version: 66.07
glider: 543
mission: 9
dive: 275
start: 1 16 114 19 16 36
data:
$ID,543
$MISSION,9
$DIVE,275
$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,-13401.434
$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,47
$R_STBD_OVSHOOT,35
$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
$GPS1,160114,190352,-4300.186,830.090,85,0.9,85,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-56.3
$GPS2,160114,191613,-4300.196,830.256,20,0.9,20,-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,341.3,503,-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,13,begin dive
$GC,15,-0.54,-51.0,0.0,0.0,0,65,0.00,0.00,-47.33,0.000,6,0.000,0.000,67,3401,2684,0,0,0,0,0,0
$GC,68,-0.57,-95.2,3.3,-3.6,6,86,6.05,2.20,-4.57,0.000,4,0.230,0.041,1537,1969,2863,0,0,0,0,0,0
$GC,168,-0.57,-95.2,19.3,-12.2,21,177,0.00,2.33,0.00,0.000,6,0.000,0.051,1528,3373,2866,0,0,0,0,0,0
$GC,224,-0.57,-95.2,30.0,-21.5,30,234,0.00,0.93,0.00,0.000,4,0.000,0.054,1523,3954,2866,0,0,0,0,0,0
$GC,271,-0.57,-95.2,37.7,-17.6,37,278,0.00,0.88,0.00,0.000,6,0.000,0.034,1523,3376,2866,0,0,0,0,0,0
$GC,417,-0.57,-95.2,60.4,-13.1,62,424,0.00,0.93,0.00,0.000,4,0.000,0.058,1519,3951,2867,0,0,0,0,0,0
$GC,458,-0.57,-95.2,66.2,-14.1,69,467,0.00,0.85,0.00,0.000,6,0.000,0.033,1519,3385,2867,0,0,0,0,0,0
$GC,803,-0.57,-95.2,116.6,-15.1,120,806,0.00,2.12,0.00,0.000,4,0.000,0.028,1519,1956,2868,0,0,0,0,0,0
$GC,843,-0.57,-95.2,122.2,-13.2,123,847,0.00,2.33,0.00,0.000,6,0.000,0.050,1508,3394,2869,0,0,0,0,0,0
$GC,1170,-0.57,-95.2,174.4,-16.7,153,1173,0.00,0.88,0.00,0.000,4,0.000,0.057,1504,3949,2869,0,0,0,0,0,0
$GC,1249,-0.57,-95.2,188.8,-17.5,160,1253,0.08,0.85,0.00,0.000,6,0.164,0.034,1527,3377,2869,0,0,0,0,0,0
$GC,1578,-0.57,-95.2,236.4,-14.1,191,1582,0.00,0.90,0.00,0.000,4,0.000,0.057,1524,3940,2869,0,0,0,0,0,0
$GC,1623,-0.57,-95.2,242.8,-14.8,195,1626,0.00,0.85,0.00,0.000,6,0.000,0.034,1524,3369,2870,0,0,0,0,0,0
$GC,1953,-0.57,-95.2,287.9,-12.6,226,1957,0.00,2.10,0.00,0.000,4,0.000,0.028,1524,1962,2870,0,0,0,0,0,0
$GC,1982,-0.57,-95.2,291.6,-12.3,228,1986,0.00,2.28,0.00,0.000,6,0.000,0.050,1513,3392,2870,0,0,0,0,0,0
$GC,2306,-0.57,-95.2,335.2,-13.4,258,2310,0.00,0.88,0.00,0.000,4,0.000,0.057,1509,3946,2869,0,0,0,0,0,0
$GC,2420,-0.57,-95.2,352.0,-14.7,268,2424,0.00,0.85,0.00,0.000,6,0.000,0.033,1509,3372,2870,0,0,0,0,0,0
$GC,2751,-0.57,-95.2,398.4,-13.7,299,2752,0.00,0.00,0.00,0.000,6,0.000,0.000,1509,3371,2870,0,0,0,0,0,0
$GC,3061,-0.57,-95.2,443.2,-14.9,315,3065,0.00,0.93,0.00,0.000,4,0.000,0.058,1505,3951,2870,0,0,0,0,0,0
$GC,3129,-0.57,-95.2,454.1,-16.1,318,3133,0.08,0.85,0.00,0.000,6,0.162,0.034,1528,3384,2870,0,0,0,0,0,0
$GC,3461,-0.57,-95.2,499.2,-13.5,334,3465,0.00,2.12,0.00,0.000,4,0.000,0.028,1528,1961,2870,0,0,0,0,0,0
$GC,3487,-0.57,-95.2,502.8,-12.9,335,3492,0.00,2.30,0.00,0.000,6,0.000,0.050,1519,3371,2870,0,0,0,0,0,0
$GC,3809,-0.57,-95.2,546.5,-13.5,351,3813,0.00,0.93,0.00,0.000,4,0.000,0.059,1514,3952,2868,0,0,0,0,0,0
$GC,3932,-0.57,-95.2,564.3,-14.5,356,3936,0.00,0.88,0.00,0.000,6,0.000,0.034,1515,3365,2868,0,0,0,0,0,0
$GC,4253,-0.57,-95.2,606.2,-13.3,372,4254,0.00,0.00,0.00,0.000,6,0.000,0.000,1515,3365,2868,0,0,0,0,0,0
$GC,4565,-0.57,-95.2,646.4,-12.6,387,4568,0.00,0.95,0.00,0.000,4,0.000,0.060,1510,3956,2868,0,0,0,0,0,0
$GC,4670,-0.57,-95.2,662.0,-14.1,391,4677,0.00,0.88,0.00,0.000,6,0.000,0.034,1510,3384,2867,0,0,0,0,0,0
$GC,4986,-0.57,-95.2,704.3,-13.2,407,4990,0.00,2.12,0.00,0.000,4,0.000,0.030,1510,1965,2867,0,0,0,0,0,0
$GC,5003,-0.57,-95.2,706.4,-12.8,408,5008,0.12,2.30,0.00,0.000,6,0.165,0.053,1531,3388,2867,0,0,0,0,0,0
$GC,5331,-0.57,-95.2,743.2,-11.1,424,5334,0.00,0.90,0.00,0.000,4,0.000,0.061,1528,3948,2866,0,0,0,0,0,0
$GC,5399,-0.57,-95.2,751.4,-11.6,427,5402,0.00,0.85,0.00,0.000,6,0.000,0.037,1528,3383,2866,0,0,0,0,0,0
$GC,5731,-0.57,-95.2,789.7,-11.4,443,5732,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3383,2865,0,0,0,0,0,0
$GC,6040,-0.57,-95.2,824.2,-11.2,458,6041,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3383,2865,0,0,0,0,0,0
$GC,6350,-0.57,-95.2,858.1,-10.8,473,6353,0.00,0.90,0.00,0.000,4,0.000,0.060,1524,3943,2864,0,0,0,0,0,0
$GC,6579,-0.57,-95.2,883.7,-10.5,483,6583,0.00,0.88,0.00,0.000,6,0.000,0.037,1524,3377,2863,0,0,0,0,0,0
$GC,6908,-0.57,-95.2,915.1,-9.5,499,6912,0.00,0.93,0.00,0.000,4,0.000,0.061,1520,3952,2863,0,0,0,0,0,0
$GC,7059,-0.57,-95.2,930.9,-10.6,505,7066,0.00,0.88,0.00,0.000,6,0.000,0.037,1520,3373,2862,0,0,0,0,0,0
$GC,7375,-0.57,-95.2,962.2,-10.2,521,7379,0.00,0.93,0.00,0.000,4,0.000,0.061,1515,3950,2862,0,0,0,0,0,0
$GC,7593,-0.57,-95.2,986.4,-11.4,530,7600,0.00,0.88,0.00,0.000,6,0.000,0.037,1515,3383,2862,0,0,0,0,0,0
$STATE,7641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7641,begin apogee
$GC,7646,-0.09,0.0,991.3,10.7,533,7743,0.57,0.00,92.72,1.847,6,0.151,0.000,1682,3285,2474,0,0,0,0,0,0
$STATE,7743,end apogee,CONTROL_FINISHED_OK
$STATE,7744,begin climb
$GC,7745,0.57,95.2,993.8,0.0,538,7853,0.62,2.42,98.18,1.793,4,0.070,0.030,1910,1872,2086,0,0,0,0,0,0
$GC,7909,0.57,95.2,980.6,13.1,545,7913,0.00,2.45,0.00,0.000,6,0.000,0.050,1910,3285,2081,0,0,0,0,0,0
$GC,8230,0.57,95.2,933.5,14.9,561,8234,0.00,1.12,0.00,0.000,4,0.000,0.059,1910,3956,2075,0,0,0,0,0,0
$GC,8325,0.57,95.2,918.3,16.1,565,8329,0.00,1.05,0.00,0.000,6,0.000,0.034,1915,3278,2074,0,0,0,0,0,0
$GC,8652,0.57,95.2,870.9,14.5,581,8653,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3278,2072,0,0,0,0,0,0
$GC,8961,0.57,95.2,826.6,14.4,596,8965,0.00,1.10,0.00,0.000,4,0.000,0.059,1915,3949,2071,0,0,0,0,0,0
$GC,9055,0.57,95.2,811.6,16.4,600,9060,0.00,1.02,0.00,0.000,6,0.000,0.035,1920,3282,2071,0,0,0,0,0,0
$GC,9383,0.57,95.2,764.9,13.6,616,9384,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3282,2069,0,0,0,0,0,0
$GC,9692,0.57,95.2,721.1,14.4,631,9696,0.00,2.17,0.00,0.000,4,0.000,0.033,1931,1864,2069,0,0,0,0,0,0
$GC,9724,0.57,95.2,716.6,12.5,632,9731,0.00,2.33,0.00,0.000,6,0.000,0.051,1931,3281,2068,0,0,0,0,0,0
$GC,10042,0.57,95.2,670.6,14.8,648,10043,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,3282,2067,0,0,0,0,0,0
$GC,10349,0.57,95.2,625.7,14.3,663,10353,0.00,1.10,0.00,0.000,4,0.000,0.058,1931,3956,2067,0,0,0,0,0,0
$GC,10606,0.57,95.2,583.8,16.2,674,10611,0.12,1.05,0.00,0.000,6,0.227,0.035,1909,3278,2066,0,0,0,0,0,0
$GC,10930,0.57,95.2,539.7,13.5,690,10931,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3279,2066,0,0,0,0,0,0
$GC,11238,0.57,95.2,499.4,12.4,705,11241,0.00,1.10,0.00,0.000,4,0.000,0.058,1909,3957,2065,0,0,0,0,0,0
$GC,11270,0.57,95.2,495.2,13.1,706,11275,0.00,1.05,0.00,0.000,6,0.000,0.035,1913,3282,2065,0,0,0,0,0,0
$GC,11592,0.57,95.2,457.2,11.5,722,11593,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3282,2065,0,0,0,0,0,0
$GC,11901,0.57,95.2,421.2,11.8,737,11905,0.00,1.10,0.00,0.000,4,0.000,0.057,1913,3957,2065,0,0,0,0,0,0
$GC,11939,0.57,95.2,416.2,12.9,738,11947,0.00,1.05,0.00,0.000,6,0.000,0.034,1918,3278,2065,0,0,0,0,0,0
$GC,12262,0.57,95.2,376.7,12.7,762,12265,0.00,1.10,0.00,0.000,4,0.000,0.059,1918,3956,2065,0,0,0,0,0,0
$GC,12322,0.57,95.2,367.4,15.2,767,12330,0.00,1.05,0.00,0.000,6,0.000,0.034,1923,3274,2065,0,0,0,0,0,0
$GC,12648,0.57,95.2,322.4,13.3,798,12651,0.00,1.10,0.00,0.000,4,0.000,0.059,1923,3953,2064,0,0,0,0,0,0
$GC,12884,0.57,95.2,286.9,14.6,819,12888,0.00,1.02,0.00,0.000,6,0.000,0.034,1929,3278,2064,0,0,0,0,0,0
$GC,13214,0.57,95.2,240.0,14.2,850,13215,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,3278,2064,0,0,0,0,0,0
$GC,13534,0.57,95.2,195.5,13.5,880,13535,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,3278,2064,0,0,0,0,0,0
$GC,13852,0.57,95.2,153.5,12.4,910,13854,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,3278,2064,0,0,0,0,0,0
$GC,14172,0.57,95.2,112.6,12.5,940,14175,0.00,1.10,0.00,0.000,4,0.000,0.058,1929,3955,2064,0,0,0,0,0,0
$GC,14255,0.57,95.2,101.2,12.5,947,14263,0.00,1.05,0.00,0.000,6,0.000,0.033,1934,3268,2064,0,0,0,0,0,0
$GC,14603,0.57,95.2,62.2,9.9,1007,14611,0.12,2.10,0.00,0.000,4,0.201,0.031,1913,1867,2064,0,0,0,0,0,0
$GC,14870,0.59,128.9,45.6,4.8,1053,14890,0.00,2.30,12.68,0.908,6,0.000,0.050,1914,3284,1944,0,0,0,0,0,0
$GC,15254,0.59,128.9,3.4,11.4,1116,15263,0.00,2.15,0.00,0.000,4,0.000,0.030,1925,1877,1940,0,0,0,0,0,0
$STATE,15270,end climb,SURFACE_DEPTH_REACHED
$STATE,15270,begin surface coast
$FINISH,0.6,1.026180
$STATE,15302,end surface coast,CONTROL_FINISHED_OK
$STATE,15302,begin surface
$SM_CCo,15318,37.30,0.760,0,0,1573,220.03
$SM_GC,1.39,0.00,0.00,37.30,0.000,0.000,0.760,59,3390,1573,-5.19,0.28,220.03
$IRIDIUM_FIX,-4242.04,834.03,160114,141428
$TT8_MAMPS,0.026215
$HUMID,61.65
$INTERNAL_PRESSURE,9.57185
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,22.2,40.168
$10V_AH,9.8,30.771
$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,12.875,79.225,203.575,37.300,0.000,53.780,116.030,363.157,0.000,0.000,22.238,2806.747,9422.886,359.813,3257.776,243.760,0.000,1463.973,0.000,2580.497,0.000,1.012,0.000
$DEVICE_MAMPS,230.265,69.615,1846.710,760.410,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,777.556,1907.881,784.549,397.205,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354428
$DATA_FILE_SIZE,80520,1123
$CAP_FILE_SIZE,144896,0
$CFSIZE,259252224,238272512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,160114,233351,-4258.106,829.795,43,1.3,43,-25.0