version: 66.07
glider: 543
mission: 9
dive: 253
start: 1 12 114 14 29 47
data:
$ID,543
$MISSION,9
$DIVE,253
$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,-13339.411
$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,48
$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
$GPS1,120114,142022,-4300.159,830.511,41,0.9,41,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-66.2
$GPS2,120114,142923,-4300.079,830.585,19,1.1,19,-25.0
$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,305.5,806,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.54,-51.0,0.0,0.0,0,58,0.00,0.00,-41.67,0.000,2,0.000,0.000,54,3359,2526,0,0,0,0,0,0
$GC,60,-0.56,-82.2,3.2,-5.1,5,87,6.20,2.20,-8.25,0.000,4,0.238,0.044,1532,1961,2813,0,0,0,0,0,0
$GC,162,-0.56,-82.2,18.2,-15.4,20,171,0.00,2.35,0.00,0.000,6,0.000,0.052,1523,3383,2815,0,0,0,0,0,0
$GC,223,-0.56,-82.2,28.1,-18.2,29,229,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3383,2816,0,0,0,0,0,0
$GC,368,-0.56,-82.2,57.8,-19.2,54,377,0.00,0.93,0.00,0.000,4,0.000,0.059,1519,3952,2816,0,0,0,0,0,0
$GC,400,-0.56,-82.2,63.7,-18.5,59,406,0.00,0.88,0.00,0.000,6,0.000,0.034,1518,3379,2817,0,0,0,0,0,0
$GC,740,-0.56,-82.2,124.1,-16.9,107,743,0.00,0.93,0.00,0.000,4,0.000,0.059,1514,3952,2818,0,0,0,0,0,0
$GC,785,-0.56,-82.2,132.0,-17.7,111,788,0.00,0.85,0.00,0.000,6,0.000,0.034,1514,3386,2818,0,0,0,0,0,0
$GC,1115,-0.56,-82.2,187.8,-16.1,142,1118,0.00,0.93,0.00,0.000,4,0.000,0.058,1510,3956,2819,0,0,0,0,0,0
$GC,1175,-0.56,-82.2,198.1,-17.4,147,1183,0.00,0.88,0.00,0.000,6,0.000,0.033,1510,3383,2819,0,0,0,0,0,0
$GC,1501,-0.56,-82.2,250.8,-15.8,178,1504,0.00,0.93,0.00,0.000,4,0.000,0.058,1506,3960,2819,0,0,0,0,0,0
$GC,1546,-0.56,-82.2,258.5,-17.2,182,1550,0.08,0.88,0.00,0.000,6,0.167,0.034,1529,3382,2819,0,0,0,0,0,0
$GC,1878,-0.56,-82.2,304.3,-12.9,213,1882,0.00,0.93,0.00,0.000,4,0.000,0.060,1526,3956,2820,0,0,0,0,0,0
$GC,1925,-0.56,-82.2,310.8,-14.0,217,1929,0.00,0.88,0.00,0.000,6,0.000,0.034,1526,3374,2820,0,0,0,0,0,0
$GC,2255,-0.56,-82.2,352.3,-12.1,248,2258,0.00,0.93,0.00,0.000,4,0.000,0.060,1522,3951,2819,0,0,0,0,0,0
$GC,2351,-0.56,-82.2,364.8,-12.9,256,2360,0.00,0.85,0.00,0.000,6,0.000,0.034,1522,3386,2819,0,0,0,0,0,0
$GC,2677,-0.56,-82.2,405.7,-12.5,285,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3386,2819,0,0,0,0,0,0
$GC,2984,-0.56,-82.2,445.7,-13.1,300,2987,0.00,0.93,0.00,0.000,4,0.000,0.060,1518,3960,2819,0,0,0,0,0,0
$GC,3100,-0.56,-82.2,462.7,-14.2,305,3104,0.00,0.88,0.00,0.000,6,0.000,0.034,1518,3379,2819,0,0,0,0,0,0
$GC,3428,-0.56,-82.2,507.8,-14.1,321,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,1518,3379,2819,0,0,0,0,0,0
$GC,3737,-0.56,-82.2,552.2,-14.1,336,3740,0.00,0.93,0.00,0.000,4,0.000,0.060,1513,3955,2818,0,0,0,0,0,0
$GC,3783,-0.56,-82.2,559.0,-16.0,338,3786,0.00,0.88,0.00,0.000,6,0.000,0.036,1513,3378,2818,0,0,0,0,0,0
$GC,4115,-0.56,-82.2,606.9,-13.8,354,4118,0.00,0.93,0.00,0.000,4,0.000,0.060,1509,3953,2818,0,0,0,0,0,0
$GC,4147,-0.56,-82.2,611.7,-14.4,355,4151,0.00,0.90,0.00,0.000,6,0.000,0.036,1509,3366,2818,0,0,0,0,0,0
$GC,4469,-0.56,-82.2,655.5,-13.6,371,4472,0.00,0.95,0.00,0.000,4,0.000,0.061,1505,3955,2817,0,0,0,0,0,0
$GC,4529,-0.56,-82.2,664.6,-14.8,373,4537,0.12,0.88,0.00,0.000,6,0.181,0.035,1536,3385,2817,0,0,0,0,0,0
$GC,4845,-0.56,-82.2,700.4,-11.0,389,4849,0.00,0.93,0.00,0.000,4,0.000,0.062,1532,3956,2817,0,0,0,0,0,0
$GC,4917,-0.56,-82.2,709.1,-11.4,392,4922,0.00,0.90,0.00,0.000,6,0.000,0.036,1532,3374,2817,0,0,0,0,0,0
$GC,5244,-0.56,-82.2,744.8,-10.9,408,5247,0.00,0.93,0.00,0.000,4,0.000,0.062,1528,3947,2816,0,0,0,0,0,0
$GC,5276,-0.56,-82.2,748.7,-11.6,409,5281,0.00,0.88,0.00,0.000,6,0.000,0.037,1528,3382,2816,0,0,0,0,0,0
$GC,5598,-0.56,-82.2,784.9,-11.1,425,5599,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3381,2816,0,0,0,0,0,0
$GC,5907,-0.56,-82.2,818.5,-11.0,440,5911,0.00,0.93,0.00,0.000,4,0.000,0.062,1524,3951,2815,0,0,0,0,0,0
$GC,5979,-0.56,-82.2,827.4,-12.5,443,5983,0.00,0.90,0.00,0.000,6,0.000,0.037,1524,3370,2815,0,0,0,0,0,0
$GC,6308,-0.56,-82.2,864.2,-10.6,459,6309,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3370,2814,0,0,0,0,0,0
$GC,6616,-0.56,-82.2,897.9,-11.0,474,6619,0.00,0.95,0.00,0.000,4,0.000,0.062,1520,3953,2813,0,0,0,0,0,0
$GC,6671,-0.56,-82.2,904.7,-12.6,476,6675,0.00,0.90,0.00,0.000,6,0.000,0.037,1520,3372,2813,0,0,0,0,0,0
$GC,6994,-0.56,-82.2,939.6,-10.5,492,6997,0.00,0.95,0.00,0.000,4,0.000,0.063,1515,3957,2813,0,0,0,0,0,0
$GC,7054,-0.56,-82.2,946.9,-11.6,494,7062,0.00,0.90,0.00,0.000,6,0.000,0.037,1516,3379,2813,0,0,0,0,0,0
$GC,7371,-0.56,-82.2,979.9,-10.5,510,7372,0.00,0.00,0.00,0.000,6,0.000,0.000,1516,3379,2812,0,0,0,0,0,0
$STATE,7474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7474,begin apogee
$GC,7479,-0.09,0.0,990.7,10.8,515,7564,0.57,0.00,81.82,1.858,6,0.155,0.000,1682,3282,2473,0,0,0,0,0,0
$STATE,7565,end apogee,CONTROL_FINISHED_OK
$STATE,7565,begin climb
$GC,7567,0.56,82.2,993.0,0.0,519,7656,0.65,0.00,86.20,1.808,6,0.074,0.000,1897,3282,2137,0,0,0,0,0,0
$GC,7965,0.56,82.2,947.6,12.8,539,7966,0.00,0.00,0.00,0.000,6,0.000,0.000,1897,3282,2127,0,0,0,0,0,0
$GC,8272,0.56,82.2,907.8,12.7,554,8276,0.00,1.12,0.00,0.000,4,0.000,0.060,1897,3954,2124,0,0,0,0,0,0
$GC,8327,0.56,82.2,900.0,13.7,556,8331,0.00,1.08,0.00,0.000,6,0.000,0.036,1903,3278,2124,0,0,0,0,0,0
$GC,8650,0.56,82.2,858.3,13.7,572,8651,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3278,2122,0,0,0,0,0,0
$GC,8958,0.56,82.2,816.7,13.6,587,8962,0.00,1.12,0.00,0.000,4,0.000,0.060,1902,3959,2121,0,0,0,0,0,0
$GC,9018,0.56,82.2,807.2,15.9,589,9026,0.00,1.05,0.00,0.000,6,0.000,0.036,1908,3277,2121,0,0,0,0,0,0
$GC,9336,0.56,82.2,762.8,13.9,605,9337,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3277,2120,0,0,0,0,0,0
$GC,9644,0.56,82.2,720.2,13.5,620,9648,0.00,1.10,0.00,0.000,4,0.000,0.060,1908,3954,2119,0,0,0,0,0,0
$GC,9721,0.56,82.2,708.6,15.0,623,9726,0.00,1.05,0.00,0.000,6,0.000,0.037,1913,3278,2119,0,0,0,0,0,0
$GC,10043,0.56,82.2,664.8,13.1,639,10047,0.00,1.10,0.00,0.000,4,0.000,0.060,1913,3953,2118,0,0,0,0,0,0
$GC,10134,0.56,82.2,652.1,14.5,643,10138,0.00,1.02,0.00,0.000,6,0.000,0.036,1918,3283,2118,0,0,0,0,0,0
$GC,10468,0.56,82.2,609.1,12.5,659,10471,0.00,1.10,0.00,0.000,4,0.000,0.060,1918,3957,2118,0,0,0,0,0,0
$GC,10505,0.56,82.2,603.5,13.7,660,10513,0.00,1.05,0.00,0.000,6,0.000,0.035,1923,3282,2118,0,0,0,0,0,0
$GC,10822,0.56,82.2,563.8,12.3,676,10823,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3282,2118,0,0,0,0,0,0
$GC,11131,0.56,82.2,526.6,11.8,691,11132,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3282,2118,0,0,0,0,0,0
$GC,11440,0.56,82.2,490.7,11.7,706,11444,0.00,2.17,0.00,0.000,4,0.000,0.032,1934,1856,2118,0,0,0,0,0,0
$GC,11480,0.56,82.2,486.3,10.5,708,11485,0.12,2.33,0.00,0.000,6,0.187,0.050,1905,3300,2116,0,0,0,0,0,0
$GC,11806,0.56,82.2,450.4,11.1,724,11807,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3300,2116,0,0,0,0,0,0
$GC,12116,0.56,82.2,416.1,11.3,739,12119,0.00,1.05,0.00,0.000,4,0.000,0.059,1905,3948,2116,0,0,0,0,0,0
$GC,12193,0.56,82.2,406.5,11.8,742,12197,0.00,1.02,0.00,0.000,6,0.000,0.035,1908,3282,2116,0,0,0,0,0,0
$GC,12522,0.56,82.2,369.2,10.9,770,12526,0.00,2.15,0.00,0.000,4,0.000,0.032,1920,1868,2116,0,0,0,0,0,0
$GC,12573,0.56,82.2,363.7,10.0,774,12577,0.00,2.28,0.00,0.000,6,0.000,0.050,1920,3284,2115,0,0,0,0,0,0
$GC,12898,0.56,82.2,325.9,11.2,804,12901,0.00,1.08,0.00,0.000,4,0.000,0.059,1920,3947,2115,0,0,0,0,0,0
$GC,13057,0.56,82.2,306.1,12.6,818,13061,0.00,1.00,0.00,0.000,6,0.000,0.036,1925,3289,2115,0,0,0,0,0,0
$GC,13390,0.56,82.2,269.7,10.7,849,13391,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,3289,2115,0,0,0,0,0,0
$GC,13707,0.56,82.2,236.9,10.0,879,13708,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,3289,2115,0,0,0,0,0,0
$GC,14028,0.56,82.2,205.0,10.0,909,14032,0.00,2.17,0.00,0.000,4,0.000,0.032,1936,1860,2115,0,0,0,0,0,0
$GC,14174,0.56,82.2,191.3,8.7,921,14182,0.12,2.30,0.00,0.000,6,0.182,0.050,1906,3294,2114,0,0,0,0,0,0
$GC,14499,0.56,82.2,158.4,10.5,952,14500,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3295,2115,0,0,0,0,0,0
$GC,14819,0.56,82.2,124.3,10.8,982,14823,0.00,1.05,0.00,0.000,4,0.000,0.058,1906,3949,2115,0,0,0,0,0,0
$GC,15079,0.56,82.2,91.8,12.6,1010,15086,0.00,1.00,0.00,0.000,6,0.000,0.034,1910,3283,2114,0,0,0,0,0,0
$GC,15429,0.57,102.1,57.0,6.4,1071,15444,0.00,2.17,6.35,0.892,4,0.000,0.031,1921,1864,2055,0,0,0,0,0,0
$GC,15509,0.59,130.5,52.9,5.4,1084,15531,0.00,2.28,12.15,0.947,6,0.000,0.050,1921,3289,1940,0,0,0,0,0,0
$GC,15885,0.59,130.5,13.3,12.0,1147,15894,0.00,1.05,0.00,0.000,4,0.000,0.057,1921,3944,1935,0,0,0,0,0,0
$GC,15921,0.59,130.5,8.1,14.0,1152,15930,0.00,1.00,0.00,0.000,6,0.000,0.034,1926,3284,1935,0,0,0,0,0,0
$STATE,15961,end climb,SURFACE_DEPTH_REACHED
$STATE,15962,begin surface coast
$FINISH,1.0,1.026228
$STATE,15988,end surface coast,CONTROL_FINISHED_OK
$STATE,15988,begin surface
$SM_CCo,16001,36.70,0.776,0,0,1576,220.03
$SM_GC,1.43,0.00,0.00,36.70,0.000,0.000,0.776,63,3403,1576,-5.18,0.65,220.03
$IRIDIUM_FIX,-4242.04,830.68,120114,090958
$TT8_MAMPS,0.026215
$HUMID,61.77
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.3,37.346
$10V_AH,9.9,28.142
$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,12.825,68.875,186.525,36.700,0.000,28.142,49.878,328.790,0.000,0.000,21.314,2887.101,10033.291,364.576,3059.941,232.337,0.000,1439.831,0.000,2516.165,0.000,1.011,0.000
$DEVICE_MAMPS,237.915,79.560,1858.185,775.710,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,806.336,1985.053,775.381,358.699,0.000,0.000,0.000,0.000,0.000,0.000
$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,83619,1162
$CAP_FILE_SIZE,145396,0
$CFSIZE,259252224,240033792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120114,185805,-4258.699,828.895,24,1.5,24,-25.0