version: 66.07
glider: 543
mission: 9
dive: 211
start: 1 4 114 17 12 30
data:
$ID,543
$MISSION,9
$DIVE,211
$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,350
$T_MISSION,390
$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,225
$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,-13200.107
$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,58
$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,3420
$C_ROLL_CLIMB,3280
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,35
$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
$GPS1,040114,170359,-4259.910,830.183,64,0.8,64,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-65.8
$GPS2,040114,171205,-4259.870,830.178,19,0.9,20,-25.0
$SPEED_LIMITS,0.163,0.235
$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,250.1,340,-27.2,-9.429
$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,-0.50,-57.7,0.0,0.0,0,59,0.00,0.00,-42.28,0.000,2,0.000,0.000,79,3442,2494,0,0,0,0,0,0
$GC,61,-0.53,-98.9,3.2,-4.9,5,88,6.07,2.25,-10.98,0.000,4,0.236,0.045,1539,2008,2877,0,0,0,0,0,0
$GC,139,-0.53,-98.9,15.1,-16.8,16,148,0.00,2.33,0.00,0.000,6,0.000,0.054,1530,3411,2880,0,0,0,0,0,0
$GC,200,-0.53,-98.9,24.5,-17.1,25,206,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3412,2880,0,0,0,0,0,0
$GC,345,-0.53,-98.9,50.6,-17.4,50,352,0.00,2.15,0.00,0.000,4,0.000,0.029,1530,1994,2880,0,0,0,0,0,0
$GC,377,-0.53,-98.9,55.6,-16.6,55,384,0.00,2.33,0.00,0.000,6,0.000,0.052,1519,3429,2880,0,0,0,0,0,0
$GC,721,-0.53,-98.9,107.5,-13.8,111,725,0.00,2.17,0.00,0.000,4,0.000,0.028,1519,1987,2881,0,0,0,0,0,0
$GC,752,-0.53,-98.9,111.1,-13.3,113,757,0.15,2.33,0.00,0.000,6,0.158,0.051,1547,3423,2882,0,0,0,0,0,0
$GC,1076,-0.53,-98.9,149.5,-11.9,143,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,3423,2883,0,0,0,0,0,0
$GC,1398,-0.53,-98.9,188.1,-12.5,173,1402,0.00,2.15,0.00,0.000,4,0.000,0.029,1547,1990,2883,0,0,0,0,0,0
$GC,1430,-0.53,-98.9,192.4,-10.4,175,1438,0.00,2.33,0.00,0.000,6,0.000,0.051,1538,3420,2884,0,0,0,0,0,0
$GC,1756,-0.53,-98.9,233.4,-13.0,206,1760,0.00,2.17,0.00,0.000,4,0.000,0.031,1538,1990,2884,0,0,0,0,0,0
$GC,1777,-0.53,-98.9,236.0,-12.2,207,1784,0.00,2.30,0.00,0.000,6,0.000,0.053,1527,3424,2884,0,0,0,0,0,0
$GC,2102,-0.53,-98.9,281.4,-14.9,238,2105,0.00,0.82,0.00,0.000,4,0.000,0.060,1523,3943,2884,0,0,0,0,0,0
$GC,2148,-0.53,-98.9,288.2,-15.5,242,2151,0.00,0.77,0.00,0.000,6,0.000,0.037,1523,3425,2883,0,0,0,0,0,0
$GC,2480,-0.53,-98.9,336.7,-14.8,273,2484,0.00,2.12,0.00,0.000,4,0.000,0.029,1523,1992,2883,0,0,0,0,0,0
$GC,2511,-0.53,-98.9,341.6,-12.3,275,2520,0.10,2.33,0.00,0.000,6,0.138,0.052,1543,3418,2884,0,0,0,0,0,0
$GC,2837,-0.53,-98.9,382.5,-12.8,306,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,1543,3419,2884,0,0,0,0,0,0
$GC,3151,-0.53,-98.9,420.5,-11.9,328,3155,0.00,2.15,0.00,0.000,4,0.000,0.032,1543,1989,2884,0,0,0,0,0,0
$GC,3190,-0.53,-98.9,424.8,-9.7,330,3194,0.00,2.33,0.00,0.000,6,0.000,0.054,1534,3429,2884,0,0,0,0,0,0
$GC,3516,-0.53,-98.9,464.7,-12.3,346,3517,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3429,2883,0,0,0,0,0,0
$GC,3825,-0.53,-98.9,504.3,-13.0,361,3827,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3429,2883,0,0,0,0,0,0
$GC,4134,-0.53,-98.9,544.9,-13.1,376,4138,0.00,2.17,0.00,0.000,4,0.000,0.034,1534,1994,2883,0,0,0,0,0,0
$GC,4174,-0.53,-98.9,549.5,-10.9,378,4178,0.00,2.33,0.00,0.000,6,0.000,0.057,1523,3424,2883,0,0,0,0,0,0
$GC,4500,-0.53,-98.9,593.5,-13.7,394,4504,0.00,2.15,0.00,0.000,4,0.000,0.034,1523,1999,2882,0,0,0,0,0,0
$GC,4517,-0.53,-98.9,595.8,-13.6,395,4522,0.12,2.30,0.00,0.000,6,0.162,0.057,1544,3427,2882,0,0,0,0,0,0
$GC,4849,-0.53,-98.9,633.0,-11.1,411,4850,0.00,0.00,0.00,0.000,6,0.000,0.000,1544,3428,2881,0,0,0,0,0,0
$GC,5159,-0.53,-98.9,665.7,-10.2,426,5160,0.00,0.00,0.00,0.000,6,0.000,0.000,1544,3427,2881,0,0,0,0,0,0
$GC,5469,-0.53,-98.9,697.0,-10.2,441,5470,0.00,0.00,0.00,0.000,6,0.000,0.000,1544,3427,2881,0,0,0,0,0,0
$GC,5777,-0.53,-98.9,726.9,-9.5,456,5781,0.00,2.20,0.00,0.000,4,0.000,0.035,1544,1996,2880,0,0,0,0,0,0
$GC,5820,-0.54,-113.7,730.6,-7.8,458,5824,0.00,2.33,0.00,0.000,6,0.000,0.058,1534,3424,2880,0,0,0,0,0,0
$GC,6149,-0.54,-113.7,762.8,-10.1,474,6150,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3424,2879,0,0,0,0,0,0
$GC,6457,-0.54,-113.7,794.0,-10.0,489,6458,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3424,2879,0,0,0,0,0,0
$GC,6766,-0.54,-113.7,825.0,-9.8,504,6767,0.00,0.00,0.00,0.000,6,0.000,0.000,1535,3424,2878,0,0,0,0,0,0
$GC,7075,-0.54,-113.7,856.6,-10.2,519,7079,0.00,2.17,0.00,0.000,4,0.000,0.036,1534,1997,2878,0,0,0,0,0,0
$GC,7096,-0.54,-113.7,859.0,-11.1,520,7100,0.00,2.35,0.00,0.000,6,0.000,0.058,1524,3423,2878,0,0,0,0,0,0
$GC,7425,-0.54,-113.7,896.2,-11.6,536,7426,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3423,2877,0,0,0,0,0,0
$GC,7732,-0.54,-113.7,931.8,-11.4,551,7736,0.00,2.17,0.00,0.000,4,0.000,0.036,1524,1993,2877,0,0,0,0,0,0
$GC,7759,-0.54,-113.7,934.9,-11.2,552,7764,0.08,2.35,0.00,0.000,6,0.138,0.059,1538,3416,2877,0,0,0,0,0,0
$GC,8080,-0.54,-113.7,966.2,-10.1,568,8084,0.00,0.85,0.00,0.000,4,0.000,0.067,1535,3943,2877,0,0,0,0,0,0
$GC,8125,-0.54,-113.7,971.0,-10.6,570,8129,0.00,0.80,0.00,0.000,6,0.000,0.041,1535,3422,2877,0,0,0,0,0,0
$STATE,8311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8312,begin apogee
$GC,8316,-0.09,0.0,990.5,10.3,579,8416,0.52,0.00,96.07,1.874,6,0.153,0.000,1688,3276,2473,0,0,0,0,0,0
$STATE,8416,end apogee,CONTROL_FINISHED_OK
$STATE,8416,begin climb
$GC,8418,0.54,113.7,993.0,0.0,584,8538,0.60,0.00,116.47,1.819,6,0.060,0.000,1896,3276,2009,0,0,0,0,0,0
$GC,8846,0.54,113.7,938.8,15.4,605,8849,0.00,1.15,0.00,0.000,4,0.000,0.060,1896,3953,1998,0,0,0,0,0,0
$GC,8906,0.54,113.7,928.1,17.9,607,8914,0.00,1.10,0.00,0.000,6,0.000,0.035,1901,3269,1998,0,0,0,0,0,0
$GC,9223,0.54,113.7,877.5,15.7,623,9226,0.00,1.12,0.00,0.000,4,0.000,0.059,1901,3951,1995,0,0,0,0,0,0
$GC,9271,0.54,113.7,868.6,18.5,625,9277,0.00,1.08,0.00,0.000,6,0.000,0.037,1906,3271,1994,0,0,0,0,0,0
$GC,9599,0.54,113.7,815.2,16.2,641,9603,0.00,1.12,0.00,0.000,4,0.000,0.060,1906,3957,1993,0,0,0,0,0,0
$GC,9705,0.54,113.7,796.1,18.6,645,9712,0.00,1.05,0.00,0.000,6,0.000,0.036,1911,3280,1993,0,0,0,0,0,0
$GC,10023,0.54,113.7,747.7,14.8,661,10027,0.00,1.10,0.00,0.000,4,0.000,0.060,1911,3958,1992,0,0,0,0,0,0
$GC,10106,0.54,113.7,733.5,17.0,664,10114,0.00,1.08,0.00,0.000,6,0.000,0.037,1917,3270,1992,0,0,0,0,0,0
$GC,10422,0.54,113.7,686.0,15.2,680,10426,0.00,1.12,0.00,0.000,4,0.000,0.060,1917,3956,1991,0,0,0,0,0,0
$GC,10471,0.54,113.7,677.5,17.3,682,10476,0.00,1.08,0.00,0.000,6,0.000,0.036,1922,3268,1990,0,0,0,0,0,0
$GC,10801,0.54,113.7,627.2,14.9,698,10805,0.00,1.12,0.00,0.000,4,0.000,0.060,1922,3955,1990,0,0,0,0,0,0
$GC,11049,0.54,113.7,584.9,16.4,709,11053,0.10,1.02,0.00,0.000,6,0.200,0.037,1900,3283,1990,0,0,0,0,0,0
$GC,11383,0.54,113.7,541.1,12.7,725,11386,0.00,1.10,0.00,0.000,4,0.000,0.060,1900,3958,1989,0,0,0,0,0,0
$GC,11460,0.54,113.7,529.7,14.3,728,11464,0.00,1.08,0.00,0.000,6,0.000,0.037,1904,3268,1989,0,0,0,0,0,0
$GC,11782,0.54,113.7,488.5,13.0,744,11786,0.00,1.12,0.00,0.000,4,0.000,0.059,1904,3958,1989,0,0,0,0,0,0
$GC,11820,0.54,113.7,483.0,14.6,745,11827,0.00,1.02,0.00,0.000,6,0.000,0.037,1909,3286,1989,0,0,0,0,0,0
$GC,12136,0.54,113.7,440.3,13.5,761,12140,0.00,1.08,0.00,0.000,4,0.000,0.060,1909,3952,1989,0,0,0,0,0,0
$GC,12316,0.54,113.7,412.0,15.6,769,12320,0.00,1.02,0.00,0.000,6,0.000,0.036,1915,3277,1989,0,0,0,0,0,0
$GC,12645,0.54,113.7,364.0,14.7,796,12649,0.00,1.10,0.00,0.000,4,0.000,0.059,1914,3958,1989,0,0,0,0,0,0
$GC,12669,0.54,113.7,360.4,14.4,798,12672,0.00,1.02,0.00,0.000,6,0.000,0.037,1919,3286,1989,0,0,0,0,0,0
$GC,13001,0.54,113.7,310.9,15.3,829,13005,0.00,1.08,0.00,0.000,4,0.000,0.060,1919,3951,1989,0,0,0,0,0,0
$GC,13080,0.54,113.7,297.8,15.6,836,13085,0.10,1.02,0.00,0.000,6,0.197,0.037,1897,3272,1989,0,0,0,0,0,0
$GC,13411,0.54,113.7,254.3,12.6,867,13414,0.00,1.10,0.00,0.000,4,0.000,0.059,1897,3954,1988,0,0,0,0,0,0
$GC,13673,0.54,113.7,216.3,14.2,890,13677,0.00,1.02,0.00,0.000,6,0.000,0.036,1900,3276,1988,0,0,0,0,0,0
$GC,14005,0.54,113.7,171.6,13.4,921,14009,0.00,1.10,0.00,0.000,4,0.000,0.060,1901,3954,1988,0,0,0,0,0,0
$GC,14073,0.54,113.7,161.1,14.6,927,14077,0.00,1.02,0.00,0.000,6,0.000,0.036,1906,3279,1988,0,0,0,0,0,0
$GC,14403,0.54,113.7,114.1,14.3,958,14407,0.00,1.10,0.00,0.000,4,0.000,0.060,1906,3958,1988,0,0,0,0,0,0
$GC,14449,0.54,113.7,107.0,16.3,962,14452,0.00,1.02,0.00,0.000,6,0.000,0.036,1911,3279,1988,0,0,0,0,0,0
$GC,14796,0.54,113.7,60.0,13.1,1018,14802,0.00,1.10,0.00,0.000,4,0.000,0.060,1911,3957,1988,0,0,0,0,0,0
$GC,15017,0.54,113.7,33.9,12.6,1056,15026,0.00,1.02,0.00,0.000,6,0.000,0.036,1917,3280,1988,0,0,0,0,0,0
$GC,15170,0.54,113.7,17.5,11.2,1081,15178,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3280,1988,0,0,0,0,0,0
$GC,15230,0.54,114.0,11.2,9.4,1090,15239,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3280,1988,0,0,0,0,0,0
$GC,15290,0.54,114.0,4.4,12.2,1099,15298,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3281,1988,0,0,0,0,0,0
$STATE,15305,end climb,SURFACE_DEPTH_REACHED
$STATE,15305,begin surface coast
$FINISH,0.7,1.026286
$STATE,15337,end surface coast,CONTROL_FINISHED_OK
$STATE,15337,begin surface
$SM_CCo,15350,44.92,0.785,0,0,1554,225.18
$SM_GC,1.32,0.00,0.00,44.92,0.000,0.000,0.785,48,3438,1554,-5.23,0.51,225.18
$IRIDIUM_FIX,-4242.04,833.59,040114,121247
$TT8_MAMPS,0.026215
$HUMID,62.16
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.3,31.705
$10V_AH,9.9,23.184
$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,12.850,89.950,212.550,44.925,0.000,25.814,19.936,309.041,0.000,0.000,21.850,2761.439,9570.608,397.059,2910.662,239.900,0.000,1449.767,0.000,2436.863,0.000,1.894,0.000
$DEVICE_MAMPS,236.385,74.970,1874.250,784.890,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,767.678,1904.183,735.886,364.413,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354368
$DATA_FILE_SIZE,77018,1106
$CAP_FILE_SIZE,143559,0
$CFSIZE,259252224,243359744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040114,213004,-4300.936,828.956,24,1.1,24,-25.0