version: 66.07
glider: 543
mission: 9
dive: 357
start: 2 1 114 21 25 35
data:
$ID,543
$MISSION,9
$DIVE,357
$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,-13650.323
$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,28
$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
$GPS1,010214,211534,-4300.523,832.182,38,0.9,38,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-62.0
$GPS2,010214,212511,-4300.472,832.172,16,1.0,16,-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,311.6,3069,-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,-51.0,0.0,0.0,0,66,0.00,0.00,-47.33,0.000,6,0.000,0.000,57,3385,2684,0,0,0,0,0,0
$GC,69,-0.57,-94.2,3.5,-3.8,6,87,6.18,2.17,-4.32,0.000,4,0.234,0.041,1535,1962,2859,0,0,0,0,0,0
$GC,132,-0.57,-94.2,16.7,-16.6,15,142,0.00,2.33,0.00,0.000,6,0.000,0.050,1526,3372,2862,0,0,0,0,0,0
$GC,190,-0.57,-94.2,25.9,-16.6,24,199,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3373,2862,0,0,0,0,0,0
$GC,340,-0.57,-94.2,51.6,-17.8,49,347,0.00,2.15,0.00,0.000,4,0.000,0.028,1526,1957,2862,0,0,0,0,0,0
$GC,439,-0.57,-94.2,66.0,-13.5,66,448,0.00,2.35,0.00,0.000,6,0.000,0.051,1515,3389,2863,0,0,0,0,0,0
$GC,781,-0.57,-94.2,119.2,-13.8,115,785,0.00,0.90,0.00,0.000,4,0.000,0.057,1511,3954,2863,0,0,0,0,0,0
$GC,872,-0.57,-94.2,132.2,-14.0,123,876,0.00,0.85,0.00,0.000,6,0.000,0.033,1511,3381,2864,0,0,0,0,0,0
$GC,1203,-0.57,-94.2,175.4,-12.5,154,1207,0.00,2.12,0.00,0.000,4,0.000,0.026,1511,1956,2865,0,0,0,0,0,0
$GC,1224,-0.57,-94.2,178.2,-12.7,155,1232,0.12,2.30,0.00,0.000,6,0.158,0.048,1533,3393,2865,0,0,0,0,0,0
$GC,1549,-0.57,-94.2,214.7,-11.7,186,1553,0.00,2.15,0.00,0.000,4,0.000,0.027,1533,1954,2866,0,0,0,0,0,0
$GC,1570,-0.57,-94.2,217.3,-11.6,187,1577,0.00,2.33,0.00,0.000,6,0.000,0.050,1523,3382,2866,0,0,0,0,0,0
$GC,1895,-0.57,-94.2,258.1,-12.6,218,1899,0.00,0.90,0.00,0.000,4,0.000,0.057,1519,3951,2866,0,0,0,0,0,0
$GC,1941,-0.57,-94.2,264.3,-13.2,222,1944,0.00,0.85,0.00,0.000,6,0.000,0.033,1519,3376,2866,0,0,0,0,0,0
$GC,2273,-0.57,-94.2,306.7,-12.6,253,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3376,2867,0,0,0,0,0,0
$GC,2590,-0.57,-94.2,347.2,-12.9,283,2594,0.00,0.90,0.00,0.000,4,0.000,0.057,1515,3943,2866,0,0,0,0,0,0
$GC,2647,-0.57,-94.2,355.1,-13.7,288,2651,0.00,0.85,0.00,0.000,6,0.000,0.034,1515,3372,2866,0,0,0,0,0,0
$GC,2978,-0.57,-94.2,398.7,-13.1,319,2979,0.00,0.00,0.00,0.000,6,0.000,0.000,1515,3372,2866,0,0,0,0,0,0
$GC,3298,-0.57,-94.2,440.4,-12.7,335,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,1515,3372,2866,0,0,0,0,0,0
$GC,3607,-0.57,-94.2,479.6,-12.7,350,3608,0.00,0.00,0.00,0.000,6,0.000,0.000,1515,3372,2866,0,0,0,0,0,0
$GC,3916,-0.57,-94.2,518.6,-12.5,365,3920,0.00,0.93,0.00,0.000,4,0.000,0.059,1511,3947,2865,0,0,0,0,0,0
$GC,3971,-0.57,-94.2,526.1,-13.8,367,3976,0.00,0.88,0.00,0.000,6,0.000,0.034,1511,3374,2865,0,0,0,0,0,0
$GC,4293,-0.57,-94.2,567.5,-13.0,383,4297,0.00,0.93,0.00,0.000,4,0.000,0.060,1507,3950,2864,0,0,0,0,0,0
$GC,4325,-0.57,-94.2,572.1,-13.6,384,4330,0.00,0.88,0.00,0.000,6,0.000,0.034,1507,3377,2864,0,0,0,0,0,0
$GC,4648,-0.57,-94.2,613.7,-12.8,400,4650,0.10,0.00,0.00,0.000,6,0.184,0.000,1530,3377,2863,0,0,0,0,0,0
$GC,4958,-0.57,-94.2,647.0,-10.6,415,4959,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3377,2863,0,0,0,0,0,0
$GC,5267,-0.57,-94.2,678.5,-10.0,430,5268,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3377,2863,0,0,0,0,0,0
$GC,5577,-0.57,-94.2,709.3,-9.8,445,5578,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3377,2862,0,0,0,0,0,0
$GC,5885,-0.57,-94.2,739.6,-9.8,460,5888,0.00,0.93,0.00,0.000,4,0.000,0.060,1528,3949,2862,0,0,0,0,0,0
$GC,5911,-0.57,-94.2,742.7,-11.4,461,5916,0.00,0.88,0.00,0.000,6,0.000,0.035,1528,3382,2862,0,0,0,0,0,0
$GC,6240,-0.57,-94.2,775.4,-10.0,477,6243,0.00,2.15,0.00,0.000,4,0.000,0.029,1528,1960,2861,0,0,0,0,0,0
$GC,6260,-0.57,-94.2,777.8,-10.5,478,6265,0.00,2.33,0.00,0.000,6,0.000,0.053,1517,3374,2861,0,0,0,0,0,0
$GC,6590,-0.57,-94.2,811.5,-10.7,494,6594,0.00,0.93,0.00,0.000,4,0.000,0.060,1512,3952,2860,0,0,0,0,0,0
$GC,6696,-0.57,-94.2,823.8,-11.1,498,6703,0.00,0.88,0.00,0.000,6,0.000,0.035,1513,3378,2860,0,0,0,0,0,0
$GC,7012,-0.57,-94.2,858.2,-10.9,514,7013,0.00,0.00,0.00,0.000,6,0.000,0.000,1512,3378,2860,0,0,0,0,0,0
$GC,7323,-0.57,-94.2,891.5,-10.9,529,7327,0.00,0.93,0.00,0.000,4,0.000,0.060,1508,3954,2859,0,0,0,0,0,0
$GC,7440,-0.57,-94.2,905.6,-11.9,534,7444,0.00,0.88,0.00,0.000,6,0.000,0.035,1508,3382,2859,0,0,0,0,0,0
$GC,7768,-0.57,-94.2,941.5,-11.2,550,7769,0.00,0.00,0.00,0.000,6,0.000,0.000,1508,3381,2858,0,0,0,0,0,0
$GC,8077,-0.57,-94.2,976.1,-11.2,565,8081,0.00,2.15,0.00,0.000,4,0.000,0.030,1508,1964,2857,0,0,0,0,0,0
$GC,8104,-0.57,-94.2,979.3,-12.0,566,8108,0.15,2.33,0.00,0.000,6,0.154,0.053,1538,3390,2857,0,0,0,0,0,0
$STATE,8237,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8237,begin apogee
$GC,8243,-0.09,0.0,991.4,9.1,573,8341,0.47,0.00,94.05,1.851,6,0.140,0.000,1681,3294,2473,0,0,0,0,0,0
$STATE,8342,end apogee,CONTROL_FINISHED_OK
$STATE,8342,begin climb
$GC,8344,0.57,94.2,994.1,0.0,578,8453,0.62,2.50,99.82,1.794,4,0.068,0.028,1908,1868,2088,0,0,0,0,0,0
$GC,8525,0.57,94.2,979.8,12.3,586,8529,0.00,2.47,0.00,0.000,6,0.000,0.050,1908,3280,2082,0,0,0,0,0,0
$GC,8852,0.57,94.2,931.7,14.8,602,8856,0.00,2.20,0.00,0.000,4,0.000,0.030,1920,1863,2076,0,0,0,0,0,0
$GC,8938,0.57,94.2,920.4,12.7,606,8942,0.00,2.35,0.00,0.000,6,0.000,0.050,1920,3289,2075,0,0,0,0,0,0
$GC,9264,0.57,94.2,872.8,14.6,622,9268,0.00,1.08,0.00,0.000,4,0.000,0.059,1920,3950,2073,0,0,0,0,0,0
$GC,9521,0.57,94.2,830.4,17.5,633,9526,0.00,1.02,0.00,0.000,6,0.000,0.034,1925,3275,2072,0,0,0,0,0,0
$GC,9843,0.57,94.2,784.3,14.1,649,9847,0.00,1.10,0.00,0.000,4,0.000,0.058,1925,3952,2071,0,0,0,0,0,0
$GC,10023,0.57,94.2,756.3,15.4,657,10027,0.00,1.00,0.00,0.000,6,0.000,0.034,1930,3292,2071,0,0,0,0,0,0
$GC,10355,0.57,94.2,710.7,13.5,673,10356,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3292,2070,0,0,0,0,0,0
$GC,10665,0.57,94.2,670.0,13.5,688,10666,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3292,2069,0,0,0,0,0,0
$GC,10974,0.57,94.2,628.6,13.2,703,10978,0.00,1.08,0.00,0.000,4,0.000,0.059,1930,3954,2069,0,0,0,0,0,0
$GC,11073,0.57,94.2,613.5,15.4,707,11078,0.12,1.05,0.00,0.000,6,0.224,0.034,1902,3272,2069,0,0,0,0,0,0
$GC,11395,0.57,94.2,574.4,12.0,723,11396,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3273,2069,0,0,0,0,0,0
$GC,11704,0.57,94.2,536.4,12.5,738,11705,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3273,2068,0,0,0,0,0,0
$GC,12014,0.57,94.2,498.3,12.4,753,12018,0.00,1.10,0.00,0.000,4,0.000,0.058,1901,3952,2068,0,0,0,0,0,0
$GC,12131,0.57,94.2,481.4,15.3,758,12136,0.00,1.02,0.00,0.000,6,0.000,0.034,1906,3285,2068,0,0,0,0,0,0
$GC,12459,0.57,94.2,438.7,12.9,774,12463,0.00,1.08,0.00,0.000,4,0.000,0.059,1906,3952,2068,0,0,0,0,0,0
$GC,12504,0.57,94.2,432.3,13.2,776,12508,0.00,1.00,0.00,0.000,6,0.000,0.034,1911,3291,2068,0,0,0,0,0,0
$GC,12828,0.57,94.2,391.2,12.5,794,12832,0.00,1.08,0.00,0.000,4,0.000,0.057,1911,3956,2068,0,0,0,0,0,0
$GC,12931,0.57,94.2,377.0,13.7,803,12934,0.00,1.02,0.00,0.000,6,0.000,0.035,1916,3282,2068,0,0,0,0,0,0
$GC,13261,0.57,94.2,336.6,11.8,834,13262,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3281,2068,0,0,0,0,0,0
$GC,13581,0.57,94.2,298.6,11.9,864,13585,0.00,1.08,0.00,0.000,4,0.000,0.059,1916,3945,2068,0,0,0,0,0,0
$GC,13710,0.57,94.2,281.9,12.7,875,13718,0.00,1.02,0.00,0.000,6,0.000,0.034,1921,3279,2068,0,0,0,0,0,0
$GC,14036,0.57,94.2,246.1,11.3,906,14039,0.00,1.08,0.00,0.000,4,0.000,0.057,1921,3945,2067,0,0,0,0,0,0
$GC,14231,0.57,94.2,220.7,12.2,923,14238,0.00,1.00,0.00,0.000,6,0.000,0.034,1926,3283,2067,0,0,0,0,0,0
$GC,14556,0.57,94.2,184.4,11.2,954,14560,0.00,1.08,0.00,0.000,4,0.000,0.058,1926,3951,2067,0,0,0,0,0,0
$GC,14670,0.57,94.2,169.9,12.8,964,14674,0.00,1.00,0.00,0.000,6,0.000,0.034,1931,3286,2067,0,0,0,0,0,0
$GC,15001,0.57,94.2,131.5,11.5,995,15005,0.00,2.15,0.00,0.000,4,0.000,0.029,1942,1863,2067,0,0,0,0,0,0
$GC,15045,0.57,94.2,126.7,9.8,998,15053,0.15,2.30,0.00,0.000,6,0.177,0.049,1905,3293,2066,0,0,0,0,0,0
$GC,15376,0.57,103.9,95.7,7.6,1033,15382,0.00,0.00,1.92,0.389,6,0.000,0.000,1905,3293,2048,0,0,0,0,0,0
$GC,15725,0.57,103.9,64.3,9.4,1094,15732,0.00,1.05,0.00,0.000,4,0.000,0.057,1905,3951,2048,0,0,0,0,0,0
$GC,15991,0.58,119.7,43.0,6.9,1140,16006,0.00,1.00,7.03,0.836,6,0.000,0.034,1909,3284,1982,0,0,0,0,0,0
$GC,16364,0.58,119.7,8.9,11.1,1202,16372,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3284,1981,0,0,0,0,0,0
$STATE,16416,end climb,SURFACE_DEPTH_REACHED
$STATE,16416,begin surface coast
$FINISH,0.6,1.025127
$STATE,16448,end surface coast,CONTROL_FINISHED_OK
$STATE,16448,begin surface
$SM_CCo,16461,42.30,0.762,0,0,1575,220.03
$SM_GC,1.23,0.00,0.00,42.30,0.000,0.000,0.762,62,3395,1575,-5.18,0.42,220.03
$IRIDIUM_FIX,-4247.91,831.55,010214,161622
$TT8_MAMPS,0.026215
$HUMID,62.95
$INTERNAL_PRESSURE,9.56208
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,21.8,51.190
$10V_AH,9.7,40.930
$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,12.800,76.300,202.825,42.300,0.000,26.817,46.124,348.072,0.000,0.000,19.893,3006.967,10170.380,357.555,3257.610,283.019,0.000,1499.786,0.000,2696.568,0.000,1.011,0.000
$DEVICE_MAMPS,234.090,84.915,1850.535,761.940,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,842.664,2069.812,831.439,396.406,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354440
$DATA_FILE_SIZE,87090,1215
$CAP_FILE_SIZE,149234,0
$CFSIZE,259252224,231440384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020214,020158,-4300.690,831.918,38,0.8,42,-25.1