version: 66.07
glider: 543
mission: 9
dive: 224
start: 1 7 114 3 0 27
data:
$ID,543
$MISSION,9
$DIVE,224
$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,-13243.304
$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,36
$R_STBD_OVSHOOT,23
$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
$GPS1,070114,024634,-4259.852,832.368,27,1.7,27,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-72.0
$GPS2,070114,030003,-4259.861,832.424,18,0.7,21,-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,290.6,3293,-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,-42.05,0.000,2,0.000,0.000,52,3434,2515,0,0,0,0,0,0
$GC,62,-0.53,-102.6,3.2,-4.5,5,89,6.20,2.28,-10.73,0.000,4,0.236,0.047,1540,1995,2893,0,0,0,0,0,0
$GC,122,-0.53,-102.6,11.5,-14.5,13,130,0.00,2.38,0.00,0.000,6,0.000,0.055,1530,3420,2894,0,0,0,0,0,0
$GC,179,-0.53,-102.6,21.4,-17.8,22,188,0.00,0.88,0.00,0.000,4,0.000,0.063,1526,3942,2894,0,0,0,0,0,0
$GC,310,-0.53,-102.6,47.1,-20.8,43,316,0.00,0.82,0.00,0.000,6,0.000,0.039,1526,3410,2895,0,0,0,0,0,0
$GC,661,-0.53,-102.6,108.0,-14.7,100,664,0.00,0.88,0.00,0.000,4,0.000,0.062,1522,3945,2897,0,0,0,0,0,0
$GC,821,-0.53,-102.6,132.9,-16.4,114,824,0.00,0.80,0.00,0.000,6,0.000,0.038,1522,3422,2898,0,0,0,0,0,0
$GC,1153,-0.53,-102.6,184.4,-15.6,145,1157,0.00,0.85,0.00,0.000,4,0.000,0.060,1518,3952,2898,0,0,0,0,0,0
$GC,1304,-0.53,-102.6,209.9,-16.1,158,1312,0.00,0.80,0.00,0.000,6,0.000,0.036,1518,3418,2899,0,0,0,0,0,0
$GC,1632,-0.53,-102.6,260.2,-15.1,189,1636,0.12,0.88,0.00,0.000,4,0.180,0.060,1546,3952,2899,0,0,0,0,0,0
$GC,1691,-0.53,-102.6,269.0,-12.2,194,1699,0.00,0.82,0.00,0.000,6,0.000,0.035,1546,3412,2899,0,0,0,0,0,0
$GC,2019,-0.53,-102.6,307.9,-12.2,225,2023,0.00,0.85,0.00,0.000,4,0.000,0.060,1542,3942,2899,0,0,0,0,0,0
$GC,2202,-0.53,-102.6,331.7,-13.1,241,2206,0.00,0.77,0.00,0.000,6,0.000,0.036,1542,3425,2899,0,0,0,0,0,0
$GC,2532,-0.53,-102.6,373.5,-12.3,272,2536,0.00,0.85,0.00,0.000,4,0.000,0.061,1538,3954,2899,0,0,0,0,0,0
$GC,2629,-0.53,-102.6,386.7,-13.8,280,2638,0.00,0.80,0.00,0.000,6,0.000,0.036,1538,3425,2899,0,0,0,0,0,0
$GC,2948,-0.53,-102.6,428.0,-12.9,301,2951,0.00,0.82,0.00,0.000,4,0.000,0.060,1534,3941,2899,0,0,0,0,0,0
$GC,3047,-0.53,-102.6,442.3,-13.7,305,3052,0.00,0.82,0.00,0.000,6,0.000,0.036,1534,3404,2899,0,0,0,0,0,0
$GC,3369,-0.53,-102.6,485.7,-13.6,321,3373,0.00,0.88,0.00,0.000,4,0.000,0.060,1530,3949,2899,0,0,0,0,0,0
$GC,3497,-0.53,-102.6,504.5,-14.8,326,3505,0.00,0.82,0.00,0.000,6,0.000,0.036,1530,3409,2898,0,0,0,0,0,0
$GC,3814,-0.53,-102.6,547.4,-13.4,342,3817,0.00,0.85,0.00,0.000,4,0.000,0.060,1526,3940,2898,0,0,0,0,0,0
$GC,3859,-0.53,-102.6,553.5,-14.1,344,3862,0.00,0.77,0.00,0.000,6,0.000,0.038,1526,3428,2898,0,0,0,0,0,0
$GC,4191,-0.53,-102.6,597.4,-12.9,360,4195,0.00,0.82,0.00,0.000,4,0.000,0.060,1523,3943,2897,0,0,0,0,0,0
$GC,4291,-0.53,-102.6,611.4,-13.9,364,4295,0.00,0.82,0.00,0.000,6,0.000,0.037,1523,3408,2897,0,0,0,0,0,0
$GC,4614,-0.53,-102.6,652.6,-12.7,380,4618,0.00,0.88,0.00,0.000,4,0.000,0.060,1519,3954,2896,0,0,0,0,0,0
$GC,4750,-0.53,-102.6,671.1,-13.2,386,4754,0.00,0.80,0.00,0.000,6,0.000,0.038,1519,3425,2896,0,0,0,0,0,0
$GC,5082,-0.53,-102.6,714.6,-12.8,402,5085,0.00,0.82,0.00,0.000,4,0.000,0.061,1515,3939,2895,0,0,0,0,0,0
$GC,5187,-0.53,-102.6,729.2,-14.3,406,5196,0.12,0.82,0.00,0.000,6,0.175,0.038,1545,3408,2895,0,0,0,0,0,0
$GC,5503,-0.53,-102.6,761.7,-9.8,422,5504,0.00,0.00,0.00,0.000,6,0.000,0.000,1545,3408,2894,0,0,0,0,0,0
$GC,5812,-0.53,-102.6,792.8,-10.2,437,5816,0.00,0.88,0.00,0.000,4,0.000,0.063,1543,3951,2894,0,0,0,0,0,0
$GC,5907,-0.53,-102.6,803.1,-10.8,441,5911,0.00,0.82,0.00,0.000,6,0.000,0.037,1543,3417,2894,0,0,0,0,0,0
$GC,6234,-0.53,-102.6,836.9,-10.4,457,6238,0.00,2.12,0.00,0.000,4,0.000,0.032,1543,1990,2893,0,0,0,0,0,0
$GC,6250,-0.53,-102.6,838.7,-10.4,458,6255,0.00,2.30,0.00,0.000,6,0.000,0.054,1532,3419,2893,0,0,0,0,0,0
$GC,6577,-0.53,-102.6,875.0,-11.4,474,6581,0.00,0.85,0.00,0.000,4,0.000,0.063,1527,3952,2892,0,0,0,0,0,0
$GC,6677,-0.53,-102.6,887.5,-12.7,478,6681,0.00,0.82,0.00,0.000,6,0.000,0.038,1527,3417,2892,0,0,0,0,0,0
$GC,7001,-0.53,-102.6,924.8,-11.6,494,7004,0.00,0.85,0.00,0.000,4,0.000,0.062,1524,3947,2892,0,0,0,0,0,0
$GC,7099,-0.53,-102.6,937.7,-12.3,498,7104,0.00,0.82,0.00,0.000,6,0.000,0.038,1524,3414,2892,0,0,0,0,0,0
$GC,7422,-0.53,-102.6,974.4,-11.5,514,7425,0.00,0.88,0.00,0.000,4,0.000,0.062,1520,3955,2891,0,0,0,0,0,0
$GC,7476,-0.53,-102.6,981.2,-11.8,516,7481,0.00,0.82,0.00,0.000,6,0.000,0.038,1520,3422,2891,0,0,0,0,0,0
$STATE,7569,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7569,begin apogee
$GC,7573,-0.09,0.0,991.4,11.2,521,7676,0.57,0.00,99.28,1.864,6,0.152,0.000,1687,3272,2474,0,0,0,0,0,0
$STATE,7677,end apogee,CONTROL_FINISHED_OK
$STATE,7677,begin climb
$GC,7679,0.53,102.6,993.5,0.0,526,7794,0.57,2.47,104.93,1.808,4,0.064,0.031,1901,1868,2054,0,0,0,0,0,0
$GC,7820,0.53,102.6,982.2,13.3,532,7828,0.00,2.50,0.00,0.000,6,0.000,0.051,1901,3273,2051,0,0,0,0,0,0
$GC,8139,0.53,102.6,934.8,15.4,548,8143,0.00,2.22,0.00,0.000,4,0.000,0.033,1911,1866,2043,0,0,0,0,0,0
$GC,8192,0.53,102.6,926.9,13.4,550,8200,0.00,2.40,0.00,0.000,6,0.000,0.052,1911,3287,2041,0,0,0,0,0,0
$GC,8509,0.53,102.6,878.7,15.3,566,8513,0.00,2.22,0.00,0.000,4,0.000,0.034,1923,1868,2040,0,0,0,0,0,0
$GC,8535,0.53,102.6,874.7,14.1,567,8540,0.10,2.35,0.00,0.000,6,0.174,0.052,1894,3280,2039,0,0,0,0,0,0
$GC,8858,0.53,102.6,829.7,13.6,583,8862,0.00,2.20,0.00,0.000,4,0.000,0.035,1904,1865,2038,0,0,0,0,0,0
$GC,8901,0.53,102.6,823.9,11.7,585,8905,0.00,2.35,0.00,0.000,6,0.000,0.054,1904,3282,2037,0,0,0,0,0,0
$GC,9228,0.53,102.6,777.8,14.1,601,9232,0.00,2.20,0.00,0.000,4,0.000,0.036,1915,1867,2036,0,0,0,0,0,0
$GC,9248,0.53,102.6,774.9,13.2,602,9253,0.00,2.33,0.00,0.000,6,0.000,0.054,1915,3277,2036,0,0,0,0,0,0
$GC,9578,0.53,102.6,725.1,16.1,618,9582,0.00,2.20,0.00,0.000,4,0.000,0.036,1926,1866,2036,0,0,0,0,0,0
$GC,9604,0.53,102.6,720.5,14.0,619,9609,0.10,2.35,0.00,0.000,6,0.172,0.054,1897,3287,2035,0,0,0,0,0,0
$GC,9925,0.53,102.6,671.4,15.6,635,9929,0.00,2.22,0.00,0.000,4,0.000,0.037,1907,1856,2035,0,0,0,0,0,0
$GC,9974,0.53,102.6,664.2,14.1,637,9978,0.00,2.35,0.00,0.000,6,0.000,0.054,1907,3285,2034,0,0,0,0,0,0
$GC,10297,0.53,102.6,615.5,15.2,653,10298,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3285,2034,0,0,0,0,0,0
$GC,10605,0.53,102.6,570.3,14.5,668,10606,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3286,2034,0,0,0,0,0,0
$GC,10914,0.53,102.6,527.0,13.1,683,10918,0.00,2.17,0.00,0.000,4,0.000,0.037,1917,1866,2034,0,0,0,0,0,0
$GC,11003,0.53,102.6,516.8,10.8,687,11007,0.00,2.33,0.00,0.000,6,0.000,0.055,1918,3280,2033,0,0,0,0,0,0
$GC,11331,0.53,102.6,474.8,12.3,703,11335,0.00,2.17,0.00,0.000,4,0.000,0.037,1928,1864,2033,0,0,0,0,0,0
$GC,11391,0.53,102.6,467.9,10.5,705,11399,0.10,2.33,0.00,0.000,6,0.165,0.055,1899,3280,2032,0,0,0,0,0,0
$GC,11707,0.53,102.6,432.6,11.4,721,11708,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3280,2032,0,0,0,0,0,0
$GC,12017,0.53,102.6,397.8,11.4,736,12020,0.00,1.08,0.00,0.000,4,0.000,0.061,1899,3946,2032,0,0,0,0,0,0
$GC,12111,0.53,102.6,385.2,12.0,744,12121,0.00,1.05,0.00,0.000,6,0.000,0.038,1903,3272,2032,0,0,0,0,0,0
$GC,12437,0.53,102.6,345.2,11.9,775,12440,0.00,1.10,0.00,0.000,4,0.000,0.060,1902,3951,2032,0,0,0,0,0,0
$GC,12520,0.53,102.6,332.9,14.6,782,12527,0.00,1.05,0.00,0.000,6,0.000,0.036,1908,3274,2032,0,0,0,0,0,0
$GC,12848,0.53,102.6,291.1,12.3,813,12851,0.00,2.17,0.00,0.000,4,0.000,0.034,1919,1856,2032,0,0,0,0,0,0
$GC,12868,0.53,102.6,288.3,11.6,814,12876,0.00,2.33,0.00,0.000,6,0.000,0.053,1919,3280,2032,0,0,0,0,0,0
$GC,13197,0.53,102.6,246.3,13.4,845,13198,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3280,2032,0,0,0,0,0,0
$GC,13513,0.53,102.6,203.9,13.3,875,13517,0.00,2.17,0.00,0.000,4,0.000,0.036,1930,1864,2031,0,0,0,0,0,0
$GC,13636,0.53,102.6,188.8,11.9,885,13644,0.10,2.33,0.00,0.000,6,0.164,0.055,1900,3285,2031,0,0,0,0,0,0
$GC,13961,0.53,102.6,149.0,12.1,916,13965,0.00,2.20,0.00,0.000,4,0.000,0.035,1909,1855,2031,0,0,0,0,0,0
$GC,14012,0.53,102.6,143.4,10.5,920,14016,0.00,2.33,0.00,0.000,6,0.000,0.055,1910,3290,2031,0,0,0,0,0,0
$GC,14336,0.53,102.6,104.9,11.8,950,14340,0.00,2.20,0.00,0.000,4,0.000,0.035,1921,1859,2030,0,0,0,0,0,0
$GC,14358,0.53,102.6,102.6,10.3,951,14365,0.00,2.30,0.00,0.000,6,0.000,0.055,1921,3285,2031,0,0,0,0,0,0
$GC,14704,0.53,102.6,63.8,9.9,1010,14710,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3285,2031,0,0,0,0,0,0
$GC,15061,0.53,102.6,27.3,10.5,1071,15067,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3285,2031,0,0,0,0,0,0
$GC,15213,0.53,102.6,10.0,10.9,1096,15222,0.00,2.20,0.00,0.000,4,0.000,0.035,1931,1856,2031,0,0,0,0,0,0
$GC,15242,0.53,102.6,6.9,10.2,1100,15253,0.10,2.33,0.00,0.000,6,0.155,0.054,1901,3282,2030,0,0,0,0,0,0
$STATE,15284,end climb,SURFACE_DEPTH_REACHED
$STATE,15284,begin surface coast
$FINISH,0.8,1.004473
$STATE,15316,end surface coast,CONTROL_FINISHED_OK
$STATE,15317,begin surface
$SM_CCo,15329,49.00,0.793,0,0,1554,225.18
$SM_GC,1.91,0.00,0.00,49.00,0.000,0.000,0.793,55,3423,1554,-5.20,0.08,225.18
$IRIDIUM_FIX,-4244.98,834.03,070114,020221
$TT8_MAMPS,0.026215
$HUMID,61.45
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.3,33.586
$10V_AH,9.9,24.694
$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,13.050,104.400,204.200,49.000,0.000,52.625,81.425,458.431,0.000,0.000,23.033,2799.642,9424.886,405.425,3313.490,242.331,0.000,1531.089,0.000,2565.440,0.000,1.010,0.000
$DEVICE_MAMPS,236.385,81.090,1863.540,793.305,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,770.700,1908.485,755.390,366.373,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354392
$DATA_FILE_SIZE,77335,1111
$CAP_FILE_SIZE,154027,0
$CFSIZE,259252224,242335744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,070114,071803,-4259.255,830.448,38,1.2,42,-25.0