version: 66.07
glider: 543
mission: 9
dive: 271
start: 1 16 114 0 15 53
data:
$ID,543
$MISSION,9
$DIVE,271
$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,-13391.1
$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,23
$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
$GPS1,160114,000704,-4259.196,830.430,35,0.8,35,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-67.2
$GPS2,160114,001529,-4259.219,830.479,20,0.9,20,-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,229.1,1585,-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,12,begin dive
$GC,14,-0.54,-51.0,0.0,0.0,0,65,0.00,0.00,-47.92,0.000,6,0.000,0.000,61,3386,2683,0,0,0,0,0,0
$GC,68,-0.56,-89.1,3.2,-4.3,6,86,6.05,0.93,-4.07,0.000,4,0.230,0.080,1528,3956,2836,0,0,0,0,0,0
$GC,239,-0.56,-89.1,36.6,-19.7,33,245,0.00,0.88,0.00,0.000,6,0.000,0.034,1527,3381,2839,0,0,0,0,0,0
$GC,386,-0.56,-89.1,64.9,-18.7,58,392,0.00,0.95,0.00,0.000,4,0.000,0.058,1523,3954,2840,0,0,0,0,0,0
$GC,458,-0.56,-89.1,78.4,-19.5,70,465,0.00,0.88,0.00,0.000,6,0.000,0.034,1523,3377,2840,0,0,0,0,0,0
$GC,792,-0.56,-89.1,130.0,-14.6,112,796,0.00,0.93,0.00,0.000,4,0.000,0.057,1519,3954,2841,0,0,0,0,0,0
$GC,996,-0.56,-89.1,160.5,-15.2,130,1000,0.00,0.85,0.00,0.000,6,0.000,0.034,1519,3384,2842,0,0,0,0,0,0
$GC,1329,-0.56,-89.1,208.3,-14.0,161,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3384,2843,0,0,0,0,0,0
$GC,1646,-0.56,-89.1,252.7,-14.2,191,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3384,2843,0,0,0,0,0,0
$GC,1967,-0.56,-89.1,296.0,-13.9,221,1970,0.00,2.10,0.00,0.000,4,0.000,0.029,1519,1967,2843,0,0,0,0,0,0
$GC,2030,-0.56,-89.1,303.9,-11.2,226,2034,0.00,2.28,0.00,0.000,6,0.000,0.050,1508,3382,2844,0,0,0,0,0,0
$GC,2354,-0.56,-89.1,351.8,-14.9,256,2355,0.00,0.00,0.00,0.000,6,0.000,0.000,1508,3382,2844,0,0,0,0,0,0
$GC,2674,-0.56,-89.1,399.3,-14.2,286,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,1508,3382,2844,0,0,0,0,0,0
$GC,2993,-0.56,-89.1,444.3,-13.9,302,2996,0.00,0.90,0.00,0.000,4,0.000,0.057,1504,3952,2844,0,0,0,0,0,0
$GC,3053,-0.56,-89.1,453.6,-15.2,304,3061,0.12,0.88,0.00,0.000,6,0.176,0.034,1534,3376,2844,0,0,0,0,0,0
$GC,3369,-0.56,-89.1,490.3,-11.3,320,3371,0.00,0.00,0.00,0.000,6,0.000,0.000,1535,3375,2843,0,0,0,0,0,0
$GC,3679,-0.56,-89.1,525.9,-11.6,335,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,1535,3375,2843,0,0,0,0,0,0
$GC,3990,-0.56,-89.1,561.4,-11.4,350,3994,0.00,0.93,0.00,0.000,4,0.000,0.060,1532,3953,2842,0,0,0,0,0,0
$GC,4028,-0.56,-89.1,566.4,-12.4,351,4036,0.00,0.88,0.00,0.000,6,0.000,0.035,1532,3382,2842,0,0,0,0,0,0
$GC,4344,-0.56,-89.1,602.9,-11.4,367,4348,0.00,0.90,0.00,0.000,4,0.000,0.060,1528,3940,2842,0,0,0,0,0,0
$GC,4393,-0.56,-89.1,609.4,-12.7,369,4398,0.00,0.85,0.00,0.000,6,0.000,0.036,1528,3383,2841,0,0,0,0,0,0
$GC,4722,-0.56,-89.1,648.4,-12.0,385,4726,0.00,2.15,0.00,0.000,4,0.000,0.030,1528,1953,2841,0,0,0,0,0,0
$GC,4762,-0.56,-89.1,652.8,-9.9,387,4767,0.00,2.33,0.00,0.000,6,0.000,0.052,1517,3392,2841,0,0,0,0,0,0
$GC,5090,-0.56,-89.1,691.9,-12.1,403,5093,0.00,0.90,0.00,0.000,4,0.000,0.060,1513,3955,2840,0,0,0,0,0,0
$GC,5161,-0.56,-89.1,701.7,-12.8,406,5166,0.00,0.90,0.00,0.000,6,0.000,0.035,1513,3365,2840,0,0,0,0,0,0
$GC,5490,-0.56,-89.1,742.6,-12.6,422,5494,0.00,0.93,0.00,0.000,4,0.000,0.060,1508,3941,2840,0,0,0,0,0,0
$GC,5545,-0.56,-89.1,750.7,-13.5,424,5549,0.00,0.88,0.00,0.000,6,0.000,0.035,1508,3361,2840,0,0,0,0,0,0
$GC,5867,-0.56,-89.1,794.3,-13.7,440,5870,0.00,0.95,0.00,0.000,4,0.000,0.060,1504,3950,2839,0,0,0,0,0,0
$GC,5935,-0.56,-89.1,804.1,-15.4,443,5939,0.08,0.85,0.00,0.000,6,0.161,0.036,1527,3386,2839,0,0,0,0,0,0
$GC,6268,-0.56,-89.1,842.5,-11.1,459,6269,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3387,2838,0,0,0,0,0,0
$GC,6576,-0.56,-89.1,875.4,-10.5,474,6579,0.00,0.90,0.00,0.000,4,0.000,0.060,1525,3947,2837,0,0,0,0,0,0
$GC,6653,-0.56,-89.1,884.3,-11.1,477,6658,0.00,0.85,0.00,0.000,6,0.000,0.037,1525,3385,2837,0,0,0,0,0,0
$GC,6974,-0.56,-89.1,916.9,-9.7,493,6978,0.00,0.90,0.00,0.000,4,0.000,0.062,1521,3941,2837,0,0,0,0,0,0
$GC,7023,-0.56,-89.1,922.5,-11.5,495,7028,0.00,0.88,0.00,0.000,6,0.000,0.037,1521,3375,2836,0,0,0,0,0,0
$GC,7353,-0.56,-89.1,958.1,-11.1,511,7357,0.00,0.93,0.00,0.000,4,0.000,0.062,1516,3947,2836,0,0,0,0,0,0
$GC,7488,-0.56,-89.1,975.0,-12.7,517,7492,0.00,0.85,0.00,0.000,6,0.000,0.038,1516,3386,2835,0,0,0,0,0,0
$STATE,7611,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7612,begin apogee
$GC,7617,-0.09,0.0,990.0,12.0,523,7707,0.57,0.00,87.12,1.845,6,0.148,0.000,1685,3287,2473,0,0,0,0,0,0
$STATE,7708,end apogee,CONTROL_FINISHED_OK
$STATE,7708,begin climb
$GC,7710,0.56,89.1,992.9,0.0,527,7806,0.62,0.00,92.85,1.795,6,0.069,0.000,1901,3287,2108,0,0,0,0,0,0
$GC,8108,0.56,89.1,948.8,13.2,547,8112,0.00,1.12,0.00,0.000,4,0.000,0.060,1901,3952,2099,0,0,0,0,0,0
$GC,8271,0.56,89.1,924.5,15.1,554,8274,0.00,1.05,0.00,0.000,6,0.000,0.035,1906,3280,2098,0,0,0,0,0,0
$GC,8598,0.56,89.1,880.8,13.3,570,8601,0.00,1.10,0.00,0.000,4,0.000,0.060,1906,3949,2095,0,0,0,0,0,0
$GC,8669,0.56,89.1,869.8,15.6,573,8674,0.00,1.05,0.00,0.000,6,0.000,0.036,1911,3280,2095,0,0,0,0,0,0
$GC,8997,0.56,89.1,824.7,13.6,589,9000,0.00,1.10,0.00,0.000,4,0.000,0.060,1911,3950,2094,0,0,0,0,0,0
$GC,9034,0.56,89.1,818.9,15.3,590,9042,0.00,1.02,0.00,0.000,6,0.000,0.036,1916,3280,2094,0,0,0,0,0,0
$GC,9350,0.56,89.1,775.6,13.7,606,9354,0.00,1.10,0.00,0.000,4,0.000,0.059,1916,3955,2093,0,0,0,0,0,0
$GC,9407,0.56,89.1,766.8,16.1,608,9410,0.00,1.02,0.00,0.000,6,0.000,0.036,1922,3285,2093,0,0,0,0,0,0
$GC,9728,0.56,89.1,720.1,14.4,624,9732,0.00,1.08,0.00,0.000,4,0.000,0.060,1921,3947,2092,0,0,0,0,0,0
$GC,9863,0.56,89.1,698.4,17.1,630,9867,0.00,1.00,0.00,0.000,6,0.000,0.036,1926,3292,2091,0,0,0,0,0,0
$GC,10196,0.56,89.1,648.3,14.8,646,10197,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,3292,2091,0,0,0,0,0,0
$GC,10505,0.56,89.1,601.3,15.5,661,10506,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,3291,2090,0,0,0,0,0,0
$GC,10814,0.56,89.1,555.2,14.6,676,10815,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,3292,2090,0,0,0,0,0,0
$GC,11124,0.56,89.1,509.8,14.9,691,11125,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,3292,2090,0,0,0,0,0,0
$GC,11432,0.56,89.1,464.1,14.7,706,11433,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,3292,2090,0,0,0,0,0,0
$GC,11742,0.56,89.1,420.9,13.6,721,11746,0.00,1.08,0.00,0.000,4,0.000,0.060,1926,3946,2089,0,0,0,0,0,0
$GC,11819,0.56,89.1,409.2,14.5,724,11824,0.00,1.05,0.00,0.000,6,0.000,0.035,1931,3270,2089,0,0,0,0,0,0
$GC,12149,0.56,89.1,365.1,13.0,752,12152,0.00,1.10,0.00,0.000,4,0.000,0.059,1931,3947,2089,0,0,0,0,0,0
$GC,12195,0.56,89.1,358.7,14.7,756,12199,0.10,1.00,0.00,0.000,6,0.198,0.037,1909,3288,2089,0,0,0,0,0,0
$GC,12524,0.56,89.1,318.3,12.7,787,12528,0.00,1.08,0.00,0.000,4,0.000,0.060,1909,3947,2088,0,0,0,0,0,0
$GC,12603,0.56,89.1,307.9,12.8,794,12607,0.00,1.00,0.00,0.000,6,0.000,0.036,1913,3287,2088,0,0,0,0,0,0
$GC,12936,0.56,89.1,268.6,12.1,825,12940,0.00,2.17,0.00,0.000,4,0.000,0.031,1924,1855,2088,0,0,0,0,0,0
$GC,13036,0.56,89.1,256.9,11.4,833,13043,0.00,2.33,0.00,0.000,6,0.000,0.050,1924,3286,2086,0,0,0,0,0,0
$GC,13361,0.56,89.1,213.3,12.7,864,13364,0.00,1.08,0.00,0.000,4,0.000,0.057,1924,3953,2086,0,0,0,0,0,0
$GC,13422,0.56,89.1,204.5,13.3,869,13430,0.00,1.00,0.00,0.000,6,0.000,0.034,1929,3287,2086,0,0,0,0,0,0
$GC,13747,0.56,89.1,162.4,12.6,900,13751,0.00,2.15,0.00,0.000,4,0.000,0.031,1940,1864,2086,0,0,0,0,0,0
$GC,13846,0.56,89.1,152.1,10.5,908,13851,0.15,2.30,0.00,0.000,6,0.180,0.050,1903,3288,2086,0,0,0,0,0,0
$GC,14171,0.56,89.1,115.6,11.4,938,14174,0.00,1.05,0.00,0.000,4,0.000,0.057,1903,3939,2087,0,0,0,0,0,0
$GC,14437,0.56,89.1,82.0,11.8,973,14444,0.00,1.00,0.00,0.000,6,0.000,0.034,1906,3277,2087,0,0,0,0,0,0
$GC,14787,0.56,89.1,48.8,9.1,1034,14793,0.00,1.10,0.00,0.000,4,0.000,0.057,1906,3952,2086,0,0,0,0,0,0
$GC,15057,0.57,95.7,26.9,7.9,1080,15066,0.00,1.00,0.00,0.000,6,0.000,0.034,1911,3288,2087,0,0,0,0,0,0
$GC,15215,0.57,103.5,15.0,7.8,1105,15225,0.00,1.02,3.78,0.607,4,0.000,0.055,1911,3955,2049,0,0,0,0,0,0
$STATE,15329,end climb,SURFACE_DEPTH_REACHED
$STATE,15329,begin surface coast
$FINISH,0.7,1.025434
$STATE,15361,end surface coast,CONTROL_FINISHED_OK
$STATE,15361,begin surface
$SM_CCo,15375,48.15,0.763,0,0,1572,220.03
$SM_GC,1.37,0.00,0.00,48.15,0.000,0.000,0.763,58,3379,1572,-5.20,-0.06,220.03
$IRIDIUM_FIX,-4242.04,830.68,150114,191918
$TT8_MAMPS,0.026215
$HUMID,61.49
$INTERNAL_PRESSURE,9.56208
$TCM_TEMP,14.60
$XPDR_PINGS,0
$24V_AH,22.3,39.659
$10V_AH,9.9,30.273
$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,12.675,64.425,183.750,48.150,0.000,26.827,22.366,316.517,0.000,0.000,22.981,2814.535,9494.053,356.545,3002.553,260.085,0.000,1400.888,0.000,2510.185,0.000,1.010,0.000
$DEVICE_MAMPS,229.500,80.325,1845.180,762.705,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,782.060,1946.078,789.998,404.646,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354396
$DATA_FILE_SIZE,80280,1128
$CAP_FILE_SIZE,139726,0
$CFSIZE,259252224,238608384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,160114,043404,-4259.551,830.361,31,1.1,31,-25.0