000,0.000,0.000,0.000,0.000,0.000
$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,87047,1209
$CAP_FILE_SIZE,151973,0
$CFSIZE,259252224,240742400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110114,013728,-4259.292,830.406,46,0.9,46,-25.0