version: 66.07
glider: 543
mission: 14
dive: 180
start: 9 2 115 8 49 59
data:
$ID,543
$MISSION,14
$DIVE,180
$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,-24686.639
$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,81
$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,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
$GPS1,020915,084057,-4254.509,829.534,40,1.0,41,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-71.6
$GPS2,020915,084936,-4254.507,829.608,15,0.9,17,-25.0
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAZ_BUT3
$TGT_LATLONG,-4256.000,836.000
$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,132.7,9097,-17.1,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.43,-116.8,0.0,0.0,0,66,0.00,0.00,-48.58,0.000,2,0.000,0.000,62,3238,1699,0,0,0,0,0,0
$GC,68,-0.43,-116.8,3.0,-1.7,6,93,7.12,1.15,-8.90,0.000,4,0.236,0.078,1758,3932,1978,0,0,0,0,0,0
$GC,102,0.18,-116.8,7.2,-8.8,10,112,0.62,1.05,0.00,0.000,6,0.133,0.031,1952,3243,1979,0,0,0,0,0,0
$GC,162,-0.30,-116.8,8.8,-0.1,19,171,0.40,1.12,0.00,0.000,4,0.106,0.057,1815,3922,1982,0,0,0,0,0,0
$GC,351,-0.36,-116.8,20.9,-7.3,50,360,0.00,1.10,0.00,0.000,6,0.000,0.032,1815,3191,1982,0,0,0,0,0,0
$GC,504,-0.43,-116.8,30.4,-6.3,75,513,0.15,0.00,0.00,0.000,6,0.077,0.000,1740,3191,1982,0,0,0,0,0,0
$GC,655,-0.31,-116.8,48.4,-12.2,100,662,0.22,0.00,0.00,0.000,6,0.161,0.000,1802,3190,1982,0,0,0,0,0,0
$GC,1003,-0.34,-116.8,73.7,-7.2,161,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,1801,3190,1982,0,0,0,0,0,0
$GC,1356,-0.37,-116.8,100.9,-7.9,222,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,1802,3190,1982,0,0,0,0,0,0
$GC,1676,-0.41,-116.8,122.8,-6.7,252,1679,0.00,1.17,0.00,0.000,4,0.000,0.058,1798,3922,1982,0,0,0,0,0,0
$GC,1714,-0.44,-116.8,125.9,-7.2,255,1722,0.08,1.05,0.00,0.000,6,0.057,0.032,1742,3215,1983,0,0,0,0,0,0
$GC,2039,-0.34,-116.8,165.4,-12.6,286,2044,0.17,1.33,0.00,0.000,4,0.163,0.029,1789,2299,1982,0,0,0,0,0,0
$GC,2078,-0.38,-116.8,169.3,-8.2,289,2084,0.00,1.45,0.00,0.000,6,0.000,0.051,1784,3194,1982,0,0,0,0,0,0
$GC,2402,-0.38,-116.8,197.1,-8.5,320,2406,0.00,1.20,0.00,0.000,4,0.000,0.058,1778,3956,1982,0,0,0,0,0,0
$GC,2471,-0.38,-116.8,203.2,-8.6,326,2474,0.00,1.10,0.00,0.000,6,0.000,0.031,1778,3199,1982,0,0,0,0,0,0
$GC,2804,-0.38,-116.8,233.6,-9.3,357,2807,0.00,1.27,0.00,0.000,4,0.000,0.028,1778,2297,1982,0,0,0,0,0,0
$GC,2853,-0.40,-116.8,238.5,-9.1,361,2860,0.00,1.48,0.00,0.000,6,0.000,0.050,1772,3215,1982,0,0,0,0,0,0
$GC,3179,-0.38,-116.8,269.3,-9.6,392,3180,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,3214,1982,0,0,0,0,0,0
$GC,3498,-0.36,-116.8,300.2,-10.4,422,3502,0.00,1.15,0.00,0.000,4,0.000,0.057,1766,3945,1982,0,0,0,0,0,0
$GC,3544,-0.33,-116.8,305.2,-11.1,426,3547,0.00,1.08,0.00,0.000,6,0.000,0.032,1766,3206,1982,0,0,0,0,0,0
$GC,3878,-0.30,-116.8,339.7,-10.4,457,3883,0.15,1.30,0.00,0.000,4,0.157,0.028,1808,2297,1982,0,0,0,0,0,0
$GC,3919,-0.39,-116.8,343.2,-7.2,460,3927,0.00,1.48,0.00,0.000,6,0.000,0.051,1804,3210,1982,0,0,0,0,0,0
$GC,4244,-0.45,-116.8,363.2,-5.5,491,4248,0.12,1.20,0.00,0.000,4,0.089,0.058,1733,3959,1982,0,0,0,0,0,0
$GC,4304,-0.35,-116.8,369.1,-10.4,496,4314,0.15,1.10,0.00,0.000,6,0.145,0.031,1780,3211,1982,0,0,0,0,0,0
$GC,4630,-0.35,-116.8,391.6,-6.9,527,4631,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,3211,1982,0,0,0,0,0,0
$GC,4952,-0.35,-116.8,416.0,-7.7,548,4956,0.00,1.30,0.00,0.000,4,0.000,0.028,1780,2293,1982,0,0,0,0,0,0
$GC,4990,-0.39,-116.8,419.0,-7.8,549,4998,0.00,1.48,0.00,0.000,6,0.000,0.052,1776,3209,1982,0,0,0,0,0,0
$GC,5306,-0.39,-116.8,446.0,-8.9,565,5307,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,3209,1982,0,0,0,0,0,0
$GC,5615,-0.39,-116.8,472.8,-8.7,580,5616,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,3209,1982,0,0,0,0,0,0
$GC,5925,-0.39,-116.8,500.1,-9.1,595,5928,0.00,1.17,0.00,0.000,4,0.000,0.060,1770,3948,1982,0,0,0,0,0,0
$GC,5957,-0.39,-116.8,503.3,-9.6,596,5961,0.00,1.12,0.00,0.000,6,0.000,0.033,1770,3193,1982,0,0,0,0,0,0
$GC,6278,-0.39,-116.8,532.7,-9.2,612,6279,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,3193,1982,0,0,0,0,0,0
$GC,6588,-0.39,-116.8,558.8,-8.4,627,6592,0.00,1.20,0.00,0.000,4,0.000,0.059,1765,3947,1982,0,0,0,0,0,0
$GC,6626,-0.37,-116.8,562.4,-9.0,628,6633,0.00,1.08,0.00,0.000,6,0.000,0.033,1765,3221,1982,0,0,0,0,0,0
$GC,6942,-0.35,-116.8,589.0,-9.0,644,6943,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,3221,1982,0,0,0,0,0,0
$GC,7252,-0.33,-116.8,616.1,-9.0,659,7254,0.12,0.00,0.00,0.000,6,0.168,0.000,1798,3220,1982,0,0,0,0,0,0
$GC,7561,-0.39,-116.8,637.6,-6.9,674,7562,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3220,1982,0,0,0,0,0,0
$GC,7871,-0.45,-116.8,659.1,-6.9,689,7873,0.12,0.00,0.00,0.000,6,0.092,0.000,1735,3220,1982,0,0,0,0,0,0
$GC,8180,-0.38,-116.8,694.5,-11.7,704,8184,0.17,1.20,0.00,0.000,4,0.161,0.059,1778,3956,1982,0,0,0,0,0,0
$GC,8247,-0.40,-116.8,700.6,-7.8,707,8251,0.00,1.12,0.00,0.000,6,0.000,0.034,1778,3198,1982,0,0,0,0,0,0
$GC,8580,-0.42,-116.8,724.7,-6.9,723,8584,0.00,1.20,0.00,0.000,4,0.000,0.060,1773,3948,1982,0,0,0,0,0,0
$GC,8618,-0.42,-116.8,727.6,-7.3,724,8626,0.00,1.12,0.00,0.000,6,0.000,0.033,1773,3197,1982,0,0,0,0,0,0
$GC,8935,-0.42,-116.8,749.1,-6.7,740,8936,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,3197,1982,0,0,0,0,0,0
$GC,9244,-0.42,-116.8,769.8,-6.5,755,9246,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,3197,1982,0,0,0,0,0,0
$GC,9553,-0.42,-116.8,789.5,-6.3,770,9557,0.00,1.20,0.00,0.000,4,0.000,0.060,1767,3946,1982,0,0,0,0,0,0
$GC,9614,-0.42,-116.8,793.8,-7.1,772,9621,0.00,1.10,0.00,0.000,6,0.000,0.034,1767,3207,1982,0,0,0,0,0,0
$GC,9930,-0.42,-116.8,812.7,-5.7,788,9931,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,3207,1982,0,0,0,0,0,0
$GC,10239,-0.42,-116.8,830.5,-5.7,803,10240,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,3207,1982,0,0,0,0,0,0
$GC,10549,-0.42,-116.8,849.5,-6.5,818,10550,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,3207,1982,0,0,0,0,0,0
$GC,10858,-0.42,-116.8,871.5,-7.3,833,10861,0.00,1.17,0.00,0.000,4,0.000,0.060,1762,3935,1982,0,0,0,0,0,0
$GC,10930,-0.42,-116.8,877.4,-7.6,836,10934,0.00,1.08,0.00,0.000,6,0.000,0.034,1762,3218,1982,0,0,0,0,0,0
$GC,11257,-0.42,-116.8,902.0,-7.7,852,11258,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,3218,1982,0,0,0,0,0,0
$GC,11566,-0.42,-116.8,925.8,-7.9,867,11568,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,3218,1982,0,0,0,0,0,0
$GC,11876,-0.42,-116.8,949.1,-7.3,882,11877,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,3218,1982,0,0,0,0,0,0
$GC,12185,-0.42,-116.8,968.8,-5.9,897,12189,0.00,1.17,0.00,0.000,4,0.000,0.060,1757,3952,1982,0,0,0,0,0,0
$GC,12240,-0.42,-116.8,972.7,-6.2,899,12244,0.00,1.10,0.00,0.000,6,0.000,0.034,1756,3208,1982,0,0,0,0,0,0
$GC,12562,-0.42,-116.8,991.5,-5.7,915,12566,0.00,1.17,0.00,0.000,4,0.000,0.061,1751,3936,1982,0,0,0,0,0,0
$STATE,12606,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12606,begin apogee
$GC,12611,-0.09,0.0,994.4,6.9,917,12740,0.40,0.00,125.18,1.890,6,0.132,0.000,1873,2903,1499,0,0,0,0,0,0
$STATE,12740,end apogee,CONTROL_FINISHED_OK
$STATE,12741,begin climb
$GC,12742,0.43,116.8,995.1,0.0,923,12870,0.50,1.48,119.72,1.823,4,0.088,0.034,2043,2056,1023,0,0,0,0,0,0
$GC,12971,0.40,116.8,972.1,11.8,933,12975,0.00,1.48,0.00,0.000,6,0.000,0.049,2043,2913,1020,0,0,0,0,0,0
$GC,13292,0.33,116.8,930.3,13.2,949,13297,0.12,1.48,0.00,0.000,4,0.174,0.058,2013,3801,1017,0,0,0,0,0,0
$GC,13399,0.27,116.8,917.0,11.1,953,13405,0.00,1.35,0.00,0.000,6,0.000,0.031,2018,2917,1016,0,0,0,0,0,0
$GC,13714,0.25,116.8,884.1,10.2,969,13718,0.12,1.45,0.00,0.000,4,0.186,0.058,1988,3800,1015,0,0,0,0,0,0
$GC,13746,0.25,116.8,881.0,8.8,970,13750,0.00,1.33,0.00,0.000,6,0.000,0.031,1993,2928,1015,0,0,0,0,0,0
$GC,14068,0.29,144.2,856.4,7.2,986,14098,0.00,1.50,25.25,1.784,4,0.000,0.060,1993,3805,911,0,0,0,0,0,0
$GC,14165,0.29,144.2,848.0,9.2,990,14169,0.00,1.38,0.00,0.000,6,0.000,0.031,2000,2914,910,0,0,0,0,0,0
$GC,14487,0.33,148.9,821.1,8.3,1006,14497,0.00,1.45,5.88,1.482,4,0.000,0.057,1999,3807,890,0,0,0,0,0,0
$GC,14529,0.33,148.9,816.9,9.8,1008,14534,0.00,1.38,0.00,0.000,6,0.000,0.031,2006,2912,891,0,0,0,0,0,0
$GC,14857,0.34,161.5,789.3,7.9,1024,14877,0.00,0.00,13.45,1.690,6,0.000,0.000,2006,2911,841,0,0,0,0,0,0
$GC,15187,0.39,189.2,765.0,7.2,1040,15219,0.00,1.55,27.70,1.735,4,0.000,0.059,2006,3806,727,0,0,0,0,0,0
$GC,15274,0.39,189.2,757.4,9.1,1044,15278,0.00,1.35,0.00,0.000,6,0.000,0.031,2013,2928,727,0,0,0,0,0,0
$GC,15602,0.43,194.1,730.8,8.3,1060,15609,0.00,0.00,5.97,1.458,6,0.000,0.000,2013,2927,707,0,0,0,0,0,0
$GC,15911,0.46,194.1,703.5,9.0,1075,15915,0.12,1.45,0.00,0.000,4,0.097,0.060,2067,3803,707,0,0,0,0,0,0
$GC,15959,0.35,194.1,696.4,15.6,1077,15964,0.17,1.33,0.00,0.000,6,0.165,0.030,2022,2925,708,0,0,0,0,0,0
$GC,16287,0.35,194.1,662.7,10.2,1093,16290,0.00,1.45,0.00,0.000,4,0.000,0.059,2022,3801,707,0,0,0,0,0,0
$GC,16325,0.33,194.1,658.1,12.2,1094,16332,0.00,1.33,0.00,0.000,6,0.000,0.031,2027,2913,707,0,0,0,0,0,0
$GC,16641,0.33,194.1,623.8,11.0,1110,16642,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2913,707,0,0,0,0,0,0
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$STATE,22488,end climb,SURFACE_DEPTH_REACHED
$STATE,22488,begin surface coast
$FINISH,1.4,1.026453
$STATE,22513,end surface coast,CONTROL_FINISHED_OK
$STATE,22513,begin surface
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$SM_GC,2.46,5.35,0.00,0.00,0.047,0.000,0.000,76,3227,541,-5.64,0.51,234.99
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$TT8_MAMPS,0.026964
$HUMID,62.44
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.2,35.211
$10V_AH,10.2,21.198
$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
$DEVICE_SECS,16.975,82.950,342.150,0.000,0.000,24.791,27.023,334.917,0.000,0.000,19.839,3947.543,14620.366,480.511,3813.797,229.530,0.000,1909.250,0.000,3402.676,0.000,0.545,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1123.552,1145.991,1184.190,119.589,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353936
$DATA_FILE_SIZE,93520,1619
$CAP_FILE_SIZE,202853,0
$CFSIZE,259252224,244297728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,020915,150827,-4254.200,835.159,89,0.9,90,-25.1