version: 66.07
glider: 543
mission: 9
dive: 217
start: 1 5 114 19 24 1
data:
$ID,543
$MISSION,9
$DIVE,217
$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,-13220.366
$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,43
$R_STBD_OVSHOOT,41
$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
$GPS1,050114,191504,-4259.554,831.432,59,0.9,59,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-66.7
$GPS2,050114,192336,-4259.562,831.533,18,1.0,19,-25.1
$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,273.8,2229,-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,-42.40,0.000,2,0.000,0.000,48,3437,2513,0,0,0,0,0,0
$GC,61,-0.52,-87.8,3.2,-6.1,5,80,6.18,0.82,-9.00,0.000,4,0.233,0.097,1539,3928,2834,0,0,0,0,0,0
$GC,347,-0.52,-87.8,52.1,-17.8,52,355,0.00,0.77,0.00,0.000,6,0.000,0.036,1539,3420,2838,0,0,0,0,0,0
$GC,704,-0.52,-87.8,102.1,-13.5,113,705,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,3419,2840,0,0,0,0,0,0
$GC,1020,-0.52,-87.8,146.1,-14.3,143,1024,0.00,2.15,0.00,0.000,4,0.000,0.030,1539,1997,2841,0,0,0,0,0,0
$GC,1059,-0.52,-87.8,151.2,-11.9,146,1063,0.00,2.28,0.00,0.000,6,0.000,0.051,1528,3412,2841,0,0,0,0,0,0
$GC,1384,-0.52,-87.8,198.7,-14.4,176,1387,0.00,0.85,0.00,0.000,4,0.000,0.058,1524,3943,2842,0,0,0,0,0,0
$GC,1474,-0.52,-87.8,213.1,-16.0,184,1478,0.00,0.77,0.00,0.000,6,0.000,0.036,1524,3423,2842,0,0,0,0,0,0
$GC,1804,-0.52,-87.8,262.2,-14.2,215,1808,0.00,2.12,0.00,0.000,4,0.000,0.029,1524,1996,2842,0,0,0,0,0,0
$GC,1846,-0.52,-87.8,268.0,-12.0,218,1855,0.10,2.30,0.00,0.000,6,0.138,0.051,1545,3416,2842,0,0,0,0,0,0
$GC,2175,-0.52,-87.8,307.7,-12.3,249,2178,0.00,0.85,0.00,0.000,4,0.000,0.060,1542,3953,2842,0,0,0,0,0,0
$GC,2257,-0.52,-87.8,319.4,-13.0,256,2267,0.00,0.82,0.00,0.000,6,0.000,0.035,1542,3410,2842,0,0,0,0,0,0
$GC,2583,-0.52,-87.8,359.5,-11.9,287,2584,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,3410,2842,0,0,0,0,0,0
$GC,2905,-0.52,-87.8,398.0,-12.5,317,2908,0.00,0.88,0.00,0.000,4,0.000,0.060,1538,3956,2842,0,0,0,0,0,0
$GC,2973,-0.52,-87.8,407.7,-13.9,321,2976,0.00,0.80,0.00,0.000,6,0.000,0.037,1538,3426,2842,0,0,0,0,0,0
$GC,3306,-0.52,-87.8,450.8,-13.0,337,3310,0.00,2.12,0.00,0.000,4,0.000,0.031,1539,1990,2842,0,0,0,0,0,0
$GC,3338,-0.52,-87.8,455.2,-12.2,338,3346,0.00,2.33,0.00,0.000,6,0.000,0.053,1527,3424,2842,0,0,0,0,0,0
$GC,3654,-0.52,-87.8,497.2,-13.5,354,3656,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3424,2841,0,0,0,0,0,0
$GC,3965,-0.52,-87.8,537.1,-12.5,369,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3424,2841,0,0,0,0,0,0
$GC,4274,-0.52,-87.8,573.8,-11.7,384,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3424,2841,0,0,0,0,0,0
$GC,4583,-0.52,-87.8,610.6,-11.8,399,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3424,2840,0,0,0,0,0,0
$GC,4892,-0.52,-87.8,646.2,-11.8,414,4895,0.00,0.85,0.00,0.000,4,0.000,0.060,1523,3957,2839,0,0,0,0,0,0
$GC,4947,-0.52,-87.8,653.3,-13.2,416,4951,0.00,0.82,0.00,0.000,6,0.000,0.037,1523,3416,2839,0,0,0,0,0,0
$GC,5268,-0.52,-87.8,692.0,-12.4,432,5272,0.00,0.85,0.00,0.000,4,0.000,0.061,1520,3949,2839,0,0,0,0,0,0
$GC,5300,-0.52,-87.8,696.5,-13.7,433,5306,0.12,0.82,0.00,0.000,6,0.180,0.038,1549,3414,2838,0,0,0,0,0,0
$GC,5622,-0.52,-87.8,729.4,-10.0,449,5626,0.00,0.88,0.00,0.000,4,0.000,0.062,1547,3958,2838,0,0,0,0,0,0
$GC,5690,-0.52,-87.8,736.6,-11.3,452,5693,0.00,0.80,0.00,0.000,6,0.000,0.039,1546,3429,2838,0,0,0,0,0,0
$GC,6022,-0.52,-88.7,769.0,-9.3,468,6026,0.00,2.15,0.00,0.000,4,0.000,0.032,1547,1994,2837,0,0,0,0,0,0
$GC,6049,-0.52,-88.7,771.5,-9.4,469,6053,0.00,2.33,0.00,0.000,6,0.000,0.054,1536,3422,2837,0,0,0,0,0,0
$GC,6371,-0.52,-88.7,803.0,-10.1,485,6374,0.00,0.85,0.00,0.000,4,0.000,0.062,1532,3953,2836,0,0,0,0,0,0
$GC,6476,-0.52,-88.7,815.0,-11.4,489,6484,0.00,0.82,0.00,0.000,6,0.000,0.038,1532,3416,2836,0,0,0,0,0,0
$GC,6792,-0.52,-88.7,847.9,-10.4,505,6796,0.00,0.85,0.00,0.000,4,0.000,0.063,1528,3947,2836,0,0,0,0,0,0
$GC,6830,-0.52,-88.7,852.3,-12.5,506,6838,0.00,0.82,0.00,0.000,6,0.000,0.037,1527,3410,2836,0,0,0,0,0,0
$GC,7146,-0.52,-88.7,885.8,-10.5,522,7147,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3410,2835,0,0,0,0,0,0
$GC,7455,-0.52,-88.7,918.6,-10.6,537,7459,0.00,0.88,0.00,0.000,4,0.000,0.063,1524,3951,2835,0,0,0,0,0,0
$GC,7510,-0.52,-88.7,925.0,-11.6,539,7515,0.00,0.82,0.00,0.000,6,0.000,0.038,1524,3415,2835,0,0,0,0,0,0
$GC,7832,-0.52,-88.7,957.5,-9.8,555,7833,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3415,2835,0,0,0,0,0,0
$GC,8142,-0.52,-88.7,989.5,-10.6,570,8145,0.00,0.85,0.00,0.000,4,0.000,0.064,1520,3943,2834,0,0,0,0,0,0
$STATE,8150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8150,begin apogee
$GC,8155,-0.09,0.0,990.8,10.4,570,8248,0.55,0.00,86.65,1.877,6,0.161,0.000,1682,3278,2473,0,0,0,0,0,0
$STATE,8249,end apogee,CONTROL_FINISHED_OK
$STATE,8249,begin climb
$GC,8250,0.52,88.7,993.0,0.0,575,8350,0.60,2.45,91.15,1.822,4,0.074,0.032,1897,1875,2111,0,0,0,0,0,0
$GC,8388,0.52,88.7,983.0,11.9,581,8393,0.00,2.47,0.00,0.000,6,0.000,0.051,1897,3272,2108,0,0,0,0,0,0
$GC,8710,0.52,88.7,938.4,14.1,597,8714,0.00,1.12,0.00,0.000,4,0.000,0.059,1897,3944,2100,0,0,0,0,0,0
$GC,8804,0.52,88.7,923.5,16.2,601,8809,0.00,1.05,0.00,0.000,6,0.000,0.037,1902,3283,2100,0,0,0,0,0,0
$GC,9131,0.52,88.7,875.6,14.4,617,9135,0.00,1.10,0.00,0.000,4,0.000,0.060,1902,3950,2097,0,0,0,0,0,0
$GC,9168,0.52,88.7,869.5,15.7,618,9176,0.00,1.05,0.00,0.000,6,0.000,0.037,1907,3281,2097,0,0,0,0,0,0
$GC,9486,0.52,88.7,822.3,15.2,634,9488,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3281,2096,0,0,0,0,0,0
$GC,9794,0.52,88.7,776.2,14.9,649,9797,0.00,1.10,0.00,0.000,4,0.000,0.060,1907,3952,2095,0,0,0,0,0,0
$GC,9888,0.52,88.7,760.4,16.9,653,9892,0.00,1.05,0.00,0.000,6,0.000,0.037,1912,3278,2095,0,0,0,0,0,0
$GC,10215,0.52,88.7,711.3,14.8,669,10219,0.00,2.17,0.00,0.000,4,0.000,0.035,1923,1856,2094,0,0,0,0,0,0
$GC,10233,0.52,88.7,708.8,15.2,670,10238,0.12,2.30,0.00,0.000,6,0.194,0.052,1895,3285,2093,0,0,0,0,0,0
$GC,10561,0.52,88.7,663.5,14.5,686,10562,0.00,0.00,0.00,0.000,6,0.000,0.000,1895,3285,2092,0,0,0,0,0,0
$GC,10868,0.52,88.7,621.8,13.3,701,10870,0.00,0.00,0.00,0.000,6,0.000,0.000,1895,3286,2092,0,0,0,0,0,0
$GC,11177,0.52,88.7,583.5,11.9,716,11179,0.00,0.00,0.00,0.000,6,0.000,0.000,1895,3285,2092,0,0,0,0,0,0
$GC,11487,0.52,88.7,548.7,11.4,731,11491,0.00,1.08,0.00,0.000,4,0.000,0.060,1895,3948,2091,0,0,0,0,0,0
$GC,11536,0.52,88.7,542.4,12.6,733,11541,0.00,1.05,0.00,0.000,6,0.000,0.037,1899,3273,2092,0,0,0,0,0,0
$GC,11864,0.52,88.7,506.8,10.8,749,11865,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3273,2091,0,0,0,0,0,0
$GC,12173,0.52,88.7,474.6,10.5,764,12177,0.00,2.15,0.00,0.000,4,0.000,0.034,1910,1861,2091,0,0,0,0,0,0
$GC,12194,0.53,94.5,472.5,8.8,765,12199,0.00,2.30,0.00,0.000,6,0.000,0.051,1910,3280,2090,0,0,0,0,0,0
$GC,12521,0.53,94.5,437.7,10.7,781,12522,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3280,2090,0,0,0,0,0,0
$GC,12831,0.53,94.5,403.5,11.4,796,12832,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3280,2090,0,0,0,0,0,0
$GC,13149,0.53,94.5,366.3,11.8,824,13152,0.00,1.10,0.00,0.000,4,0.000,0.060,1910,3953,2090,0,0,0,0,0,0
$GC,13198,0.53,94.5,359.6,13.2,828,13208,0.00,1.05,0.00,0.000,6,0.000,0.036,1915,3272,2090,0,0,0,0,0,0
$GC,13523,0.53,94.5,321.0,12.0,859,13526,0.00,1.08,0.00,0.000,4,0.000,0.060,1915,3941,2090,0,0,0,0,0,0
$GC,13582,0.53,94.5,313.0,12.7,864,13592,0.00,1.02,0.00,0.000,6,0.000,0.037,1920,3278,2090,0,0,0,0,0,0
$GC,13908,0.53,94.5,273.3,12.1,895,13909,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3278,2090,0,0,0,0,0,0
$GC,14230,0.53,94.5,235.4,11.7,925,14234,0.12,1.10,0.00,0.000,4,0.210,0.060,1887,3953,2090,0,0,0,0,0,0
$GC,14368,0.53,94.5,218.5,12.9,937,14372,0.00,1.02,0.00,0.000,6,0.000,0.037,1890,3277,2089,0,0,0,0,0,0
$GC,14698,0.53,94.5,183.6,10.0,968,14702,0.00,2.15,0.00,0.000,4,0.000,0.032,1901,1854,2089,0,0,0,0,0,0
$GC,14726,0.53,102.4,180.9,8.6,970,14741,0.00,2.28,9.32,1.330,6,0.000,0.051,1901,3284,2055,0,0,0,0,0,0
$GC,15067,0.53,102.4,141.9,10.7,1002,15070,0.00,1.05,0.00,0.000,4,0.000,0.057,1901,3939,2055,0,0,0,0,0,0
$GC,15093,0.53,102.4,138.6,12.1,1004,15103,0.00,1.02,0.00,0.000,6,0.000,0.034,1907,3277,2055,0,0,0,0,0,0
$GC,15419,0.53,102.4,103.2,10.6,1035,15420,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3277,2055,0,0,0,0,0,0
$GC,15760,0.54,110.1,69.0,8.6,1092,15769,0.00,0.00,3.17,0.713,6,0.000,0.000,1906,3277,2024,0,0,0,0,0,0
$GC,16117,0.54,115.5,36.8,8.8,1153,16125,0.00,2.20,2.22,0.411,4,0.000,0.031,1918,1861,2001,0,0,0,0,0,0
$GC,16229,0.54,115.5,25.4,9.9,1171,16235,0.00,2.28,0.00,0.000,6,0.000,0.052,1918,3280,1999,0,0,0,0,0,0
$GC,16385,0.54,115.5,11.0,9.6,1196,16394,0.00,1.08,0.00,0.000,4,0.000,0.057,1918,3941,1999,0,0,0,0,0,0
$STATE,16443,end climb,SURFACE_DEPTH_REACHED
$STATE,16443,begin surface coast
$FINISH,0.8,1.026227
$STATE,16469,end surface coast,CONTROL_FINISHED_OK
$STATE,16469,begin surface
$SM_CCo,16483,45.78,0.783,0,0,1554,225.18
$SM_GC,1.48,0.00,0.00,45.78,0.000,0.000,0.783,62,3417,1554,-5.18,-0.08,225.18
$IRIDIUM_FIX,-4242.04,833.59,050114,141447
$TT8_MAMPS,0.026215
$HUMID,61.34
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.4,32.568
$10V_AH,10.0,23.885
$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,12.800,77.975,192.525,45.775,0.000,26.927,39.173,313.266,0.000,0.000,21.104,2982.072,10375.749,356.590,3092.784,231.764,0.000,1452.769,0.000,2573.615,0.000,1.009,0.000
$DEVICE_MAMPS,233.325,97.155,1876.545,782.595,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,839.773,2060.882,818.492,391.119,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354424
$DATA_FILE_SIZE,84176,1209
$CAP_FILE_SIZE,146931,0
$CFSIZE,259252224,242880512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060114,000034,-4259.645,829.729,29,0.8,29,-25.0