version: 66.07
glider: 543
mission: 9
dive: 351
start: 1 31 114 16 23 17
data:
$ID,543
$MISSION,9
$DIVE,351
$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,-13628.052
$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,24
$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
$GPS1,310114,161022,-4300.802,831.755,68,0.9,68,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-59.3
$GPS2,310114,162254,-4300.969,832.064,18,0.7,19,-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,327.8,3322,-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,-51.0,0.0,0.0,0,65,0.00,0.00,-48.25,0.000,6,0.000,0.000,60,3394,2683,0,0,0,0,0,0
$GC,68,-0.56,-88.0,3.4,-4.5,6,86,6.15,0.90,-3.67,0.000,4,0.233,0.075,1525,3961,2830,0,0,0,0,0,0
$GC,203,-0.56,-88.0,33.4,-18.8,27,210,0.00,0.88,0.00,0.000,6,0.000,0.037,1525,3389,2833,0,0,0,0,0,0
$GC,351,-0.56,-88.0,56.9,-16.5,52,357,0.00,0.90,0.00,0.000,4,0.000,0.056,1521,3949,2833,0,0,0,0,0,0
$GC,399,-0.56,-88.0,65.3,-16.6,60,409,0.00,0.88,0.00,0.000,6,0.000,0.033,1521,3367,2834,0,0,0,0,0,0
$GC,750,-0.56,-88.0,114.2,-11.6,111,754,0.00,2.10,0.00,0.000,4,0.000,0.028,1521,1966,2835,0,0,0,0,0,0
$GC,816,-0.56,-88.0,120.9,-9.8,116,825,0.00,2.30,0.00,0.000,6,0.000,0.049,1510,3383,2835,0,0,0,0,0,0
$GC,1141,-0.56,-88.0,161.6,-13.1,147,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,1511,3383,2836,0,0,0,0,0,0
$GC,1464,-0.56,-88.0,202.8,-13.4,177,1467,0.00,0.90,0.00,0.000,4,0.000,0.056,1506,3952,2836,0,0,0,0,0,0
$GC,1556,-0.56,-88.0,216.1,-14.3,185,1560,0.08,0.85,0.00,0.000,6,0.161,0.032,1529,3381,2836,0,0,0,0,0,0
$GC,1886,-0.56,-88.0,256.6,-12.0,216,1887,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3380,2837,0,0,0,0,0,0
$GC,2205,-0.56,-88.0,295.4,-11.7,246,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3380,2837,0,0,0,0,0,0
$GC,2524,-0.56,-88.0,331.7,-11.5,276,2526,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3380,2837,0,0,0,0,0,0
$GC,2843,-0.56,-88.0,368.7,-11.7,306,2846,0.00,0.93,0.00,0.000,4,0.000,0.060,1526,3942,2837,0,0,0,0,0,0
$GC,2903,-0.56,-88.0,376.7,-12.6,311,2911,0.00,0.85,0.00,0.000,6,0.000,0.033,1526,3371,2837,0,0,0,0,0,0
$GC,3226,-0.56,-88.0,415.6,-12.2,336,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3371,2837,0,0,0,0,0,0
$GC,3535,-0.56,-88.0,453.7,-12.4,351,3538,0.00,0.93,0.00,0.000,4,0.000,0.059,1522,3949,2836,0,0,0,0,0,0
$GC,3595,-0.56,-88.0,462.0,-13.1,353,3603,0.00,0.88,0.00,0.000,6,0.000,0.033,1522,3371,2836,0,0,0,0,0,0
$GC,3912,-0.56,-88.0,501.7,-12.8,369,3915,0.00,0.93,0.00,0.000,4,0.000,0.059,1518,3949,2836,0,0,0,0,0,0
$GC,3980,-0.56,-88.0,510.8,-13.7,372,3984,0.00,0.85,0.00,0.000,6,0.000,0.034,1518,3381,2836,0,0,0,0,0,0
$GC,4314,-0.56,-88.0,554.5,-13.2,388,4315,0.00,0.00,0.00,0.000,6,0.000,0.000,1518,3380,2835,0,0,0,0,0,0
$GC,4622,-0.56,-88.0,593.7,-12.7,403,4625,0.00,0.90,0.00,0.000,4,0.000,0.060,1513,3941,2834,0,0,0,0,0,0
$GC,4677,-0.56,-88.0,601.2,-13.3,405,4681,0.00,0.85,0.00,0.000,6,0.000,0.034,1514,3375,2834,0,0,0,0,0,0
$GC,5000,-0.56,-88.0,642.5,-12.9,421,5004,0.00,2.12,0.00,0.000,4,0.000,0.028,1514,1956,2833,0,0,0,0,0,0
$GC,5026,-0.56,-88.0,645.9,-12.8,422,5031,0.08,2.33,0.00,0.000,6,0.139,0.052,1528,3376,2833,0,0,0,0,0,0
$GC,5348,-0.56,-88.0,680.8,-10.7,438,5352,0.00,0.93,0.00,0.000,4,0.000,0.060,1525,3955,2832,0,0,0,0,0,0
$GC,5461,-0.56,-88.0,694.0,-11.7,443,5464,0.00,0.88,0.00,0.000,6,0.000,0.034,1525,3371,2832,0,0,0,0,0,0
$GC,5794,-0.56,-88.0,731.4,-11.0,459,5797,0.00,0.93,0.00,0.000,4,0.000,0.060,1521,3947,2832,0,0,0,0,0,0
$GC,5826,-0.56,-88.0,735.5,-11.7,460,5830,0.00,0.88,0.00,0.000,6,0.000,0.034,1521,3377,2831,0,0,0,0,0,0
$GC,6148,-0.56,-88.0,771.0,-11.1,476,6149,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3376,2831,0,0,0,0,0,0
$GC,6458,-0.56,-88.0,805.4,-11.2,491,6461,0.00,0.93,0.00,0.000,4,0.000,0.060,1516,3948,2830,0,0,0,0,0,0
$GC,6513,-0.56,-88.0,812.2,-12.0,493,6517,0.00,0.88,0.00,0.000,6,0.000,0.034,1517,3380,2830,0,0,0,0,0,0
$GC,6835,-0.56,-88.0,848.6,-11.6,509,6836,0.00,0.00,0.00,0.000,6,0.000,0.000,1516,3380,2829,0,0,0,0,0,0
$GC,7144,-0.56,-88.0,885.2,-12.1,524,7146,0.00,0.00,0.00,0.000,6,0.000,0.000,1516,3380,2829,0,0,0,0,0,0
$GC,7453,-0.56,-88.0,922.6,-12.2,539,7457,0.00,0.93,0.00,0.000,4,0.000,0.060,1512,3950,2828,0,0,0,0,0,0
$GC,7508,-0.56,-88.0,930.3,-13.8,541,7513,0.00,0.88,0.00,0.000,6,0.000,0.034,1512,3383,2828,0,0,0,0,0,0
$GC,7830,-0.56,-88.0,971.2,-12.9,557,7834,0.00,0.93,0.00,0.000,4,0.000,0.061,1508,3955,2827,0,0,0,0,0,0
$GC,7885,-0.56,-88.0,978.8,-13.4,559,7889,0.00,0.90,0.00,0.000,6,0.000,0.035,1508,3369,2827,0,0,0,0,0,0
$STATE,7978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7978,begin apogee
$GC,7984,-0.09,0.0,990.8,12.9,564,8074,0.60,0.00,86.85,1.862,6,0.155,0.000,1680,3286,2474,0,0,0,0,0,0
$STATE,8075,end apogee,CONTROL_FINISHED_OK
$STATE,8075,begin climb
$GC,8077,0.56,88.0,994.7,0.0,568,8178,0.62,2.42,93.12,1.808,4,0.070,0.029,1908,1867,2114,0,0,0,0,0,0
$GC,8208,0.56,88.0,989.3,9.6,575,8212,0.00,2.50,0.00,0.000,6,0.000,0.050,1908,3287,2112,0,0,0,0,0,0
$GC,8534,0.56,88.0,949.1,12.8,591,8535,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3287,2104,0,0,0,0,0,0
$GC,8843,0.56,88.0,910.2,12.8,606,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3287,2102,0,0,0,0,0,0
$GC,9153,0.56,88.0,869.1,13.5,621,9154,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3287,2100,0,0,0,0,0,0
$GC,9463,0.56,88.0,826.8,13.9,636,9467,0.00,2.15,0.00,0.000,4,0.000,0.030,1919,1867,2099,0,0,0,0,0,0
$GC,9541,0.56,88.0,816.5,11.9,639,9548,0.00,2.33,0.00,0.000,6,0.000,0.050,1919,3285,2098,0,0,0,0,0,0
$GC,9856,0.56,88.0,770.3,15.0,655,9860,0.00,2.15,0.00,0.000,4,0.000,0.031,1930,1864,2097,0,0,0,0,0,0
$GC,9922,0.56,88.0,761.2,13.5,658,9927,0.00,2.33,0.00,0.000,6,0.000,0.050,1930,3288,2097,0,0,0,0,0,0
$GC,10250,0.56,88.0,711.4,15.3,674,10251,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3288,2096,0,0,0,0,0,0
$GC,10559,0.56,88.0,666.7,14.0,689,10562,0.00,1.08,0.00,0.000,4,0.000,0.057,1930,3954,2096,0,0,0,0,0,0
$GC,10604,0.56,88.0,660.0,15.4,691,10609,0.10,1.02,0.00,0.000,6,0.197,0.034,1908,3275,2096,0,0,0,0,0,0
$GC,10937,0.56,88.0,618.6,11.6,707,10941,0.00,2.12,0.00,0.000,4,0.000,0.031,1917,1862,2095,0,0,0,0,0,0
$GC,10981,0.56,88.0,613.6,10.9,709,10985,0.00,2.30,0.00,0.000,6,0.000,0.049,1917,3278,2094,0,0,0,0,0,0
$GC,11309,0.56,88.0,574.2,12.5,725,11313,0.00,2.12,0.00,0.000,4,0.000,0.030,1928,1868,2094,0,0,0,0,0,0
$GC,11342,0.56,88.0,570.2,11.3,726,11349,0.00,2.28,0.00,0.000,6,0.000,0.049,1928,3286,2094,0,0,0,0,0,0
$GC,11658,0.56,88.0,530.7,12.7,742,11659,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,3286,2094,0,0,0,0,0,0
$GC,11967,0.56,88.0,491.2,13.0,757,11969,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,3286,2093,0,0,0,0,0,0
$GC,12276,0.56,88.0,451.0,13.1,772,12280,0.00,1.08,0.00,0.000,4,0.000,0.057,1928,3956,2093,0,0,0,0,0,0
$GC,12302,0.56,88.0,447.1,13.4,773,12307,0.08,1.02,0.00,0.000,6,0.199,0.034,1912,3284,2093,0,0,0,0,0,0
$GC,12630,0.56,88.0,406.5,12.5,789,12634,0.00,2.15,0.00,0.000,4,0.000,0.030,1922,1859,2094,0,0,0,0,0,0
$GC,12656,0.56,88.0,403.1,11.0,790,12660,0.00,2.33,0.00,0.000,6,0.000,0.048,1922,3285,2093,0,0,0,0,0,0
$GC,12987,0.56,88.0,360.2,12.9,820,12990,0.00,1.05,0.00,0.000,4,0.000,0.057,1922,3945,2093,0,0,0,0,0,0
$GC,13104,0.56,88.0,343.2,13.7,830,13111,0.00,1.02,0.00,0.000,6,0.000,0.034,1927,3279,2093,0,0,0,0,0,0
$GC,13432,0.56,88.0,301.5,12.1,861,13436,0.00,2.12,0.00,0.000,4,0.000,0.030,1939,1866,2093,0,0,0,0,0,0
$GC,13497,0.56,88.0,293.4,10.6,866,13506,0.10,2.30,0.00,0.000,6,0.156,0.049,1908,3283,2093,0,0,0,0,0,0
$GC,13826,0.56,88.0,258.1,10.3,897,13829,0.00,1.08,0.00,0.000,4,0.000,0.057,1908,3950,2093,0,0,0,0,0,0
$GC,13905,0.56,88.0,249.1,10.9,904,13908,0.00,1.00,0.00,0.000,6,0.000,0.034,1912,3285,2092,0,0,0,0,0,0
$GC,14235,0.56,88.0,217.8,9.2,935,14239,0.00,2.15,0.00,0.000,4,0.000,0.029,1923,1859,2092,0,0,0,0,0,0
$GC,14312,0.57,90.0,211.7,8.5,941,14316,0.00,2.30,0.00,0.000,6,0.000,0.049,1923,3287,2092,0,0,0,0,0,0
$GC,14636,0.57,90.0,181.1,9.1,971,14640,0.00,1.05,0.00,0.000,4,0.000,0.057,1923,3943,2092,0,0,0,0,0,0
$GC,14729,0.57,90.0,171.1,10.6,979,14737,0.00,1.02,0.00,0.000,6,0.000,0.032,1928,3271,2092,0,0,0,0,0,0
$GC,15055,0.57,90.0,138.3,11.2,1010,15059,0.00,1.10,0.00,0.000,4,0.000,0.057,1928,3954,2092,0,0,0,0,0,0
$GC,15091,0.57,90.0,134.0,12.2,1013,15095,0.00,1.00,0.00,0.000,6,0.000,0.033,1933,3287,2092,0,0,0,0,0,0
$GC,15422,0.57,90.0,90.4,11.2,1050,15431,0.12,0.00,0.00,0.000,6,0.202,0.000,1904,3287,2092,0,0,0,0,0,0
$GC,15777,0.57,90.0,60.3,10.3,1111,15783,0.00,1.08,0.00,0.000,4,0.000,0.057,1904,3955,2092,0,0,0,0,0,0
$GC,15817,0.57,90.0,56.4,10.5,1117,15823,0.00,1.00,0.00,0.000,6,0.000,0.032,1907,3286,2092,0,0,0,0,0,0
$GC,16167,0.59,133.5,40.3,3.7,1178,16195,0.00,2.22,17.95,0.913,4,0.000,0.028,1919,1852,1926,0,0,0,0,0,0
$GC,16463,0.59,133.5,17.8,11.7,1227,16472,0.00,2.33,0.00,0.000,6,0.000,0.049,1918,3280,1920,0,0,0,0,0,0
$GC,16523,0.59,133.5,9.2,15.3,1236,16532,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3280,1920,0,0,0,0,0,0
$STATE,16564,end climb,SURFACE_DEPTH_REACHED
$STATE,16564,begin surface coast
$FINISH,0.5,1.013212
$STATE,16584,end surface coast,CONTROL_FINISHED_OK
$STATE,16584,begin surface
$SM_CCo,16598,35.70,0.762,0,0,1572,220.03
$SM_GC,1.54,0.00,0.00,35.70,0.000,0.000,0.762,51,3419,1572,-5.21,1.10,220.03
$IRIDIUM_FIX,-4244.98,831.12,310114,111143
$TT8_MAMPS,0.026215
$HUMID,62.20
$INTERNAL_PRESSURE,9.58162
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,21.9,50.278
$10V_AH,9.7,40.170
$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,12.900,85.725,197.925,35.700,0.000,105.355,40.954,378.591,0.000,0.000,21.649,3058.338,10325.146,363.469,3331.391,297.639,0.000,1502.022,0.000,2657.816,0.000,1.010,0.000
$DEVICE_MAMPS,232.560,78.795,1862.010,761.940,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,862.394,2095.779,847.923,379.382,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354348
$DATA_FILE_SIZE,90482,1245
$CAP_FILE_SIZE,153276,0
$CFSIZE,259252224,231948288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310114,210158,-4300.861,832.441,50,0.9,50,-25.1