version: 66.07
glider: 543
mission: 9
dive: 241
start: 1 10 114 7 8 47
data:
$ID,543
$MISSION,9
$DIVE,241
$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,380
$T_MISSION,420
$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,220
$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,-13300.196
$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,53
$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,3380
$C_ROLL_CLIMB,3285
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$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
$GPS1,100114,070004,-4259.517,831.518,42,0.9,42,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-64.6
$GPS2,100114,070823,-4259.453,831.591,19,0.9,20,-25.1
$SPEED_LIMITS,0.150,0.228
$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,269.9,2382,-27.0,-8.684
$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,-0.54,-51.0,0.0,0.0,0,59,0.00,0.00,-42.03,0.000,2,0.000,0.000,50,3362,2516,0,0,0,0,0,0
$GC,61,-0.56,-77.0,3.2,-5.7,5,80,6.25,1.00,-7.80,0.000,4,0.239,0.088,1527,3957,2791,0,0,0,0,0,0
$GC,168,-0.56,-77.0,21.4,-17.4,21,174,0.00,0.88,0.00,0.000,6,0.000,0.034,1528,3385,2794,0,0,0,0,0,0
$GC,316,-0.56,-77.0,49.1,-19.7,46,323,0.00,2.15,0.00,0.000,4,0.000,0.030,1528,1967,2795,0,0,0,0,0,0
$GC,341,-0.56,-77.0,54.4,-19.6,50,348,0.00,2.30,0.00,0.000,6,0.000,0.050,1517,3389,2795,0,0,0,0,0,0
$GC,685,-0.56,-77.0,111.3,-13.9,104,688,0.00,0.90,0.00,0.000,4,0.000,0.056,1513,3951,2796,0,0,0,0,0,0
$GC,834,-0.56,-77.0,135.2,-15.8,117,837,0.00,0.85,0.00,0.000,6,0.000,0.034,1512,3384,2797,0,0,0,0,0,0
$GC,1164,-0.56,-77.0,186.8,-15.2,148,1168,0.00,0.90,0.00,0.000,4,0.000,0.057,1508,3944,2799,0,0,0,0,0,0
$GC,1232,-0.56,-77.0,198.2,-17.1,154,1236,0.00,0.85,0.00,0.000,6,0.000,0.034,1509,3380,2799,0,0,0,0,0,0
$GC,1565,-0.56,-77.0,251.0,-16.3,185,1567,0.12,0.00,0.00,0.000,6,0.183,0.000,1539,3378,2799,0,0,0,0,0,0
$GC,1881,-0.56,-77.0,292.4,-12.8,215,1885,0.00,0.93,0.00,0.000,4,0.000,0.058,1535,3955,2799,0,0,0,0,0,0
$GC,1984,-0.56,-77.0,306.0,-13.6,224,1987,0.00,0.88,0.00,0.000,6,0.000,0.035,1536,3375,2799,0,0,0,0,0,0
$GC,2314,-0.56,-77.0,349.1,-13.2,255,2315,0.00,0.00,0.00,0.000,6,0.000,0.000,1535,3374,2799,0,0,0,0,0,0
$GC,2636,-0.56,-77.0,390.8,-12.7,285,2640,0.00,0.93,0.00,0.000,4,0.000,0.059,1531,3952,2799,0,0,0,0,0,0
$GC,2816,-0.56,-77.0,416.8,-13.6,296,2820,0.00,0.85,0.00,0.000,6,0.000,0.035,1531,3384,2799,0,0,0,0,0,0
$GC,3148,-0.56,-77.0,459.7,-12.6,312,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3384,2799,0,0,0,0,0,0
$GC,3458,-0.56,-77.0,497.9,-12.1,327,3461,0.00,0.90,0.00,0.000,4,0.000,0.060,1527,3947,2798,0,0,0,0,0,0
$GC,3535,-0.56,-77.0,508.5,-13.9,330,3539,0.00,0.88,0.00,0.000,6,0.000,0.036,1527,3378,2798,0,0,0,0,0,0
$GC,3857,-0.56,-77.0,549.0,-12.6,346,3860,0.00,0.90,0.00,0.000,4,0.000,0.060,1523,3940,2797,0,0,0,0,0,0
$GC,3911,-0.56,-77.0,556.6,-13.9,348,3916,0.00,0.88,0.00,0.000,6,0.000,0.035,1523,3370,2798,0,0,0,0,0,0
$GC,4233,-0.56,-77.0,598.0,-12.9,364,4236,0.00,0.93,0.00,0.000,4,0.000,0.060,1519,3948,2796,0,0,0,0,0,0
$GC,4293,-0.56,-77.0,606.7,-14.2,366,4301,0.00,0.88,0.00,0.000,6,0.000,0.036,1519,3380,2797,0,0,0,0,0,0
$GC,4611,-0.56,-77.0,647.2,-12.7,382,4615,0.00,0.95,0.00,0.000,4,0.000,0.061,1515,3955,2796,0,0,0,0,0,0
$GC,4705,-0.56,-77.0,660.7,-14.7,386,4710,0.00,0.90,0.00,0.000,6,0.000,0.036,1515,3368,2796,0,0,0,0,0,0
$GC,5033,-0.56,-77.0,702.6,-12.8,402,5036,0.00,0.93,0.00,0.000,4,0.000,0.060,1511,3945,2795,0,0,0,0,0,0
$GC,5059,-0.56,-77.0,706.4,-13.8,403,5064,0.00,0.88,0.00,0.000,6,0.000,0.036,1511,3379,2796,0,0,0,0,0,0
$GC,5388,-0.56,-77.0,749.8,-13.6,419,5392,0.00,0.93,0.00,0.000,4,0.000,0.060,1506,3955,2795,0,0,0,0,0,0
$GC,5568,-0.56,-77.0,776.9,-14.7,427,5573,0.08,0.88,0.00,0.000,6,0.165,0.037,1529,3379,2795,0,0,0,0,0,0
$GC,5900,-0.56,-77.0,816.9,-11.7,443,5901,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3379,2794,0,0,0,0,0,0
$GC,6210,-0.56,-77.0,852.7,-11.3,458,6213,0.00,0.93,0.00,0.000,4,0.000,0.062,1526,3953,2793,0,0,0,0,0,0
$GC,6322,-0.56,-77.0,866.6,-12.2,463,6326,0.00,0.88,0.00,0.000,6,0.000,0.038,1526,3376,2793,0,0,0,0,0,0
$GC,6654,-0.56,-77.0,904.1,-11.2,479,6658,0.00,0.93,0.00,0.000,4,0.000,0.062,1522,3948,2793,0,0,0,0,0,0
$GC,6767,-0.56,-77.0,918.0,-13.0,484,6771,0.00,0.88,0.00,0.000,6,0.000,0.037,1522,3373,2792,0,0,0,0,0,0
$GC,7100,-0.56,-77.0,955.6,-11.1,500,7103,0.00,0.93,0.00,0.000,4,0.000,0.062,1518,3944,2792,0,0,0,0,0,0
$GC,7168,-0.56,-77.0,963.7,-12.6,503,7171,0.00,0.85,0.00,0.000,6,0.000,0.039,1518,3385,2792,0,0,0,0,0,0
$STATE,7416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7416,begin apogee
$GC,7420,-0.09,0.0,991.9,11.1,515,7500,0.57,0.00,76.65,1.870,6,0.156,0.000,1683,3288,2473,0,0,0,0,0,0
$STATE,7501,end apogee,CONTROL_FINISHED_OK
$STATE,7501,begin climb
$GC,7503,0.56,77.0,993.9,0.0,519,7589,0.60,2.47,79.60,1.813,4,0.070,0.031,1904,1869,2159,0,0,0,0,0,0
$GC,7640,0.56,77.0,983.1,11.1,525,7645,0.00,2.47,0.00,0.000,6,0.000,0.051,1904,3273,2155,0,0,0,0,0,0
$GC,7968,0.56,77.0,938.6,13.9,541,7972,0.00,1.15,0.00,0.000,4,0.000,0.058,1904,3957,2148,0,0,0,0,0,0
$GC,8039,0.56,77.0,927.5,16.0,544,8044,0.00,1.10,0.00,0.000,6,0.000,0.035,1909,3267,2147,0,0,0,0,0,0
$GC,8367,0.56,77.0,883.0,13.6,560,8371,0.00,1.15,0.00,0.000,4,0.000,0.059,1909,3958,2145,0,0,0,0,0,0
$GC,8405,0.56,77.0,877.3,15.3,561,8413,0.00,1.05,0.00,0.000,6,0.000,0.035,1914,3282,2145,0,0,0,0,0,0
$GC,8723,0.56,77.0,836.9,12.6,577,8726,0.00,1.10,0.00,0.000,4,0.000,0.059,1914,3954,2144,0,0,0,0,0,0
$GC,8760,0.56,77.0,831.5,13.7,578,8768,0.00,1.05,0.00,0.000,6,0.000,0.035,1919,3282,2144,0,0,0,0,0,0
$GC,9077,0.56,77.0,793.0,11.8,594,9078,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3282,2143,0,0,0,0,0,0
$GC,9386,0.56,77.0,755.4,12.0,609,9389,0.00,1.10,0.00,0.000,4,0.000,0.060,1919,3954,2142,0,0,0,0,0,0
$GC,9554,0.56,77.0,732.8,13.4,616,9557,0.00,1.02,0.00,0.000,6,0.000,0.036,1924,3283,2142,0,0,0,0,0,0
$GC,9875,0.56,77.0,693.6,12.0,632,9879,0.00,2.17,0.00,0.000,4,0.000,0.034,1935,1877,2142,0,0,0,0,0,0
$GC,9951,0.56,77.0,684.7,11.4,635,9960,0.10,2.33,0.00,0.000,6,0.164,0.051,1906,3291,2141,0,0,0,0,0,0
$GC,10270,0.56,77.0,648.8,11.9,651,10273,0.00,1.08,0.00,0.000,4,0.000,0.061,1906,3953,2141,0,0,0,0,0,0
$GC,10363,0.56,77.0,636.3,13.4,655,10368,0.00,1.02,0.00,0.000,6,0.000,0.036,1909,3286,2140,0,0,0,0,0,0
$GC,10691,0.56,77.0,595.7,12.6,671,10695,0.00,1.08,0.00,0.000,4,0.000,0.060,1910,3949,2140,0,0,0,0,0,0
$GC,10740,0.56,77.0,588.8,13.9,673,10745,0.00,1.02,0.00,0.000,6,0.000,0.037,1915,3284,2140,0,0,0,0,0,0
$GC,11068,0.56,77.0,547.1,12.6,689,11069,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3284,2140,0,0,0,0,0,0
$GC,11378,0.56,77.0,509.8,11.9,704,11382,0.00,2.17,0.00,0.000,4,0.000,0.032,1926,1864,2139,0,0,0,0,0,0
$GC,11421,0.56,77.0,504.8,10.6,706,11425,0.00,2.30,0.00,0.000,6,0.000,0.050,1926,3280,2138,0,0,0,0,0,0
$GC,11749,0.56,77.0,466.9,11.7,722,11753,0.00,1.08,0.00,0.000,4,0.000,0.060,1926,3942,2138,0,0,0,0,0,0
$GC,11786,0.56,77.0,462.2,12.3,723,11794,0.12,1.02,0.00,0.000,6,0.219,0.036,1903,3280,2138,0,0,0,0,0,0
$GC,12102,0.56,77.0,429.6,10.1,739,12103,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3280,2138,0,0,0,0,0,0
$GC,12413,0.56,77.0,397.6,10.4,755,12416,0.00,1.08,0.00,0.000,4,0.000,0.060,1903,3941,2138,0,0,0,0,0,0
$GC,12576,0.56,77.0,378.2,11.7,769,12583,0.00,1.02,0.00,0.000,6,0.000,0.035,1907,3278,2138,0,0,0,0,0,0
$GC,12901,0.56,77.0,342.0,10.8,800,12902,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3278,2138,0,0,0,0,0,0
$GC,13221,0.56,77.0,306.7,11.2,830,13222,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3278,2138,0,0,0,0,0,0
$GC,13540,0.56,77.0,270.4,11.3,860,13541,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3278,2138,0,0,0,0,0,0
$GC,13858,0.56,77.0,236.0,10.7,890,13862,0.00,1.10,0.00,0.000,4,0.000,0.060,1907,3954,2138,0,0,0,0,0,0
$GC,13894,0.56,77.0,232.0,12.1,893,13898,0.00,1.02,0.00,0.000,6,0.000,0.036,1912,3278,2138,0,0,0,0,0,0
$GC,14225,0.56,78.3,199.9,8.5,924,14228,0.00,1.10,0.00,0.000,4,0.000,0.059,1912,3954,2138,0,0,0,0,0,0
$GC,14259,0.56,78.3,196.5,9.9,927,14263,0.00,1.02,0.00,0.000,6,0.000,0.035,1917,3277,2138,0,0,0,0,0,0
$GC,14589,0.56,78.3,165.1,9.7,958,14593,0.00,2.15,0.00,0.000,4,0.000,0.031,1928,1860,2138,0,0,0,0,0,0
$GC,14736,0.56,87.8,153.6,7.6,970,14746,0.00,2.30,4.95,1.150,6,0.000,0.050,1929,3290,2115,0,0,0,0,0,0
$GC,15071,0.56,87.8,121.6,10.0,1002,15072,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,3290,2115,0,0,0,0,0,0
$GC,15399,0.56,87.8,89.3,9.0,1041,15408,0.00,2.17,0.00,0.000,4,0.000,0.031,1940,1868,2115,0,0,0,0,0,0
$GC,15427,0.57,91.5,87.1,8.3,1045,15435,0.12,2.28,1.70,0.383,6,0.186,0.050,1909,3286,2098,0,0,0,0,0,0
$GC,15781,0.57,96.2,57.5,8.1,1106,15789,0.00,1.10,1.90,0.321,4,0.000,0.057,1909,3954,2079,0,0,0,0,0,0
$GC,16048,0.58,109.6,37.8,7.2,1152,16058,0.00,1.02,5.72,0.801,6,0.000,0.034,1913,3273,2023,0,0,0,0,0,0
$GC,16203,0.58,109.6,24.1,9.8,1177,16210,0.00,2.12,0.00,0.000,4,0.000,0.030,1924,1860,2023,0,0,0,0,0,0
$GC,16234,0.58,109.6,20.8,9.8,1182,16243,0.00,2.30,0.00,0.000,6,0.000,0.048,1924,3282,2022,0,0,0,0,0,0
$STATE,16385,end climb,SURFACE_DEPTH_REACHED
$STATE,16385,begin surface coast
$FINISH,0.6,1.019098
$STATE,16411,end surface coast,CONTROL_FINISHED_OK
$STATE,16411,begin surface
$SM_CCo,16424,45.88,0.777,0,0,1575,220.03
$SM_GC,1.14,0.00,0.00,45.88,0.000,0.000,0.777,46,3394,1575,-5.23,0.40,220.03
$IRIDIUM_FIX,-4242.04,827.77,100114,020249
$TT8_MAMPS,0.025466
$HUMID,61.81
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,22.4,35.834
$10V_AH,9.9,26.699
$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,13.025,80.625,170.525,45.875,0.000,24.657,19.010,319.895,0.000,0.000,22.245,3032.984,10102.045,336.181,3258.671,237.187,0.000,1502.200,0.000,2744.373,0.000,1.010,0.000
$DEVICE_MAMPS,239.445,87.975,1870.425,777.240,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,840.412,2054.111,824.966,384.653,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354432
$DATA_FILE_SIZE,87144,1210
$CAP_FILE_SIZE,154681,0
$CFSIZE,259252224,240992256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100114,114429,-4259.470,830.168,37,0.9,37,-25.0