version: 66.07
glider: 543
mission: 14
dive: 176
start: 9 1 115 12 19 18
data:
$ID,543
$MISSION,14
$DIVE,176
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,5
$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,390
$T_MISSION,420
$T_ABORT,1440
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,53008
$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,200
$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,-24672.467
$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,1905
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,55
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,394
$ROLL_MAX,3944
$ROLL_DEG,25
$C_ROLL_DIVE,3209
$C_ROLL_CLIMB,2924
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,1500
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.001
$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,-55.053406
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.050000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,117
$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,0.00012677554
$GPS1,010915,120822,-4256.612,824.850,42,0.8,42,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-71.0
$GPS2,010915,121854,-4256.651,824.916,16,1.7,16,-25.0
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAZ_BUT2
$TGT_LATLONG,-4256.000,824.000
$TGT_RADIUS,1000.000
$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,339.1,1730,-27.0,-8.547
$D_GRID,1000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.54,-49.8,0.0,0.0,0,64,0.00,0.00,-44.05,0.000,6,0.000,0.000,61,3225,1704,0,0,0,0,0,0
$GC,66,-0.60,-107.9,3.0,-1.9,6,91,6.65,1.40,-8.00,0.000,4,0.223,0.051,1706,2288,1941,0,0,0,0,0,0
$GC,141,-0.60,-107.9,14.7,-17.5,17,149,0.00,1.50,0.00,0.000,6,0.000,0.048,1700,3208,1942,0,0,0,0,0,0
$GC,199,-0.52,-107.9,23.8,-17.1,26,208,0.12,1.23,0.00,0.000,4,0.196,0.057,1725,3958,1943,0,0,0,0,0,0
$GC,240,-0.45,-107.9,31.7,-18.7,32,250,0.08,1.12,0.00,0.000,6,0.166,0.031,1747,3205,1943,0,0,0,0,0,0
$GC,390,-0.48,-107.9,54.2,-14.4,57,398,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3205,1943,0,0,0,0,0,0
$GC,741,-0.50,-107.9,96.6,-12.4,118,747,0.00,1.30,0.00,0.000,4,0.000,0.028,1747,2292,1943,0,0,0,0,0,0
$GC,761,-0.53,-107.9,99.2,-12.5,121,768,0.00,1.48,0.00,0.000,6,0.000,0.050,1741,3203,1942,0,0,0,0,0,0
$GC,1086,-0.53,-107.9,140.4,-12.3,152,1090,0.00,1.17,0.00,0.000,4,0.000,0.056,1736,3950,1943,0,0,0,0,0,0
$GC,1145,-0.53,-107.9,148.1,-13.8,157,1149,0.00,1.10,0.00,0.000,6,0.000,0.031,1736,3197,1943,0,0,0,0,0,0
$GC,1475,-0.53,-107.9,191.5,-12.7,188,1479,0.00,1.20,0.00,0.000,4,0.000,0.056,1730,3953,1943,0,0,0,0,0,0
$GC,1534,-0.53,-107.9,199.2,-13.7,193,1538,0.00,1.08,0.00,0.000,6,0.000,0.031,1731,3214,1943,0,0,0,0,0,0
$GC,1864,-0.53,-107.9,241.5,-13.1,224,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,1730,3214,1943,0,0,0,0,0,0
$GC,2184,-0.53,-107.9,284.0,-13.4,254,2185,0.00,0.00,0.00,0.000,6,0.000,0.000,1731,3214,1943,0,0,0,0,0,0
$GC,2502,-0.53,-107.9,326.4,-13.2,284,2503,0.00,0.00,0.00,0.000,6,0.000,0.000,1730,3214,1943,0,0,0,0,0,0
$GC,2821,-0.53,-107.9,368.1,-12.6,314,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,1731,3214,1943,0,0,0,0,0,0
$GC,3138,-0.53,-107.9,405.8,-11.5,342,3141,0.00,1.17,0.00,0.000,4,0.000,0.057,1725,3955,1943,0,0,0,0,0,0
$GC,3183,-0.53,-107.9,411.4,-12.6,344,3186,0.00,1.10,0.00,0.000,6,0.000,0.031,1725,3201,1943,0,0,0,0,0,0
$GC,3515,-0.53,-107.9,448.9,-10.8,360,3516,0.00,0.00,0.00,0.000,6,0.000,0.000,1726,3201,1943,0,0,0,0,0,0
$GC,3824,-0.53,-107.9,483.9,-11.3,375,3828,0.00,1.17,0.00,0.000,4,0.000,0.057,1720,3936,1943,0,0,0,0,0,0
$GC,3857,-0.52,-107.9,488.1,-13.0,376,3861,0.00,1.08,0.00,0.000,6,0.000,0.031,1719,3206,1943,0,0,0,0,0,0
$GC,4178,-0.52,-107.9,527.3,-12.6,392,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,1720,3205,1943,0,0,0,0,0,0
$GC,4487,-0.52,-107.9,566.0,-12.3,407,4491,0.00,1.30,0.00,0.000,4,0.000,0.028,1720,2294,1943,0,0,0,0,0,0
$GC,4510,-0.53,-107.9,568.8,-12.3,408,4514,0.00,1.48,0.00,0.000,6,0.000,0.051,1713,3207,1942,0,0,0,0,0,0
$GC,4842,-0.53,-107.9,608.7,-11.6,424,4846,0.00,1.17,0.00,0.000,4,0.000,0.057,1707,3952,1943,0,0,0,0,0,0
$GC,4869,-0.50,-107.9,612.2,-12.5,425,4874,0.10,1.08,0.00,0.000,6,0.161,0.031,1737,3223,1943,0,0,0,0,0,0
$GC,5197,-0.55,-107.9,644.7,-9.8,441,5200,0.00,1.35,0.00,0.000,4,0.000,0.029,1737,2287,1943,0,0,0,0,0,0
$GC,5264,-0.63,-107.9,651.2,-8.8,444,5268,0.00,1.50,0.00,0.000,6,0.000,0.052,1731,3213,1942,0,0,0,0,0,0
$GC,5597,-0.66,-107.9,686.0,-10.4,460,5599,0.12,0.00,0.00,0.000,6,0.099,0.000,1674,3214,1943,0,0,0,0,0,0
$GC,5906,-0.58,-107.9,731.3,-15.1,475,5908,0.15,0.00,0.00,0.000,6,0.190,0.000,1710,3213,1943,0,0,0,0,0,0
$GC,6215,-0.58,-107.9,769.1,-11.9,490,6219,0.00,1.17,0.00,0.000,4,0.000,0.057,1707,3956,1943,0,0,0,0,0,0
$GC,6247,-0.55,-107.9,773.6,-13.6,491,6252,0.00,1.12,0.00,0.000,6,0.000,0.032,1707,3187,1943,0,0,0,0,0,0
$GC,6569,-0.55,-107.9,811.5,-11.4,507,6573,0.00,1.23,0.00,0.000,4,0.000,0.058,1701,3955,1943,0,0,0,0,0,0
$GC,6592,-0.53,-107.9,814.4,-12.9,508,6596,0.08,1.10,0.00,0.000,6,0.168,0.032,1724,3214,1942,0,0,0,0,0,0
$GC,6924,-0.56,-107.9,849.4,-10.3,524,6928,0.00,1.33,0.00,0.000,4,0.000,0.029,1724,2298,1943,0,0,0,0,0,0
$GC,6970,-0.63,-107.9,853.6,-8.7,526,6973,0.00,1.48,0.00,0.000,6,0.000,0.053,1718,3204,1943,0,0,0,0,0,0
$GC,7302,-0.65,-107.9,889.1,-11.2,542,7303,0.00,0.00,0.00,0.000,6,0.000,0.000,1719,3204,1943,0,0,0,0,0,0
$GC,7611,-0.67,-107.9,922.3,-10.7,557,7612,0.00,0.00,0.00,0.000,6,0.000,0.000,1718,3204,1943,0,0,0,0,0,0
$GC,7921,-0.69,-107.9,956.4,-11.2,572,7923,0.10,0.00,0.00,0.000,6,0.116,0.000,1671,3205,1943,0,0,0,0,0,0
$STATE,8228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8228,begin apogee
$GC,8233,-0.09,0.0,1001.9,14.9,587,8356,0.70,0.00,114.70,1.752,6,0.162,0.000,1869,2922,1499,0,0,0,0,1,0
$STATE,8357,end apogee,CONTROL_FINISHED_OK
$STATE,8357,begin climb
$GC,8358,0.60,107.9,1007.7,0.0,593,8477,0.68,1.50,111.43,1.834,4,0.090,0.033,2096,2055,1062,0,0,0,0,0,0
$GC,8533,0.62,107.9,992.4,12.3,601,8538,0.00,1.50,1.33,0.169,6,0.000,0.048,2096,2917,1058,0,0,0,0,0,0
$GC,8856,0.59,107.9,945.1,15.1,617,8859,0.00,1.48,0.00,0.000,4,0.000,0.057,2096,3812,1067,0,0,0,0,0,0
$GC,9001,0.51,107.9,919.1,18.7,623,9005,0.10,1.38,0.00,0.000,6,0.200,0.030,2077,2902,1068,0,0,0,0,0,0
$GC,9321,0.51,107.9,872.9,14.1,639,9325,0.00,1.48,0.00,0.000,4,0.000,0.057,2077,3807,1068,0,0,0,0,0,0
$GC,9434,0.47,107.9,854.9,15.7,644,9438,0.00,1.33,0.00,0.000,6,0.000,0.031,2082,2922,1067,0,0,0,0,0,0
$GC,9766,0.47,107.9,805.5,14.7,660,9770,0.00,1.42,0.00,0.000,4,0.000,0.057,2082,3800,1067,0,0,0,0,0,0
$GC,9812,0.41,107.9,798.0,16.5,662,9816,0.15,1.30,0.00,0.000,6,0.188,0.031,2046,2923,1067,0,0,0,0,0,0
$GC,10144,0.47,107.9,758.4,11.4,678,10148,0.00,1.42,0.00,0.000,4,0.000,0.058,2047,3803,1067,0,0,0,0,0,0
$GC,10295,0.47,107.9,738.0,13.4,684,10302,0.00,1.30,0.00,0.000,6,0.000,0.031,2052,2930,1066,0,0,0,0,0,0
$GC,10611,0.51,107.9,701.5,11.8,700,10615,0.00,1.42,0.00,0.000,4,0.000,0.057,2052,3812,1066,0,0,0,0,0,0
$GC,10666,0.51,107.9,693.9,13.8,702,10671,0.00,1.35,0.00,0.000,6,0.000,0.031,2059,2917,1066,0,0,0,0,0,0
$GC,10988,0.55,107.9,654.8,11.9,718,10992,0.00,1.45,0.00,0.000,4,0.000,0.057,2059,3815,1066,0,0,0,0,0,0
$GC,11071,0.55,107.9,643.2,13.9,721,11078,0.00,1.33,0.00,0.000,6,0.000,0.031,2066,2921,1065,0,0,0,0,0,0
$GC,11387,0.57,107.9,605.4,11.8,737,11391,0.00,1.42,0.00,0.000,4,0.000,0.057,2066,3804,1066,0,0,0,0,0,0
$GC,11442,0.55,107.9,597.7,14.0,739,11447,0.00,1.30,0.00,0.000,6,0.000,0.031,2072,2923,1066,0,0,0,0,0,0
$GC,11764,0.55,107.9,559.2,11.7,755,11767,0.00,1.42,0.00,0.000,4,0.000,0.057,2072,3807,1066,0,0,0,0,0,0
$GC,11869,0.52,107.9,544.7,13.7,759,11876,0.00,1.30,0.00,0.000,6,0.000,0.030,2079,2922,1066,0,0,0,0,0,0
$GC,12185,0.52,107.9,505.8,12.5,775,12188,0.00,1.42,0.00,0.000,4,0.000,0.057,2079,3807,1066,0,0,0,0,0,0
$GC,12230,0.47,107.9,499.3,15.2,777,12234,0.00,1.30,0.00,0.000,6,0.000,0.031,2085,2927,1065,0,0,0,0,0,0
$GC,12562,0.47,107.9,455.9,13.0,793,12566,0.00,1.42,0.00,0.000,4,0.000,0.057,2086,3808,1066,0,0,0,0,0,0
$GC,12730,0.41,107.9,431.2,14.7,800,12735,0.17,1.30,0.00,0.000,6,0.179,0.030,2042,2928,1065,0,0,0,0,0,0
$GC,13052,0.49,107.9,400.1,9.4,816,13055,0.00,1.42,0.00,0.000,4,0.000,0.057,2042,3812,1066,0,0,0,0,0,0
$GC,13223,0.51,107.9,380.3,12.2,830,13226,0.00,1.33,0.00,0.000,6,0.000,0.031,2047,2914,1065,0,0,0,0,0,0
$GC,13555,0.58,107.9,345.9,10.1,861,13559,0.12,1.48,0.00,0.000,4,0.098,0.059,2106,3813,1065,0,0,0,0,0,0
$GC,13706,0.49,107.9,321.3,16.3,874,13714,0.15,1.30,0.00,0.000,6,0.194,0.029,2071,2927,1065,0,0,0,0,0,0
$GC,14033,0.51,107.9,284.2,11.6,905,14037,0.00,1.42,0.00,0.000,4,0.000,0.057,2071,3813,1065,0,0,0,0,0,0
$GC,14090,0.49,107.9,276.4,13.5,910,14094,0.00,1.30,0.00,0.000,6,0.000,0.030,2076,2930,1065,0,0,0,0,0,0
$GC,14424,0.49,107.9,237.2,11.5,941,14427,0.00,1.40,0.00,0.000,4,0.000,0.056,2076,3802,1065,0,0,0,0,0,0
$GC,14583,0.45,107.9,214.6,14.9,955,14587,0.00,1.30,0.00,0.000,6,0.000,0.030,2083,2918,1065,0,0,0,0,0,0
$GC,14913,0.45,107.9,172.3,12.7,986,14917,0.12,1.45,0.00,0.000,4,0.195,0.056,2053,3808,1065,0,0,0,0,0,0
$GC,14994,0.47,107.9,161.9,13.3,993,14997,0.00,1.30,0.00,0.000,6,0.000,0.030,2058,2926,1065,0,0,0,0,0,0
$GC,15324,0.52,107.9,123.7,11.3,1024,15328,0.00,1.42,0.00,0.000,4,0.000,0.057,2058,3814,1065,0,0,0,0,0,0
$GC,15484,0.52,107.9,102.2,13.8,1038,15488,0.00,1.30,0.00,0.000,6,0.000,0.029,2065,2924,1065,0,0,0,0,0,0
$GC,15830,0.57,107.9,61.6,11.3,1097,15837,0.00,1.42,0.00,0.000,4,0.000,0.055,2065,3812,1065,0,0,0,0,0,0
$GC,15871,0.57,107.9,56.3,12.8,1104,15880,0.00,1.30,0.00,0.000,6,0.000,0.030,2072,2924,1065,0,0,0,0,0,0
$GC,16230,0.58,107.9,21.4,11.5,1165,16238,0.00,1.42,0.00,0.000,4,0.000,0.056,2072,3811,1065,0,0,0,0,0,0
$STATE,16368,end climb,SURFACE_DEPTH_REACHED
$STATE,16369,begin surface coast
$FINISH,2.1,1.026513
$STATE,16394,end surface coast,CONTROL_FINISHED_OK
$STATE,16395,begin surface
$SM_CCo,16408,43.70,0.138,0,0,682,200.16
$SM_GC,2.82,0.00,0.00,43.70,0.000,0.000,0.138,51,3204,682,-5.80,-0.14,200.16
$IRIDIUM_FIX,-4230.32,317.49,280608,010137
$TT8_MAMPS,0.027713
$HUMID,61.97
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.2,34.506
$10V_AH,10.2,20.702
$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,15.075,84.800,227.450,43.700,0.000,57.117,76.154,317.099,0.000,0.000,18.767,2976.489,10341.514,385.470,3192.998,189.043,0.000,1543.642,0.000,2711.756,0.000,0.547,0.000
$DEVICE_MAMPS,223.380,58.905,1834.470,138.465,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,828.346,837.019,877.504,87.126,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353924
$DATA_FILE_SIZE,70286,1192
$CAP_FILE_SIZE,159994,0
$CFSIZE,259252224,244690944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,010915,165557,-4255.064,824.646,112,0.9,112,-25.0