version: 66.07
glider: 543
mission: 9
dive: 306
start: 1 22 114 20 5 59
data:
$ID,543
$MISSION,9
$DIVE,306
$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,-13492.499
$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,28
$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
$GPS1,220114,195652,-4300.479,830.793,39,0.9,39,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-69.5
$GPS2,220114,200535,-4300.407,830.903,18,0.9,18,-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,326.6,1436,-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,-47.58,0.000,6,0.000,0.000,47,3392,2685,0,0,0,0,0,0
$GC,69,-0.57,-93.1,3.4,-3.9,6,87,6.28,2.17,-4.12,0.000,4,0.237,0.041,1534,1963,2849,0,0,0,0,0,0
$GC,96,-0.57,-93.1,10.1,-16.0,9,105,0.00,2.30,0.00,0.000,6,0.000,0.048,1525,3366,2851,0,0,0,0,0,0
$GC,156,-0.57,-93.1,20.7,-18.0,18,166,0.00,0.95,0.00,0.000,4,0.000,0.057,1520,3950,2851,0,0,0,0,0,0
$GC,207,-0.57,-93.1,30.9,-20.1,26,216,0.00,0.85,0.00,0.000,6,0.000,0.034,1520,3384,2851,0,0,0,0,0,0
$GC,355,-0.57,-93.1,56.8,-16.3,51,364,0.00,0.90,0.00,0.000,4,0.000,0.057,1517,3945,2853,0,0,0,0,0,0
$GC,427,-0.57,-93.1,69.0,-16.6,63,436,0.00,0.85,0.00,0.000,6,0.000,0.033,1516,3378,2853,0,0,0,0,0,0
$GC,771,-0.57,-93.1,118.9,-13.8,112,775,0.00,2.12,0.00,0.000,4,0.000,0.027,1516,1958,2854,0,0,0,0,0,0
$GC,836,-0.57,-93.1,126.8,-12.0,117,840,0.12,2.28,0.00,0.000,6,0.171,0.050,1537,3380,2854,0,0,0,0,0,0
$GC,1160,-0.57,-93.1,166.6,-11.8,147,1164,0.00,0.90,0.00,0.000,4,0.000,0.057,1533,3948,2855,0,0,0,0,0,0
$GC,1324,-0.57,-93.1,187.6,-12.1,161,1331,0.00,0.85,0.00,0.000,6,0.000,0.034,1533,3376,2855,0,0,0,0,0,0
$GC,1649,-0.57,-93.1,224.4,-11.3,192,1652,0.00,0.93,0.00,0.000,4,0.000,0.057,1529,3956,2855,0,0,0,0,0,0
$GC,1740,-0.57,-93.1,235.0,-12.0,200,1744,0.00,0.85,0.00,0.000,6,0.000,0.033,1530,3379,2856,0,0,0,0,0,0
$GC,2070,-0.57,-93.1,273.3,-12.0,231,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3380,2856,0,0,0,0,0,0
$GC,2392,-0.57,-93.1,313.1,-12.6,261,2396,0.00,0.90,0.00,0.000,4,0.000,0.058,1525,3945,2855,0,0,0,0,0,0
$GC,2460,-0.57,-93.1,322.5,-13.3,267,2464,0.00,0.82,0.00,0.000,6,0.000,0.034,1525,3388,2855,0,0,0,0,0,0
$GC,2791,-0.57,-93.1,365.1,-13.3,298,2794,0.00,0.90,0.00,0.000,4,0.000,0.058,1521,3953,2856,0,0,0,0,0,0
$GC,2930,-0.57,-93.1,385.7,-14.1,310,2938,0.00,0.88,0.00,0.000,6,0.000,0.033,1521,3373,2855,0,0,0,0,0,0
$GC,3250,-0.57,-93.1,429.1,-13.8,331,3254,0.00,0.93,0.00,0.000,4,0.000,0.058,1517,3951,2856,0,0,0,0,0,0
$GC,3345,-0.57,-93.1,443.2,-14.3,335,3349,0.00,0.88,0.00,0.000,6,0.000,0.033,1517,3373,2855,0,0,0,0,0,0
$GC,3673,-0.57,-93.1,487.6,-13.3,351,3676,0.00,0.93,0.00,0.000,4,0.000,0.060,1513,3951,2855,0,0,0,0,0,0
$GC,3718,-0.57,-93.1,493.9,-14.5,353,3722,0.00,0.85,0.00,0.000,6,0.000,0.034,1513,3380,2855,0,0,0,0,0,0
$GC,4052,-0.57,-93.1,538.7,-13.3,369,4055,0.00,0.90,0.00,0.000,4,0.000,0.060,1508,3939,2855,0,0,0,0,0,0
$GC,4168,-0.57,-93.1,555.6,-14.5,374,4172,0.00,0.82,0.00,0.000,6,0.000,0.034,1509,3384,2855,0,0,0,0,0,0
$GC,4495,-0.57,-93.1,599.0,-13.3,390,4499,0.00,0.90,0.00,0.000,4,0.000,0.060,1505,3944,2854,0,0,0,0,0,0
$GC,4556,-0.57,-93.1,607.5,-14.3,392,4564,0.08,0.88,0.00,0.000,6,0.165,0.034,1527,3366,2854,0,0,0,0,0,0
$GC,4873,-0.57,-93.1,642.3,-10.9,408,4877,0.00,0.93,0.00,0.000,4,0.000,0.060,1524,3946,2854,0,0,0,0,0,0
$GC,4945,-0.57,-93.1,651.0,-11.6,411,4949,0.00,0.88,0.00,0.000,6,0.000,0.034,1524,3373,2854,0,0,0,0,0,0
$GC,5273,-0.57,-93.1,686.1,-10.9,427,5276,0.00,0.93,0.00,0.000,4,0.000,0.060,1520,3948,2852,0,0,0,0,0,0
$GC,5372,-0.57,-93.1,698.0,-11.4,431,5377,0.00,0.88,0.00,0.000,6,0.000,0.035,1520,3379,2852,0,0,0,0,0,0
$GC,5696,-0.57,-93.1,733.1,-10.7,447,5698,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3378,2852,0,0,0,0,0,0
$GC,6004,-0.57,-93.1,767.8,-11.2,462,6007,0.00,0.93,0.00,0.000,4,0.000,0.060,1516,3954,2851,0,0,0,0,0,0
$GC,6221,-0.57,-93.1,794.2,-12.1,471,6229,0.00,0.88,0.00,0.000,6,0.000,0.035,1516,3374,2851,0,0,0,0,0,0
$GC,6539,-0.57,-93.1,829.0,-11.1,487,6542,0.00,0.93,0.00,0.000,4,0.000,0.061,1512,3946,2850,0,0,0,0,0,0
$GC,6607,-0.57,-93.1,837.2,-12.1,490,6610,0.00,0.85,0.00,0.000,6,0.000,0.037,1512,3383,2850,0,0,0,0,0,0
$GC,6939,-0.57,-93.1,875.7,-11.8,506,6943,0.00,0.90,0.00,0.000,4,0.000,0.060,1508,3941,2849,0,0,0,0,0,0
$GC,7045,-0.57,-93.1,889.5,-13.9,510,7052,0.00,0.88,0.00,0.000,6,0.000,0.035,1508,3372,2849,0,0,0,0,0,0
$GC,7363,-0.57,-93.1,927.2,-12.2,526,7366,0.00,0.93,0.00,0.000,4,0.000,0.061,1504,3944,2848,0,0,0,0,0,0
$GC,7412,-0.57,-93.1,933.9,-12.7,528,7417,0.12,0.88,0.00,0.000,6,0.181,0.035,1534,3378,2848,0,0,0,0,0,0
$GC,7739,-0.57,-93.1,967.4,-10.2,544,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3379,2848,0,0,0,0,0,0
$STATE,7964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7964,begin apogee
$GC,7970,-0.09,0.0,990.7,10.4,555,8067,0.50,0.00,90.72,1.851,6,0.151,0.000,1681,3279,2474,0,0,0,0,0,0
$STATE,8068,end apogee,CONTROL_FINISHED_OK
$STATE,8068,begin climb
$GC,8070,0.57,93.1,993.7,0.0,560,8179,0.62,2.42,97.05,1.799,4,0.072,0.030,1908,1870,2093,0,0,0,0,0,0
$GC,8234,0.57,93.1,982.2,10.8,567,8238,0.00,2.47,0.00,0.000,6,0.000,0.050,1908,3282,2088,0,0,0,0,0,0
$GC,8555,0.57,93.1,938.8,13.9,583,8559,0.00,2.25,0.00,0.000,4,0.000,0.031,1919,1857,2082,0,0,0,0,0,0
$GC,8587,0.57,93.1,934.4,12.5,584,8595,0.00,2.38,0.00,0.000,6,0.000,0.050,1919,3287,2080,0,0,0,0,0,0
$GC,8905,0.57,93.1,888.0,14.9,600,8909,0.00,2.20,0.00,0.000,4,0.000,0.031,1930,1864,2079,0,0,0,0,0,0
$GC,8948,0.57,93.1,881.5,14.5,602,8952,0.00,2.35,0.00,0.000,6,0.000,0.051,1929,3281,2078,0,0,0,0,0,0
$GC,9276,0.57,93.1,831.1,15.5,618,9280,0.00,1.10,0.00,0.000,4,0.000,0.060,1929,3955,2077,0,0,0,0,0,0
$GC,9348,0.57,93.1,819.0,17.5,621,9353,0.12,1.05,0.00,0.000,6,0.216,0.034,1907,3279,2077,0,0,0,0,0,0
$GC,9677,0.57,93.1,775.2,13.0,637,9680,0.00,1.10,0.00,0.000,4,0.000,0.059,1907,3951,2076,0,0,0,0,0,0
$GC,9709,0.57,93.1,770.3,13.6,638,9714,0.00,1.05,0.00,0.000,6,0.000,0.034,1911,3277,2076,0,0,0,0,0,0
$GC,10031,0.57,93.1,728.8,12.9,654,10032,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3277,2075,0,0,0,0,0,0
$GC,10341,0.57,93.1,689.7,12.5,669,10342,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3277,2075,0,0,0,0,0,0
$GC,10649,0.57,93.1,651.7,12.3,684,10651,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3277,2074,0,0,0,0,0,0
$GC,10960,0.57,93.1,612.2,13.3,699,10961,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3277,2074,0,0,0,0,0,0
$GC,11269,0.57,93.1,571.9,12.8,714,11270,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3277,2073,0,0,0,0,0,0
$GC,11577,0.57,93.1,532.6,12.5,729,11581,0.00,1.10,0.00,0.000,4,0.000,0.060,1911,3952,2073,0,0,0,0,0,0
$GC,11604,0.57,93.1,528.8,13.5,730,11608,0.00,1.02,0.00,0.000,6,0.000,0.034,1916,3279,2073,0,0,0,0,0,0
$GC,11932,0.57,93.1,488.6,12.2,746,11936,0.00,2.15,0.00,0.000,4,0.000,0.031,1927,1859,2073,0,0,0,0,0,0
$GC,11950,0.57,93.1,486.7,12.1,747,11954,0.00,2.30,0.00,0.000,6,0.000,0.050,1927,3286,2072,0,0,0,0,0,0
$GC,12276,0.57,93.1,446.1,12.7,763,12277,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,3286,2072,0,0,0,0,0,0
$GC,12586,0.57,93.1,408.4,12.1,778,12587,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,3286,2072,0,0,0,0,0,0
$GC,12902,0.57,93.1,369.8,12.4,804,12905,0.00,1.08,0.00,0.000,4,0.000,0.058,1927,3953,2072,0,0,0,0,0,0
$GC,13038,0.57,93.1,350.9,14.4,816,13042,0.00,1.02,0.00,0.000,6,0.000,0.035,1933,3276,2072,0,0,0,0,0,0
$GC,13368,0.57,93.1,308.8,12.4,847,13370,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,3275,2071,0,0,0,0,0,0
$GC,13691,0.57,93.1,267.1,12.9,877,13697,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,3275,2072,0,0,0,0,0,0
$GC,14017,0.57,93.1,226.0,12.5,908,14021,0.00,2.15,0.00,0.000,4,0.000,0.031,1944,1859,2071,0,0,0,0,0,0
$GC,14086,0.57,93.1,217.8,11.0,914,14091,0.15,2.30,0.00,0.000,6,0.182,0.049,1907,3287,2071,0,0,0,0,0,0
$GC,14411,0.57,93.1,180.3,11.1,944,14414,0.00,1.08,0.00,0.000,4,0.000,0.057,1907,3955,2070,0,0,0,0,0,0
$GC,14483,0.57,93.1,171.3,12.7,950,14491,0.00,1.02,0.00,0.000,6,0.000,0.033,1911,3284,2070,0,0,0,0,0,0
$GC,14811,0.57,93.1,134.0,11.5,981,14815,0.00,2.15,0.00,0.000,4,0.000,0.029,1922,1865,2070,0,0,0,0,0,0
$GC,14840,0.57,93.1,130.7,10.4,983,14844,0.00,2.30,0.00,0.000,6,0.000,0.050,1922,3292,2070,0,0,0,0,0,0
$GC,15172,0.57,93.1,91.4,11.4,1019,15179,0.00,1.05,0.00,0.000,4,0.000,0.057,1922,3944,2070,0,0,0,0,0,0
$GC,15330,0.57,93.1,71.2,10.8,1046,15337,0.00,1.00,0.00,0.000,6,0.000,0.033,1927,3276,2070,0,0,0,0,0,0
$GC,15678,0.57,93.1,40.7,8.9,1107,15687,0.00,2.15,0.00,0.000,4,0.000,0.029,1938,1871,2070,0,0,0,0,0,0
$GC,15956,0.57,102.8,19.6,7.6,1153,15967,0.10,2.30,1.77,0.197,6,0.151,0.049,1907,3288,2050,0,0,0,0,0,0
$GC,16019,0.58,107.1,14.5,8.2,1162,16028,0.00,2.17,1.67,0.234,4,0.000,0.027,1917,1869,2033,0,0,0,0,0,0
$STATE,16158,end climb,SURFACE_DEPTH_REACHED
$STATE,16158,begin surface coast
$FINISH,0.7,1.013103
$STATE,16202,end surface coast,CONTROL_FINISHED_OK
$STATE,16202,begin surface
$SM_CCo,16217,47.00,0.770,0,0,1573,220.03
$SM_GC,1.47,0.00,0.00,47.00,0.000,0.000,0.770,44,3385,1573,-5.24,0.14,220.03
$IRIDIUM_FIX,-4244.98,857.75,220114,151534
$TT8_MAMPS,0.026215
$HUMID,61.06
$INTERNAL_PRESSURE,9.57185
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,22.1,44.171
$10V_AH,9.8,34.587
$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,13.125,86.600,191.225,47.000,0.000,26.352,18.558,333.191,0.000,0.000,20.522,2965.906,9991.903,378.226,3192.058,256.168,0.000,1521.954,0.000,2667.062,0.000,1.010,0.000
$DEVICE_MAMPS,237.150,68.850,1851.300,769.590,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,824.659,2058.353,841.496,429.250,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354440
$DATA_FILE_SIZE,83612,1191
$CAP_FILE_SIZE,150928,0
$CFSIZE,259252224,235708416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230114,003822,-4259.054,830.141,41,1.0,41,-25.0