version: 66.07
glider: 543
mission: 9
dive: 323
start: 1 26 114 2 57 24
data:
$ID,543
$MISSION,9
$DIVE,323
$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,-13541.649
$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,47
$R_STBD_OVSHOOT,39
$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
$GPS1,260114,024724,-4259.193,829.970,40,0.8,40,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-52.7
$GPS2,260114,025700,-4259.224,830.020,25,0.8,25,-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,206.1,1437,-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,-48.05,0.000,6,0.000,0.000,52,3408,2684,0,0,0,0,0,0
$GC,68,-0.57,-100.4,3.2,-3.1,6,87,6.18,2.20,-5.22,0.000,4,0.232,0.041,1533,1961,2886,0,0,0,0,0,0
$GC,113,-0.57,-100.4,12.6,-20.6,12,123,0.00,2.30,0.00,0.000,6,0.000,0.050,1524,3358,2889,0,0,0,0,0,0
$GC,174,-0.57,-100.4,21.5,-15.1,21,181,0.00,0.95,0.00,0.000,4,0.000,0.054,1520,3955,2889,0,0,0,0,0,0
$GC,445,-0.57,-100.4,71.0,-16.4,67,452,0.00,0.85,0.00,0.000,6,0.000,0.031,1520,3380,2890,0,0,0,0,0,0
$GC,784,-0.57,-100.4,120.0,-13.9,115,787,0.00,0.93,0.00,0.000,4,0.000,0.057,1515,3958,2892,0,0,0,0,0,0
$GC,931,-0.57,-100.4,143.7,-16.2,128,935,0.00,0.85,0.00,0.000,6,0.000,0.031,1515,3382,2893,0,0,0,0,0,0
$GC,1261,-0.57,-100.4,194.9,-15.2,159,1265,0.00,0.93,0.00,0.000,4,0.000,0.057,1511,3955,2893,0,0,0,0,0,0
$GC,1322,-0.57,-100.4,204.8,-15.6,164,1331,0.00,0.85,0.00,0.000,6,0.000,0.031,1511,3380,2893,0,0,0,0,0,0
$GC,1647,-0.57,-100.4,252.3,-14.1,195,1648,0.00,0.00,0.00,0.000,6,0.000,0.000,1511,3380,2893,0,0,0,0,0,0
$GC,1969,-0.57,-100.4,297.2,-14.5,225,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,1511,3381,2894,0,0,0,0,0,0
$GC,2295,-0.57,-100.4,345.4,-14.7,256,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,1511,3381,2893,0,0,0,0,0,0
$GC,2614,-0.57,-100.4,392.2,-14.7,286,2618,0.00,0.95,0.00,0.000,4,0.000,0.058,1507,3956,2894,0,0,0,0,0,0
$GC,2663,-0.57,-100.4,400.5,-15.5,290,2671,0.00,0.88,0.00,0.000,6,0.000,0.032,1507,3377,2893,0,0,0,0,0,0
$GC,2980,-0.57,-100.4,445.2,-14.4,306,2983,0.00,0.93,0.00,0.000,4,0.000,0.057,1503,3958,2893,0,0,0,0,0,0
$GC,3048,-0.57,-100.4,455.4,-15.0,309,3053,0.08,0.85,0.00,0.000,6,0.163,0.033,1525,3385,2893,0,0,0,0,0,0
$GC,3380,-0.57,-100.4,496.8,-12.6,325,3381,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3385,2893,0,0,0,0,0,0
$GC,3690,-0.57,-100.4,535.5,-12.8,340,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3385,2893,0,0,0,0,0,0
$GC,3998,-0.57,-100.4,576.6,-13.5,355,4002,0.00,0.90,0.00,0.000,4,0.000,0.060,1522,3950,2892,0,0,0,0,0,0
$GC,4076,-0.57,-100.4,587.8,-14.5,358,4080,0.00,0.88,0.00,0.000,6,0.000,0.034,1522,3365,2892,0,0,0,0,0,0
$GC,4398,-0.57,-100.4,630.4,-13.1,374,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3365,2891,0,0,0,0,0,0
$GC,4707,-0.57,-100.4,672.1,-13.8,389,4711,0.00,0.95,0.00,0.000,4,0.000,0.060,1518,3956,2890,0,0,0,0,0,0
$GC,4752,-0.57,-100.4,678.5,-14.7,391,4756,0.00,0.85,0.00,0.000,6,0.000,0.034,1518,3386,2890,0,0,0,0,0,0
$GC,5085,-0.57,-100.4,722.9,-13.0,407,5086,0.00,0.00,0.00,0.000,6,0.000,0.000,1518,3386,2889,0,0,0,0,0,0
$GC,5394,-0.57,-100.4,761.3,-12.0,422,5398,0.00,0.90,0.00,0.000,4,0.000,0.060,1514,3948,2889,0,0,0,0,0,0
$GC,5463,-0.57,-100.4,769.8,-13.3,425,5466,0.00,0.85,0.00,0.000,6,0.000,0.035,1514,3382,2889,0,0,0,0,0,0
$GC,5795,-0.57,-100.4,809.2,-11.8,441,5799,0.00,0.93,0.00,0.000,4,0.000,0.060,1509,3955,2887,0,0,0,0,0,0
$GC,5840,-0.57,-100.4,814.8,-12.4,443,5844,0.00,0.88,0.00,0.000,6,0.000,0.035,1510,3376,2887,0,0,0,0,0,0
$GC,6173,-0.57,-100.4,855.0,-11.9,459,6174,0.00,0.00,0.00,0.000,6,0.000,0.000,1510,3376,2886,0,0,0,0,0,0
$GC,6482,-0.57,-100.4,892.3,-12.3,474,6486,0.00,0.93,0.00,0.000,4,0.000,0.061,1505,3950,2887,0,0,0,0,0,0
$GC,6520,-0.57,-100.4,897.6,-13.8,475,6527,0.00,0.88,0.00,0.000,6,0.000,0.035,1505,3379,2887,0,0,0,0,0,0
$GC,6838,-0.57,-100.4,937.8,-12.5,491,6843,0.10,0.95,0.00,0.000,4,0.187,0.060,1526,3954,2885,0,0,0,0,0,0
$GC,6884,-0.57,-100.4,943.4,-12.1,493,6887,0.00,0.88,0.00,0.000,6,0.000,0.037,1526,3377,2885,0,0,0,0,0,0
$GC,7216,-0.57,-100.4,977.4,-9.9,509,7220,0.00,0.93,0.00,0.000,4,0.000,0.060,1522,3950,2885,0,0,0,0,0,0
$GC,7266,-0.57,-100.4,982.9,-10.8,511,7270,0.00,0.88,0.00,0.000,6,0.000,0.036,1521,3376,2885,0,0,0,0,0,0
$STATE,7345,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7345,begin apogee
$GC,7350,-0.09,0.0,990.7,10.2,515,7453,0.55,0.00,99.72,1.881,6,0.148,0.000,1681,3275,2473,0,0,0,0,0,0
$STATE,7454,end apogee,CONTROL_FINISHED_OK
$STATE,7454,begin climb
$GC,7456,0.57,100.4,992.8,0.0,520,7573,0.68,2.42,105.78,1.823,4,0.067,0.028,1919,1865,2063,0,0,0,0,0,0
$GC,7596,0.57,100.4,981.4,13.6,527,7600,0.00,2.50,0.00,0.000,6,0.000,0.049,1919,3293,2060,0,0,0,0,0,0
$GC,7924,0.57,100.4,930.2,15.6,543,7928,0.00,1.10,0.00,0.000,4,0.000,0.058,1920,3954,2052,0,0,0,0,0,0
$GC,8040,0.57,100.4,909.7,18.1,548,8045,0.00,1.08,0.00,0.000,6,0.000,0.033,1925,3266,2051,0,0,0,0,0,0
$GC,8369,0.57,100.4,858.3,15.3,564,8372,0.00,1.12,0.00,0.000,4,0.000,0.057,1925,3954,2049,0,0,0,0,0,0
$GC,8418,0.57,100.4,849.9,16.8,566,8422,0.00,1.05,0.00,0.000,6,0.000,0.034,1930,3277,2049,0,0,0,0,0,0
$GC,8747,0.57,100.4,800.6,15.0,582,8748,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3277,2048,0,0,0,0,0,0
$GC,9055,0.57,100.4,754.8,14.9,597,9059,0.00,1.10,0.00,0.000,4,0.000,0.058,1930,3952,2047,0,0,0,0,0,0
$GC,9123,0.57,100.4,743.2,16.7,600,9126,0.00,1.02,0.00,0.000,6,0.000,0.034,1935,3278,2047,0,0,0,0,0,0
$GC,9455,0.57,100.4,690.8,15.6,616,9457,0.12,0.00,0.00,0.000,6,0.205,0.000,1906,3279,2046,0,0,0,0,0,0
$GC,9765,0.57,100.4,648.4,14.1,631,9769,0.00,1.10,0.00,0.000,4,0.000,0.059,1906,3954,2045,0,0,0,0,0,0
$GC,9924,0.57,100.4,624.5,16.2,638,9928,0.00,1.02,0.00,0.000,6,0.000,0.035,1910,3279,2045,0,0,0,0,0,0
$GC,10256,0.57,100.4,578.3,14.3,654,10258,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3279,2044,0,0,0,0,0,0
$GC,10565,0.57,100.4,534.9,13.6,669,10569,0.00,1.10,0.00,0.000,4,0.000,0.058,1910,3956,2044,0,0,0,0,0,0
$GC,10823,0.57,100.4,495.6,15.9,680,10827,0.00,1.00,0.00,0.000,6,0.000,0.034,1915,3291,2044,0,0,0,0,0,0
$GC,11144,0.57,100.4,452.0,13.6,696,11148,0.00,1.08,0.00,0.000,4,0.000,0.058,1915,3955,2043,0,0,0,0,0,0
$GC,11401,0.57,100.4,413.7,14.9,707,11405,0.00,1.02,0.00,0.000,6,0.000,0.034,1920,3285,2043,0,0,0,0,0,0
$GC,11733,0.57,100.4,371.2,12.8,733,11736,0.00,1.08,0.00,0.000,4,0.000,0.058,1920,3955,2043,0,0,0,0,0,0
$GC,11992,0.57,100.4,331.1,14.3,756,11996,0.00,1.00,0.00,0.000,6,0.000,0.034,1925,3293,2043,0,0,0,0,0,0
$GC,12322,0.57,100.4,286.6,13.0,787,12326,0.00,1.08,0.00,0.000,4,0.000,0.057,1925,3957,2042,0,0,0,0,0,0
$GC,12378,0.57,100.4,278.7,14.6,792,12382,0.00,1.02,0.00,0.000,6,0.000,0.034,1930,3278,2042,0,0,0,0,0,0
$GC,12709,0.57,100.4,234.2,12.6,823,12710,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3277,2042,0,0,0,0,0,0
$GC,13031,0.57,100.4,194.0,12.5,853,13037,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3278,2042,0,0,0,0,0,0
$GC,13357,0.57,100.4,150.3,13.2,884,13361,0.00,2.15,0.00,0.000,4,0.000,0.030,1941,1859,2042,0,0,0,0,0,0
$GC,13406,0.57,100.4,144.1,11.6,888,13417,0.10,2.33,0.00,0.000,6,0.158,0.050,1911,3287,2041,0,0,0,0,0,0
$GC,13731,0.57,100.4,103.5,13.2,919,13735,0.00,1.08,0.00,0.000,4,0.000,0.057,1911,3957,2041,0,0,0,0,0,0
$GC,13880,0.57,100.4,81.8,14.3,942,13889,0.00,1.00,0.00,0.000,6,0.000,0.033,1914,3287,2041,0,0,0,0,0,0
$GC,14236,0.57,100.4,37.6,9.8,1003,14242,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3288,2041,0,0,0,0,0,0
$GC,14384,0.58,106.9,24.3,7.9,1028,14393,0.00,1.08,0.00,0.000,4,0.000,0.057,1915,3956,2041,0,0,0,0,0,0
$STATE,14607,end climb,SURFACE_DEPTH_REACHED
$STATE,14607,begin surface coast
$FINISH,0.6,1.026140
$STATE,14639,end surface coast,CONTROL_FINISHED_OK
$STATE,14639,begin surface
$SM_CCo,14653,47.53,0.786,0,0,1573,220.03
$SM_GC,1.26,0.00,0.00,47.53,0.000,0.000,0.786,65,3361,1573,-5.16,-0.54,220.03
$IRIDIUM_FIX,-4244.98,828.21,250114,222229
$TT8_MAMPS,0.026215
$HUMID,62.52
$INTERNAL_PRESSURE,9.58162
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,22.0,46.401
$10V_AH,9.8,36.644
$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,12.625,56.525,205.500,47.525,0.000,25.805,39.470,348.668,0.000,0.000,28.595,2662.774,9009.401,352.289,2997.560,250.978,0.000,1392.438,0.000,2434.338,0.000,1.011,0.000
$DEVICE_MAMPS,231.795,68.085,1881.135,786.420,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,740.478,1850.419,742.384,387.013,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354404
$DATA_FILE_SIZE,77059,1069
$CAP_FILE_SIZE,133960,0
$CFSIZE,259252224,234360832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260114,070337,-4300.781,830.702,36,1.1,36,-25.0