version: 66.07
glider: 543
mission: 9
dive: 272
start: 1 16 114 4 42 53
data:
$ID,543
$MISSION,9
$DIVE,272
$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,-13393.421
$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,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
$GPS1,160114,043404,-4259.551,830.361,31,1.1,31,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-66.6
$GPS2,160114,044229,-4259.521,830.529,17,1.2,17,-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,244.0,1140,-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,-48.00,0.000,6,0.000,0.000,58,3378,2684,0,0,0,0,0,0
$GC,68,-0.56,-87.5,3.5,-4.5,6,86,6.25,0.93,-3.83,0.000,4,0.240,0.076,1527,3955,2830,0,0,0,0,0,0
$GC,352,-0.56,-87.5,54.4,-15.8,53,358,0.00,0.88,0.00,0.000,6,0.000,0.035,1527,3383,2834,0,0,0,0,0,0
$GC,699,-0.56,-87.5,107.2,-15.4,110,703,0.00,0.90,0.00,0.000,4,0.000,0.058,1524,3941,2836,0,0,0,0,0,0
$GC,827,-0.56,-87.5,127.9,-15.4,121,835,0.00,0.88,0.00,0.000,6,0.000,0.034,1523,3371,2836,0,0,0,0,0,0
$GC,1152,-0.56,-87.5,173.3,-13.7,152,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3370,2837,0,0,0,0,0,0
$GC,1472,-0.56,-87.5,216.4,-13.7,182,1473,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3370,2837,0,0,0,0,0,0
$GC,1791,-0.56,-87.5,257.9,-12.8,212,1795,0.00,0.93,0.00,0.000,4,0.000,0.057,1519,3948,2837,0,0,0,0,0,0
$GC,1839,-0.56,-87.5,264.8,-12.9,216,1850,0.00,0.88,0.00,0.000,6,0.000,0.034,1519,3373,2837,0,0,0,0,0,0
$GC,2166,-0.56,-87.5,307.6,-13.3,247,2169,0.00,0.93,0.00,0.000,4,0.000,0.058,1515,3951,2837,0,0,0,0,0,0
$GC,2268,-0.56,-87.5,322.1,-14.2,256,2272,0.00,0.85,0.00,0.000,6,0.000,0.034,1515,3383,2837,0,0,0,0,0,0
$GC,2599,-0.56,-87.5,366.2,-13.4,287,2602,0.00,0.90,0.00,0.000,4,0.000,0.058,1511,3944,2837,0,0,0,0,0,0
$GC,2682,-0.56,-87.5,378.5,-15.0,294,2690,0.00,0.88,0.00,0.000,6,0.000,0.034,1511,3371,2837,0,0,0,0,0,0
$GC,3013,-0.56,-87.5,421.8,-12.8,318,3017,0.00,0.93,0.00,0.000,4,0.000,0.058,1506,3949,2837,0,0,0,0,0,0
$GC,3158,-0.56,-87.5,442.1,-13.8,324,3162,0.08,0.85,0.00,0.000,6,0.160,0.034,1529,3383,2837,0,0,0,0,0,0
$GC,3479,-0.56,-87.5,478.5,-11.5,340,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3383,2837,0,0,0,0,0,0
$GC,3789,-0.56,-87.5,514.1,-11.5,355,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3383,2837,0,0,0,0,0,0
$GC,4100,-0.56,-87.5,550.1,-11.9,370,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3383,2837,0,0,0,0,0,0
$GC,4407,-0.56,-87.5,586.0,-11.6,385,4411,0.00,0.90,0.00,0.000,4,0.000,0.060,1526,3943,2836,0,0,0,0,0,0
$GC,4513,-0.56,-87.5,599.3,-12.6,389,4520,0.00,0.85,0.00,0.000,6,0.000,0.036,1526,3379,2836,0,0,0,0,0,0
$GC,4829,-0.56,-87.5,635.9,-11.7,405,4830,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3379,2836,0,0,0,0,0,0
$GC,5140,-0.56,-87.5,672.6,-11.9,420,5144,0.00,0.93,0.00,0.000,4,0.000,0.060,1522,3951,2835,0,0,0,0,0,0
$GC,5240,-0.56,-87.5,685.9,-12.7,424,5244,0.00,0.88,0.00,0.000,6,0.000,0.035,1522,3378,2834,0,0,0,0,0,0
$GC,5562,-0.56,-87.5,723.9,-11.5,440,5565,0.00,0.93,0.00,0.000,4,0.000,0.061,1518,3949,2834,0,0,0,0,0,0
$GC,5652,-0.56,-87.5,735.4,-12.8,444,5656,0.00,0.85,0.00,0.000,6,0.000,0.037,1518,3385,2834,0,0,0,0,0,0
$GC,5985,-0.56,-87.5,777.0,-12.7,460,5986,0.00,0.00,0.00,0.000,6,0.000,0.000,1518,3385,2833,0,0,0,0,0,0
$GC,6294,-0.56,-87.5,816.6,-12.8,475,6298,0.00,0.90,0.00,0.000,4,0.000,0.061,1514,3945,2832,0,0,0,0,0,0
$GC,6457,-0.56,-87.5,839.2,-13.8,482,6461,0.00,0.85,0.00,0.000,6,0.000,0.037,1514,3385,2832,0,0,0,0,0,0
$GC,6784,-0.56,-87.5,880.4,-11.9,498,6785,0.00,0.00,0.00,0.000,6,0.000,0.000,1514,3384,2831,0,0,0,0,0,0
$GC,7093,-0.56,-87.5,914.8,-10.6,513,7094,0.00,0.00,0.00,0.000,6,0.000,0.000,1514,3384,2830,0,0,0,0,0,0
$GC,7404,-0.56,-87.5,947.1,-10.2,528,7407,0.00,0.90,0.00,0.000,4,0.000,0.062,1510,3941,2830,0,0,0,0,0,0
$GC,7526,-0.56,-87.5,960.9,-11.5,533,7531,0.00,0.85,0.00,0.000,6,0.000,0.037,1510,3382,2830,0,0,0,0,0,0
$STATE,7805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7805,begin apogee
$GC,7810,-0.09,0.0,990.7,11.0,547,7899,0.60,0.00,85.45,1.845,6,0.151,0.000,1683,3284,2474,0,0,0,0,0,0
$STATE,7899,end apogee,CONTROL_FINISHED_OK
$STATE,7899,begin climb
$GC,7902,0.56,87.5,993.2,0.0,551,7996,0.62,0.00,90.38,1.797,6,0.072,0.000,1898,3283,2116,0,0,0,0,0,0
$GC,8302,0.56,87.5,948.5,13.5,571,8306,0.00,2.28,0.00,0.000,4,0.000,0.031,1909,1858,2106,0,0,0,0,0,0
$GC,8373,0.56,87.5,940.0,11.0,574,8377,0.00,2.38,0.00,0.000,6,0.000,0.051,1909,3283,2104,0,0,0,0,0,0
$GC,8694,0.56,87.5,898.1,12.8,590,8698,0.00,1.10,0.00,0.000,4,0.000,0.060,1909,3949,2103,0,0,0,0,0,0
$GC,8754,0.56,87.5,889.2,14.7,592,8762,0.00,1.05,0.00,0.000,6,0.000,0.036,1915,3280,2103,0,0,0,0,0,0
$GC,9073,0.56,87.5,846.1,13.4,608,9077,0.00,2.17,0.00,0.000,4,0.000,0.033,1925,1863,2101,0,0,0,0,0,0
$GC,9135,0.56,87.5,838.1,12.0,611,9139,0.00,2.33,0.00,0.000,6,0.000,0.051,1926,3289,2100,0,0,0,0,0,0
$GC,9461,0.56,87.5,792.0,14.1,627,9462,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,3288,2100,0,0,0,0,0,0
$GC,9770,0.56,87.5,746.9,14.8,642,9771,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,3288,2099,0,0,0,0,0,0
$GC,10079,0.56,87.5,701.2,14.5,657,10083,0.00,2.20,0.00,0.000,4,0.000,0.033,1936,1861,2098,0,0,0,0,0,0
$GC,10133,0.56,87.5,694.2,11.6,659,10141,0.10,2.33,0.00,0.000,6,0.165,0.050,1907,3282,2097,0,0,0,0,0,0
$GC,10449,0.56,87.5,655.9,11.7,675,10453,0.00,1.10,0.00,0.000,4,0.000,0.060,1907,3953,2097,0,0,0,0,0,0
$GC,10566,0.56,87.5,639.9,13.6,680,10571,0.00,1.02,0.00,0.000,6,0.000,0.036,1911,3285,2097,0,0,0,0,0,0
$GC,10893,0.56,87.5,601.3,11.7,696,10897,0.00,1.08,0.00,0.000,4,0.000,0.060,1911,3951,2097,0,0,0,0,0,0
$GC,10984,0.56,87.5,589.5,12.8,700,10987,0.00,1.02,0.00,0.000,6,0.000,0.037,1916,3279,2097,0,0,0,0,0,0
$GC,11318,0.56,87.5,550.0,12.2,716,11319,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3279,2096,0,0,0,0,0,0
$GC,11625,0.56,87.5,514.4,11.4,731,11629,0.00,2.15,0.00,0.000,4,0.000,0.031,1927,1866,2096,0,0,0,0,0,0
$GC,11669,0.56,87.5,509.7,10.7,733,11673,0.00,2.30,0.00,0.000,6,0.000,0.050,1927,3290,2095,0,0,0,0,0,0
$GC,11996,0.56,87.5,470.4,12.0,749,11997,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,3291,2095,0,0,0,0,0,0
$GC,12305,0.56,87.5,431.3,12.7,764,12307,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,3291,2095,0,0,0,0,0,0
$GC,12619,0.56,87.5,390.7,13.0,782,12620,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,3291,2095,0,0,0,0,0,0
$GC,12936,0.56,87.5,350.1,13.1,812,12940,0.00,2.17,0.00,0.000,4,0.000,0.031,1938,1859,2094,0,0,0,0,0,0
$GC,12955,0.56,87.5,347.9,13.0,813,12960,0.12,2.30,0.00,0.000,6,0.187,0.050,1909,3287,2094,0,0,0,0,0,0
$GC,13279,0.56,87.5,309.1,11.6,843,13283,0.00,1.08,0.00,0.000,4,0.000,0.058,1909,3952,2094,0,0,0,0,0,0
$GC,13494,0.56,87.5,280.2,13.2,862,13498,0.00,1.00,0.00,0.000,6,0.000,0.034,1912,3286,2094,0,0,0,0,0,0
$GC,13827,0.56,87.5,242.1,11.3,893,13828,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3286,2094,0,0,0,0,0,0
$GC,14144,0.56,87.5,205.2,11.7,923,14145,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3287,2094,0,0,0,0,0,0
$GC,14465,0.56,87.5,171.1,9.9,953,14469,0.00,2.15,0.00,0.000,4,0.000,0.031,1923,1864,2094,0,0,0,0,0,0
$GC,14550,0.57,98.6,163.6,7.4,960,14564,0.00,2.28,6.60,1.227,6,0.000,0.050,1923,3291,2072,0,0,0,0,0,0
$GC,14879,0.57,98.6,127.1,11.3,991,14880,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,3291,2072,0,0,0,0,0,0
$GC,15202,0.57,98.6,90.6,11.5,1028,15209,0.00,2.15,0.00,0.000,4,0.000,0.029,1934,1856,2072,0,0,0,0,0,0
$GC,15279,0.57,98.6,82.7,10.4,1041,15289,0.08,2.33,0.00,0.000,6,0.159,0.049,1912,3290,2071,0,0,0,0,0,0
$GC,15636,0.58,108.1,50.6,7.6,1102,15644,0.00,1.10,4.20,0.758,4,0.000,0.057,1912,3960,2030,0,0,0,0,0,0
$GC,15907,0.58,108.1,22.2,11.6,1148,15917,0.00,1.02,0.00,0.000,6,0.000,0.031,1915,3278,2030,0,0,0,0,0,0
$GC,16067,0.58,108.1,9.6,8.8,1173,16076,0.00,1.08,0.00,0.000,4,0.000,0.056,1915,3954,2030,0,0,0,0,0,0
$STATE,16119,end climb,SURFACE_DEPTH_REACHED
$STATE,16119,begin surface coast
$FINISH,0.6,1.025551
$STATE,16145,end surface coast,CONTROL_FINISHED_OK
$STATE,16145,begin surface
$SM_CCo,16159,45.78,0.768,0,0,1575,220.03
$SM_GC,1.37,0.00,0.00,45.78,0.000,0.000,0.768,55,3380,1575,-5.20,0.00,220.03
$IRIDIUM_FIX,-4244.98,831.12,160114,000058
$TT8_MAMPS,0.026215
$HUMID,61.06
$INTERNAL_PRESSURE,9.58162
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,22.3,39.784
$10V_AH,9.9,30.394
$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,12.825,63.675,186.625,45.775,0.000,25.383,17.750,320.588,0.000,0.000,19.739,2928.477,10082.254,334.788,3109.024,252.481,0.000,1424.398,0.000,2609.086,0.000,1.010,0.000
$DEVICE_MAMPS,240.210,75.735,1845.180,768.060,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,821.690,2033.277,816.015,394.246,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354420
$DATA_FILE_SIZE,83769,1185
$CAP_FILE_SIZE,140874,0
$CFSIZE,259252224,238530560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,160114,091404,-4259.135,829.473,30,1.5,30,-25.0