version: 66.07
glider: 543
mission: 9
dive: 329
start: 1 27 114 7 10 41
data:
$ID,543
$MISSION,9
$DIVE,329
$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,-13559.351
$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,50
$R_STBD_OVSHOOT,34
$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
$GPS1,270114,070104,-4300.004,831.167,39,0.8,39,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-64.0
$GPS2,270114,071017,-4300.038,831.205,17,0.9,17,-25.1
$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,297.6,1634,-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,-51.0,0.0,0.0,0,58,0.00,0.00,-41.28,0.000,2,0.000,0.000,58,3392,2533,0,0,0,0,0,0
$GC,60,-0.56,-87.8,3.1,-4.5,5,87,6.03,2.25,-8.60,0.000,4,0.223,0.044,1533,1968,2836,0,0,0,0,0,0
$GC,126,-0.56,-87.8,12.3,-13.5,14,135,0.00,2.30,0.00,0.000,6,0.000,0.049,1524,3366,2837,0,0,0,0,0,0
$GC,186,-0.56,-87.8,23.4,-18.8,23,192,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3366,2837,0,0,0,0,0,0
$GC,332,-0.56,-87.8,52.8,-19.4,48,341,0.00,0.93,0.00,0.000,4,0.000,0.058,1520,3943,2838,0,0,0,0,0,0
$GC,533,-0.56,-87.8,84.9,-15.2,82,539,0.00,0.85,0.00,0.000,6,0.000,0.033,1520,3378,2839,0,0,0,0,0,0
$GC,871,-0.56,-87.8,134.1,-14.3,122,872,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3378,2840,0,0,0,0,0,0
$GC,1191,-0.56,-87.8,179.4,-13.4,152,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3378,2840,0,0,0,0,0,0
$GC,1509,-0.56,-87.8,221.6,-13.2,182,1513,0.00,0.90,0.00,0.000,4,0.000,0.057,1516,3945,2841,0,0,0,0,0,0
$GC,1612,-0.56,-87.8,236.7,-15.2,191,1615,0.00,0.85,0.00,0.000,6,0.000,0.033,1516,3371,2841,0,0,0,0,0,0
$GC,1942,-0.56,-87.8,285.6,-15.3,222,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,1516,3371,2841,0,0,0,0,0,0
$GC,2262,-0.56,-87.8,332.6,-14.2,252,2266,0.00,0.93,0.00,0.000,4,0.000,0.058,1511,3952,2841,0,0,0,0,0,0
$GC,2469,-0.56,-87.8,363.8,-13.8,270,2477,0.00,0.88,0.00,0.000,6,0.000,0.032,1511,3370,2841,0,0,0,0,0,0
$GC,2804,-0.56,-87.8,406.4,-12.3,300,2805,0.00,0.00,0.00,0.000,6,0.000,0.000,1511,3370,2841,0,0,0,0,0,0
$GC,3114,-0.56,-87.8,444.2,-12.3,315,3118,0.00,0.93,0.00,0.000,4,0.000,0.058,1507,3948,2841,0,0,0,0,0,0
$GC,3191,-0.56,-87.8,455.0,-13.5,318,3196,0.10,0.88,0.00,0.000,6,0.189,0.033,1532,3372,2841,0,0,0,0,0,0
$GC,3513,-0.56,-87.8,490.4,-10.9,334,3517,0.00,0.93,0.00,0.000,4,0.000,0.059,1528,3950,2841,0,0,0,0,0,0
$GC,3559,-0.56,-87.8,495.7,-11.9,336,3563,0.00,0.85,0.00,0.000,6,0.000,0.034,1528,3381,2841,0,0,0,0,0,0
$GC,3891,-0.56,-87.8,533.2,-11.4,352,3895,0.00,0.90,0.00,0.000,4,0.000,0.060,1524,3945,2841,0,0,0,0,0,0
$GC,3930,-0.56,-87.8,538.2,-12.4,353,3937,0.00,0.85,0.00,0.000,6,0.000,0.034,1524,3380,2841,0,0,0,0,0,0
$GC,4246,-0.56,-87.8,577.2,-12.6,369,4250,0.00,0.93,0.00,0.000,4,0.000,0.060,1520,3941,2840,0,0,0,0,0,0
$GC,4284,-0.56,-87.8,582.6,-13.4,370,4292,0.00,0.88,0.00,0.000,6,0.000,0.034,1520,3368,2840,0,0,0,0,0,0
$GC,4602,-0.56,-87.8,623.6,-13.3,386,4606,0.00,0.93,0.00,0.000,4,0.000,0.060,1516,3947,2840,0,0,0,0,0,0
$GC,4648,-0.56,-87.8,630.1,-14.3,388,4652,0.00,0.85,0.00,0.000,6,0.000,0.034,1516,3380,2840,0,0,0,0,0,0
$GC,4980,-0.56,-87.8,675.0,-13.0,404,4982,0.00,0.00,0.00,0.000,6,0.000,0.000,1516,3379,2839,0,0,0,0,0,0
$GC,5292,-0.56,-87.8,714.6,-12.6,419,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,1516,3379,2838,0,0,0,0,0,0
$GC,5599,-0.56,-87.8,753.2,-12.4,434,5602,0.00,0.93,0.00,0.000,4,0.000,0.060,1512,3955,2837,0,0,0,0,0,0
$GC,5735,-0.56,-87.8,771.3,-13.4,440,5738,0.00,0.88,0.00,0.000,6,0.000,0.035,1512,3374,2838,0,0,0,0,0,0
$GC,6068,-0.56,-87.8,813.5,-12.6,456,6069,0.00,0.00,0.00,0.000,6,0.000,0.000,1512,3374,2837,0,0,0,0,0,0
$GC,6378,-0.56,-87.8,851.6,-12.3,471,6379,0.00,0.00,0.00,0.000,6,0.000,0.000,1512,3374,2836,0,0,0,0,0,0
$GC,6686,-0.56,-87.8,889.5,-12.3,486,6690,0.00,2.12,0.00,0.000,4,0.000,0.030,1512,1965,2835,0,0,0,0,0,0
$GC,6720,-0.56,-87.8,893.5,-11.1,487,6727,0.12,2.30,0.00,0.000,6,0.163,0.053,1532,3383,2835,0,0,0,0,0,0
$GC,7035,-0.56,-87.8,926.1,-10.1,503,7039,0.00,0.90,0.00,0.000,4,0.000,0.061,1529,3945,2834,0,0,0,0,0,0
$GC,7090,-0.56,-87.8,932.5,-11.3,505,7095,0.00,0.85,0.00,0.000,6,0.000,0.036,1529,3381,2834,0,0,0,0,0,0
$GC,7411,-0.56,-87.8,966.0,-10.2,521,7415,0.00,2.15,0.00,0.000,4,0.000,0.031,1530,1960,2834,0,0,0,0,0,0
$GC,7451,-0.56,-87.8,969.7,-9.0,523,7455,0.00,2.33,0.00,0.000,6,0.000,0.053,1519,3388,2834,0,0,0,0,0,0
$STATE,7652,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7652,begin apogee
$GC,7658,-0.09,0.0,990.0,9.9,533,7749,0.57,0.00,88.12,1.879,6,0.151,0.000,1685,3292,2474,0,0,0,0,0,0
$STATE,7750,end apogee,CONTROL_FINISHED_OK
$STATE,7750,begin climb
$GC,7752,0.56,87.8,991.6,0.0,537,7853,0.62,2.45,92.62,1.821,4,0.070,0.030,1913,1868,2116,0,0,0,0,0,0
$GC,7892,0.56,87.8,980.2,12.8,542,7899,0.00,2.50,0.00,0.000,6,0.000,0.049,1913,3278,2111,0,0,0,0,0,0
$GC,8210,0.56,87.8,933.0,15.0,558,8211,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3278,2105,0,0,0,0,0,0
$GC,8518,0.56,87.8,886.7,14.8,573,8521,0.00,1.10,0.00,0.000,4,0.000,0.058,1913,3950,2103,0,0,0,0,0,0
$GC,8713,0.56,87.8,854.7,15.7,581,8721,0.00,1.05,0.00,0.000,6,0.000,0.034,1918,3270,2102,0,0,0,0,0,0
$GC,9030,0.56,87.8,809.2,14.0,597,9031,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3270,2100,0,0,0,0,0,0
$GC,9341,0.56,87.8,765.9,14.1,612,9342,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3270,2099,0,0,0,0,0,0
$GC,9648,0.56,87.8,724.9,13.1,627,9652,0.00,1.12,0.00,0.000,4,0.000,0.059,1918,3957,2098,0,0,0,0,0,0
$GC,9877,0.56,87.8,691.3,14.6,637,9882,0.00,1.05,0.00,0.000,6,0.000,0.034,1923,3275,2098,0,0,0,0,0,0
$GC,10204,0.56,87.8,649.7,12.6,653,10205,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3275,2098,0,0,0,0,0,0
$GC,10514,0.56,87.8,609.6,13.2,668,10518,0.00,2.15,0.00,0.000,4,0.000,0.031,1934,1874,2097,0,0,0,0,0,0
$GC,10534,0.56,87.8,606.8,11.9,669,10540,0.10,2.30,0.00,0.000,6,0.162,0.049,1905,3283,2096,0,0,0,0,0,0
$GC,10864,0.56,87.8,566.3,12.6,685,10865,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3283,2096,0,0,0,0,0,0
$GC,11172,0.56,87.8,528.1,12.4,700,11176,0.00,1.08,0.00,0.000,4,0.000,0.058,1905,3949,2095,0,0,0,0,0,0
$GC,11217,0.56,87.8,522.0,13.3,702,11221,0.00,1.00,0.00,0.000,6,0.000,0.036,1909,3289,2095,0,0,0,0,0,0
$GC,11550,0.56,87.8,481.2,12.4,718,11551,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3289,2095,0,0,0,0,0,0
$GC,11859,0.56,87.8,444.4,11.6,733,11862,0.00,1.08,0.00,0.000,4,0.000,0.058,1908,3952,2095,0,0,0,0,0,0
$GC,11897,0.56,87.8,439.6,12.1,734,11904,0.00,1.02,0.00,0.000,6,0.000,0.034,1914,3282,2095,0,0,0,0,0,0
$GC,12213,0.56,87.8,402.8,11.4,750,12217,0.00,1.08,0.00,0.000,4,0.000,0.058,1914,3945,2095,0,0,0,0,0,0
$GC,12263,0.56,87.8,396.6,11.9,752,12273,0.00,1.02,0.00,0.000,6,0.000,0.034,1919,3277,2095,0,0,0,0,0,0
$GC,12589,0.56,87.8,359.7,11.7,783,12590,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3277,2095,0,0,0,0,0,0
$GC,12910,0.56,87.8,324.0,11.2,813,12916,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3277,2094,0,0,0,0,0,0
$GC,13236,0.56,87.8,285.5,12.0,844,13240,0.00,1.08,0.00,0.000,4,0.000,0.057,1919,3946,2094,0,0,0,0,0,0
$GC,13353,0.56,87.8,269.3,13.3,854,13361,0.00,1.02,0.00,0.000,6,0.000,0.033,1924,3276,2094,0,0,0,0,0,0
$GC,13681,0.56,87.8,228.4,13.1,885,13685,0.00,1.08,0.00,0.000,4,0.000,0.057,1924,3942,2094,0,0,0,0,0,0
$GC,13908,0.56,87.8,195.4,14.7,905,13912,0.00,1.00,0.00,0.000,6,0.000,0.033,1929,3277,2094,0,0,0,0,0,0
$GC,14239,0.56,87.8,154.8,11.4,936,14240,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,3277,2094,0,0,0,0,0,0
$GC,14559,0.56,87.8,119.1,11.5,966,14563,0.00,2.15,0.00,0.000,4,0.000,0.029,1940,1864,2094,0,0,0,0,0,0
$GC,14576,0.56,87.8,117.0,10.9,967,14581,0.15,2.30,0.00,0.000,6,0.178,0.048,1903,3291,2094,0,0,0,0,0,0
$GC,14916,0.56,87.8,82.1,9.2,1012,14922,0.00,2.15,0.00,0.000,4,0.000,0.028,1912,1861,2093,0,0,0,0,0,0
$GC,15180,0.57,90.6,59.0,8.4,1058,15187,0.00,2.28,0.00,0.000,6,0.000,0.047,1912,3286,2093,0,0,0,0,0,0
$GC,15536,0.58,108.0,33.9,6.7,1119,15552,0.00,1.05,6.57,0.807,4,0.000,0.054,1912,3943,2030,0,0,0,0,0,0
$GC,15707,0.58,108.0,16.2,11.3,1147,15716,0.00,1.00,0.00,0.000,6,0.000,0.032,1918,3276,2030,0,0,0,0,0,0
$GC,15769,0.58,108.0,9.8,9.9,1156,15778,0.00,2.15,0.00,0.000,4,0.000,0.028,1929,1857,2030,0,0,0,0,0,0
$STATE,15846,end climb,SURFACE_DEPTH_REACHED
$STATE,15846,begin surface coast
$FINISH,0.8,1.026100
$STATE,15891,end surface coast,CONTROL_FINISHED_OK
$STATE,15891,begin surface
$SM_CCo,15907,46.40,0.759,0,0,1575,220.03
$SM_GC,1.42,0.00,0.00,46.40,0.000,0.000,0.759,54,3387,1575,-5.21,0.20,220.03
$IRIDIUM_FIX,-4244.98,828.21,270114,020203
$TT8_MAMPS,0.026215
$HUMID,61.49
$INTERNAL_PRESSURE,9.58162
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,22.0,47.173
$10V_AH,9.8,37.402
$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,12.600,71.100,187.325,46.400,0.000,29.270,19.101,352.210,0.000,0.000,20.835,2897.986,9838.139,363.664,3116.785,283.304,0.000,1454.227,0.000,2590.181,0.000,1.010,0.000
$DEVICE_MAMPS,222.615,68.085,1878.840,758.880,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,813.370,2009.503,826.206,414.166,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354388
$DATA_FILE_SIZE,83925,1175
$CAP_FILE_SIZE,142787,0
$CFSIZE,259252224,233828352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270114,113752,-4300.061,830.481,41,0.9,41,-25.0