version: 66.07
glider: 543
mission: 9
dive: 277
start: 1 17 114 4 1 11
data:
$ID,543
$MISSION,9
$DIVE,277
$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,-13406.081
$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,45
$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
$GPS1,170114,035204,-4258.812,830.145,27,1.4,27,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-62.1
$GPS2,170114,040047,-4258.655,830.143,18,1.7,18,-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,209.5,2498,-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,-51.0,0.0,0.0,0,58,0.00,0.00,-41.35,0.000,2,0.000,0.000,48,3377,2513,0,0,0,0,0,0
$GC,60,-0.56,-87.6,3.1,-4.5,5,80,6.18,0.98,-9.07,0.000,4,0.232,0.088,1528,3958,2833,0,0,0,0,0,0
$GC,192,-0.56,-87.6,23.8,-16.8,25,198,0.00,0.90,0.00,0.000,6,0.000,0.034,1528,3369,2837,0,0,0,0,0,0
$GC,338,-0.56,-87.6,47.5,-16.3,50,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3369,2838,0,0,0,0,0,0
$GC,688,-0.56,-87.6,95.9,-13.3,111,696,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3369,2839,0,0,0,0,0,0
$GC,1018,-0.56,-87.6,142.7,-14.1,144,1019,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3369,2840,0,0,0,0,0,0
$GC,1337,-0.56,-87.6,188.9,-14.4,174,1340,0.00,0.95,0.00,0.000,4,0.000,0.058,1524,3957,2841,0,0,0,0,0,0
$GC,1373,-0.56,-87.6,193.9,-14.2,177,1377,0.00,0.85,0.00,0.000,6,0.000,0.034,1524,3386,2841,0,0,0,0,0,0
$GC,1703,-0.56,-87.6,239.2,-13.1,208,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3386,2841,0,0,0,0,0,0
$GC,2023,-0.56,-87.6,282.3,-13.6,238,2027,0.00,2.12,0.00,0.000,4,0.000,0.030,1524,1963,2841,0,0,0,0,0,0
$GC,2055,-0.56,-87.6,286.9,-12.1,240,2064,0.00,2.30,0.00,0.000,6,0.000,0.050,1513,3375,2842,0,0,0,0,0,0
$GC,2381,-0.56,-87.6,331.4,-14.0,271,2384,0.00,0.90,0.00,0.000,4,0.000,0.057,1509,3942,2842,0,0,0,0,0,0
$GC,2437,-0.56,-87.6,339.8,-15.1,276,2441,0.00,0.85,0.00,0.000,6,0.000,0.034,1509,3374,2842,0,0,0,0,0,0
$GC,2768,-0.56,-87.6,386.0,-14.1,307,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,1509,3374,2842,0,0,0,0,0,0
$GC,3080,-0.56,-87.6,429.6,-13.8,327,3081,0.00,0.00,0.00,0.000,6,0.000,0.000,1509,3374,2841,0,0,0,0,0,0
$GC,3390,-0.56,-87.6,472.0,-13.8,342,3394,0.00,2.12,0.00,0.000,4,0.000,0.029,1509,1961,2841,0,0,0,0,0,0
$GC,3422,-0.56,-87.6,476.3,-11.9,343,3430,0.10,2.33,0.00,0.000,6,0.143,0.051,1529,3384,2841,0,0,0,0,0,0
$GC,3738,-0.56,-87.6,514.5,-12.4,359,3739,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3384,2841,0,0,0,0,0,0
$GC,4050,-0.56,-87.6,553.7,-12.8,374,4053,0.00,2.12,0.00,0.000,4,0.000,0.030,1530,1969,2840,0,0,0,0,0,0
$GC,4076,-0.56,-87.6,557.4,-12.9,375,4081,0.00,2.30,0.00,0.000,6,0.000,0.053,1520,3376,2841,0,0,0,0,0,0
$GC,4398,-0.56,-87.6,599.7,-13.0,391,4402,0.00,0.93,0.00,0.000,4,0.000,0.060,1516,3952,2840,0,0,0,0,0,0
$GC,4492,-0.56,-87.6,613.4,-14.1,395,4497,0.00,0.88,0.00,0.000,6,0.000,0.035,1516,3369,2840,0,0,0,0,0,0
$GC,4820,-0.56,-87.6,654.3,-12.6,411,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,1516,3369,2840,0,0,0,0,0,0
$GC,5131,-0.56,-87.6,690.1,-11.3,426,5132,0.00,0.00,0.00,0.000,6,0.000,0.000,1516,3369,2839,0,0,0,0,0,0
$GC,5438,-0.56,-87.6,723.9,-10.7,441,5439,0.00,0.00,0.00,0.000,6,0.000,0.000,1516,3369,2838,0,0,0,0,0,0
$GC,5748,-0.56,-87.6,757.7,-10.5,456,5752,0.00,2.12,0.00,0.000,4,0.000,0.031,1516,1961,2837,0,0,0,0,0,0
$GC,5780,-0.56,-87.6,761.0,-9.4,457,5788,0.08,2.33,0.00,0.000,6,0.144,0.054,1539,3377,2837,0,0,0,0,0,0
$GC,6096,-0.56,-88.4,787.6,-8.6,473,6100,0.00,0.93,0.00,0.000,4,0.000,0.061,1536,3955,2837,0,0,0,0,0,0
$GC,6187,-0.56,-88.4,796.0,-9.8,477,6190,0.00,0.88,0.00,0.000,6,0.000,0.037,1536,3375,2837,0,0,0,0,0,0
$GC,6519,-0.56,-88.4,826.9,-9.6,493,6520,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3374,2836,0,0,0,0,0,0
$GC,6828,-0.56,-88.4,858.3,-10.2,508,6829,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3374,2836,0,0,0,0,0,0
$GC,7138,-0.56,-88.4,890.6,-10.4,523,7139,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3374,2835,0,0,0,0,0,0
$GC,7448,-0.56,-88.4,923.8,-10.9,538,7450,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3374,2834,0,0,0,0,0,0
$GC,7756,-0.56,-88.4,957.7,-11.4,553,7757,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3374,2834,0,0,0,0,0,0
$STATE,8043,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8043,begin apogee
$GC,8049,-0.09,0.0,992.3,12.1,567,8139,0.50,0.00,87.05,1.853,6,0.151,0.000,1681,3277,2473,0,0,0,0,0,0
$STATE,8140,end apogee,CONTROL_FINISHED_OK
$STATE,8140,begin climb
$GC,8141,0.56,88.4,996.6,0.0,571,8242,0.62,2.45,91.88,1.802,4,0.071,0.031,1908,1875,2112,0,0,0,0,0,0
$GC,8286,0.56,88.4,990.0,8.9,578,8291,0.00,2.50,0.00,0.000,6,0.000,0.050,1908,3286,2108,0,0,0,0,0,0
$GC,8608,0.56,88.4,949.3,13.2,594,8609,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3286,2102,0,0,0,0,0,0
$GC,8918,0.56,88.4,906.0,14.6,609,8919,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3286,2099,0,0,0,0,0,0
$GC,9227,0.56,88.4,861.0,14.8,624,9228,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3286,2098,0,0,0,0,0,0
$GC,9538,0.56,88.4,815.1,14.9,639,9542,0.00,2.20,0.00,0.000,4,0.000,0.032,1919,1864,2097,0,0,0,0,0,0
$GC,9578,0.56,88.4,809.3,13.7,641,9582,0.00,2.30,0.00,0.000,6,0.000,0.051,1919,3290,2095,0,0,0,0,0,0
$GC,9904,0.56,88.4,759.6,15.3,657,9908,0.00,1.08,0.00,0.000,4,0.000,0.060,1919,3951,2095,0,0,0,0,0,0
$GC,9960,0.56,88.4,750.3,16.5,659,9963,0.00,1.02,0.00,0.000,6,0.000,0.037,1924,3281,2095,0,0,0,0,0,0
$GC,10281,0.56,88.4,702.3,14.5,675,10285,0.00,2.17,0.00,0.000,4,0.000,0.033,1935,1869,2095,0,0,0,0,0,0
$GC,10312,0.56,88.4,697.5,13.3,676,10321,0.10,2.33,0.00,0.000,6,0.168,0.051,1906,3288,2093,0,0,0,0,0,0
$GC,10630,0.56,88.4,656.6,12.4,692,10631,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3288,2093,0,0,0,0,0,0
$GC,10939,0.56,88.4,621.5,10.9,707,10940,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3288,2092,0,0,0,0,0,0
$GC,11247,0.56,88.4,587.1,10.8,722,11251,0.00,1.08,0.00,0.000,4,0.000,0.060,1906,3949,2092,0,0,0,0,0,0
$GC,11370,0.56,88.4,571.9,13.1,727,11374,0.00,1.02,0.00,0.000,6,0.000,0.036,1910,3278,2092,0,0,0,0,0,0
$GC,11692,0.56,88.4,535.1,11.2,743,11695,0.00,1.10,0.00,0.000,4,0.000,0.059,1910,3955,2092,0,0,0,0,0,0
$GC,11716,0.56,88.4,532.5,11.4,744,11720,0.00,1.02,0.00,0.000,6,0.000,0.036,1915,3282,2091,0,0,0,0,0,0
$GC,12048,0.56,88.4,495.2,11.3,760,12052,0.00,2.15,0.00,0.000,4,0.000,0.032,1926,1868,2092,0,0,0,0,0,0
$GC,12111,0.56,88.4,488.9,9.8,763,12115,0.00,2.30,0.00,0.000,6,0.000,0.050,1926,3299,2090,0,0,0,0,0,0
$GC,12437,0.56,88.4,450.0,12.1,779,12441,0.00,2.17,0.00,0.000,4,0.000,0.031,1937,1868,2090,0,0,0,0,0,0
$GC,12537,0.56,88.4,438.8,10.7,783,12545,0.10,2.30,0.00,0.000,6,0.166,0.049,1908,3282,2090,0,0,0,0,0,0
$GC,12854,0.56,88.4,402.5,11.4,799,12855,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3282,2089,0,0,0,0,0,0
$GC,13172,0.56,88.4,366.7,11.2,827,13173,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3282,2089,0,0,0,0,0,0
$GC,13493,0.56,88.4,330.7,11.1,857,13499,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3282,2089,0,0,0,0,0,0
$GC,13818,0.56,88.4,296.3,10.0,888,13822,0.00,1.08,0.00,0.000,4,0.000,0.058,1908,3949,2090,0,0,0,0,0,0
$GC,13857,0.56,88.4,291.8,11.3,891,13865,0.00,1.02,0.00,0.000,6,0.000,0.034,1912,3282,2089,0,0,0,0,0,0
$GC,14183,0.56,88.4,260.8,9.3,922,14186,0.00,1.10,0.00,0.000,4,0.000,0.059,1911,3958,2089,0,0,0,0,0,0
$GC,14228,0.56,88.4,256.1,10.9,926,14232,0.00,1.02,0.00,0.000,6,0.000,0.035,1917,3281,2089,0,0,0,0,0,0
$GC,14561,0.56,88.4,222.9,10.7,957,14565,0.00,2.15,0.00,0.000,4,0.000,0.031,1928,1865,2089,0,0,0,0,0,0
$GC,14634,0.56,88.4,215.7,9.4,963,14638,0.00,2.30,0.00,0.000,6,0.000,0.050,1928,3294,2090,0,0,0,0,0,0
$GC,14961,0.56,88.4,176.4,12.6,993,14964,0.00,1.05,0.00,0.000,4,0.000,0.057,1928,3949,2090,0,0,0,0,0,0
$GC,14995,0.56,88.4,171.4,14.0,996,14999,0.10,1.00,0.00,0.000,6,0.197,0.035,1906,3283,2089,0,0,0,0,0,0
$GC,15325,0.56,88.4,130.5,11.9,1027,15326,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3283,2089,0,0,0,0,0,0
$GC,15645,0.56,88.4,97.0,10.0,1059,15653,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3283,2089,0,0,0,0,0,0
$GC,15998,0.57,101.3,65.4,7.2,1120,16006,0.00,2.20,3.33,0.697,4,0.000,0.029,1916,1863,2059,0,0,0,0,0,0
$GC,16126,0.59,131.5,57.9,5.2,1141,16147,0.00,2.28,13.27,0.955,6,0.000,0.049,1915,3284,1934,0,0,0,0,0,0
$GC,16495,0.59,131.5,20.2,12.0,1204,16504,0.00,2.17,0.00,0.000,4,0.000,0.029,1926,1863,1930,0,0,0,0,0,0
$GC,16604,0.59,131.5,11.0,9.3,1221,16613,0.00,2.33,0.00,0.000,6,0.000,0.050,1927,3288,1928,0,0,0,0,0,0
$GC,16664,0.59,131.5,5.7,9.5,1230,16673,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,3289,1928,0,0,0,0,0,0
$STATE,16686,end climb,SURFACE_DEPTH_REACHED
$STATE,16686,begin surface coast
$FINISH,0.7,1.019791
$STATE,16718,end surface coast,CONTROL_FINISHED_OK
$STATE,16718,begin surface
$SM_CCo,16731,36.05,0.763,0,0,1575,220.03
$SM_GC,1.27,0.00,0.00,36.05,0.000,0.000,0.763,62,3400,1575,-5.18,0.57,220.03
$IRIDIUM_FIX,-4242.04,834.03,160114,232348
$TT8_MAMPS,0.025466
$HUMID,61.38
$INTERNAL_PRESSURE,9.57185
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,22.2,40.446
$10V_AH,9.9,31.006
$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,12.725,75.950,195.525,36.050,0.000,26.242,22.882,335.999,0.000,0.000,20.672,3018.842,10574.982,344.292,3100.766,250.050,0.000,1421.790,0.000,2576.433,0.000,1.011,0.000
$DEVICE_MAMPS,231.795,87.975,1852.830,762.705,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,857.834,2118.290,856.555,418.528,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354416
$DATA_FILE_SIZE,87076,1238
$CAP_FILE_SIZE,143292,0
$CFSIZE,259252224,238112768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170114,084222,-4259.717,830.201,67,1.1,67,-25.0