version: 66.07
glider: 543
mission: 9
dive: 300
start: 1 21 114 15 57 41
data:
$ID,543
$MISSION,9
$DIVE,300
$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,-13473.976
$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,44
$R_STBD_OVSHOOT,19
$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
$GPS1,210114,154805,-4259.588,830.172,31,0.9,31,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-64.5
$GPS2,210114,155717,-4259.607,830.202,34,0.8,34,-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,225.7,777,-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,-47.75,0.000,6,0.000,0.000,59,3378,2683,0,0,0,0,0,0
$GC,68,-0.56,-81.2,3.6,-5.2,6,86,6.12,0.93,-3.15,0.000,4,0.230,0.078,1531,3955,2807,0,0,0,0,0,0
$GC,306,-0.56,-81.2,50.5,-17.6,45,314,0.00,0.88,0.00,0.000,6,0.000,0.034,1533,3378,2811,0,0,0,0,0,0
$GC,661,-0.56,-81.2,99.0,-12.2,106,668,0.00,0.93,0.00,0.000,4,0.000,0.058,1530,3953,2812,0,0,0,0,0,0
$GC,733,-0.56,-81.2,108.8,-13.9,113,737,0.00,0.88,0.00,0.000,6,0.000,0.034,1530,3370,2812,0,0,0,0,0,0
$GC,1064,-0.56,-81.2,151.1,-12.8,144,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3370,2813,0,0,0,0,0,0
$GC,1383,-0.56,-81.2,192.7,-13.4,174,1387,0.00,0.95,0.00,0.000,4,0.000,0.057,1526,3956,2814,0,0,0,0,0,0
$GC,1569,-0.56,-81.2,220.7,-15.2,190,1577,0.00,0.88,0.00,0.000,6,0.000,0.033,1526,3378,2813,0,0,0,0,0,0
$GC,1897,-0.56,-81.2,267.1,-13.9,221,1901,0.00,0.90,0.00,0.000,4,0.000,0.058,1522,3943,2813,0,0,0,0,0,0
$GC,1991,-0.56,-81.2,281.0,-15.6,229,1995,0.00,0.82,0.00,0.000,6,0.000,0.034,1522,3389,2813,0,0,0,0,0,0
$GC,2322,-0.56,-81.2,328.1,-14.1,260,2323,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3389,2813,0,0,0,0,0,0
$GC,2642,-0.56,-81.2,371.2,-13.2,290,2645,0.00,0.90,0.00,0.000,4,0.000,0.059,1518,3954,2813,0,0,0,0,0,0
$GC,2778,-0.56,-81.2,390.3,-13.6,302,2782,0.00,0.85,0.00,0.000,6,0.000,0.034,1518,3382,2813,0,0,0,0,0,0
$GC,3102,-0.56,-81.2,431.6,-12.5,321,3105,0.00,0.90,0.00,0.000,4,0.000,0.059,1514,3946,2813,0,0,0,0,0,0
$GC,3291,-0.56,-81.2,458.5,-14.6,329,3296,0.00,0.88,0.00,0.000,6,0.000,0.033,1514,3370,2813,0,0,0,0,0,0
$GC,3614,-0.56,-81.2,499.6,-12.8,345,3617,0.00,0.93,0.00,0.000,4,0.000,0.059,1509,3949,2813,0,0,0,0,0,0
$GC,3713,-0.56,-81.2,513.8,-13.9,349,3718,0.00,0.88,0.00,0.000,6,0.000,0.034,1510,3373,2813,0,0,0,0,0,0
$GC,4037,-0.56,-81.2,555.6,-12.9,365,4041,0.00,0.93,0.00,0.000,4,0.000,0.059,1505,3953,2812,0,0,0,0,0,0
$GC,4120,-0.56,-81.2,567.4,-13.7,368,4128,0.12,0.88,0.00,0.000,6,0.185,0.034,1535,3380,2812,0,0,0,0,0,0
$GC,4436,-0.56,-81.2,602.2,-11.0,384,4440,0.00,0.95,0.00,0.000,4,0.000,0.061,1532,3957,2812,0,0,0,0,0,0
$GC,4536,-0.56,-81.2,614.2,-11.9,388,4540,0.00,0.88,0.00,0.000,6,0.000,0.035,1532,3375,2812,0,0,0,0,0,0
$GC,4860,-0.56,-81.2,649.3,-10.7,404,4863,0.00,0.93,0.00,0.000,4,0.000,0.060,1528,3951,2811,0,0,0,0,0,0
$GC,4965,-0.56,-81.2,662.2,-12.2,408,4972,0.00,0.85,0.00,0.000,6,0.000,0.035,1528,3383,2811,0,0,0,0,0,0
$GC,5281,-0.56,-81.2,697.6,-11.3,424,5285,0.00,0.93,0.00,0.000,4,0.000,0.060,1523,3956,2810,0,0,0,0,0,0
$GC,5381,-0.56,-81.2,710.4,-13.3,428,5385,0.00,0.90,0.00,0.000,6,0.000,0.035,1524,3370,2810,0,0,0,0,0,0
$GC,5703,-0.56,-81.2,748.4,-11.6,444,5707,0.00,0.95,0.00,0.000,4,0.000,0.061,1520,3958,2809,0,0,0,0,0,0
$GC,5883,-0.56,-81.2,770.0,-12.1,452,5887,0.00,0.88,0.00,0.000,6,0.000,0.037,1520,3380,2809,0,0,0,0,0,0
$GC,6216,-0.56,-81.2,808.5,-11.8,468,6220,0.00,0.95,0.00,0.000,4,0.000,0.062,1515,3954,2808,0,0,0,0,0,0
$GC,6321,-0.56,-81.2,822.0,-12.4,472,6329,0.00,0.88,0.00,0.000,6,0.000,0.036,1515,3380,2808,0,0,0,0,0,0
$GC,6638,-0.56,-81.2,857.5,-10.8,488,6642,0.00,0.95,0.00,0.000,4,0.000,0.062,1511,3954,2807,0,0,0,0,0,0
$GC,6751,-0.56,-81.2,871.3,-12.6,493,6754,0.00,0.88,0.00,0.000,6,0.000,0.037,1511,3375,2807,0,0,0,0,0,0
$GC,7084,-0.56,-81.2,908.7,-11.0,509,7087,0.00,0.93,0.00,0.000,4,0.000,0.061,1507,3948,2807,0,0,0,0,0,0
$GC,7318,-0.56,-81.2,936.6,-11.4,519,7323,0.12,0.88,0.00,0.000,6,0.184,0.037,1537,3384,2807,0,0,0,0,0,0
$GC,7640,-0.56,-81.7,964.6,-8.6,535,7644,0.00,0.93,0.00,0.000,4,0.000,0.062,1533,3956,2807,0,0,0,0,0,0
$GC,7779,-0.56,-81.7,978.6,-10.2,541,7784,0.00,0.90,0.00,0.000,6,0.000,0.037,1533,3374,2806,0,0,0,0,0,0
$STATE,7919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7919,begin apogee
$GC,7925,-0.09,0.0,991.3,9.0,548,8009,0.52,0.00,80.85,1.842,6,0.151,0.000,1686,3291,2473,0,0,0,0,0,0
$STATE,8009,end apogee,CONTROL_FINISHED_OK
$STATE,8010,begin climb
$GC,8011,0.56,81.7,993.1,0.0,552,8106,0.62,2.47,85.57,1.791,4,0.067,0.031,1914,1872,2139,0,0,0,0,0,0
$GC,8167,0.56,81.7,980.9,11.7,559,8171,0.00,2.47,0.00,0.000,6,0.000,0.050,1914,3291,2134,0,0,0,0,0,0
$GC,8496,0.56,81.7,937.9,12.9,575,8497,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3291,2128,0,0,0,0,0,0
$GC,8804,0.56,81.7,898.9,12.1,590,8807,0.00,1.08,0.00,0.000,4,0.000,0.059,1914,3951,2126,0,0,0,0,0,0
$GC,8836,0.56,81.7,894.3,14.4,591,8841,0.00,1.02,0.00,0.000,6,0.000,0.034,1920,3282,2126,0,0,0,0,0,0
$GC,9158,0.56,81.7,854.2,12.7,607,9162,0.00,2.17,0.00,0.000,4,0.000,0.032,1931,1873,2124,0,0,0,0,0,0
$GC,9220,0.56,81.7,847.3,11.0,610,9224,0.00,2.30,0.00,0.000,6,0.000,0.052,1930,3287,2123,0,0,0,0,0,0
$GC,9553,0.56,81.7,804.5,12.8,626,9554,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3287,2122,0,0,0,0,0,0
$GC,9862,0.56,81.7,764.4,13.1,641,9863,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3288,2122,0,0,0,0,0,0
$GC,10173,0.56,81.7,724.0,13.2,656,10177,0.00,1.08,0.00,0.000,4,0.000,0.059,1930,3949,2121,0,0,0,0,0,0
$GC,10196,0.56,81.7,720.3,14.6,657,10200,0.10,1.00,0.00,0.000,6,0.200,0.035,1909,3292,2121,0,0,0,0,0,0
$GC,10528,0.56,81.7,678.4,12.2,673,10532,0.00,2.20,0.00,0.000,4,0.000,0.032,1919,1864,2121,0,0,0,0,0,0
$GC,10582,0.56,81.7,672.0,10.8,675,10590,0.00,2.33,0.00,0.000,6,0.000,0.050,1918,3301,2119,0,0,0,0,0,0
$GC,10900,0.56,81.7,633.0,12.7,691,10901,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3301,2119,0,0,0,0,0,0
$GC,11208,0.56,81.7,594.0,12.6,706,11209,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3301,2119,0,0,0,0,0,0
$GC,11517,0.56,81.7,556.7,11.7,721,11521,0.00,2.20,0.00,0.000,4,0.000,0.031,1929,1864,2118,0,0,0,0,0,0
$GC,11557,0.56,81.7,552.4,10.3,723,11561,0.00,2.30,0.00,0.000,6,0.000,0.050,1930,3286,2118,0,0,0,0,0,0
$GC,11885,0.56,81.7,512.4,12.3,739,11886,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3286,2118,0,0,0,0,0,0
$GC,12193,0.56,81.7,476.7,11.6,754,12197,0.00,2.17,0.00,0.000,4,0.000,0.031,1940,1861,2117,0,0,0,0,0,0
$GC,12247,0.56,81.7,470.8,10.8,756,12256,0.12,2.33,0.00,0.000,6,0.169,0.050,1905,3287,2117,0,0,0,0,0,0
$GC,12564,0.56,81.7,439.4,9.9,772,12568,0.00,1.08,0.00,0.000,4,0.000,0.058,1905,3952,2117,0,0,0,0,0,0
$GC,12646,0.56,81.7,429.8,11.5,775,12654,0.00,1.02,0.00,0.000,6,0.000,0.035,1908,3284,2117,0,0,0,0,0,0
$GC,12963,0.56,81.7,398.0,9.9,791,12967,0.00,2.17,0.00,0.000,4,0.000,0.031,1919,1856,2117,0,0,0,0,0,0
$GC,13015,0.56,84.8,393.5,8.3,795,13019,0.00,2.30,0.00,0.000,6,0.000,0.050,1919,3285,2116,0,0,0,0,0,0
$GC,13342,0.56,84.8,361.9,10.0,825,13345,0.00,1.08,0.00,0.000,4,0.000,0.057,1919,3957,2116,0,0,0,0,0,0
$GC,13504,0.56,84.8,343.1,12.1,839,13512,0.00,1.05,0.00,0.000,6,0.000,0.034,1925,3273,2116,0,0,0,0,0,0
$GC,13830,0.56,84.8,308.2,10.6,870,13834,0.00,2.15,0.00,0.000,4,0.000,0.031,1936,1860,2116,0,0,0,0,0,0
$GC,13881,0.56,84.8,303.2,9.1,874,13885,0.12,2.30,0.00,0.000,6,0.181,0.049,1906,3286,2117,0,0,0,0,0,0
$GC,14206,0.56,84.8,271.1,9.8,904,14209,0.00,1.08,0.00,0.000,4,0.000,0.057,1906,3951,2116,0,0,0,0,0,0
$GC,14265,0.56,84.8,264.9,11.1,909,14268,0.00,1.00,0.00,0.000,6,0.000,0.035,1910,3288,2116,0,0,0,0,0,0
$GC,14595,0.56,84.8,231.1,10.0,940,14597,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3288,2116,0,0,0,0,0,0
$GC,14915,0.56,84.8,199.7,9.9,970,14918,0.00,1.08,0.00,0.000,4,0.000,0.058,1910,3951,2116,0,0,0,0,0,0
$GC,15054,0.56,84.8,184.3,11.5,982,15061,0.00,1.02,0.00,0.000,6,0.000,0.034,1915,3273,2116,0,0,0,0,0,0
$GC,15381,0.56,84.8,153.0,9.8,1013,15383,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3273,2116,0,0,0,0,0,0
$GC,15699,0.56,84.8,122.6,9.2,1043,15700,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3273,2116,0,0,0,0,0,0
$GC,16024,0.56,84.8,91.1,9.3,1081,16031,0.00,2.12,0.00,0.000,4,0.000,0.029,1926,1863,2116,0,0,0,0,0,0
$GC,16125,0.57,89.9,82.6,8.1,1098,16134,0.00,2.30,0.80,0.337,6,0.000,0.049,1926,3280,2108,0,0,0,0,0,0
$GC,16480,0.58,109.4,52.3,6.5,1159,16494,0.00,1.12,8.93,0.902,4,0.000,0.057,1926,3961,2026,0,0,0,0,0,0
$GC,16564,0.58,109.4,44.6,9.7,1173,16573,0.00,1.02,0.00,0.000,6,0.000,0.032,1931,3283,2025,0,0,0,0,0,0
$GC,16930,0.58,109.4,11.6,10.4,1234,16940,0.00,2.15,0.00,0.000,4,0.000,0.028,1942,1866,2024,0,0,0,0,0,0
$GC,16992,0.58,109.4,5.7,9.6,1243,17001,0.10,2.33,0.00,0.000,6,0.154,0.048,1912,3295,2023,0,0,0,0,0,0
$STATE,17020,end climb,SURFACE_DEPTH_REACHED
$STATE,17021,begin surface coast
$FINISH,0.5,1.026177
$STATE,17059,end surface coast,CONTROL_FINISHED_OK
$STATE,17059,begin surface
$SM_CCo,17072,46.17,0.758,0,0,1572,220.03
$SM_GC,1.13,0.00,0.00,46.17,0.000,0.000,0.758,57,3402,1572,-5.20,0.59,220.03
$IRIDIUM_FIX,-4242.04,827.77,210114,111102
$TT8_MAMPS,0.026215
$HUMID,61.65
$INTERNAL_PRESSURE,9.57185
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,22.2,43.383
$10V_AH,9.8,33.846
$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,12.900,84.550,176.150,46.175,0.000,27.089,22.354,341.117,0.000,0.000,37.354,3140.312,10425.184,354.091,3467.358,279.012,0.000,1583.337,0.000,2912.110,0.000,1.010,0.000
$DEVICE_MAMPS,230.265,87.975,1842.120,758.115,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,868.127,2149.469,870.583,414.643,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354368
$DATA_FILE_SIZE,90153,1253
$CAP_FILE_SIZE,160101,0
$CFSIZE,259252224,236191744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210114,204404,-4300.458,829.972,27,0.9,27,-25.0