version: 66.07
glider: 543
mission: 9
dive: 276
start: 1 16 114 23 43 36
data:
$ID,543
$MISSION,9
$DIVE,276
$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,-13403.763
$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,48
$R_STBD_OVSHOOT,20
$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
$GPS1,160114,233351,-4258.106,829.795,43,1.3,43,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-60.1
$GPS2,160114,234312,-4257.989,829.976,19,1.3,19,-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,204.5,3724,-24.9,-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,-0.51,-59.9,0.0,0.0,0,66,0.00,0.00,-49.22,0.000,6,0.000,0.000,59,3388,2720,0,0,0,0,0,0
$GC,68,-0.54,-115.3,3.2,-3.3,6,87,6.15,0.88,-5.85,0.000,4,0.232,0.080,1536,3962,2946,0,0,0,0,0,0
$GC,239,-0.54,-115.3,36.0,-19.8,33,246,0.00,0.90,0.00,0.000,6,0.000,0.032,1536,3371,2949,0,0,0,0,0,0
$GC,386,-0.54,-115.3,62.4,-18.2,58,392,0.00,0.93,0.00,0.000,4,0.000,0.057,1532,3945,2950,0,0,0,0,0,0
$GC,642,-0.54,-115.3,106.3,-16.7,100,652,0.00,0.88,0.00,0.000,6,0.000,0.032,1532,3372,2951,0,0,0,0,0,0
$GC,969,-0.54,-115.3,154.0,-14.2,131,973,0.00,2.08,0.00,0.000,4,0.000,0.028,1532,1971,2952,0,0,0,0,0,0
$GC,989,-0.54,-115.3,157.4,-14.6,132,999,0.00,2.30,0.00,0.000,6,0.000,0.049,1521,3383,2951,0,0,0,0,0,0
$GC,1314,-0.54,-115.3,204.0,-13.7,163,1318,0.00,0.90,0.00,0.000,4,0.000,0.055,1516,3951,2952,0,0,0,0,0,0
$GC,1384,-0.54,-115.3,213.7,-14.3,169,1388,0.00,0.85,0.00,0.000,6,0.000,0.033,1517,3377,2952,0,0,0,0,0,0
$GC,1714,-0.54,-115.3,260.5,-14.1,200,1718,0.00,0.90,0.00,0.000,4,0.000,0.057,1512,3946,2952,0,0,0,0,0,0
$GC,1763,-0.54,-115.3,268.1,-14.9,204,1774,0.12,0.85,0.00,0.000,6,0.174,0.033,1543,3381,2953,0,0,0,0,0,0
$GC,2089,-0.54,-115.3,304.1,-10.9,235,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,1543,3381,2952,0,0,0,0,0,0
$GC,2411,-0.54,-115.3,339.0,-10.9,265,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,1543,3381,2952,0,0,0,0,0,0
$GC,2737,-0.54,-115.3,374.5,-10.7,296,2740,0.00,0.90,0.00,0.000,4,0.000,0.058,1540,3945,2952,0,0,0,0,0,0
$GC,2796,-0.54,-115.3,381.0,-11.7,301,2800,0.00,0.82,0.00,0.000,6,0.000,0.034,1540,3388,2953,0,0,0,0,0,0
$GC,3133,-0.54,-115.3,420.1,-11.4,325,3137,0.00,0.90,0.00,0.000,4,0.000,0.058,1536,3953,2952,0,0,0,0,0,0
$GC,3171,-0.54,-115.3,425.0,-12.5,326,3178,0.00,0.88,0.00,0.000,6,0.000,0.034,1536,3374,2952,0,0,0,0,0,0
$GC,3487,-0.54,-115.3,463.1,-12.0,342,3491,0.00,0.93,0.00,0.000,4,0.000,0.059,1532,3953,2952,0,0,0,0,0,0
$GC,3559,-0.54,-115.3,472.6,-12.8,345,3563,0.00,0.88,0.00,0.000,6,0.000,0.034,1532,3377,2952,0,0,0,0,0,0
$GC,3887,-0.54,-115.3,513.0,-12.3,361,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,3377,2952,0,0,0,0,0,0
$GC,4196,-0.54,-115.3,551.9,-12.7,376,4200,0.00,0.93,0.00,0.000,4,0.000,0.059,1528,3954,2951,0,0,0,0,0,0
$GC,4234,-0.54,-115.3,557.4,-13.3,377,4242,0.00,0.88,0.00,0.000,6,0.000,0.034,1528,3381,2951,0,0,0,0,0,0
$GC,4552,-0.54,-115.3,598.4,-13.0,393,4553,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3381,2951,0,0,0,0,0,0
$GC,4860,-0.54,-115.3,638.8,-13.1,408,4864,0.00,0.93,0.00,0.000,4,0.000,0.060,1524,3954,2951,0,0,0,0,0,0
$GC,4951,-0.54,-115.3,651.5,-14.5,412,4954,0.00,0.85,0.00,0.000,6,0.000,0.036,1524,3385,2950,0,0,0,0,0,0
$GC,5284,-0.54,-115.3,696.4,-13.0,428,5287,0.00,0.90,0.00,0.000,4,0.000,0.060,1520,3941,2949,0,0,0,0,0,0
$GC,5321,-0.54,-115.3,701.7,-13.9,429,5329,0.00,0.88,0.00,0.000,6,0.000,0.035,1520,3373,2950,0,0,0,0,0,0
$GC,5639,-0.54,-115.3,743.6,-13.2,445,5643,0.00,0.93,0.00,0.000,4,0.000,0.061,1515,3946,2948,0,0,0,0,0,0
$GC,5711,-0.54,-115.3,754.0,-13.8,448,5715,0.00,0.85,0.00,0.000,6,0.000,0.036,1516,3384,2948,0,0,0,0,0,0
$GC,6038,-0.54,-115.3,798.1,-13.7,464,6039,0.00,0.00,0.00,0.000,6,0.000,0.000,1516,3383,2948,0,0,0,0,0,0
$GC,6348,-0.54,-115.3,839.6,-13.5,479,6349,0.10,0.00,0.00,0.000,6,0.181,0.000,1539,3383,2947,0,0,0,0,0,0
$GC,6657,-0.54,-115.3,872.9,-10.4,494,6661,0.00,0.93,0.00,0.000,4,0.000,0.062,1537,3954,2947,0,0,0,0,0,0
$GC,6734,-0.54,-115.3,881.7,-11.0,497,6739,0.00,0.90,0.00,0.000,6,0.000,0.037,1537,3369,2947,0,0,0,0,0,0
$GC,7058,-0.54,-115.3,915.1,-10.4,513,7062,0.00,0.95,0.00,0.000,4,0.000,0.062,1532,3954,2946,0,0,0,0,0,0
$GC,7171,-0.54,-115.3,927.6,-11.5,518,7175,0.00,0.88,0.00,0.000,6,0.000,0.037,1532,3380,2946,0,0,0,0,0,0
$GC,7503,-0.54,-115.3,961.9,-10.1,534,7507,0.00,0.93,0.00,0.000,4,0.000,0.061,1528,3954,2946,0,0,0,0,0,0
$GC,7755,-0.54,-115.3,989.0,-9.9,545,7759,0.00,0.90,0.00,0.000,6,0.000,0.037,1528,3370,2945,0,0,0,0,0,0
$STATE,7764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7764,begin apogee
$GC,7769,-0.09,0.0,990.1,10.0,545,7884,0.50,0.00,112.57,1.841,6,0.146,0.000,1679,3287,2473,0,0,0,0,0,0
$STATE,7885,end apogee,CONTROL_FINISHED_OK
$STATE,7885,begin climb
$GC,7887,0.54,115.3,992.5,0.0,551,8016,0.62,2.42,118.50,1.791,4,0.068,0.030,1903,1878,2004,0,0,0,0,0,0
$GC,8085,0.54,115.3,973.9,13.2,560,8089,0.00,2.42,0.00,0.000,6,0.000,0.051,1903,3281,1996,0,0,0,0,0,0
$GC,8412,0.54,115.3,921.9,15.8,576,8416,0.00,1.12,0.00,0.000,4,0.000,0.059,1903,3954,1991,0,0,0,0,0,0
$GC,8540,0.54,115.3,898.7,17.4,581,8548,0.00,1.02,0.00,0.000,6,0.000,0.035,1908,3293,1990,0,0,0,0,0,0
$GC,8856,0.54,115.3,848.7,15.8,597,8857,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3293,1988,0,0,0,0,0,0
$GC,9166,0.54,115.3,800.2,15.8,612,9167,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3293,1987,0,0,0,0,0,0
$GC,9475,0.54,115.3,751.7,15.6,627,9477,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3293,1986,0,0,0,0,0,0
$GC,9784,0.54,115.3,704.0,15.4,642,9785,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3293,1985,0,0,0,0,0,0
$GC,10095,0.54,115.3,656.9,15.1,657,10096,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3293,1984,0,0,0,0,0,0
$GC,10403,0.54,115.3,611.0,14.6,672,10407,0.00,1.08,0.00,0.000,4,0.000,0.061,1908,3950,1984,0,0,0,0,0,0
$GC,10464,0.54,115.3,600.8,17.4,674,10471,0.00,1.05,0.00,0.000,6,0.000,0.035,1913,3273,1984,0,0,0,0,0,0
$GC,10782,0.54,115.3,552.5,15.2,690,10785,0.00,1.10,0.00,0.000,4,0.000,0.060,1913,3948,1984,0,0,0,0,0,0
$GC,10836,0.54,115.3,543.0,17.5,692,10841,0.00,1.02,0.00,0.000,6,0.000,0.035,1918,3286,1983,0,0,0,0,0,0
$GC,11158,0.54,115.3,493.0,15.4,708,11159,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3287,1983,0,0,0,0,0,0
$GC,11468,0.54,115.3,445.4,15.6,723,11472,0.00,2.15,0.00,0.000,4,0.000,0.032,1929,1869,1983,0,0,0,0,0,0
$GC,11494,0.54,115.3,441.3,13.7,724,11499,0.10,2.33,0.00,0.000,6,0.161,0.050,1900,3292,1982,0,0,0,0,0,0
$GC,11815,0.54,115.3,398.3,13.4,740,11819,0.00,1.08,0.00,0.000,4,0.000,0.058,1900,3955,1981,0,0,0,0,0,0
$GC,11911,0.54,115.3,383.1,15.6,748,11921,0.00,1.02,0.00,0.000,6,0.000,0.034,1904,3278,1981,0,0,0,0,0,0
$GC,12236,0.54,115.3,340.0,13.4,779,12240,0.00,1.10,0.00,0.000,4,0.000,0.060,1903,3953,1981,0,0,0,0,0,0
$GC,12362,0.54,115.3,321.0,14.9,790,12365,0.00,1.02,0.00,0.000,6,0.000,0.035,1909,3278,1981,0,0,0,0,0,0
$GC,12694,0.54,115.3,276.4,13.6,821,12698,0.00,1.10,0.00,0.000,4,0.000,0.058,1909,3955,1981,0,0,0,0,0,0
$GC,12800,0.54,115.3,260.1,14.4,830,12808,0.00,1.02,0.00,0.000,6,0.000,0.034,1914,3277,1981,0,0,0,0,0,0
$GC,13128,0.54,115.3,215.7,13.5,861,13132,0.00,1.10,0.00,0.000,4,0.000,0.059,1914,3954,1981,0,0,0,0,0,0
$GC,13162,0.54,115.3,210.6,15.1,864,13165,0.00,1.02,0.00,0.000,6,0.000,0.034,1919,3278,1982,0,0,0,0,0,0
$GC,13492,0.54,115.3,165.3,13.6,895,13496,0.00,1.10,0.00,0.000,4,0.000,0.059,1919,3955,1981,0,0,0,0,0,0
$GC,13563,0.54,115.3,154.9,14.7,901,13567,0.08,1.00,0.00,0.000,6,0.197,0.034,1904,3290,1981,0,0,0,0,0,0
$GC,13893,0.54,115.3,109.8,13.9,932,13894,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3290,1981,0,0,0,0,0,0
$GC,14234,0.54,115.3,65.0,13.7,985,14240,0.00,1.05,0.00,0.000,4,0.000,0.060,1904,3933,1981,0,0,0,0,0,0
$GC,14504,0.54,115.3,31.8,10.9,1031,14510,0.00,1.00,0.00,0.000,6,0.000,0.033,1908,3272,1981,0,0,0,0,0,0
$GC,14655,0.54,115.3,16.9,12.7,1056,14664,0.00,1.10,0.00,0.000,4,0.000,0.057,1908,3953,1981,0,0,0,0,0,0
$STATE,14762,end climb,SURFACE_DEPTH_REACHED
$STATE,14762,begin surface coast
$FINISH,0.7,1.026295
$STATE,14789,end surface coast,CONTROL_FINISHED_OK
$STATE,14789,begin surface
$SM_CCo,14802,41.85,0.773,0,0,1574,220.03
$SM_GC,1.36,0.00,0.00,41.85,0.000,0.000,0.773,49,3380,1574,-5.22,-0.03,220.03
$IRIDIUM_FIX,-4250.85,1207.74,160114,191953
$TT8_MAMPS,0.026215
$HUMID,61.93
$INTERNAL_PRESSURE,9.57185
$TCM_TEMP,14.60
$XPDR_PINGS,0
$24V_AH,22.2,40.319
$10V_AH,9.8,30.883
$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,12.675,59.775,231.075,41.850,0.000,24.751,50.001,343.951,0.000,0.000,21.835,2670.398,9176.215,386.851,2942.869,225.724,0.000,1419.570,0.000,2390.047,0.000,1.010,0.000
$DEVICE_MAMPS,231.795,81.090,1841.355,772.650,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,745.643,1853.298,731.830,342.323,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354432
$DATA_FILE_SIZE,77084,1077
$CAP_FILE_SIZE,135124,0
$CFSIZE,259252224,238211072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170114,035204,-4258.812,830.145,27,1.4,27,-25.0