version: 66.07
glider: 543
mission: 9
dive: 331
start: 1 27 114 16 50 11
data:
$ID,543
$MISSION,9
$DIVE,331
$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,-13566.368
$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,47
$R_STBD_OVSHOOT,28
$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
$GPS1,270114,164023,-4300.068,829.690,37,1.1,37,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-65.9
$GPS2,270114,164947,-4300.064,829.761,19,1.2,19,-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,94.7,345,-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,-51.0,0.0,0.0,0,66,0.00,0.00,-46.95,0.000,6,0.000,0.000,61,3398,2683,0,0,0,0,0,0
$GC,69,-0.57,-90.6,3.6,-4.2,6,87,6.07,2.20,-4.03,0.000,4,0.229,0.041,1534,1954,2845,0,0,0,0,0,0
$GC,277,-0.57,-90.6,34.8,-12.7,39,283,0.00,2.33,0.00,0.000,6,0.000,0.050,1525,3382,2849,0,0,0,0,0,0
$GC,424,-0.57,-90.6,61.6,-18.2,64,431,0.00,0.90,0.00,0.000,4,0.000,0.057,1520,3946,2849,0,0,0,0,0,0
$GC,601,-0.57,-90.6,86.6,-13.4,94,608,0.00,0.85,0.00,0.000,6,0.000,0.033,1520,3375,2850,0,0,0,0,0,0
$GC,936,-0.57,-90.6,132.4,-14.0,133,937,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3375,2851,0,0,0,0,0,0
$GC,1254,-0.57,-90.6,177.6,-13.7,163,1258,0.00,2.08,0.00,0.000,4,0.000,0.027,1520,1967,2851,0,0,0,0,0,0
$GC,1284,-0.57,-90.6,181.6,-13.2,165,1288,0.00,2.25,0.00,0.000,6,0.000,0.049,1510,3382,2852,0,0,0,0,0,0
$GC,1614,-0.57,-90.6,228.4,-14.4,196,1618,0.00,2.10,0.00,0.000,4,0.000,0.027,1510,1960,2852,0,0,0,0,0,0
$GC,1640,-0.57,-90.6,232.2,-13.3,198,1648,0.10,2.30,0.00,0.000,6,0.139,0.049,1530,3376,2852,0,0,0,0,0,0
$GC,1968,-0.57,-90.6,273.4,-13.1,229,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3376,2852,0,0,0,0,0,0
$GC,2285,-0.57,-90.6,315.5,-13.3,259,2286,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3375,2852,0,0,0,0,0,0
$GC,2606,-0.57,-90.6,355.8,-12.0,289,2610,0.00,2.10,0.00,0.000,4,0.000,0.027,1530,1965,2852,0,0,0,0,0,0
$GC,2639,-0.57,-90.6,360.2,-10.6,291,2646,0.00,2.30,0.00,0.000,6,0.000,0.050,1521,3379,2852,0,0,0,0,0,0
$GC,2964,-0.57,-90.6,400.4,-12.3,322,2968,0.00,0.90,0.00,0.000,4,0.000,0.057,1517,3945,2852,0,0,0,0,0,0
$GC,3019,-0.57,-90.6,408.0,-13.9,324,3024,0.00,0.85,0.00,0.000,6,0.000,0.032,1517,3379,2852,0,0,0,0,0,0
$GC,3341,-0.57,-90.6,450.5,-13.7,340,3345,0.00,2.10,0.00,0.000,4,0.000,0.027,1517,1966,2853,0,0,0,0,0,0
$GC,3373,-0.57,-90.6,454.8,-12.8,341,3381,0.10,2.28,0.00,0.000,6,0.167,0.050,1530,3380,2852,0,0,0,0,0,0
$GC,3689,-0.57,-90.6,493.2,-12.2,357,3690,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3380,2852,0,0,0,0,0,0
$GC,3998,-0.57,-90.6,529.7,-11.6,372,4002,0.00,2.12,0.00,0.000,4,0.000,0.028,1530,1961,2851,0,0,0,0,0,0
$GC,4025,-0.57,-90.6,532.8,-10.8,373,4029,0.00,2.30,0.00,0.000,6,0.000,0.051,1521,3386,2851,0,0,0,0,0,0
$GC,4349,-0.57,-90.6,571.7,-12.1,389,4350,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3386,2851,0,0,0,0,0,0
$GC,4656,-0.57,-90.6,609.2,-12.5,404,4660,0.00,2.10,0.00,0.000,4,0.000,0.028,1521,1968,2850,0,0,0,0,0,0
$GC,4683,-0.57,-90.6,612.6,-12.3,405,4688,0.00,2.33,0.00,0.000,6,0.000,0.052,1510,3382,2850,0,0,0,0,0,0
$GC,5004,-0.57,-90.6,654.7,-13.1,421,5008,0.00,2.10,0.00,0.000,4,0.000,0.029,1510,1968,2849,0,0,0,0,0,0
$GC,5048,-0.57,-90.6,660.2,-11.7,423,5053,0.10,2.33,0.00,0.000,6,0.141,0.053,1531,3385,2849,0,0,0,0,0,0
$GC,5376,-0.57,-90.6,696.4,-10.9,439,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3385,2848,0,0,0,0,0,0
$GC,5685,-0.57,-90.6,730.0,-10.9,454,5689,0.00,2.15,0.00,0.000,4,0.000,0.031,1532,1964,2848,0,0,0,0,0,0
$GC,5729,-0.57,-90.6,734.7,-10.1,456,5733,0.00,2.30,0.00,0.000,6,0.000,0.054,1522,3381,2848,0,0,0,0,0,0
$GC,6057,-0.57,-90.6,771.3,-11.4,472,6059,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3381,2846,0,0,0,0,0,0
$GC,6365,-0.57,-90.6,806.4,-11.6,487,6366,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3381,2845,0,0,0,0,0,0
$GC,6675,-0.57,-90.6,841.9,-11.4,502,6676,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3381,2845,0,0,0,0,0,0
$GC,6984,-0.57,-90.6,876.3,-10.9,517,6985,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3381,2845,0,0,0,0,0,0
$GC,7293,-0.57,-90.6,908.5,-10.3,532,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3381,2844,0,0,0,0,0,0
$GC,7605,-0.57,-90.6,939.8,-10.2,547,7608,0.00,2.12,0.00,0.000,4,0.000,0.031,1522,1969,2844,0,0,0,0,0,0
$GC,7626,-0.57,-90.6,942.5,-11.1,548,7630,0.00,2.33,0.00,0.000,6,0.000,0.054,1511,3378,2844,0,0,0,0,0,0
$GC,7953,-0.57,-90.6,976.7,-10.4,564,7957,0.00,2.15,0.00,0.000,4,0.000,0.031,1511,1961,2843,0,0,0,0,0,0
$GC,8016,-0.57,-90.6,982.8,-8.8,567,8021,0.12,2.33,0.00,0.000,6,0.164,0.054,1531,3385,2843,0,0,0,0,0,0
$STATE,8093,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8093,begin apogee
$GC,8098,-0.09,0.0,990.0,9.0,571,8196,0.52,0.00,90.30,1.877,6,0.148,0.000,1686,3293,2474,0,0,0,0,0,0
$STATE,8197,end apogee,CONTROL_FINISHED_OK
$STATE,8197,begin climb
$GC,8199,0.57,90.6,992.1,0.0,576,8299,0.65,0.00,96.75,1.827,6,0.067,0.000,1906,3293,2103,0,0,0,0,0,0
$GC,8608,0.57,90.6,942.9,14.3,596,8612,0.00,2.28,0.00,0.000,4,0.000,0.031,1917,1855,2094,0,0,0,0,0,0
$GC,8634,0.57,90.6,938.7,12.0,597,8638,0.00,2.40,0.00,0.000,6,0.000,0.050,1918,3283,2092,0,0,0,0,0,0
$GC,8956,0.57,90.6,891.6,14.3,613,8960,0.00,1.10,0.00,0.000,4,0.000,0.058,1918,3954,2090,0,0,0,0,0,0
$GC,9101,0.57,90.6,867.7,16.5,619,9106,0.00,1.05,0.00,0.000,6,0.000,0.034,1923,3276,2090,0,0,0,0,0,0
$GC,9424,0.57,90.6,820.5,14.6,635,9427,0.00,1.10,0.00,0.000,4,0.000,0.057,1923,3952,2087,0,0,0,0,0,0
$GC,9514,0.57,90.6,806.0,16.4,639,9518,0.00,1.02,0.00,0.000,6,0.000,0.034,1928,3281,2087,0,0,0,0,0,0
$GC,9847,0.57,90.6,757.0,14.7,655,9851,0.00,1.08,0.00,0.000,4,0.000,0.057,1928,3948,2086,0,0,0,0,0,0
$GC,10087,0.57,90.6,718.0,15.8,665,10095,0.00,1.02,0.00,0.000,6,0.000,0.034,1933,3282,2086,0,0,0,0,0,0
$GC,10404,0.57,90.6,671.1,15.1,681,10405,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,3282,2085,0,0,0,0,0,0
$GC,10715,0.57,90.6,626.6,14.0,696,10718,0.00,1.10,0.00,0.000,4,0.000,0.057,1933,3958,2085,0,0,0,0,0,0
$GC,10760,0.57,90.6,619.6,15.7,698,10764,0.10,1.02,0.00,0.000,6,0.200,0.035,1911,3280,2085,0,0,0,0,0,0
$GC,11092,0.57,90.6,577.1,12.5,714,11094,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3280,2083,0,0,0,0,0,0
$GC,11403,0.57,90.6,540.6,11.5,729,11406,0.00,1.08,0.00,0.000,4,0.000,0.057,1910,3944,2084,0,0,0,0,0,0
$GC,11507,0.57,90.6,526.9,13.5,733,11515,0.00,1.02,0.00,0.000,6,0.000,0.034,1914,3281,2084,0,0,0,0,0,0
$GC,11825,0.57,90.6,490.5,11.6,749,11826,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3281,2083,0,0,0,0,0,0
$GC,12133,0.57,90.6,453.9,12.1,764,12137,0.00,1.08,0.00,0.000,4,0.000,0.057,1914,3944,2083,0,0,0,0,0,0
$GC,12300,0.57,90.6,430.9,14.0,771,12305,0.00,1.02,0.00,0.000,6,0.000,0.034,1919,3278,2083,0,0,0,0,0,0
$GC,12624,0.57,90.6,390.3,13.0,790,12625,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3277,2083,0,0,0,0,0,0
$GC,12944,0.57,90.6,349.8,12.9,820,12948,0.00,1.10,0.00,0.000,4,0.000,0.058,1919,3957,2083,0,0,0,0,0,0
$GC,12989,0.57,90.6,343.5,13.9,824,12993,0.00,1.02,0.00,0.000,6,0.000,0.034,1925,3282,2083,0,0,0,0,0,0
$GC,13320,0.57,90.6,301.3,12.9,855,13323,0.00,1.08,0.00,0.000,4,0.000,0.058,1924,3944,2082,0,0,0,0,0,0
$GC,13535,0.57,90.6,270.8,14.3,874,13539,0.00,1.00,0.00,0.000,6,0.000,0.034,1930,3283,2082,0,0,0,0,0,0
$GC,13868,0.57,90.6,228.6,13.0,905,13871,0.00,1.08,0.00,0.000,4,0.000,0.057,1930,3949,2082,0,0,0,0,0,0
$GC,13939,0.57,90.6,217.7,14.6,911,13948,0.12,1.02,0.00,0.000,6,0.216,0.033,1901,3277,2082,0,0,0,0,0,0
$GC,14265,0.57,90.6,179.4,11.2,942,14269,0.00,1.10,0.00,0.000,4,0.000,0.057,1899,3955,2081,0,0,0,0,0,0
$GC,14337,0.57,90.6,170.1,12.5,948,14347,0.00,1.02,0.00,0.000,6,0.000,0.033,1903,3285,2081,0,0,0,0,0,0
$GC,14662,0.57,90.6,135.3,10.3,979,14666,0.00,2.12,0.00,0.000,4,0.000,0.029,1914,1861,2081,0,0,0,0,0,0
$GC,14693,0.57,95.4,132.9,8.1,981,14697,0.00,2.28,0.00,0.000,6,0.000,0.048,1914,3287,2081,0,0,0,0,0,0
$GC,15023,0.57,95.4,100.3,11.1,1012,15024,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3288,2080,0,0,0,0,0,0
$GC,15366,0.57,95.4,58.8,10.6,1071,15375,0.00,2.17,0.00,0.000,4,0.000,0.029,1925,1864,2080,0,0,0,0,0,0
$GC,15414,0.57,95.4,54.0,9.8,1079,15421,0.00,2.30,0.00,0.000,6,0.000,0.049,1925,3293,2080,0,0,0,0,0,0
$GC,15769,0.57,98.8,24.4,8.3,1140,15778,0.00,1.08,1.12,0.283,4,0.000,0.052,1925,3953,2068,0,0,0,0,0,0
$STATE,15998,end climb,SURFACE_DEPTH_REACHED
$STATE,15998,begin surface coast
$FINISH,1.0,1.026114
$STATE,16018,end surface coast,CONTROL_FINISHED_OK
$STATE,16018,begin surface
$SM_CCo,16032,50.72,0.766,0,0,1572,220.03
$SM_GC,1.38,0.00,0.00,50.72,0.000,0.000,0.766,62,3365,1572,-5.18,-0.42,220.03
$IRIDIUM_FIX,-4242.04,830.68,270114,111116
$TT8_MAMPS,0.026215
$HUMID,61.73
$INTERNAL_PRESSURE,9.57185
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,22.0,47.430
$10V_AH,9.8,37.652
$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,12.875,88.925,188.175,50.725,0.000,24.545,42.687,344.918,0.000,0.000,22.798,2912.551,9967.138,377.723,3096.949,286.800,0.000,1437.642,0.000,2559.770,0.000,1.012,0.000
$DEVICE_MAMPS,228.735,68.850,1876.545,765.765,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,817.696,2039.925,822.482,417.560,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354376
$DATA_FILE_SIZE,83582,1180
$CAP_FILE_SIZE,142334,0
$CFSIZE,259252224,233660416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270114,211934,-4259.446,832.941,42,1.1,42,-25.1