version: 66.07
glider: 543
mission: 9
dive: 356
start: 2 1 114 16 45 28
data:
$ID,543
$MISSION,9
$DIVE,356
$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,-13646.286
$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,49
$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
$GPS1,010214,163514,-4300.669,832.667,41,3.4,60,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-63.4
$GPS2,010214,164504,-4300.552,832.825,21,0.9,30,-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,310.1,3960,-23.3,-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,-0.48,-67.8,0.0,0.0,0,59,0.00,0.00,-41.83,0.000,2,0.000,0.000,61,3383,2532,0,0,0,0,0,0
$GC,62,-0.51,-121.7,3.1,-3.9,5,88,6.28,2.20,-11.55,0.000,4,0.236,0.041,1546,1973,2973,0,0,0,0,0,0
$GC,115,-0.51,-121.7,13.1,-19.4,12,124,0.00,2.33,0.00,0.000,6,0.000,0.052,1537,3381,2975,0,0,0,0,0,0
$GC,177,-0.51,-121.7,21.9,-15.6,21,183,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3381,2975,0,0,0,0,0,0
$GC,326,-0.51,-121.7,47.2,-16.2,46,332,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3381,2976,0,0,0,0,0,0
$GC,677,-0.51,-121.7,99.5,-12.3,107,684,0.00,2.12,0.00,0.000,4,0.000,0.027,1537,1956,2978,0,0,0,0,0,0
$GC,713,-0.51,-121.7,103.3,-9.5,111,717,0.00,2.30,0.00,0.000,6,0.000,0.050,1526,3386,2978,0,0,0,0,0,0
$GC,1040,-0.51,-121.7,144.2,-13.0,141,1044,0.00,0.90,0.00,0.000,4,0.000,0.057,1522,3953,2978,0,0,0,0,0,0
$GC,1191,-0.51,-121.7,166.5,-14.2,154,1198,0.05,0.85,0.00,0.000,6,0.159,0.033,1538,3380,2979,0,0,0,0,0,0
$GC,1518,-0.51,-121.7,207.3,-12.3,185,1522,0.00,0.93,0.00,0.000,4,0.000,0.060,1535,3943,2978,0,0,0,0,0,0
$GC,1636,-0.51,-121.7,223.3,-13.0,195,1643,0.00,0.85,0.00,0.000,6,0.000,0.032,1536,3376,2979,0,0,0,0,0,0
$GC,1961,-0.51,-121.7,263.7,-12.2,226,1965,0.00,0.90,0.00,0.000,4,0.000,0.057,1531,3941,2979,0,0,0,0,0,0
$GC,2102,-0.51,-121.7,282.5,-13.7,238,2109,0.00,0.82,0.00,0.000,6,0.000,0.032,1531,3384,2979,0,0,0,0,0,0
$GC,2429,-0.51,-121.7,323.7,-12.9,269,2433,0.00,0.90,0.00,0.000,4,0.000,0.057,1527,3950,2980,0,0,0,0,0,0
$GC,2536,-0.51,-121.7,338.8,-13.8,278,2543,0.00,0.85,0.00,0.000,6,0.000,0.032,1527,3376,2979,0,0,0,0,0,0
$GC,2863,-0.51,-121.7,381.7,-12.9,309,2867,0.00,0.90,0.00,0.000,4,0.000,0.058,1523,3941,2980,0,0,0,0,0,0
$GC,2993,-0.51,-121.7,400.2,-13.9,320,3002,0.00,0.82,0.00,0.000,6,0.000,0.033,1522,3383,2979,0,0,0,0,0,0
$GC,3308,-0.51,-121.7,440.6,-12.6,336,3313,0.10,0.93,0.00,0.000,4,0.179,0.059,1545,3950,2979,0,0,0,0,0,0
$GC,3408,-0.51,-121.7,452.0,-10.8,340,3412,0.00,0.88,0.00,0.000,6,0.000,0.033,1545,3371,2979,0,0,0,0,0,0
$GC,3730,-0.51,-121.7,485.5,-10.5,356,3734,0.00,0.93,0.00,0.000,4,0.000,0.060,1541,3947,2979,0,0,0,0,0,0
$GC,3857,-0.51,-121.7,500.1,-11.3,361,3864,0.00,0.88,0.00,0.000,6,0.000,0.034,1541,3373,2979,0,0,0,0,0,0
$GC,4175,-0.51,-121.7,533.8,-10.5,377,4179,0.00,0.93,0.00,0.000,4,0.000,0.060,1536,3949,2978,0,0,0,0,0,0
$GC,4315,-0.51,-121.7,550.2,-11.4,383,4319,0.00,0.85,0.00,0.000,6,0.000,0.034,1537,3382,2978,0,0,0,0,0,0
$GC,4642,-0.51,-121.7,583.6,-10.1,399,4646,0.00,0.90,0.00,0.000,4,0.000,0.060,1532,3943,2978,0,0,0,0,0,0
$GC,4794,-0.51,-121.7,600.1,-10.7,405,4801,0.00,0.85,0.00,0.000,6,0.000,0.034,1532,3380,2977,0,0,0,0,0,0
$GC,5110,-0.51,-121.7,630.9,-9.5,421,5113,0.00,0.93,0.00,0.000,4,0.000,0.062,1528,3938,2977,0,0,0,0,0,0
$GC,5284,-0.51,-121.7,648.7,-10.5,428,5291,0.00,0.85,0.00,0.000,6,0.000,0.035,1528,3377,2977,0,0,0,0,0,0
$GC,5600,-0.51,-121.7,680.2,-10.0,444,5604,0.00,0.93,0.00,0.000,4,0.000,0.060,1524,3951,2976,0,0,0,0,0,0
$GC,5716,-0.51,-121.7,693.3,-11.8,449,5721,0.00,0.88,0.00,0.000,6,0.000,0.034,1525,3380,2976,0,0,0,0,0,0
$GC,6044,-0.51,-121.7,729.4,-11.5,465,6047,0.00,0.93,0.00,0.000,4,0.000,0.062,1520,3937,2975,0,0,0,0,0,0
$GC,6150,-0.51,-121.7,742.8,-13.1,469,6158,0.08,0.85,0.00,0.000,6,0.145,0.034,1544,3382,2974,0,0,0,0,0,0
$GC,6466,-0.51,-121.7,775.6,-10.3,485,6469,0.00,0.90,0.00,0.000,4,0.000,0.060,1540,3942,2974,0,0,0,0,0,0
$GC,6583,-0.51,-121.7,788.7,-11.6,490,6587,0.00,0.85,0.00,0.000,6,0.000,0.037,1541,3380,2974,0,0,0,0,0,0
$GC,6910,-0.51,-121.7,823.8,-10.7,506,6914,0.00,0.93,0.00,0.000,4,0.000,0.062,1537,3951,2973,0,0,0,0,0,0
$GC,7055,-0.51,-121.7,840.6,-11.4,512,7059,0.00,0.88,0.00,0.000,6,0.000,0.035,1537,3375,2973,0,0,0,0,0,0
$GC,7378,-0.51,-121.7,876.1,-11.2,528,7382,0.00,0.93,0.00,0.000,4,0.000,0.062,1533,3947,2972,0,0,0,0,0,0
$GC,7568,-0.51,-121.7,898.2,-11.3,536,7572,0.00,0.88,0.00,0.000,6,0.000,0.036,1533,3380,2972,0,0,0,0,0,0
$GC,7890,-0.51,-121.7,932.5,-10.8,552,7894,0.00,0.93,0.00,0.000,4,0.000,0.060,1529,3952,2971,0,0,0,0,0,0
$GC,8147,-0.51,-121.7,960.9,-11.3,563,8151,0.00,0.88,0.00,0.000,6,0.000,0.037,1529,3378,2970,0,0,0,0,0,0
$STATE,8446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8446,begin apogee
$GC,8452,-0.09,0.0,990.6,10.3,578,8576,0.52,0.00,121.30,1.854,6,0.140,0.000,1685,3277,2473,0,0,0,0,0,0
$STATE,8577,end apogee,CONTROL_FINISHED_OK
$STATE,8577,begin climb
$GC,8580,0.51,121.7,995.2,0.0,584,8716,0.57,2.45,127.82,1.792,4,0.049,0.030,1903,1869,1976,0,0,0,0,0,0
$GC,8811,0.51,121.7,976.6,11.8,594,8818,0.00,2.42,0.00,0.000,6,0.000,0.050,1903,3281,1968,0,0,0,0,0,0
$GC,9127,0.51,121.7,929.7,14.4,610,9131,0.00,1.10,0.00,0.000,4,0.000,0.059,1903,3950,1964,0,0,0,0,0,0
$GC,9195,0.51,121.7,919.0,16.7,613,9199,0.00,1.02,0.00,0.000,6,0.000,0.034,1908,3288,1963,0,0,0,0,0,0
$GC,9528,0.51,121.7,869.8,14.4,629,9529,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3287,1962,0,0,0,0,0,0
$GC,9837,0.51,121.7,823.7,14.9,644,9840,0.00,1.10,0.00,0.000,4,0.000,0.059,1908,3959,1960,0,0,0,0,0,0
$GC,9869,0.51,121.7,818.0,17.0,645,9873,0.00,1.05,0.00,0.000,6,0.000,0.034,1913,3281,1961,0,0,0,0,0,0
$GC,10193,0.51,121.7,768.5,15.4,661,10197,0.00,2.17,0.00,0.000,4,0.000,0.031,1924,1869,1959,0,0,0,0,0,0
$GC,10219,0.51,121.7,764.1,13.2,662,10224,0.10,2.33,0.00,0.000,6,0.168,0.050,1895,3289,1958,0,0,0,0,0,0
$GC,10541,0.51,121.7,718.3,14.0,678,10542,0.00,0.00,0.00,0.000,6,0.000,0.000,1895,3290,1958,0,0,0,0,0,0
$GC,10850,0.51,121.7,673.8,14.9,693,10854,0.00,2.17,0.00,0.000,4,0.000,0.031,1904,1865,1957,0,0,0,0,0,0
$GC,10882,0.51,121.7,669.1,13.7,694,10890,0.00,2.33,0.00,0.000,6,0.000,0.050,1904,3290,1956,0,0,0,0,0,0
$GC,11199,0.51,121.7,621.4,14.9,710,11203,0.00,1.05,0.00,0.000,4,0.000,0.059,1905,3945,1956,0,0,0,0,0,0
$GC,11293,0.51,121.7,605.5,17.2,714,11297,0.00,1.02,0.00,0.000,6,0.000,0.035,1910,3281,1956,0,0,0,0,0,0
$GC,11621,0.51,121.7,557.3,14.3,730,11622,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3281,1956,0,0,0,0,0,0
$GC,11930,0.51,121.7,514.3,13.6,745,11934,0.00,1.08,0.00,0.000,4,0.000,0.059,1910,3941,1956,0,0,0,0,0,0
$GC,11985,0.51,121.7,505.7,15.9,747,11990,0.00,1.02,0.00,0.000,6,0.000,0.034,1915,3279,1956,0,0,0,0,0,0
$GC,12307,0.51,121.7,462.3,13.5,763,12308,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3279,1955,0,0,0,0,0,0
$GC,12616,0.51,121.7,421.9,12.9,778,12617,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3279,1955,0,0,0,0,0,0
$GC,12929,0.51,121.7,380.7,13.5,799,12933,0.00,2.15,0.00,0.000,4,0.000,0.031,1925,1868,1955,0,0,0,0,0,0
$GC,12947,0.51,121.7,378.2,13.3,800,12952,0.15,2.30,0.00,0.000,6,0.181,0.050,1890,3290,1954,0,0,0,0,0,0
$GC,13272,0.51,121.7,339.3,12.3,830,13276,0.00,1.08,0.00,0.000,4,0.000,0.058,1890,3954,1954,0,0,0,0,0,0
$GC,13355,0.51,121.7,328.3,14.6,837,13358,0.00,1.02,0.00,0.000,6,0.000,0.035,1893,3277,1954,0,0,0,0,0,0
$GC,13685,0.51,121.7,283.5,13.5,868,13686,0.00,0.00,0.00,0.000,6,0.000,0.000,1893,3277,1954,0,0,0,0,0,0
$GC,14006,0.51,121.7,239.2,14.1,898,14007,0.00,0.00,0.00,0.000,6,0.000,0.000,1893,3277,1954,0,0,0,0,0,0
$GC,14324,0.51,121.7,193.2,14.1,928,14325,0.00,0.00,0.00,0.000,6,0.000,0.000,1893,3277,1954,0,0,0,0,0,0
$GC,14643,0.51,121.7,150.5,13.2,958,14644,0.00,0.00,0.00,0.000,6,0.000,0.000,1893,3276,1954,0,0,0,0,0,0
$GC,14961,0.51,121.7,112.4,10.6,988,14964,0.00,1.10,0.00,0.000,4,0.000,0.058,1894,3954,1954,0,0,0,0,0,0
$GC,15143,0.51,121.7,89.5,12.7,1011,15151,0.00,1.00,0.00,0.000,6,0.000,0.033,1898,3287,1954,0,0,0,0,0,0
$GC,15497,0.51,121.7,51.8,8.9,1072,15504,0.00,2.17,0.00,0.000,4,0.000,0.029,1909,1863,1954,0,0,0,0,0,0
$GC,15556,0.52,130.3,46.9,7.9,1082,15564,0.00,2.28,1.45,0.305,6,0.000,0.049,1909,3287,1939,0,0,0,0,0,0
$GC,15924,0.52,130.3,10.0,11.6,1143,15933,0.00,2.17,0.00,0.000,4,0.000,0.028,1920,1862,1939,0,0,0,0,0,0
$STATE,16025,end climb,SURFACE_DEPTH_REACHED
$STATE,16025,begin surface coast
$FINISH,0.7,1.026104
$STATE,16077,end surface coast,CONTROL_FINISHED_OK
$STATE,16077,begin surface
$SM_CCo,16093,38.20,0.761,0,0,1575,220.03
$SM_GC,1.51,0.00,0.00,38.20,0.000,0.000,0.761,57,3384,1575,-5.20,0.11,220.03
$IRIDIUM_FIX,-4244.98,834.03,010214,111137
$TT8_MAMPS,0.026215
$HUMID,62.67
$INTERNAL_PRESSURE,9.56208
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,21.8,51.055
$10V_AH,9.7,40.805
$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,12.850,77.475,250.575,38.200,0.000,27.841,21.643,372.025,0.000,0.000,34.204,2926.535,9726.210,411.111,3350.318,300.117,0.000,1599.966,0.000,2777.786,0.000,1.010,0.000
$DEVICE_MAMPS,235.620,67.320,1854.360,761.175,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,808.219,2009.895,816.171,414.106,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354436
$DATA_FILE_SIZE,83664,1167
$CAP_FILE_SIZE,151388,0
$CFSIZE,259252224,231530496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010214,211534,-4300.523,832.182,38,0.9,38,-25.1