version: 66.07
glider: 543
mission: 9
dive: 304
start: 1 22 114 10 56 53
data:
$ID,543
$MISSION,9
$DIVE,304
$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,-13486.731
$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,56
$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
$GPS1,220114,104704,-4259.833,830.426,26,0.8,26,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-64.8
$GPS2,220114,105629,-4259.805,830.464,17,0.9,17,-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,265.2,725,-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,-51.0,0.0,0.0,0,66,0.00,0.00,-47.65,0.000,6,0.000,0.000,52,3353,2684,0,0,0,0,0,0
$GC,68,-0.56,-89.0,3.3,-4.4,6,86,6.28,0.98,-3.95,0.000,4,0.239,0.076,1526,3960,2835,0,0,0,0,0,0
$GC,203,-0.56,-89.0,30.9,-18.4,27,210,0.00,0.88,0.00,0.000,6,0.000,0.034,1526,3384,2838,0,0,0,0,0,0
$GC,350,-0.56,-89.0,56.6,-17.4,52,357,0.00,0.90,0.00,0.000,4,0.000,0.058,1522,3946,2839,0,0,0,0,0,0
$GC,614,-0.56,-89.0,101.1,-15.8,98,618,0.00,0.85,0.00,0.000,6,0.000,0.034,1522,3378,2841,0,0,0,0,0,0
$GC,947,-0.56,-89.0,148.5,-13.9,129,950,0.00,0.90,0.00,0.000,4,0.000,0.057,1518,3945,2841,0,0,0,0,0,0
$GC,1206,-0.56,-89.0,188.8,-15.0,152,1210,0.00,0.82,0.00,0.000,6,0.000,0.033,1518,3387,2842,0,0,0,0,0,0
$GC,1537,-0.56,-89.0,236.2,-13.9,183,1540,0.00,0.90,0.00,0.000,4,0.000,0.057,1513,3955,2843,0,0,0,0,0,0
$GC,1654,-0.56,-89.0,254.0,-15.0,193,1661,0.00,0.88,0.00,0.000,6,0.000,0.033,1513,3377,2843,0,0,0,0,0,0
$GC,1980,-0.56,-89.0,298.8,-14.0,224,1983,0.00,0.90,0.00,0.000,4,0.000,0.057,1509,3944,2843,0,0,0,0,0,0
$GC,2219,-0.56,-89.0,333.9,-14.4,245,2223,0.00,0.85,0.00,0.000,6,0.000,0.034,1509,3372,2843,0,0,0,0,0,0
$GC,2550,-0.56,-89.0,380.6,-14.3,276,2554,0.00,0.93,0.00,0.000,4,0.000,0.057,1505,3955,2843,0,0,0,0,0,0
$GC,2802,-0.56,-89.0,420.0,-15.6,293,2807,0.12,0.88,0.00,0.000,6,0.186,0.033,1535,3378,2843,0,0,0,0,0,0
$GC,3129,-0.56,-89.0,461.2,-12.4,309,3133,0.00,0.90,0.00,0.000,4,0.000,0.059,1532,3945,2843,0,0,0,0,0,0
$GC,3252,-0.56,-89.0,477.8,-12.8,314,3256,0.00,0.85,0.00,0.000,6,0.000,0.034,1532,3376,2843,0,0,0,0,0,0
$GC,3573,-0.56,-89.0,516.4,-11.6,330,3577,0.00,0.93,0.00,0.000,4,0.000,0.059,1528,3955,2843,0,0,0,0,0,0
$GC,3687,-0.56,-89.0,530.6,-12.8,335,3690,0.00,0.85,0.00,0.000,6,0.000,0.035,1528,3384,2842,0,0,0,0,0,0
$GC,4019,-0.56,-89.0,570.2,-11.7,351,4022,0.00,0.90,0.00,0.000,4,0.000,0.060,1523,3949,2841,0,0,0,0,0,0
$GC,4191,-0.56,-89.0,592.2,-12.6,358,4199,0.00,0.88,0.00,0.000,6,0.000,0.034,1523,3375,2841,0,0,0,0,0,0
$GC,4508,-0.56,-89.0,629.5,-12.1,374,4512,0.00,0.93,0.00,0.000,4,0.000,0.060,1520,3954,2840,0,0,0,0,0,0
$GC,4653,-0.56,-89.0,649.2,-12.5,380,4657,0.00,0.88,0.00,0.000,6,0.000,0.034,1519,3381,2840,0,0,0,0,0,0
$GC,4975,-0.56,-89.0,689.6,-12.4,396,4979,0.00,0.93,0.00,0.000,4,0.000,0.060,1514,3957,2840,0,0,0,0,0,0
$GC,5134,-0.56,-89.0,711.5,-13.5,403,5138,0.00,0.88,0.00,0.000,6,0.000,0.036,1515,3377,2839,0,0,0,0,0,0
$GC,5467,-0.56,-89.0,754.8,-12.9,419,5470,0.00,0.93,0.00,0.000,4,0.000,0.060,1511,3954,2838,0,0,0,0,0,0
$GC,5617,-0.56,-89.0,775.9,-14.1,425,5624,0.00,0.88,0.00,0.000,6,0.000,0.035,1511,3375,2838,0,0,0,0,0,0
$GC,5933,-0.56,-89.0,815.3,-12.0,441,5937,0.00,0.93,0.00,0.000,4,0.000,0.060,1507,3951,2837,0,0,0,0,0,0
$GC,6190,-0.56,-89.0,849.8,-13.2,452,6195,0.08,0.88,0.00,0.000,6,0.168,0.035,1529,3369,2837,0,0,0,0,0,0
$GC,6512,-0.56,-89.0,882.3,-10.0,468,6515,0.00,0.93,0.00,0.000,4,0.000,0.060,1525,3947,2836,0,0,0,0,0,0
$GC,6692,-0.56,-89.0,901.8,-10.8,476,6695,0.00,0.85,0.00,0.000,6,0.000,0.037,1526,3383,2836,0,0,0,0,0,0
$GC,7025,-0.56,-89.0,932.6,-9.2,492,7028,0.00,0.93,0.00,0.000,4,0.000,0.061,1521,3957,2835,0,0,0,0,0,0
$GC,7124,-0.56,-89.0,943.0,-11.2,496,7129,0.00,0.90,0.00,0.000,6,0.000,0.036,1521,3372,2835,0,0,0,0,0,0
$GC,7446,-0.56,-89.0,973.6,-9.8,512,7450,0.00,0.93,0.00,0.000,4,0.000,0.062,1517,3945,2834,0,0,0,0,0,0
$GC,7585,-0.56,-89.0,989.0,-11.4,518,7590,0.00,0.88,0.00,0.000,6,0.000,0.036,1517,3378,2834,0,0,0,0,0,0
$STATE,7595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7595,begin apogee
$GC,7600,-0.09,0.0,990.1,10.7,518,7691,0.55,0.00,87.35,1.834,6,0.155,0.000,1680,3280,2473,0,0,0,0,0,0
$STATE,7691,end apogee,CONTROL_FINISHED_OK
$STATE,7691,begin climb
$GC,7693,0.56,89.0,992.3,0.0,523,7794,0.65,2.42,92.90,1.786,4,0.073,0.029,1914,1868,2109,0,0,0,0,0,0
$GC,7878,0.56,89.0,976.4,11.9,530,7885,0.00,2.45,0.00,0.000,6,0.000,0.050,1914,3288,2103,0,0,0,0,0,0
$GC,8196,0.56,89.0,931.8,14.2,546,8197,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3289,2099,0,0,0,0,0,0
$GC,8503,0.56,89.0,889.4,13.4,561,8507,0.00,2.22,0.00,0.000,4,0.000,0.031,1925,1861,2097,0,0,0,0,0,0
$GC,8589,0.56,89.0,879.1,11.8,565,8593,0.00,2.33,0.00,0.000,6,0.000,0.050,1925,3288,2095,0,0,0,0,0,0
$GC,8915,0.56,89.0,834.4,14.0,581,8919,0.00,2.20,0.00,0.000,4,0.000,0.031,1936,1858,2094,0,0,0,0,0,0
$GC,8969,0.56,89.0,827.4,11.4,583,8977,0.12,2.33,0.00,0.000,6,0.187,0.050,1907,3292,2093,0,0,0,0,0,0
$GC,9285,0.56,89.0,787.0,13.2,599,9286,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3292,2092,0,0,0,0,0,0
$GC,9595,0.56,89.0,746.2,13.4,614,9596,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3292,2092,0,0,0,0,0,0
$GC,9904,0.56,89.0,705.6,13.1,629,9908,0.00,2.20,0.00,0.000,4,0.000,0.031,1917,1860,2091,0,0,0,0,0,0
$GC,9948,0.56,89.0,700.1,12.0,631,9952,0.00,2.33,0.00,0.000,6,0.000,0.049,1917,3282,2090,0,0,0,0,0,0
$GC,10275,0.56,89.0,657.0,13.5,647,10279,0.00,2.17,0.00,0.000,4,0.000,0.031,1928,1860,2090,0,0,0,0,0,0
$GC,10348,0.56,89.0,648.3,11.5,650,10353,0.00,2.33,0.00,0.000,6,0.000,0.050,1927,3294,2090,0,0,0,0,0,0
$GC,10664,0.56,89.0,606.0,13.0,665,10668,0.00,2.20,0.00,0.000,4,0.000,0.031,1939,1859,2089,0,0,0,0,0,0
$GC,10691,0.56,89.0,602.6,10.9,666,10695,0.15,2.33,0.00,0.000,6,0.186,0.050,1903,3293,2089,0,0,0,0,0,0
$GC,11006,0.56,89.0,565.5,11.9,681,11007,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3293,2089,0,0,0,0,0,0
$GC,11315,0.56,89.0,529.4,11.3,696,11319,0.00,2.20,0.00,0.000,4,0.000,0.031,1912,1855,2089,0,0,0,0,0,0
$GC,11347,0.56,89.0,526.1,9.7,697,11355,0.00,2.35,0.00,0.000,6,0.000,0.051,1913,3286,2089,0,0,0,0,0,0
$GC,11663,0.56,89.0,490.0,11.7,713,11667,0.00,2.17,0.00,0.000,4,0.000,0.031,1924,1854,2089,0,0,0,0,0,0
$GC,11701,0.56,89.0,485.8,9.8,714,11709,0.00,2.35,0.00,0.000,6,0.000,0.050,1924,3289,2089,0,0,0,0,0,0
$GC,12018,0.56,89.0,449.8,11.2,730,12019,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,3289,2088,0,0,0,0,0,0
$GC,12327,0.56,89.0,413.5,11.5,745,12331,0.00,2.17,0.00,0.000,4,0.000,0.032,1935,1861,2088,0,0,0,0,0,0
$GC,12438,0.56,89.0,402.1,10.8,750,12443,0.12,2.30,0.00,0.000,6,0.185,0.051,1906,3287,2088,0,0,0,0,0,0
$GC,12763,0.56,89.0,367.1,10.8,779,12764,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3287,2088,0,0,0,0,0,0
$GC,13086,0.56,89.0,331.3,11.1,809,13090,0.00,2.20,0.00,0.000,4,0.000,0.032,1915,1851,2087,0,0,0,0,0,0
$GC,13163,0.56,89.0,323.1,9.3,815,13171,0.00,2.35,0.00,0.000,6,0.000,0.050,1915,3287,2087,0,0,0,0,0,0
$GC,13489,0.56,89.0,286.1,11.4,846,13490,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3287,2087,0,0,0,0,0,0
$GC,13809,0.56,89.0,250.4,11.3,876,13813,0.00,2.20,0.00,0.000,4,0.000,0.031,1927,1851,2087,0,0,0,0,0,0
$GC,13884,0.56,89.0,242.8,9.5,882,13888,0.00,2.33,0.00,0.000,6,0.000,0.051,1927,3285,2087,0,0,0,0,0,0
$GC,14208,0.56,89.0,207.1,11.0,912,14212,0.00,1.05,0.00,0.000,4,0.000,0.057,1927,3947,2087,0,0,0,0,0,0
$GC,14268,0.56,89.0,200.3,12.1,917,14272,0.08,1.00,0.00,0.000,6,0.201,0.035,1911,3280,2087,0,0,0,0,0,0
$GC,14598,0.56,89.0,165.2,10.2,948,14602,0.00,2.15,0.00,0.000,4,0.000,0.031,1921,1869,2087,0,0,0,0,0,0
$GC,14683,0.56,89.0,157.0,8.8,955,14688,0.00,2.30,0.00,0.000,6,0.000,0.050,1921,3289,2087,0,0,0,0,0,0
$GC,15011,0.56,89.0,120.9,11.4,985,15014,0.00,2.17,0.00,0.000,4,0.000,0.031,1932,1864,2087,0,0,0,0,0,0
$GC,15141,0.56,89.0,107.2,9.8,996,15145,0.00,2.30,0.00,0.000,6,0.000,0.050,1932,3286,2087,0,0,0,0,0,0
$GC,15485,0.56,89.0,66.5,11.6,1050,15493,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,3286,2087,0,0,0,0,0,0
$GC,15841,0.57,97.2,39.0,7.8,1111,15848,0.00,1.05,1.25,0.304,4,0.000,0.052,1932,3961,2074,0,0,0,0,0,0
$GC,16087,0.57,97.2,15.7,10.8,1152,16097,0.10,1.02,0.00,0.000,6,0.187,0.033,1909,3273,2074,0,0,0,0,0,0
$GC,16149,0.57,100.1,10.3,8.3,1161,16158,0.00,2.15,0.98,0.272,4,0.000,0.028,1918,1866,2062,0,0,0,0,0,0
$GC,16210,0.57,101.8,5.3,8.5,1170,16218,0.00,2.33,0.00,0.000,6,0.000,0.050,1918,3290,2062,0,0,0,0,0,0
$STATE,16238,end climb,SURFACE_DEPTH_REACHED
$STATE,16238,begin surface coast
$FINISH,0.7,1.026096
$STATE,16276,end surface coast,CONTROL_FINISHED_OK
$STATE,16276,begin surface
$SM_CCo,16289,50.05,0.759,0,0,1575,220.03
$SM_GC,1.47,0.00,0.00,50.05,0.000,0.000,0.759,61,3394,1575,-5.19,0.40,220.03
$IRIDIUM_FIX,-4242.04,830.68,220114,050541
$TT8_MAMPS,0.026215
$HUMID,61.49
$INTERNAL_PRESSURE,9.57185
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,22.1,43.909
$10V_AH,9.8,34.344
$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,13.250,96.475,182.475,50.050,0.000,28.457,23.691,364.798,0.000,0.000,20.580,2991.869,9833.946,357.860,3427.595,286.253,0.000,1582.087,0.000,2871.909,0.000,1.010,0.000
$DEVICE_MAMPS,239.445,88.740,1834.470,758.880,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,817.635,2026.074,811.322,398.688,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354428
$DATA_FILE_SIZE,83873,1180
$CAP_FILE_SIZE,158075,0
$CFSIZE,259252224,235864064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220114,153028,-4259.393,829.405,39,0.8,39,-25.0