version: 66.07
glider: 543
mission: 9
dive: 284
start: 1 18 114 12 44 23
data:
$ID,543
$MISSION,9
$DIVE,284
$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,-13426.72
$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,60
$R_STBD_OVSHOOT,21
$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
$GPS1,180114,123104,-4259.690,829.084,36,1.0,36,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-61.8
$GPS2,180114,124400,-4259.570,829.393,20,1.1,20,-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,159.1,1144,-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,15,-0.54,-51.0,0.0,0.0,0,58,0.00,0.00,-41.45,0.000,2,0.000,0.000,63,3362,2528,0,0,0,0,0,0
$GC,61,-0.56,-78.3,3.2,-5.6,5,79,6.20,1.00,-6.88,0.000,4,0.238,0.083,1529,3962,2796,0,0,0,0,0,0
$GC,346,-0.56,-78.3,52.5,-16.7,52,354,0.00,0.85,0.00,0.000,6,0.000,0.034,1529,3398,2800,0,0,0,0,0,0
$GC,701,-0.56,-78.3,103.4,-13.2,112,705,0.00,0.88,0.00,0.000,4,0.000,0.057,1525,3947,2802,0,0,0,0,0,0
$GC,962,-0.56,-78.3,140.9,-15.3,135,965,0.00,0.85,0.00,0.000,6,0.000,0.033,1525,3377,2802,0,0,0,0,0,0
$GC,1292,-0.56,-78.3,188.2,-14.0,166,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3376,2803,0,0,0,0,0,0
$GC,1611,-0.56,-78.3,231.6,-13.4,196,1615,0.00,0.93,0.00,0.000,4,0.000,0.057,1521,3955,2803,0,0,0,0,0,0
$GC,1695,-0.56,-78.3,244.0,-14.2,203,1703,0.00,0.88,0.00,0.000,6,0.000,0.033,1521,3377,2803,0,0,0,0,0,0
$GC,2020,-0.56,-78.3,289.8,-14.0,234,2024,0.00,0.93,0.00,0.000,4,0.000,0.057,1517,3957,2803,0,0,0,0,0,0
$GC,2066,-0.56,-78.3,296.6,-15.3,238,2070,0.00,0.85,0.00,0.000,6,0.000,0.034,1517,3385,2803,0,0,0,0,0,0
$GC,2399,-0.56,-78.3,342.6,-13.2,269,2403,0.00,2.12,0.00,0.000,4,0.000,0.028,1517,1963,2803,0,0,0,0,0,0
$GC,2428,-0.56,-78.3,346.5,-12.9,271,2433,0.12,2.25,0.00,0.000,6,0.164,0.050,1538,3382,2803,0,0,0,0,0,0
$GC,2755,-0.56,-78.3,382.0,-10.1,301,2758,0.00,0.90,0.00,0.000,4,0.000,0.057,1535,3951,2803,0,0,0,0,0,0
$GC,2823,-0.56,-78.3,389.4,-10.4,307,2826,0.00,0.85,0.00,0.000,6,0.000,0.034,1535,3376,2803,0,0,0,0,0,0
$GC,3157,-0.56,-78.3,423.4,-10.2,328,3160,0.00,0.93,0.00,0.000,4,0.000,0.057,1531,3956,2803,0,0,0,0,0,0
$GC,3285,-0.56,-78.3,438.3,-11.2,333,3292,0.00,0.88,0.00,0.000,6,0.000,0.033,1531,3378,2803,0,0,0,0,0,0
$GC,3601,-0.56,-78.3,475.4,-12.6,349,3603,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3378,2803,0,0,0,0,0,0
$GC,3910,-0.56,-78.3,514.2,-12.4,364,3914,0.00,0.90,0.00,0.000,4,0.000,0.058,1527,3947,2802,0,0,0,0,0,0
$GC,4004,-0.56,-78.3,526.1,-12.0,368,4009,0.00,0.85,0.00,0.000,6,0.000,0.034,1527,3383,2803,0,0,0,0,0,0
$GC,4332,-0.56,-78.3,564.6,-12.0,384,4333,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3383,2802,0,0,0,0,0,0
$GC,4641,-0.56,-78.3,602.3,-12.2,399,4642,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3383,2801,0,0,0,0,0,0
$GC,4951,-0.56,-78.3,639.4,-12.1,414,4954,0.00,0.90,0.00,0.000,4,0.000,0.060,1523,3946,2800,0,0,0,0,0,0
$GC,5019,-0.56,-78.3,647.8,-12.4,417,5022,0.00,0.85,0.00,0.000,6,0.000,0.036,1523,3381,2800,0,0,0,0,0,0
$GC,5352,-0.56,-78.3,687.5,-11.5,433,5356,0.00,0.90,0.00,0.000,4,0.000,0.060,1518,3942,2799,0,0,0,0,0,0
$GC,5424,-0.56,-78.3,696.7,-12.0,436,5429,0.00,0.88,0.00,0.000,6,0.000,0.034,1518,3368,2799,0,0,0,0,0,0
$GC,5752,-0.56,-78.3,734.4,-11.8,452,5755,0.00,0.93,0.00,0.000,4,0.000,0.060,1514,3948,2798,0,0,0,0,0,0
$GC,5914,-0.56,-78.3,755.2,-12.3,459,5918,0.00,0.85,0.00,0.000,6,0.000,0.036,1514,3383,2798,0,0,0,0,0,0
$GC,6241,-0.56,-78.3,794.4,-11.9,475,6244,0.00,0.90,0.00,0.000,4,0.000,0.060,1510,3945,2797,0,0,0,0,0,0
$GC,6295,-0.56,-78.3,801.5,-12.6,477,6300,0.00,0.88,0.00,0.000,6,0.000,0.035,1510,3376,2797,0,0,0,0,0,0
$GC,6619,-0.56,-78.3,840.2,-11.8,493,6620,0.00,0.00,0.00,0.000,6,0.000,0.000,1510,3375,2797,0,0,0,0,0,0
$GC,6927,-0.56,-78.3,875.6,-11.0,508,6928,0.00,0.00,0.00,0.000,6,0.000,0.000,1510,3375,2797,0,0,0,0,0,0
$GC,7236,-0.56,-78.3,908.4,-10.5,523,7240,0.00,0.93,0.00,0.000,4,0.000,0.060,1506,3951,2796,0,0,0,0,0,0
$GC,7417,-0.56,-78.3,929.3,-11.7,531,7421,0.08,0.85,0.00,0.000,6,0.167,0.036,1528,3387,2795,0,0,0,0,0,0
$GC,7749,-0.56,-78.3,960.1,-9.1,547,7752,0.00,0.90,0.00,0.000,4,0.000,0.061,1525,3948,2794,0,0,0,0,0,0
$GC,7843,-0.56,-78.3,969.6,-9.8,551,7847,0.00,0.88,0.00,0.000,6,0.000,0.037,1525,3377,2794,0,0,0,0,0,0
$STATE,8086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8086,begin apogee
$GC,8091,-0.09,0.0,991.1,8.6,563,8172,0.55,0.00,77.57,1.845,6,0.155,0.000,1683,3277,2474,0,0,0,0,0,0
$STATE,8173,end apogee,CONTROL_FINISHED_OK
$STATE,8173,begin climb
$GC,8175,0.56,78.3,992.2,0.0,567,8263,0.65,2.42,81.78,1.794,4,0.070,0.031,1915,1864,2153,0,0,0,0,0,0
$GC,8286,0.56,78.3,983.8,10.6,572,8291,0.00,2.50,0.00,0.000,6,0.000,0.050,1915,3285,2150,0,0,0,0,0,0
$GC,8615,0.56,78.3,938.0,13.7,588,8616,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3285,2143,0,0,0,0,0,0
$GC,8922,0.56,78.3,898.8,12.2,603,8926,0.00,1.10,0.00,0.000,4,0.000,0.059,1915,3955,2140,0,0,0,0,0,0
$GC,9017,0.56,78.3,885.5,14.9,607,9021,0.00,1.05,0.00,0.000,6,0.000,0.034,1920,3275,2140,0,0,0,0,0,0
$GC,9344,0.56,78.3,844.3,12.7,623,9345,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3275,2138,0,0,0,0,0,0
$GC,9655,0.56,78.3,803.8,13.1,638,9659,0.00,2.17,0.00,0.000,4,0.000,0.032,1931,1870,2137,0,0,0,0,0,0
$GC,9743,0.56,78.3,792.8,12.7,642,9748,0.12,2.30,0.00,0.000,6,0.193,0.050,1903,3296,2136,0,0,0,0,0,0
$GC,10064,0.56,78.3,753.0,12.4,658,10068,0.00,2.20,0.00,0.000,4,0.000,0.031,1912,1866,2135,0,0,0,0,0,0
$GC,10107,0.56,78.3,747.8,11.4,660,10112,0.00,2.33,0.00,0.000,6,0.000,0.050,1912,3284,2135,0,0,0,0,0,0
$GC,10435,0.56,78.3,706.0,12.7,676,10439,0.00,1.08,0.00,0.000,4,0.000,0.060,1912,3949,2134,0,0,0,0,0,0
$GC,10638,0.56,78.3,677.8,13.5,685,10642,0.00,1.00,0.00,0.000,6,0.000,0.036,1917,3288,2135,0,0,0,0,0,0
$GC,10970,0.56,78.3,635.8,12.6,701,10972,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3288,2134,0,0,0,0,0,0
$GC,11280,0.56,78.3,596.6,12.8,716,11284,0.00,2.17,0.00,0.000,4,0.000,0.031,1928,1857,2134,0,0,0,0,0,0
$GC,11319,0.56,78.3,592.3,10.6,718,11323,0.00,2.30,0.00,0.000,6,0.000,0.050,1928,3285,2132,0,0,0,0,0,0
$GC,11646,0.56,78.3,550.7,12.7,734,11647,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,3285,2132,0,0,0,0,0,0
$GC,11955,0.56,78.3,512.1,12.6,749,11959,0.00,2.15,0.00,0.000,4,0.000,0.031,1939,1855,2133,0,0,0,0,0,0
$GC,11982,0.56,78.3,508.9,10.3,750,11987,0.15,2.28,0.00,0.000,6,0.187,0.050,1903,3285,2132,0,0,0,0,0,0
$GC,12303,0.56,78.3,472.3,11.2,766,12304,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3285,2131,0,0,0,0,0,0
$GC,12613,0.56,78.3,438.1,10.8,781,12614,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3285,2131,0,0,0,0,0,0
$GC,12922,0.56,78.3,407.2,9.8,796,12923,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3285,2131,0,0,0,0,0,0
$GC,13238,0.56,78.3,377.9,8.9,822,13242,0.00,1.05,0.00,0.000,4,0.000,0.057,1903,3942,2131,0,0,0,0,0,0
$GC,13457,0.56,78.3,355.3,10.3,841,13465,0.00,1.02,0.00,0.000,6,0.000,0.034,1907,3276,2131,0,0,0,0,0,0
$GC,13782,0.56,78.3,324.5,10.0,872,13784,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3277,2131,0,0,0,0,0,0
$GC,14102,0.56,78.3,290.8,11.2,902,14106,0.00,2.12,0.00,0.000,4,0.000,0.030,1918,1866,2131,0,0,0,0,0,0
$GC,14191,0.56,78.3,282.0,8.8,909,14198,0.00,2.30,0.00,0.000,6,0.000,0.050,1918,3280,2130,0,0,0,0,0,0
$GC,14516,0.56,78.3,245.4,10.8,940,14520,0.00,1.08,0.00,0.000,4,0.000,0.058,1918,3948,2130,0,0,0,0,0,0
$GC,14596,0.56,78.3,236.1,11.3,947,14599,0.00,1.00,0.00,0.000,6,0.000,0.034,1923,3285,2130,0,0,0,0,0,0
$GC,14926,0.56,78.3,202.3,10.0,978,14930,0.00,2.15,0.00,0.000,4,0.000,0.030,1934,1860,2130,0,0,0,0,0,0
$GC,14958,0.56,79.4,199.3,8.6,980,14968,0.10,2.33,0.00,0.000,6,0.161,0.049,1905,3287,2130,0,0,0,0,0,0
$GC,15283,0.56,79.4,167.1,10.4,1011,15284,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3287,2130,0,0,0,0,0,0
$GC,15605,0.56,79.4,135.8,9.3,1041,15609,0.00,1.08,0.00,0.000,4,0.000,0.056,1905,3955,2130,0,0,0,0,0,0
$GC,15788,0.56,79.4,116.1,11.5,1057,15791,0.00,1.00,0.00,0.000,6,0.000,0.034,1909,3285,2130,0,0,0,0,0,0
$GC,16127,0.56,79.4,84.2,8.8,1102,16134,0.00,2.15,0.00,0.000,4,0.000,0.029,1920,1869,2130,0,0,0,0,0,0
$GC,16199,0.57,96.2,78.9,6.8,1114,16213,0.00,2.28,5.43,0.900,6,0.000,0.049,1920,3293,2079,0,0,0,0,0,0
$GC,16557,0.58,117.9,48.3,6.2,1176,16573,0.00,2.17,9.38,0.888,4,0.000,0.027,1931,1855,1990,0,0,0,0,0,0
$GC,16840,0.58,117.9,20.4,10.0,1223,16847,0.00,2.28,0.00,0.000,6,0.000,0.048,1931,3286,1986,0,0,0,0,0,0
$STATE,16989,end climb,SURFACE_DEPTH_REACHED
$STATE,16989,begin surface coast
$FINISH,0.6,1.026313
$STATE,17016,end surface coast,CONTROL_FINISHED_OK
$STATE,17016,begin surface
$SM_CCo,17029,41.58,0.754,0,0,1573,220.03
$SM_GC,1.43,0.00,0.00,41.58,0.000,0.000,0.754,62,3391,1573,-5.17,0.31,220.03
$IRIDIUM_FIX,-4242.04,827.77,180114,121259
$TT8_MAMPS,0.026215
$HUMID,61.34
$INTERNAL_PRESSURE,9.58162
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,22.3,41.340
$10V_AH,9.8,31.867
$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,12.875,78.775,174.150,41.575,0.000,54.223,89.050,414.702,0.000,0.000,22.312,3113.795,10598.684,329.953,3526.696,273.608,0.000,1487.510,0.000,2807.757,0.000,1.014,0.000
$DEVICE_MAMPS,237.915,89.505,1845.180,753.525,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,867.119,2131.400,847.896,385.840,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354404
$DATA_FILE_SIZE,90376,1251
$CAP_FILE_SIZE,155577,0
$CFSIZE,259252224,237522944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180114,173035,-4300.382,831.098,64,0.8,64,-25.1