version: 66.07
glider: 543
mission: 9
dive: 333
start: 1 28 114 2 28 10
data:
$ID,543
$MISSION,9
$DIVE,333
$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,-13571.294
$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,44
$R_STBD_OVSHOOT,23
$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
$GPS1,280114,021605,-4259.875,831.561,26,0.9,26,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-63.3
$GPS2,280114,022747,-4259.893,831.646,18,0.9,18,-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,290.0,2239,-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,-51.0,0.0,0.0,0,65,0.00,0.00,-47.58,0.000,6,0.000,0.000,58,3385,2683,0,0,0,0,0,0
$GC,68,-0.57,-93.7,3.2,-3.8,6,86,6.15,0.93,-4.60,0.000,4,0.232,0.080,1525,3959,2858,0,0,0,0,0,0
$GC,160,-0.57,-93.7,23.1,-19.8,20,169,0.00,0.90,0.00,0.000,6,0.000,0.034,1525,3366,2860,0,0,0,0,0,0
$GC,308,-0.57,-93.7,48.4,-16.4,45,317,0.00,0.95,0.00,0.000,4,0.000,0.057,1521,3956,2861,0,0,0,0,0,0
$GC,399,-0.57,-93.7,63.3,-16.5,60,408,0.00,0.88,0.00,0.000,6,0.000,0.033,1521,3376,2862,0,0,0,0,0,0
$GC,745,-0.57,-93.7,111.1,-14.6,114,749,0.00,2.12,0.00,0.000,4,0.000,0.028,1521,1961,2863,0,0,0,0,0,0
$GC,766,-0.57,-93.7,114.3,-14.1,115,774,0.00,2.30,0.00,0.000,6,0.000,0.050,1510,3392,2863,0,0,0,0,0,0
$GC,1091,-0.57,-93.7,162.3,-14.9,146,1095,0.00,0.88,0.00,0.000,4,0.000,0.056,1506,3946,2864,0,0,0,0,0,0
$GC,1194,-0.57,-93.7,178.7,-16.9,155,1198,0.00,0.85,0.00,0.000,6,0.000,0.032,1506,3371,2864,0,0,0,0,0,0
$GC,1524,-0.57,-93.7,228.3,-14.2,186,1529,0.12,2.12,0.00,0.000,4,0.179,0.028,1537,1964,2864,0,0,0,0,0,0
$GC,1566,-0.57,-93.7,232.8,-10.2,189,1570,0.00,2.28,0.00,0.000,6,0.000,0.050,1528,3386,2865,0,0,0,0,0,0
$GC,1896,-0.57,-93.7,272.3,-12.4,220,1899,0.00,0.90,0.00,0.000,4,0.000,0.057,1523,3954,2865,0,0,0,0,0,0
$GC,2032,-0.57,-93.7,289.9,-12.5,232,2036,0.00,0.85,0.00,0.000,6,0.000,0.033,1523,3378,2865,0,0,0,0,0,0
$GC,2363,-0.57,-93.7,330.6,-12.2,263,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3378,2865,0,0,0,0,0,0
$GC,2685,-0.57,-93.7,371.1,-13.6,293,2689,0.00,0.90,0.00,0.000,4,0.000,0.057,1519,3941,2865,0,0,0,0,0,0
$GC,2753,-0.57,-93.7,381.0,-14.3,299,2757,0.00,0.82,0.00,0.000,6,0.000,0.033,1519,3384,2865,0,0,0,0,0,0
$GC,3088,-0.57,-93.7,426.5,-13.5,322,3092,0.00,0.90,0.00,0.000,4,0.000,0.057,1515,3947,2865,0,0,0,0,0,0
$GC,3115,-0.57,-93.7,430.5,-14.2,323,3120,0.00,0.88,0.00,0.000,6,0.000,0.032,1515,3370,2865,0,0,0,0,0,0
$GC,3443,-0.57,-93.7,475.0,-13.7,339,3447,0.00,0.93,0.00,0.000,4,0.000,0.058,1511,3948,2865,0,0,0,0,0,0
$GC,3520,-0.57,-93.7,486.5,-14.4,342,3524,0.00,0.85,0.00,0.000,6,0.000,0.033,1511,3376,2865,0,0,0,0,0,0
$GC,3842,-0.57,-93.7,529.2,-13.0,358,3843,0.00,0.00,0.00,0.000,6,0.000,0.000,1511,3376,2864,0,0,0,0,0,0
$GC,4153,-0.57,-93.7,568.9,-12.6,373,4154,0.00,0.00,0.00,0.000,6,0.000,0.000,1511,3376,2863,0,0,0,0,0,0
$GC,4461,-0.57,-93.7,608.2,-12.7,388,4462,0.00,0.00,0.00,0.000,6,0.000,0.000,1511,3376,2863,0,0,0,0,0,0
$GC,4770,-0.57,-93.7,646.1,-12.4,403,4774,0.00,0.93,0.00,0.000,4,0.000,0.059,1507,3949,2862,0,0,0,0,0,0
$GC,4870,-0.57,-93.7,659.9,-13.8,407,4874,0.00,0.88,0.00,0.000,6,0.000,0.034,1507,3380,2862,0,0,0,0,0,0
$GC,5194,-0.57,-93.7,700.3,-12.9,423,5198,0.00,2.15,0.00,0.000,4,0.000,0.029,1507,1957,2861,0,0,0,0,0,0
$GC,5215,-0.57,-93.7,703.4,-12.9,424,5220,0.10,2.35,0.00,0.000,6,0.139,0.052,1528,3385,2861,0,0,0,0,0,0
$GC,5543,-0.57,-93.7,738.2,-10.8,440,5546,0.00,0.90,0.00,0.000,4,0.000,0.060,1525,3947,2860,0,0,0,0,0,0
$GC,5611,-0.57,-93.7,746.6,-12.9,443,5614,0.00,0.85,0.00,0.000,6,0.000,0.036,1525,3384,2860,0,0,0,0,0,0
$GC,5943,-0.57,-93.7,785.0,-11.5,459,5947,0.00,2.15,0.00,0.000,4,0.000,0.029,1525,1958,2859,0,0,0,0,0,0
$GC,5970,-0.57,-93.7,788.1,-11.5,460,5974,0.00,2.33,0.00,0.000,6,0.000,0.054,1515,3390,2859,0,0,0,0,0,0
$GC,6285,-0.57,-93.7,825.8,-12.2,475,6289,0.00,0.90,0.00,0.000,4,0.000,0.060,1510,3952,2859,0,0,0,0,0,0
$GC,6399,-0.57,-93.7,840.4,-13.0,480,6402,0.00,0.85,0.00,0.000,6,0.000,0.036,1510,3384,2859,0,0,0,0,0,0
$GC,6731,-0.57,-93.7,881.8,-12.0,496,6735,0.00,2.15,0.00,0.000,4,0.000,0.029,1510,1960,2858,0,0,0,0,0,0
$GC,6763,-0.57,-93.7,885.8,-11.5,497,6771,0.10,2.33,0.00,0.000,6,0.136,0.052,1531,3377,2858,0,0,0,0,0,0
$GC,7080,-0.57,-93.7,917.0,-9.9,513,7084,0.00,0.93,0.00,0.000,4,0.000,0.060,1528,3954,2857,0,0,0,0,0,0
$GC,7202,-0.57,-93.7,930.1,-9.9,518,7207,0.00,0.88,0.00,0.000,6,0.000,0.036,1528,3381,2857,0,0,0,0,0,0
$GC,7525,-0.57,-93.7,961.6,-9.4,534,7529,0.00,2.15,0.00,0.000,4,0.000,0.029,1528,1957,2856,0,0,0,0,0,0
$GC,7565,-0.57,-93.7,965.1,-9.4,536,7569,0.00,2.33,0.00,0.000,6,0.000,0.054,1517,3386,2856,0,0,0,0,0,0
$STATE,7807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7807,begin apogee
$GC,7812,-0.09,0.0,990.3,10.7,548,7910,0.57,0.00,93.43,1.883,6,0.150,0.000,1684,3293,2474,0,0,0,0,0,0
$STATE,7911,end apogee,CONTROL_FINISHED_OK
$STATE,7911,begin climb
$GC,7913,0.57,93.7,992.6,0.0,553,8022,0.62,2.45,98.93,1.821,4,0.069,0.028,1912,1867,2091,0,0,0,0,0,0
$GC,8068,0.57,93.7,980.2,12.1,560,8072,0.00,2.47,0.00,0.000,6,0.000,0.049,1912,3286,2087,0,0,0,0,0,0
$GC,8400,0.57,93.7,929.8,15.1,576,8401,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3286,2080,0,0,0,0,0,0
$GC,8709,0.57,93.7,882.7,15.2,591,8713,0.00,1.08,0.00,0.000,4,0.000,0.058,1912,3949,2078,0,0,0,0,0,0
$GC,8938,0.57,93.7,843.1,17.7,601,8943,0.00,1.05,0.00,0.000,6,0.000,0.034,1917,3272,2077,0,0,0,0,0,0
$GC,9267,0.57,93.7,791.7,15.2,617,9271,0.00,1.12,0.00,0.000,4,0.000,0.057,1917,3959,2075,0,0,0,0,0,0
$GC,9345,0.57,93.7,778.6,17.8,620,9349,0.00,1.02,0.00,0.000,6,0.000,0.034,1922,3287,2075,0,0,0,0,0,0
$GC,9666,0.57,93.7,729.2,15.4,636,9667,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3287,2074,0,0,0,0,0,0
$GC,9976,0.57,93.7,685.6,13.7,651,9979,0.00,1.08,0.00,0.000,4,0.000,0.059,1922,3952,2073,0,0,0,0,0,0
$GC,10014,0.57,93.7,679.6,15.4,652,10021,0.00,1.00,0.00,0.000,6,0.000,0.034,1927,3289,2073,0,0,0,0,0,0
$GC,10330,0.57,93.7,636.1,13.2,668,10334,0.00,2.17,0.00,0.000,4,0.000,0.031,1938,1871,2073,0,0,0,0,0,0
$GC,10350,0.57,93.7,633.1,13.0,669,10355,0.10,2.30,0.00,0.000,6,0.161,0.049,1909,3284,2072,0,0,0,0,0,0
$GC,10680,0.57,93.7,593.3,12.2,685,10684,0.00,1.08,0.00,0.000,4,0.000,0.060,1909,3949,2071,0,0,0,0,0,0
$GC,10752,0.57,93.7,583.1,14.2,688,10756,0.00,1.02,0.00,0.000,6,0.000,0.034,1912,3284,2071,0,0,0,0,0,0
$GC,11080,0.57,93.7,542.6,12.5,704,11081,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3284,2071,0,0,0,0,0,0
$GC,11389,0.57,93.7,504.1,12.6,719,11393,0.00,2.17,0.00,0.000,4,0.000,0.031,1924,1860,2071,0,0,0,0,0,0
$GC,11437,0.57,93.7,498.4,11.2,721,11442,0.00,2.33,0.00,0.000,6,0.000,0.049,1924,3284,2070,0,0,0,0,0,0
$GC,11760,0.57,93.7,454.8,14.0,737,11764,0.00,1.08,0.00,0.000,4,0.000,0.059,1923,3951,2070,0,0,0,0,0,0
$GC,11853,0.57,93.7,440.6,15.5,741,11858,0.00,1.02,0.00,0.000,6,0.000,0.034,1929,3281,2070,0,0,0,0,0,0
$GC,12174,0.57,93.7,397.0,13.6,757,12180,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,3281,2070,0,0,0,0,0,0
$GC,12500,0.57,93.7,351.7,13.5,788,12501,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,3281,2070,0,0,0,0,0,0
$GC,12819,0.57,93.7,308.8,13.6,818,12820,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,3281,2070,0,0,0,0,0,0
$GC,13137,0.57,93.7,267.6,12.4,848,13141,0.00,1.08,0.00,0.000,4,0.000,0.058,1929,3944,2069,0,0,0,0,0,0
$GC,13251,0.57,93.7,251.1,14.1,858,13255,0.08,1.00,0.00,0.000,6,0.197,0.034,1912,3283,2069,0,0,0,0,0,0
$GC,13583,0.57,93.7,211.7,12.0,889,13584,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3283,2069,0,0,0,0,0,0
$GC,13900,0.57,93.7,176.9,10.6,919,13902,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3283,2069,0,0,0,0,0,0
$GC,14221,0.57,93.7,142.7,10.9,949,14227,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3283,2069,0,0,0,0,0,0
$GC,14547,0.57,93.7,104.5,11.8,980,14548,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3283,2069,0,0,0,0,0,0
$GC,14887,0.57,93.7,64.8,10.0,1036,14894,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3283,2069,0,0,0,0,0,0
$GC,15241,0.57,99.4,32.3,8.0,1097,15248,0.00,2.15,0.00,0.000,4,0.000,0.028,1922,1857,2069,0,0,0,0,0,0
$GC,15523,0.59,132.8,14.4,4.9,1143,15548,0.00,2.33,14.57,0.789,6,0.000,0.049,1922,3286,1928,0,0,0,0,0,0
$GC,15600,0.59,132.8,7.9,11.6,1154,15609,0.00,2.17,0.00,0.000,4,0.000,0.029,1933,1872,1925,0,0,0,0,0,0
$STATE,15640,end climb,SURFACE_DEPTH_REACHED
$STATE,15640,begin surface coast
$FINISH,0.7,1.025785
$STATE,15672,end surface coast,CONTROL_FINISHED_OK
$STATE,15672,begin surface
$SM_CCo,15688,35.38,0.736,0,0,1574,220.03
$SM_GC,1.37,0.00,0.00,35.38,0.000,0.000,0.736,50,3386,1574,-5.22,0.17,220.03
$IRIDIUM_FIX,-4244.98,828.21,280114,020207
$TT8_MAMPS,0.026215
$HUMID,61.57
$INTERNAL_PRESSURE,9.58162
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,22.0,47.740
$10V_AH,9.7,37.900
$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,12.900,82.050,206.925,35.375,0.000,59.560,99.702,332.433,0.000,0.000,21.078,2885.569,9689.227,350.218,3218.154,276.416,0.000,1452.588,0.000,2595.791,0.000,1.011,0.000
$DEVICE_MAMPS,231.795,79.560,1882.665,735.930,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,807.213,2018.101,837.491,433.443,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354396
$DATA_FILE_SIZE,83765,1165
$CAP_FILE_SIZE,144912,0
$CFSIZE,259252224,233488384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280114,065129,-4300.211,830.596,38,0.8,38,-25.0