version: 66.07
glider: 543
mission: 14
dive: 188
start: 9 4 115 7 2 5
data:
$ID,543
$MISSION,14
$DIVE,188
$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,-24716.053
$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,25
$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
$GPS1,040915,065203,-4302.729,837.577,56,0.9,57,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-71.7
$GPS2,040915,070141,-4302.675,837.759,19,1.3,20,-25.1
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAZ_BUT4
$TGT_LATLONG,-4304.000,836.000
$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,249.2,3419,-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,-49.8,0.0,0.0,0,64,0.00,0.00,-44.70,0.000,6,0.000,0.000,63,3227,1706,0,0,0,0,0,0
$GC,66,-0.60,-108.7,3.1,-1.8,6,85,6.72,1.23,-7.50,0.000,4,0.228,0.080,1701,3962,1945,0,0,0,0,0,0
$GC,347,-0.53,-108.7,57.4,-18.3,53,355,0.08,1.12,0.00,0.000,6,0.170,0.030,1724,3207,1949,0,0,0,0,0,0
$GC,698,-0.53,-108.7,110.3,-15.7,109,702,0.00,1.17,0.00,0.000,4,0.000,0.054,1721,3953,1949,0,0,0,0,0,0
$GC,756,-0.49,-108.7,119.9,-16.1,114,759,0.00,1.10,0.00,0.000,6,0.000,0.031,1720,3198,1948,0,0,0,0,0,0
$GC,1089,-0.49,-108.7,169.2,-13.6,145,1093,0.00,1.20,0.00,0.000,4,0.000,0.056,1715,3955,1949,0,0,0,0,0,0
$GC,1159,-0.47,-108.7,179.9,-14.9,151,1163,0.10,1.08,0.00,0.000,6,0.161,0.030,1745,3220,1949,0,0,0,0,0,0
$GC,1489,-0.52,-108.7,218.3,-11.7,182,1490,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,3219,1949,0,0,0,0,0,0
$GC,1808,-0.57,-108.7,252.9,-10.9,212,1809,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,3219,1948,0,0,0,0,0,0
$GC,2127,-0.63,-108.7,285.3,-9.9,242,2131,0.12,1.33,0.00,0.000,4,0.096,0.028,1688,2296,1949,0,0,0,0,0,0
$GC,2149,-0.65,-108.7,287.8,-11.0,244,2153,0.00,1.48,0.00,0.000,6,0.000,0.050,1681,3215,1949,0,0,0,0,0,0
$GC,2480,-0.58,-108.7,336.3,-14.9,275,2484,0.12,1.17,0.00,0.000,4,0.190,0.054,1707,3958,1948,0,0,0,0,0,0
$GC,2595,-0.55,-108.7,352.8,-13.9,285,2598,0.00,1.10,0.00,0.000,6,0.000,0.030,1707,3194,1948,0,0,0,0,0,0
$GC,2925,-0.54,-108.7,397.7,-13.5,316,2926,0.00,0.00,0.00,0.000,6,0.000,0.000,1707,3194,1949,0,0,0,0,0,0
$GC,3234,-0.54,-108.7,440.0,-13.5,332,3238,0.00,1.17,0.00,0.000,4,0.000,0.055,1702,3940,1949,0,0,0,0,0,0
$GC,3335,-0.50,-108.7,455.2,-14.5,336,3339,0.10,1.05,0.00,0.000,6,0.162,0.030,1731,3222,1949,0,0,0,0,0,0
$GC,3656,-0.54,-108.7,490.4,-10.7,352,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,1731,3222,1949,0,0,0,0,0,0
$GC,3965,-0.58,-108.7,523.2,-10.4,367,3966,0.00,0.00,0.00,0.000,6,0.000,0.000,1731,3222,1948,0,0,0,0,0,0
$GC,4274,-0.62,-108.7,556.1,-10.7,382,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,1730,3222,1948,0,0,0,0,0,0
$GC,4584,-0.66,-108.7,590.6,-11.4,397,4585,0.12,0.00,0.00,0.000,6,0.099,0.000,1675,3220,1948,0,0,0,0,0,0
$GC,4893,-0.60,-108.7,636.9,-14.9,412,4898,0.12,1.17,0.00,0.000,4,0.192,0.057,1700,3951,1948,0,0,0,0,0,0
$GC,4999,-0.57,-108.7,652.9,-14.4,416,5006,0.00,1.10,0.00,0.000,6,0.000,0.031,1700,3195,1949,0,0,0,0,0,0
$GC,5315,-0.57,-108.7,694.2,-12.6,432,5316,0.00,0.00,0.00,0.000,6,0.000,0.000,1700,3195,1949,0,0,0,0,0,0
$GC,5624,-0.57,-108.7,733.5,-12.9,447,5628,0.00,1.20,0.00,0.000,4,0.000,0.057,1695,3953,1948,0,0,0,0,0,0
$GC,5752,-0.53,-108.7,751.8,-13.7,452,5760,0.10,1.08,0.00,0.000,6,0.164,0.031,1725,3219,1949,0,0,0,0,0,0
$GC,6068,-0.58,-108.7,787.7,-10.9,468,6072,0.00,1.15,0.00,0.000,4,0.000,0.057,1721,3947,1948,0,0,0,0,0,0
$GC,6151,-0.60,-108.7,797.8,-11.8,471,6159,0.00,1.10,0.00,0.000,6,0.000,0.031,1720,3195,1948,0,0,0,0,0,0
$GC,6468,-0.63,-108.7,832.8,-11.0,487,6469,0.00,0.00,0.00,0.000,6,0.000,0.000,1720,3195,1948,0,0,0,0,0,0
$GC,6777,-0.67,-108.7,866.2,-10.9,502,6780,0.00,1.20,0.00,0.000,4,0.000,0.058,1715,3952,1948,0,0,0,0,0,0
$GC,6867,-0.67,-108.7,876.6,-12.5,506,6871,0.00,1.08,0.00,0.000,6,0.000,0.032,1715,3219,1948,0,0,0,0,0,0
$GC,7201,-0.70,-108.7,912.9,-10.7,522,7203,0.10,0.00,0.00,0.000,6,0.113,0.000,1668,3218,1948,0,0,0,0,0,0
$GC,7508,-0.64,-108.7,954.5,-14.0,537,7513,0.12,1.17,0.00,0.000,4,0.196,0.058,1693,3942,1948,0,0,0,0,0,0
$GC,7580,-0.61,-108.7,964.1,-12.4,540,7585,0.00,1.10,0.00,0.000,6,0.000,0.032,1693,3196,1948,0,0,0,0,0,0
$STATE,7885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7885,begin apogee
$GC,7890,-0.09,0.0,1000.3,12.1,555,8011,0.60,0.00,117.62,1.935,6,0.154,0.000,1867,2929,1499,0,0,0,0,0,0
$STATE,8012,end apogee,CONTROL_FINISHED_OK
$STATE,8012,begin climb
$GC,8013,0.60,108.7,1003.8,0.0,561,8133,0.70,1.45,112.82,1.875,4,0.091,0.029,2097,2054,1054,0,0,0,0,0,0
$GC,8166,0.62,108.7,988.9,13.4,567,8170,0.00,1.50,0.00,0.000,6,0.000,0.046,2097,2913,1051,0,0,0,0,0,0
$GC,8488,0.59,108.7,941.3,14.9,583,8492,0.00,1.48,0.00,0.000,4,0.000,0.056,2097,3815,1048,0,0,0,0,0,0
$GC,8579,0.52,108.7,925.8,17.6,587,8583,0.12,1.38,0.00,0.000,6,0.197,0.029,2072,2904,1047,0,0,0,0,0,0
$GC,8911,0.54,108.7,881.2,13.6,603,8915,0.00,1.50,0.00,0.000,4,0.000,0.056,2072,3814,1046,0,0,0,0,0,0
$GC,8961,0.50,108.7,873.4,15.3,605,8965,0.00,1.33,0.00,0.000,6,0.000,0.029,2077,2925,1046,0,0,0,0,0,0
$GC,9287,0.50,108.7,826.6,14.0,621,9291,0.00,1.45,0.00,0.000,4,0.000,0.057,2077,3814,1046,0,0,0,0,0,0
$GC,9387,0.46,108.7,809.9,16.5,625,9392,0.00,1.33,0.00,0.000,6,0.000,0.029,2083,2917,1045,0,0,0,0,0,0
$GC,9708,0.46,108.7,763.1,14.3,641,9712,0.00,1.45,0.00,0.000,4,0.000,0.056,2084,3808,1046,0,0,0,0,0,0
$GC,9754,0.41,108.7,755.9,16.7,643,9758,0.15,1.33,0.00,0.000,6,0.184,0.031,2048,2922,1045,0,0,0,0,0,0
$GC,10087,0.47,108.7,716.5,11.8,659,10090,0.00,1.45,0.00,0.000,4,0.000,0.057,2047,3809,1045,0,0,0,0,0,0
$GC,10255,0.47,108.7,693.0,15.1,666,10258,0.00,1.33,0.00,0.000,6,0.000,0.031,2053,2917,1044,0,0,0,0,0,0
$GC,10576,0.52,108.7,653.1,11.8,682,10580,0.00,1.45,0.00,0.000,4,0.000,0.057,2052,3806,1044,0,0,0,0,0,0
$GC,10603,0.55,108.7,649.3,13.2,683,10607,0.00,1.33,0.00,0.000,6,0.000,0.030,2060,2918,1044,0,0,0,0,0,0
$GC,10931,0.59,108.7,608.0,12.6,699,10935,0.10,1.45,0.00,0.000,4,0.113,0.057,2103,3812,1044,0,0,0,0,0,0
$GC,11070,0.50,108.7,584.1,17.8,705,11074,0.12,1.33,0.00,0.000,6,0.202,0.030,2076,2917,1044,0,0,0,0,0,0
$GC,11397,0.52,108.7,541.5,12.5,721,11401,0.00,1.45,0.00,0.000,4,0.000,0.057,2076,3811,1044,0,0,0,0,0,0
$GC,11465,0.48,108.7,531.8,14.6,724,11469,0.00,1.33,0.00,0.000,6,0.000,0.031,2081,2916,1043,0,0,0,0,0,0
$GC,11797,0.48,108.7,488.4,12.8,740,11801,0.00,1.45,0.00,0.000,4,0.000,0.057,2081,3811,1043,0,0,0,0,0,0
$GC,11857,0.43,108.7,479.5,15.0,742,11865,0.12,1.30,0.00,0.000,6,0.178,0.030,2052,2928,1043,0,0,0,0,0,0
$GC,12173,0.50,108.7,443.8,11.3,758,12174,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2928,1043,0,0,0,0,0,0
$GC,12483,0.56,108.7,411.1,10.4,773,12487,0.00,1.42,0.00,0.000,4,0.000,0.057,2052,3808,1043,0,0,0,0,0,0
$GC,12573,0.56,108.7,399.9,12.4,777,12576,0.00,1.30,0.00,0.000,6,0.000,0.031,2057,2929,1043,0,0,0,0,0,0
$GC,12903,0.61,108.7,362.7,11.3,808,12908,0.12,1.42,0.00,0.000,4,0.096,0.057,2116,3809,1043,0,0,0,0,0,0
$GC,13033,0.51,108.7,341.1,17.2,819,13040,0.15,1.33,0.00,0.000,6,0.198,0.030,2080,2915,1043,0,0,0,0,0,0
$GC,13358,0.53,108.7,300.7,12.5,850,13359,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2914,1043,0,0,0,0,0,0
$GC,13677,0.55,108.7,262.7,11.4,880,13681,0.00,1.45,0.00,0.000,4,0.000,0.057,2080,3808,1043,0,0,0,0,0,0
$GC,13727,0.51,108.7,256.0,13.3,884,13736,0.00,1.30,0.00,0.000,6,0.000,0.030,2085,2920,1043,0,0,0,0,0,0
$GC,14052,0.51,108.7,217.5,11.8,915,14056,0.00,1.42,0.00,0.000,4,0.000,0.056,2085,3803,1043,0,0,0,0,0,0
$GC,14133,0.47,108.7,206.2,14.2,922,14137,0.10,1.27,0.00,0.000,6,0.183,0.030,2063,2929,1043,0,0,0,0,0,0
$GC,14465,0.51,108.7,173.5,9.4,953,14469,0.00,1.42,0.00,0.000,4,0.000,0.056,2063,3813,1043,0,0,0,0,0,0
$GC,14532,0.51,108.7,165.5,11.8,959,14536,0.00,1.30,0.00,0.000,6,0.000,0.030,2068,2928,1043,0,0,0,0,0,0
$GC,14863,0.56,108.7,130.5,10.9,990,14864,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2926,1043,0,0,0,0,0,0
$GC,15186,0.61,108.7,93.4,10.8,1025,15192,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2926,1043,0,0,0,0,0,0
$GC,15536,0.66,108.7,55.7,10.6,1086,15544,0.12,0.00,0.00,0.000,6,0.096,0.000,2125,2926,1043,0,0,0,0,0,0
$GC,15898,0.60,108.7,3.5,13.8,1147,15906,0.00,1.42,0.00,0.000,4,0.000,0.060,2125,3806,1043,0,0,0,0,0,0
$STATE,15913,end climb,SURFACE_DEPTH_REACHED
$STATE,15913,begin surface coast
$FINISH,1.3,1.009892
$STATE,15938,end surface coast,CONTROL_FINISHED_OK
$STATE,15939,begin surface
$SM_CCo,15952,41.47,0.140,0,0,681,200.16
$SM_GC,2.65,0.00,0.00,41.47,0.000,0.000,0.140,72,3207,681,-5.72,-0.08,200.16
$IRIDIUM_FIX,-4244.98,840.74,300608,131354
$TT8_MAMPS,0.027713
$HUMID,62.20
$INTERNAL_PRESSURE,11.3786
$TCM_TEMP,13.30
$XPDR_PINGS,0
$24V_AH,22.1,36.637
$10V_AH,10.2,22.179
$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,15.775,69.900,230.450,41.475,0.000,26.608,43.425,365.530,0.000,0.000,23.330,2885.139,10054.854,360.750,3060.200,201.332,0.000,1461.070,0.000,2598.691,0.000,0.544,0.000
$DEVICE_MAMPS,227.970,80.325,1934.685,139.995,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,800.807,826.106,824.763,75.978,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353996
$DATA_FILE_SIZE,67064,1153
$CAP_FILE_SIZE,153232,0
$CFSIZE,259252224,243658752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,040915,113001,-4303.301,837.149,47,0.9,47,-25.1