version: 66.07
glider: 543
mission: 9
dive: 278
start: 1 17 114 8 52 12
data:
$ID,543
$MISSION,9
$DIVE,278
$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,-13409.511
$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,37
$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
$GPS1,170114,084222,-4259.717,830.201,67,1.1,67,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-66.1
$GPS2,170114,085148,-4259.714,830.125,19,1.0,19,-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,222.7,556,-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,14,-0.54,-51.0,0.0,0.0,0,65,0.00,0.00,-47.25,0.000,6,0.000,0.000,61,3400,2683,0,0,0,0,0,0
$GC,68,-0.56,-88.1,3.4,-4.5,6,86,6.20,0.00,-3.95,0.000,6,0.238,0.000,1532,3400,2836,0,0,0,0,0,0
$GC,137,-0.56,-88.1,17.2,-16.7,16,146,0.00,0.85,0.00,0.000,4,0.000,0.057,1529,3924,2839,0,0,0,0,0,0
$GC,188,-0.56,-88.1,26.1,-17.0,24,197,0.00,0.82,0.00,0.000,6,0.000,0.035,1530,3385,2840,0,0,0,0,0,0
$GC,338,-0.56,-88.1,51.5,-17.6,49,345,0.00,2.15,0.00,0.000,4,0.000,0.030,1529,1971,2840,0,0,0,0,0,0
$GC,385,-0.56,-88.1,59.2,-13.8,57,394,0.00,2.30,0.00,0.000,6,0.000,0.051,1519,3368,2840,0,0,0,0,0,0
$GC,732,-0.56,-88.1,111.3,-14.4,111,733,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3368,2841,0,0,0,0,0,0
$GC,1054,-0.56,-88.1,155.2,-12.8,141,1058,0.00,0.93,0.00,0.000,4,0.000,0.057,1515,3943,2843,0,0,0,0,0,0
$GC,1149,-0.56,-88.1,169.0,-14.0,149,1157,0.00,0.88,0.00,0.000,6,0.000,0.033,1514,3367,2843,0,0,0,0,0,0
$GC,1475,-0.56,-88.1,212.9,-14.6,180,1479,0.00,0.93,0.00,0.000,4,0.000,0.057,1510,3946,2842,0,0,0,0,0,0
$GC,1543,-0.56,-88.1,223.7,-16.4,186,1547,0.00,0.85,0.00,0.000,6,0.000,0.033,1510,3379,2842,0,0,0,0,0,0
$GC,1875,-0.56,-88.1,276.1,-15.6,217,1879,0.00,0.90,0.00,0.000,4,0.000,0.057,1506,3942,2843,0,0,0,0,0,0
$GC,1993,-0.56,-88.1,296.9,-17.1,227,2002,0.12,0.85,0.00,0.000,6,0.181,0.033,1536,3380,2843,0,0,0,0,0,0
$GC,2319,-0.56,-88.1,339.7,-12.7,258,2320,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3380,2843,0,0,0,0,0,0
$GC,2639,-0.56,-88.1,378.1,-11.4,288,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3380,2843,0,0,0,0,0,0
$GC,2964,-0.56,-88.1,414.1,-11.1,313,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3380,2843,0,0,0,0,0,0
$GC,3273,-0.56,-88.1,449.1,-11.3,328,3276,0.00,0.95,0.00,0.000,4,0.000,0.060,1533,3955,2843,0,0,0,0,0,0
$GC,3367,-0.56,-88.1,461.2,-13.0,332,3371,0.00,0.85,0.00,0.000,6,0.000,0.034,1533,3385,2843,0,0,0,0,0,0
$GC,3694,-0.56,-88.1,501.0,-11.9,348,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3384,2843,0,0,0,0,0,0
$GC,4005,-0.56,-88.1,537.4,-11.8,363,4009,0.00,0.90,0.00,0.000,4,0.000,0.059,1529,3946,2842,0,0,0,0,0,0
$GC,4104,-0.56,-88.1,550.5,-12.9,367,4109,0.00,0.88,0.00,0.000,6,0.000,0.034,1529,3373,2842,0,0,0,0,0,0
$GC,4426,-0.56,-88.1,588.3,-11.8,383,4430,0.00,0.93,0.00,0.000,4,0.000,0.060,1525,3951,2841,0,0,0,0,0,0
$GC,4532,-0.56,-88.1,601.8,-12.8,387,4539,0.00,0.88,0.00,0.000,6,0.000,0.034,1525,3376,2842,0,0,0,0,0,0
$GC,4848,-0.56,-88.1,639.1,-11.5,403,4851,0.00,0.93,0.00,0.000,4,0.000,0.060,1521,3953,2840,0,0,0,0,0,0
$GC,4893,-0.56,-88.1,644.8,-13.3,405,4897,0.00,0.85,0.00,0.000,6,0.000,0.036,1521,3386,2840,0,0,0,0,0,0
$GC,5227,-0.56,-88.1,683.4,-11.5,421,5229,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3385,2840,0,0,0,0,0,0
$GC,5535,-0.56,-88.1,720.6,-12.2,436,5536,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3385,2840,0,0,0,0,0,0
$GC,5844,-0.56,-88.1,758.6,-12.1,451,5848,0.00,0.90,0.00,0.000,4,0.000,0.061,1517,3946,2839,0,0,0,0,0,0
$GC,5967,-0.56,-88.1,775.2,-13.7,456,5971,0.00,0.85,0.00,0.000,6,0.000,0.036,1517,3387,2839,0,0,0,0,0,0
$GC,6288,-0.56,-88.1,815.9,-13.0,472,6292,0.00,0.90,0.00,0.000,4,0.000,0.060,1513,3943,2838,0,0,0,0,0,0
$GC,6379,-0.56,-88.1,828.4,-14.1,476,6382,0.00,0.85,0.00,0.000,6,0.000,0.037,1513,3383,2838,0,0,0,0,0,0
$GC,6713,-0.56,-88.1,872.5,-13.0,492,6716,0.00,0.93,0.00,0.000,4,0.000,0.061,1508,3954,2837,0,0,0,0,0,0
$GC,6841,-0.56,-88.1,891.0,-14.6,497,6849,0.00,0.88,0.00,0.000,6,0.000,0.036,1508,3378,2837,0,0,0,0,0,0
$GC,7157,-0.56,-88.1,930.4,-12.6,513,7158,0.00,0.00,0.00,0.000,6,0.000,0.000,1508,3378,2837,0,0,0,0,0,0
$GC,7466,-0.56,-88.1,967.5,-11.6,528,7467,0.00,0.00,0.00,0.000,6,0.000,0.000,1508,3378,2836,0,0,0,0,0,0
$STATE,7671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7671,begin apogee
$GC,7676,-0.09,0.0,991.6,11.6,538,7766,0.60,0.00,87.25,1.858,6,0.155,0.000,1681,3279,2473,0,0,0,0,0,0
$STATE,7767,end apogee,CONTROL_FINISHED_OK
$STATE,7767,begin climb
$GC,7769,0.56,88.1,993.9,0.0,542,7869,0.62,2.45,91.57,1.800,4,0.073,0.031,1908,1869,2113,0,0,0,0,0,0
$GC,7898,0.56,88.1,985.4,11.3,548,7902,0.00,2.50,0.00,0.000,6,0.000,0.050,1908,3288,2109,0,0,0,0,0,0
$GC,8224,0.56,88.1,940.6,13.4,564,8225,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3288,2103,0,0,0,0,0,0
$GC,8534,0.56,88.1,898.8,13.5,579,8535,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3288,2099,0,0,0,0,0,0
$GC,8843,0.56,88.1,858.3,13.1,594,8846,0.00,1.10,0.00,0.000,4,0.000,0.059,1908,3958,2098,0,0,0,0,0,0
$GC,8925,0.56,88.1,845.9,15.2,597,8933,0.00,1.08,0.00,0.000,6,0.000,0.035,1913,3269,2098,0,0,0,0,0,0
$GC,9244,0.56,88.1,800.9,14.3,613,9247,0.00,1.12,0.00,0.000,4,0.000,0.060,1913,3955,2097,0,0,0,0,0,0
$GC,9283,0.56,88.1,794.8,15.0,614,9290,0.00,1.02,0.00,0.000,6,0.000,0.035,1918,3289,2097,0,0,0,0,0,0
$GC,9598,0.56,88.1,749.4,14.4,630,9602,0.00,1.08,0.00,0.000,4,0.000,0.060,1918,3949,2096,0,0,0,0,0,0
$GC,9761,0.56,88.1,724.7,16.1,637,9764,0.00,1.02,0.00,0.000,6,0.000,0.036,1923,3279,2096,0,0,0,0,0,0
$GC,10087,0.56,88.1,678.6,14.0,653,10091,0.00,1.10,0.00,0.000,4,0.000,0.058,1923,3955,2095,0,0,0,0,0,0
$GC,10114,0.56,88.1,674.5,16.0,654,10118,0.00,1.02,0.00,0.000,6,0.000,0.034,1927,3284,2095,0,0,0,0,0,0
$GC,10443,0.56,88.1,629.4,13.7,670,10447,0.00,2.17,0.00,0.000,4,0.000,0.033,1938,1867,2095,0,0,0,0,0,0
$GC,10519,0.56,88.1,619.3,12.0,673,10528,0.10,2.33,0.00,0.000,6,0.168,0.050,1909,3289,2093,0,0,0,0,0,0
$GC,10836,0.56,88.1,578.8,13.0,689,10840,0.00,1.08,0.00,0.000,4,0.000,0.059,1909,3953,2093,0,0,0,0,0,0
$GC,10896,0.56,88.1,570.1,15.2,691,10904,0.00,1.05,0.00,0.000,6,0.000,0.035,1913,3271,2092,0,0,0,0,0,0
$GC,11215,0.56,88.1,529.5,13.1,707,11218,0.00,1.10,0.00,0.000,4,0.000,0.059,1913,3950,2092,0,0,0,0,0,0
$GC,11354,0.56,88.1,509.0,15.2,713,11358,0.00,1.02,0.00,0.000,6,0.000,0.036,1918,3279,2092,0,0,0,0,0,0
$GC,11682,0.56,88.1,466.9,12.7,729,11685,0.00,1.08,0.00,0.000,4,0.000,0.058,1918,3944,2092,0,0,0,0,0,0
$GC,11772,0.56,88.1,454.5,13.4,733,11775,0.00,1.00,0.00,0.000,6,0.000,0.035,1924,3286,2092,0,0,0,0,0,0
$GC,12104,0.56,88.1,411.9,13.1,749,12108,0.00,1.08,0.00,0.000,4,0.000,0.059,1923,3951,2092,0,0,0,0,0,0
$GC,12296,0.56,88.1,385.2,14.2,762,12300,0.00,1.00,0.00,0.000,6,0.000,0.035,1928,3288,2092,0,0,0,0,0,0
$GC,12629,0.56,88.1,345.0,11.3,793,12633,0.00,2.17,0.00,0.000,4,0.000,0.031,1940,1860,2092,0,0,0,0,0,0
$GC,12727,0.56,88.1,334.8,10.0,801,12732,0.15,2.30,0.00,0.000,6,0.186,0.050,1903,3287,2090,0,0,0,0,0,0
$GC,13052,0.56,88.1,299.5,10.5,831,13053,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3288,2089,0,0,0,0,0,0
$GC,13374,0.56,88.1,263.4,11.1,861,13377,0.00,1.08,0.00,0.000,4,0.000,0.058,1903,3956,2089,0,0,0,0,0,0
$GC,13522,0.56,88.1,244.6,12.7,874,13526,0.00,1.02,0.00,0.000,6,0.000,0.034,1907,3272,2089,0,0,0,0,0,0
$GC,13855,0.56,88.1,206.3,11.3,905,13858,0.00,1.10,0.00,0.000,4,0.000,0.058,1907,3951,2089,0,0,0,0,0,0
$GC,13902,0.56,88.1,200.7,12.7,909,13906,0.00,1.00,0.00,0.000,6,0.000,0.034,1912,3287,2089,0,0,0,0,0,0
$GC,14233,0.56,88.1,164.4,10.6,940,14237,0.00,2.15,0.00,0.000,4,0.000,0.030,1923,1865,2089,0,0,0,0,0,0
$GC,14262,0.56,88.1,161.6,9.4,942,14266,0.00,2.30,0.00,0.000,6,0.000,0.050,1923,3296,2089,0,0,0,0,0,0
$GC,14594,0.56,88.1,126.2,10.6,973,14595,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,3296,2089,0,0,0,0,0,0
$GC,14917,0.56,88.1,90.1,10.6,1010,14924,0.00,1.05,0.00,0.000,4,0.000,0.057,1923,3951,2089,0,0,0,0,0,0
$GC,15095,0.56,88.1,70.4,11.8,1041,15104,0.00,1.00,0.00,0.000,6,0.000,0.034,1928,3281,2089,0,0,0,0,0,0
$GC,15448,0.57,100.9,47.6,7.2,1102,15457,0.00,1.10,3.20,0.632,4,0.000,0.057,1928,3953,2059,0,0,0,0,0,0
$GC,15603,0.57,100.9,32.7,9.8,1128,15612,0.00,1.00,0.00,0.000,6,0.000,0.033,1933,3284,2059,0,0,0,0,0,0
$GC,15758,0.57,100.9,18.6,9.5,1153,15766,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,3285,2059,0,0,0,0,0,0
$GC,15818,0.57,100.9,12.4,10.5,1162,15826,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,3284,2059,0,0,0,0,0,0
$GC,15877,0.57,100.9,6.3,10.0,1171,15886,0.00,2.15,0.00,0.000,4,0.000,0.029,1944,1867,2059,0,0,0,0,0,0
$STATE,15911,end climb,SURFACE_DEPTH_REACHED
$STATE,15911,begin surface coast
$FINISH,1.7,1.026272
$STATE,15919,end surface coast,CONTROL_FINISHED_OK
$STATE,15919,begin surface
$SM_CCo,15935,49.75,0.767,0,0,1572,220.03
$SM_GC,1.68,0.00,0.00,49.75,0.000,0.000,0.767,55,3381,1572,-5.21,0.03,220.03
$IRIDIUM_FIX,-4244.98,831.12,170114,030358
$TT8_MAMPS,0.026215
$HUMID,60.94
$INTERNAL_PRESSURE,9.57185
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,22.2,40.573
$10V_AH,9.9,31.129
$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,12.725,72.325,182.025,49.750,0.000,29.032,41.187,351.985,0.000,0.000,22.571,2934.965,9768.706,364.095,3217.973,261.043,0.000,1504.031,0.000,2658.908,0.000,1.011,0.000
$DEVICE_MAMPS,237.915,70.380,1858.185,767.295,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,814.949,2005.473,811.060,381.534,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354360
$DATA_FILE_SIZE,83852,1177
$CAP_FILE_SIZE,149066,0
$CFSIZE,259252224,238026752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170114,131952,-4300.309,830.239,39,1.0,39,-25.0