version: 66.07
glider: 543
mission: 9
dive: 361
start: 2 2 114 16 18 31
data:
$ID,543
$MISSION,9
$DIVE,361
$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,-13666.393
$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,37
$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
$GPS1,020214,160851,-4300.089,831.636,27,1.9,43,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-61.6
$GPS2,020214,161807,-4300.144,831.727,15,1.9,15,-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,301.6,2355,-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,-51.0,0.0,0.0,0,59,0.00,0.00,-41.95,0.000,2,0.000,0.000,62,3385,2531,0,0,0,0,0,0
$GC,62,-0.57,-90.1,3.1,-4.2,5,81,6.22,0.95,-8.60,0.000,4,0.237,0.088,1525,3954,2843,0,0,0,0,0,0
$GC,150,-0.57,-90.1,19.6,-17.7,18,159,0.00,0.90,0.00,0.000,6,0.000,0.034,1525,3361,2846,0,0,0,0,0,0
$GC,209,-0.57,-90.1,29.7,-16.4,27,215,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3361,2847,0,0,0,0,0,0
$GC,357,-0.57,-90.1,58.0,-19.2,52,364,0.00,0.95,0.00,0.000,4,0.000,0.057,1521,3954,2848,0,0,0,0,0,0
$GC,582,-0.57,-90.1,96.6,-15.9,91,588,0.00,0.88,0.00,0.000,6,0.000,0.034,1521,3372,2849,0,0,0,0,0,0
$GC,915,-0.57,-90.1,144.5,-13.9,124,916,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3372,2850,0,0,0,0,0,0
$GC,1235,-0.57,-90.1,187.5,-13.3,154,1238,0.00,0.93,0.00,0.000,4,0.000,0.057,1517,3946,2851,0,0,0,0,0,0
$GC,1280,-0.57,-90.1,194.4,-15.0,158,1284,0.00,0.85,0.00,0.000,6,0.000,0.033,1517,3376,2851,0,0,0,0,0,0
$GC,1613,-0.57,-90.1,239.8,-14.1,189,1617,0.00,0.90,0.00,0.000,4,0.000,0.057,1513,3941,2851,0,0,0,0,0,0
$GC,1706,-0.57,-90.1,253.0,-13.5,197,1710,0.00,0.82,0.00,0.000,6,0.000,0.033,1513,3384,2852,0,0,0,0,0,0
$GC,2036,-0.57,-90.1,297.6,-13.5,228,2040,0.00,0.90,0.00,0.000,4,0.000,0.057,1509,3949,2852,0,0,0,0,0,0
$GC,2096,-0.57,-90.1,305.9,-14.4,233,2099,0.00,0.85,0.00,0.000,6,0.000,0.033,1509,3377,2852,0,0,0,0,0,0
$GC,2426,-0.57,-90.1,351.8,-14.2,264,2430,0.00,0.93,0.00,0.000,4,0.000,0.057,1504,3955,2852,0,0,0,0,0,0
$GC,2545,-0.57,-90.1,369.8,-14.9,274,2552,0.08,0.85,0.00,0.000,6,0.161,0.033,1527,3386,2852,0,0,0,0,0,0
$GC,2878,-0.57,-90.1,410.9,-12.3,302,2882,0.00,0.90,0.00,0.000,4,0.000,0.058,1525,3950,2852,0,0,0,0,0,0
$GC,3062,-0.57,-90.1,435.6,-13.4,310,3067,0.00,0.88,0.00,0.000,6,0.000,0.033,1525,3373,2852,0,0,0,0,0,0
$GC,3390,-0.57,-90.1,475.8,-12.4,326,3391,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3372,2852,0,0,0,0,0,0
$GC,3699,-0.57,-90.1,514.8,-12.7,341,3702,0.00,0.93,0.00,0.000,4,0.000,0.059,1521,3952,2851,0,0,0,0,0,0
$GC,3789,-0.57,-90.1,527.5,-14.1,345,3793,0.00,0.85,0.00,0.000,6,0.000,0.034,1521,3384,2851,0,0,0,0,0,0
$GC,4122,-0.57,-90.1,572.0,-13.4,361,4126,0.00,0.90,0.00,0.000,4,0.000,0.059,1516,3947,2850,0,0,0,0,0,0
$GC,4229,-0.57,-90.1,587.8,-14.8,365,4236,0.00,0.85,0.00,0.000,6,0.000,0.034,1516,3383,2850,0,0,0,0,0,0
$GC,4545,-0.57,-90.1,631.8,-13.8,381,4549,0.00,0.90,0.00,0.000,4,0.000,0.060,1512,3945,2849,0,0,0,0,0,0
$GC,4645,-0.57,-90.1,646.6,-14.9,385,4649,0.00,0.88,0.00,0.000,6,0.000,0.034,1512,3374,2849,0,0,0,0,0,0
$GC,4967,-0.57,-90.1,689.8,-13.5,401,4969,0.00,0.00,0.00,0.000,6,0.000,0.000,1512,3373,2849,0,0,0,0,0,0
$GC,5276,-0.57,-90.1,729.5,-12.7,416,5280,0.00,0.93,0.00,0.000,4,0.000,0.060,1508,3948,2848,0,0,0,0,0,0
$GC,5303,-0.57,-90.1,733.3,-13.5,417,5307,0.00,0.85,0.00,0.000,6,0.000,0.035,1508,3384,2848,0,0,0,0,0,0
$GC,5631,-0.57,-90.1,774.5,-12.2,433,5635,0.00,0.90,0.00,0.000,4,0.000,0.060,1504,3943,2847,0,0,0,0,0,0
$GC,5799,-0.57,-90.1,796.2,-13.2,440,5803,0.08,0.85,0.00,0.000,6,0.158,0.035,1527,3385,2846,0,0,0,0,0,0
$GC,6120,-0.57,-90.1,827.9,-9.4,456,6123,0.00,0.90,0.00,0.000,4,0.000,0.060,1524,3944,2846,0,0,0,0,0,0
$GC,6272,-0.57,-90.1,843.4,-10.1,462,6278,0.00,0.88,0.00,0.000,6,0.000,0.036,1525,3370,2846,0,0,0,0,0,0
$GC,6588,-0.57,-90.1,873.9,-9.7,478,6591,0.00,0.93,0.00,0.000,4,0.000,0.061,1520,3944,2845,0,0,0,0,0,0
$GC,6716,-0.57,-90.1,888.1,-10.6,483,6723,0.00,0.85,0.00,0.000,6,0.000,0.036,1520,3383,2845,0,0,0,0,0,0
$GC,7032,-0.57,-90.1,921.1,-11.1,499,7035,0.00,0.90,0.00,0.000,4,0.000,0.061,1516,3941,2845,0,0,0,0,0,0
$GC,7110,-0.57,-90.1,930.4,-11.2,502,7113,0.00,0.85,0.00,0.000,6,0.000,0.036,1516,3382,2845,0,0,0,0,0,0
$GC,7431,-0.57,-90.1,966.3,-10.9,518,7432,0.00,0.00,0.00,0.000,6,0.000,0.000,1516,3381,2844,0,0,0,0,0,0
$STATE,7656,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7656,begin apogee
$GC,7662,-0.09,0.0,990.8,10.6,529,7759,0.57,0.00,90.85,1.851,6,0.148,0.000,1684,3282,2473,0,0,0,0,0,0
$STATE,7760,end apogee,CONTROL_FINISHED_OK
$STATE,7760,begin climb
$GC,7762,0.57,90.1,993.2,0.0,534,7870,0.62,2.47,95.90,1.795,4,0.066,0.029,1913,1870,2105,0,0,0,0,0,0
$GC,7943,0.57,90.1,978.6,12.0,542,7947,0.00,2.45,0.00,0.000,6,0.000,0.050,1913,3282,2099,0,0,0,0,0,0
$GC,8272,0.57,90.1,932.0,14.4,558,8276,0.00,2.22,0.00,0.000,4,0.000,0.031,1924,1865,2094,0,0,0,0,0,0
$GC,8326,0.57,90.1,924.4,12.1,560,8334,0.00,2.35,0.00,0.000,6,0.000,0.050,1924,3283,2092,0,0,0,0,0,0
$GC,8643,0.57,90.1,877.3,15.3,576,8647,0.00,1.10,0.00,0.000,4,0.000,0.059,1924,3958,2091,0,0,0,0,0,0
$GC,8711,0.57,90.1,866.0,17.5,579,8715,0.00,1.05,0.00,0.000,6,0.000,0.034,1929,3270,2091,0,0,0,0,0,0
$GC,9046,0.57,90.1,815.0,15.0,595,9049,0.00,1.12,0.00,0.000,4,0.000,0.057,1929,3962,2090,0,0,0,0,0,0
$GC,9231,0.57,90.1,783.9,16.1,603,9235,0.10,1.02,0.00,0.000,6,0.202,0.034,1907,3289,2089,0,0,0,0,0,0
$GC,9558,0.57,90.1,739.6,13.1,619,9561,0.00,1.08,0.00,0.000,4,0.000,0.058,1907,3956,2088,0,0,0,0,0,0
$GC,9596,0.57,90.1,734.1,13.9,620,9603,0.00,1.05,0.00,0.000,6,0.000,0.034,1911,3274,2087,0,0,0,0,0,0
$GC,9913,0.57,90.1,693.9,12.3,636,9915,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3274,2087,0,0,0,0,0,0
$GC,10222,0.57,90.1,657.4,11.9,651,10226,0.00,2.15,0.00,0.000,4,0.000,0.031,1922,1870,2086,0,0,0,0,0,0
$GC,10306,0.57,90.1,648.4,10.3,655,10311,0.00,2.30,0.00,0.000,6,0.000,0.050,1922,3294,2085,0,0,0,0,0,0
$GC,10633,0.57,90.1,608.8,12.4,671,10635,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3294,2085,0,0,0,0,0,0
$GC,10944,0.57,90.1,571.2,12.4,686,10947,0.00,1.05,0.00,0.000,4,0.000,0.058,1922,3945,2085,0,0,0,0,0,0
$GC,11038,0.57,90.1,557.4,14.4,690,11042,0.00,1.02,0.00,0.000,6,0.000,0.034,1927,3280,2085,0,0,0,0,0,0
$GC,11366,0.57,90.1,515.4,13.1,706,11370,0.00,1.08,0.00,0.000,4,0.000,0.057,1927,3945,2084,0,0,0,0,0,0
$GC,11421,0.57,90.1,507.4,15.1,708,11426,0.00,1.02,0.00,0.000,6,0.000,0.034,1932,3281,2085,0,0,0,0,0,0
$GC,11743,0.57,90.1,465.8,13.1,724,11747,0.00,2.15,0.00,0.000,4,0.000,0.031,1943,1868,2085,0,0,0,0,0,0
$GC,11792,0.57,90.1,460.1,10.5,726,11797,0.12,2.30,0.00,0.000,6,0.161,0.048,1907,3282,2084,0,0,0,0,0,0
$GC,12114,0.57,90.1,424.2,11.1,742,12117,0.00,1.08,0.00,0.000,4,0.000,0.057,1906,3949,2084,0,0,0,0,0,0
$GC,12241,0.57,90.1,408.2,13.0,747,12248,0.00,1.00,0.00,0.000,6,0.000,0.034,1911,3285,2083,0,0,0,0,0,0
$GC,12565,0.57,90.1,375.1,9.9,774,12566,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3285,2083,0,0,0,0,0,0
$GC,12884,0.57,90.1,343.2,10.1,804,12888,0.00,1.08,0.00,0.000,4,0.000,0.057,1910,3954,2084,0,0,0,0,0,0
$GC,12922,0.57,90.1,338.4,12.3,807,12930,0.00,1.05,0.00,0.000,6,0.000,0.034,1915,3271,2083,0,0,0,0,0,0
$GC,13248,0.57,90.1,302.8,11.7,838,13251,0.00,1.10,0.00,0.000,4,0.000,0.057,1915,3949,2083,0,0,0,0,0,0
$GC,13396,0.57,90.1,283.2,13.5,851,13400,0.00,1.00,0.00,0.000,6,0.000,0.034,1920,3287,2083,0,0,0,0,0,0
$GC,13728,0.57,90.1,244.3,11.8,882,13729,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3287,2084,0,0,0,0,0,0
$GC,14046,0.57,90.1,207.6,10.7,912,14050,0.00,1.08,0.00,0.000,4,0.000,0.057,1920,3952,2084,0,0,0,0,0,0
$GC,14188,0.57,90.1,190.3,12.8,924,14197,0.00,1.00,0.00,0.000,6,0.000,0.033,1925,3286,2083,0,0,0,0,0,0
$GC,14512,0.57,90.1,152.6,11.6,955,14516,0.00,2.15,0.00,0.000,4,0.000,0.029,1936,1871,2083,0,0,0,0,0,0
$GC,14555,0.57,90.1,148.1,10.0,958,14563,0.10,2.30,0.00,0.000,6,0.151,0.049,1906,3282,2083,0,0,0,0,0,0
$GC,14884,0.57,95.2,121.4,8.1,989,14888,0.00,2.12,0.00,0.000,4,0.000,0.028,1916,1859,2083,0,0,0,0,0,0
$GC,15097,0.57,102.0,104.5,7.9,1007,15105,0.00,2.33,2.97,0.754,6,0.000,0.049,1916,3290,2056,0,0,0,0,0,0
$GC,15444,0.57,102.0,69.6,9.4,1064,15450,0.00,2.15,0.00,0.000,4,0.000,0.028,1927,1857,2056,0,0,0,0,0,0
$GC,15515,0.58,108.7,63.6,7.9,1076,15523,0.00,2.30,2.97,0.649,6,0.000,0.049,1927,3288,2027,0,0,0,0,0,0
$GC,15874,0.58,112.0,31.8,8.3,1137,15882,0.00,1.05,1.33,0.296,4,0.000,0.053,1927,3955,2014,0,0,0,0,0,0
$STATE,16123,end climb,SURFACE_DEPTH_REACHED
$STATE,16123,begin surface coast
$FINISH,0.8,1.026109
$STATE,16149,end surface coast,CONTROL_FINISHED_OK
$STATE,16149,begin surface
$SM_CCo,16164,45.40,0.776,0,0,1575,220.03
$SM_GC,1.34,0.00,0.00,45.40,0.000,0.000,0.776,61,3382,1575,-5.19,0.06,220.03
$IRIDIUM_FIX,-4244.98,834.03,020214,111109
$TT8_MAMPS,0.026215
$HUMID,63.03
$INTERNAL_PRESSURE,9.56208
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,21.8,51.725
$10V_AH,9.7,41.424
$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,12.950,79.375,194.025,45.400,0.000,31.369,18.673,351.180,0.000,0.000,19.424,2971.633,9820.812,365.899,3303.538,298.061,0.000,1540.114,0.000,2761.132,0.000,1.011,0.000
$DEVICE_MAMPS,237.150,87.975,1851.300,775.710,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,819.604,2027.197,803.501,370.071,0.000,0.000,0.000,0.000,0.000,0.000
$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,83626,1182
$CAP_FILE_SIZE,153753,0
$CFSIZE,259252224,231096320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020214,204958,-4300.768,831.285,39,0.9,40,-25.1