version: 66.07
glider: 543
mission: 9
dive: 354
start: 2 1 114 7 1 37
data:
$ID,543
$MISSION,9
$DIVE,354
$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,-13638.33
$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,46
$R_STBD_OVSHOOT,31
$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
$GPS1,010214,065058,-4300.846,832.294,36,0.8,36,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-60.9
$GPS2,010214,070113,-4300.899,832.284,14,0.8,15,-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,323.4,3514,-26.4,-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,-0.53,-53.5,0.0,0.0,0,59,0.00,0.00,-41.90,0.000,2,0.000,0.000,57,3392,2521,0,0,0,0,0,0
$GC,62,-0.56,-94.9,3.0,-4.2,5,88,6.15,2.20,-9.80,0.000,4,0.231,0.043,1536,1966,2866,0,0,0,0,0,0
$GC,145,-0.56,-94.9,13.6,-12.2,17,154,0.00,2.30,0.00,0.000,6,0.000,0.049,1527,3374,2868,0,0,0,0,0,0
$GC,204,-0.56,-94.9,22.6,-15.8,26,213,0.00,0.93,0.00,0.000,4,0.000,0.057,1523,3950,2868,0,0,0,0,0,0
$GC,251,-0.56,-94.9,31.0,-18.6,33,258,0.00,0.85,0.00,0.000,6,0.000,0.033,1523,3382,2868,0,0,0,0,0,0
$GC,399,-0.56,-94.9,55.3,-15.7,58,406,0.00,0.90,0.00,0.000,4,0.000,0.057,1518,3945,2868,0,0,0,0,0,0
$GC,662,-0.56,-94.9,92.5,-12.7,104,669,0.00,0.85,0.00,0.000,6,0.000,0.033,1519,3374,2869,0,0,0,0,0,0
$GC,992,-0.56,-94.9,131.4,-13.0,140,996,0.00,0.90,0.00,0.000,4,0.000,0.057,1515,3941,2870,0,0,0,0,0,0
$GC,1021,-0.56,-94.9,135.5,-15.1,142,1027,0.00,0.82,0.00,0.000,6,0.000,0.033,1515,3385,2870,0,0,0,0,0,0
$GC,1348,-0.56,-94.9,184.0,-14.9,173,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,1515,3385,2870,0,0,0,0,0,0
$GC,1665,-0.56,-94.9,233.4,-14.8,203,1669,0.00,2.12,0.00,0.000,4,0.000,0.026,1515,1957,2870,0,0,0,0,0,0
$GC,1696,-0.56,-94.9,237.7,-14.9,205,1701,0.12,2.28,0.00,0.000,6,0.154,0.050,1537,3383,2871,0,0,0,0,0,0
$GC,2026,-0.56,-94.9,280.3,-12.9,236,2030,0.00,0.90,0.00,0.000,4,0.000,0.057,1534,3955,2871,0,0,0,0,0,0
$GC,2095,-0.56,-94.9,289.7,-13.6,242,2099,0.00,0.85,0.00,0.000,6,0.000,0.033,1534,3379,2871,0,0,0,0,0,0
$GC,2428,-0.56,-94.9,332.2,-12.5,273,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3378,2871,0,0,0,0,0,0
$GC,2745,-0.56,-94.9,370.2,-11.9,303,2749,0.00,0.90,0.00,0.000,4,0.000,0.058,1530,3945,2871,0,0,0,0,0,0
$GC,2816,-0.56,-94.9,378.7,-12.1,309,2819,0.00,0.85,0.00,0.000,6,0.000,0.034,1530,3374,2871,0,0,0,0,0,0
$GC,3142,-0.56,-94.9,418.2,-11.7,333,3145,0.00,0.93,0.00,0.000,4,0.000,0.058,1525,3952,2871,0,0,0,0,0,0
$GC,3202,-0.56,-94.9,426.0,-13.2,335,3210,0.00,0.85,0.00,0.000,6,0.000,0.034,1526,3383,2871,0,0,0,0,0,0
$GC,3520,-0.56,-94.9,463.3,-11.6,351,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3383,2871,0,0,0,0,0,0
$GC,3828,-0.56,-94.9,500.0,-11.6,366,3832,0.00,0.90,0.00,0.000,4,0.000,0.058,1521,3944,2870,0,0,0,0,0,0
$GC,3866,-0.56,-94.9,505.2,-12.4,367,3874,0.00,0.88,0.00,0.000,6,0.000,0.033,1521,3371,2870,0,0,0,0,0,0
$GC,4184,-0.56,-94.9,542.8,-11.8,383,4188,0.00,0.93,0.00,0.000,4,0.000,0.059,1517,3948,2870,0,0,0,0,0,0
$GC,4234,-0.56,-94.9,549.4,-12.5,385,4238,0.00,0.85,0.00,0.000,6,0.000,0.034,1517,3381,2870,0,0,0,0,0,0
$GC,4561,-0.56,-94.9,587.8,-11.8,401,4562,0.00,0.00,0.00,0.000,6,0.000,0.000,1517,3380,2869,0,0,0,0,0,0
$GC,4872,-0.56,-94.9,623.3,-11.3,416,4873,0.00,0.00,0.00,0.000,6,0.000,0.000,1517,3381,2869,0,0,0,0,0,0
$GC,5180,-0.56,-94.9,657.3,-10.9,431,5181,0.00,0.00,0.00,0.000,6,0.000,0.000,1517,3381,2868,0,0,0,0,0,0
$GC,5489,-0.56,-94.9,691.1,-10.8,446,5492,0.00,0.95,0.00,0.000,4,0.000,0.061,1513,3953,2867,0,0,0,0,0,0
$GC,5527,-0.56,-94.9,695.9,-12.8,447,5534,0.00,0.88,0.00,0.000,6,0.000,0.034,1513,3382,2867,0,0,0,0,0,0
$GC,5843,-0.56,-94.9,731.4,-11.3,463,5844,0.00,0.00,0.00,0.000,6,0.000,0.000,1513,3382,2867,0,0,0,0,0,0
$GC,6154,-0.56,-94.9,766.6,-11.4,478,6157,0.00,0.90,0.00,0.000,4,0.000,0.060,1509,3941,2866,0,0,0,0,0,0
$GC,6338,-0.56,-94.9,790.6,-13.0,486,6343,0.08,0.85,0.00,0.000,6,0.160,0.035,1532,3383,2865,0,0,0,0,0,0
$GC,6665,-0.56,-94.9,824.6,-10.1,502,6666,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,3383,2865,0,0,0,0,0,0
$GC,6974,-0.56,-94.9,856.3,-10.3,517,6976,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,3383,2864,0,0,0,0,0,0
$GC,7286,-0.56,-94.9,888.5,-10.2,532,7289,0.00,0.90,0.00,0.000,4,0.000,0.061,1529,3941,2863,0,0,0,0,0,0
$GC,7335,-0.56,-94.9,894.4,-11.5,534,7339,0.00,0.88,0.00,0.000,6,0.000,0.037,1529,3376,2863,0,0,0,0,0,0
$GC,7663,-0.56,-94.9,928.5,-10.5,550,7664,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3375,2863,0,0,0,0,0,0
$GC,7973,-0.56,-94.9,961.8,-10.9,565,7977,0.00,0.93,0.00,0.000,4,0.000,0.061,1525,3947,2862,0,0,0,0,0,0
$GC,8034,-0.56,-94.9,969.3,-12.2,567,8041,0.00,0.88,0.00,0.000,6,0.000,0.036,1525,3380,2862,0,0,0,0,0,0
$STATE,8245,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8245,begin apogee
$GC,8251,-0.09,0.0,992.1,10.7,578,8349,0.52,0.00,95.22,1.877,6,0.145,0.000,1681,3281,2473,0,0,0,0,0,0
$STATE,8350,end apogee,CONTROL_FINISHED_OK
$STATE,8350,begin climb
$GC,8352,0.56,94.9,995.7,0.0,583,8461,0.62,2.50,100.28,1.811,4,0.070,0.029,1907,1863,2086,0,0,0,0,0,0
$GC,8545,0.56,94.9,981.3,11.1,591,8552,0.00,2.47,0.00,0.000,6,0.000,0.050,1907,3282,2079,0,0,0,0,0,0
$GC,8864,0.56,94.9,938.5,13.7,607,8865,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3282,2074,0,0,0,0,0,0
$GC,9171,0.56,94.9,894.3,14.5,622,9174,0.00,1.10,0.00,0.000,4,0.000,0.059,1907,3957,2072,0,0,0,0,0,0
$GC,9209,0.56,94.9,887.7,17.7,623,9216,0.00,1.02,0.00,0.000,6,0.000,0.034,1912,3281,2072,0,0,0,0,0,0
$GC,9525,0.56,94.9,839.7,15.2,639,9526,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3281,2071,0,0,0,0,0,0
$GC,9835,0.56,94.9,792.6,15.0,654,9839,0.00,2.15,0.00,0.000,4,0.000,0.031,1923,1871,2070,0,0,0,0,0,0
$GC,9855,0.56,94.9,789.2,15.0,655,9859,0.00,2.33,0.00,0.000,6,0.000,0.050,1923,3292,2069,0,0,0,0,0,0
$GC,10184,0.56,94.9,739.9,15.1,671,10188,0.00,1.05,0.00,0.000,4,0.000,0.058,1923,3945,2069,0,0,0,0,0,0
$GC,10284,0.56,94.9,723.3,17.9,675,10288,0.00,1.00,0.00,0.000,6,0.000,0.034,1928,3283,2069,0,0,0,0,0,0
$GC,10606,0.56,94.9,677.2,13.8,691,10610,0.00,1.08,0.00,0.000,4,0.000,0.059,1928,3948,2068,0,0,0,0,0,0
$GC,10667,0.56,94.9,667.9,15.3,693,10674,0.10,1.00,0.00,0.000,6,0.197,0.034,1905,3288,2068,0,0,0,0,0,0
$GC,10983,0.56,94.9,630.9,11.5,709,10984,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3288,2067,0,0,0,0,0,0
$GC,11292,0.56,94.9,598.7,10.3,724,11296,0.00,1.08,0.00,0.000,4,0.000,0.058,1905,3951,2067,0,0,0,0,0,0
$GC,11325,0.56,94.9,595.0,11.3,725,11329,0.00,1.00,0.00,0.000,6,0.000,0.034,1909,3289,2067,0,0,0,0,0,0
$GC,11648,0.56,94.9,561.9,10.5,741,11649,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3290,2066,0,0,0,0,0,0
$GC,11956,0.56,94.9,528.0,11.2,756,11959,0.00,1.08,0.00,0.000,4,0.000,0.058,1909,3951,2066,0,0,0,0,0,0
$GC,12084,0.56,94.9,511.9,12.1,761,12091,0.00,1.02,0.00,0.000,6,0.000,0.034,1914,3279,2066,0,0,0,0,0,0
$GC,12400,0.56,94.9,476.5,11.6,777,12403,0.00,1.10,0.00,0.000,4,0.000,0.058,1914,3956,2066,0,0,0,0,0,0
$GC,12540,0.56,94.9,457.4,14.7,783,12544,0.00,1.02,0.00,0.000,6,0.000,0.034,1919,3286,2066,0,0,0,0,0,0
$GC,12867,0.56,94.9,417.0,12.4,799,12868,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3286,2066,0,0,0,0,0,0
$GC,13181,0.56,94.9,377.1,12.5,822,13183,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3286,2065,0,0,0,0,0,0
$GC,13501,0.56,94.9,333.7,14.8,852,13505,0.00,1.08,0.00,0.000,4,0.000,0.059,1919,3947,2065,0,0,0,0,0,0
$GC,13670,0.56,94.9,307.0,14.4,867,13674,0.00,1.00,0.00,0.000,6,0.000,0.034,1924,3285,2065,0,0,0,0,0,0
$GC,14000,0.56,94.9,259.4,14.3,898,14003,0.00,1.08,0.00,0.000,4,0.000,0.058,1924,3953,2065,0,0,0,0,0,0
$GC,14023,0.56,94.9,255.9,15.1,900,14027,0.08,1.02,0.00,0.000,6,0.195,0.034,1908,3276,2066,0,0,0,0,0,0
$GC,14353,0.56,94.9,213.6,12.0,931,14354,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3275,2065,0,0,0,0,0,0
$GC,14676,0.56,94.9,177.8,11.4,961,14679,0.00,1.10,0.00,0.000,4,0.000,0.058,1908,3951,2065,0,0,0,0,0,0
$GC,14804,0.56,94.9,161.8,11.4,972,14814,0.00,1.02,0.00,0.000,6,0.000,0.033,1912,3285,2065,0,0,0,0,0,0
$GC,15130,0.56,94.9,126.7,10.8,1003,15133,0.00,1.08,0.00,0.000,4,0.000,0.058,1912,3949,2065,0,0,0,0,0,0
$GC,15220,0.56,94.9,116.3,11.8,1011,15224,0.00,1.00,0.00,0.000,6,0.000,0.033,1917,3287,2065,0,0,0,0,0,0
$GC,15559,0.56,94.9,77.9,10.3,1058,15565,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3287,2065,0,0,0,0,0,0
$GC,15910,0.57,123.0,48.7,5.6,1119,15925,0.00,1.12,10.40,0.916,4,0.000,0.057,1917,3962,1969,0,0,0,0,0,0
$GC,16187,0.57,123.0,19.6,13.6,1166,16196,0.00,1.02,0.00,0.000,6,0.000,0.033,1922,3279,1968,0,0,0,0,0,0
$GC,16247,0.57,123.0,12.9,10.0,1175,16256,0.00,1.08,0.00,0.000,4,0.000,0.056,1922,3951,1967,0,0,0,0,0,0
$GC,16265,0.57,123.0,10.8,10.7,1177,16274,0.00,1.00,0.00,0.000,6,0.000,0.032,1927,3288,1967,0,0,0,0,0,0
$GC,16326,0.57,123.0,3.6,11.6,1186,16334,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,3288,1965,0,0,0,0,0,0
$STATE,16341,end climb,SURFACE_DEPTH_REACHED
$STATE,16341,begin surface coast
$FINISH,0.9,1.026159
$STATE,16368,end surface coast,CONTROL_FINISHED_OK
$STATE,16368,begin surface
$SM_CCo,16381,40.75,0.760,0,0,1574,220.03
$SM_GC,1.16,0.00,0.00,40.75,0.000,0.000,0.760,55,3390,1574,-5.20,0.28,220.03
$IRIDIUM_FIX,-4242.04,830.68,010214,010149
$TT8_MAMPS,0.025466
$HUMID,62.08
$INTERNAL_PRESSURE,9.57185
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,21.9,50.742
$10V_AH,9.7,40.550
$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,12.725,65.000,205.900,40.750,0.000,33.332,39.476,387.590,0.000,0.000,18.556,2939.244,10255.073,376.969,3169.036,288.685,0.000,1487.341,0.000,2576.284,0.000,1.011,0.000
$DEVICE_MAMPS,231.030,91.800,1877.310,760.410,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,825.436,2027.659,806.764,387.222,0.000,0.000,0.000,0.000,0.000,0.000
$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,87174,1192
$CAP_FILE_SIZE,147542,0
$CFSIZE,259252224,231694336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010214,113634,-4300.916,832.377,37,1.1,37,-25.1