version: 66.07
glider: 543
mission: 9
dive: 341
start: 1 29 114 15 47 0
data:
$ID,543
$MISSION,9
$DIVE,341
$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,-13595.531
$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,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
$GPS1,290114,153704,-4259.943,830.692,36,0.8,36,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-63.4
$GPS2,290114,154636,-4259.932,830.862,16,1.3,16,-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,288.8,1174,-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,-41.08,0.000,2,0.000,0.000,57,3393,2536,0,0,0,0,0,0
$GC,60,-0.57,-95.4,3.2,-3.6,5,79,6.12,0.00,-8.75,0.000,6,0.230,0.000,1529,3393,2865,0,0,0,0,0,0
$GC,130,-0.57,-95.4,16.2,-18.5,15,139,0.00,0.88,0.00,0.000,4,0.000,0.057,1526,3936,2869,0,0,0,0,0,0
$GC,148,-0.57,-95.4,19.5,-18.2,17,157,0.00,0.85,0.00,0.000,6,0.000,0.034,1525,3379,2870,0,0,0,0,0,0
$GC,205,-0.57,-95.4,30.0,-18.1,26,214,0.00,2.17,0.00,0.000,4,0.000,0.028,1525,1960,2870,0,0,0,0,0,0
$GC,228,-0.57,-95.4,33.6,-17.1,29,235,0.00,2.30,0.00,0.000,6,0.000,0.048,1515,3380,2871,0,0,0,0,0,0
$GC,374,-0.57,-95.4,57.8,-18.0,54,383,0.00,0.93,0.00,0.000,4,0.000,0.057,1511,3942,2871,0,0,0,0,0,0
$GC,475,-0.57,-95.4,78.3,-19.7,71,481,0.00,0.85,0.00,0.000,6,0.000,0.032,1511,3374,2871,0,0,0,0,0,0
$GC,809,-0.57,-95.4,136.1,-15.0,112,813,0.00,2.10,0.00,0.000,4,0.000,0.027,1511,1966,2873,0,0,0,0,0,0
$GC,841,-0.57,-95.4,141.0,-13.5,114,849,0.08,2.30,0.00,0.000,6,0.136,0.049,1535,3384,2873,0,0,0,0,0,0
$GC,1169,-0.57,-95.4,182.5,-12.6,145,1173,0.00,0.90,0.00,0.000,4,0.000,0.057,1532,3950,2873,0,0,0,0,0,0
$GC,1230,-0.57,-95.4,191.5,-13.9,150,1237,0.00,0.85,0.00,0.000,6,0.000,0.032,1532,3381,2873,0,0,0,0,0,0
$GC,1558,-0.57,-95.4,233.0,-12.7,181,1561,0.00,2.12,0.00,0.000,4,0.000,0.027,1532,1981,2874,0,0,0,0,0,0
$GC,1581,-0.57,-95.4,236.0,-12.5,183,1585,0.00,2.28,0.00,0.000,6,0.000,0.050,1522,3390,2874,0,0,0,0,0,0
$GC,1911,-0.57,-95.4,280.5,-13.9,214,1914,0.00,0.88,0.00,0.000,4,0.000,0.056,1517,3947,2874,0,0,0,0,0,0
$GC,2037,-0.57,-95.4,299.1,-15.5,225,2041,0.00,0.82,0.00,0.000,6,0.000,0.033,1517,3383,2874,0,0,0,0,0,0
$GC,2368,-0.57,-95.4,348.3,-15.3,256,2372,0.00,2.10,0.00,0.000,4,0.000,0.026,1517,1961,2874,0,0,0,0,0,0
$GC,2402,-0.57,-95.4,353.2,-13.9,259,2407,0.00,2.30,0.00,0.000,6,0.000,0.050,1506,3391,2874,0,0,0,0,0,0
$GC,2726,-0.57,-95.4,403.8,-15.5,288,2730,0.00,0.88,0.00,0.000,4,0.000,0.057,1502,3947,2874,0,0,0,0,0,0
$GC,2827,-0.57,-95.4,420.9,-16.6,292,2831,0.08,0.82,0.00,0.000,6,0.160,0.033,1526,3387,2874,0,0,0,0,0,0
$GC,3148,-0.57,-95.4,465.0,-13.4,308,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3388,2874,0,0,0,0,0,0
$GC,3457,-0.57,-95.4,507.7,-13.8,323,3461,0.00,2.10,0.00,0.000,4,0.000,0.028,1525,1964,2874,0,0,0,0,0,0
$GC,3495,-0.57,-95.4,512.7,-11.8,324,3502,0.00,2.30,0.00,0.000,6,0.000,0.050,1516,3377,2873,0,0,0,0,0,0
$GC,3811,-0.57,-95.4,555.7,-13.7,340,3814,0.00,0.90,0.00,0.000,4,0.000,0.058,1512,3942,2873,0,0,0,0,0,0
$GC,3893,-0.57,-95.4,568.1,-14.6,343,3901,0.00,0.85,0.00,0.000,6,0.000,0.033,1511,3377,2873,0,0,0,0,0,0
$GC,4210,-0.57,-95.4,610.0,-12.9,359,4214,0.00,0.93,0.00,0.000,4,0.000,0.058,1507,3955,2873,0,0,0,0,0,0
$GC,4324,-0.57,-95.4,625.8,-14.0,364,4328,0.00,0.85,0.00,0.000,6,0.000,0.034,1507,3383,2872,0,0,0,0,0,0
$GC,4657,-0.57,-95.4,669.5,-13.0,380,4658,0.00,0.00,0.00,0.000,6,0.000,0.000,1507,3383,2871,0,0,0,0,0,0
$GC,4968,-0.57,-95.4,708.3,-12.4,395,4969,0.00,0.00,0.00,0.000,6,0.000,0.000,1507,3383,2871,0,0,0,0,0,0
$GC,5275,-0.57,-95.4,745.5,-12.0,410,5279,0.00,0.90,0.00,0.000,4,0.000,0.059,1504,3944,2870,0,0,0,0,0,0
$GC,5346,-0.57,-95.4,755.0,-13.1,413,5351,0.10,0.88,0.00,0.000,6,0.182,0.034,1532,3372,2870,0,0,0,0,0,0
$GC,5674,-0.57,-95.4,787.2,-9.7,429,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,3372,2870,0,0,0,0,0,0
$GC,5984,-0.57,-95.4,817.7,-10.0,444,5988,0.00,2.12,0.00,0.000,4,0.000,0.029,1532,1962,2869,0,0,0,0,0,0
$GC,6016,-0.57,-95.4,820.9,-9.4,445,6024,0.00,2.33,0.00,0.000,6,0.000,0.053,1523,3376,2869,0,0,0,0,0,0
$GC,6335,-0.57,-95.4,854.0,-10.8,461,6339,0.00,0.93,0.00,0.000,4,0.000,0.059,1518,3953,2868,0,0,0,0,0,0
$GC,6404,-0.57,-95.4,862.1,-12.2,464,6407,0.00,0.85,0.00,0.000,6,0.000,0.036,1518,3385,2868,0,0,0,0,0,0
$GC,6736,-0.57,-95.4,898.7,-10.9,480,6737,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3384,2868,0,0,0,0,0,0
$GC,7045,-0.57,-95.4,932.1,-11.0,495,7046,0.00,0.00,0.00,0.000,6,0.000,0.000,1518,3383,2867,0,0,0,0,0,0
$GC,7355,-0.57,-95.4,967.2,-11.7,510,7356,0.00,0.00,0.00,0.000,6,0.000,0.000,1518,3383,2867,0,0,0,0,0,0
$STATE,7561,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7561,begin apogee
$GC,7566,-0.09,0.0,991.5,11.9,520,7664,0.55,0.00,94.93,1.869,6,0.145,0.000,1680,3283,2473,0,0,0,0,0,0
$STATE,7665,end apogee,CONTROL_FINISHED_OK
$STATE,7665,begin climb
$GC,7668,0.57,95.4,995.1,0.0,525,7776,0.68,2.42,100.65,1.809,4,0.068,0.028,1918,1863,2084,0,0,0,0,0,0
$GC,7798,0.57,95.4,989.0,11.0,531,7806,0.00,2.55,0.00,0.000,6,0.000,0.048,1918,3284,2081,0,0,0,0,0,0
$GC,8117,0.57,95.4,944.1,14.8,547,8118,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3284,2074,0,0,0,0,0,0
$GC,8424,0.57,95.4,898.7,14.8,562,8425,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3284,2071,0,0,0,0,0,0
$GC,8733,0.57,95.4,854.5,14.3,577,8737,0.00,1.10,0.00,0.000,4,0.000,0.057,1918,3958,2070,0,0,0,0,0,0
$GC,8766,0.57,95.4,849.4,15.3,578,8770,0.00,1.05,0.00,0.000,6,0.000,0.034,1923,3271,2070,0,0,0,0,0,0
$GC,9087,0.57,95.4,803.5,14.3,594,9089,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3271,2069,0,0,0,0,0,0
$GC,9397,0.57,95.4,760.8,14.5,609,9398,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3272,2068,0,0,0,0,0,0
$GC,9708,0.57,95.4,718.8,13.4,624,9712,0.00,1.10,0.00,0.000,4,0.000,0.058,1923,3952,2068,0,0,0,0,0,0
$GC,9769,0.57,95.4,709.3,16.1,626,9776,0.00,1.02,0.00,0.000,6,0.000,0.034,1928,3283,2067,0,0,0,0,0,0
$GC,10085,0.57,95.4,666.2,13.8,642,10089,0.00,1.10,0.00,0.000,4,0.000,0.057,1928,3960,2067,0,0,0,0,0,0
$GC,10185,0.57,95.4,650.6,16.6,646,10190,0.00,1.02,0.00,0.000,6,0.000,0.034,1933,3283,2067,0,0,0,0,0,0
$GC,10507,0.57,95.4,606.1,14.3,662,10508,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,3283,2066,0,0,0,0,0,0
$GC,10817,0.57,95.4,563.9,13.3,677,10818,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,3283,2066,0,0,0,0,0,0
$GC,11125,0.57,95.4,521.5,13.6,692,11127,0.12,0.00,0.00,0.000,6,0.207,0.000,1905,3283,2065,0,0,0,0,0,0
$GC,11435,0.57,95.4,484.9,11.6,707,11436,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3283,2064,0,0,0,0,0,0
$GC,11745,0.57,95.4,449.4,11.5,722,11749,0.00,2.17,0.00,0.000,4,0.000,0.031,1914,1856,2064,0,0,0,0,0,0
$GC,11807,0.57,95.4,442.9,9.5,725,11812,0.00,2.33,0.00,0.000,6,0.000,0.050,1914,3293,2063,0,0,0,0,0,0
$GC,12135,0.57,95.4,403.8,12.2,741,12138,0.00,1.05,0.00,0.000,4,0.000,0.057,1914,3945,2063,0,0,0,0,0,0
$GC,12341,0.57,95.4,376.5,13.5,757,12345,0.00,1.00,0.00,0.000,6,0.000,0.034,1919,3283,2063,0,0,0,0,0,0
$GC,12671,0.57,95.4,335.1,11.8,788,12672,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3282,2063,0,0,0,0,0,0
$GC,12991,0.57,95.4,295.6,12.7,818,12995,0.00,2.15,0.00,0.000,4,0.000,0.030,1930,1867,2063,0,0,0,0,0,0
$GC,13034,0.57,95.4,290.7,11.3,821,13038,0.00,2.30,0.00,0.000,6,0.000,0.049,1931,3293,2062,0,0,0,0,0,0
$GC,13359,0.57,95.4,246.3,13.4,851,13363,0.00,1.05,0.00,0.000,4,0.000,0.057,1931,3947,2062,0,0,0,0,0,0
$GC,13495,0.57,95.4,226.5,14.4,863,13500,0.10,1.00,0.00,0.000,6,0.193,0.034,1908,3278,2062,0,0,0,0,0,0
$GC,13826,0.57,95.4,189.5,10.4,894,13829,0.00,1.08,0.00,0.000,4,0.000,0.057,1906,3941,2062,0,0,0,0,0,0
$GC,14053,0.57,95.4,164.1,10.8,914,14057,0.00,0.98,0.00,0.000,6,0.000,0.034,1909,3292,2062,0,0,0,0,0,0
$GC,14386,0.57,95.4,130.5,10.7,945,14390,0.00,2.15,0.00,0.000,4,0.000,0.029,1920,1864,2062,0,0,0,0,0,0
$GC,14448,0.57,95.4,124.1,9.6,950,14452,0.00,2.30,0.00,0.000,6,0.000,0.049,1920,3290,2062,0,0,0,0,0,0
$GC,14783,0.57,95.4,88.0,9.0,990,14791,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3290,2062,0,0,0,0,0,0
$GC,15136,0.58,105.9,59.4,7.5,1051,15144,0.00,1.10,2.40,0.495,4,0.000,0.056,1920,3956,2040,0,0,0,0,0,0
$GC,15407,0.58,105.9,30.9,9.3,1097,15414,0.00,1.00,0.00,0.000,6,0.000,0.033,1925,3285,2040,0,0,0,0,0,0
$GC,15558,0.59,131.0,20.3,5.8,1122,15575,0.00,2.15,11.18,0.824,4,0.000,0.027,1937,1851,1937,0,0,0,0,0,0
$GC,15710,0.59,131.0,7.6,9.4,1145,15719,0.08,2.33,0.00,0.000,6,0.149,0.049,1913,3281,1935,0,0,0,0,0,0
$STATE,15751,end climb,SURFACE_DEPTH_REACHED
$STATE,15751,begin surface coast
$FINISH,0.7,1.014430
$STATE,15783,end surface coast,CONTROL_FINISHED_OK
$STATE,15783,begin surface
$SM_CCo,15796,37.83,0.771,0,0,1574,220.03
$SM_GC,1.42,0.00,0.00,37.83,0.000,0.000,0.771,57,3397,1574,-5.20,0.48,220.03
$IRIDIUM_FIX,-4244.98,831.12,290114,101005
$TT8_MAMPS,0.026215
$HUMID,61.97
$INTERNAL_PRESSURE,9.57185
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,21.9,48.913
$10V_AH,9.7,38.886
$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,12.750,80.050,209.150,37.825,0.000,33.280,40.813,347.431,0.000,0.000,20.332,2855.228,9829.291,360.827,3056.124,300.162,0.000,1433.605,0.000,2515.803,0.000,1.010,0.000
$DEVICE_MAMPS,229.500,84.150,1868.895,771.120,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,800.930,1991.943,798.519,404.271,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354376
$DATA_FILE_SIZE,83643,1156
$CAP_FILE_SIZE,143902,0
$CFSIZE,259252224,232820736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290114,201204,-4300.401,830.160,32,0.8,32,-25.0