version: 66.07
glider: 543
mission: 9
dive: 325
start: 1 26 114 12 3 23
data:
$ID,543
$MISSION,9
$DIVE,325
$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,-13547.606
$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,47
$R_STBD_OVSHOOT,32
$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
$GPS1,260114,115322,-4259.623,831.130,87,0.8,87,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-55.5
$GPS2,260114,120259,-4259.558,831.291,18,1.3,18,-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,270.0,1930,-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,-41.92,0.000,2,0.000,0.000,62,3388,2570,0,0,0,0,0,0
$GC,61,-0.56,-74.9,3.5,-6.0,5,80,6.18,0.88,-5.22,0.000,4,0.233,0.087,1530,3949,2780,0,0,0,0,0,0
$GC,287,-0.56,-74.9,47.5,-18.3,42,296,0.00,0.85,0.00,0.000,6,0.000,0.034,1530,3386,2784,0,0,0,0,0,0
$GC,640,-0.56,-74.9,96.2,-12.8,103,646,0.00,0.90,0.00,0.000,4,0.000,0.057,1526,3947,2785,0,0,0,0,0,0
$GC,702,-0.56,-74.9,105.3,-13.2,111,710,0.00,0.88,0.00,0.000,6,0.000,0.032,1526,3373,2785,0,0,0,0,0,0
$GC,1028,-0.56,-74.9,149.0,-13.6,142,1032,0.00,0.90,0.00,0.000,4,0.000,0.057,1522,3929,2786,0,0,0,0,0,0
$GC,1226,-0.56,-74.9,178.5,-14.4,159,1233,0.00,0.85,0.00,0.000,6,0.000,0.032,1522,3372,2787,0,0,0,0,0,0
$GC,1551,-0.56,-74.9,223.2,-13.5,190,1555,0.00,0.90,0.00,0.000,4,0.000,0.057,1518,3930,2787,0,0,0,0,0,0
$GC,1757,-0.56,-74.9,253.1,-13.9,208,1760,0.00,0.82,0.00,0.000,6,0.000,0.033,1518,3382,2787,0,0,0,0,0,0
$GC,2087,-0.56,-74.9,296.8,-12.5,239,2091,0.00,0.90,0.00,0.000,4,0.000,0.057,1514,3942,2787,0,0,0,0,0,0
$GC,2216,-0.56,-74.9,314.3,-13.3,250,2223,0.00,0.88,0.00,0.000,6,0.000,0.032,1514,3367,2788,0,0,0,0,0,0
$GC,2544,-0.56,-74.9,354.2,-12.5,281,2547,0.00,0.93,0.00,0.000,4,0.000,0.057,1509,3941,2788,0,0,0,0,0,0
$GC,2695,-0.56,-74.9,374.9,-13.0,294,2702,0.00,0.85,0.00,0.000,6,0.000,0.033,1510,3373,2787,0,0,0,0,0,0
$GC,3028,-0.56,-74.9,416.1,-12.1,320,3032,0.12,0.93,0.00,0.000,4,0.182,0.058,1537,3934,2787,0,0,0,0,0,0
$GC,3194,-0.56,-74.9,434.3,-10.4,327,3199,0.00,0.85,0.00,0.000,6,0.000,0.034,1538,3383,2787,0,0,0,0,0,0
$GC,3517,-0.56,-74.9,465.5,-9.9,343,3521,0.00,0.90,0.00,0.000,4,0.000,0.058,1533,3942,2787,0,0,0,0,0,0
$GC,3630,-0.56,-74.9,477.6,-10.4,348,3634,0.00,0.85,0.00,0.000,6,0.000,0.034,1533,3378,2787,0,0,0,0,0,0
$GC,3963,-0.56,-74.9,510.0,-10.1,364,3967,0.00,0.90,0.00,0.000,4,0.000,0.058,1529,3936,2786,0,0,0,0,0,0
$GC,4098,-0.56,-74.9,524.8,-11.2,370,4102,0.00,0.85,0.00,0.000,6,0.000,0.034,1529,3373,2786,0,0,0,0,0,0
$GC,4431,-0.56,-74.9,562.4,-11.5,386,4435,0.00,0.90,0.00,0.000,4,0.000,0.059,1525,3929,2786,0,0,0,0,0,0
$GC,4649,-0.56,-74.9,589.9,-12.7,395,4657,0.00,0.85,0.00,0.000,6,0.000,0.034,1525,3379,2785,0,0,0,0,0,0
$GC,4967,-0.56,-74.9,627.3,-11.5,411,4971,0.00,0.90,0.00,0.000,4,0.000,0.060,1521,3935,2784,0,0,0,0,0,0
$GC,5067,-0.56,-74.9,640.6,-13.6,415,5071,0.00,0.85,0.00,0.000,6,0.000,0.034,1521,3380,2785,0,0,0,0,0,0
$GC,5390,-0.56,-74.9,678.6,-11.8,431,5393,0.00,0.93,0.00,0.000,4,0.000,0.060,1517,3934,2784,0,0,0,0,0,0
$GC,5495,-0.56,-74.9,692.0,-12.4,435,5502,0.00,0.85,0.00,0.000,6,0.000,0.034,1517,3380,2783,0,0,0,0,0,0
$GC,5812,-0.56,-74.9,729.1,-11.8,451,5815,0.00,0.93,0.00,0.000,4,0.000,0.061,1513,3935,2783,0,0,0,0,0,0
$GC,5986,-0.56,-74.9,750.9,-12.4,458,5993,0.00,0.85,0.00,0.000,6,0.000,0.035,1513,3379,2782,0,0,0,0,0,0
$GC,6301,-0.56,-74.9,787.4,-11.2,474,6305,0.00,0.90,0.00,0.000,4,0.000,0.060,1509,3935,2781,0,0,0,0,0,0
$GC,6385,-0.56,-74.9,798.1,-13.1,477,6393,0.08,0.85,0.00,0.000,6,0.169,0.035,1531,3376,2781,0,0,0,0,0,0
$GC,6701,-0.56,-74.9,829.6,-9.9,493,6704,0.00,0.90,0.00,0.000,4,0.000,0.060,1528,3931,2781,0,0,0,0,0,0
$GC,6846,-0.56,-74.9,845.7,-11.1,499,6850,0.00,0.85,0.00,0.000,6,0.000,0.035,1528,3372,2781,0,0,0,0,0,0
$GC,7167,-0.56,-74.9,876.7,-9.8,515,7171,0.00,0.93,0.00,0.000,4,0.000,0.061,1524,3939,2780,0,0,0,0,0,0
$GC,7374,-0.56,-74.9,899.6,-11.3,524,7378,0.00,0.88,0.00,0.000,6,0.000,0.035,1524,3374,2780,0,0,0,0,0,0
$GC,7703,-0.56,-74.9,932.6,-10.0,540,7707,0.00,0.93,0.00,0.000,4,0.000,0.061,1520,3943,2779,0,0,0,0,0,0
$GC,7883,-0.56,-74.9,952.5,-10.4,548,7887,0.00,0.85,0.00,0.000,6,0.000,0.036,1520,3383,2779,0,0,0,0,0,0
$GC,8216,-0.56,-74.9,985.2,-10.0,564,8220,0.00,2.15,0.00,0.000,4,0.000,0.030,1520,1958,2779,0,0,0,0,0,0
$GC,8233,-0.56,-74.9,986.8,-9.7,565,8238,0.12,2.30,0.00,0.000,6,0.161,0.054,1541,3373,2779,0,0,0,0,0,0
$STATE,8271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8271,begin apogee
$GC,8276,-0.09,0.0,990.1,8.6,567,8354,0.47,0.00,75.10,1.882,6,0.148,0.000,1681,3281,2474,0,0,0,0,0,0
$STATE,8355,end apogee,CONTROL_FINISHED_OK
$STATE,8355,begin climb
$GC,8357,0.56,74.9,991.9,0.0,571,8444,0.62,2.47,79.15,1.823,4,0.074,0.028,1908,1858,2168,0,0,0,0,0,0
$GC,8461,0.56,74.9,985.5,9.1,575,8469,0.00,2.53,0.00,0.000,6,0.000,0.049,1908,3273,2165,0,0,0,0,0,0
$GC,8778,0.56,74.9,946.1,11.9,591,8782,0.00,2.22,0.00,0.000,4,0.000,0.030,1919,1861,2158,0,0,0,0,0,0
$GC,8833,0.56,74.9,940.1,10.8,593,8840,0.00,2.38,0.00,0.000,6,0.000,0.050,1919,3294,2156,0,0,0,0,0,0
$GC,9149,0.56,74.9,899.3,13.6,609,9150,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3294,2155,0,0,0,0,0,0
$GC,9458,0.56,74.9,858.0,13.2,624,9459,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3294,2153,0,0,0,0,0,0
$GC,9768,0.56,74.9,817.3,13.1,639,9771,0.00,1.08,0.00,0.000,4,0.000,0.059,1919,3956,2153,0,0,0,0,0,0
$GC,9794,0.56,74.9,813.1,15.0,640,9799,0.00,1.05,0.00,0.000,6,0.000,0.034,1924,3276,2153,0,0,0,0,0,0
$GC,10124,0.56,74.9,769.9,12.8,656,10125,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,3276,2152,0,0,0,0,0,0
$GC,10432,0.56,74.9,728.4,13.2,671,10436,0.00,1.10,0.00,0.000,4,0.000,0.058,1924,3951,2151,0,0,0,0,0,0
$GC,10477,0.56,74.9,722.0,14.3,673,10481,0.00,1.02,0.00,0.000,6,0.000,0.034,1929,3278,2150,0,0,0,0,0,0
$GC,10810,0.56,74.9,677.3,13.5,689,10814,0.00,1.10,0.00,0.000,4,0.000,0.057,1929,3956,2150,0,0,0,0,0,0
$GC,10887,0.56,74.9,665.4,15.3,692,10893,0.12,1.05,0.00,0.000,6,0.220,0.034,1906,3274,2150,0,0,0,0,0,0
$GC,11211,0.56,74.9,625.4,12.3,708,11212,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3274,2150,0,0,0,0,0,0
$GC,11519,0.56,74.9,590.0,11.3,723,11523,0.00,2.15,0.00,0.000,4,0.000,0.031,1916,1861,2150,0,0,0,0,0,0
$GC,11553,0.56,74.9,586.5,10.1,724,11560,0.00,2.30,0.00,0.000,6,0.000,0.050,1916,3290,2148,0,0,0,0,0,0
$GC,11868,0.56,74.9,552.1,11.0,740,11872,0.00,1.08,0.00,0.000,4,0.000,0.058,1916,3952,2148,0,0,0,0,0,0
$GC,12097,0.56,74.9,524.1,12.0,750,12102,0.00,1.02,0.00,0.000,6,0.000,0.034,1921,3285,2148,0,0,0,0,0,0
$GC,12425,0.56,74.9,488.7,10.8,766,12429,0.00,2.15,0.00,0.000,4,0.000,0.030,1932,1862,2148,0,0,0,0,0,0
$GC,12486,0.56,74.9,482.6,9.6,768,12494,0.10,2.33,0.00,0.000,6,0.165,0.049,1904,3289,2147,0,0,0,0,0,0
$GC,12802,0.56,74.9,451.2,10.1,784,12806,0.00,1.08,0.00,0.000,4,0.000,0.058,1903,3954,2147,0,0,0,0,0,0
$GC,12840,0.56,74.9,446.9,11.7,785,12847,0.00,1.00,0.00,0.000,6,0.000,0.035,1907,3290,2147,0,0,0,0,0,0
$GC,13156,0.56,74.9,414.8,9.8,801,13160,0.00,2.17,0.00,0.000,4,0.000,0.030,1918,1859,2147,0,0,0,0,0,0
$GC,13177,0.56,74.9,412.7,9.0,802,13182,0.00,2.33,0.00,0.000,6,0.000,0.049,1918,3283,2147,0,0,0,0,0,0
$GC,13501,0.56,74.9,379.6,10.3,826,13502,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3283,2147,0,0,0,0,0,0
$GC,13819,0.56,74.9,346.1,10.8,856,13823,0.00,2.17,0.00,0.000,4,0.000,0.029,1929,1855,2147,0,0,0,0,0,0
$GC,13942,0.56,74.9,334.1,8.9,866,13949,0.00,2.33,0.00,0.000,6,0.000,0.050,1930,3296,2146,0,0,0,0,0,0
$GC,14270,0.56,74.9,296.8,10.9,897,14273,0.00,1.05,0.00,0.000,4,0.000,0.058,1929,3949,2146,0,0,0,0,0,0
$GC,14363,0.56,74.9,285.3,12.0,905,14367,0.10,1.00,0.00,0.000,6,0.193,0.034,1907,3284,2146,0,0,0,0,0,0
$GC,14692,0.56,74.9,250.6,9.9,936,14693,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3284,2146,0,0,0,0,0,0
$GC,15012,0.56,74.9,217.1,10.3,966,15015,0.00,1.08,0.00,0.000,4,0.000,0.058,1904,3944,2146,0,0,0,0,0,0
$GC,15072,0.56,74.9,210.2,10.8,971,15080,0.00,1.02,0.00,0.000,6,0.000,0.033,1908,3277,2146,0,0,0,0,0,0
$GC,15398,0.56,74.9,176.8,10.1,1002,15402,0.00,1.10,0.00,0.000,4,0.000,0.058,1905,3953,2146,0,0,0,0,0,0
$GC,15660,0.56,74.9,147.7,11.2,1025,15664,0.00,1.00,0.00,0.000,6,0.000,0.033,1909,3287,2146,0,0,0,0,0,0
$GC,15990,0.56,74.9,116.3,9.1,1056,15991,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3287,2146,0,0,0,0,0,0
$GC,16324,0.56,75.8,85.9,8.6,1099,16331,0.00,2.15,0.00,0.000,4,0.000,0.028,1921,1856,2146,0,0,0,0,0,0
$GC,16386,0.56,83.4,80.8,7.8,1109,16393,0.00,2.30,1.48,0.367,6,0.000,0.049,1921,3285,2132,0,0,0,0,0,0
$GC,16738,0.57,95.1,51.3,7.4,1170,16748,0.00,2.20,5.05,0.802,4,0.000,0.028,1932,1860,2084,0,0,0,0,0,0
$GC,16898,0.58,117.3,39.9,6.2,1197,16914,0.00,2.30,9.68,0.876,6,0.000,0.049,1932,3288,1992,0,0,0,0,0,0
$GC,17058,0.60,138.9,26.0,6.2,1223,17073,0.00,1.08,8.82,0.810,4,0.000,0.054,1932,3954,1904,0,0,0,0,0,0
$STATE,17215,end climb,SURFACE_DEPTH_REACHED
$STATE,17215,begin surface coast
$FINISH,0.5,1.026090
$STATE,17234,end surface coast,CONTROL_FINISHED_OK
$STATE,17235,begin surface
$SM_CCo,17249,32.97,0.765,0,0,1575,220.03
$SM_GC,2.78,0.00,0.00,32.97,0.000,0.000,0.765,60,3369,1575,-5.19,-0.31,220.03
$IRIDIUM_FIX,-4244.98,831.12,260114,070734
$TT8_MAMPS,0.026215
$HUMID,62.04
$INTERNAL_PRESSURE,9.57185
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,22.1,46.639
$10V_AH,9.8,36.902
$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,13.200,89.775,179.275,32.975,0.000,25.310,42.049,359.751,0.000,0.000,22.200,3164.612,10473.040,352.085,3555.266,308.412,0.000,1629.476,0.000,2980.470,0.000,1.010,0.000
$DEVICE_MAMPS,232.560,87.210,1881.900,765.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,866.228,2091.408,808.830,351.262,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354368
$DATA_FILE_SIZE,90561,1251
$CAP_FILE_SIZE,165661,0
$CFSIZE,259252224,234143744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260114,165322,-4259.917,830.290,80,1.0,80,-25.0