version: 66.07
glider: 543
mission: 9
dive: 20
start: 12 4 113 1 33 7
data:
$ID,543
$MISSION,9
$DIVE,20
$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,400
$T_MISSION,470
$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,150
$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,210
$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,-12462.521
$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,1685
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,42
$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,3240
$C_ROLL_CLIMB,3110
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,20
$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
$DEVICE3,35
$DEVICE4,-1
$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
$GPS1,041213,011805,-4251.428,852.002,26,0.9,26,-25.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-51.7
$GPS2,041213,013243,-4251.188,852.142,15,1.1,16,-25.2
$SPEED_LIMITS,0.143,0.243
$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,266.6,34144,-14.5,-8.250
$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,12,begin dive
$GC,14,-0.44,-146.1,0.0,0.0,0,96,0.00,0.00,-79.88,0.000,2,0.000,0.000,64,3138,2902,0,0,0,0,0,0
$GC,98,-0.44,-146.1,3.4,-4.6,10,115,5.80,0.00,-3.95,0.000,6,0.223,0.000,1534,3138,3069,0,0,0,0,0,0
$GC,165,-0.44,-146.1,19.6,-20.0,20,173,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3138,3072,0,0,0,0,0,0
$GC,221,-0.44,-146.1,28.8,-15.5,29,227,0.00,1.35,0.00,0.000,4,0.000,0.065,1529,3953,3072,0,0,0,0,0,0
$GC,281,-0.44,-146.1,40.2,-18.6,39,290,0.00,1.10,0.00,0.000,6,0.000,0.041,1529,3251,3072,0,0,0,0,0,0
$GC,633,-0.44,-146.1,97.0,-15.5,100,639,0.00,2.20,0.00,0.000,4,0.000,0.040,1529,1818,3072,0,0,0,0,0,0
$GC,670,-0.44,-146.1,102.4,-13.8,105,674,0.00,2.33,0.00,0.000,6,0.000,0.057,1519,3247,3072,0,0,0,0,0,0
$GC,994,-0.44,-146.1,153.2,-15.5,135,997,0.00,1.12,0.00,0.000,4,0.000,0.063,1513,3944,3072,0,0,0,0,0,0
$GC,1218,-0.44,-146.1,191.0,-17.2,155,1222,0.00,1.08,0.00,0.000,6,0.000,0.039,1513,3241,3072,0,0,0,0,0,0
$GC,1548,-0.44,-146.1,242.8,-16.2,186,1552,0.10,1.15,0.00,0.000,4,0.190,0.063,1534,3943,3072,0,0,0,0,0,0
$GC,1695,-0.44,-146.1,264.1,-14.0,199,1698,0.00,1.08,0.00,0.000,6,0.000,0.040,1533,3241,3073,0,0,0,0,0,0
$GC,2025,-0.44,-146.1,308.5,-13.7,230,2028,0.00,1.15,0.00,0.000,4,0.000,0.066,1528,3953,3073,0,0,0,0,0,0
$GC,2126,-0.44,-146.1,323.8,-15.3,239,2130,0.00,1.10,0.00,0.000,6,0.000,0.041,1528,3234,3073,0,0,0,0,0,0
$GC,2456,-0.44,-146.1,373.6,-15.1,270,2460,0.00,1.15,0.00,0.000,4,0.000,0.067,1523,3945,3073,0,0,0,0,0,0
$GC,2512,-0.44,-146.1,382.7,-15.9,275,2516,0.00,1.08,0.00,0.000,6,0.000,0.041,1523,3243,3073,0,0,0,0,0,0
$GC,2836,-0.44,-146.1,432.2,-15.1,296,2839,0.00,1.15,0.00,0.000,4,0.000,0.067,1518,3954,3073,0,0,0,0,0,0
$GC,2957,-0.44,-146.1,452.3,-15.6,301,2962,0.00,1.12,0.00,0.000,6,0.000,0.041,1518,3229,3073,0,0,0,0,0,0
$GC,3279,-0.44,-146.1,500.8,-15.0,317,3283,0.00,1.17,0.00,0.000,4,0.000,0.067,1513,3953,3073,0,0,0,0,0,0
$GC,3436,-0.44,-146.1,526.3,-16.2,324,3440,0.08,1.10,0.00,0.000,6,0.172,0.041,1535,3238,3072,0,0,0,0,0,0
$GC,3769,-0.44,-146.1,569.7,-12.9,340,3773,0.00,1.15,0.00,0.000,4,0.000,0.067,1531,3952,3072,0,0,0,0,0,0
$GC,3840,-0.44,-146.1,579.8,-13.2,343,3845,0.00,1.12,0.00,0.000,6,0.000,0.041,1530,3226,3072,0,0,0,0,0,0
$GC,4168,-0.44,-146.1,621.0,-12.6,359,4171,0.00,1.17,0.00,0.000,4,0.000,0.067,1525,3951,3072,0,0,0,0,0,0
$GC,4272,-0.44,-146.1,636.4,-14.1,363,4280,0.00,1.10,0.00,0.000,6,0.000,0.041,1525,3242,3071,0,0,0,0,0,0
$GC,4590,-0.44,-146.1,678.4,-13.2,379,4593,0.00,1.15,0.00,0.000,4,0.000,0.068,1520,3954,3071,0,0,0,0,0,0
$GC,4680,-0.44,-146.1,691.7,-15.0,383,4684,0.00,1.10,0.00,0.000,6,0.000,0.043,1520,3238,3071,0,0,0,0,0,0
$GC,5012,-0.44,-146.1,737.5,-13.5,399,5015,0.00,1.15,0.00,0.000,4,0.000,0.068,1515,3949,3070,0,0,0,0,0,0
$GC,5102,-0.44,-146.1,750.5,-14.1,403,5105,0.00,1.08,0.00,0.000,6,0.000,0.044,1515,3247,3069,0,0,0,0,0,0
$GC,5433,-0.44,-146.1,796.4,-13.4,419,5437,0.00,1.12,0.00,0.000,4,0.000,0.069,1510,3943,3069,0,0,0,0,0,0
$GC,5504,-0.44,-146.1,807.4,-15.2,422,5510,0.12,1.10,0.00,0.000,6,0.190,0.043,1540,3238,3069,0,0,0,0,0,0
$GC,5831,-0.44,-146.1,844.2,-11.1,438,5835,0.00,1.15,0.00,0.000,4,0.000,0.068,1536,3950,3068,0,0,0,0,0,0
$GC,5966,-0.44,-146.1,860.7,-12.6,444,5969,0.00,1.10,0.00,0.000,6,0.000,0.044,1536,3237,3068,0,0,0,0,0,0
$GC,6298,-0.44,-146.1,900.1,-11.8,460,6301,0.00,1.15,0.00,0.000,4,0.000,0.070,1531,3946,3067,0,0,0,0,0,0
$GC,6368,-0.44,-146.1,909.5,-12.4,463,6373,0.00,1.12,0.00,0.000,6,0.000,0.043,1531,3226,3067,0,0,0,0,0,0
$GC,6696,-0.44,-146.1,947.2,-11.4,479,6699,0.00,1.17,0.00,0.000,4,0.000,0.070,1525,3950,3066,0,0,0,0,0,0
$GC,6834,-0.44,-146.1,964.1,-11.6,485,6839,0.00,1.10,0.00,0.000,6,0.000,0.044,1525,3244,3067,0,0,0,0,0,0
$STATE,7078,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7078,begin apogee
$GC,7081,-0.12,0.0,991.7,11.1,497,7223,0.40,0.00,138.80,1.857,6,0.154,0.000,1645,3100,2473,0,0,0,0,0,0
$STATE,7224,end apogee,CONTROL_FINISHED_OK
$STATE,7224,begin climb
$GC,7226,0.44,146.1,996.0,0.0,504,7377,0.57,2.50,141.70,1.796,4,0.115,0.042,1830,1698,1877,0,0,0,0,0,0
$GC,7449,0.44,146.1,979.1,9.8,514,7454,0.00,2.50,0.00,0.000,6,0.000,0.057,1830,3108,1873,0,0,0,0,0,0
$GC,7772,0.44,146.1,942.5,11.5,530,7776,0.00,1.42,0.00,0.000,4,0.000,0.067,1830,3949,1867,0,0,0,0,0,0
$GC,7863,0.44,146.1,930.5,13.5,534,7866,0.00,1.35,0.00,0.000,6,0.000,0.042,1836,3106,1866,0,0,0,0,0,0
$GC,8194,0.44,146.1,893.1,10.8,550,8198,0.00,1.40,0.00,0.000,4,0.000,0.067,1836,3943,1865,0,0,0,0,0,0
$GC,8271,0.44,146.1,883.5,12.6,553,8276,0.00,1.35,0.00,0.000,6,0.000,0.041,1843,3098,1864,0,0,0,0,0,0
$GC,8594,0.44,146.1,848.0,10.9,569,8598,0.00,1.42,0.00,0.000,4,0.000,0.067,1843,3955,1863,0,0,0,0,0,0
$GC,8721,0.44,146.1,831.0,13.6,574,8730,0.00,1.35,0.00,0.000,6,0.000,0.041,1849,3103,1863,0,0,0,0,0,0
$GC,9039,0.44,146.1,793.0,12.3,590,9043,0.00,1.40,0.00,0.000,4,0.000,0.067,1849,3952,1863,0,0,0,0,0,0
$GC,9088,0.44,146.1,785.9,14.1,592,9093,0.00,1.33,0.00,0.000,6,0.000,0.041,1855,3108,1863,0,0,0,0,0,0
$GC,9416,0.44,146.1,744.7,12.3,608,9417,0.00,0.00,0.00,0.000,6,0.000,0.000,1855,3108,1862,0,0,0,0,0,0
$GC,9726,0.44,146.1,706.1,12.3,623,9730,0.00,1.38,0.00,0.000,4,0.000,0.067,1855,3948,1862,0,0,0,0,0,0
$GC,9809,0.44,146.1,693.9,14.6,626,9817,0.12,1.33,0.00,0.000,6,0.210,0.042,1832,3104,1862,0,0,0,0,0,0
$GC,10125,0.44,146.1,661.4,10.0,642,10129,0.00,1.38,0.00,0.000,4,0.000,0.067,1832,3942,1861,0,0,0,0,0,0
$GC,10202,0.44,146.1,652.5,11.7,645,10207,0.00,1.30,0.00,0.000,6,0.000,0.042,1837,3112,1861,0,0,0,0,0,0
$GC,10524,0.44,146.1,617.7,10.8,661,10527,0.00,1.38,0.00,0.000,4,0.000,0.067,1837,3952,1861,0,0,0,0,0,0
$GC,10572,0.44,146.1,611.5,13.1,663,10577,0.00,1.33,0.00,0.000,6,0.000,0.042,1844,3106,1861,0,0,0,0,0,0
$GC,10900,0.44,146.1,572.4,12.4,679,10901,0.00,0.00,0.00,0.000,6,0.000,0.000,1844,3106,1860,0,0,0,0,0,0
$GC,11209,0.44,146.1,535.1,12.0,694,11213,0.00,1.38,0.00,0.000,4,0.000,0.067,1844,3946,1860,0,0,0,0,0,0
$GC,11302,0.44,146.1,522.1,14.5,698,11307,0.00,1.33,0.00,0.000,6,0.000,0.042,1850,3103,1860,0,0,0,0,0,0
$GC,11629,0.44,146.1,482.2,11.9,714,11633,0.00,1.38,0.00,0.000,4,0.000,0.066,1850,3945,1860,0,0,0,0,0,0
$GC,11774,0.44,146.1,461.8,13.0,720,11779,0.08,1.30,0.00,0.000,6,0.190,0.041,1834,3106,1860,0,0,0,0,0,0
$GC,12095,0.44,146.1,429.0,10.0,736,12098,0.00,1.38,0.00,0.000,4,0.000,0.068,1834,3951,1859,0,0,0,0,0,0
$GC,12139,0.44,146.1,424.1,11.9,738,12143,0.00,1.30,0.00,0.000,6,0.000,0.042,1839,3108,1859,0,0,0,0,0,0
$GC,12465,0.44,146.1,391.4,10.2,757,12469,0.00,1.38,0.00,0.000,4,0.000,0.067,1839,3952,1859,0,0,0,0,0,0
$GC,12547,0.44,146.1,381.6,11.8,764,12557,0.00,1.33,0.00,0.000,6,0.000,0.041,1846,3103,1859,0,0,0,0,0,0
$GC,12873,0.44,146.1,349.1,10.3,795,12874,0.00,0.00,0.00,0.000,6,0.000,0.000,1845,3103,1859,0,0,0,0,0,0
$GC,13194,0.44,146.1,316.8,9.5,825,13198,0.00,1.38,0.00,0.000,4,0.000,0.068,1846,3944,1860,0,0,0,0,0,0
$GC,13254,0.44,146.1,309.2,12.9,830,13262,0.00,1.30,0.00,0.000,6,0.000,0.041,1852,3108,1860,0,0,0,0,0,0
$GC,13582,0.44,146.1,272.6,11.4,861,13585,0.00,1.38,0.00,0.000,4,0.000,0.067,1852,3952,1860,0,0,0,0,0,0
$GC,13642,0.44,146.1,264.3,13.3,866,13650,0.12,1.33,0.00,0.000,6,0.200,0.041,1828,3099,1859,0,0,0,0,0,0
$GC,13970,0.44,146.1,232.9,9.5,897,13973,0.00,1.38,0.00,0.000,4,0.000,0.067,1828,3947,1859,0,0,0,0,0,0
$GC,14026,0.44,146.1,226.6,11.3,902,14030,0.00,1.27,0.00,0.000,6,0.000,0.041,1833,3112,1859,0,0,0,0,0,0
$GC,14358,0.44,146.1,193.5,9.8,933,14359,0.00,0.00,0.00,0.000,6,0.000,0.000,1833,3111,1860,0,0,0,0,0,0
$GC,14675,0.44,146.1,163.4,8.9,963,14678,0.00,1.35,0.00,0.000,4,0.000,0.066,1833,3946,1860,0,0,0,0,0,0
$GC,14734,0.44,146.1,156.6,11.2,968,14745,0.00,1.30,0.00,0.000,6,0.000,0.040,1839,3107,1860,0,0,0,0,0,0
$GC,15060,0.44,146.1,124.8,9.9,999,15063,0.00,1.38,0.00,0.000,4,0.000,0.066,1839,3955,1860,0,0,0,0,0,0
$GC,15162,0.44,146.1,113.0,11.2,1008,15165,0.00,1.30,0.00,0.000,6,0.000,0.040,1846,3102,1860,0,0,0,0,0,0
$GC,15500,0.44,146.1,75.8,10.6,1058,15507,0.00,1.38,0.00,0.000,4,0.000,0.065,1846,3952,1860,0,0,0,0,0,0
$GC,15634,0.44,146.1,61.1,11.0,1081,15641,0.00,1.27,0.00,0.000,6,0.000,0.039,1852,3109,1860,0,0,0,0,0,0
$GC,15983,0.44,146.1,27.7,12.2,1142,15991,0.00,0.00,0.00,0.000,6,0.000,0.000,1852,3109,1860,0,0,0,0,0,0
$GC,16134,0.44,146.1,9.7,9.1,1167,16143,0.00,2.17,0.00,0.000,4,0.000,0.037,1863,1696,1860,0,0,0,0,0,0
$GC,16216,0.45,166.0,4.6,7.5,1180,16234,0.10,2.30,6.43,0.707,6,0.155,0.055,1831,3119,1792,0,0,0,0,0,0
$STATE,16241,end climb,SURFACE_DEPTH_REACHED
$STATE,16241,begin surface coast
$FINISH,0.6,1.026566
$STATE,16291,end surface coast,CONTROL_FINISHED_OK
$STATE,16291,begin surface
$SM_CCo,16302,17.08,0.770,0,0,1615,210.22
$SM_GC,2.51,0.00,0.00,17.08,0.000,0.000,0.770,71,3251,1615,-5.04,0.34,210.22
$IRIDIUM_FIX,-4236.17,841.87,041213,010120
$TT8_MAMPS,0.026215
$HUMID,61.38
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,22.8,4.060
$10V_AH,10.2,2.938
$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,12.150,94.200,286.925,17.075,0.000,78.854,153.986,390.112,0.000,0.000,19.156,2990.695,9965.287,443.815,3634.609,161.045,0.000,1699.108,0.000,2859.217,0.000,1.014,0.000
$DEVICE_MAMPS,223.380,87.975,1857.420,770.355,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,824.828,2071.768,839.005,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355224
$DATA_FILE_SIZE,80269,1191
$CAP_FILE_SIZE,163349,0
$CFSIZE,259252224,256942080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,041213,060626,-4251.229,851.196,25,4.3,44,-25.2