version: 66.07
glider: 543
mission: 9
dive: 349
start: 1 31 114 6 10 4
data:
$ID,543
$MISSION,9
$DIVE,349
$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,-13622.486
$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,55
$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
$GPS1,310114,055728,-4300.375,831.439,37,0.8,37,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-67.2
$GPS2,310114,060941,-4300.385,831.527,17,1.0,17,-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,314.1,2187,-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,12,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,-41.38,0.000,2,0.000,0.000,45,3367,2538,0,0,0,0,0,0
$GC,61,-0.57,-90.5,3.1,-4.2,5,80,6.20,0.98,-8.50,0.000,4,0.230,0.086,1527,3955,2845,0,0,0,0,0,0
$GC,207,-0.57,-90.5,28.7,-18.0,28,216,0.00,0.85,0.00,0.000,6,0.000,0.033,1527,3388,2849,0,0,0,0,0,0
$GC,356,-0.57,-90.5,52.0,-13.3,53,362,0.00,2.15,0.00,0.000,4,0.000,0.027,1527,1959,2850,0,0,0,0,0,0
$GC,406,-0.57,-90.5,57.0,-9.5,61,413,0.00,2.30,0.00,0.000,6,0.000,0.049,1517,3387,2850,0,0,0,0,0,0
$GC,755,-0.57,-90.5,98.8,-12.2,122,761,0.00,0.90,0.00,0.000,4,0.000,0.056,1512,3955,2851,0,0,0,0,0,0
$GC,864,-0.57,-90.5,113.1,-12.6,132,873,0.00,0.85,0.00,0.000,6,0.000,0.032,1512,3380,2852,0,0,0,0,0,0
$GC,1189,-0.57,-90.5,158.1,-14.4,163,1193,0.00,2.12,0.00,0.000,4,0.000,0.027,1512,1954,2852,0,0,0,0,0,0
$GC,1229,-0.57,-90.5,163.5,-12.9,166,1234,0.12,2.30,0.00,0.000,6,0.160,0.049,1534,3391,2852,0,0,0,0,0,0
$GC,1554,-0.57,-90.5,206.2,-13.2,196,1557,0.00,0.88,0.00,0.000,4,0.000,0.057,1531,3948,2853,0,0,0,0,0,0
$GC,1588,-0.57,-90.5,210.9,-13.9,199,1592,0.00,0.85,0.00,0.000,6,0.000,0.032,1531,3374,2853,0,0,0,0,0,0
$GC,1919,-0.57,-90.5,253.0,-12.3,230,1923,0.00,2.10,0.00,0.000,4,0.000,0.026,1531,1963,2853,0,0,0,0,0,0
$GC,1960,-0.57,-90.5,257.5,-11.1,233,1964,0.00,2.28,0.00,0.000,6,0.000,0.050,1521,3391,2853,0,0,0,0,0,0
$GC,2291,-0.57,-90.5,298.7,-13.1,264,2295,0.00,0.88,0.00,0.000,4,0.000,0.057,1516,3946,2853,0,0,0,0,0,0
$GC,2395,-0.57,-90.5,312.3,-13.8,273,2399,0.00,0.82,0.00,0.000,6,0.000,0.033,1516,3384,2853,0,0,0,0,0,0
$GC,2725,-0.57,-90.5,354.7,-12.6,304,2729,0.00,2.12,0.00,0.000,4,0.000,0.026,1516,1952,2853,0,0,0,0,0,0
$GC,2744,-0.57,-90.5,356.8,-12.0,305,2749,0.10,2.30,0.00,0.000,6,0.162,0.050,1531,3382,2853,0,0,0,0,0,0
$GC,3069,-0.57,-90.5,394.7,-11.8,335,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3382,2853,0,0,0,0,0,0
$GC,3391,-0.57,-90.5,434.3,-12.3,353,3394,0.00,2.10,0.00,0.000,4,0.000,0.027,1531,1966,2853,0,0,0,0,0,0
$GC,3431,-0.57,-90.5,438.9,-11.1,355,3435,0.00,2.28,0.00,0.000,6,0.000,0.050,1522,3380,2853,0,0,0,0,0,0
$GC,3757,-0.57,-90.5,481.0,-13.4,371,3761,0.00,0.93,0.00,0.000,4,0.000,0.058,1518,3949,2853,0,0,0,0,0,0
$GC,3784,-0.57,-90.5,485.0,-14.4,372,3788,0.00,0.88,0.00,0.000,6,0.000,0.032,1518,3368,2853,0,0,0,0,0,0
$GC,4112,-0.57,-90.5,527.7,-12.8,388,4116,0.00,2.10,0.00,0.000,4,0.000,0.027,1518,1960,2852,0,0,0,0,0,0
$GC,4151,-0.57,-90.5,532.4,-10.4,390,4155,0.00,2.30,0.00,0.000,6,0.000,0.050,1507,3389,2852,0,0,0,0,0,0
$GC,4478,-0.57,-90.5,575.0,-13.4,406,4482,0.00,2.12,0.00,0.000,4,0.000,0.028,1507,1966,2851,0,0,0,0,0,0
$GC,4510,-0.57,-90.5,579.0,-11.9,407,4518,0.15,2.28,0.00,0.000,6,0.160,0.050,1536,3386,2851,0,0,0,0,0,0
$GC,4826,-0.57,-90.5,610.0,-9.8,423,4830,0.00,2.12,0.00,0.000,4,0.000,0.028,1536,1968,2851,0,0,0,0,0,0
$GC,4847,-0.57,-90.5,612.1,-9.6,424,4851,0.00,2.30,0.00,0.000,6,0.000,0.052,1527,3373,2851,0,0,0,0,0,0
$GC,5176,-0.57,-90.5,644.8,-10.0,440,5177,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3373,2850,0,0,0,0,0,0
$GC,5483,-0.57,-90.5,676.6,-10.2,455,5487,0.00,2.10,0.00,0.000,4,0.000,0.029,1526,1964,2849,0,0,0,0,0,0
$GC,5533,-0.57,-90.5,681.6,-9.2,457,5537,0.00,2.33,0.00,0.000,6,0.000,0.053,1516,3395,2849,0,0,0,0,0,0
$GC,5856,-0.57,-90.5,717.1,-11.4,473,5857,0.00,0.00,0.00,0.000,6,0.000,0.000,1516,3394,2848,0,0,0,0,0,0
$GC,6164,-0.57,-90.5,753.5,-11.9,488,6168,0.00,2.15,0.00,0.000,4,0.000,0.030,1516,1969,2848,0,0,0,0,0,0
$GC,6191,-0.57,-90.5,756.7,-12.2,489,6196,0.08,2.33,0.00,0.000,6,0.134,0.054,1541,3383,2847,0,0,0,0,0,0
$GC,6511,-0.57,-90.5,787.2,-9.7,505,6515,0.00,2.15,0.00,0.000,4,0.000,0.031,1541,1963,2847,0,0,0,0,0,0
$GC,6538,-0.57,-90.5,789.7,-9.8,506,6543,0.00,2.33,0.00,0.000,6,0.000,0.054,1532,3389,2847,0,0,0,0,0,0
$GC,6861,-0.57,-90.5,820.7,-9.6,522,6862,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,3389,2847,0,0,0,0,0,0
$GC,7169,-0.57,-90.5,851.5,-9.9,537,7173,0.00,2.15,0.00,0.000,4,0.000,0.030,1532,1969,2846,0,0,0,0,0,0
$GC,7213,-0.57,-90.5,855.8,-9.1,539,7217,0.00,2.33,0.00,0.000,6,0.000,0.054,1521,3380,2845,0,0,0,0,0,0
$GC,7541,-0.57,-90.5,890.3,-10.9,555,7542,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3381,2845,0,0,0,0,0,0
$GC,7850,-0.57,-90.5,921.8,-9.7,570,7851,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3380,2844,0,0,0,0,0,0
$GC,8159,-0.57,-90.5,951.4,-9.5,585,8163,0.00,2.17,0.00,0.000,4,0.000,0.031,1521,1961,2844,0,0,0,0,0,0
$GC,8226,-0.57,-100.6,957.2,-7.5,588,8230,0.00,2.33,0.00,0.000,6,0.000,0.054,1510,3385,2843,0,0,0,0,0,0
$GC,8547,-0.57,-100.6,988.8,-10.1,604,8551,0.00,2.15,0.00,0.000,4,0.000,0.031,1511,1967,2843,0,0,0,0,0,0
$STATE,8562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8562,begin apogee
$GC,8570,-0.09,0.0,990.4,9.7,605,8666,0.62,0.00,90.40,1.877,6,0.143,0.000,1685,3290,2473,0,0,0,0,0,0
$STATE,8666,end apogee,CONTROL_FINISHED_OK
$STATE,8666,begin climb
$GC,8668,0.57,100.6,992.3,0.0,610,8784,0.62,2.45,106.38,1.812,4,0.065,0.031,1916,1892,2062,0,0,0,0,0,0
$GC,8811,0.57,100.6,981.1,12.7,616,8819,0.00,2.45,0.00,0.000,6,0.000,0.050,1916,3282,2059,0,0,0,0,0,0
$GC,9129,0.57,100.6,932.0,15.6,632,9133,0.00,2.22,0.00,0.000,4,0.000,0.031,1926,1874,2053,0,0,0,0,0,0
$GC,9155,0.57,100.6,927.8,13.0,633,9159,0.00,2.38,0.00,0.000,6,0.000,0.051,1926,3287,2051,0,0,0,0,0,0
$GC,9477,0.57,100.6,879.0,14.6,649,9479,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,3287,2049,0,0,0,0,0,0
$GC,9786,0.57,100.6,834.5,14.0,664,9790,0.00,1.08,0.00,0.000,4,0.000,0.059,1926,3951,2047,0,0,0,0,0,0
$GC,9858,0.57,100.6,823.2,15.9,667,9863,0.00,1.00,0.00,0.000,6,0.000,0.035,1931,3292,2047,0,0,0,0,0,0
$GC,10186,0.57,100.6,776.4,14.3,683,10187,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,3292,2047,0,0,0,0,0,0
$GC,10495,0.57,100.6,733.0,14.2,698,10496,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,3292,2045,0,0,0,0,0,0
$GC,10805,0.57,100.6,689.0,14.1,713,10808,0.00,1.08,0.00,0.000,4,0.000,0.058,1931,3955,2045,0,0,0,0,0,0
$GC,10899,0.57,100.6,674.4,15.5,717,10904,0.10,1.05,0.00,0.000,6,0.229,0.034,1910,3276,2045,0,0,0,0,0,0
$GC,11226,0.57,100.6,632.0,12.7,733,11230,0.00,2.15,0.00,0.000,4,0.000,0.032,1920,1870,2044,0,0,0,0,0,0
$GC,11244,0.57,100.6,629.7,13.1,734,11248,0.00,2.28,0.00,0.000,6,0.000,0.050,1920,3289,2044,0,0,0,0,0,0
$GC,11576,0.57,100.6,586.1,13.1,750,11579,0.00,1.05,0.00,0.000,4,0.000,0.059,1920,3938,2043,0,0,0,0,0,0
$GC,11614,0.57,100.6,580.3,14.6,751,11621,0.00,1.00,0.00,0.000,6,0.000,0.037,1925,3284,2043,0,0,0,0,0,0
$GC,11932,0.57,100.6,538.0,13.2,767,11933,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,3284,2043,0,0,0,0,0,0
$GC,12239,0.57,100.6,496.8,13.1,782,12240,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,3284,2043,0,0,0,0,0,0
$GC,12551,0.57,100.6,456.4,13.1,797,12552,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,3284,2042,0,0,0,0,0,0
$GC,12858,0.57,100.6,415.7,13.1,812,12859,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,3284,2042,0,0,0,0,0,0
$GC,13173,0.57,100.6,374.4,12.9,836,13177,0.00,2.17,0.00,0.000,4,0.000,0.031,1936,1863,2042,0,0,0,0,0,0
$GC,13183,0.57,100.6,372.8,13.2,836,13193,0.08,2.33,0.00,0.000,6,0.164,0.050,1913,3288,2041,0,0,0,0,0,0
$GC,13508,0.57,100.6,332.0,12.6,867,13512,0.00,1.08,0.00,0.000,4,0.000,0.057,1914,3954,2041,0,0,0,0,0,0
$GC,13637,0.57,100.6,314.6,13.5,878,13644,0.00,1.02,0.00,0.000,6,0.000,0.035,1917,3283,2041,0,0,0,0,0,0
$GC,13965,0.57,100.6,274.5,13.0,909,13966,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3283,2041,0,0,0,0,0,0
$GC,14283,0.57,100.6,234.7,11.7,939,14284,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3284,2041,0,0,0,0,0,0
$GC,14604,0.57,100.6,199.1,11.2,969,14607,0.00,1.08,0.00,0.000,4,0.000,0.059,1918,3951,2041,0,0,0,0,0,0
$GC,14660,0.57,100.6,191.7,12.7,974,14664,0.00,1.00,0.00,0.000,6,0.000,0.033,1922,3284,2041,0,0,0,0,0,0
$GC,14993,0.57,100.6,155.7,10.2,1005,14997,0.00,1.08,0.00,0.000,4,0.000,0.057,1922,3951,2041,0,0,0,0,0,0
$GC,15016,0.57,100.6,152.8,10.7,1007,15020,0.00,1.00,0.00,0.000,6,0.000,0.033,1927,3285,2041,0,0,0,0,0,0
$GC,15347,0.57,100.6,115.0,11.1,1038,15351,0.00,2.15,0.00,0.000,4,0.000,0.029,1939,1865,2041,0,0,0,0,0,0
$GC,15364,0.57,100.6,113.0,11.3,1039,15369,0.12,2.28,0.00,0.000,6,0.177,0.048,1908,3289,2041,0,0,0,0,0,0
$GC,15703,0.57,100.6,75.5,11.8,1088,15710,0.00,1.05,0.00,0.000,4,0.000,0.055,1908,3944,2041,0,0,0,0,0,0
$GC,15965,0.57,100.6,48.2,8.8,1134,15974,0.00,0.98,0.00,0.000,6,0.000,0.033,1911,3290,2040,0,0,0,0,0,0
$GC,16328,0.58,121.4,27.2,6.3,1195,16343,0.00,1.05,6.72,0.786,4,0.000,0.054,1912,3941,1977,0,0,0,0,0,0
$STATE,16568,end climb,SURFACE_DEPTH_REACHED
$STATE,16568,begin surface coast
$FINISH,0.5,1.023806
$STATE,16600,end surface coast,CONTROL_FINISHED_OK
$STATE,16601,begin surface
$SM_CCo,16615,41.72,0.771,0,0,1574,220.03
$SM_GC,1.35,0.00,0.00,41.72,0.000,0.000,0.771,60,3364,1574,-5.19,-0.48,220.03
$IRIDIUM_FIX,-4247.91,837.38,310114,050535
$TT8_MAMPS,0.026215
$HUMID,62.28
$INTERNAL_PRESSURE,9.57185
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,21.9,49.998
$10V_AH,9.7,39.901
$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,13.125,110.075,203.500,41.725,0.000,54.088,122.378,343.641,0.000,0.000,19.921,3049.608,10410.337,361.492,3280.285,281.883,0.000,1469.758,0.000,2615.308,0.000,1.011,0.000
$DEVICE_MAMPS,230.265,85.680,1876.545,771.120,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,858.878,2111.143,867.666,440.889,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354424
$DATA_FILE_SIZE,90432,1239
$CAP_FILE_SIZE,152113,0
$CFSIZE,259252224,232124416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310114,104858,-4300.574,831.319,40,0.8,40,-25.1