version: 66.07
glider: 543
mission: 14
dive: 177
start: 9 1 115 17 4 57
data:
$ID,543
$MISSION,14
$DIVE,177
$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,-24675.777
$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,65
$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
$GPS1,010915,165557,-4255.064,824.646,112,0.9,112,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-70.6
$GPS2,010915,170434,-4255.128,824.805,18,1.2,19,-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,239.1,1949,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.54,-49.8,0.0,0.0,0,59,0.00,0.00,-41.35,0.000,2,0.000,0.000,50,3204,1659,0,0,0,0,0,0
$GC,61,-0.60,-106.1,3.0,-2.1,5,87,6.78,1.23,-9.45,0.000,4,0.230,0.078,1698,3956,1933,0,0,0,0,0,0
$GC,349,-0.51,-106.1,56.3,-17.9,53,356,0.10,1.10,0.00,0.000,6,0.173,0.031,1727,3220,1935,0,0,0,0,0,0
$GC,701,-0.51,-106.1,105.3,-14.6,112,705,0.00,1.17,0.00,0.000,4,0.000,0.056,1723,3955,1935,0,0,0,0,0,0
$GC,826,-0.49,-106.1,124.5,-15.8,123,830,0.00,1.10,0.00,0.000,6,0.000,0.031,1723,3204,1935,0,0,0,0,0,0
$GC,1156,-0.49,-106.1,170.5,-13.9,154,1157,0.00,0.00,0.00,0.000,6,0.000,0.000,1723,3204,1935,0,0,0,0,0,0
$GC,1475,-0.49,-106.1,210.0,-12.0,184,1476,0.00,0.00,0.00,0.000,6,0.000,0.000,1722,3204,1935,0,0,0,0,0,0
$GC,1796,-0.49,-106.1,249.8,-12.7,214,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,1723,3204,1935,0,0,0,0,0,0
$GC,2112,-0.49,-106.1,290.3,-12.2,244,2116,0.00,1.30,0.00,0.000,4,0.000,0.027,1723,2290,1935,0,0,0,0,0,0
$GC,2147,-0.52,-106.1,294.4,-11.5,247,2151,0.00,1.50,0.00,0.000,6,0.000,0.050,1716,3219,1935,0,0,0,0,0,0
$GC,2477,-0.52,-106.1,335.2,-11.9,278,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,3218,1935,0,0,0,0,0,0
$GC,2797,-0.52,-106.1,374.1,-12.4,308,2798,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,3219,1935,0,0,0,0,0,0
$GC,3111,-0.52,-106.1,414.8,-13.3,333,3112,0.00,0.00,0.00,0.000,6,0.000,0.000,1717,3219,1935,0,0,0,0,0,0
$GC,3421,-0.52,-106.1,454.7,-12.3,348,3422,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,3219,1935,0,0,0,0,0,0
$GC,3730,-0.52,-106.1,493.3,-12.5,363,3733,0.00,1.15,0.00,0.000,4,0.000,0.056,1711,3952,1935,0,0,0,0,0,0
$GC,3775,-0.50,-106.1,499.4,-14.2,365,3779,0.08,1.10,0.00,0.000,6,0.164,0.032,1733,3204,1935,0,0,0,0,0,0
$GC,4108,-0.53,-106.1,538.5,-11.7,381,4111,0.00,1.30,0.00,0.000,4,0.000,0.028,1733,2291,1935,0,0,0,0,0,0
$GC,4153,-0.60,-106.1,543.8,-11.0,383,4157,0.00,1.48,0.00,0.000,6,0.000,0.051,1728,3204,1935,0,0,0,0,0,0
$GC,4486,-0.63,-106.1,583.9,-12.3,399,4487,0.00,0.00,0.00,0.000,6,0.000,0.000,1728,3204,1935,0,0,0,0,0,0
$GC,4795,-0.65,-106.1,620.5,-11.5,414,4799,0.10,1.20,0.00,0.000,4,0.110,0.058,1675,3952,1935,0,0,0,0,0,0
$GC,4833,-0.57,-106.1,626.2,-15.2,415,4841,0.12,1.10,0.00,0.000,6,0.168,0.031,1711,3207,1935,0,0,0,0,0,0
$GC,5149,-0.57,-106.1,666.8,-12.5,431,5153,0.00,1.30,0.00,0.000,4,0.000,0.029,1711,2300,1935,0,0,0,0,0,0
$GC,5221,-0.61,-106.1,675.4,-11.0,434,5225,0.00,1.48,0.00,0.000,6,0.000,0.051,1706,3209,1935,0,0,0,0,0,0
$GC,5548,-0.61,-106.1,715.6,-12.5,450,5552,0.00,1.20,0.00,0.000,4,0.000,0.058,1700,3956,1935,0,0,0,0,0,0
$GC,5581,-0.57,-106.1,720.3,-14.0,451,5585,0.00,1.10,0.00,0.000,6,0.000,0.032,1700,3202,1935,0,0,0,0,0,0
$GC,5902,-0.56,-106.1,761.3,-12.4,467,5906,0.00,1.30,0.00,0.000,4,0.000,0.030,1700,2296,1935,0,0,0,0,0,0
$GC,5935,-0.56,-106.1,765.3,-10.8,468,5940,0.08,1.48,0.00,0.000,6,0.164,0.052,1716,3203,1935,0,0,0,0,0,0
$GC,6256,-0.58,-106.1,799.7,-10.8,484,6260,0.00,1.20,0.00,0.000,4,0.000,0.058,1712,3960,1935,0,0,0,0,0,0
$GC,6333,-0.58,-106.1,809.0,-11.7,487,6338,0.00,1.12,0.00,0.000,6,0.000,0.031,1711,3206,1935,0,0,0,0,0,0
$GC,6655,-0.58,-106.1,844.4,-10.6,503,6657,0.00,0.00,0.00,0.000,6,0.000,0.000,1712,3205,1936,0,0,0,0,0,0
$GC,6966,-0.58,-106.1,879.6,-11.8,518,6967,0.00,0.00,0.00,0.000,6,0.000,0.000,1712,3205,1935,0,0,0,0,0,0
$GC,7274,-0.59,-106.1,915.1,-11.6,533,7278,0.00,1.20,0.00,0.000,4,0.000,0.058,1706,3958,1936,0,0,0,0,0,0
$GC,7346,-0.59,-106.1,924.4,-12.9,536,7351,0.00,1.10,0.00,0.000,6,0.000,0.033,1706,3216,1935,0,0,0,0,0,0
$GC,7673,-0.59,-106.1,961.9,-11.6,552,7674,0.00,0.00,0.00,0.000,6,0.000,0.000,1706,3216,1935,0,0,0,0,0,0
$GC,7983,-0.59,-106.1,996.6,-10.6,567,7984,0.00,0.00,0.00,0.000,6,0.000,0.000,1706,3216,1936,0,0,0,0,0,0
$STATE,8022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8022,begin apogee
$GC,8026,-0.09,0.0,1001.0,10.8,569,8145,0.57,0.00,110.25,1.884,6,0.153,0.000,1872,2917,1502,0,0,0,0,0,0
$STATE,8146,end apogee,CONTROL_FINISHED_OK
$STATE,8146,begin climb
$GC,8147,0.60,106.1,1003.0,0.0,575,8262,0.68,0.00,109.38,1.819,6,0.087,0.000,2093,2917,1066,0,0,0,0,0,0
$GC,8577,0.58,106.1,942.9,15.5,596,8581,0.00,1.48,0.00,0.000,4,0.000,0.057,2093,3803,1067,0,0,0,0,0,0
$GC,8615,0.51,106.1,936.0,18.2,597,8623,0.10,1.38,0.00,0.000,6,0.200,0.029,2075,2896,1067,0,0,0,0,0,0
$GC,8931,0.51,106.1,892.7,13.2,613,8935,0.00,1.50,0.00,0.000,4,0.000,0.057,2075,3811,1066,0,0,0,0,0,0
$GC,9067,0.47,106.1,871.8,15.1,619,9071,0.00,1.33,0.00,0.000,6,0.000,0.031,2080,2926,1066,0,0,0,0,0,0
$GC,9401,0.47,106.1,824.6,14.3,635,9404,0.00,1.42,0.00,0.000,4,0.000,0.057,2080,3803,1065,0,0,0,0,0,0
$GC,9491,0.42,106.1,810.1,16.1,639,9495,0.15,1.30,0.00,0.000,6,0.188,0.031,2045,2925,1065,0,0,0,0,0,0
$GC,9823,0.48,106.1,770.3,11.8,655,9827,0.00,1.42,0.00,0.000,4,0.000,0.059,2046,3801,1064,0,0,0,0,0,0
$GC,9939,0.50,106.1,754.6,14.7,660,9944,0.00,1.30,0.00,0.000,6,0.000,0.031,2051,2927,1063,0,0,0,0,0,0
$GC,10267,0.55,106.1,715.9,11.6,676,10271,0.10,1.45,0.00,0.000,4,0.115,0.059,2091,3811,1063,0,0,0,0,0,0
$GC,10335,0.49,106.1,705.4,16.9,679,10339,0.10,1.33,0.00,0.000,6,0.197,0.031,2070,2920,1063,0,0,0,0,0,0
$GC,10668,0.51,106.1,664.3,11.7,695,10671,0.00,1.45,0.00,0.000,4,0.000,0.058,2070,3816,1064,0,0,0,0,0,0
$GC,10736,0.48,106.1,655.2,13.1,698,10739,0.00,1.33,0.00,0.000,6,0.000,0.031,2075,2924,1063,0,0,0,0,0,0
$GC,11067,0.48,106.1,616.2,11.7,714,11071,0.00,1.42,0.00,0.000,4,0.000,0.057,2075,3809,1063,0,0,0,0,0,0
$GC,11107,0.44,106.1,610.9,13.8,715,11115,0.10,1.33,0.00,0.000,6,0.189,0.031,2054,2914,1063,0,0,0,0,0,0
$GC,11423,0.48,106.1,574.9,11.0,731,11427,0.00,1.45,0.00,0.000,4,0.000,0.057,2054,3813,1064,0,0,0,0,0,0
$GC,11625,0.48,106.1,548.2,13.7,740,11629,0.00,1.33,0.00,0.000,6,0.000,0.031,2059,2921,1063,0,0,0,0,0,0
$GC,11957,0.52,106.1,511.1,11.0,756,11961,0.00,1.42,0.00,0.000,4,0.000,0.057,2059,3808,1063,0,0,0,0,0,0
$GC,11995,0.52,106.1,506.2,12.8,757,12003,0.00,1.30,0.00,0.000,6,0.000,0.031,2066,2926,1063,0,0,0,0,0,0
$GC,12311,0.56,106.1,469.9,11.3,773,12315,0.00,1.42,0.00,0.000,4,0.000,0.058,2066,3809,1062,0,0,0,0,0,0
$GC,12484,0.53,106.1,445.9,14.1,780,12492,0.00,1.30,0.00,0.000,6,0.000,0.031,2073,2926,1062,0,0,0,0,0,0
$GC,12800,0.56,106.1,408.3,11.8,796,12804,0.00,1.42,0.00,0.000,4,0.000,0.057,2073,3812,1063,0,0,0,0,0,0
$GC,12948,0.53,106.1,387.5,13.7,806,12952,0.00,1.33,0.00,0.000,6,0.000,0.031,2079,2917,1063,0,0,0,0,0,0
$GC,13280,0.53,106.1,345.9,12.4,837,13284,0.00,1.45,0.00,0.000,4,0.000,0.057,2079,3816,1062,0,0,0,0,0,0
$GC,13315,0.49,106.1,340.9,14.6,840,13318,0.00,1.33,0.00,0.000,6,0.000,0.031,2086,2920,1063,0,0,0,0,0,0
$GC,13645,0.49,106.1,297.5,12.6,871,13648,0.00,1.45,0.00,0.000,4,0.000,0.057,2086,3816,1062,0,0,0,0,0,0
$GC,13865,0.44,106.1,263.3,14.8,890,13873,0.15,1.33,0.00,0.000,6,0.183,0.030,2050,2921,1063,0,0,0,0,0,0
$GC,14194,0.51,106.1,228.4,11.2,921,14198,0.00,1.42,0.00,0.000,4,0.000,0.057,2050,3809,1063,0,0,0,0,0,0
$GC,14334,0.53,106.1,210.6,12.1,933,14341,0.00,1.30,0.00,0.000,6,0.000,0.031,2055,2925,1063,0,0,0,0,0,0
$GC,14659,0.59,106.1,172.6,11.5,964,14663,0.10,1.45,0.00,0.000,4,0.110,0.057,2105,3814,1063,0,0,0,0,0,0
$GC,14864,0.50,106.1,138.0,16.9,982,14868,0.12,1.30,0.00,0.000,6,0.194,0.029,2077,2928,1063,0,0,0,0,0,0
$GC,15192,0.52,106.1,96.0,12.5,1015,15199,0.00,1.42,0.00,0.000,4,0.000,0.055,2076,3817,1062,0,0,0,0,0,0
$GC,15367,0.50,106.1,71.3,14.1,1045,15374,0.00,1.30,0.00,0.000,6,0.000,0.030,2081,2926,1063,0,0,0,0,0,0
$GC,15723,0.51,121.8,26.9,6.7,1106,15740,0.00,1.42,7.30,0.845,4,0.000,0.057,2082,3805,1002,0,0,0,0,0,0
$GC,15831,0.47,121.8,13.2,13.5,1123,15841,0.10,1.30,0.00,0.000,6,0.187,0.028,2060,2901,1003,0,0,0,0,0,0
$GC,15892,0.55,121.8,4.0,14.6,1132,15900,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2900,1003,0,0,0,0,0,0
$STATE,15907,end climb,SURFACE_DEPTH_REACHED
$STATE,15907,begin surface coast
$FINISH,1.6,1.026537
$STATE,15938,end surface coast,CONTROL_FINISHED_OK
$STATE,15938,begin surface
$SM_CCo,15951,37.03,0.140,0,0,682,200.16
$SM_GC,2.61,0.00,0.00,37.03,0.000,0.000,0.140,66,3233,682,-5.75,0.68,200.16
$IRIDIUM_FIX,-4239.11,824.86,280608,010141
$TT8_MAMPS,0.027713
$HUMID,61.57
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.2,34.646
$10V_AH,10.2,20.808
$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,14.925,75.025,226.925,37.025,0.000,33.626,22.074,334.275,0.000,0.000,20.809,2853.644,10068.092,371.464,3028.143,182.654,0.000,1481.150,0.000,2602.577,0.000,0.545,0.000
$DEVICE_MAMPS,229.500,78.030,1884.195,139.995,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,790.249,806.921,811.464,76.321,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354004
$DATA_FILE_SIZE,66856,1139
$CAP_FILE_SIZE,151962,0
$CFSIZE,259252224,244625408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,010915,213236,-4255.771,824.357,36,1.1,36,-25.0