version: 66.07
glider: 543
mission: 9
dive: 360
start: 2 2 114 11 49 59
data:
$ID,543
$MISSION,9
$DIVE,360
$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,-13662.47
$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,45
$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
$GPS1,020214,114004,-4300.640,831.838,30,0.9,30,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-60.6
$GPS2,020214,114935,-4300.598,831.969,23,1.1,23,-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,317.7,2888,-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,-51.0,0.0,0.0,0,59,0.00,0.00,-41.45,0.000,2,0.000,0.000,59,3389,2526,0,0,0,0,0,0
$GC,62,-0.56,-86.9,3.2,-4.6,5,81,6.12,0.95,-8.50,0.000,4,0.231,0.086,1526,3958,2830,0,0,0,0,0,0
$GC,156,-0.56,-86.9,21.4,-21.1,19,163,0.00,0.88,0.00,0.000,6,0.000,0.034,1526,3380,2835,0,0,0,0,0,0
$GC,304,-0.56,-86.9,45.9,-17.2,44,311,0.00,2.17,0.00,0.000,4,0.000,0.029,1525,1960,2836,0,0,0,0,0,0
$GC,347,-0.56,-86.9,52.3,-13.4,51,356,0.00,2.33,0.00,0.000,6,0.000,0.050,1515,3382,2836,0,0,0,0,0,0
$GC,700,-0.56,-86.9,106.3,-17.4,109,704,0.00,2.12,0.00,0.000,4,0.000,0.027,1515,1961,2836,0,0,0,0,0,0
$GC,709,-0.56,-86.9,109.0,-17.6,109,718,0.08,2.30,0.00,0.000,6,0.140,0.047,1529,3382,2837,0,0,0,0,0,0
$GC,1035,-0.56,-86.9,156.7,-14.3,140,1039,0.00,0.90,0.00,0.000,4,0.000,0.056,1526,3944,2838,0,0,0,0,0,0
$GC,1275,-0.56,-86.9,191.5,-14.4,161,1279,0.00,0.85,0.00,0.000,6,0.000,0.032,1526,3370,2838,0,0,0,0,0,0
$GC,1606,-0.56,-86.9,234.7,-12.2,192,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3370,2838,0,0,0,0,0,0
$GC,1927,-0.56,-86.9,273.3,-12.0,222,1930,0.00,0.93,0.00,0.000,4,0.000,0.057,1522,3948,2839,0,0,0,0,0,0
$GC,2074,-0.56,-86.9,292.8,-13.3,235,2077,0.00,0.85,0.00,0.000,6,0.000,0.032,1522,3376,2839,0,0,0,0,0,0
$GC,2404,-0.56,-86.9,334.5,-13.2,266,2407,0.00,0.93,0.00,0.000,4,0.000,0.057,1518,3957,2839,0,0,0,0,0,0
$GC,2518,-0.56,-86.9,350.2,-13.2,276,2522,0.00,0.85,0.00,0.000,6,0.000,0.033,1518,3383,2839,0,0,0,0,0,0
$GC,2848,-0.56,-86.9,391.6,-12.0,307,2852,0.00,0.90,0.00,0.000,4,0.000,0.057,1514,3950,2839,0,0,0,0,0,0
$GC,3054,-0.56,-86.9,418.9,-13.9,319,3059,0.00,0.85,0.00,0.000,6,0.000,0.032,1514,3379,2839,0,0,0,0,0,0
$GC,3382,-0.56,-86.9,458.3,-12.0,335,3385,0.00,0.93,0.00,0.000,4,0.000,0.057,1509,3955,2839,0,0,0,0,0,0
$GC,3494,-0.56,-86.9,473.1,-13.3,340,3498,0.00,0.85,0.00,0.000,6,0.000,0.033,1509,3384,2839,0,0,0,0,0,0
$GC,3827,-0.56,-86.9,515.4,-12.5,356,3831,0.00,0.90,0.00,0.000,4,0.000,0.058,1505,3946,2838,0,0,0,0,0,0
$GC,3918,-0.56,-86.9,527.6,-13.9,360,3922,0.08,0.85,0.00,0.000,6,0.159,0.033,1529,3380,2838,0,0,0,0,0,0
$GC,4250,-0.56,-86.9,563.3,-10.4,376,4254,0.00,0.95,0.00,0.000,4,0.000,0.059,1526,3956,2837,0,0,0,0,0,0
$GC,4341,-0.56,-86.9,573.8,-11.6,380,4344,0.00,0.88,0.00,0.000,6,0.000,0.034,1525,3370,2837,0,0,0,0,0,0
$GC,4675,-0.56,-86.9,609.9,-11.0,396,4678,0.00,0.93,0.00,0.000,4,0.000,0.060,1522,3945,2836,0,0,0,0,0,0
$GC,4810,-0.56,-86.9,626.0,-12.0,402,4814,0.00,0.85,0.00,0.000,6,0.000,0.034,1522,3382,2836,0,0,0,0,0,0
$GC,5142,-0.56,-86.9,663.9,-11.1,418,5145,0.00,0.90,0.00,0.000,4,0.000,0.059,1517,3948,2835,0,0,0,0,0,0
$GC,5242,-0.56,-86.9,676.7,-12.4,422,5246,0.00,0.85,0.00,0.000,6,0.000,0.034,1517,3376,2835,0,0,0,0,0,0
$GC,5564,-0.56,-86.9,715.6,-12.2,438,5567,0.00,0.93,0.00,0.000,4,0.000,0.060,1514,3952,2834,0,0,0,0,0,0
$GC,5619,-0.56,-86.9,723.2,-13.7,440,5623,0.00,0.85,0.00,0.000,6,0.000,0.034,1513,3384,2834,0,0,0,0,0,0
$GC,5942,-0.56,-86.9,765.2,-13.2,456,5946,0.00,0.90,0.00,0.000,4,0.000,0.060,1509,3946,2833,0,0,0,0,0,0
$GC,6014,-0.56,-86.9,775.8,-13.9,459,6018,0.00,0.88,0.00,0.000,6,0.000,0.034,1509,3374,2833,0,0,0,0,0,0
$GC,6342,-0.56,-86.9,819.4,-13.0,475,6346,0.00,0.93,0.00,0.000,4,0.000,0.060,1505,3950,2833,0,0,0,0,0,0
$GC,6459,-0.56,-86.9,836.2,-13.9,480,6464,0.12,0.88,0.00,0.000,6,0.172,0.034,1536,3381,2833,0,0,0,0,0,0
$GC,6786,-0.56,-86.9,870.8,-10.3,496,6790,0.00,0.93,0.00,0.000,4,0.000,0.060,1533,3956,2832,0,0,0,0,0,0
$GC,6863,-0.56,-86.9,879.1,-10.4,499,6868,0.00,0.90,0.00,0.000,6,0.000,0.035,1533,3370,2832,0,0,0,0,0,0
$GC,7186,-0.57,-90.1,907.5,-8.3,515,7189,0.00,0.93,0.00,0.000,4,0.000,0.060,1529,3941,2831,0,0,0,0,0,0
$GC,7286,-0.57,-90.1,916.7,-9.3,519,7290,0.00,0.85,0.00,0.000,6,0.000,0.035,1529,3383,2831,0,0,0,0,0,0
$GC,7608,-0.57,-98.2,941.9,-7.8,535,7611,0.00,0.93,0.00,0.000,4,0.000,0.061,1524,3954,2831,0,0,0,0,0,0
$GC,7658,-0.57,-101.1,946.1,-8.4,537,7662,0.00,0.88,0.00,0.000,6,0.000,0.036,1525,3379,2831,0,0,0,0,0,0
$GC,7985,-0.58,-115.7,970.1,-7.0,553,7989,0.00,0.93,0.00,0.000,4,0.000,0.061,1520,3952,2830,0,0,0,0,0,0
$GC,8085,-0.58,-116.8,978.5,-8.6,557,8089,0.00,0.88,0.00,0.000,6,0.000,0.036,1520,3374,2830,0,0,0,0,0,0
$STATE,8240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8240,begin apogee
$GC,8246,-0.09,0.0,990.9,7.8,565,8337,0.55,0.00,87.82,1.859,6,0.146,0.000,1682,3273,2473,0,0,0,0,0,0
$STATE,8338,end apogee,CONTROL_FINISHED_OK
$STATE,8338,begin climb
$GC,8340,0.58,116.8,991.3,0.0,569,8473,0.65,2.42,123.68,1.795,4,0.068,0.030,1919,1861,1996,0,0,0,0,0,0
$GC,8500,0.58,116.8,975.1,15.2,576,8508,0.00,2.53,0.00,0.000,6,0.000,0.049,1919,3277,1992,0,0,0,0,0,0
$GC,8818,0.58,116.8,919.0,17.9,592,8822,0.00,2.22,0.00,0.000,4,0.000,0.031,1930,1866,1986,0,0,0,0,0,0
$GC,8844,0.58,116.8,914.2,16.5,593,8849,0.00,2.38,0.00,0.000,6,0.000,0.050,1930,3300,1984,0,0,0,0,0,0
$GC,9166,0.58,116.8,857.6,17.4,609,9170,0.00,2.20,0.00,0.000,4,0.000,0.030,1941,1865,1982,0,0,0,0,0,0
$GC,9186,0.58,116.8,854.0,16.0,610,9191,0.08,2.35,0.00,0.000,6,0.166,0.050,1918,3290,1982,0,0,0,0,0,0
$GC,9514,0.58,116.8,803.3,15.6,626,9518,0.00,2.20,0.00,0.000,4,0.000,0.030,1928,1858,1980,0,0,0,0,0,0
$GC,9541,0.58,116.8,799.3,12.8,627,9545,0.00,2.33,0.00,0.000,6,0.000,0.049,1928,3281,1979,0,0,0,0,0,0
$GC,9864,0.58,116.8,749.6,15.4,643,9868,0.00,2.17,0.00,0.000,4,0.000,0.030,1938,1862,1979,0,0,0,0,0,0
$GC,9896,0.58,116.8,744.8,13.5,644,9904,0.08,2.33,0.00,0.000,6,0.165,0.050,1916,3286,1978,0,0,0,0,0,0
$GC,10214,0.58,116.8,698.6,15.1,660,10218,0.00,2.17,0.00,0.000,4,0.000,0.031,1925,1852,1978,0,0,0,0,0,0
$GC,10262,0.58,116.8,691.8,13.1,662,10266,0.00,2.33,0.00,0.000,6,0.000,0.050,1925,3290,1977,0,0,0,0,0,0
$GC,10584,0.58,116.8,641.3,15.8,678,10588,0.00,2.15,0.00,0.000,4,0.000,0.030,1936,1860,1977,0,0,0,0,0,0
$GC,10604,0.58,116.8,638.0,14.5,679,10609,0.00,2.30,0.00,0.000,6,0.000,0.050,1936,3277,1977,0,0,0,0,0,0
$GC,10934,0.58,116.8,586.2,15.9,695,10938,0.00,2.15,0.00,0.000,4,0.000,0.030,1947,1850,1977,0,0,0,0,0,0
$GC,10977,0.58,116.8,579.5,13.8,697,10982,0.10,2.33,0.00,0.000,6,0.167,0.050,1917,3281,1976,0,0,0,0,0,0
$GC,11304,0.58,116.8,532.6,14.4,713,11306,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3281,1976,0,0,0,0,0,0
$GC,11613,0.58,116.8,488.0,14.4,728,11617,0.00,2.15,0.00,0.000,4,0.000,0.031,1927,1860,1976,0,0,0,0,0,0
$GC,11668,0.58,116.8,481.1,11.4,730,11672,0.00,2.30,0.00,0.000,6,0.000,0.049,1927,3285,1975,0,0,0,0,0,0
$GC,11990,0.58,116.8,434.3,14.7,746,11994,0.00,2.15,0.00,0.000,4,0.000,0.030,1938,1852,1975,0,0,0,0,0,0
$GC,12022,0.58,116.8,429.5,13.6,747,12030,0.08,2.33,0.00,0.000,6,0.163,0.050,1916,3281,1975,0,0,0,0,0,0
$GC,12341,0.58,116.8,385.4,14.0,767,12342,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3281,1975,0,0,0,0,0,0
$GC,12663,0.58,116.8,341.9,13.0,797,12669,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3281,1975,0,0,0,0,0,0
$GC,12989,0.58,116.8,297.5,13.7,828,12994,0.00,2.17,0.00,0.000,4,0.000,0.030,1925,1852,1975,0,0,0,0,0,0
$GC,13027,0.58,116.8,292.5,11.5,831,13035,0.00,2.33,0.00,0.000,6,0.000,0.050,1926,3281,1974,0,0,0,0,0,0
$GC,13353,0.58,116.8,244.8,15.5,862,13357,0.00,2.15,0.00,0.000,4,0.000,0.030,1936,1855,1974,0,0,0,0,0,0
$GC,13450,0.58,116.8,231.6,13.0,870,13455,0.00,2.33,0.00,0.000,6,0.000,0.050,1936,3292,1974,0,0,0,0,0,0
$GC,13775,0.58,116.8,180.7,16.2,900,13779,0.00,2.17,0.00,0.000,4,0.000,0.029,1947,1859,1974,0,0,0,0,0,0
$GC,13842,0.58,116.8,170.8,13.9,905,13850,0.15,2.30,0.00,0.000,6,0.181,0.050,1910,3286,1974,0,0,0,0,0,0
$GC,14168,0.58,116.8,124.8,13.5,936,14172,0.00,2.17,0.00,0.000,4,0.000,0.029,1920,1857,1974,0,0,0,0,0,0
$GC,14197,0.58,116.8,121.2,11.7,938,14201,0.00,2.30,0.00,0.000,6,0.000,0.049,1920,3295,1974,0,0,0,0,0,0
$GC,14537,0.58,116.8,80.4,10.7,983,14543,0.00,2.20,0.00,0.000,4,0.000,0.029,1931,1847,1974,0,0,0,0,0,0
$GC,14590,0.58,119.5,75.4,8.4,992,14597,0.00,2.33,0.00,0.000,6,0.000,0.050,1931,3286,1974,0,0,0,0,0,0
$GC,14939,0.59,127.6,45.7,7.8,1053,14948,0.00,0.00,2.42,0.476,6,0.000,0.000,1931,3286,1950,0,0,0,0,0,0
$GC,15307,0.59,127.6,8.8,12.7,1114,15316,0.00,2.17,0.00,0.000,4,0.000,0.030,1942,1862,1950,0,0,0,0,0,0
$STATE,15365,end climb,SURFACE_DEPTH_REACHED
$STATE,15365,begin surface coast
$FINISH,0.8,1.013124
$STATE,15397,end surface coast,CONTROL_FINISHED_OK
$STATE,15397,begin surface
$SM_CCo,15413,39.17,0.776,0,0,1574,220.03
$SM_GC,1.38,0.00,0.00,39.17,0.000,0.000,0.776,62,3384,1574,-5.17,0.11,220.03
$IRIDIUM_FIX,-4244.98,834.03,020214,060638
$TT8_MAMPS,0.026215
$HUMID,62.91
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,21.8,51.594
$10V_AH,9.7,41.300
$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,12.950,111.950,213.925,39.175,0.000,26.227,39.621,347.058,0.000,0.000,27.188,2853.293,9320.767,369.564,3187.029,287.387,0.000,1509.802,0.000,2632.350,0.000,1.011,0.000
$DEVICE_MAMPS,231.030,86.445,1858.950,776.475,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,782.311,1927.946,787.687,393.362,0.000,0.000,0.000,0.000,0.000,0.000
$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,80576,1128
$CAP_FILE_SIZE,152427,0
$CFSIZE,259252224,231186432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020214,160851,-4300.089,831.636,27,1.9,43,-25.1