version: 66.07
glider: 543
mission: 9
dive: 222
start: 1 6 114 18 12 6
data:
$ID,543
$MISSION,9
$DIVE,222
$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,-13236.367
$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,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
$DEVICE3,131
$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
$GPS1,060114,180304,-4259.712,831.253,30,0.8,30,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-71.0
$GPS2,060114,181141,-4259.646,831.253,15,0.9,16,-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,274.0,1819,-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,-42.40,0.000,2,0.000,0.000,53,3412,2505,0,0,0,0,0,0
$GC,61,-0.53,-106.5,3.0,-4.1,5,88,6.22,2.20,-12.07,0.000,4,0.236,0.045,1544,1997,2910,0,0,0,0,0,0
$GC,163,-0.53,-106.5,16.6,-13.5,20,172,0.00,2.38,0.00,0.000,6,0.000,0.054,1535,3426,2912,0,0,0,0,0,0
$GC,223,-0.53,-106.5,26.4,-18.9,29,230,0.00,0.85,0.00,0.000,4,0.000,0.059,1531,3955,2913,0,0,0,0,0,0
$GC,262,-0.53,-106.5,34.5,-20.7,35,269,0.00,0.82,0.00,0.000,6,0.000,0.037,1530,3416,2913,0,0,0,0,0,0
$GC,407,-0.53,-106.5,63.9,-17.2,60,416,0.00,2.17,0.00,0.000,4,0.000,0.031,1531,2002,2914,0,0,0,0,0,0
$GC,436,-0.53,-106.5,67.9,-16.0,64,443,0.00,2.30,0.00,0.000,6,0.000,0.054,1520,3422,2914,0,0,0,0,0,0
$GC,780,-0.53,-106.5,129.5,-17.8,111,784,0.00,0.85,0.00,0.000,4,0.000,0.060,1516,3954,2916,0,0,0,0,0,0
$GC,955,-0.53,-106.5,162.6,-18.4,126,962,0.08,0.80,0.00,0.000,6,0.161,0.037,1539,3425,2916,0,0,0,0,0,0
$GC,1282,-0.53,-106.5,211.7,-15.0,157,1286,0.00,2.15,0.00,0.000,4,0.000,0.031,1539,2001,2917,0,0,0,0,0,0
$GC,1310,-0.53,-106.5,216.1,-14.4,159,1314,0.00,2.30,0.00,0.000,6,0.000,0.054,1529,3422,2917,0,0,0,0,0,0
$GC,1637,-0.53,-106.5,263.9,-14.6,189,1641,0.00,0.85,0.00,0.000,4,0.000,0.062,1525,3953,2917,0,0,0,0,0,0
$GC,1751,-0.53,-106.5,281.0,-15.1,199,1754,0.00,0.80,0.00,0.000,6,0.000,0.039,1525,3427,2917,0,0,0,0,0,0
$GC,2081,-0.53,-106.5,327.8,-13.5,230,2084,0.00,0.85,0.00,0.000,4,0.000,0.062,1521,3956,2917,0,0,0,0,0,0
$GC,2149,-0.53,-106.5,337.6,-14.7,236,2153,0.00,0.82,0.00,0.000,6,0.000,0.040,1521,3413,2917,0,0,0,0,0,0
$GC,2479,-0.53,-106.5,384.0,-14.0,267,2483,0.00,0.85,0.00,0.000,4,0.000,0.062,1517,3945,2917,0,0,0,0,0,0
$GC,2525,-0.53,-106.5,390.7,-14.9,271,2528,0.00,0.80,0.00,0.000,6,0.000,0.041,1517,3418,2917,0,0,0,0,0,0
$GC,2857,-0.53,-106.5,439.0,-14.3,290,2862,0.10,2.17,0.00,0.000,4,0.189,0.035,1541,2002,2917,0,0,0,0,0,0
$GC,2874,-0.53,-106.5,441.5,-14.2,291,2878,0.00,2.30,0.00,0.000,6,0.000,0.057,1531,3422,2917,0,0,0,0,0,0
$GC,3200,-0.53,-106.5,485.1,-13.7,307,3204,0.00,0.85,0.00,0.000,4,0.000,0.064,1527,3952,2917,0,0,0,0,0,0
$GC,3245,-0.53,-106.5,491.7,-15.2,309,3249,0.00,0.80,0.00,0.000,6,0.000,0.040,1528,3427,2917,0,0,0,0,0,0
$GC,3578,-0.53,-106.5,537.2,-13.6,325,3579,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3427,2916,0,0,0,0,0,0
$GC,3887,-0.53,-106.5,580.0,-13.9,340,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3427,2916,0,0,0,0,0,0
$GC,4196,-0.53,-106.5,622.1,-13.5,355,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3427,2915,0,0,0,0,0,0
$GC,4506,-0.53,-106.5,664.0,-13.7,370,4510,0.00,0.85,0.00,0.000,4,0.000,0.064,1524,3952,2915,0,0,0,0,0,0
$GC,4551,-0.53,-106.5,670.4,-14.8,372,4555,0.00,0.80,0.00,0.000,6,0.000,0.040,1523,3426,2915,0,0,0,0,0,0
$GC,4883,-0.53,-106.5,716.3,-14.0,388,4887,0.00,2.17,0.00,0.000,4,0.000,0.034,1523,1993,2914,0,0,0,0,0,0
$GC,4911,-0.53,-106.5,720.0,-14.0,389,4916,0.12,2.33,0.00,0.000,6,0.161,0.058,1544,3423,2914,0,0,0,0,0,0
$GC,5226,-0.53,-106.5,757.1,-11.6,404,5230,0.00,0.85,0.00,0.000,4,0.000,0.066,1541,3952,2913,0,0,0,0,0,0
$GC,5264,-0.53,-106.5,761.7,-11.8,405,5271,0.00,0.82,0.00,0.000,6,0.000,0.041,1541,3423,2913,0,0,0,0,0,0
$GC,5580,-0.53,-106.5,799.0,-11.7,421,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,3422,2913,0,0,0,0,0,0
$GC,5891,-0.53,-106.5,835.3,-11.8,436,5894,0.00,0.85,0.00,0.000,4,0.000,0.067,1538,3946,2912,0,0,0,0,0,0
$GC,5968,-0.53,-106.5,845.4,-13.2,439,5973,0.00,0.82,0.00,0.000,6,0.000,0.040,1538,3416,2912,0,0,0,0,0,0
$GC,6290,-0.53,-106.5,883.0,-11.5,455,6293,0.00,0.88,0.00,0.000,4,0.000,0.065,1534,3956,2911,0,0,0,0,0,0
$GC,6339,-0.53,-106.5,889.3,-12.5,457,6343,0.00,0.85,0.00,0.000,6,0.000,0.040,1534,3413,2912,0,0,0,0,0,0
$GC,6668,-0.53,-106.5,924.7,-10.5,473,6669,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3412,2911,0,0,0,0,0,0
$GC,6975,-0.53,-106.5,957.0,-10.3,488,6979,0.00,0.88,0.00,0.000,4,0.000,0.066,1530,3951,2910,0,0,0,0,0,0
$GC,7066,-0.53,-106.5,966.7,-10.7,492,7069,0.00,0.82,0.00,0.000,6,0.000,0.041,1530,3414,2910,0,0,0,0,0,0
$STATE,7315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7315,begin apogee
$GC,7320,-0.09,0.0,991.7,10.0,504,7427,0.52,0.00,103.78,1.860,6,0.151,0.000,1683,3282,2473,0,0,0,0,0,0
$STATE,7428,end apogee,CONTROL_FINISHED_OK
$STATE,7428,begin climb
$GC,7430,0.53,106.5,993.5,0.0,509,7547,0.60,2.45,108.65,1.806,4,0.068,0.033,1901,1861,2039,0,0,0,0,0,0
$GC,7562,0.53,106.5,982.4,13.2,515,7567,0.00,2.55,0.00,0.000,6,0.000,0.054,1901,3275,2036,0,0,0,0,0,0
$GC,7886,0.53,106.5,929.2,16.2,531,7890,0.00,2.28,0.00,0.000,4,0.000,0.037,1912,1864,2027,0,0,0,0,0,0
$GC,7917,0.53,106.5,923.8,14.8,532,7925,0.00,2.42,0.00,0.000,6,0.000,0.057,1912,3287,2026,0,0,0,0,0,0
$GC,8234,0.53,106.5,870.8,16.8,548,8238,0.00,2.22,0.00,0.000,4,0.000,0.037,1923,1864,2025,0,0,0,0,0,0
$GC,8296,0.53,106.5,861.9,13.8,551,8301,0.12,2.33,0.00,0.000,6,0.192,0.057,1895,3283,2024,0,0,0,0,0,0
$GC,8628,0.53,106.5,814.6,13.9,567,8631,0.00,1.10,0.00,0.000,4,0.000,0.065,1895,3950,2022,0,0,0,0,0,0
$GC,8673,0.53,106.5,807.6,15.4,569,8676,0.00,1.05,0.00,0.000,6,0.000,0.041,1899,3277,2022,0,0,0,0,0,0
$GC,9005,0.53,106.5,759.5,14.2,585,9009,0.00,2.22,0.00,0.000,4,0.000,0.037,1910,1851,2021,0,0,0,0,0,0
$GC,9054,0.53,106.5,753.0,12.4,587,9059,0.00,2.38,0.00,0.000,6,0.000,0.055,1910,3285,2020,0,0,0,0,0,0
$GC,9376,0.53,106.5,707.6,14.1,603,9380,0.00,2.22,0.00,0.000,4,0.000,0.037,1921,1856,2019,0,0,0,0,0,0
$GC,9410,0.53,106.5,703.2,12.1,604,9417,0.00,2.33,0.00,0.000,6,0.000,0.056,1921,3285,2019,0,0,0,0,0,0
$GC,9725,0.53,106.5,658.6,14.1,620,9729,0.00,2.22,0.00,0.000,4,0.000,0.038,1932,1856,2019,0,0,0,0,0,0
$GC,9774,0.53,106.5,652.2,12.0,622,9779,0.12,2.35,0.00,0.000,6,0.168,0.056,1896,3283,2018,0,0,0,0,0,0
$GC,10096,0.53,106.5,610.6,13.0,638,10100,0.00,2.20,0.00,0.000,4,0.000,0.037,1905,1858,2018,0,0,0,0,0,0
$GC,10130,0.53,106.5,606.8,11.0,639,10137,0.00,2.30,0.00,0.000,6,0.000,0.056,1905,3281,2017,0,0,0,0,0,0
$GC,10446,0.53,106.5,565.0,13.3,655,10447,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3281,2017,0,0,0,0,0,0
$GC,10755,0.53,106.5,523.4,13.9,670,10756,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3281,2017,0,0,0,0,0,0
$GC,11064,0.53,106.5,480.5,13.7,685,11068,0.00,2.20,0.00,0.000,4,0.000,0.037,1916,1858,2017,0,0,0,0,0,0
$GC,11109,0.53,106.5,474.7,12.2,687,11113,0.00,2.33,0.00,0.000,6,0.000,0.056,1916,3289,2016,0,0,0,0,0,0
$GC,11441,0.53,106.5,427.7,14.2,703,11445,0.00,2.22,0.00,0.000,4,0.000,0.037,1928,1852,2016,0,0,0,0,0,0
$GC,11472,0.53,106.5,423.3,12.6,704,11481,0.10,2.35,0.00,0.000,6,0.165,0.055,1899,3285,2016,0,0,0,0,0,0
$GC,11793,0.53,106.5,382.0,12.6,726,11797,0.00,2.20,0.00,0.000,4,0.000,0.037,1908,1858,2016,0,0,0,0,0,0
$GC,11867,0.53,106.5,373.6,10.8,732,11871,0.00,2.33,0.00,0.000,6,0.000,0.056,1908,3288,2016,0,0,0,0,0,0
$GC,12191,0.53,106.5,329.1,14.0,762,12195,0.00,2.20,0.00,0.000,4,0.000,0.037,1919,1857,2016,0,0,0,0,0,0
$GC,12257,0.53,106.5,320.3,12.8,767,12265,0.00,2.35,0.00,0.000,6,0.000,0.056,1920,3284,2016,0,0,0,0,0,0
$GC,12583,0.53,106.5,269.8,16.2,798,12586,0.00,1.08,0.00,0.000,4,0.000,0.064,1919,3947,2016,0,0,0,0,0,0
$GC,12643,0.53,106.5,259.2,17.4,803,12652,0.12,1.05,0.00,0.000,6,0.216,0.040,1897,3274,2016,0,0,0,0,0,0
$GC,12969,0.53,106.5,215.7,13.3,834,12973,0.00,2.17,0.00,0.000,4,0.000,0.036,1906,1862,2016,0,0,0,0,0,0
$GC,12990,0.53,106.5,212.9,12.3,835,12997,0.00,2.33,0.00,0.000,6,0.000,0.056,1907,3280,2016,0,0,0,0,0,0
$GC,13315,0.53,106.5,172.5,11.8,866,13319,0.00,2.17,0.00,0.000,4,0.000,0.036,1918,1860,2015,0,0,0,0,0,0
$GC,13335,0.53,106.5,170.0,11.3,867,13343,0.00,2.33,0.00,0.000,6,0.000,0.055,1918,3277,2015,0,0,0,0,0,0
$GC,13661,0.53,106.5,128.4,12.9,898,13665,0.00,2.17,0.00,0.000,4,0.000,0.036,1929,1861,2015,0,0,0,0,0,0
$GC,13702,0.53,106.5,123.8,11.3,901,13707,0.12,2.30,0.00,0.000,6,0.187,0.056,1899,3289,2015,0,0,0,0,0,0
$GC,14039,0.53,106.5,83.7,11.2,943,14045,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3289,2015,0,0,0,0,0,0
$GC,14389,0.54,120.0,51.3,7.9,1004,14397,0.00,1.10,3.47,0.708,4,0.000,0.063,1899,3954,1982,0,0,0,0,0,0
$GC,14449,0.54,120.0,45.2,10.4,1014,14458,0.00,1.02,0.00,0.000,6,0.000,0.040,1902,3285,1981,0,0,0,0,0,0
$GC,14816,0.54,120.0,7.1,9.5,1075,14825,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3285,1981,0,0,0,0,0,0
$STATE,14856,end climb,SURFACE_DEPTH_REACHED
$STATE,14856,begin surface coast
$FINISH,0.8,1.026268
$STATE,14888,end surface coast,CONTROL_FINISHED_OK
$STATE,14888,begin surface
$SM_CCo,14901,43.72,0.792,0,0,1554,225.18
$SM_GC,1.71,0.00,0.00,43.72,0.000,0.000,0.792,55,3427,1554,-5.20,0.20,225.18
$IRIDIUM_FIX,-4244.98,831.12,060114,131311
$TT8_MAMPS,0.026215
$HUMID,61.49
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.3,33.292
$10V_AH,9.9,24.458
$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,13.125,111.775,215.900,43.725,0.000,28.374,40.898,319.960,0.000,0.000,17.802,2708.186,9250.394,397.600,2887.808,217.759,0.000,1437.675,0.000,2371.205,0.000,1.011,0.000
$DEVICE_MAMPS,236.385,79.560,1860.480,791.775,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,753.240,1860.140,752.345,389.725,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354412
$DATA_FILE_SIZE,77242,1086
$CAP_FILE_SIZE,144389,0
$CFSIZE,259252224,242499584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060114,222222,-4259.921,829.440,36,1.0,36,-25.0