version: 66.07
glider: 543
mission: 14
dive: 178
start: 9 1 115 21 48 41
data:
$ID,543
$MISSION,14
$DIVE,178
$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,-24679.227
$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,93
$R_STBD_OVSHOOT,30
$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
$GPS1,010915,213236,-4255.771,824.357,36,1.1,36,-25.0
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-69.7
$GPS2,010915,214818,-4255.647,824.752,18,0.9,20,-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,262.3,1212,-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,-43.92,0.000,6,0.000,0.000,61,3231,1703,0,0,0,0,0,0
$GC,66,-0.60,-108.0,3.2,-1.9,6,85,6.97,1.20,-7.03,0.000,4,0.241,0.077,1700,3958,1941,0,0,0,0,0,0
$GC,228,-0.51,-108.0,35.4,-19.9,32,238,0.10,1.08,0.00,0.000,6,0.174,0.033,1729,3244,1943,0,0,0,0,0,0
$GC,375,-0.51,-108.0,59.3,-14.9,57,383,0.00,0.00,0.00,0.000,6,0.000,0.000,1729,3243,1943,0,0,0,0,0,0
$GC,722,-0.51,-108.0,109.5,-14.3,112,723,0.00,0.00,0.00,0.000,6,0.000,0.000,1729,3243,1943,0,0,0,0,0,0
$GC,1039,-0.51,-108.0,153.6,-13.6,142,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,1729,3244,1943,0,0,0,0,0,0
$GC,1358,-0.51,-108.0,196.7,-12.9,172,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,1729,3244,1943,0,0,0,0,0,0
$GC,1676,-0.52,-108.0,237.4,-12.4,202,1680,0.00,1.12,0.00,0.000,4,0.000,0.057,1726,3954,1943,0,0,0,0,0,0
$GC,1722,-0.52,-108.0,243.4,-13.3,206,1726,0.00,1.10,0.00,0.000,6,0.000,0.031,1726,3202,1943,0,0,0,0,0,0
$GC,2056,-0.52,-108.0,286.0,-13.2,237,2062,0.00,0.00,0.00,0.000,6,0.000,0.000,1726,3202,1943,0,0,0,0,0,0
$GC,2381,-0.52,-108.0,328.5,-12.6,268,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,1726,3202,1943,0,0,0,0,0,0
$GC,2699,-0.52,-108.0,370.2,-12.9,298,2703,0.00,1.17,0.00,0.000,4,0.000,0.057,1720,3941,1943,0,0,0,0,0,0
$GC,2749,-0.51,-108.0,377.8,-14.7,302,2756,0.00,1.08,0.00,0.000,6,0.000,0.031,1721,3207,1943,0,0,0,0,0,0
$GC,3080,-0.51,-108.0,422.4,-13.1,326,3081,0.00,0.00,0.00,0.000,6,0.000,0.000,1720,3207,1943,0,0,0,0,0,0
$GC,3389,-0.51,-108.0,462.2,-13.0,341,3393,0.00,1.17,0.00,0.000,4,0.000,0.056,1715,3948,1943,0,0,0,0,0,0
$GC,3421,-0.49,-108.0,466.9,-14.2,342,3426,0.08,1.08,0.00,0.000,6,0.159,0.031,1738,3218,1943,0,0,0,0,0,0
$GC,3742,-0.54,-108.0,502.5,-11.2,358,3743,0.00,0.00,0.00,0.000,6,0.000,0.000,1738,3218,1943,0,0,0,0,0,0
$GC,4052,-0.58,-108.0,538.4,-11.9,373,4055,0.00,1.33,0.00,0.000,4,0.000,0.028,1738,2291,1943,0,0,0,0,0,0
$GC,4078,-0.66,-108.0,541.8,-12.2,374,4084,0.08,1.48,0.00,0.000,6,0.066,0.051,1683,3203,1943,0,0,0,0,0,0
$GC,4407,-0.60,-108.0,594.6,-16.7,390,4410,0.00,1.17,0.00,0.000,4,0.000,0.056,1677,3956,1943,0,0,0,0,0,0
$GC,4467,-0.51,-108.0,605.6,-17.5,392,4475,0.17,1.10,0.00,0.000,6,0.167,0.031,1729,3208,1943,0,0,0,0,0,0
$GC,4783,-0.55,-108.0,645.0,-12.4,408,4787,0.00,1.17,0.00,0.000,4,0.000,0.057,1725,3948,1943,0,0,0,0,0,0
$GC,4820,-0.55,-108.0,650.4,-14.0,409,4828,0.00,1.12,0.00,0.000,6,0.000,0.031,1725,3189,1943,0,0,0,0,0,0
$GC,5137,-0.58,-108.0,690.6,-12.5,425,5141,0.00,1.20,0.00,0.000,4,0.000,0.057,1720,3942,1943,0,0,0,0,0,0
$GC,5208,-0.58,-108.0,700.5,-12.7,428,5213,0.00,1.10,0.00,0.000,6,0.000,0.031,1720,3206,1943,0,0,0,0,0,0
$GC,5537,-0.61,-108.0,739.6,-12.0,444,5540,0.00,1.17,0.00,0.000,4,0.000,0.058,1714,3941,1943,0,0,0,0,0,0
$GC,5642,-0.61,-108.0,753.8,-13.3,448,5649,0.00,1.10,0.00,0.000,6,0.000,0.032,1714,3204,1943,0,0,0,0,0,0
$GC,5959,-0.62,-108.0,790.9,-12.0,464,5962,0.00,1.20,0.00,0.000,4,0.000,0.058,1709,3956,1944,0,0,0,0,0,0
$GC,6007,-0.62,-108.0,797.5,-13.9,466,6012,0.00,1.12,0.00,0.000,6,0.000,0.032,1709,3202,1943,0,0,0,0,0,0
$GC,6335,-0.62,-108.0,837.0,-12.0,482,6336,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,3202,1944,0,0,0,0,0,0
$GC,6645,-0.62,-108.0,873.3,-11.1,497,6648,0.00,1.20,0.00,0.000,4,0.000,0.059,1703,3953,1944,0,0,0,0,0,0
$GC,6694,-0.60,-108.0,879.6,-12.3,499,6698,0.00,1.12,0.00,0.000,6,0.000,0.032,1703,3204,1943,0,0,0,0,0,0
$GC,7021,-0.60,-108.0,916.5,-11.4,515,7024,0.00,1.20,0.00,0.000,4,0.000,0.059,1697,3956,1943,0,0,0,0,0,0
$GC,7089,-0.57,-108.0,925.0,-12.7,518,7093,0.00,1.10,0.00,0.000,6,0.000,0.033,1697,3212,1944,0,0,0,0,0,0
$GC,7421,-0.57,-108.0,964.0,-11.2,534,7425,0.00,1.33,0.00,0.000,4,0.000,0.030,1697,2291,1944,0,0,0,0,0,0
$GC,7459,-0.60,-108.0,968.1,-10.2,535,7466,0.00,1.50,0.00,0.000,6,0.000,0.054,1690,3214,1943,0,0,0,0,0,0
$STATE,7732,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7732,begin apogee
$GC,7737,-0.09,0.0,1000.0,11.6,549,7855,0.62,0.00,114.62,1.885,6,0.159,0.000,1868,2917,1500,0,0,0,0,0,0
$STATE,7856,end apogee,CONTROL_FINISHED_OK
$STATE,7856,begin climb
$GC,7858,0.60,108.0,1001.8,0.0,555,7978,0.70,1.48,111.62,1.821,4,0.091,0.032,2098,2052,1059,0,0,0,0,0,0
$GC,8055,0.62,108.0,978.0,14.8,564,8060,0.00,1.50,0.00,0.000,6,0.000,0.049,2098,2922,1057,0,0,0,0,0,0
$GC,8383,0.59,108.0,923.9,16.9,580,8387,0.00,1.45,0.00,0.000,4,0.000,0.057,2098,3807,1054,0,0,0,0,0,0
$GC,8421,0.52,108.0,916.5,18.8,581,8429,0.10,1.35,0.00,0.000,6,0.200,0.031,2079,2915,1054,0,0,0,0,0,0
$GC,8737,0.52,108.0,866.9,15.7,597,8741,0.00,1.45,0.00,0.000,4,0.000,0.057,2079,3801,1053,0,0,0,0,0,0
$GC,8888,0.47,108.0,840.3,17.7,603,8894,0.00,1.33,0.00,0.000,6,0.000,0.031,2084,2920,1053,0,0,0,0,0,0
$GC,9203,0.47,108.0,791.9,14.6,619,9206,0.00,1.45,0.00,0.000,4,0.000,0.057,2085,3810,1052,0,0,0,0,0,0
$GC,9308,0.42,108.0,774.3,16.7,623,9316,0.17,1.33,0.00,0.000,6,0.186,0.031,2042,2925,1052,0,0,0,0,0,0
$GC,9624,0.48,108.0,737.9,11.0,639,9628,0.00,1.45,0.00,0.000,4,0.000,0.059,2042,3815,1052,0,0,0,0,0,0
$GC,9737,0.51,108.0,722.9,14.2,644,9741,0.00,1.33,0.00,0.000,6,0.000,0.032,2047,2932,1051,0,0,0,0,0,0
$GC,10070,0.57,108.0,685.1,11.3,660,10074,0.12,1.42,0.00,0.000,4,0.103,0.059,2098,3806,1050,0,0,0,0,0,0
$GC,10183,0.49,108.0,666.9,16.1,665,10187,0.12,1.33,0.00,0.000,6,0.197,0.031,2071,2916,1051,0,0,0,0,0,0
$GC,10515,0.52,108.0,624.5,12.5,681,10519,0.00,1.45,0.00,0.000,4,0.000,0.058,2071,3805,1051,0,0,0,0,0,0
$GC,10655,0.49,108.0,603.4,15.2,687,10659,0.00,1.33,0.00,0.000,6,0.000,0.031,2077,2920,1050,0,0,0,0,0,0
$GC,10982,0.49,108.0,560.5,13.0,703,10985,0.00,1.45,0.00,0.000,4,0.000,0.057,2076,3809,1050,0,0,0,0,0,0
$GC,11059,0.45,108.0,548.5,15.8,706,11064,0.08,1.33,0.00,0.000,6,0.188,0.031,2062,2923,1050,0,0,0,0,0,0
$GC,11381,0.49,108.0,508.7,12.5,722,11384,0.00,1.45,0.00,0.000,4,0.000,0.059,2062,3809,1050,0,0,0,0,0,0
$GC,11452,0.49,108.0,498.4,14.9,725,11457,0.00,1.33,0.00,0.000,6,0.000,0.031,2067,2920,1050,0,0,0,0,0,0
$GC,11780,0.53,108.0,457.0,12.5,741,11784,0.00,1.45,0.00,0.000,4,0.000,0.058,2067,3812,1050,0,0,0,0,0,0
$GC,11829,0.50,108.0,449.9,14.0,743,11834,0.00,1.33,0.00,0.000,6,0.000,0.031,2074,2922,1050,0,0,0,0,0,0
$GC,12157,0.52,108.0,406.9,13.1,759,12161,0.00,1.45,0.00,0.000,4,0.000,0.058,2074,3811,1050,0,0,0,0,0,0
$GC,12212,0.49,108.0,398.5,15.4,761,12216,0.00,1.33,0.00,0.000,6,0.000,0.031,2080,2921,1050,0,0,0,0,0,0
$GC,12543,0.49,108.0,353.6,13.0,792,12546,0.00,1.45,0.00,0.000,4,0.000,0.058,2081,3812,1050,0,0,0,0,0,0
$GC,12705,0.45,108.0,328.2,15.1,806,12713,0.10,1.33,0.00,0.000,6,0.184,0.031,2058,2917,1050,0,0,0,0,0,0
$GC,13034,0.50,108.0,291.9,10.6,837,13038,0.00,1.45,0.00,0.000,4,0.000,0.058,2058,3809,1050,0,0,0,0,0,0
$GC,13140,0.50,108.0,278.0,12.6,846,13147,0.00,1.33,0.00,0.000,6,0.000,0.031,2063,2918,1050,0,0,0,0,0,0
$GC,13469,0.55,108.0,239.8,11.8,877,13473,0.00,1.30,0.00,0.000,4,0.000,0.034,2070,2049,1050,0,0,0,0,0,0
$GC,13503,0.62,108.0,235.7,10.6,880,13508,0.08,1.40,0.00,0.000,6,0.067,0.051,2117,2922,1050,0,0,0,0,0,0
$GC,13836,0.57,108.0,187.2,15.0,911,13839,0.00,1.42,0.00,0.000,4,0.000,0.057,2117,3812,1050,0,0,0,0,0,0
$GC,14033,0.47,108.0,151.2,17.8,928,14044,0.22,1.30,0.00,0.000,6,0.190,0.029,2062,2925,1050,0,0,0,0,0,0
$GC,14359,0.52,108.0,113.2,11.8,959,14363,0.00,1.42,0.00,0.000,4,0.000,0.057,2062,3806,1050,0,0,0,0,0,0
$GC,14420,0.52,108.0,105.0,13.0,964,14430,0.00,1.33,0.00,0.000,6,0.000,0.029,2067,2918,1049,0,0,0,0,0,0
$GC,14768,0.56,108.0,66.4,10.5,1021,14774,0.00,1.45,0.00,0.000,4,0.000,0.056,2067,3816,1050,0,0,0,0,0,0
$GC,14843,0.56,108.0,56.2,13.9,1034,14849,0.00,1.30,0.00,0.000,6,0.000,0.031,2074,2935,1049,0,0,0,0,0,0
$GC,15202,0.59,108.0,12.6,13.0,1095,15210,0.00,1.40,0.00,0.000,4,0.000,0.056,2074,3808,1050,0,0,0,0,0,0
$STATE,15287,end climb,SURFACE_DEPTH_REACHED
$STATE,15287,begin surface coast
$FINISH,1.4,1.014486
$STATE,15312,end surface coast,CONTROL_FINISHED_OK
$STATE,15313,begin surface
$SM_CCo,15327,57.75,0.399,1,0,681,200.16
$SM_GC,2.62,0.00,0.00,57.75,0.000,0.000,0.399,75,3212,681,-5.70,0.08,200.16
$IRIDIUM_FIX,-4236.17,827.34,280608,111136
$TT8_MAMPS,0.027713
$HUMID,61.65
$INTERNAL_PRESSURE,11.4079
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.2,34.806
$10V_AH,10.2,20.914
$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,15.200,80.625,226.250,57.750,0.000,99.112,161.414,407.456,0.000,0.000,21.904,2784.677,9650.328,418.231,3298.632,179.727,0.000,1517.914,0.000,2570.645,0.000,0.545,0.000
$DEVICE_MAMPS,240.975,77.265,1884.960,398.565,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,772.761,781.742,824.599,80.138,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353960
$DATA_FILE_SIZE,63576,1113
$CAP_FILE_SIZE,154332,0
$CFSIZE,259252224,244551680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,020915,020622,-4255.912,823.710,37,1.2,37,-25.0