version: 66.07
glider: 543
mission: 9
dive: 291
start: 1 19 114 22 2 30
data:
$ID,543
$MISSION,9
$DIVE,291
$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,-13448.462
$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,49
$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
$GPS1,190114,215223,-4300.086,830.950,37,1.1,37,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-63.3
$GPS2,190114,220206,-4300.024,831.157,20,1.3,20,-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,296.7,1567,-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,13,begin dive
$GC,15,-0.54,-51.0,0.0,0.0,0,58,0.00,0.00,-41.35,0.000,2,0.000,0.000,60,3373,2519,0,0,0,0,0,0
$GC,60,-0.56,-80.5,3.1,-5.3,5,87,6.18,2.22,-8.00,0.000,4,0.236,0.043,1536,1958,2806,0,0,0,0,0,0
$GC,102,-0.56,-80.5,9.8,-15.4,10,110,0.00,2.35,0.00,0.000,6,0.000,0.050,1527,3384,2807,0,0,0,0,0,0
$GC,162,-0.56,-80.5,20.5,-19.0,19,169,0.00,0.93,0.00,0.000,4,0.000,0.057,1523,3951,2808,0,0,0,0,0,0
$GC,236,-0.56,-80.5,35.7,-21.2,31,243,0.00,0.85,0.00,0.000,6,0.000,0.034,1523,3386,2809,0,0,0,0,0,0
$GC,382,-0.56,-80.5,60.8,-15.0,56,389,0.00,0.90,0.00,0.000,4,0.000,0.056,1519,3947,2809,0,0,0,0,0,0
$GC,449,-0.56,-80.5,70.9,-15.7,67,455,0.00,0.85,0.00,0.000,6,0.000,0.033,1519,3381,2809,0,0,0,0,0,0
$GC,797,-0.56,-80.5,118.4,-13.7,117,801,0.00,2.12,0.00,0.000,4,0.000,0.027,1519,1959,2811,0,0,0,0,0,0
$GC,836,-0.56,-80.5,123.9,-12.3,120,841,0.10,2.30,0.00,0.000,6,0.171,0.050,1532,3383,2810,0,0,0,0,0,0
$GC,1161,-0.56,-80.5,166.0,-13.5,150,1165,0.00,0.93,0.00,0.000,4,0.000,0.057,1529,3957,2812,0,0,0,0,0,0
$GC,1333,-0.56,-80.5,190.7,-14.2,165,1337,0.00,0.85,0.00,0.000,6,0.000,0.033,1529,3383,2812,0,0,0,0,0,0
$GC,1664,-0.56,-80.5,235.5,-13.7,196,1665,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3383,2812,0,0,0,0,0,0
$GC,1983,-0.56,-80.5,277.4,-13.2,226,1987,0.00,2.12,0.00,0.000,4,0.000,0.028,1529,1961,2812,0,0,0,0,0,0
$GC,2038,-0.56,-80.5,283.9,-10.3,230,2046,0.00,2.33,0.00,0.000,6,0.000,0.050,1519,3388,2813,0,0,0,0,0,0
$GC,2366,-0.56,-80.5,325.4,-12.1,261,2370,0.00,0.90,0.00,0.000,4,0.000,0.057,1514,3956,2813,0,0,0,0,0,0
$GC,2537,-0.56,-80.5,348.8,-13.6,276,2541,0.00,0.85,0.00,0.000,6,0.000,0.033,1514,3381,2813,0,0,0,0,0,0
$GC,2867,-0.56,-80.5,393.5,-13.6,307,2871,0.00,0.90,0.00,0.000,4,0.000,0.057,1510,3946,2813,0,0,0,0,0,0
$GC,2962,-0.56,-80.5,407.9,-15.7,313,2966,0.00,0.85,0.00,0.000,6,0.000,0.033,1510,3371,2813,0,0,0,0,0,0
$GC,3289,-0.56,-80.5,454.2,-14.0,329,3293,0.00,0.93,0.00,0.000,4,0.000,0.058,1506,3952,2813,0,0,0,0,0,0
$GC,3388,-0.56,-80.5,470.0,-16.5,333,3394,0.12,0.88,0.00,0.000,6,0.183,0.033,1536,3376,2812,0,0,0,0,0,0
$GC,3711,-0.56,-80.5,510.5,-12.1,349,3714,0.00,0.93,0.00,0.000,4,0.000,0.059,1533,3954,2812,0,0,0,0,0,0
$GC,3827,-0.56,-80.5,526.2,-13.0,354,3832,0.00,0.88,0.00,0.000,6,0.000,0.034,1533,3379,2812,0,0,0,0,0,0
$GC,4155,-0.56,-80.5,564.9,-11.5,370,4159,0.00,2.12,0.00,0.000,4,0.000,0.028,1533,1960,2811,0,0,0,0,0,0
$GC,4182,-0.56,-80.5,568.3,-12.1,371,4186,0.00,2.33,0.00,0.000,6,0.000,0.051,1522,3380,2812,0,0,0,0,0,0
$GC,4506,-0.56,-80.5,607.4,-12.2,387,4509,0.00,0.93,0.00,0.000,4,0.000,0.060,1518,3945,2811,0,0,0,0,0,0
$GC,4597,-0.56,-80.5,619.6,-13.1,391,4600,0.00,0.85,0.00,0.000,6,0.000,0.035,1518,3378,2810,0,0,0,0,0,0
$GC,4929,-0.56,-80.5,661.4,-12.2,407,4932,0.00,0.93,0.00,0.000,4,0.000,0.060,1514,3953,2810,0,0,0,0,0,0
$GC,5057,-0.56,-80.5,679.1,-14.5,412,5065,0.00,0.85,0.00,0.000,6,0.000,0.034,1514,3384,2809,0,0,0,0,0,0
$GC,5375,-0.56,-80.5,718.8,-12.7,428,5376,0.00,0.00,0.00,0.000,6,0.000,0.000,1514,3384,2808,0,0,0,0,0,0
$GC,5683,-0.56,-80.5,757.8,-12.8,443,5686,0.00,0.90,0.00,0.000,4,0.000,0.060,1510,3944,2808,0,0,0,0,0,0
$GC,5795,-0.56,-80.5,773.6,-14.6,448,5799,0.00,0.85,0.00,0.000,6,0.000,0.037,1510,3381,2807,0,0,0,0,0,0
$GC,6128,-0.56,-80.5,818.4,-13.7,464,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,1509,3381,2807,0,0,0,0,0,0
$GC,6437,-0.56,-80.5,860.4,-13.6,479,6441,0.00,0.95,0.00,0.000,4,0.000,0.060,1505,3952,2807,0,0,0,0,0,0
$GC,6531,-0.56,-80.5,874.5,-14.7,483,6537,0.12,0.90,0.00,0.000,6,0.179,0.036,1535,3369,2806,0,0,0,0,0,0
$GC,6859,-0.56,-80.5,910.1,-10.3,499,6863,0.00,0.93,0.00,0.000,4,0.000,0.061,1532,3944,2806,0,0,0,0,0,0
$GC,7022,-0.56,-80.5,928.3,-10.9,506,7025,0.00,0.85,0.00,0.000,6,0.000,0.036,1532,3385,2805,0,0,0,0,0,0
$GC,7349,-0.56,-80.5,959.3,-9.3,522,7350,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,3385,2805,0,0,0,0,0,0
$GC,7658,-0.56,-82.4,986.7,-8.5,537,7659,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,3385,2805,0,0,0,0,0,0
$STATE,7698,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7698,begin apogee
$GC,7703,-0.09,0.0,990.2,8.4,539,7786,0.52,0.00,80.22,1.840,6,0.149,0.000,1685,3286,2473,0,0,0,0,0,0
$STATE,7787,end apogee,CONTROL_FINISHED_OK
$STATE,7787,begin climb
$GC,7789,0.56,82.4,991.0,0.0,543,7881,0.65,0.00,86.40,1.792,6,0.070,0.000,1905,3286,2138,0,0,0,0,0,0
$GC,8191,0.56,82.4,938.4,15.1,563,8195,0.00,2.25,0.00,0.000,4,0.000,0.031,1916,1864,2127,0,0,0,0,0,0
$GC,8239,0.56,82.4,930.7,14.7,565,8244,0.00,2.40,0.00,0.000,6,0.000,0.050,1916,3289,2125,0,0,0,0,0,0
$GC,8562,0.56,82.4,881.0,15.0,581,8566,0.00,2.22,0.00,0.000,4,0.000,0.031,1927,1863,2123,0,0,0,0,0,0
$GC,8578,0.56,82.4,878.5,15.0,582,8583,0.00,2.35,0.00,0.000,6,0.000,0.050,1928,3293,2122,0,0,0,0,0,0
$GC,8906,0.56,82.4,830.4,14.3,598,8909,0.00,1.08,0.00,0.000,4,0.000,0.058,1927,3952,2121,0,0,0,0,0,0
$GC,8943,0.56,82.4,824.0,17.2,599,8952,0.12,1.05,0.00,0.000,6,0.223,0.034,1905,3277,2122,0,0,0,0,0,0
$GC,9261,0.56,82.4,782.3,12.7,615,9265,0.00,2.17,0.00,0.000,4,0.000,0.032,1915,1864,2120,0,0,0,0,0,0
$GC,9323,0.56,82.4,774.8,11.7,618,9328,0.00,2.33,0.00,0.000,6,0.000,0.050,1915,3294,2119,0,0,0,0,0,0
$GC,9650,0.56,82.4,730.8,13.4,634,9654,0.00,2.20,0.00,0.000,4,0.000,0.032,1926,1869,2117,0,0,0,0,0,0
$GC,9689,0.56,82.4,726.1,12.1,636,9693,0.00,2.30,0.00,0.000,6,0.000,0.050,1926,3286,2117,0,0,0,0,0,0
$GC,10016,0.56,82.4,684.3,12.5,652,10017,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,3286,2117,0,0,0,0,0,0
$GC,10327,0.56,82.4,646.1,12.4,667,10330,0.00,1.08,0.00,0.000,4,0.000,0.059,1926,3947,2117,0,0,0,0,0,0
$GC,10349,0.56,82.4,642.9,12.9,668,10354,0.10,1.00,0.00,0.000,6,0.207,0.036,1905,3288,2117,0,0,0,0,0,0
$GC,10682,0.56,82.4,604.5,11.6,684,10686,0.00,1.08,0.00,0.000,4,0.000,0.059,1905,3949,2116,0,0,0,0,0,0
$GC,10737,0.56,82.4,597.3,13.6,686,10741,0.00,1.02,0.00,0.000,6,0.000,0.035,1909,3283,2116,0,0,0,0,0,0
$GC,11061,0.56,82.4,560.6,10.9,702,11065,0.00,2.17,0.00,0.000,4,0.000,0.031,1920,1860,2117,0,0,0,0,0,0
$GC,11125,0.56,82.4,554.2,9.4,705,11130,0.00,2.33,0.00,0.000,6,0.000,0.050,1920,3283,2115,0,0,0,0,0,0
$GC,11453,0.56,82.4,519.6,10.1,721,11457,0.00,1.08,0.00,0.000,4,0.000,0.059,1920,3946,2114,0,0,0,0,0,0
$GC,11514,0.56,82.4,512.6,11.4,723,11521,0.00,1.00,0.00,0.000,6,0.000,0.035,1925,3288,2114,0,0,0,0,0,0
$GC,11830,0.56,82.4,476.9,11.7,739,11834,0.00,1.08,0.00,0.000,4,0.000,0.059,1925,3951,2114,0,0,0,0,0,0
$GC,12076,0.56,82.4,443.1,13.9,750,12080,0.00,1.02,0.00,0.000,6,0.000,0.036,1930,3273,2114,0,0,0,0,0,0
$GC,12409,0.56,82.4,401.6,12.7,766,12410,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3273,2115,0,0,0,0,0,0
$GC,12728,0.56,82.4,359.7,13.6,795,12732,0.00,2.15,0.00,0.000,4,0.000,0.031,1941,1858,2114,0,0,0,0,0,0
$GC,12758,0.56,82.4,356.0,12.0,797,12763,0.15,2.30,0.00,0.000,6,0.187,0.050,1905,3295,2113,0,0,0,0,0,0
$GC,13088,0.56,82.4,313.7,12.3,828,13091,0.00,1.05,0.00,0.000,4,0.000,0.058,1905,3948,2113,0,0,0,0,0,0
$GC,13349,0.56,82.4,277.7,13.9,851,13352,0.00,1.00,0.00,0.000,6,0.000,0.035,1909,3286,2113,0,0,0,0,0,0
$GC,13679,0.56,82.4,238.9,10.6,882,13683,0.00,1.08,0.00,0.000,4,0.000,0.058,1909,3950,2113,0,0,0,0,0,0
$GC,13770,0.56,82.4,228.3,11.6,890,13774,0.00,1.00,0.00,0.000,6,0.000,0.035,1913,3288,2113,0,0,0,0,0,0
$GC,14103,0.56,82.4,194.8,9.9,921,14104,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3288,2113,0,0,0,0,0,0
$GC,14420,0.56,82.4,163.5,9.8,951,14421,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3288,2113,0,0,0,0,0,0
$GC,14741,0.56,82.4,130.9,10.3,981,14747,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3288,2113,0,0,0,0,0,0
$GC,15069,0.56,82.4,95.1,10.5,1016,15076,0.00,2.17,0.00,0.000,4,0.000,0.030,1925,1853,2113,0,0,0,0,0,0
$GC,15094,0.56,82.4,92.7,10.0,1020,15103,0.00,2.33,0.00,0.000,6,0.000,0.050,1925,3280,2113,0,0,0,0,0,0
$GC,15446,0.58,111.2,66.3,5.4,1081,15467,0.00,2.17,10.30,0.969,4,0.000,0.029,1935,1863,2018,0,0,0,0,0,0
$GC,15725,0.58,111.2,44.3,8.8,1129,15732,0.00,2.30,0.00,0.000,6,0.000,0.049,1936,3291,2016,0,0,0,0,0,0
$STATE,16078,end climb,SURFACE_DEPTH_REACHED
$STATE,16078,begin surface coast
$FINISH,0.6,1.026293
$STATE,16112,end surface coast,CONTROL_FINISHED_OK
$STATE,16112,begin surface
$SM_CCo,16125,44.90,0.767,0,0,1575,220.03
$SM_GC,1.38,0.00,0.00,44.90,0.000,0.000,0.767,63,3400,1575,-5.18,0.57,220.03
$IRIDIUM_FIX,-4244.98,834.03,190114,171758
$TT8_MAMPS,0.026215
$HUMID,61.26
$INTERNAL_PRESSURE,9.58162
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,22.2,42.218
$10V_AH,9.8,32.741
$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,13.200,90.250,176.925,44.900,0.000,32.195,41.329,359.550,0.000,0.000,23.962,2984.430,9845.719,364.954,3276.913,275.885,0.000,1504.455,0.000,2708.813,0.000,1.012,0.000
$DEVICE_MAMPS,235.620,87.975,1839.825,767.295,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,825.962,2035.768,818.826,389.565,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354448
$DATA_FILE_SIZE,86976,1193
$CAP_FILE_SIZE,151948,0
$CFSIZE,259252224,236941312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200114,023309,-4259.201,830.105,32,0.9,32,-25.0