version: 66.07
glider: 543
mission: 9
dive: 322
start: 1 25 114 22 20 0
data:
$ID,543
$MISSION,9
$DIVE,322
$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,-13538.091
$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,45
$R_STBD_OVSHOOT,30
$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
$GPS1,250114,221035,-4300.375,830.397,31,1.1,31,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-64.8
$GPS2,250114,221936,-4300.388,830.476,20,1.3,20,-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,343.1,966,-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,-51.0,0.0,0.0,0,58,0.00,0.00,-41.42,0.000,2,0.000,0.000,65,3392,2534,0,0,0,0,0,0
$GC,61,-0.57,-90.1,3.0,-4.2,5,80,6.20,0.95,-8.75,0.000,4,0.236,0.089,1528,3953,2843,0,0,0,0,0,0
$GC,159,-0.57,-90.1,21.3,-19.0,20,167,0.00,0.88,0.00,0.000,6,0.000,0.034,1528,3376,2848,0,0,0,0,0,0
$GC,308,-0.57,-90.1,47.9,-17.4,45,316,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3376,2849,0,0,0,0,0,0
$GC,661,-0.57,-90.1,98.6,-13.3,106,667,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3376,2850,0,0,0,0,0,0
$GC,993,-0.57,-90.1,144.8,-13.9,138,996,0.00,0.90,0.00,0.000,4,0.000,0.058,1524,3932,2850,0,0,0,0,0,0
$GC,1029,-0.57,-90.1,149.9,-15.0,141,1033,0.00,0.85,0.00,0.000,6,0.000,0.033,1524,3367,2850,0,0,0,0,0,0
$GC,1359,-0.57,-90.1,198.2,-14.7,172,1363,0.00,0.93,0.00,0.000,4,0.000,0.057,1520,3933,2851,0,0,0,0,0,0
$GC,1438,-0.57,-90.1,210.3,-15.0,179,1442,0.00,0.82,0.00,0.000,6,0.000,0.034,1520,3383,2851,0,0,0,0,0,0
$GC,1769,-0.57,-90.1,257.8,-14.1,210,1772,0.00,0.90,0.00,0.000,4,0.000,0.057,1516,3943,2852,0,0,0,0,0,0
$GC,1837,-0.57,-90.1,267.8,-14.6,216,1840,0.00,0.85,0.00,0.000,6,0.000,0.032,1516,3372,2852,0,0,0,0,0,0
$GC,2167,-0.57,-90.1,313.1,-13.6,247,2171,0.00,2.10,0.00,0.000,4,0.000,0.028,1516,1964,2852,0,0,0,0,0,0
$GC,2197,-0.57,-90.1,316.9,-13.3,249,2202,0.12,2.25,0.00,0.000,6,0.161,0.049,1537,3376,2852,0,0,0,0,0,0
$GC,2527,-0.57,-90.1,355.5,-11.6,280,2530,0.00,0.90,0.00,0.000,4,0.000,0.057,1534,3941,2852,0,0,0,0,0,0
$GC,2618,-0.57,-90.1,367.2,-13.4,288,2622,0.00,0.82,0.00,0.000,6,0.000,0.034,1534,3386,2852,0,0,0,0,0,0
$GC,2946,-0.57,-90.1,407.8,-12.3,316,2949,0.00,0.90,0.00,0.000,4,0.000,0.058,1530,3950,2852,0,0,0,0,0,0
$GC,2991,-0.57,-90.1,413.9,-13.7,318,2994,0.00,0.85,0.00,0.000,6,0.000,0.034,1530,3377,2852,0,0,0,0,0,0
$GC,3324,-0.57,-90.1,454.7,-11.9,334,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3377,2851,0,0,0,0,0,0
$GC,3634,-0.57,-90.1,492.0,-12.3,349,3638,0.00,0.93,0.00,0.000,4,0.000,0.059,1526,3954,2852,0,0,0,0,0,0
$GC,3762,-0.57,-90.1,509.1,-13.0,354,3769,0.00,0.88,0.00,0.000,6,0.000,0.033,1526,3376,2851,0,0,0,0,0,0
$GC,4080,-0.57,-90.1,547.3,-12.0,370,4084,0.00,0.93,0.00,0.000,4,0.000,0.059,1522,3955,2850,0,0,0,0,0,0
$GC,4113,-0.57,-90.1,551.9,-13.2,371,4117,0.00,0.88,0.00,0.000,6,0.000,0.033,1522,3379,2850,0,0,0,0,0,0
$GC,4435,-0.57,-90.1,591.9,-12.5,387,4438,0.00,0.90,0.00,0.000,4,0.000,0.059,1518,3942,2850,0,0,0,0,0,0
$GC,4503,-0.57,-90.1,600.8,-13.8,390,4507,0.00,0.82,0.00,0.000,6,0.000,0.034,1518,3387,2850,0,0,0,0,0,0
$GC,4835,-0.57,-90.1,643.7,-12.7,406,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,1518,3386,2849,0,0,0,0,0,0
$GC,5145,-0.57,-90.1,680.7,-11.7,421,5148,0.00,0.90,0.00,0.000,4,0.000,0.059,1513,3949,2849,0,0,0,0,0,0
$GC,5194,-0.57,-90.1,687.4,-13.3,423,5199,0.00,0.88,0.00,0.000,6,0.000,0.034,1513,3374,2848,0,0,0,0,0,0
$GC,5521,-0.57,-90.1,726.7,-12.3,439,5523,0.00,0.00,0.00,0.000,6,0.000,0.000,1513,3374,2848,0,0,0,0,0,0
$GC,5831,-0.57,-90.1,765.6,-12.7,454,5835,0.00,0.93,0.00,0.000,4,0.000,0.060,1509,3944,2847,0,0,0,0,0,0
$GC,5863,-0.57,-90.1,770.4,-13.8,455,5868,0.00,0.88,0.00,0.000,6,0.000,0.034,1509,3376,2847,0,0,0,0,0,0
$GC,6187,-0.57,-90.1,811.4,-12.8,471,6191,0.00,0.93,0.00,0.000,4,0.000,0.060,1505,3951,2846,0,0,0,0,0,0
$GC,6237,-0.57,-90.1,818.6,-13.5,473,6241,0.08,0.85,0.00,0.000,6,0.162,0.034,1527,3388,2846,0,0,0,0,0,0
$GC,6563,-0.57,-90.1,853.9,-10.8,489,6567,0.00,2.15,0.00,0.000,4,0.000,0.030,1528,1963,2845,0,0,0,0,0,0
$GC,6590,-0.57,-90.1,856.8,-11.0,490,6594,0.00,2.33,0.00,0.000,6,0.000,0.052,1518,3380,2845,0,0,0,0,0,0
$GC,6914,-0.57,-90.1,893.8,-11.6,506,6918,0.00,0.95,0.00,0.000,4,0.000,0.060,1514,3957,2844,0,0,0,0,0,0
$GC,6963,-0.57,-90.1,900.3,-12.2,508,6968,0.00,0.90,0.00,0.000,6,0.000,0.034,1514,3368,2845,0,0,0,0,0,0
$GC,7291,-0.57,-90.1,938.8,-11.8,524,7294,0.00,0.95,0.00,0.000,4,0.000,0.060,1510,3955,2844,0,0,0,0,0,0
$GC,7346,-0.57,-90.1,945.7,-12.5,526,7350,0.00,0.88,0.00,0.000,6,0.000,0.034,1509,3378,2844,0,0,0,0,0,0
$GC,7667,-0.57,-90.1,981.6,-10.8,542,7669,0.00,0.00,0.00,0.000,6,0.000,0.000,1510,3378,2844,0,0,0,0,0,0
$STATE,7748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7748,begin apogee
$GC,7754,-0.09,0.0,990.3,10.6,546,7851,0.60,0.00,89.93,1.878,6,0.151,0.000,1683,3277,2475,0,0,0,0,0,0
$STATE,7852,end apogee,CONTROL_FINISHED_OK
$STATE,7852,begin climb
$GC,7854,0.57,90.1,991.3,0.0,551,7962,0.62,2.45,95.32,1.815,4,0.070,0.028,1911,1870,2105,0,0,0,0,0,0
$GC,7972,0.57,90.1,981.4,12.1,556,7977,0.00,2.50,0.00,0.000,6,0.000,0.049,1911,3285,2103,0,0,0,0,0,0
$GC,8294,0.57,90.1,931.1,15.7,572,8298,0.00,1.10,0.00,0.000,4,0.000,0.058,1911,3951,2095,0,0,0,0,0,0
$GC,8371,0.57,90.1,917.5,18.1,575,8376,0.00,1.05,0.00,0.000,6,0.000,0.033,1916,3278,2094,0,0,0,0,0,0
$GC,8695,0.57,90.1,868.8,14.2,591,8696,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3279,2092,0,0,0,0,0,0
$GC,9003,0.57,90.1,827.5,12.9,606,9007,0.00,2.15,0.00,0.000,4,0.000,0.031,1927,1873,2091,0,0,0,0,0,0
$GC,9024,0.57,90.1,824.7,11.7,607,9028,0.00,2.30,0.00,0.000,6,0.000,0.050,1927,3282,2089,0,0,0,0,0,0
$GC,9352,0.57,90.1,781.0,13.3,623,9353,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,3282,2088,0,0,0,0,0,0
$GC,9661,0.57,90.1,741.2,12.8,638,9664,0.00,1.08,0.00,0.000,4,0.000,0.058,1927,3943,2087,0,0,0,0,0,0
$GC,9715,0.57,90.1,733.3,14.8,640,9720,0.00,1.02,0.00,0.000,6,0.000,0.034,1932,3280,2087,0,0,0,0,0,0
$GC,10038,0.57,90.1,691.4,13.1,656,10042,0.00,2.15,0.00,0.000,4,0.000,0.031,1943,1874,2087,0,0,0,0,0,0
$GC,10059,0.57,90.1,688.4,12.1,657,10064,0.15,2.28,0.00,0.000,6,0.185,0.050,1906,3293,2086,0,0,0,0,0,0
$GC,10387,0.57,90.1,649.9,11.9,673,10388,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3293,2085,0,0,0,0,0,0
$GC,10697,0.57,90.1,610.3,13.2,688,10701,0.00,1.08,0.00,0.000,4,0.000,0.060,1906,3955,2085,0,0,0,0,0,0
$GC,10765,0.57,90.1,600.5,14.5,691,10769,0.00,1.00,0.00,0.000,6,0.000,0.034,1910,3292,2085,0,0,0,0,0,0
$GC,11098,0.57,90.1,555.7,13.5,707,11099,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3292,2084,0,0,0,0,0,0
$GC,11407,0.57,90.1,513.3,13.8,722,11408,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3292,2084,0,0,0,0,0,0
$GC,11716,0.57,90.1,472.3,13.3,737,11717,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3292,2084,0,0,0,0,0,0
$GC,12026,0.57,90.1,430.8,13.0,752,12030,0.00,2.15,0.00,0.000,4,0.000,0.031,1922,1865,2084,0,0,0,0,0,0
$GC,12052,0.57,90.1,427.4,11.0,753,12057,0.00,2.30,0.00,0.000,6,0.000,0.050,1922,3304,2083,0,0,0,0,0,0
$GC,12378,0.57,90.1,384.4,13.4,774,12381,0.00,1.05,0.00,0.000,4,0.000,0.057,1921,3956,2083,0,0,0,0,0,0
$GC,12449,0.57,90.1,373.7,14.2,780,12460,0.00,1.05,0.00,0.000,6,0.000,0.034,1927,3270,2083,0,0,0,0,0,0
$GC,12776,0.57,90.1,330.9,12.4,811,12777,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,3270,2083,0,0,0,0,0,0
$GC,13097,0.57,90.1,292.4,11.8,841,13103,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,3270,2083,0,0,0,0,0,0
$GC,13423,0.57,90.1,258.0,10.3,872,13425,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,3270,2083,0,0,0,0,0,0
$GC,13741,0.57,90.1,221.5,11.3,902,13743,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,3270,2082,0,0,0,0,0,0
$GC,14060,0.57,90.1,184.3,11.4,932,14064,0.00,1.10,0.00,0.000,4,0.000,0.057,1926,3949,2083,0,0,0,0,0,0
$GC,14084,0.57,90.1,181.2,12.6,934,14087,0.00,1.00,0.00,0.000,6,0.000,0.034,1932,3283,2083,0,0,0,0,0,0
$GC,14417,0.57,90.1,140.7,12.3,965,14418,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,3283,2082,0,0,0,0,0,0
$GC,14733,0.57,90.1,101.4,12.1,995,14737,0.00,1.08,0.00,0.000,4,0.000,0.057,1932,3947,2083,0,0,0,0,0,0
$GC,14770,0.57,90.1,97.1,12.0,1000,14777,0.10,1.00,0.00,0.000,6,0.195,0.033,1909,3277,2083,0,0,0,0,0,0
$GC,15122,0.57,90.1,59.6,8.9,1061,15129,0.00,1.10,0.00,0.000,4,0.000,0.057,1906,3958,2083,0,0,0,0,0,0
$GC,15181,0.57,90.1,53.0,11.2,1071,15191,0.00,1.00,0.00,0.000,6,0.000,0.032,1909,3290,2083,0,0,0,0,0,0
$GC,15537,0.57,90.1,24.9,8.8,1132,15547,0.00,2.17,0.00,0.000,4,0.000,0.029,1921,1863,2082,0,0,0,0,0,0
$GC,15822,0.58,116.2,6.7,5.7,1178,15840,0.00,2.30,8.82,0.734,6,0.000,0.047,1921,3289,1996,0,0,0,0,0,0
$STATE,15871,end climb,SURFACE_DEPTH_REACHED
$STATE,15871,begin surface coast
$FINISH,0.7,1.026089
$STATE,15909,end surface coast,CONTROL_FINISHED_OK
$STATE,15910,begin surface
$SM_CCo,15923,42.97,0.771,0,0,1571,220.03
$SM_GC,1.14,0.00,0.00,42.97,0.000,0.000,0.771,52,3407,1571,-5.21,0.76,220.03
$IRIDIUM_FIX,-4244.98,830.68,250114,171729
$TT8_MAMPS,0.026215
$HUMID,61.34
$INTERNAL_PRESSURE,9.58162
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,22.1,46.260
$10V_AH,9.8,36.531
$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,12.800,71.450,194.075,42.975,0.000,24.897,41.084,330.977,0.000,0.000,22.482,2934.045,9859.252,345.436,3098.438,268.971,0.000,1425.383,0.000,2561.841,0.000,1.010,0.000
$DEVICE_MAMPS,235.620,88.740,1878.075,771.120,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,825.445,2071.669,877.798,471.563,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354408
$DATA_FILE_SIZE,83829,1191
$CAP_FILE_SIZE,143334,0
$CFSIZE,259252224,234422272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260114,024724,-4259.193,829.970,40,0.8,40,-25.0