version: 66.07
glider: 543
mission: 9
dive: 219
start: 1 6 114 4 58 27
data:
$ID,543
$MISSION,9
$DIVE,219
$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,-13227.084
$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,48
$R_STBD_OVSHOOT,22
$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
$GPS1,060114,044906,-4300.991,830.548,26,1.4,26,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-60.5
$GPS2,060114,045803,-4301.032,830.647,23,1.1,38,-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,0.4,2103,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.50,-57.7,0.0,0.0,0,60,0.00,0.00,-42.33,0.000,2,0.000,0.000,63,3408,2504,0,0,0,0,0,0
$GC,62,-0.53,-98.5,3.1,-5.0,5,89,6.25,2.20,-10.65,0.000,4,0.243,0.047,1541,2015,2877,0,0,0,0,0,0
$GC,97,-0.53,-98.5,8.4,-12.2,9,106,0.00,2.33,0.00,0.000,6,0.000,0.054,1532,3416,2878,0,0,0,0,0,0
$GC,157,-0.53,-98.5,19.6,-19.9,18,166,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,3416,2879,0,0,0,0,0,0
$GC,215,-0.53,-98.5,30.6,-18.5,27,221,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,3416,2879,0,0,0,0,0,0
$GC,362,-0.53,-98.5,58.5,-19.9,52,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,3416,2880,0,0,0,0,0,0
$GC,712,-0.53,-98.5,116.0,-16.9,105,716,0.00,2.12,0.00,0.000,4,0.000,0.033,1532,2006,2881,0,0,0,0,0,0
$GC,740,-0.53,-98.5,120.8,-16.1,107,744,0.00,2.30,0.00,0.000,6,0.000,0.054,1521,3423,2881,0,0,0,0,0,0
$GC,1071,-0.53,-98.5,178.8,-18.2,138,1075,0.00,2.12,0.00,0.000,4,0.000,0.031,1521,2004,2883,0,0,0,0,0,0
$GC,1099,-0.53,-98.5,183.7,-16.7,140,1104,0.12,2.30,0.00,0.000,6,0.164,0.054,1542,3424,2883,0,0,0,0,0,0
$GC,1423,-0.53,-98.5,231.5,-14.6,170,1427,0.00,2.12,0.00,0.000,4,0.000,0.034,1542,2008,2883,0,0,0,0,0,0
$GC,1440,-0.53,-98.5,233.8,-14.4,171,1444,0.00,2.30,0.00,0.000,6,0.000,0.055,1533,3424,2883,0,0,0,0,0,0
$GC,1770,-0.53,-98.5,280.5,-13.5,202,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3424,2883,0,0,0,0,0,0
$GC,2089,-0.53,-98.5,324.5,-13.6,232,2093,0.00,2.15,0.00,0.000,4,0.000,0.034,1533,2001,2883,0,0,0,0,0,0
$GC,2139,-0.53,-98.5,330.7,-11.4,236,2143,0.00,2.28,0.00,0.000,6,0.000,0.057,1522,3419,2883,0,0,0,0,0,0
$GC,2464,-0.53,-98.5,380.2,-15.8,266,2468,0.00,2.12,0.00,0.000,4,0.000,0.034,1522,1995,2882,0,0,0,0,0,0
$GC,2492,-0.53,-98.5,384.3,-15.3,268,2496,0.12,2.30,0.00,0.000,6,0.161,0.057,1543,3424,2883,0,0,0,0,0,0
$GC,2822,-0.53,-98.5,428.3,-13.1,289,2825,0.00,2.15,0.00,0.000,4,0.000,0.034,1543,2005,2883,0,0,0,0,0,0
$GC,2861,-0.53,-98.5,432.9,-10.5,291,2865,0.00,2.28,0.00,0.000,6,0.000,0.057,1533,3422,2883,0,0,0,0,0,0
$GC,3187,-0.53,-98.5,475.7,-13.5,307,3190,0.00,0.85,0.00,0.000,4,0.000,0.064,1529,3951,2882,0,0,0,0,0,0
$GC,3213,-0.53,-98.5,479.5,-14.3,308,3218,0.00,0.82,0.00,0.000,6,0.000,0.040,1529,3421,2883,0,0,0,0,0,0
$GC,3541,-0.53,-98.5,523.1,-13.5,324,3545,0.00,2.15,0.00,0.000,4,0.000,0.034,1529,1998,2883,0,0,0,0,0,0
$GC,3580,-0.53,-98.5,527.8,-11.3,326,3584,0.00,2.30,0.00,0.000,6,0.000,0.058,1518,3424,2882,0,0,0,0,0,0
$GC,3906,-0.53,-98.5,572.4,-13.9,342,3910,0.00,2.15,0.00,0.000,4,0.000,0.034,1519,1992,2881,0,0,0,0,0,0
$GC,3932,-0.53,-98.5,576.3,-13.4,343,3938,0.10,2.35,0.00,0.000,6,0.142,0.057,1540,3424,2881,0,0,0,0,0,0
$GC,4254,-0.53,-98.5,614.7,-12.0,359,4258,0.00,2.17,0.00,0.000,4,0.000,0.035,1540,1997,2881,0,0,0,0,0,0
$GC,4297,-0.53,-98.5,619.7,-10.2,361,4302,0.00,2.35,0.00,0.000,6,0.000,0.059,1530,3427,2882,0,0,0,0,0,0
$GC,4625,-0.53,-98.5,662.1,-13.6,377,4629,0.00,2.17,0.00,0.000,4,0.000,0.035,1530,1996,2881,0,0,0,0,0,0
$GC,4697,-0.53,-98.5,670.8,-11.6,380,4702,0.00,2.35,0.00,0.000,6,0.000,0.059,1519,3421,2881,0,0,0,0,0,0
$GC,5019,-0.53,-98.5,714.9,-13.6,396,5023,0.00,2.15,0.00,0.000,4,0.000,0.035,1519,1993,2880,0,0,0,0,0,0
$GC,5041,-0.53,-98.5,717.8,-12.9,397,5046,0.15,2.33,0.00,0.000,6,0.160,0.059,1547,3430,2880,0,0,0,0,0,0
$GC,5362,-0.53,-98.5,749.7,-9.6,413,5363,0.00,0.00,0.00,0.000,6,0.000,0.000,1547,3430,2879,0,0,0,0,0,0
$GC,5671,-0.53,-98.5,779.5,-9.7,428,5675,0.00,2.17,0.00,0.000,4,0.000,0.037,1547,1993,2879,0,0,0,0,0,0
$GC,5711,-0.53,-107.2,783.0,-8.5,430,5715,0.00,2.33,0.00,0.000,6,0.000,0.060,1538,3424,2879,0,0,0,0,0,0
$GC,6037,-0.53,-107.2,818.5,-11.4,446,6041,0.00,2.15,0.00,0.000,4,0.000,0.036,1538,1998,2878,0,0,0,0,0,0
$GC,6063,-0.53,-107.2,821.7,-12.3,447,6067,0.00,2.30,0.00,0.000,6,0.000,0.060,1527,3423,2878,0,0,0,0,0,0
$GC,6385,-0.53,-107.2,861.4,-12.9,463,6386,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3423,2877,0,0,0,0,0,0
$GC,6694,-0.53,-107.2,900.4,-10.7,478,6697,0.00,0.85,0.00,0.000,4,0.000,0.068,1523,3947,2877,0,0,0,0,0,0
$GC,6951,-0.53,-107.2,930.2,-11.3,489,6956,0.00,0.80,0.00,0.000,6,0.000,0.043,1523,3431,2877,0,0,0,0,0,0
$GC,7273,-0.53,-107.2,963.2,-10.3,505,7276,0.00,0.85,0.00,0.000,4,0.000,0.067,1519,3956,2876,0,0,0,0,0,0
$GC,7498,-0.53,-107.2,989.0,-12.4,515,7501,0.00,0.82,0.00,0.000,6,0.000,0.041,1519,3418,2876,0,0,0,0,0,0
$STATE,7506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7506,begin apogee
$GC,7510,-0.09,0.0,990.4,11.5,515,7610,0.55,0.00,95.97,1.860,6,0.163,0.000,1680,3274,2473,0,0,0,0,0,0
$STATE,7610,end apogee,CONTROL_FINISHED_OK
$STATE,7610,begin climb
$GC,7612,0.53,107.2,993.0,0.0,520,7729,0.60,1.20,109.50,1.808,4,0.072,0.060,1887,3946,2036,0,0,0,0,0,0
$GC,7983,0.53,107.2,945.4,16.3,537,7987,0.00,1.08,0.00,0.000,6,0.000,0.040,1892,3285,2027,0,0,0,0,0,0
$GC,8315,0.53,107.2,897.0,14.5,553,8319,0.00,1.10,0.00,0.000,4,0.000,0.061,1892,3946,2022,0,0,0,0,0,0
$GC,8549,0.53,107.2,857.7,17.5,563,8554,0.00,1.08,0.00,0.000,6,0.000,0.037,1897,3267,2021,0,0,0,0,0,0
$GC,8873,0.53,107.2,807.8,15.5,579,8877,0.00,2.17,0.00,0.000,4,0.000,0.034,1908,1864,2020,0,0,0,0,0,0
$GC,8916,0.53,107.2,801.0,14.6,581,8920,0.00,2.35,0.00,0.000,6,0.000,0.055,1908,3283,2018,0,0,0,0,0,0
$GC,9243,0.53,107.2,747.4,16.3,597,9244,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3283,2018,0,0,0,0,0,0
$GC,9554,0.53,107.2,697.5,15.9,612,9558,0.00,1.08,0.00,0.000,4,0.000,0.064,1908,3934,2017,0,0,0,0,0,0
$GC,9600,0.53,107.2,689.5,17.8,614,9603,0.00,1.02,0.00,0.000,6,0.000,0.042,1913,3278,2017,0,0,0,0,0,0
$GC,9932,0.53,107.2,638.4,15.1,630,9935,0.00,1.10,0.00,0.000,4,0.000,0.063,1913,3951,2017,0,0,0,0,0,0
$GC,9958,0.53,107.2,633.7,17.2,631,9963,0.00,1.08,0.00,0.000,6,0.000,0.041,1918,3272,2016,0,0,0,0,0,0
$GC,10288,0.53,107.2,585.2,14.6,647,10292,0.00,2.17,0.00,0.000,4,0.000,0.038,1929,1855,2016,0,0,0,0,0,0
$GC,10305,0.53,107.2,582.4,15.0,648,10309,0.15,2.33,0.00,0.000,6,0.186,0.056,1893,3286,2015,0,0,0,0,0,0
$GC,10631,0.53,107.2,539.6,13.0,664,10634,0.00,1.08,0.00,0.000,4,0.000,0.064,1893,3944,2015,0,0,0,0,0,0
$GC,10663,0.53,107.2,534.9,13.8,665,10667,0.00,1.05,0.00,0.000,6,0.000,0.041,1897,3269,2015,0,0,0,0,0,0
$GC,10985,0.53,107.2,493.1,12.9,681,10986,0.00,0.00,0.00,0.000,6,0.000,0.000,1897,3269,2014,0,0,0,0,0,0
$GC,11294,0.53,107.2,451.5,13.8,696,11298,0.00,1.12,0.00,0.000,4,0.000,0.065,1897,3953,2014,0,0,0,0,0,0
$GC,11394,0.53,107.2,435.8,15.6,700,11398,0.00,1.08,0.00,0.000,6,0.000,0.038,1902,3265,2014,0,0,0,0,0,0
$GC,11718,0.53,107.2,390.1,14.1,719,11721,0.00,1.12,0.00,0.000,4,0.000,0.060,1902,3957,2014,0,0,0,0,0,0
$GC,11742,0.53,107.2,386.7,13.8,721,11746,0.00,1.05,0.00,0.000,6,0.000,0.038,1907,3273,2014,0,0,0,0,0,0
$GC,12073,0.53,107.2,340.5,13.4,752,12076,0.00,1.10,0.00,0.000,4,0.000,0.060,1907,3953,2014,0,0,0,0,0,0
$GC,12197,0.53,107.2,321.1,16.3,763,12201,0.00,1.02,0.00,0.000,6,0.000,0.037,1912,3279,2014,0,0,0,0,0,0
$GC,12528,0.53,107.2,274.4,14.3,794,12529,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3279,2014,0,0,0,0,0,0
$GC,12847,0.53,107.2,228.8,14.1,824,12851,0.00,2.17,0.00,0.000,4,0.000,0.033,1924,1855,2014,0,0,0,0,0,0
$GC,12891,0.53,107.2,222.9,12.8,827,12899,0.08,2.33,0.00,0.000,6,0.170,0.053,1902,3287,2013,0,0,0,0,0,0
$GC,13216,0.53,107.2,183.1,11.8,858,13217,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,3287,2013,0,0,0,0,0,0
$GC,13536,0.53,107.2,147.4,10.7,888,13539,0.00,1.08,0.00,0.000,4,0.000,0.060,1901,3951,2013,0,0,0,0,0,0
$GC,13604,0.53,107.2,139.0,12.8,894,13608,0.00,1.02,0.00,0.000,6,0.000,0.037,1905,3277,2013,0,0,0,0,0,0
$GC,13937,0.53,107.2,102.1,10.5,925,13940,0.00,1.08,0.00,0.000,4,0.000,0.059,1905,3944,2013,0,0,0,0,0,0
$GC,14003,0.53,107.2,93.8,13.1,934,14010,0.00,1.00,0.00,0.000,6,0.000,0.036,1910,3282,2012,0,0,0,0,0,0
$GC,14354,0.54,111.3,51.9,9.0,995,14361,0.00,1.08,0.00,0.000,4,0.000,0.059,1910,3954,2013,0,0,0,0,0,0
$GC,14437,0.54,111.3,43.2,11.3,1009,14443,0.00,1.02,0.00,0.000,6,0.000,0.035,1915,3276,2013,0,0,0,0,0,0
$GC,14803,0.54,111.3,5.1,11.1,1070,14811,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3276,2012,0,0,0,0,0,0
$STATE,14824,end climb,SURFACE_DEPTH_REACHED
$STATE,14824,begin surface coast
$FINISH,0.6,1.026248
$STATE,14856,end surface coast,CONTROL_FINISHED_OK
$STATE,14856,begin surface
$SM_CCo,14869,47.25,0.780,0,0,1554,225.18
$SM_GC,1.55,0.00,0.00,47.25,0.000,0.000,0.780,63,3429,1554,-5.18,0.25,225.18
$IRIDIUM_FIX,-4247.91,834.47,060114,000010
$TT8_MAMPS,0.026215
$HUMID,61.85
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.4,32.870
$10V_AH,10.0,24.119
$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,13.125,105.100,205.475,47.250,0.000,27.785,25.219,333.464,0.000,0.000,40.702,2720.922,9141.784,359.872,3013.309,217.025,0.000,1437.421,0.000,2467.970,0.000,1.011,0.000
$DEVICE_MAMPS,242.505,78.795,1859.715,780.300,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,748.867,1849.800,732.474,367.733,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354452
$DATA_FILE_SIZE,77100,1078
$CAP_FILE_SIZE,144575,0
$CFSIZE,259252224,242724864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060114,090834,-4259.823,830.195,54,0.7,54,-25.0