version: 66.07
glider: 543
mission: 9
dive: 312
start: 1 24 114 0 26 47
data:
$ID,543
$MISSION,9
$DIVE,312
$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,-13511.091
$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,46
$R_STBD_OVSHOOT,29
$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
$GPS1,240114,001728,-4300.495,831.473,39,1.0,39,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-65.7
$GPS2,240114,002623,-4300.497,831.492,17,1.0,17,-25.1
$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,319.6,2221,-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,-47.20,0.000,6,0.000,0.000,53,3402,2685,0,0,0,0,0,0
$GC,68,-0.56,-82.9,3.6,-5.1,6,86,6.32,2.25,-3.28,0.000,4,0.241,0.041,1533,1957,2815,0,0,0,0,0,0
$GC,204,-0.56,-82.9,24.1,-12.2,27,211,0.00,2.33,0.00,0.000,6,0.000,0.051,1524,3376,2818,0,0,0,0,0,0
$GC,353,-0.56,-82.9,49.4,-16.3,52,359,0.00,0.93,0.00,0.000,4,0.000,0.056,1520,3955,2818,0,0,0,0,0,0
$GC,595,-0.56,-82.9,91.8,-16.5,94,602,0.00,0.88,0.00,0.000,6,0.000,0.033,1519,3365,2819,0,0,0,0,0,0
$GC,927,-0.56,-82.9,139.7,-13.3,129,931,0.00,2.10,0.00,0.000,4,0.000,0.027,1520,1959,2820,0,0,0,0,0,0
$GC,970,-0.56,-82.9,145.2,-10.0,132,980,0.00,2.33,0.00,0.000,6,0.000,0.050,1509,3381,2820,0,0,0,0,0,0
$GC,1295,-0.56,-82.9,187.5,-13.2,163,1299,0.00,2.12,0.00,0.000,4,0.000,0.027,1509,1956,2821,0,0,0,0,0,0
$GC,1316,-0.56,-82.9,190.4,-12.9,164,1326,0.10,2.33,0.00,0.000,6,0.148,0.049,1529,3384,2821,0,0,0,0,0,0
$GC,1642,-0.56,-82.9,227.3,-11.5,195,1646,0.00,0.90,0.00,0.000,4,0.000,0.057,1526,3955,2821,0,0,0,0,0,0
$GC,1680,-0.56,-82.9,232.3,-12.5,198,1687,0.00,0.88,0.00,0.000,6,0.000,0.032,1527,3371,2821,0,0,0,0,0,0
$GC,2009,-0.56,-82.9,271.2,-12.2,229,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3371,2822,0,0,0,0,0,0
$GC,2334,-0.56,-82.9,313.1,-12.8,260,2338,0.00,2.10,0.00,0.000,4,0.000,0.027,1526,1961,2821,0,0,0,0,0,0
$GC,2368,-0.56,-82.9,317.4,-11.7,262,2374,0.00,2.28,0.00,0.000,6,0.000,0.050,1516,3381,2822,0,0,0,0,0,0
$GC,2695,-0.56,-82.9,360.7,-13.0,293,2698,0.00,0.90,0.00,0.000,4,0.000,0.057,1512,3952,2822,0,0,0,0,0,0
$GC,2742,-0.56,-82.9,367.2,-14.5,297,2746,0.00,0.82,0.00,0.000,6,0.000,0.034,1512,3389,2822,0,0,0,0,0,0
$GC,3071,-0.56,-82.9,412.6,-14.1,324,3075,0.00,2.12,0.00,0.000,4,0.000,0.027,1512,1964,2821,0,0,0,0,0,0
$GC,3125,-0.56,-82.9,419.5,-11.4,326,3133,0.10,2.30,0.00,0.000,6,0.144,0.050,1531,3379,2822,0,0,0,0,0,0
$GC,3442,-0.56,-82.9,457.9,-12.1,342,3445,0.00,0.93,0.00,0.000,4,0.000,0.058,1529,3959,2822,0,0,0,0,0,0
$GC,3474,-0.56,-82.9,462.3,-12.8,343,3478,0.00,0.88,0.00,0.000,6,0.000,0.033,1529,3382,2821,0,0,0,0,0,0
$GC,3796,-0.56,-82.9,501.4,-11.8,359,3800,0.00,2.12,0.00,0.000,4,0.000,0.028,1529,1961,2821,0,0,0,0,0,0
$GC,3817,-0.56,-82.9,504.2,-12.5,360,3822,0.00,2.33,0.00,0.000,6,0.000,0.051,1518,3387,2821,0,0,0,0,0,0
$GC,4147,-0.56,-82.9,545.2,-12.7,376,4148,0.00,0.00,0.00,0.000,6,0.000,0.000,1518,3387,2821,0,0,0,0,0,0
$GC,4455,-0.56,-82.9,583.9,-12.5,391,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,1518,3387,2820,0,0,0,0,0,0
$GC,4764,-0.56,-82.9,622.3,-12.4,406,4768,0.00,2.15,0.00,0.000,4,0.000,0.029,1518,1961,2819,0,0,0,0,0,0
$GC,4796,-0.56,-82.9,626.1,-10.3,407,4804,0.08,2.33,0.00,0.000,6,0.145,0.053,1530,3378,2819,0,0,0,0,0,0
$GC,5113,-0.56,-82.9,661.1,-11.1,423,5114,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3378,2818,0,0,0,0,0,0
$GC,5423,-0.56,-82.9,694.1,-10.5,438,5424,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3378,2818,0,0,0,0,0,0
$GC,5731,-0.56,-82.9,725.1,-9.8,453,5735,0.00,2.15,0.00,0.000,4,0.000,0.031,1531,1963,2817,0,0,0,0,0,0
$GC,5752,-0.56,-82.9,727.4,-10.7,454,5756,0.00,2.33,0.00,0.000,6,0.000,0.054,1521,3383,2817,0,0,0,0,0,0
$GC,6079,-0.56,-82.9,762.3,-10.9,470,6080,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3384,2817,0,0,0,0,0,0
$GC,6388,-0.56,-82.9,798.0,-11.9,485,6390,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3384,2816,0,0,0,0,0,0
$GC,6698,-0.56,-82.9,834.4,-11.7,500,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3384,2815,0,0,0,0,0,0
$GC,7009,-0.56,-82.9,869.4,-11.1,515,7010,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3383,2815,0,0,0,0,0,0
$GC,7316,-0.56,-82.9,902.5,-10.8,530,7320,0.00,2.17,0.00,0.000,4,0.000,0.031,1521,1958,2814,0,0,0,0,0,0
$GC,7360,-0.56,-82.9,907.0,-8.7,532,7364,0.00,2.35,0.00,0.000,6,0.000,0.054,1510,3390,2814,0,0,0,0,0,0
$GC,7689,-0.56,-82.9,942.4,-10.8,548,7693,0.00,0.90,0.00,0.000,4,0.000,0.060,1506,3951,2814,0,0,0,0,0,0
$GC,7767,-0.56,-82.9,951.6,-11.3,551,7771,0.08,0.88,0.00,0.000,6,0.162,0.036,1528,3372,2814,0,0,0,0,0,0
$GC,8088,-0.56,-82.9,980.7,-8.9,567,8092,0.00,2.12,0.00,0.000,4,0.000,0.031,1528,1965,2813,0,0,0,0,0,0
$GC,8122,-0.57,-89.9,983.5,-7.9,568,8129,0.00,2.33,0.00,0.000,6,0.000,0.054,1519,3391,2813,0,0,0,0,0,0
$STATE,8209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8209,begin apogee
$GC,8215,-0.09,0.0,991.5,9.2,573,8301,0.57,0.00,83.05,1.857,6,0.157,0.000,1683,3295,2473,0,0,0,0,0,0
$STATE,8302,end apogee,CONTROL_FINISHED_OK
$STATE,8302,begin climb
$GC,8304,0.57,89.9,993.1,0.0,577,8411,0.62,2.45,93.85,1.810,4,0.073,0.028,1909,1865,2107,0,0,0,0,0,0
$GC,8467,0.57,89.9,978.8,12.4,584,8471,0.00,2.47,0.00,0.000,6,0.000,0.050,1909,3284,2103,0,0,0,0,0,0
$GC,8788,0.57,89.9,932.1,14.5,600,8789,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3284,2097,0,0,0,0,0,0
$GC,9098,0.57,89.9,889.1,13.9,615,9102,0.00,1.10,0.00,0.000,4,0.000,0.058,1909,3953,2095,0,0,0,0,0,0
$GC,9175,0.57,89.9,877.0,15.5,618,9180,0.00,1.05,0.00,0.000,6,0.000,0.034,1914,3276,2094,0,0,0,0,0,0
$GC,9499,0.57,89.9,833.4,13.3,634,9500,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3276,2093,0,0,0,0,0,0
$GC,9807,0.57,89.9,794.0,12.5,649,9811,0.00,1.10,0.00,0.000,4,0.000,0.059,1914,3954,2091,0,0,0,0,0,0
$GC,10064,0.57,89.9,756.5,14.4,660,10069,0.00,1.05,0.00,0.000,6,0.000,0.034,1919,3272,2091,0,0,0,0,0,0
$GC,10388,0.57,89.9,713.7,13.0,676,10392,0.00,1.10,0.00,0.000,4,0.000,0.058,1919,3950,2090,0,0,0,0,0,0
$GC,10433,0.57,89.9,706.8,15.3,678,10437,0.00,1.00,0.00,0.000,6,0.000,0.035,1924,3291,2090,0,0,0,0,0,0
$GC,10766,0.57,89.9,661.6,13.5,694,10767,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,3290,2089,0,0,0,0,0,0
$GC,11076,0.57,89.9,620.6,13.1,709,11077,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,3290,2089,0,0,0,0,0,0
$GC,11384,0.57,89.9,581.4,12.4,724,11385,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,3290,2089,0,0,0,0,0,0
$GC,11694,0.57,89.9,541.8,12.9,739,11695,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,3290,2088,0,0,0,0,0,0
$GC,12002,0.57,89.9,501.0,13.2,754,12006,0.00,1.08,0.00,0.000,4,0.000,0.059,1924,3952,2088,0,0,0,0,0,0
$GC,12154,0.57,89.9,478.6,15.4,760,12161,0.00,1.02,0.00,0.000,6,0.000,0.034,1929,3275,2088,0,0,0,0,0,0
$GC,12469,0.57,89.9,436.3,13.1,776,12471,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,3275,2087,0,0,0,0,0,0
$GC,12780,0.57,89.9,396.9,12.1,792,12781,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3275,2087,0,0,0,0,0,0
$GC,13100,0.57,89.9,357.7,12.1,822,13104,0.00,2.15,0.00,0.000,4,0.000,0.031,1940,1864,2087,0,0,0,0,0,0
$GC,13120,0.57,89.9,355.0,11.2,823,13129,0.10,2.33,0.00,0.000,6,0.164,0.050,1910,3283,2086,0,0,0,0,0,0
$GC,13446,0.57,89.9,316.9,12.2,854,13447,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3283,2086,0,0,0,0,0,0
$GC,13766,0.57,89.9,280.1,11.2,884,13770,0.00,2.15,0.00,0.000,4,0.000,0.029,1921,1865,2086,0,0,0,0,0,0
$GC,13787,0.57,89.9,277.5,11.4,885,13795,0.00,2.33,0.00,0.000,6,0.000,0.050,1921,3288,2085,0,0,0,0,0,0
$GC,14112,0.57,89.9,240.6,11.0,916,14116,0.00,2.17,0.00,0.000,4,0.000,0.029,1932,1856,2085,0,0,0,0,0,0
$GC,14133,0.57,89.9,238.4,9.9,917,14141,0.08,2.35,0.00,0.000,6,0.157,0.050,1909,3290,2085,0,0,0,0,0,0
$GC,14458,0.57,89.9,205.5,10.4,948,14462,0.00,1.08,0.00,0.000,4,0.000,0.057,1909,3958,2085,0,0,0,0,0,0
$GC,14628,0.57,89.9,185.0,12.7,963,14632,0.00,1.02,0.00,0.000,6,0.000,0.034,1913,3276,2085,0,0,0,0,0,0
$GC,14959,0.57,89.9,147.8,11.7,994,14962,0.00,1.10,0.00,0.000,4,0.000,0.057,1913,3955,2085,0,0,0,0,0,0
$GC,14986,0.57,89.9,144.4,12.3,996,14995,0.00,1.00,0.00,0.000,6,0.000,0.034,1917,3291,2085,0,0,0,0,0,0
$GC,15310,0.57,89.9,107.8,10.8,1027,15314,0.00,2.17,0.00,0.000,4,0.000,0.029,1929,1856,2085,0,0,0,0,0,0
$GC,15344,0.57,89.9,104.4,9.1,1029,15351,0.00,2.30,0.00,0.000,6,0.000,0.049,1929,3287,2085,0,0,0,0,0,0
$GC,15691,0.57,89.9,64.2,13.9,1086,15700,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,3287,2085,0,0,0,0,0,0
$GC,16046,0.58,113.5,31.5,6.0,1147,16062,0.00,2.15,8.15,0.835,4,0.000,0.028,1940,1852,2008,0,0,0,0,0,0
$GC,16227,0.58,118.2,16.3,8.2,1176,16236,0.00,2.33,1.55,0.204,6,0.000,0.048,1940,3284,1989,0,0,0,0,0,0
$GC,16287,0.58,118.2,9.1,12.8,1185,16296,0.12,0.00,0.00,0.000,6,0.200,0.000,1910,3285,1988,0,0,0,0,0,0
$STATE,16340,end climb,SURFACE_DEPTH_REACHED
$STATE,16340,begin surface coast
$FINISH,0.8,1.026136
$STATE,16372,end surface coast,CONTROL_FINISHED_OK
$STATE,16372,begin surface
$SM_CCo,16385,42.05,0.765,0,0,1573,220.03
$SM_GC,1.34,0.00,0.00,42.05,0.000,0.000,0.765,58,3393,1573,-5.20,0.37,220.03
$IRIDIUM_FIX,-4244.98,831.12,230114,141454
$TT8_MAMPS,0.026215
$HUMID,62.32
$INTERNAL_PRESSURE,9.57185
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,22.1,44.942
$10V_AH,9.8,35.333
$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,12.975,93.825,186.600,42.050,0.000,32.246,39.566,321.044,0.000,0.000,19.873,2943.562,10289.960,370.953,3080.391,274.428,0.000,1459.360,0.000,2556.790,0.000,2.123,0.000
$DEVICE_MAMPS,240.975,86.445,1857.420,765.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,829.348,2082.534,821.563,403.373,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354464
$DATA_FILE_SIZE,83754,1198
$CAP_FILE_SIZE,146421,0
$CFSIZE,259252224,235208704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,240114,050153,-4259.328,830.328,41,0.9,41,-25.0