version: 66.07
glider: 543
mission: 9
dive: 299
start: 1 21 114 11 12 5
data:
$ID,543
$MISSION,9
$DIVE,299
$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,-13470.522
$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,50
$R_STBD_OVSHOOT,21
$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
$GPS1,210114,110304,-4259.293,830.617,31,0.7,31,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-65.1
$GPS2,210114,111141,-4259.207,830.740,18,0.8,18,-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,239.3,1778,-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,-51.0,0.0,0.0,0,65,0.00,0.00,-47.70,0.000,6,0.000,0.000,44,3371,2683,0,0,0,0,0,0
$GC,68,-0.56,-86.1,3.3,-4.7,6,86,6.10,0.95,-3.78,0.000,4,0.227,0.077,1526,3962,2826,0,0,0,0,0,0
$GC,299,-0.56,-86.1,48.8,-19.0,44,306,0.00,0.88,0.00,0.000,6,0.000,0.034,1526,3383,2830,0,0,0,0,0,0
$GC,650,-0.56,-86.1,103.1,-14.1,103,654,0.00,2.12,0.00,0.000,4,0.000,0.028,1526,1967,2831,0,0,0,0,0,0
$GC,670,-0.56,-86.1,106.0,-12.6,104,680,0.00,2.30,0.00,0.000,6,0.000,0.049,1515,3382,2831,0,0,0,0,0,0
$GC,996,-0.56,-86.1,149.8,-13.7,135,1000,0.00,0.90,0.00,0.000,4,0.000,0.057,1511,3950,2832,0,0,0,0,0,0
$GC,1057,-0.56,-86.1,159.0,-15.3,140,1066,0.00,0.88,0.00,0.000,6,0.000,0.032,1511,3366,2832,0,0,0,0,0,0
$GC,1382,-0.56,-86.1,206.4,-14.3,171,1386,0.00,0.93,0.00,0.000,4,0.000,0.057,1507,3946,2833,0,0,0,0,0,0
$GC,1507,-0.56,-86.1,225.2,-15.1,182,1510,0.00,0.82,0.00,0.000,6,0.000,0.033,1506,3388,2833,0,0,0,0,0,0
$GC,1839,-0.56,-86.1,272.3,-13.9,213,1844,0.12,0.93,0.00,0.000,4,0.184,0.057,1534,3957,2833,0,0,0,0,0,0
$GC,1945,-0.56,-86.1,286.2,-12.3,222,1953,0.00,0.88,0.00,0.000,6,0.000,0.033,1534,3381,2834,0,0,0,0,0,0
$GC,2273,-0.56,-86.1,325.9,-12.5,253,2277,0.00,0.90,0.00,0.000,4,0.000,0.058,1530,3945,2834,0,0,0,0,0,0
$GC,2345,-0.56,-86.1,336.1,-13.2,259,2353,0.00,0.85,0.00,0.000,6,0.000,0.034,1530,3373,2834,0,0,0,0,0,0
$GC,2671,-0.56,-86.1,377.5,-13.2,290,2674,0.00,0.93,0.00,0.000,4,0.000,0.058,1526,3951,2834,0,0,0,0,0,0
$GC,2773,-0.56,-86.1,391.6,-13.8,299,2777,0.00,0.85,0.00,0.000,6,0.000,0.034,1526,3381,2834,0,0,0,0,0,0
$GC,3097,-0.56,-86.1,431.5,-12.0,318,3100,0.00,0.90,0.00,0.000,4,0.000,0.059,1522,3944,2834,0,0,0,0,0,0
$GC,3219,-0.56,-86.1,447.6,-12.4,323,3223,0.00,0.85,0.00,0.000,6,0.000,0.034,1522,3379,2833,0,0,0,0,0,0
$GC,3541,-0.56,-86.1,485.8,-11.7,339,3545,0.00,0.90,0.00,0.000,4,0.000,0.059,1518,3941,2833,0,0,0,0,0,0
$GC,3676,-0.56,-86.1,502.7,-12.6,345,3680,0.00,0.85,0.00,0.000,6,0.000,0.034,1518,3377,2833,0,0,0,0,0,0
$GC,4009,-0.56,-86.1,541.7,-11.6,361,4012,0.00,0.93,0.00,0.000,4,0.000,0.060,1514,3953,2832,0,0,0,0,0,0
$GC,4181,-0.56,-86.1,563.8,-12.8,368,4189,0.00,0.88,0.00,0.000,6,0.000,0.034,1513,3379,2832,0,0,0,0,0,0
$GC,4497,-0.56,-86.1,601.6,-12.0,384,4501,0.00,0.93,0.00,0.000,4,0.000,0.059,1509,3955,2831,0,0,0,0,0,0
$GC,4569,-0.56,-86.1,611.1,-13.1,387,4574,0.00,0.88,0.00,0.000,6,0.000,0.034,1509,3382,2831,0,0,0,0,0,0
$GC,4897,-0.56,-86.1,652.6,-12.9,403,4900,0.00,0.90,0.00,0.000,4,0.000,0.060,1505,3942,2830,0,0,0,0,0,0
$GC,5122,-0.56,-86.1,684.4,-14.0,413,5127,0.08,0.85,0.00,0.000,6,0.168,0.035,1528,3382,2830,0,0,0,0,0,0
$GC,5455,-0.56,-86.1,723.0,-11.8,429,5459,0.00,0.93,0.00,0.000,4,0.000,0.060,1525,3955,2829,0,0,0,0,0,0
$GC,5623,-0.56,-86.1,744.6,-12.3,436,5627,0.00,0.88,0.00,0.000,6,0.000,0.036,1525,3379,2829,0,0,0,0,0,0
$GC,5945,-0.56,-86.1,783.5,-12.1,452,5948,0.00,0.90,0.00,0.000,4,0.000,0.061,1521,3938,2828,0,0,0,0,0,0
$GC,6038,-0.56,-86.1,795.9,-13.0,456,6043,0.00,0.88,0.00,0.000,6,0.000,0.035,1521,3370,2828,0,0,0,0,0,0
$GC,6367,-0.56,-86.1,833.9,-11.5,472,6370,0.00,0.93,0.00,0.000,4,0.000,0.061,1517,3945,2828,0,0,0,0,0,0
$GC,6518,-0.56,-86.1,852.3,-12.6,478,6525,0.00,0.85,0.00,0.000,6,0.000,0.036,1517,3382,2827,0,0,0,0,0,0
$GC,6835,-0.56,-86.1,886.9,-10.8,494,6839,0.00,0.90,0.00,0.000,4,0.000,0.061,1513,3940,2827,0,0,0,0,0,0
$GC,6895,-0.56,-86.1,894.5,-12.7,496,6903,0.00,0.88,0.00,0.000,6,0.000,0.035,1512,3374,2827,0,0,0,0,0,0
$GC,7212,-0.56,-86.1,929.1,-10.9,512,7215,0.00,0.93,0.00,0.000,4,0.000,0.062,1508,3948,2826,0,0,0,0,0,0
$GC,7295,-0.56,-86.1,939.3,-12.4,515,7302,0.00,0.88,0.00,0.000,6,0.000,0.036,1508,3373,2826,0,0,0,0,0,0
$GC,7612,-0.56,-86.1,976.9,-12.4,531,7616,0.00,0.93,0.00,0.000,4,0.000,0.063,1504,3946,2825,0,0,0,0,0,0
$STATE,7710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7710,begin apogee
$GC,7716,-0.09,0.0,990.3,13.1,535,7809,0.60,0.00,84.70,1.853,6,0.161,0.000,1678,3281,2475,0,0,0,0,0,0
$STATE,7810,end apogee,CONTROL_FINISHED_OK
$STATE,7810,begin climb
$GC,7811,0.56,86.1,993.4,0.0,540,7911,0.65,2.45,90.12,1.797,4,0.075,0.030,1912,1880,2123,0,0,0,0,0,0
$GC,7963,0.56,86.1,982.5,11.1,547,7968,0.00,2.45,0.00,0.000,6,0.000,0.050,1912,3283,2117,0,0,0,0,0,0
$GC,8290,0.56,86.1,938.4,13.8,563,8293,0.00,1.10,0.00,0.000,4,0.000,0.060,1912,3945,2111,0,0,0,0,0,0
$GC,8322,0.56,86.1,933.3,15.0,564,8327,0.00,1.05,0.00,0.000,6,0.000,0.034,1917,3282,2111,0,0,0,0,0,0
$GC,8646,0.56,86.1,888.0,13.9,580,8650,0.00,2.20,0.00,0.000,4,0.000,0.032,1928,1871,2109,0,0,0,0,0,0
$GC,8689,0.56,86.1,881.7,14.0,582,8693,0.00,2.33,0.00,0.000,6,0.000,0.051,1928,3279,2107,0,0,0,0,0,0
$GC,9017,0.56,86.1,834.9,14.6,598,9021,0.00,2.20,0.00,0.000,4,0.000,0.032,1939,1864,2106,0,0,0,0,0,0
$GC,9082,0.56,86.1,826.3,12.3,601,9087,0.10,2.35,0.00,0.000,6,0.168,0.051,1909,3288,2105,0,0,0,0,0,0
$GC,9411,0.56,86.1,782.8,13.7,617,9415,0.00,1.08,0.00,0.000,4,0.000,0.060,1909,3948,2105,0,0,0,0,0,0
$GC,9517,0.56,86.1,767.0,14.6,621,9524,0.00,1.00,0.00,0.000,6,0.000,0.034,1913,3289,2105,0,0,0,0,0,0
$GC,9833,0.56,86.1,725.7,13.0,637,9834,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3289,2104,0,0,0,0,0,0
$GC,10144,0.56,86.1,685.5,12.8,652,10145,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3289,2104,0,0,0,0,0,0
$GC,10452,0.56,86.1,647.7,11.8,667,10455,0.00,1.08,0.00,0.000,4,0.000,0.058,1913,3951,2104,0,0,0,0,0,0
$GC,10506,0.56,86.1,640.2,13.1,669,10511,0.00,1.05,0.00,0.000,6,0.000,0.035,1918,3272,2104,0,0,0,0,0,0
$GC,10830,0.56,86.1,603.1,11.4,685,10831,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3272,2103,0,0,0,0,0,0
$GC,11138,0.56,86.1,568.3,11.3,700,11139,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3272,2103,0,0,0,0,0,0
$GC,11447,0.56,86.1,533.3,11.3,715,11451,0.00,1.10,0.00,0.000,4,0.000,0.058,1918,3949,2103,0,0,0,0,0,0
$GC,11519,0.56,86.1,523.9,13.5,718,11524,0.00,1.00,0.00,0.000,6,0.000,0.034,1923,3293,2103,0,0,0,0,0,0
$GC,11846,0.56,86.1,484.7,12.2,734,11850,0.00,1.08,0.00,0.000,4,0.000,0.059,1923,3956,2102,0,0,0,0,0,0
$GC,11914,0.56,86.1,475.6,14.3,737,11918,0.00,1.02,0.00,0.000,6,0.000,0.035,1928,3281,2103,0,0,0,0,0,0
$GC,12247,0.56,86.1,433.4,12.7,753,12250,0.00,1.08,0.00,0.000,4,0.000,0.058,1928,3943,2103,0,0,0,0,0,0
$GC,12279,0.56,86.1,428.7,13.4,754,12284,0.12,1.02,0.00,0.000,6,0.216,0.034,1906,3278,2102,0,0,0,0,0,0
$GC,12604,0.56,86.1,389.6,11.4,774,12608,0.00,1.10,0.00,0.000,4,0.000,0.058,1904,3957,2101,0,0,0,0,0,0
$GC,12676,0.56,86.1,380.1,13.1,780,12686,0.00,1.02,0.00,0.000,6,0.000,0.034,1908,3287,2101,0,0,0,0,0,0
$GC,13002,0.56,86.1,340.3,11.6,811,13003,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3287,2101,0,0,0,0,0,0
$GC,13323,0.56,86.1,304.3,10.8,841,13327,0.00,1.08,0.00,0.000,4,0.000,0.059,1908,3950,2101,0,0,0,0,0,0
$GC,13441,0.56,86.1,290.1,11.4,851,13448,0.00,1.00,0.00,0.000,6,0.000,0.034,1913,3291,2101,0,0,0,0,0,0
$GC,13766,0.56,86.1,256.3,10.2,882,13770,0.00,2.17,0.00,0.000,4,0.000,0.031,1924,1857,2101,0,0,0,0,0,0
$GC,13822,0.56,86.1,251.0,9.0,886,13830,0.00,2.30,0.00,0.000,6,0.000,0.050,1924,3286,2100,0,0,0,0,0,0
$GC,14150,0.56,86.1,215.6,10.6,917,14153,0.00,1.08,0.00,0.000,4,0.000,0.057,1924,3952,2100,0,0,0,0,0,0
$GC,14264,0.56,86.1,202.3,11.7,927,14267,0.00,1.00,0.00,0.000,6,0.000,0.034,1929,3289,2100,0,0,0,0,0,0
$GC,14594,0.56,86.1,166.5,10.2,958,14598,0.00,2.17,0.00,0.000,4,0.000,0.030,1940,1854,2100,0,0,0,0,0,0
$GC,14645,0.56,86.1,161.7,9.8,962,14650,0.15,2.30,0.00,0.000,6,0.179,0.050,1904,3286,2099,0,0,0,0,0,0
$GC,14970,0.56,86.1,130.3,9.9,992,14973,0.00,1.08,0.00,0.000,4,0.000,0.057,1904,3954,2099,0,0,0,0,0,0
$GC,15019,0.56,86.1,124.8,12.0,996,15029,0.00,1.00,0.00,0.000,6,0.000,0.034,1907,3285,2099,0,0,0,0,0,0
$GC,15352,0.56,86.1,92.2,10.0,1033,15358,0.00,2.15,0.00,0.000,4,0.000,0.030,1918,1855,2099,0,0,0,0,0,0
$GC,15434,0.56,87.6,84.6,8.5,1047,15443,0.00,2.33,0.00,0.000,6,0.000,0.049,1918,3288,2099,0,0,0,0,0,0
$GC,15790,0.57,100.7,54.5,7.2,1108,15797,0.00,0.00,4.12,0.753,6,0.000,0.000,1918,3288,2062,0,0,0,0,0,0
$GC,16150,0.57,104.7,25.6,8.2,1169,16157,0.00,2.22,1.65,0.263,4,0.000,0.028,1929,1856,2043,0,0,0,0,0,0
$STATE,16407,end climb,SURFACE_DEPTH_REACHED
$STATE,16407,begin surface coast
$FINISH,1.5,1.026130
$STATE,16427,end surface coast,CONTROL_FINISHED_OK
$STATE,16427,begin surface
$SM_CCo,16443,48.08,0.757,0,0,1572,220.03
$SM_GC,0.96,0.00,0.00,48.08,0.000,0.000,0.757,59,3379,1572,-5.19,-0.03,220.03
$IRIDIUM_FIX,-4242.04,834.03,210114,060611
$TT8_MAMPS,0.026215
$HUMID,61.30
$INTERNAL_PRESSURE,9.57185
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,22.2,43.263
$10V_AH,9.8,33.715
$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,13.425,87.950,180.600,48.075,0.000,26.571,21.747,324.064,0.000,0.000,21.144,3054.408,9927.780,370.677,3383.888,269.032,0.000,1591.137,0.000,2860.442,0.000,1.010,0.000
$DEVICE_MAMPS,227.205,77.265,1852.830,757.350,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,840.734,2081.623,849.424,415.016,0.000,0.000,0.000,0.000,0.000,0.000
$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,87159,1214
$CAP_FILE_SIZE,157876,0
$CFSIZE,259252224,236285952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210114,154805,-4259.588,830.172,31,0.9,31,-25.0