version: 66.07
glider: 543
mission: 9
dive: 338
start: 1 29 114 1 58 23
data:
$ID,543
$MISSION,9
$DIVE,338
$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,-13584.919
$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,54
$R_STBD_OVSHOOT,22
$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
$GPS1,290114,013605,-4300.213,832.113,36,0.9,36,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-47.8
$GPS2,290114,015800,-4300.168,832.389,18,1.0,18,-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,300.6,3250,-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,-51.0,0.0,0.0,0,107,0.00,0.00,-88.95,0.000,6,0.000,0.000,62,3365,2683,0,0,0,0,0,0
$GC,110,-0.57,-95.8,3.0,-3.6,11,128,6.20,0.95,-4.82,0.000,4,0.236,0.076,1526,3956,2864,0,0,0,0,0,0
$GC,149,-0.57,-95.8,11.8,-21.1,16,158,0.00,0.88,0.00,0.000,6,0.000,0.033,1526,3382,2867,0,0,0,0,0,0
$GC,210,-0.57,-95.8,23.0,-17.2,25,216,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3382,2867,0,0,0,0,0,0
$GC,356,-0.57,-95.8,49.1,-15.8,50,363,0.00,2.15,0.00,0.000,4,0.000,0.028,1526,1956,2867,0,0,0,0,0,0
$GC,415,-0.57,-95.8,56.5,-11.9,60,424,0.00,2.33,0.00,0.000,6,0.000,0.050,1516,3378,2867,0,0,0,0,0,0
$GC,770,-0.57,-95.8,110.0,-14.0,116,772,0.00,0.00,0.00,0.000,6,0.000,0.000,1516,3378,2868,0,0,0,0,0,0
$GC,1091,-0.57,-95.8,155.8,-14.6,146,1094,0.00,0.93,0.00,0.000,4,0.000,0.056,1511,3960,2868,0,0,0,0,0,0
$GC,1197,-0.57,-95.8,173.8,-16.5,155,1204,0.00,0.88,0.00,0.000,6,0.000,0.031,1512,3374,2868,0,0,0,0,0,0
$GC,1522,-0.57,-95.8,226.5,-16.9,186,1526,0.00,2.10,0.00,0.000,4,0.000,0.027,1511,1966,2868,0,0,0,0,0,0
$GC,1550,-0.57,-95.8,231.0,-15.6,188,1555,0.12,2.28,0.00,0.000,6,0.159,0.050,1533,3386,2869,0,0,0,0,0,0
$GC,1875,-0.57,-95.8,276.1,-14.1,218,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3386,2869,0,0,0,0,0,0
$GC,2195,-0.57,-95.8,320.0,-13.1,248,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3386,2868,0,0,0,0,0,0
$GC,2514,-0.57,-95.8,360.9,-12.5,278,2518,0.00,2.12,0.00,0.000,4,0.000,0.027,1533,1966,2867,0,0,0,0,0,0
$GC,2534,-0.57,-95.8,363.9,-12.8,279,2542,0.00,2.30,0.00,0.000,6,0.000,0.050,1524,3381,2868,0,0,0,0,0,0
$GC,2860,-0.57,-95.8,406.5,-13.1,308,2864,0.00,0.93,0.00,0.000,4,0.000,0.058,1520,3948,2867,0,0,0,0,0,0
$GC,2911,-0.57,-95.8,413.9,-14.1,310,2915,0.00,0.85,0.00,0.000,6,0.000,0.033,1520,3378,2867,0,0,0,0,0,0
$GC,3238,-0.57,-95.8,456.1,-12.7,326,3242,0.00,2.12,0.00,0.000,4,0.000,0.027,1519,1956,2866,0,0,0,0,0,0
$GC,3278,-0.57,-95.8,461.0,-11.4,328,3282,0.00,2.30,0.00,0.000,6,0.000,0.050,1509,3383,2866,0,0,0,0,0,0
$GC,3604,-0.57,-95.8,506.6,-14.5,344,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,1509,3383,2865,0,0,0,0,0,0
$GC,3914,-0.57,-95.8,551.4,-14.8,359,3918,0.00,2.12,0.00,0.000,4,0.000,0.028,1509,1962,2864,0,0,0,0,0,0
$GC,3963,-0.57,-95.8,558.1,-11.9,361,3968,0.08,2.30,0.00,0.000,6,0.140,0.050,1531,3374,2864,0,0,0,0,0,0
$GC,4284,-0.57,-95.8,598.6,-12.7,377,4286,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3374,2863,0,0,0,0,0,0
$GC,4594,-0.57,-95.8,637.2,-12.3,392,4595,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3374,2863,0,0,0,0,0,0
$GC,4904,-0.57,-95.8,674.2,-11.9,407,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3374,2861,0,0,0,0,0,0
$GC,5214,-0.57,-95.8,710.0,-11.4,422,5218,0.00,2.12,0.00,0.000,4,0.000,0.029,1531,1961,2861,0,0,0,0,0,0
$GC,5268,-0.57,-95.8,716.0,-9.0,424,5276,0.00,2.33,0.00,0.000,6,0.000,0.053,1522,3376,2861,0,0,0,0,0,0
$GC,5585,-0.57,-95.8,753.4,-12.3,440,5589,0.00,2.12,0.00,0.000,4,0.000,0.029,1522,1961,2860,0,0,0,0,0,0
$GC,5612,-0.57,-95.8,756.7,-11.4,441,5616,0.00,2.33,0.00,0.000,6,0.000,0.052,1511,3379,2860,0,0,0,0,0,0
$GC,5936,-0.57,-95.8,797.3,-13.2,457,5937,0.00,0.00,0.00,0.000,6,0.000,0.000,1511,3379,2859,0,0,0,0,0,0
$GC,6243,-0.57,-95.8,837.7,-13.1,472,6247,0.00,2.12,0.00,0.000,4,0.000,0.029,1511,1963,2859,0,0,0,0,0,0
$GC,6276,-0.57,-95.8,841.9,-12.1,473,6284,0.12,2.30,0.00,0.000,6,0.161,0.053,1533,3383,2859,0,0,0,0,0,0
$GC,6592,-0.57,-95.8,877.1,-11.2,489,6596,0.00,2.15,0.00,0.000,4,0.000,0.030,1533,1958,2858,0,0,0,0,0,0
$GC,6624,-0.57,-95.8,880.8,-10.5,490,6632,0.00,2.35,0.00,0.000,6,0.000,0.054,1523,3385,2858,0,0,0,0,0,0
$GC,6942,-0.57,-95.8,918.1,-12.0,506,6944,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3384,2857,0,0,0,0,0,0
$GC,7251,-0.57,-95.8,953.7,-11.2,521,7255,0.00,2.15,0.00,0.000,4,0.000,0.030,1523,1960,2857,0,0,0,0,0,0
$GC,7300,-0.57,-95.8,959.1,-9.8,523,7304,0.00,2.35,0.00,0.000,6,0.000,0.053,1512,3387,2856,0,0,0,0,0,0
$STATE,7579,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7579,begin apogee
$GC,7584,-0.09,0.0,991.9,11.7,537,7674,0.57,0.00,86.78,1.799,6,0.149,0.000,1680,3294,2474,0,0,0,0,0,0
$STATE,7675,end apogee,CONTROL_FINISHED_OK
$STATE,7675,begin climb
$GC,7677,0.57,95.8,994.4,0.0,541,7786,0.62,2.50,100.38,1.818,4,0.067,0.028,1911,1864,2084,0,0,0,0,0,0
$GC,7802,0.57,95.8,987.9,10.7,546,7809,0.00,2.50,0.00,0.000,6,0.000,0.048,1911,3282,2085,0,0,0,0,0,0
$GC,8118,0.57,95.8,944.1,14.0,562,8122,0.00,1.10,0.00,0.000,4,0.000,0.058,1911,3952,2080,0,0,0,0,0,0
$GC,8167,0.57,95.8,936.1,16.1,564,8172,0.00,1.08,0.00,0.000,6,0.000,0.034,1916,3269,2079,0,0,0,0,0,0
$GC,8495,0.57,95.8,889.0,14.6,580,8496,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3269,2077,0,0,0,0,0,0
$GC,8804,0.57,95.8,844.1,14.6,595,8805,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3269,2075,0,0,0,0,0,0
$GC,9113,0.57,95.8,798.8,14.1,610,9114,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3269,2075,0,0,0,0,0,0
$GC,9424,0.57,95.8,755.4,13.5,625,9425,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3269,2074,0,0,0,0,0,0
$GC,9732,0.57,95.8,714.4,12.9,640,9733,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3269,2073,0,0,0,0,0,0
$GC,10041,0.57,95.8,675.1,12.5,655,10045,0.00,2.15,0.00,0.000,4,0.000,0.031,1927,1868,2072,0,0,0,0,0,0
$GC,10095,0.57,95.8,668.5,11.1,657,10103,0.00,2.28,0.00,0.000,6,0.000,0.049,1927,3288,2071,0,0,0,0,0,0
$GC,10413,0.57,95.8,627.4,12.6,673,10417,0.00,1.08,0.00,0.000,4,0.000,0.058,1927,3954,2071,0,0,0,0,0,0
$GC,10485,0.57,95.8,616.8,14.4,676,10489,0.00,1.00,0.00,0.000,6,0.000,0.034,1932,3292,2071,0,0,0,0,0,0
$GC,10812,0.57,95.8,571.4,13.8,692,10813,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,3291,2070,0,0,0,0,0,0
$GC,11122,0.57,95.8,529.3,13.8,707,11123,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,3292,2070,0,0,0,0,0,0
$GC,11431,0.57,95.8,488.4,13.1,722,11433,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,3291,2070,0,0,0,0,0,0
$GC,11740,0.57,95.8,447.8,12.8,737,11744,0.00,2.17,0.00,0.000,4,0.000,0.030,1943,1865,2070,0,0,0,0,0,0
$GC,11795,0.57,95.8,441.1,12.2,739,11803,0.10,2.33,0.00,0.000,6,0.170,0.049,1914,3289,2069,0,0,0,0,0,0
$GC,12112,0.57,95.8,403.1,12.0,755,12116,0.00,1.05,0.00,0.000,4,0.000,0.057,1914,3941,2069,0,0,0,0,0,0
$GC,12295,0.57,95.8,378.8,14.6,769,12299,0.00,1.00,0.00,0.000,6,0.000,0.035,1917,3282,2069,0,0,0,0,0,0
$GC,12626,0.57,95.8,340.1,11.7,800,12629,0.00,1.08,0.00,0.000,4,0.000,0.058,1918,3948,2069,0,0,0,0,0,0
$GC,12698,0.57,95.8,331.2,12.3,806,12706,0.00,1.02,0.00,0.000,6,0.000,0.034,1923,3281,2069,0,0,0,0,0,0
$GC,13026,0.57,95.8,295.4,10.9,837,13027,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3281,2069,0,0,0,0,0,0
$GC,13344,0.57,95.8,261.3,10.4,867,13348,0.00,2.15,0.00,0.000,4,0.000,0.030,1933,1864,2069,0,0,0,0,0,0
$GC,13387,0.57,95.8,256.7,9.8,870,13395,0.00,2.30,0.00,0.000,6,0.000,0.049,1934,3281,2068,0,0,0,0,0,0
$GC,13715,0.57,95.8,220.1,11.8,901,13719,0.00,1.08,0.00,0.000,4,0.000,0.057,1934,3950,2068,0,0,0,0,0,0
$GC,13743,0.57,95.8,216.3,12.5,903,13750,0.10,1.00,0.00,0.000,6,0.198,0.034,1911,3282,2068,0,0,0,0,0,0
$GC,14067,0.57,95.8,182.7,10.9,934,14071,0.00,2.15,0.00,0.000,4,0.000,0.029,1921,1860,2068,0,0,0,0,0,0
$GC,14096,0.57,95.8,179.8,9.4,936,14101,0.00,2.30,0.00,0.000,6,0.000,0.049,1921,3289,2068,0,0,0,0,0,0
$GC,14421,0.57,95.8,143.4,11.1,966,14425,0.00,1.05,0.00,0.000,4,0.000,0.056,1921,3943,2068,0,0,0,0,0,0
$GC,14479,0.57,95.8,136.1,13.3,971,14482,0.00,0.98,0.00,0.000,6,0.000,0.033,1926,3292,2068,0,0,0,0,0,0
$GC,14807,0.57,95.8,97.5,11.9,1003,14814,0.00,1.05,0.00,0.000,4,0.000,0.057,1926,3946,2068,0,0,0,0,0,0
$GC,14879,0.57,95.8,89.1,12.1,1015,14886,0.00,1.00,0.00,0.000,6,0.000,0.033,1931,3277,2069,0,0,0,0,0,0
$GC,15230,0.58,114.7,53.7,6.5,1076,15245,0.00,0.00,7.12,0.875,6,0.000,0.000,1931,3277,2006,0,0,0,0,0,0
$GC,15594,0.59,126.9,30.2,7.3,1138,15604,0.00,2.20,5.78,0.765,4,0.000,0.028,1942,1860,1953,0,0,0,0,0,0
$GC,15679,0.59,131.7,23.5,8.1,1151,15687,0.12,2.30,2.22,0.352,6,0.178,0.048,1911,3291,1934,0,0,0,0,0,0
$GC,15836,0.59,131.7,8.6,9.7,1176,15845,0.00,2.17,0.00,0.000,4,0.000,0.028,1921,1861,1938,0,0,0,0,0,0
$STATE,15901,end climb,SURFACE_DEPTH_REACHED
$STATE,15901,begin surface coast
$FINISH,0.8,1.026082
$STATE,15940,end surface coast,CONTROL_FINISHED_OK
$STATE,15940,begin surface
$SM_CCo,15956,38.40,0.763,0,0,1574,220.03
$SM_GC,1.39,0.00,0.00,38.40,0.000,0.000,0.763,49,3377,1574,-5.23,-0.08,220.03
$IRIDIUM_FIX,-4244.98,831.12,280114,212113
$TT8_MAMPS,0.026215
$HUMID,62.20
$INTERNAL_PRESSURE,9.58162
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,22.0,48.504
$10V_AH,9.7,38.527
$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,13.100,96.500,202.275,38.400,0.000,60.133,66.522,964.186,0.000,0.000,20.732,2901.257,9971.706,395.327,3724.541,310.049,0.000,1466.663,0.000,2510.167,0.000,1.014,0.000
$DEVICE_MAMPS,235.620,76.500,1817.640,763.470,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,825.212,2059.604,851.370,447.284,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354308
$DATA_FILE_SIZE,87089,1192
$CAP_FILE_SIZE,155786,0
$CFSIZE,259252224,233054208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290114,062604,-4300.164,831.412,29,0.9,29,-25.1