version: 66.07
glider: 543
mission: 9
dive: 320
start: 1 25 114 13 36 17
data:
$ID,543
$MISSION,9
$DIVE,320
$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,-13533.312
$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,48
$R_STBD_OVSHOOT,26
$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
$GPS1,250114,132705,-4300.462,830.119,29,1.1,29,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-63.7
$GPS2,250114,133553,-4300.433,830.137,17,1.0,17,-25.0
$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,12.0,823,-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,-51.0,0.0,0.0,0,65,0.00,0.00,-47.72,0.000,6,0.000,0.000,46,3392,2683,0,0,0,0,0,0
$GC,68,-0.57,-91.3,3.3,-4.1,6,86,6.20,2.15,-4.35,0.000,4,0.232,0.040,1533,1960,2849,0,0,0,0,0,0
$GC,255,-0.57,-91.3,33.0,-15.0,36,264,0.00,2.33,0.00,0.000,6,0.000,0.050,1524,3376,2852,0,0,0,0,0,0
$GC,405,-0.57,-91.3,56.4,-17.0,61,411,0.00,0.93,0.00,0.000,4,0.000,0.057,1520,3954,2852,0,0,0,0,0,0
$GC,460,-0.57,-91.3,65.8,-16.8,70,467,0.00,0.85,0.00,0.000,6,0.000,0.033,1520,3383,2853,0,0,0,0,0,0
$GC,811,-0.57,-91.3,117.0,-14.1,121,812,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3383,2854,0,0,0,0,0,0
$GC,1128,-0.57,-91.3,161.9,-14.1,151,1132,0.00,0.93,0.00,0.000,4,0.000,0.057,1516,3956,2855,0,0,0,0,0,0
$GC,1163,-0.57,-91.3,167.3,-15.3,154,1166,0.00,0.85,0.00,0.000,6,0.000,0.032,1516,3381,2855,0,0,0,0,0,0
$GC,1495,-0.57,-91.3,213.9,-14.2,185,1499,0.00,0.90,0.00,0.000,4,0.000,0.057,1512,3948,2855,0,0,0,0,0,0
$GC,1545,-0.57,-91.3,221.9,-14.8,189,1552,0.00,0.82,0.00,0.000,6,0.000,0.032,1512,3384,2855,0,0,0,0,0,0
$GC,1870,-0.57,-91.3,270.0,-14.7,220,1874,0.00,0.90,0.00,0.000,4,0.000,0.057,1507,3950,2855,0,0,0,0,0,0
$GC,1953,-0.57,-91.3,283.6,-16.5,227,1962,0.00,0.85,0.00,0.000,6,0.000,0.031,1507,3375,2856,0,0,0,0,0,0
$GC,2279,-0.57,-91.3,333.0,-15.7,258,2283,0.00,2.08,0.00,0.000,4,0.000,0.028,1507,1969,2856,0,0,0,0,0,0
$GC,2300,-0.57,-91.3,336.2,-14.6,259,2308,0.15,2.25,0.00,0.000,6,0.163,0.050,1536,3383,2856,0,0,0,0,0,0
$GC,2625,-0.57,-91.3,376.6,-12.2,290,2626,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3383,2856,0,0,0,0,0,0
$GC,2951,-0.57,-91.3,415.8,-12.2,315,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3384,2856,0,0,0,0,0,0
$GC,3260,-0.57,-91.3,452.5,-11.7,330,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3383,2856,0,0,0,0,0,0
$GC,3570,-0.57,-91.3,486.7,-10.7,345,3571,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3383,2856,0,0,0,0,0,0
$GC,3879,-0.57,-91.3,517.8,-9.8,360,3883,0.00,2.12,0.00,0.000,4,0.000,0.028,1536,1957,2855,0,0,0,0,0,0
$GC,3900,-0.57,-91.3,519.9,-9.4,361,3905,0.00,2.33,0.00,0.000,6,0.000,0.051,1526,3377,2855,0,0,0,0,0,0
$GC,4228,-0.57,-91.3,555.0,-11.6,377,4231,0.00,0.90,0.00,0.000,4,0.000,0.058,1522,3942,2855,0,0,0,0,0,0
$GC,4283,-0.57,-91.3,562.4,-13.8,379,4287,0.00,0.82,0.00,0.000,6,0.000,0.034,1522,3388,2855,0,0,0,0,0,0
$GC,4606,-0.57,-91.3,601.1,-12.3,395,4610,0.00,2.12,0.00,0.000,4,0.000,0.028,1522,1957,2854,0,0,0,0,0,0
$GC,4633,-0.57,-91.3,604.8,-12.5,396,4637,0.00,2.33,0.00,0.000,6,0.000,0.051,1511,3380,2854,0,0,0,0,0,0
$GC,4955,-0.57,-91.3,646.6,-13.4,412,4957,0.00,0.00,0.00,0.000,6,0.000,0.000,1511,3380,2854,0,0,0,0,0,0
$GC,5264,-0.57,-91.3,685.7,-12.6,427,5265,0.00,0.00,0.00,0.000,6,0.000,0.000,1511,3380,2853,0,0,0,0,0,0
$GC,5574,-0.57,-91.3,724.2,-12.4,442,5575,0.00,0.00,0.00,0.000,6,0.000,0.000,1511,3380,2852,0,0,0,0,0,0
$GC,5883,-0.57,-91.3,761.8,-11.8,457,5885,0.00,0.00,0.00,0.000,6,0.000,0.000,1511,3380,2852,0,0,0,0,0,0
$GC,6194,-0.57,-91.3,798.7,-11.9,472,6195,0.00,0.00,0.00,0.000,6,0.000,0.000,1511,3380,2851,0,0,0,0,0,0
$GC,6502,-0.57,-91.3,835.8,-12.2,487,6505,0.00,0.95,0.00,0.000,4,0.000,0.060,1506,3956,2850,0,0,0,0,0,0
$GC,6551,-0.57,-91.3,842.4,-12.7,489,6555,0.00,0.88,0.00,0.000,6,0.000,0.035,1507,3377,2850,0,0,0,0,0,0
$GC,6880,-0.57,-91.3,884.1,-12.7,505,6884,0.00,2.12,0.00,0.000,4,0.000,0.029,1507,1961,2850,0,0,0,0,0,0
$GC,6906,-0.57,-91.3,887.6,-12.3,506,6911,0.10,2.33,0.00,0.000,6,0.143,0.052,1528,3375,2850,0,0,0,0,0,0
$GC,7228,-0.57,-91.3,922.2,-10.8,522,7231,0.00,0.93,0.00,0.000,4,0.000,0.060,1525,3950,2849,0,0,0,0,0,0
$GC,7288,-0.57,-91.3,929.7,-12.2,524,7296,0.00,0.88,0.00,0.000,6,0.000,0.035,1524,3377,2849,0,0,0,0,0,0
$GC,7607,-0.57,-91.3,963.8,-10.5,540,7610,0.00,2.12,0.00,0.000,4,0.000,0.030,1524,1957,2848,0,0,0,0,0,0
$GC,7624,-0.57,-91.3,965.8,-10.3,541,7628,0.00,2.30,0.00,0.000,6,0.000,0.053,1514,3383,2848,0,0,0,0,0,0
$STATE,7866,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7866,begin apogee
$GC,7871,-0.09,0.0,992.2,10.6,553,7969,0.60,0.00,90.80,1.858,6,0.155,0.000,1686,3288,2475,0,0,0,0,0,0
$STATE,7969,end apogee,CONTROL_FINISHED_OK
$STATE,7970,begin climb
$GC,7972,0.57,91.3,994.2,0.0,558,8080,0.62,2.47,96.25,1.802,4,0.067,0.030,1914,1870,2100,0,0,0,0,0,0
$GC,8090,0.57,91.3,985.5,12.1,563,8095,0.00,2.53,0.00,0.000,6,0.000,0.049,1914,3277,2098,0,0,0,0,0,0
$GC,8413,0.57,91.3,937.9,14.5,579,8414,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3277,2090,0,0,0,0,0,0
$GC,8723,0.57,91.3,891.7,14.9,594,8724,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3276,2087,0,0,0,0,0,0
$GC,9031,0.57,91.3,846.3,14.9,609,9033,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3277,2086,0,0,0,0,0,0
$GC,9340,0.57,91.3,802.1,14.0,624,9344,0.00,1.10,0.00,0.000,4,0.000,0.059,1914,3954,2085,0,0,0,0,0,0
$GC,9378,0.57,91.3,796.2,15.3,625,9386,0.00,1.05,0.00,0.000,6,0.000,0.034,1919,3274,2085,0,0,0,0,0,0
$GC,9695,0.57,91.3,750.4,14.5,641,9696,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3275,2084,0,0,0,0,0,0
$GC,10005,0.57,91.3,707.5,13.6,656,10009,0.00,2.15,0.00,0.000,4,0.000,0.031,1930,1863,2083,0,0,0,0,0,0
$GC,10047,0.57,91.3,702.3,11.9,658,10051,0.00,2.30,0.00,0.000,6,0.000,0.050,1930,3298,2081,0,0,0,0,0,0
$GC,10373,0.57,91.3,657.6,13.8,674,10374,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3298,2081,0,0,0,0,0,0
$GC,10684,0.61,155.5,638.5,1.4,689,10749,0.00,2.38,58.45,1.674,4,0.000,0.032,1942,1872,1838,0,0,0,0,0,0
$GC,10839,0.61,155.5,615.3,14.8,696,10843,0.00,2.33,0.00,0.000,6,0.000,0.050,1942,3284,1833,0,0,0,0,0,0
$GC,11166,0.61,155.5,555.6,18.8,712,11167,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,3284,1830,0,0,0,0,0,0
$GC,11475,0.61,155.5,497.2,18.8,727,11476,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,3284,1829,0,0,0,0,0,0
$GC,11785,0.61,155.5,438.8,18.9,742,11789,0.00,1.08,0.00,0.000,4,0.000,0.058,1942,3949,1828,0,0,0,0,0,0
$GC,11823,0.61,155.5,430.5,20.5,743,11831,0.12,1.02,0.00,0.000,6,0.221,0.034,1920,3283,1828,0,0,0,0,0,0
$GC,12145,0.61,155.5,374.3,17.1,766,12146,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3283,1826,0,0,0,0,0,0
$GC,12463,0.61,155.5,320.2,16.8,796,12464,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3283,1825,0,0,0,0,0,0
$GC,12782,0.61,155.5,266.4,17.6,826,12786,0.00,2.12,0.00,0.000,4,0.000,0.031,1929,1874,1825,0,0,0,0,0,0
$GC,12800,0.61,155.5,263.3,16.7,827,12804,0.00,2.28,0.00,0.000,6,0.000,0.048,1929,3288,1824,0,0,0,0,0,0
$GC,13128,0.61,155.5,207.1,17.3,857,13131,0.00,1.08,0.00,0.000,4,0.000,0.057,1929,3955,1824,0,0,0,0,0,0
$GC,13188,0.61,155.5,194.7,19.9,862,13196,0.00,1.02,0.00,0.000,6,0.000,0.033,1934,3286,1824,0,0,0,0,0,0
$GC,13516,0.61,155.5,137.3,17.4,893,13520,0.00,2.12,0.00,0.000,4,0.000,0.030,1945,1873,1824,0,0,0,0,0,0
$GC,13537,0.61,155.5,133.2,16.6,894,13545,0.12,2.28,0.00,0.000,6,0.187,0.048,1916,3293,1823,0,0,0,0,0,0
$GC,13871,0.61,155.5,80.3,16.0,936,13880,0.00,1.05,0.00,0.000,4,0.000,0.056,1916,3949,1823,0,0,0,0,0,0
$GC,13939,0.61,155.5,68.6,18.3,947,13946,0.00,1.00,0.00,0.000,6,0.000,0.034,1919,3283,1822,0,0,0,0,0,0
$GC,14297,0.61,155.5,15.7,13.7,1008,14306,0.00,2.15,0.00,0.000,4,0.000,0.029,1930,1870,1822,0,0,0,0,0,0
$GC,14369,0.61,155.5,6.8,11.1,1019,14378,0.00,2.30,0.00,0.000,6,0.000,0.049,1930,3284,1822,0,0,0,0,0,0
$STATE,14404,end climb,SURFACE_DEPTH_REACHED
$STATE,14404,begin surface coast
$FINISH,0.8,1.026091
$STATE,14430,end surface coast,CONTROL_FINISHED_OK
$STATE,14430,begin surface
$SM_CCo,14443,25.10,0.792,0,0,1572,220.03
$SM_GC,2.15,0.00,0.00,25.10,0.000,0.000,0.792,64,3389,1572,-5.17,0.25,220.03
$IRIDIUM_FIX,-4242.04,830.68,240114,232314
$TT8_MAMPS,0.025466
$HUMID,63.30
$INTERNAL_PRESSURE,9.57185
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,22.0,46.001
$10V_AH,9.8,36.291
$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,12.875,75.025,245.500,25.100,0.000,36.460,22.296,328.050,0.000,0.000,19.721,2508.503,9247.327,375.201,2616.160,246.823,0.000,1300.134,0.000,2116.855,0.000,1.013,0.000
$DEVICE_MAMPS,231.795,91.035,1858.185,791.775,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,711.802,1767.134,676.353,343.194,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354408
$DATA_FILE_SIZE,73727,1028
$CAP_FILE_SIZE,124801,0
$CFSIZE,259252224,234606592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,250114,173835,-4258.710,830.175,33,1.1,33,-25.0