version: 66.07
glider: 543
mission: 9
dive: 370
start: 2 4 114 22 33 12
data:
$ID,543
$MISSION,9
$DIVE,370
$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,-13691.647
$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,42
$R_STBD_OVSHOOT,36
$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
$GPS1,040214,222204,-4301.767,820.553,30,0.8,30,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-68.5
$GPS2,040214,223249,-4301.802,820.581,17,0.8,17,-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,299.6,41555,-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,15,-0.40,-121.7,0.0,0.0,0,59,0.00,0.00,-41.90,0.000,2,0.000,0.000,56,3395,2541,0,0,0,0,0,0
$GC,62,-0.40,-121.7,3.3,-4.8,5,88,6.30,2.22,-11.68,0.000,4,0.228,0.041,1587,1951,2973,0,0,0,0,0,0
$GC,146,-0.40,-121.7,13.3,-8.9,17,155,0.00,2.33,0.00,0.000,6,0.000,0.051,1578,3363,2975,0,0,0,0,0,0
$GC,206,-0.40,-121.7,19.6,-11.9,26,215,0.00,0.95,0.00,0.000,4,0.000,0.060,1573,3951,2975,0,0,0,0,0,0
$GC,281,-0.40,-121.7,30.2,-13.2,38,290,0.00,0.88,0.00,0.000,6,0.000,0.033,1573,3367,2976,0,0,0,0,0,0
$GC,430,-0.40,-121.7,50.7,-13.1,63,438,0.00,0.00,0.00,0.000,6,0.000,0.000,1573,3367,2976,0,0,0,0,0,0
$GC,784,-0.40,-121.7,91.6,-10.5,124,791,0.00,0.95,0.00,0.000,4,0.000,0.058,1569,3959,2977,0,0,0,0,0,0
$GC,978,-0.40,-121.7,111.5,-9.7,148,982,0.00,0.88,0.00,0.000,6,0.000,0.033,1569,3373,2978,0,0,0,0,0,0
$GC,1309,-0.40,-121.7,144.5,-10.1,179,1312,0.00,0.95,0.00,0.000,4,0.000,0.059,1565,3958,2979,0,0,0,0,0,0
$GC,1365,-0.40,-121.7,150.8,-11.1,184,1369,0.00,0.85,0.00,0.000,6,0.000,0.033,1565,3383,2979,0,0,0,0,0,0
$GC,1696,-0.40,-121.7,184.9,-9.8,215,1699,0.00,0.93,0.00,0.000,4,0.000,0.060,1561,3958,2980,0,0,0,0,0,0
$GC,1798,-0.40,-121.7,195.7,-10.5,224,1802,0.00,0.85,0.00,0.000,6,0.000,0.033,1561,3383,2979,0,0,0,0,0,0
$GC,2129,-0.40,-121.7,228.2,-9.4,255,2133,0.12,0.93,0.00,0.000,4,0.168,0.060,1589,3950,2979,0,0,0,0,0,0
$GC,2220,-0.40,-121.7,234.9,-6.9,263,2223,0.00,0.85,0.00,0.000,6,0.000,0.034,1590,3381,2979,0,0,0,0,0,0
$GC,2550,-0.40,-121.7,257.1,-7.1,294,2554,0.00,0.93,0.00,0.000,4,0.000,0.060,1586,3958,2979,0,0,0,0,0,0
$GC,2608,-0.40,-121.7,261.6,-7.7,299,2611,0.00,0.88,0.00,0.000,6,0.000,0.034,1585,3374,2979,0,0,0,0,0,0
$GC,2939,-0.40,-121.7,287.5,-7.7,330,2942,0.00,0.93,0.00,0.000,4,0.000,0.060,1581,3951,2979,0,0,0,0,0,0
$GC,3007,-0.40,-121.7,293.4,-8.9,336,3010,0.00,0.85,0.00,0.000,6,0.000,0.034,1581,3383,2979,0,0,0,0,0,0
$GC,3337,-0.40,-121.7,320.6,-8.3,367,3341,0.00,0.93,0.00,0.000,4,0.000,0.061,1577,3958,2979,0,0,0,0,0,0
$GC,3421,-0.40,-121.7,328.2,-9.3,374,3428,0.00,0.90,0.00,0.000,6,0.000,0.034,1577,3366,2979,0,0,0,0,0,0
$GC,3749,-0.40,-121.7,356.2,-8.5,405,3753,0.00,0.95,0.00,0.000,4,0.000,0.061,1572,3958,2979,0,0,0,0,0,0
$GC,3783,-0.40,-121.7,359.5,-9.1,408,3787,0.00,0.85,0.00,0.000,6,0.000,0.036,1573,3389,2979,0,0,0,0,0,0
$GC,4114,-0.40,-121.7,389.2,-9.1,439,4118,0.00,0.90,0.00,0.000,4,0.000,0.061,1569,3951,2978,0,0,0,0,0,0
$GC,4171,-0.40,-121.7,394.6,-10.0,444,4174,0.00,0.85,0.00,0.000,6,0.000,0.035,1569,3383,2978,0,0,0,0,0,0
$GC,4504,-0.40,-121.7,424.9,-8.9,463,4505,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,3383,2978,0,0,0,0,0,0
$GC,4814,-0.40,-121.7,453.4,-9.6,478,4817,0.00,0.93,0.00,0.000,4,0.000,0.061,1565,3957,2978,0,0,0,0,0,0
$GC,4885,-0.40,-121.7,460.9,-9.9,481,4890,0.00,0.90,0.00,0.000,6,0.000,0.034,1564,3368,2978,0,0,0,0,0,0
$GC,5215,-0.40,-121.7,493.0,-10.1,497,5218,0.00,0.95,0.00,0.000,4,0.000,0.061,1560,3958,2977,0,0,0,0,0,0
$GC,5332,-0.40,-121.7,506.0,-10.8,502,5336,0.08,0.85,0.00,0.000,6,0.141,0.035,1584,3391,2977,0,0,0,0,0,0
$GC,5661,-0.40,-121.7,533.4,-8.2,518,5665,0.00,0.90,0.00,0.000,4,0.000,0.062,1581,3949,2977,0,0,0,0,0,0
$GC,5689,-0.40,-121.7,536.0,-8.6,519,5693,0.00,0.88,0.00,0.000,6,0.000,0.036,1581,3370,2977,0,0,0,0,0,0
$GC,6016,-0.40,-121.7,562.5,-8.1,535,6020,0.00,0.95,0.00,0.000,4,0.000,0.062,1577,3958,2976,0,0,0,0,0,0
$GC,6084,-0.40,-121.7,568.5,-9.2,538,6088,0.00,0.88,0.00,0.000,6,0.000,0.036,1577,3380,2976,0,0,0,0,0,0
$GC,6417,-0.40,-121.7,595.5,-7.9,554,6420,0.00,0.95,0.00,0.000,4,0.000,0.063,1573,3953,2975,0,0,0,0,0,0
$GC,6449,-0.40,-121.7,598.4,-8.5,555,6454,0.00,0.85,0.00,0.000,6,0.000,0.036,1573,3384,2976,0,0,0,0,0,0
$GC,6774,-0.40,-121.7,623.7,-7.9,571,6777,0.00,0.93,0.00,0.000,4,0.000,0.062,1569,3957,2975,0,0,0,0,0,0
$GC,6886,-0.40,-121.7,633.4,-8.4,576,6890,0.00,0.88,0.00,0.000,6,0.000,0.036,1568,3380,2975,0,0,0,0,0,0
$GC,7220,-0.40,-121.7,660.8,-8.0,592,7223,0.00,0.93,0.00,0.000,4,0.000,0.062,1564,3953,2974,0,0,0,0,0,0
$GC,7269,-0.40,-121.7,665.2,-8.8,594,7274,0.00,0.90,0.00,0.000,6,0.000,0.036,1564,3366,2974,0,0,0,0,0,0
$GC,7599,-0.40,-121.7,692.5,-8.5,610,7602,0.00,0.95,0.00,0.000,4,0.000,0.062,1560,3954,2974,0,0,0,0,0,0
$GC,7676,-0.40,-121.7,700.0,-9.3,613,7681,0.08,0.85,0.00,0.000,6,0.140,0.037,1584,3389,2974,0,0,0,0,0,0
$GC,7998,-0.40,-121.7,722.9,-7.2,629,7999,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,3389,2974,0,0,0,0,0,0
$GC,8308,-0.40,-121.7,744.1,-6.6,644,8311,0.00,0.90,0.00,0.000,4,0.000,0.062,1582,3948,2974,0,0,0,0,0,0
$GC,8354,-0.40,-121.7,747.5,-6.9,646,8357,0.00,0.85,0.00,0.000,6,0.000,0.037,1581,3383,2974,0,0,0,0,0,0
$GC,8688,-0.40,-121.7,770.8,-7.0,662,8691,0.00,0.93,0.00,0.000,4,0.000,0.063,1577,3954,2973,0,0,0,0,0,0
$GC,8760,-0.40,-121.7,776.2,-7.1,665,8764,0.00,0.88,0.00,0.000,6,0.000,0.037,1577,3378,2973,0,0,0,0,0,0
$GC,9088,-0.40,-121.7,798.5,-6.6,681,9091,0.00,0.93,0.00,0.000,4,0.000,0.063,1573,3950,2973,0,0,0,0,0,0
$GC,9126,-0.40,-121.7,801.3,-7.1,682,9133,0.00,0.85,0.00,0.000,6,0.000,0.036,1573,3384,2972,0,0,0,0,0,0
$GC,9443,-0.40,-121.7,821.4,-6.2,698,9446,0.00,0.93,0.00,0.000,4,0.000,0.063,1569,3956,2972,0,0,0,0,0,0
$GC,9511,-0.40,-121.7,825.8,-6.2,701,9515,0.00,0.88,0.00,0.000,6,0.000,0.037,1569,3380,2972,0,0,0,0,0,0
$GC,9844,-0.40,-121.7,846.0,-6.1,717,9848,0.00,0.95,0.00,0.000,4,0.000,0.064,1565,3951,2972,0,0,0,0,0,0
$GC,9899,-0.40,-121.7,849.9,-7.0,719,9904,0.00,0.88,0.00,0.000,6,0.000,0.036,1565,3373,2971,0,0,0,0,0,0
$GC,10221,-0.40,-121.7,870.6,-6.6,735,10225,0.00,0.93,0.00,0.000,4,0.000,0.064,1561,3945,2971,0,0,0,0,0,0
$GC,10300,-0.40,-121.7,876.3,-7.3,738,10304,0.00,0.85,0.00,0.000,6,0.000,0.037,1561,3384,2971,0,0,0,0,0,0
$GC,10622,-0.40,-121.7,899.3,-7.5,754,10626,0.10,0.95,0.00,0.000,4,0.170,0.063,1583,3957,2971,0,0,0,0,0,0
$GC,10690,-0.40,-121.7,903.5,-5.8,757,10694,0.00,0.88,0.00,0.000,6,0.000,0.037,1583,3382,2971,0,0,0,0,0,0
$GC,11023,-0.40,-121.7,923.5,-6.1,773,11026,0.00,0.93,0.00,0.000,4,0.000,0.063,1579,3952,2970,0,0,0,0,0,0
$GC,11084,-0.40,-121.7,927.5,-6.8,775,11091,0.00,0.88,0.00,0.000,6,0.000,0.038,1579,3376,2971,0,0,0,0,0,0
$GC,11400,-0.40,-121.7,947.1,-6.2,791,11404,0.00,0.93,0.00,0.000,4,0.000,0.063,1574,3949,2971,0,0,0,0,0,0
$GC,11478,-0.40,-121.7,952.3,-6.2,794,11482,0.00,0.88,0.00,0.000,6,0.000,0.036,1575,3368,2970,0,0,0,0,0,0
$GC,11801,-0.40,-121.7,972.9,-6.4,810,11804,0.00,0.95,0.00,0.000,4,0.000,0.063,1570,3954,2970,0,0,0,0,0,0
$GC,11914,-0.40,-121.7,981.0,-8.1,815,11917,0.00,0.88,0.00,0.000,6,0.000,0.037,1570,3377,2970,0,0,0,0,0,0
$STATE,12060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12061,begin apogee
$GC,12066,-0.09,0.0,991.3,7.1,822,12192,0.38,0.00,122.00,1.850,6,0.125,0.000,1687,3278,2473,0,0,0,0,0,0
$STATE,12192,end apogee,CONTROL_FINISHED_OK
$STATE,12192,begin climb
$GC,12194,0.40,121.7,996.1,0.0,828,12342,0.45,2.50,130.23,1.779,4,0.057,0.029,1860,1865,1976,0,0,0,0,1,0
$GC,12411,0.40,121.7,983.8,10.0,838,12415,0.00,2.47,0.00,0.000,6,0.000,0.051,1860,3287,1970,0,0,0,0,0,0
$GC,12739,0.40,121.7,940.3,13.8,854,12743,0.00,1.10,0.00,0.000,4,0.000,0.060,1860,3951,1965,0,0,0,0,0,0
$GC,12766,0.40,121.7,935.8,14.6,855,12770,0.00,1.08,0.00,0.000,6,0.000,0.034,1866,3268,1964,0,0,0,0,0,0
$GC,13093,0.40,121.7,890.1,13.6,871,13097,0.00,2.15,0.00,0.000,4,0.000,0.031,1876,1872,1962,0,0,0,0,0,0
$GC,13126,0.40,121.7,885.5,12.6,872,13133,0.00,2.30,0.00,0.000,6,0.000,0.051,1876,3289,1962,0,0,0,0,0,0
$GC,13442,0.40,121.7,840.7,13.8,888,13446,0.00,2.20,0.00,0.000,4,0.000,0.031,1887,1862,1961,0,0,0,0,0,0
$GC,13468,0.40,121.7,837.0,11.7,889,13473,0.10,2.33,0.00,0.000,6,0.157,0.052,1857,3281,1960,0,0,0,0,0,0
$GC,13792,0.40,121.7,799.5,11.2,905,13793,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,3281,1960,0,0,0,0,0,0
$GC,14099,0.40,121.7,764.8,11.0,920,14100,0.00,0.00,0.00,0.000,6,0.000,0.000,1857,3281,1959,0,0,0,0,0,0
$GC,14408,0.40,121.7,730.9,11.2,935,14412,0.00,2.15,0.00,0.000,4,0.000,0.031,1866,1870,1959,0,0,0,0,0,0
$GC,14449,0.40,121.7,726.9,10.3,937,14453,0.00,2.30,0.00,0.000,6,0.000,0.050,1866,3295,1957,0,0,0,0,0,0
$GC,14777,0.40,121.7,689.0,11.4,953,14781,0.00,2.17,0.00,0.000,4,0.000,0.031,1877,1868,1957,0,0,0,0,0,0
$GC,14798,0.40,121.7,686.6,10.8,954,14802,0.00,2.28,0.00,0.000,6,0.000,0.050,1877,3285,1957,0,0,0,0,0,0
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$STATE,21358,end climb,SURFACE_DEPTH_REACHED
$STATE,21358,begin surface coast
$FINISH,0.9,1.013016
$STATE,21390,end surface coast,CONTROL_FINISHED_OK
$STATE,21390,begin surface
$SM_CCo,21404,5.68,0.662,0,0,1573,220.03
$SM_GC,2.35,0.00,0.00,5.68,0.000,0.000,0.662,46,3395,1573,-5.23,0.42,220.03
$IRIDIUM_FIX,-4247.91,825.73,040214,161638
$TT8_MAMPS,0.026215
$HUMID,62.16
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,21.7,53.355
$10V_AH,9.7,42.807
$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,12.825,119.800,291.550,5.675,0.000,26.294,19.398,417.835,0.000,0.000,20.470,3846.193,13333.705,436.043,4030.286,392.767,0.000,1926.813,0.000,3394.817,0.000,1.012,0.000
$DEVICE_MAMPS,227.970,86.445,1849.770,661.725,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1067.356,2630.780,986.509,429.182,0.000,0.000,0.000,0.000,0.000,0.000
$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,107135,1537
$CAP_FILE_SIZE,205050,0
$CFSIZE,259252224,230129664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050214,043105,-4301.327,818.748,25,1.7,25,-25.0