version: 66.07
glider: 543
mission: 9
dive: 324
start: 1 26 114 7 12 35
data:
$ID,543
$MISSION,9
$DIVE,324
$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,-13544.01
$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,64
$R_STBD_OVSHOOT,21
$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
$GPS1,260114,070337,-4300.781,830.702,36,1.1,36,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-60.7
$GPS2,260114,071211,-4300.832,830.893,17,0.8,17,-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,346.8,1958,-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,-51.0,0.0,0.0,0,59,0.00,0.00,-41.90,0.000,2,0.000,0.000,63,3361,2544,0,0,0,0,0,0
$GC,61,-0.56,-78.5,3.2,-5.6,5,79,6.10,0.00,-6.72,0.000,6,0.229,0.000,1531,3361,2795,0,0,0,0,0,0
$GC,131,-0.56,-78.5,18.4,-23.3,15,139,0.00,0.95,0.00,0.000,4,0.000,0.056,1528,3952,2798,0,0,0,0,0,0
$GC,163,-0.56,-78.5,26.5,-23.2,20,173,0.00,0.85,0.00,0.000,6,0.000,0.033,1528,3390,2799,0,0,0,0,0,0
$GC,314,-0.56,-78.5,48.6,-15.7,45,321,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3390,2800,0,0,0,0,0,0
$GC,667,-0.56,-78.5,94.6,-13.8,106,673,0.00,0.90,0.00,0.000,4,0.000,0.057,1524,3952,2801,0,0,0,0,0,0
$GC,729,-0.56,-78.5,104.5,-14.6,114,737,0.00,0.88,0.00,0.000,6,0.000,0.032,1524,3377,2802,0,0,0,0,0,0
$GC,1057,-0.56,-78.5,150.6,-14.5,145,1061,0.00,0.93,0.00,0.000,4,0.000,0.057,1520,3951,2803,0,0,0,0,0,0
$GC,1228,-0.56,-78.5,177.3,-15.0,160,1232,0.00,0.85,0.00,0.000,6,0.000,0.033,1520,3380,2803,0,0,0,0,0,0
$GC,1558,-0.56,-78.5,225.8,-14.4,191,1562,0.00,0.93,0.00,0.000,4,0.000,0.057,1516,3957,2803,0,0,0,0,0,0
$GC,1720,-0.56,-78.5,249.7,-15.0,205,1723,0.00,0.85,0.00,0.000,6,0.000,0.033,1516,3384,2803,0,0,0,0,0,0
$GC,2050,-0.56,-78.5,296.4,-13.8,236,2054,0.00,0.90,0.00,0.000,4,0.000,0.058,1512,3951,2803,0,0,0,0,0,0
$GC,2253,-0.56,-78.5,326.3,-14.4,254,2257,0.00,0.85,0.00,0.000,6,0.000,0.033,1511,3377,2803,0,0,0,0,0,0
$GC,2586,-0.56,-78.5,373.6,-14.2,285,2589,0.00,0.93,0.00,0.000,4,0.000,0.057,1507,3956,2803,0,0,0,0,0,0
$GC,2759,-0.56,-78.5,400.7,-15.7,300,2769,0.12,0.88,0.00,0.000,6,0.183,0.032,1537,3380,2803,0,0,0,0,0,0
$GC,3075,-0.56,-78.5,438.4,-11.7,316,3079,0.00,0.93,0.00,0.000,4,0.000,0.059,1534,3957,2803,0,0,0,0,0,0
$GC,3158,-0.56,-78.5,449.0,-12.9,319,3165,0.00,0.88,0.00,0.000,6,0.000,0.033,1534,3383,2803,0,0,0,0,0,0
$GC,3475,-0.56,-78.5,484.8,-11.2,335,3478,0.00,0.90,0.00,0.000,4,0.000,0.060,1530,3946,2803,0,0,0,0,0,0
$GC,3664,-0.56,-78.5,507.6,-11.6,343,3669,0.00,0.88,0.00,0.000,6,0.000,0.034,1530,3373,2803,0,0,0,0,0,0
$GC,3988,-0.56,-78.5,543.0,-11.4,359,3992,0.00,0.93,0.00,0.000,4,0.000,0.059,1526,3949,2803,0,0,0,0,0,0
$GC,4071,-0.56,-78.5,553.7,-12.7,362,4079,0.00,0.88,0.00,0.000,6,0.000,0.034,1525,3376,2802,0,0,0,0,0,0
$GC,4388,-0.56,-78.5,589.9,-11.1,378,4391,0.00,0.93,0.00,0.000,4,0.000,0.060,1521,3951,2802,0,0,0,0,0,0
$GC,4550,-0.56,-78.5,610.2,-12.3,385,4554,0.00,0.85,0.00,0.000,6,0.000,0.034,1521,3384,2802,0,0,0,0,0,0
$GC,4878,-0.56,-78.5,648.6,-12.1,401,4881,0.00,0.90,0.00,0.000,4,0.000,0.060,1517,3941,2801,0,0,0,0,0,0
$GC,4990,-0.56,-78.5,663.3,-13.0,406,4994,0.00,0.85,0.00,0.000,6,0.000,0.035,1517,3381,2801,0,0,0,0,0,0
$GC,5323,-0.56,-78.5,703.7,-12.0,422,5326,0.00,0.95,0.00,0.000,4,0.000,0.062,1513,3953,2800,0,0,0,0,0,0
$GC,5503,-0.56,-78.5,727.0,-12.4,430,5506,0.00,0.88,0.00,0.000,6,0.000,0.035,1513,3375,2800,0,0,0,0,0,0
$GC,5835,-0.56,-78.5,766.9,-11.8,446,5839,0.00,0.93,0.00,0.000,4,0.000,0.061,1509,3948,2798,0,0,0,0,0,0
$GC,5986,-0.56,-78.5,786.9,-13.8,452,5993,0.00,0.88,0.00,0.000,6,0.000,0.034,1509,3369,2798,0,0,0,0,0,0
$GC,6302,-0.56,-78.5,825.4,-12.5,468,6306,0.12,0.98,0.00,0.000,4,0.184,0.060,1537,3954,2797,0,0,0,0,0,0
$GC,6438,-0.56,-78.5,840.3,-10.6,474,6441,0.00,0.88,0.00,0.000,6,0.000,0.037,1536,3383,2797,0,0,0,0,0,0
$GC,6771,-0.56,-78.5,874.9,-10.6,490,6775,0.00,0.93,0.00,0.000,4,0.000,0.062,1532,3952,2797,0,0,0,0,0,0
$GC,6888,-0.56,-78.5,888.8,-11.8,495,6892,0.00,0.88,0.00,0.000,6,0.000,0.036,1532,3376,2797,0,0,0,0,0,0
$GC,7216,-0.56,-78.5,924.7,-11.0,511,7219,0.00,0.93,0.00,0.000,4,0.000,0.062,1528,3946,2797,0,0,0,0,0,0
$GC,7293,-0.56,-78.5,933.9,-12.1,514,7297,0.00,0.88,0.00,0.000,6,0.000,0.037,1528,3375,2797,0,0,0,0,0,0
$GC,7615,-0.56,-78.5,968.2,-10.5,530,7618,0.00,0.93,0.00,0.000,4,0.000,0.061,1524,3946,2796,0,0,0,0,0,0
$GC,7714,-0.56,-78.5,979.5,-11.2,534,7719,0.00,0.88,0.00,0.000,6,0.000,0.036,1524,3377,2796,0,0,0,0,0,0
$STATE,7830,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7830,begin apogee
$GC,7836,-0.09,0.0,991.5,10.4,540,7917,0.55,0.00,78.82,1.890,6,0.150,0.000,1684,3278,2474,0,0,0,0,0,0
$STATE,7918,end apogee,CONTROL_FINISHED_OK
$STATE,7918,begin climb
$GC,7920,0.56,78.5,993.9,0.0,544,8007,0.62,0.00,82.90,1.825,6,0.071,0.000,1902,3278,2153,0,0,0,0,0,0
$GC,8315,0.56,78.5,950.8,12.8,563,8319,0.00,2.22,0.00,0.000,4,0.000,0.030,1912,1855,2144,0,0,0,0,0,0
$GC,8369,0.56,78.5,944.4,11.1,565,8377,0.00,2.40,0.00,0.000,6,0.000,0.050,1912,3286,2142,0,0,0,0,0,0
$GC,8686,0.56,78.5,902.5,13.7,581,8690,0.00,2.20,0.00,0.000,4,0.000,0.031,1923,1861,2141,0,0,0,0,0,0
$GC,8718,0.56,78.5,898.3,12.0,582,8726,0.00,2.35,0.00,0.000,6,0.000,0.050,1923,3285,2139,0,0,0,0,0,0
$GC,9036,0.56,78.5,854.9,13.8,598,9040,0.00,2.20,0.00,0.000,4,0.000,0.031,1934,1860,2139,0,0,0,0,0,0
$GC,9058,0.56,78.5,851.8,12.1,599,9063,0.10,2.35,0.00,0.000,6,0.167,0.050,1905,3290,2137,0,0,0,0,0,0
$GC,9385,0.56,78.5,811.0,12.3,615,9386,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3290,2137,0,0,0,0,0,0
$GC,9694,0.56,78.5,773.3,12.2,630,9695,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3290,2136,0,0,0,0,0,0
$GC,10004,0.56,78.5,736.0,11.8,645,10008,0.00,2.17,0.00,0.000,4,0.000,0.031,1914,1852,2136,0,0,0,0,0,0
$GC,10036,0.56,78.5,732.5,10.2,646,10043,0.00,2.35,0.00,0.000,6,0.000,0.050,1915,3289,2135,0,0,0,0,0,0
$GC,10354,0.56,78.5,695.3,11.7,662,10357,0.00,1.08,0.00,0.000,4,0.000,0.059,1915,3952,2135,0,0,0,0,0,0
$GC,10414,0.56,78.5,687.0,13.7,664,10422,0.00,1.02,0.00,0.000,6,0.000,0.034,1920,3273,2135,0,0,0,0,0,0
$GC,10732,0.56,78.5,648.6,12.4,680,10736,0.00,2.12,0.00,0.000,4,0.000,0.031,1931,1869,2135,0,0,0,0,0,0
$GC,10816,0.56,78.5,639.1,10.4,684,10820,0.12,2.28,0.00,0.000,6,0.186,0.050,1902,3290,2134,0,0,0,0,0,0
$GC,11148,0.56,78.5,601.5,11.2,700,11152,0.00,2.15,0.00,0.000,4,0.000,0.031,1911,1863,2133,0,0,0,0,0,0
$GC,11180,0.56,78.5,598.0,10.2,701,11187,0.00,2.33,0.00,0.000,6,0.000,0.050,1912,3285,2133,0,0,0,0,0,0
$GC,11498,0.56,78.5,562.1,11.4,717,11502,0.00,1.08,0.00,0.000,4,0.000,0.058,1911,3950,2133,0,0,0,0,0,0
$GC,11592,0.56,78.5,549.5,12.7,721,11597,0.00,1.02,0.00,0.000,6,0.000,0.034,1917,3284,2133,0,0,0,0,0,0
$GC,11920,0.56,78.5,509.8,12.3,737,11921,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3284,2133,0,0,0,0,0,0
$GC,12230,0.56,78.5,472.9,11.6,752,12233,0.00,1.08,0.00,0.000,4,0.000,0.058,1917,3948,2133,0,0,0,0,0,0
$GC,12347,0.56,78.5,457.4,12.9,757,12351,0.00,1.00,0.00,0.000,6,0.000,0.034,1922,3288,2133,0,0,0,0,0,0
$GC,12674,0.56,78.5,418.9,11.6,773,12678,0.00,1.08,0.00,0.000,4,0.000,0.057,1922,3951,2132,0,0,0,0,0,0
$GC,12791,0.56,78.5,403.6,12.7,778,12795,0.00,1.02,0.00,0.000,6,0.000,0.034,1927,3284,2132,0,0,0,0,0,0
$GC,13117,0.56,78.5,366.7,11.1,807,13120,0.00,1.08,0.00,0.000,4,0.000,0.058,1927,3949,2132,0,0,0,0,0,0
$GC,13269,0.56,78.5,348.3,11.1,820,13278,0.08,1.00,0.00,0.000,6,0.201,0.034,1911,3286,2132,0,0,0,0,0,0
$GC,13593,0.56,78.5,314.7,11.1,851,13596,0.00,1.08,0.00,0.000,4,0.000,0.058,1909,3950,2132,0,0,0,0,0,0
$GC,13618,0.56,78.5,312.1,10.8,853,13621,0.00,1.00,0.00,0.000,6,0.000,0.035,1912,3287,2132,0,0,0,0,0,0
$GC,13948,0.56,78.5,275.2,11.3,884,13949,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3288,2132,0,0,0,0,0,0
$GC,14268,0.56,78.5,239.4,11.1,914,14269,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3288,2132,0,0,0,0,0,0
$GC,14587,0.56,78.5,203.5,11.1,944,14591,0.00,1.08,0.00,0.000,4,0.000,0.057,1912,3955,2132,0,0,0,0,0,0
$GC,14746,0.56,78.5,184.7,11.8,958,14750,0.00,1.02,0.00,0.000,6,0.000,0.033,1917,3272,2132,0,0,0,0,0,0
$GC,15079,0.56,78.5,150.9,10.2,989,15080,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3272,2132,0,0,0,0,0,0
$GC,15396,0.56,78.5,119.2,9.4,1019,15398,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3272,2132,0,0,0,0,0,0
$GC,15721,0.56,78.5,88.8,9.3,1059,15730,0.00,2.15,0.00,0.000,4,0.000,0.029,1929,1866,2132,0,0,0,0,0,0
$GC,15756,0.56,83.1,86.1,8.2,1064,15763,0.00,2.28,0.00,0.000,6,0.000,0.048,1928,3290,2132,0,0,0,0,0,0
$GC,16107,0.57,97.9,56.7,7.0,1125,16122,0.00,2.17,6.38,0.878,4,0.000,0.028,1940,1874,2072,0,0,0,0,0,0
$GC,16282,0.59,126.8,45.8,5.4,1155,16299,0.00,2.28,12.40,0.910,6,0.000,0.048,1939,3281,1954,0,0,0,0,0,0
$STATE,16650,end climb,SURFACE_DEPTH_REACHED
$STATE,16651,begin surface coast
$FINISH,0.7,1.026551
$STATE,16671,end surface coast,CONTROL_FINISHED_OK
$STATE,16671,begin surface
$SM_CCo,16685,38.15,0.769,0,0,1575,220.03
$SM_GC,1.14,0.00,0.00,38.15,0.000,0.000,0.769,66,3390,1575,-5.16,0.28,220.03
$IRIDIUM_FIX,-4244.98,836.94,260114,020224
$TT8_MAMPS,0.026215
$HUMID,62.56
$INTERNAL_PRESSURE,9.58162
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,22.1,46.521
$10V_AH,9.8,36.771
$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,12.725,81.350,180.500,38.150,0.000,28.714,18.831,322.219,0.000,0.000,20.188,3068.188,10137.718,348.308,3386.880,294.782,0.000,1583.821,0.000,2871.129,0.000,1.010,0.000
$DEVICE_MAMPS,228.735,84.915,1890.315,768.825,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,844.100,2046.096,804.867,363.340,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354420
$DATA_FILE_SIZE,87068,1219
$CAP_FILE_SIZE,156919,0
$CFSIZE,259252224,234242048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260114,115322,-4259.623,831.130,87,0.8,87,-25.0