version: 66.07
glider: 543
mission: 9
dive: 352
start: 1 31 114 21 12 11
data:
$ID,543
$MISSION,9
$DIVE,352
$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,-13632.016
$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,48
$R_STBD_OVSHOOT,58
$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
$GPS1,310114,210158,-4300.861,832.441,50,0.9,50,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-63.2
$GPS2,310114,211147,-4300.832,832.781,32,1.1,32,-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,317.3,4069,-22.6,-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,-0.47,-71.6,0.0,0.0,0,59,0.00,0.00,-41.65,0.000,2,0.000,0.000,51,3420,2520,0,0,0,0,0,0
$GC,62,-0.50,-121.0,3.0,-4.7,5,88,6.32,0.82,-11.82,0.000,4,0.235,0.097,1546,3902,2971,0,0,0,0,0,0
$GC,133,-0.50,-121.0,16.1,-17.1,15,142,0.00,0.80,0.00,0.000,6,0.000,0.034,1546,3378,2973,0,0,0,0,0,0
$GC,191,-0.50,-121.0,23.8,-13.4,24,200,0.00,2.17,0.00,0.000,4,0.000,0.028,1546,1945,2973,0,0,0,0,0,0
$GC,218,-0.50,-121.0,27.3,-12.5,28,227,0.00,2.30,0.00,0.000,6,0.000,0.050,1536,3346,2974,0,0,0,0,0,0
$GC,366,-0.50,-121.0,50.1,-15.4,53,373,0.00,2.10,0.00,0.000,4,0.000,0.027,1536,1953,2974,0,0,0,0,0,0
$GC,391,-0.50,-121.0,54.0,-16.3,57,400,0.08,2.33,0.00,0.000,6,0.134,0.047,1549,3382,2974,0,0,0,0,0,0
$GC,747,-0.50,-121.0,99.6,-11.4,118,753,0.00,0.90,0.00,0.000,4,0.000,0.057,1546,3943,2976,0,0,0,0,0,0
$GC,920,-0.50,-121.0,121.2,-12.5,134,924,0.00,0.85,0.00,0.000,6,0.000,0.033,1546,3368,2976,0,0,0,0,0,0
$GC,1253,-0.50,-121.0,161.8,-11.7,165,1257,0.00,0.95,0.00,0.000,4,0.000,0.057,1542,3956,2976,0,0,0,0,0,0
$GC,1425,-0.50,-121.0,184.2,-12.1,180,1435,0.00,0.88,0.00,0.000,6,0.000,0.031,1542,3377,2977,0,0,0,0,0,0
$GC,1751,-0.50,-121.0,225.0,-13.2,211,1755,0.00,0.93,0.00,0.000,4,0.000,0.058,1538,3956,2977,0,0,0,0,0,0
$GC,1902,-0.50,-121.0,246.8,-14.5,224,1911,0.00,0.85,0.00,0.000,6,0.000,0.032,1538,3383,2977,0,0,0,0,0,0
$GC,2227,-0.50,-121.0,292.1,-13.8,255,2230,0.00,0.90,0.00,0.000,4,0.000,0.058,1534,3947,2977,0,0,0,0,0,0
$GC,2400,-0.50,-121.0,317.6,-14.7,270,2407,0.00,0.85,0.00,0.000,6,0.000,0.032,1533,3377,2977,0,0,0,0,0,0
$GC,2728,-0.50,-121.0,362.9,-14.0,301,2731,0.00,0.93,0.00,0.000,4,0.000,0.059,1529,3956,2977,0,0,0,0,0,0
$GC,2853,-0.50,-121.0,381.5,-14.3,312,2857,0.00,0.85,0.00,0.000,6,0.000,0.033,1529,3382,2977,0,0,0,0,0,0
$GC,3178,-0.50,-121.0,427.2,-14.2,334,3182,0.00,0.90,0.00,0.000,4,0.000,0.059,1525,3947,2977,0,0,0,0,0,0
$GC,3314,-0.50,-121.0,447.4,-15.1,340,3318,0.08,0.85,0.00,0.000,6,0.155,0.033,1548,3380,2976,0,0,0,0,0,0
$GC,3646,-0.50,-121.0,485.9,-11.1,356,3649,0.00,0.90,0.00,0.000,4,0.000,0.060,1546,3941,2977,0,0,0,0,0,0
$GC,3819,-0.50,-121.0,506.4,-11.2,363,3827,0.00,0.85,0.00,0.000,6,0.000,0.034,1546,3368,2977,0,0,0,0,0,0
$GC,4135,-0.50,-121.0,540.7,-10.8,379,4138,0.00,0.93,0.00,0.000,4,0.000,0.060,1541,3946,2976,0,0,0,0,0,0
$GC,4315,-0.50,-121.0,561.1,-11.4,387,4319,0.00,0.85,0.00,0.000,6,0.000,0.034,1541,3379,2976,0,0,0,0,0,0
$GC,4649,-0.50,-121.0,595.5,-10.2,403,4653,0.00,0.93,0.00,0.000,4,0.000,0.060,1537,3954,2976,0,0,0,0,0,0
$GC,4766,-0.50,-121.0,608.6,-10.8,408,4770,0.00,0.88,0.00,0.000,6,0.000,0.034,1537,3382,2975,0,0,0,0,0,0
$GC,5094,-0.50,-121.0,641.1,-9.5,424,5097,0.00,0.90,0.00,0.000,4,0.000,0.060,1533,3941,2974,0,0,0,0,0,0
$GC,5222,-0.50,-121.0,655.3,-11.0,429,5229,0.00,0.88,0.00,0.000,6,0.000,0.034,1533,3370,2974,0,0,0,0,0,0
$GC,5539,-0.50,-121.0,687.7,-10.6,445,5542,0.00,0.93,0.00,0.000,4,0.000,0.061,1529,3943,2973,0,0,0,0,0,0
$GC,5701,-0.50,-121.0,707.5,-12.3,452,5705,0.00,0.85,0.00,0.000,6,0.000,0.035,1529,3383,2973,0,0,0,0,0,0
$GC,6028,-0.50,-121.0,746.6,-12.3,468,6032,0.00,0.90,0.00,0.000,4,0.000,0.062,1525,3941,2972,0,0,0,0,0,0
$GC,6209,-0.50,-121.0,770.6,-13.5,476,6213,0.08,0.85,0.00,0.000,6,0.152,0.035,1548,3381,2971,0,0,0,0,0,0
$GC,6541,-0.50,-121.0,805.1,-10.3,492,6545,0.00,0.93,0.00,0.000,4,0.000,0.060,1546,3954,2971,0,0,0,0,0,0
$GC,6658,-0.50,-121.0,818.5,-11.5,497,6662,0.00,0.90,0.00,0.000,6,0.000,0.035,1546,3369,2971,0,0,0,0,0,0
$GC,6985,-0.50,-121.0,854.2,-11.2,513,6989,0.00,0.93,0.00,0.000,4,0.000,0.063,1541,3941,2970,0,0,0,0,0,0
$GC,7214,-0.50,-121.0,882.2,-12.9,523,7218,0.00,0.88,0.00,0.000,6,0.000,0.035,1542,3372,2970,0,0,0,0,0,0
$GC,7543,-0.50,-121.0,920.0,-11.4,539,7547,0.00,0.93,0.00,0.000,4,0.000,0.063,1538,3942,2969,0,0,0,0,0,0
$GC,7772,-0.50,-121.0,947.9,-11.6,549,7777,0.00,0.88,0.00,0.000,6,0.000,0.035,1537,3374,2969,0,0,0,0,0,0
$GC,8101,-0.50,-121.0,981.6,-10.2,565,8104,0.00,0.93,0.00,0.000,4,0.000,0.063,1533,3947,2969,0,0,0,0,0,0
$STATE,8177,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8177,begin apogee
$GC,8182,-0.09,0.0,990.5,11.4,568,8306,0.47,0.00,120.47,1.864,6,0.141,0.000,1679,3281,2472,0,0,0,0,0,0
$STATE,8307,end apogee,CONTROL_FINISHED_OK
$STATE,8307,begin climb
$GC,8309,0.50,121.0,994.3,0.0,574,8446,0.57,2.45,127.00,1.808,4,0.063,0.030,1889,1881,1979,0,0,0,0,0,0
$GC,8549,0.50,121.0,975.2,11.9,585,8553,0.00,2.42,0.00,0.000,6,0.000,0.050,1889,3287,1971,0,0,0,0,0,0
$GC,8875,0.50,121.0,926.7,14.7,601,8879,0.00,2.20,0.00,0.000,4,0.000,0.031,1900,1877,1967,0,0,0,0,0,0
$GC,8929,0.50,121.0,919.3,12.0,603,8936,0.00,2.33,0.00,0.000,6,0.000,0.050,1900,3278,1965,0,0,0,0,0,0
$GC,9246,0.50,121.0,870.2,15.5,619,9250,0.00,2.17,0.00,0.000,4,0.000,0.031,1911,1873,1964,0,0,0,0,0,0
$GC,9285,0.50,121.0,864.3,14.0,621,9290,0.00,2.30,0.00,0.000,6,0.000,0.050,1911,3288,1963,0,0,0,0,0,0
$GC,9614,0.50,121.0,811.2,16.2,637,9615,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3287,1963,0,0,0,0,0,0
$GC,9922,0.50,121.0,762.0,15.8,652,9925,0.00,2.15,0.00,0.000,4,0.000,0.031,1922,1869,1962,0,0,0,0,0,0
$GC,10016,0.50,121.0,748.3,13.5,656,10021,0.12,2.33,0.00,0.000,6,0.164,0.050,1885,3290,1961,0,0,0,0,0,0
$GC,10338,0.50,121.0,704.5,13.6,672,10342,0.00,2.15,0.00,0.000,4,0.000,0.030,1895,1865,1960,0,0,0,0,0,0
$GC,10381,0.50,121.0,698.9,12.1,674,10385,0.00,2.33,0.00,0.000,6,0.000,0.050,1894,3288,1960,0,0,0,0,0,0
$GC,10709,0.50,121.0,654.2,14.1,690,10713,0.00,2.15,0.00,0.000,4,0.000,0.030,1906,1867,1959,0,0,0,0,0,0
$GC,10774,0.50,121.0,645.9,11.7,693,10779,0.00,2.30,0.00,0.000,6,0.000,0.050,1906,3278,1959,0,0,0,0,0,0
$GC,11102,0.50,121.0,600.0,14.4,709,11106,0.00,2.12,0.00,0.000,4,0.000,0.030,1917,1870,1959,0,0,0,0,0,0
$GC,11146,0.50,121.0,594.1,12.9,711,11151,0.12,2.30,0.00,0.000,6,0.188,0.050,1888,3293,1959,0,0,0,0,0,0
$GC,11473,0.50,121.0,551.8,13.3,727,11477,0.00,2.15,0.00,0.000,4,0.000,0.030,1897,1866,1958,0,0,0,0,0,0
$GC,11505,0.50,121.0,547.8,11.0,728,11512,0.00,2.33,0.00,0.000,6,0.000,0.050,1897,3287,1958,0,0,0,0,0,0
$GC,11822,0.50,121.0,504.9,13.9,744,11826,0.00,2.17,0.00,0.000,4,0.000,0.030,1908,1860,1958,0,0,0,0,0,0
$GC,11876,0.50,121.0,498.0,11.5,746,11883,0.00,2.33,0.00,0.000,6,0.000,0.050,1908,3289,1958,0,0,0,0,0,0
$GC,12193,0.50,121.0,452.3,14.4,762,12197,0.00,2.15,0.00,0.000,4,0.000,0.030,1919,1864,1957,0,0,0,0,0,0
$GC,12225,0.50,121.0,447.8,12.6,763,12233,0.10,2.30,0.00,0.000,6,0.168,0.050,1890,3278,1957,0,0,0,0,0,0
$GC,12541,0.50,121.0,407.1,13.0,779,12545,0.00,2.12,0.00,0.000,4,0.000,0.030,1899,1870,1957,0,0,0,0,0,0
$GC,12582,0.50,121.0,402.2,12.5,781,12586,0.00,2.28,0.00,0.000,6,0.000,0.050,1899,3285,1957,0,0,0,0,0,0
$GC,12906,0.50,121.0,358.2,13.3,810,12910,0.00,2.12,0.00,0.000,4,0.000,0.030,1910,1868,1957,0,0,0,0,0,0
$GC,12984,0.50,121.0,348.7,10.7,816,12993,0.00,2.30,0.00,0.000,6,0.000,0.050,1910,3280,1957,0,0,0,0,0,0
$GC,13309,0.50,121.0,305.2,14.0,847,13313,0.00,2.12,0.00,0.000,4,0.000,0.030,1921,1869,1957,0,0,0,0,0,0
$GC,13386,0.50,121.0,295.9,12.6,853,13391,0.15,2.30,0.00,0.000,6,0.182,0.050,1885,3295,1957,0,0,0,0,0,0
$GC,13710,0.50,121.0,257.8,11.3,883,13711,0.00,0.00,0.00,0.000,6,0.000,0.000,1885,3295,1956,0,0,0,0,0,0
$GC,14033,0.50,121.0,221.2,11.1,913,14037,0.00,2.15,0.00,0.000,4,0.000,0.029,1894,1866,1956,0,0,0,0,0,0
$GC,14107,0.50,121.0,213.5,9.7,919,14111,0.00,2.30,0.00,0.000,6,0.000,0.050,1895,3291,1956,0,0,0,0,0,0
$GC,14434,0.50,121.0,175.9,11.8,949,14438,0.00,2.17,0.00,0.000,4,0.000,0.029,1905,1863,1956,0,0,0,0,0,0
$GC,14455,0.50,121.0,173.0,11.5,950,14462,0.00,2.30,0.00,0.000,6,0.000,0.050,1905,3276,1956,0,0,0,0,0,0
$GC,14783,0.50,121.0,130.1,14.2,981,14787,0.00,2.15,0.00,0.000,4,0.000,0.029,1916,1861,1956,0,0,0,0,0,0
$GC,14859,0.50,121.0,119.5,12.6,987,14867,0.10,2.33,0.00,0.000,6,0.161,0.050,1887,3288,1956,0,0,0,0,0,0
$GC,15199,0.50,121.0,72.5,14.4,1035,15207,0.00,0.00,0.00,0.000,6,0.000,0.000,1887,3288,1956,0,0,0,0,0,0
$GC,15553,0.51,140.8,41.8,7.1,1096,15566,0.00,2.17,6.32,0.831,4,0.000,0.028,1896,1864,1897,0,0,0,0,0,0
$GC,15591,0.53,164.0,38.9,6.8,1102,15607,0.00,2.30,10.20,0.867,6,0.000,0.050,1896,3281,1801,0,0,0,0,0,0
$GC,15750,0.53,164.0,22.4,10.5,1128,15759,0.00,2.17,0.00,0.000,4,0.000,0.029,1907,1864,1800,0,0,0,0,0,0
$GC,15853,0.53,164.0,11.1,11.0,1144,15862,0.00,2.33,0.00,0.000,6,0.000,0.051,1907,3284,1798,0,0,0,0,0,0
$STATE,15912,end climb,SURFACE_DEPTH_REACHED
$STATE,15912,begin surface coast
$FINISH,0.7,1.026093
$STATE,15932,end surface coast,CONTROL_FINISHED_OK
$STATE,15932,begin surface
$SM_CCo,15946,22.98,0.760,0,0,1574,220.03
$SM_GC,2.15,0.00,0.00,22.98,0.000,0.000,0.760,63,3420,1574,-5.18,1.13,220.03
$IRIDIUM_FIX,-4247.91,831.55,310114,161650
$TT8_MAMPS,0.026215
$HUMID,62.44
$INTERNAL_PRESSURE,9.57185
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,21.8,50.440
$10V_AH,9.7,40.295
$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,13.075,120.050,264.000,22.975,0.000,27.381,20.115,373.372,0.000,0.000,35.736,2931.267,9479.401,429.504,3427.206,285.573,0.000,1693.577,0.000,2839.718,0.000,1.012,0.000
$DEVICE_MAMPS,234.855,97.155,1864.305,760.410,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,799.745,1961.513,785.156,374.246,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354352
$DATA_FILE_SIZE,83872,1156
$CAP_FILE_SIZE,162301,0
$CFSIZE,259252224,231862272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010214,013936,-4300.023,833.148,38,2.0,38,-25.1