version: 66.07
glider: 543
mission: 9
dive: 301
start: 1 21 114 20 53 47
data:
$ID,543
$MISSION,9
$DIVE,301
$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,-13477.448
$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,47
$R_STBD_OVSHOOT,31
$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
$GPS1,210114,204404,-4300.458,829.972,27,0.9,27,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-64.8
$GPS2,210114,205323,-4300.441,830.079,15,1.0,15,-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,17.6,823,-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,-41.45,0.000,2,0.000,0.000,56,3401,2515,0,0,0,0,0,0
$GC,61,-0.57,-94.2,3.0,-3.8,5,87,6.30,0.90,-9.70,0.000,4,0.241,0.093,1525,3936,2861,0,0,0,0,0,0
$GC,160,-0.57,-94.2,22.2,-19.3,20,170,0.00,0.85,0.00,0.000,6,0.000,0.034,1525,3382,2863,0,0,0,0,0,0
$GC,309,-0.57,-94.2,51.4,-20.0,45,318,0.00,0.90,0.00,0.000,4,0.000,0.058,1521,3936,2864,0,0,0,0,0,0
$GC,461,-0.57,-94.2,79.0,-15.6,71,468,0.00,0.85,0.00,0.000,6,0.000,0.034,1521,3380,2865,0,0,0,0,0,0
$GC,802,-0.57,-94.2,131.3,-15.1,114,806,0.00,0.90,0.00,0.000,4,0.000,0.057,1517,3936,2866,0,0,0,0,0,0
$GC,943,-0.57,-94.2,153.8,-16.0,126,950,0.00,0.85,0.00,0.000,6,0.000,0.033,1517,3366,2866,0,0,0,0,0,0
$GC,1270,-0.57,-94.2,202.5,-14.8,157,1274,0.00,0.93,0.00,0.000,4,0.000,0.057,1512,3944,2867,0,0,0,0,0,0
$GC,1364,-0.57,-94.2,217.3,-16.1,165,1367,0.00,0.82,0.00,0.000,6,0.000,0.034,1512,3389,2867,0,0,0,0,0,0
$GC,1694,-0.57,-94.2,269.5,-15.2,196,1697,0.00,0.88,0.00,0.000,4,0.000,0.058,1508,3934,2868,0,0,0,0,0,0
$GC,1774,-0.57,-94.2,282.5,-16.1,203,1778,0.00,0.82,0.00,0.000,6,0.000,0.034,1508,3382,2867,0,0,0,0,0,0
$GC,2104,-0.57,-94.2,333.6,-15.7,234,2108,0.00,0.90,0.00,0.000,4,0.000,0.058,1504,3943,2868,0,0,0,0,0,0
$GC,2233,-0.57,-94.2,355.2,-16.3,245,2241,0.10,0.85,0.00,0.000,6,0.168,0.033,1533,3379,2868,0,0,0,0,0,0
$GC,2558,-0.57,-94.2,398.3,-13.5,276,2562,0.00,0.90,0.00,0.000,4,0.000,0.059,1530,3941,2868,0,0,0,0,0,0
$GC,2696,-0.57,-94.2,417.8,-14.4,283,2699,0.00,0.85,0.00,0.000,6,0.000,0.034,1530,3371,2868,0,0,0,0,0,0
$GC,3028,-0.57,-94.2,462.3,-12.8,299,3032,0.00,0.93,0.00,0.000,4,0.000,0.059,1526,3944,2867,0,0,0,0,0,0
$GC,3105,-0.57,-94.2,473.6,-13.9,302,3110,0.00,0.88,0.00,0.000,6,0.000,0.034,1526,3373,2868,0,0,0,0,0,0
$GC,3428,-0.57,-94.2,515.1,-12.7,318,3432,0.00,0.90,0.00,0.000,4,0.000,0.060,1522,3929,2868,0,0,0,0,0,0
$GC,3631,-0.57,-94.2,542.8,-13.4,327,3635,0.00,0.82,0.00,0.000,6,0.000,0.034,1522,3384,2867,0,0,0,0,0,0
$GC,3965,-0.57,-94.2,583.3,-12.2,343,3969,0.00,0.90,0.00,0.000,4,0.000,0.060,1518,3941,2866,0,0,0,0,0,0
$GC,4078,-0.57,-94.2,598.3,-13.2,348,4081,0.00,0.85,0.00,0.000,6,0.000,0.035,1518,3379,2866,0,0,0,0,0,0
$GC,4411,-0.57,-94.2,640.4,-12.4,364,4414,0.00,0.90,0.00,0.000,4,0.000,0.060,1514,3935,2865,0,0,0,0,0,0
$GC,4523,-0.57,-94.2,655.2,-12.5,369,4526,0.00,0.85,0.00,0.000,6,0.000,0.035,1514,3374,2866,0,0,0,0,0,0
$GC,4856,-0.57,-94.2,697.8,-12.8,385,4859,0.00,0.90,0.00,0.000,4,0.000,0.061,1510,3931,2864,0,0,0,0,0,0
$GC,5045,-0.57,-94.2,725.4,-14.7,393,5049,0.00,0.85,0.00,0.000,6,0.000,0.035,1510,3381,2864,0,0,0,0,0,0
$GC,5368,-0.57,-94.2,769.1,-14.0,409,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,1510,3380,2863,0,0,0,0,0,0
$GC,5678,-0.57,-94.2,811.4,-13.6,424,5682,0.00,0.93,0.00,0.000,4,0.000,0.062,1506,3934,2863,0,0,0,0,0,0
$GC,5794,-0.57,-94.2,828.8,-14.0,429,5800,0.12,0.88,0.00,0.000,6,0.184,0.036,1536,3374,2862,0,0,0,0,0,0
$GC,6123,-0.57,-94.2,863.4,-10.1,445,6126,0.00,0.93,0.00,0.000,4,0.000,0.061,1533,3942,2862,0,0,0,0,0,0
$GC,6380,-0.57,-94.2,891.0,-10.5,456,6384,0.00,0.88,0.00,0.000,6,0.000,0.036,1532,3372,2862,0,0,0,0,0,0
$GC,6703,-0.57,-94.2,922.2,-9.5,472,6707,0.00,0.93,0.00,0.000,4,0.000,0.062,1529,3941,2861,0,0,0,0,0,0
$GC,6775,-0.57,-94.2,929.9,-10.4,475,6779,0.00,0.88,0.00,0.000,6,0.000,0.037,1528,3376,2861,0,0,0,0,0,0
$GC,7103,-0.57,-94.2,963.0,-10.4,491,7106,0.00,0.90,0.00,0.000,4,0.000,0.062,1525,3928,2860,0,0,0,0,0,0
$GC,7231,-0.57,-94.2,977.8,-12.0,496,7238,0.00,0.85,0.00,0.000,6,0.000,0.037,1524,3380,2860,0,0,0,0,0,0
$STATE,7360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7360,begin apogee
$GC,7365,-0.09,0.0,992.0,11.2,503,7463,0.55,0.00,93.20,1.841,6,0.151,0.000,1683,3283,2474,0,0,0,0,0,0
$STATE,7464,end apogee,CONTROL_FINISHED_OK
$STATE,7464,begin climb
$GC,7466,0.57,94.2,995.2,0.0,508,7574,0.62,2.42,98.28,1.786,4,0.067,0.029,1913,1869,2088,0,0,0,0,0,0
$GC,7598,0.57,94.2,987.3,11.1,514,7603,0.00,2.47,0.00,0.000,6,0.000,0.050,1913,3273,2085,0,0,0,0,0,0
$GC,7926,0.57,94.2,940.3,14.8,530,7930,0.00,2.20,0.00,0.000,4,0.000,0.031,1924,1866,2078,0,0,0,0,0,0
$GC,7947,0.57,94.2,937.0,14.0,531,7952,0.00,2.38,0.00,0.000,6,0.000,0.050,1924,3279,2077,0,0,0,0,0,0
$GC,8275,0.57,94.2,887.9,15.3,547,8279,0.00,2.20,0.00,0.000,4,0.000,0.031,1934,1855,2075,0,0,0,0,0,0
$GC,8341,0.57,94.2,878.1,14.3,550,8347,0.08,2.38,0.00,0.000,6,0.171,0.051,1912,3287,2073,0,0,0,0,0,0
$GC,8669,0.57,94.2,831.3,13.9,566,8672,0.00,1.08,0.00,0.000,4,0.000,0.059,1912,3946,2073,0,0,0,0,0,0
$GC,8729,0.57,94.2,821.7,16.1,568,8737,0.00,1.05,0.00,0.000,6,0.000,0.034,1916,3270,2073,0,0,0,0,0,0
$GC,9046,0.57,94.2,775.8,14.2,584,9047,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3270,2071,0,0,0,0,0,0
$GC,9355,0.57,94.2,733.0,13.5,599,9359,0.00,2.15,0.00,0.000,4,0.000,0.031,1927,1867,2071,0,0,0,0,0,0
$GC,9395,0.57,94.2,727.8,12.0,601,9399,0.00,2.28,0.00,0.000,6,0.000,0.050,1927,3286,2070,0,0,0,0,0,0
$GC,9721,0.57,94.2,683.5,13.4,617,9725,0.00,1.08,0.00,0.000,4,0.000,0.059,1927,3952,2070,0,0,0,0,0,0
$GC,9799,0.57,94.2,671.5,16.4,620,9803,0.00,1.02,0.00,0.000,6,0.000,0.034,1932,3278,2070,0,0,0,0,0,0
$GC,10120,0.57,94.2,627.6,13.2,636,10124,0.00,2.12,0.00,0.000,4,0.000,0.031,1943,1870,2069,0,0,0,0,0,0
$GC,10138,0.57,94.2,625.4,13.1,637,10143,0.15,2.28,0.00,0.000,6,0.187,0.050,1906,3290,2069,0,0,0,0,0,0
$GC,10464,0.57,94.2,587.6,11.4,653,10468,0.00,1.08,0.00,0.000,4,0.000,0.059,1907,3952,2068,0,0,0,0,0,0
$GC,10496,0.57,94.2,583.4,12.9,654,10501,0.00,1.02,0.00,0.000,6,0.000,0.035,1910,3286,2068,0,0,0,0,0,0
$GC,10821,0.57,94.2,545.0,12.3,670,10822,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3286,2068,0,0,0,0,0,0
$GC,11128,0.57,94.2,506.2,12.7,685,11129,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3286,2068,0,0,0,0,0,0
$GC,11437,0.57,94.2,465.4,13.3,700,11441,0.00,1.08,0.00,0.000,4,0.000,0.059,1910,3951,2068,0,0,0,0,0,0
$GC,11477,0.57,94.2,459.9,14.4,701,11484,0.00,1.00,0.00,0.000,6,0.000,0.035,1915,3292,2067,0,0,0,0,0,0
$GC,11792,0.57,94.2,418.2,13.1,717,11794,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3292,2067,0,0,0,0,0,0
$GC,12107,0.57,94.2,377.6,12.6,740,12108,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3292,2068,0,0,0,0,0,0
$GC,12427,0.57,94.2,336.8,12.6,770,12431,0.00,2.17,0.00,0.000,4,0.000,0.031,1927,1864,2067,0,0,0,0,0,0
$GC,12444,0.57,94.2,334.5,12.2,771,12449,0.00,2.28,0.00,0.000,6,0.000,0.049,1927,3287,2066,0,0,0,0,0,0
$GC,12771,0.57,94.2,291.4,12.9,801,12775,0.00,2.15,0.00,0.000,4,0.000,0.030,1938,1863,2066,0,0,0,0,0,0
$GC,12891,0.57,94.2,277.3,11.2,811,12895,0.12,2.30,0.00,0.000,6,0.185,0.049,1908,3289,2066,0,0,0,0,0,0
$GC,13218,0.57,94.2,240.3,11.2,841,13221,0.00,1.08,0.00,0.000,4,0.000,0.057,1908,3955,2065,0,0,0,0,0,0
$GC,13323,0.57,94.2,226.7,12.0,850,13331,0.00,1.02,0.00,0.000,6,0.000,0.034,1912,3279,2065,0,0,0,0,0,0
$GC,13651,0.57,94.2,190.6,11.0,881,13655,0.00,2.15,0.00,0.000,4,0.000,0.031,1923,1864,2065,0,0,0,0,0,0
$GC,13724,0.57,94.2,183.1,10.0,887,13729,0.00,2.28,0.00,0.000,6,0.000,0.050,1923,3290,2065,0,0,0,0,0,0
$GC,14051,0.57,94.2,146.8,11.3,917,14055,0.00,2.15,0.00,0.000,4,0.000,0.029,1934,1865,2065,0,0,0,0,0,0
$GC,14094,0.57,94.2,141.8,9.5,920,14105,0.10,2.30,0.00,0.000,6,0.156,0.050,1904,3278,2065,0,0,0,0,0,0
$GC,14419,0.57,94.2,104.7,12.1,951,14421,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3278,2065,0,0,0,0,0,0
$GC,14759,0.57,99.9,68.4,8.0,1007,14766,0.00,2.12,0.00,0.000,4,0.000,0.029,1914,1860,2065,0,0,0,0,0,0
$GC,15017,0.59,129.7,51.3,5.3,1052,15039,0.00,2.30,13.12,0.930,6,0.000,0.049,1914,3292,1943,0,0,0,0,0,0
$GC,15395,0.59,129.7,16.7,8.8,1115,15403,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3293,1939,0,0,0,0,0,0
$GC,15455,0.59,134.6,11.2,8.1,1124,15464,0.00,2.20,1.60,0.233,4,0.000,0.028,1925,1869,1920,0,0,0,0,0,0
$GC,15479,0.59,134.6,8.6,10.0,1127,15488,0.00,2.30,0.00,0.000,6,0.000,0.049,1925,3283,1919,0,0,0,0,0,0
$STATE,15520,end climb,SURFACE_DEPTH_REACHED
$STATE,15520,begin surface coast
$FINISH,0.6,1.026265
$STATE,15546,end surface coast,CONTROL_FINISHED_OK
$STATE,15546,begin surface
$SM_CCo,15559,35.05,0.762,0,0,1575,220.03
$SM_GC,1.72,0.00,0.00,35.05,0.000,0.000,0.762,58,3398,1575,-5.19,0.51,220.03
$IRIDIUM_FIX,-4244.98,827.77,210114,151509
$TT8_MAMPS,0.026215
$HUMID,61.22
$INTERNAL_PRESSURE,9.58162
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,22.1,43.516
$10V_AH,9.8,33.965
$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,13.150,88.475,206.200,35.050,0.000,28.236,40.375,345.952,0.000,0.000,19.236,2857.035,9449.479,363.665,3207.541,269.479,0.000,1518.871,0.000,2661.927,0.000,1.010,0.000
$DEVICE_MAMPS,240.975,92.565,1840.590,761.940,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,787.181,1937.490,778.216,375.639,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354412
$DATA_FILE_SIZE,80554,1137
$CAP_FILE_SIZE,149666,0
$CFSIZE,259252224,236130304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220114,011458,-4258.149,830.958,40,1.0,40,-25.0