version: 66.07
glider: 543
mission: 9
dive: 366
start: 2 3 114 21 36 43
data:
$ID,543
$MISSION,9
$DIVE,366
$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,-13680.333
$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,30
$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
$GPS1,030214,211734,-4302.888,827.616,41,1.0,41,-25.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-61.5
$GPS2,030214,213619,-4302.806,827.715,14,1.3,14,-25.0
$SPEED_LIMITS,0.150,0.228
$TGT_NAME,SAZ
$TGT_LATLONG,-4300.000,750.000
$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,300.8,51348,-17.0,-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,16,-0.40,-121.7,0.0,0.0,0,67,0.00,0.00,-49.20,0.000,2,0.000,0.000,55,3392,2726,0,0,0,0,0,0
$GC,70,-0.40,-121.7,3.4,-4.6,6,88,6.32,2.22,-6.15,0.000,4,0.230,0.041,1593,1954,2975,0,0,0,0,0,0
$GC,109,-0.40,-121.7,12.4,-21.2,11,118,0.00,2.35,0.00,0.000,6,0.000,0.051,1583,3376,2978,0,0,0,0,0,0
$GC,170,-0.40,-121.7,19.5,-10.3,20,179,0.00,0.93,0.00,0.000,4,0.000,0.058,1579,3950,2978,0,0,0,0,0,0
$GC,219,-0.40,-121.7,24.6,-11.3,27,226,0.00,0.85,0.00,0.000,6,0.000,0.034,1579,3385,2978,0,0,0,0,0,0
$GC,368,-0.40,-121.7,41.9,-11.7,52,375,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,3384,2979,0,0,0,0,0,0
$GC,719,-0.40,-121.7,79.1,-9.8,113,726,0.00,2.12,0.00,0.000,4,0.000,0.027,1579,1956,2980,0,0,0,0,0,0
$GC,779,-0.40,-121.7,84.1,-7.8,123,788,0.00,2.30,0.00,0.000,6,0.000,0.050,1568,3373,2980,0,0,0,0,0,0
$GC,1118,-0.40,-121.7,119.8,-10.8,167,1122,0.00,0.93,0.00,0.000,4,0.000,0.059,1564,3947,2980,0,0,0,0,0,0
$GC,1348,-0.40,-121.7,144.6,-10.5,187,1355,0.00,0.88,0.00,0.000,6,0.000,0.032,1564,3365,2981,0,0,0,0,0,0
$GC,1674,-0.40,-121.7,176.6,-9.9,218,1678,0.00,0.95,0.00,0.000,4,0.000,0.059,1560,3951,2981,0,0,0,0,0,0
$GC,1742,-0.40,-121.7,184.2,-11.1,224,1746,0.08,0.85,0.00,0.000,6,0.144,0.034,1584,3383,2981,0,0,0,0,0,0
$GC,2072,-0.40,-121.7,213.9,-9.2,255,2076,0.00,2.12,0.00,0.000,4,0.000,0.026,1584,1957,2981,0,0,0,0,0,0
$GC,2103,-0.40,-121.7,216.4,-8.7,257,2107,0.00,2.28,0.00,0.000,6,0.000,0.050,1575,3382,2981,0,0,0,0,0,0
$GC,2433,-0.40,-121.7,248.4,-9.2,288,2436,0.00,0.90,0.00,0.000,4,0.000,0.059,1570,3947,2981,0,0,0,0,0,0
$GC,2528,-0.40,-121.7,258.3,-10.3,296,2537,0.00,0.85,0.00,0.000,6,0.000,0.034,1570,3380,2981,0,0,0,0,0,0
$GC,2853,-0.40,-121.7,290.4,-10.0,327,2857,0.00,0.93,0.00,0.000,4,0.000,0.060,1566,3942,2981,0,0,0,0,0,0
$GC,2888,-0.40,-121.7,293.8,-10.4,330,2891,0.00,0.85,0.00,0.000,6,0.000,0.034,1566,3373,2981,0,0,0,0,0,0
$GC,3221,-0.40,-121.7,327.0,-9.7,361,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,1566,3373,2980,0,0,0,0,0,0
$GC,3539,-0.40,-121.7,357.3,-9.3,391,3542,0.00,0.93,0.00,0.000,4,0.000,0.060,1562,3949,2980,0,0,0,0,0,0
$GC,3584,-0.40,-121.7,361.9,-9.6,395,3588,0.00,0.85,0.00,0.000,6,0.000,0.034,1562,3381,2980,0,0,0,0,0,0
$GC,3915,-0.40,-121.7,392.6,-9.0,426,3918,0.00,0.90,0.00,0.000,4,0.000,0.061,1558,3941,2979,0,0,0,0,0,0
$GC,3986,-0.40,-121.7,399.8,-9.7,432,3997,0.12,0.88,0.00,0.000,6,0.162,0.034,1589,3368,2979,0,0,0,0,0,0
$GC,4303,-0.40,-121.7,420.3,-6.3,448,4304,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,3368,2979,0,0,0,0,0,0
$GC,4615,-0.40,-121.7,441.3,-7.1,463,4618,0.00,0.93,0.00,0.000,4,0.000,0.062,1587,3943,2978,0,0,0,0,0,0
$GC,4683,-0.40,-121.7,446.7,-7.5,466,4686,0.00,0.85,0.00,0.000,6,0.000,0.034,1587,3379,2978,0,0,0,0,0,0
$GC,5016,-0.40,-121.7,472.5,-8.0,482,5017,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,3380,2978,0,0,0,0,0,0
$GC,5325,-0.40,-121.7,497.3,-8.0,497,5326,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,3380,2977,0,0,0,0,0,0
$GC,5635,-0.40,-121.7,522.0,-7.9,512,5639,0.00,0.93,0.00,0.000,4,0.000,0.062,1582,3953,2977,0,0,0,0,0,0
$GC,5697,-0.40,-121.7,527.3,-8.0,514,5703,0.00,0.85,0.00,0.000,6,0.000,0.035,1582,3385,2977,0,0,0,0,0,0
$GC,6013,-0.40,-121.7,552.8,-7.8,530,6014,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,3385,2976,0,0,0,0,0,0
$GC,6322,-0.40,-121.7,576.3,-7.5,545,6324,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,3385,2976,0,0,0,0,0,0
$GC,6633,-0.40,-121.7,598.3,-7.0,560,6634,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,3385,2976,0,0,0,0,0,0
$GC,6941,-0.40,-121.7,619.8,-6.8,575,6944,0.00,0.90,0.00,0.000,4,0.000,0.062,1578,3942,2975,0,0,0,0,0,0
$GC,6987,-0.40,-121.7,623.0,-7.2,577,6990,0.00,0.85,0.00,0.000,6,0.000,0.036,1579,3383,2974,0,0,0,0,0,0
$GC,7321,-0.40,-121.7,645.6,-6.6,593,7322,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,3382,2974,0,0,0,0,0,0
$GC,7629,-0.40,-121.7,665.7,-6.6,608,7632,0.00,0.90,0.00,0.000,4,0.000,0.063,1574,3936,2974,0,0,0,0,0,0
$GC,7675,-0.40,-121.7,668.9,-7.0,610,7679,0.00,0.85,0.00,0.000,6,0.000,0.037,1574,3381,2974,0,0,0,0,0,0
$GC,8010,-0.40,-121.7,691.4,-6.5,626,8013,0.00,0.90,0.00,0.000,4,0.000,0.063,1570,3938,2973,0,0,0,0,0,0
$GC,8056,-0.40,-121.7,694.6,-7.5,628,8060,0.00,0.85,0.00,0.000,6,0.000,0.036,1570,3380,2973,0,0,0,0,0,0
$GC,8389,-0.40,-121.7,717.6,-7.0,644,8390,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,3379,2973,0,0,0,0,0,0
$GC,8700,-0.40,-121.7,740.0,-7.4,659,8701,0.00,0.00,0.00,0.000,6,0.000,0.000,1570,3378,2973,0,0,0,0,0,0
$GC,9008,-0.40,-121.7,762.8,-7.6,674,9012,0.00,0.93,0.00,0.000,4,0.000,0.063,1566,3946,2972,0,0,0,0,0,0
$GC,9058,-0.40,-121.7,766.9,-7.5,676,9061,0.00,0.85,0.00,0.000,6,0.000,0.037,1566,3385,2972,0,0,0,0,0,0
$GC,9386,-0.40,-121.7,793.2,-8.1,692,9390,0.00,0.90,0.00,0.000,4,0.000,0.063,1562,3939,2972,0,0,0,0,0,0
$GC,9470,-0.40,-121.7,800.7,-9.2,695,9477,0.00,0.85,0.00,0.000,6,0.000,0.036,1562,3384,2971,0,0,0,0,0,0
$GC,9786,-0.40,-121.7,827.2,-8.4,711,9787,0.00,0.00,0.00,0.000,6,0.000,0.000,1562,3384,2971,0,0,0,0,0,0
$GC,10095,-0.40,-121.7,854.1,-8.9,726,10099,0.00,0.90,0.00,0.000,4,0.000,0.063,1558,3938,2971,0,0,0,0,0,0
$GC,10163,-0.40,-121.7,860.4,-10.2,729,10167,0.08,0.85,0.00,0.000,6,0.140,0.036,1583,3381,2971,0,0,0,0,0,0
$GC,10497,-0.40,-121.7,884.2,-7.1,745,10501,0.00,0.90,0.00,0.000,4,0.000,0.063,1580,3938,2970,0,0,0,0,0,0
$GC,10543,-0.40,-121.7,887.7,-7.8,747,10546,0.00,0.85,0.00,0.000,6,0.000,0.037,1580,3380,2970,0,0,0,0,0,0
$GC,10876,-0.40,-121.7,911.9,-7.4,763,10877,0.00,0.00,0.00,0.000,6,0.000,0.000,1580,3380,2970,0,0,0,0,0,0
$GC,11186,-0.40,-121.7,933.9,-7.1,778,11187,0.00,0.00,0.00,0.000,6,0.000,0.000,1580,3380,2970,0,0,0,0,0,0
$GC,11494,-0.40,-121.7,954.4,-6.4,793,11498,0.00,0.93,0.00,0.000,4,0.000,0.063,1577,3949,2969,0,0,0,0,0,0
$GC,11563,-0.40,-121.7,958.9,-6.9,796,11566,0.00,0.88,0.00,0.000,6,0.000,0.037,1576,3374,2969,0,0,0,0,0,0
$GC,11898,-0.40,-121.7,977.4,-5.2,812,11901,0.00,0.93,0.00,0.000,4,0.000,0.063,1572,3945,2969,0,0,0,0,0,0
$GC,11944,-0.40,-121.7,979.8,-5.5,814,11947,0.00,0.85,0.00,0.000,6,0.000,0.037,1572,3383,2969,0,0,0,0,0,0
$STATE,12150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12150,begin apogee
$GC,12156,-0.09,0.0,990.6,5.1,824,12282,0.38,0.00,122.62,1.861,6,0.127,0.000,1688,3284,2473,0,0,0,0,0,0
$STATE,12283,end apogee,CONTROL_FINISHED_OK
$STATE,12283,begin climb
$GC,12285,0.40,121.7,991.6,0.0,830,12418,0.47,0.00,129.15,1.806,6,0.050,0.000,1855,3284,1977,0,0,0,0,0,0
$GC,12726,0.40,121.7,938.8,14.4,852,12730,0.00,1.12,0.00,0.000,4,0.000,0.060,1855,3950,1964,0,0,0,0,0,0
$GC,12771,0.40,121.7,931.4,16.1,854,12775,0.00,1.05,0.00,0.000,6,0.000,0.034,1861,3277,1964,0,0,0,0,0,0
$GC,13104,0.40,121.7,882.6,14.5,870,13105,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,3277,1961,0,0,0,0,0,0
$GC,13415,0.40,121.7,839.6,13.5,885,13418,0.00,1.10,0.00,0.000,4,0.000,0.061,1860,3949,1960,0,0,0,0,0,0
$GC,13483,0.40,121.7,829.5,15.2,888,13486,0.00,1.02,0.00,0.000,6,0.000,0.035,1866,3277,1960,0,0,0,0,0,0
$GC,13816,0.40,121.7,784.5,13.4,904,13819,0.00,1.10,0.00,0.000,4,0.000,0.060,1866,3951,1959,0,0,0,0,0,0
$GC,13887,0.40,121.7,773.8,13.6,907,13892,0.00,1.02,0.00,0.000,6,0.000,0.034,1871,3286,1959,0,0,0,0,0,0
$GC,14216,0.40,121.7,731.9,11.8,923,14217,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,3286,1958,0,0,0,0,0,0
$GC,14524,0.40,121.7,697.2,11.0,938,14525,0.00,0.00,0.00,0.000,6,0.000,0.000,1871,3286,1957,0,0,0,0,0,0
$GC,14835,0.40,121.7,663.5,10.8,953,14839,0.00,1.08,0.00,0.000,4,0.000,0.062,1871,3949,1957,0,0,0,0,0,0
$GC,14862,0.40,121.7,660.0,11.5,954,14866,0.00,1.02,0.00,0.000,6,0.000,0.034,1876,3284,1957,0,0,0,0,0,0
$GC,15190,0.40,121.7,623.2,11.3,970,15194,0.00,1.08,0.00,0.000,4,0.000,0.060,1876,3946,1956,0,0,0,0,0,0
$GC,15245,0.40,121.7,616.1,12.7,972,15250,0.10,1.02,0.00,0.000,6,0.188,0.034,1853,3279,1956,0,0,0,0,0,0
$GC,15567,0.40,121.7,583.2,10.2,988,15568,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,3279,1956,0,0,0,0,0,0
$GC,15876,0.40,121.7,550.0,11.0,1003,15877,0.00,0.00,0.00,0.000,6,0.000,0.000,1853,3279,1956,0,0,0,0,0,0
$GC,16185,0.40,121.7,514.1,11.6,1018,16189,0.00,2.17,0.00,0.000,4,0.000,0.031,1862,1860,1955,0,0,0,0,0,0
$GC,16212,0.40,121.7,511.2,9.9,1019,16216,0.00,2.30,0.00,0.000,6,0.000,0.050,1862,3284,1954,0,0,0,0,0,0
$GC,16533,0.40,121.7,472.5,11.8,1035,16536,0.00,1.08,0.00,0.000,4,0.000,0.060,1863,3950,1954,0,0,0,0,0,0
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$STATE,20814,end climb,SURFACE_DEPTH_REACHED
$STATE,20814,begin surface coast
$FINISH,0.6,1.020646
$STATE,20846,end surface coast,CONTROL_FINISHED_OK
$STATE,20846,begin surface
$SM_CCo,20920,0.00,0.000,0,0,1577,220.03
$SM_GC,1.77,4.82,0.00,0.00,0.036,0.000,0.000,59,3403,1577,-5.09,0.65,220.03
$IRIDIUM_FIX,-4247.91,831.55,030214,212102
$TT8_MAMPS,0.026215
$HUMID,62.08
$INTERNAL_PRESSURE,9.56208
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,21.7,52.592
$10V_AH,9.7,42.185
$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,12.575,90.875,299.025,0.000,0.000,95.621,212.027,505.312,0.000,0.000,17.366,3654.286,13456.658,439.344,4103.623,375.881,0.000,1803.556,0.000,3126.665,0.000,1.014,0.000
$DEVICE_MAMPS,229.500,78.030,1861.245,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1028.272,2499.806,940.236,438.030,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354364
$DATA_FILE_SIZE,103729,1482
$CAP_FILE_SIZE,189845,0
$CFSIZE,259252224,230551552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040214,032635,-4302.759,825.993,37,1.1,37,-25.0