version: 66.07
glider: 543
mission: 14
dive: 181
start: 9 2 115 15 17 46
data:
$ID,543
$MISSION,14
$DIVE,181
$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,-24690.785
$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,69
$R_STBD_OVSHOOT,36
$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
$GPS1,020915,150827,-4254.200,835.159,89,0.9,90,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-70.8
$GPS2,020915,151723,-4254.249,835.233,15,1.0,16,-25.1
$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,187.3,3407,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.54,-49.8,0.0,0.0,0,66,0.00,0.00,-48.38,0.000,2,0.000,0.000,61,3233,1689,0,0,0,0,0,0
$GC,68,-0.60,-108.3,3.0,-1.8,6,94,6.82,1.38,-8.40,0.000,4,0.233,0.051,1706,2306,1943,0,0,0,0,0,0
$GC,357,-0.60,-108.3,42.2,-12.8,54,366,0.00,1.45,0.00,0.000,6,0.000,0.051,1701,3196,1944,0,0,0,0,0,0
$GC,710,-0.55,-108.3,99.2,-16.3,115,716,0.00,1.27,0.00,0.000,4,0.000,0.028,1701,2309,1944,0,0,0,0,0,0
$GC,769,-0.55,-108.3,108.1,-14.3,121,774,0.08,1.48,0.00,0.000,6,0.159,0.050,1717,3222,1944,0,0,0,0,0,0
$GC,1099,-0.55,-108.3,154.8,-13.1,152,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,1718,3222,1944,0,0,0,0,0,0
$GC,1419,-0.55,-108.3,197.8,-12.9,182,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,1717,3222,1944,0,0,0,0,0,0
$GC,1738,-0.55,-108.3,240.0,-13.6,212,1741,0.00,1.15,0.00,0.000,4,0.000,0.056,1713,3955,1944,0,0,0,0,0,0
$GC,1852,-0.51,-108.3,256.4,-14.0,222,1855,0.00,1.08,0.00,0.000,6,0.000,0.031,1712,3216,1944,0,0,0,0,0,0
$GC,2185,-0.51,-108.3,301.2,-14.0,253,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,3216,1944,0,0,0,0,0,0
$GC,2511,-0.51,-108.3,345.4,-13.4,284,2514,0.00,1.15,0.00,0.000,4,0.000,0.056,1708,3944,1944,0,0,0,0,0,0
$GC,2557,-0.48,-108.3,352.0,-14.2,288,2561,0.10,1.08,0.00,0.000,6,0.161,0.031,1738,3210,1944,0,0,0,0,0,0
$GC,2887,-0.53,-108.3,387.6,-10.2,319,2888,0.00,0.00,0.00,0.000,6,0.000,0.000,1738,3210,1944,0,0,0,0,0,0
$GC,3200,-0.58,-108.3,420.4,-10.5,340,3204,0.00,1.17,0.00,0.000,4,0.000,0.057,1734,3953,1944,0,0,0,0,0,0
$GC,3277,-0.60,-108.3,429.5,-11.8,343,3282,0.00,1.10,0.00,0.000,6,0.000,0.031,1734,3198,1944,0,0,0,0,0,0
$GC,3600,-0.65,-108.3,464.5,-11.1,359,3601,0.12,0.00,0.00,0.000,6,0.098,0.000,1675,3197,1944,0,0,0,0,0,0
$GC,3909,-0.58,-108.3,513.0,-16.4,374,3913,0.15,1.20,0.00,0.000,4,0.187,0.056,1708,3944,1944,0,0,0,0,0,0
$GC,3976,-0.56,-108.3,523.0,-14.1,377,3980,0.00,1.08,0.00,0.000,6,0.000,0.031,1708,3210,1944,0,0,0,0,0,0
$GC,4308,-0.56,-108.3,567.5,-13.0,393,4312,0.00,1.17,0.00,0.000,4,0.000,0.057,1703,3952,1945,0,0,0,0,0,0
$GC,4380,-0.53,-108.3,578.3,-14.8,396,4385,0.08,1.10,0.00,0.000,6,0.167,0.031,1725,3201,1944,0,0,0,0,0,0
$GC,4708,-0.56,-108.3,617.1,-11.6,412,4709,0.00,0.00,0.00,0.000,6,0.000,0.000,1725,3201,1944,0,0,0,0,0,0
$GC,5016,-0.60,-108.3,652.2,-10.9,427,5017,0.00,0.00,0.00,0.000,6,0.000,0.000,1725,3200,1945,0,0,0,0,0,0
$GC,5326,-0.64,-108.3,683.7,-10.0,442,5327,0.00,0.00,0.00,0.000,6,0.000,0.000,1726,3201,1944,0,0,0,0,0,0
$GC,5635,-0.68,-108.3,713.3,-9.8,457,5637,0.12,0.00,0.00,0.000,6,0.099,0.000,1669,3200,1944,0,0,0,0,0,0
$GC,5944,-0.61,-108.3,757.0,-15.0,472,5948,0.15,1.20,0.00,0.000,4,0.188,0.057,1702,3942,1944,0,0,0,0,0,0
$GC,6027,-0.59,-108.3,768.8,-13.8,475,6034,0.00,1.08,0.00,0.000,6,0.000,0.032,1702,3211,1944,0,0,0,0,0,0
$GC,6342,-0.59,-108.3,807.0,-12.0,491,6346,0.00,1.17,0.00,0.000,4,0.000,0.059,1696,3950,1944,0,0,0,0,0,0
$GC,6381,-0.56,-108.3,812.2,-13.2,492,6388,0.08,1.10,0.00,0.000,6,0.170,0.032,1718,3213,1944,0,0,0,0,0,0
$GC,6697,-0.59,-108.3,844.9,-10.3,508,6700,0.00,1.17,0.00,0.000,4,0.000,0.059,1714,3950,1944,0,0,0,0,0,0
$GC,6774,-0.59,-108.3,854.2,-11.8,511,6778,0.00,1.10,0.00,0.000,6,0.000,0.033,1714,3201,1944,0,0,0,0,0,0
$GC,7098,-0.62,-108.3,889.1,-10.9,527,7099,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,3202,1944,0,0,0,0,0,0
$GC,7405,-0.65,-108.3,921.7,-10.4,542,7406,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,3202,1944,0,0,0,0,0,0
$GC,7715,-0.68,-108.3,954.2,-10.7,557,7716,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,3202,1944,0,0,0,0,0,0
$GC,8024,-0.71,-108.3,985.8,-10.3,572,8026,0.12,0.00,0.00,0.000,6,0.100,0.000,1657,3201,1944,0,0,0,0,0,0
$STATE,8146,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8146,begin apogee
$GC,8150,-0.09,0.0,1002.8,14.3,578,8270,0.75,0.00,116.15,1.916,6,0.163,0.000,1869,2923,1499,0,0,0,0,0,0
$STATE,8271,end apogee,CONTROL_FINISHED_OK
$STATE,8271,begin climb
$GC,8272,0.60,108.3,1005.6,0.0,584,8392,0.70,1.50,111.97,1.862,4,0.090,0.033,2102,2030,1057,0,0,0,0,0,0
$GC,8407,0.60,108.3,991.9,13.9,590,8412,0.00,1.58,0.00,0.000,6,0.000,0.047,2101,2919,1055,0,0,0,0,0,0
$GC,8729,0.57,108.3,943.3,15.3,606,8733,0.00,1.48,0.00,0.000,4,0.000,0.056,2102,3816,1051,0,0,0,0,0,0
$GC,8778,0.48,108.3,934.7,18.1,608,8784,0.17,1.38,0.00,0.000,6,0.199,0.030,2063,2914,1050,0,0,0,0,0,0
$GC,9107,0.52,108.3,893.7,12.4,624,9111,0.00,1.48,0.00,0.000,4,0.000,0.058,2063,3806,1049,0,0,0,0,0,0
$GC,9190,0.50,108.3,881.5,14.7,627,9198,0.00,1.33,0.00,0.000,6,0.000,0.031,2068,2921,1049,0,0,0,0,0,0
$GC,9507,0.52,108.3,839.8,13.2,643,9510,0.00,1.45,0.00,0.000,4,0.000,0.057,2068,3808,1049,0,0,0,0,0,0
$GC,9652,0.49,108.3,816.1,16.4,649,9656,0.00,1.33,0.00,0.000,6,0.000,0.031,2075,2923,1048,0,0,0,0,0,0
$GC,9973,0.49,108.3,768.2,15.0,665,9977,0.00,1.45,0.00,0.000,4,0.000,0.057,2075,3812,1048,0,0,0,0,0,0
$GC,10063,0.45,108.3,752.7,18.5,669,10068,0.10,1.33,0.00,0.000,6,0.190,0.031,2054,2920,1048,0,0,0,0,0,0
$GC,10397,0.50,108.3,707.7,13.1,685,10400,0.00,1.45,0.00,0.000,4,0.000,0.058,2054,3808,1047,0,0,0,0,0,0
$GC,10490,0.50,108.3,693.5,14.4,689,10495,0.00,1.35,0.00,0.000,6,0.000,0.031,2060,2916,1047,0,0,0,0,0,0
$GC,10819,0.54,108.3,650.4,13.4,705,10822,0.00,1.45,0.00,0.000,4,0.000,0.057,2060,3806,1047,0,0,0,0,0,0
$GC,10879,0.54,108.3,641.3,16.0,707,10887,0.00,1.33,0.00,0.000,6,0.000,0.031,2066,2921,1047,0,0,0,0,0,0
$GC,11196,0.57,108.3,600.0,12.8,723,11199,0.00,1.45,0.00,0.000,4,0.000,0.057,2066,3813,1046,0,0,0,0,0,0
$GC,11273,0.55,108.3,589.0,14.1,726,11277,0.00,1.33,0.00,0.000,6,0.000,0.031,2073,2925,1046,0,0,0,0,0,0
$GC,11595,0.56,108.3,549.4,12.0,742,11598,0.00,1.42,0.00,0.000,4,0.000,0.057,2073,3810,1047,0,0,0,0,0,0
$GC,11717,0.53,108.3,531.9,14.5,747,11721,0.00,1.33,0.00,0.000,6,0.000,0.031,2079,2919,1046,0,0,0,0,0,0
$GC,12038,0.53,108.3,491.7,12.6,763,12042,0.00,1.45,0.00,0.000,4,0.000,0.057,2079,3811,1046,0,0,0,0,0,0
$GC,12139,0.49,108.3,477.1,15.0,767,12143,0.00,1.33,0.00,0.000,6,0.000,0.031,2086,2921,1046,0,0,0,0,0,0
$GC,12460,0.49,108.3,435.2,13.1,783,12463,0.00,1.45,0.00,0.000,4,0.000,0.057,2086,3815,1047,0,0,0,0,0,0
$GC,12537,0.43,108.3,423.2,15.3,786,12542,0.15,1.33,0.00,0.000,6,0.181,0.030,2050,2923,1046,0,0,0,0,0,0
$GC,12862,0.49,108.3,386.6,11.2,807,12866,0.00,1.45,0.00,0.000,4,0.000,0.058,2051,3815,1046,0,0,0,0,0,0
$GC,13002,0.49,108.3,367.5,13.5,819,13009,0.00,1.33,0.00,0.000,6,0.000,0.031,2056,2921,1046,0,0,0,0,0,0
$GC,13327,0.55,108.3,329.2,11.8,850,13329,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2921,1046,0,0,0,0,0,0
$GC,13647,0.60,108.3,292.3,11.5,880,13651,0.12,1.45,0.00,0.000,4,0.096,0.059,2115,3812,1046,0,0,0,0,0,0
$GC,13784,0.50,108.3,268.9,18.1,892,13788,0.17,1.33,0.00,0.000,6,0.195,0.030,2073,2923,1046,0,0,0,0,0,0
$GC,14114,0.52,108.3,228.9,11.8,923,14117,0.00,1.45,0.00,0.000,4,0.000,0.057,2073,3816,1046,0,0,0,0,0,0
$GC,14261,0.50,108.3,208.6,14.4,936,14265,0.00,1.33,0.00,0.000,6,0.000,0.031,2078,2921,1046,0,0,0,0,0,0
$GC,14592,0.51,108.3,168.2,11.4,967,14595,0.00,1.45,0.00,0.000,4,0.000,0.057,2078,3813,1046,0,0,0,0,0,0
$GC,14687,0.48,108.3,155.4,13.0,975,14694,0.00,1.30,0.00,0.000,6,0.000,0.030,2085,2928,1046,0,0,0,0,0,0
$GC,15012,0.48,108.3,116.9,12.3,1006,15015,0.00,1.42,0.00,0.000,4,0.000,0.056,2085,3811,1046,0,0,0,0,0,0
$GC,15125,0.44,108.3,101.8,13.8,1016,15130,0.12,1.33,0.00,0.000,6,0.178,0.030,2056,2911,1046,0,0,0,0,0,0
$GC,15475,0.51,108.3,68.8,9.4,1075,15482,0.00,1.45,0.00,0.000,4,0.000,0.056,2055,3811,1046,0,0,0,0,0,0
$GC,15615,0.53,108.3,52.9,11.2,1099,15622,0.00,1.30,0.00,0.000,6,0.000,0.031,2061,2928,1046,0,0,0,0,0,0
$GC,15975,0.58,108.3,16.0,10.8,1160,15984,0.00,1.42,0.00,0.000,4,0.000,0.056,2060,3812,1046,0,0,0,0,0,0
$GC,16080,0.55,108.3,3.0,12.8,1177,16089,0.00,1.30,0.00,0.000,6,0.000,0.028,2068,2922,1046,0,0,0,0,0,0
$STATE,16096,end climb,SURFACE_DEPTH_REACHED
$STATE,16096,begin surface coast
$FINISH,1.4,1.026513
$STATE,16121,end surface coast,CONTROL_FINISHED_OK
$STATE,16121,begin surface
$SM_CCo,16133,59.47,0.628,1,0,682,200.16
$SM_GC,2.51,0.00,0.00,59.47,0.000,0.000,0.628,68,3233,682,-5.73,0.68,200.16
$IRIDIUM_FIX,-4242.04,831.12,280608,222215
$TT8_MAMPS,0.026964
$HUMID,62.12
$INTERNAL_PRESSURE,11.4079
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.1,35.366
$10V_AH,10.1,21.309
$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,15.500,74.775,228.125,59.475,0.000,25.491,47.902,329.067,0.000,0.000,19.469,2941.863,10056.509,400.313,3134.109,192.044,0.000,1527.199,0.000,2704.356,0.000,0.547,0.000
$DEVICE_MAMPS,232.560,58.905,1915.560,628.065,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,821.437,834.875,917.233,95.085,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353988
$DATA_FILE_SIZE,66883,1183
$CAP_FILE_SIZE,155949,0
$CFSIZE,259252224,244273152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,020915,194902,-4255.865,837.591,40,1.5,43,-25.1