version: 66.07
glider: 543
mission: 14
dive: 189
start: 9 4 115 11 40 22
data:
$ID,543
$MISSION,14
$DIVE,189
$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,-24720.141
$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,61
$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
$GPS1,040915,113001,-4303.301,837.149,47,0.9,47,-25.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-71.0
$GPS2,040915,113959,-4303.243,837.202,26,1.1,27,-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,254.3,2147,-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,-49.8,0.0,0.0,0,65,0.00,0.00,-44.90,0.000,6,0.000,0.000,62,3207,1704,0,0,0,0,0,0
$GC,67,-0.60,-108.4,3.1,-1.8,6,86,6.78,1.25,-7.30,0.000,4,0.231,0.078,1703,3962,1942,0,0,0,0,0,0
$GC,349,-0.53,-108.4,54.4,-18.0,53,356,0.08,1.12,0.00,0.000,6,0.164,0.031,1725,3213,1944,0,0,0,0,0,0
$GC,696,-0.53,-108.4,108.1,-15.4,109,700,0.00,1.17,0.00,0.000,4,0.000,0.055,1721,3954,1944,0,0,0,0,0,0
$GC,718,-0.51,-108.4,111.9,-16.1,111,722,0.00,1.10,0.00,0.000,6,0.000,0.031,1721,3202,1945,0,0,0,0,0,0
$GC,1048,-0.51,-108.4,164.1,-15.0,142,1052,0.00,1.27,0.00,0.000,4,0.000,0.028,1721,2301,1944,0,0,0,0,0,0
$GC,1087,-0.54,-108.4,169.8,-14.4,145,1094,0.00,1.48,0.00,0.000,6,0.000,0.050,1715,3213,1944,0,0,0,0,0,0
$GC,1412,-0.54,-108.4,219.8,-15.1,176,1416,0.00,1.15,0.00,0.000,4,0.000,0.055,1709,3946,1945,0,0,0,0,0,0
$GC,1563,-0.50,-108.4,243.7,-16.4,189,1567,0.08,1.08,0.00,0.000,6,0.163,0.031,1732,3214,1945,0,0,0,0,0,0
$GC,1893,-0.53,-108.4,287.1,-12.5,220,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,1731,3214,1944,0,0,0,0,0,0
$GC,2212,-0.56,-108.4,327.1,-12.2,250,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,1731,3214,1945,0,0,0,0,0,0
$GC,2531,-0.60,-108.4,363.9,-11.3,280,2535,0.00,1.17,0.00,0.000,4,0.000,0.057,1728,3957,1944,0,0,0,0,0,0
$GC,2591,-0.60,-108.4,371.2,-12.8,285,2594,0.00,1.10,0.00,0.000,6,0.000,0.031,1728,3201,1945,0,0,0,0,0,0
$GC,2921,-0.62,-108.4,409.8,-11.6,312,2925,0.00,1.17,0.00,0.000,4,0.000,0.056,1722,3941,1944,0,0,0,0,0,0
$GC,2953,-0.62,-108.4,414.5,-13.2,313,2958,0.00,1.10,0.00,0.000,6,0.000,0.030,1722,3197,1944,0,0,0,0,0,0
$GC,3275,-0.64,-108.4,454.1,-12.6,329,3279,0.00,1.20,0.00,0.000,4,0.000,0.056,1717,3957,1945,0,0,0,0,0,0
$GC,3366,-0.64,-108.4,466.6,-13.6,333,3369,0.00,1.08,0.00,0.000,6,0.000,0.031,1716,3219,1945,0,0,0,0,0,0
$GC,3698,-0.64,-108.4,510.4,-12.9,349,3701,0.00,1.15,0.00,0.000,4,0.000,0.056,1711,3943,1945,0,0,0,0,0,0
$GC,3781,-0.62,-108.4,522.3,-15.1,352,3788,0.00,1.08,0.00,0.000,6,0.000,0.031,1711,3207,1945,0,0,0,0,0,0
$GC,4096,-0.62,-108.4,564.3,-13.5,368,4100,0.00,1.17,0.00,0.000,4,0.000,0.056,1706,3950,1944,0,0,0,0,0,0
$GC,4129,-0.60,-108.4,569.2,-14.1,369,4133,0.00,1.08,0.00,0.000,6,0.000,0.031,1706,3212,1944,0,0,0,0,0,0
$GC,4451,-0.60,-108.4,613.7,-13.8,385,4454,0.00,1.17,0.00,0.000,4,0.000,0.057,1700,3953,1945,0,0,0,0,0,0
$GC,4520,-0.56,-108.4,623.9,-15.0,388,4524,0.00,1.10,0.00,0.000,6,0.000,0.031,1700,3201,1945,0,0,0,0,0,0
$GC,4853,-0.55,-108.4,674.8,-15.1,404,4854,0.00,0.00,0.00,0.000,6,0.000,0.000,1700,3201,1945,0,0,0,0,0,0
$GC,5161,-0.55,-108.4,719.3,-14.0,419,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,1700,3201,1945,0,0,0,0,0,0
$GC,5471,-0.55,-108.4,763.1,-14.2,434,5474,0.00,1.20,0.00,0.000,4,0.000,0.057,1694,3957,1944,0,0,0,0,0,0
$GC,5517,-0.51,-108.4,770.0,-15.4,436,5521,0.15,1.10,0.00,0.000,6,0.158,0.031,1739,3214,1944,0,0,0,0,0,0
$GC,5849,-0.58,-108.4,807.1,-10.6,452,5850,0.00,0.00,0.00,0.000,6,0.000,0.000,1739,3213,1944,0,0,0,0,0,0
$GC,6158,-0.66,-108.4,839.1,-10.1,467,6160,0.15,0.00,0.00,0.000,6,0.091,0.000,1673,3213,1944,0,0,0,0,0,0
$GC,6467,-0.60,-108.4,882.2,-13.7,482,6472,0.15,1.20,0.00,0.000,4,0.187,0.057,1706,3950,1944,0,0,0,0,0,0
$GC,6526,-0.60,-108.4,890.1,-11.7,484,6534,0.00,1.12,0.00,0.000,6,0.000,0.031,1706,3193,1944,0,0,0,0,0,0
$GC,6843,-0.60,-108.4,922.8,-10.6,500,6847,0.00,1.20,0.00,0.000,4,0.000,0.058,1701,3950,1945,0,0,0,0,0,0
$GC,6965,-0.59,-108.4,937.4,-11.9,505,6969,0.00,1.08,0.00,0.000,6,0.000,0.031,1701,3218,1944,0,0,0,0,0,0
$GC,7287,-0.59,-108.4,972.1,-10.8,521,7288,0.00,0.00,0.00,0.000,6,0.000,0.000,1700,3218,1944,0,0,0,0,0,0
$STATE,7553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7553,begin apogee
$GC,7557,-0.09,0.0,1001.9,11.2,534,7677,0.57,0.00,116.43,1.939,6,0.154,0.000,1866,2913,1499,0,0,0,0,0,0
$STATE,7678,end apogee,CONTROL_FINISHED_OK
$STATE,7678,begin climb
$GC,7680,0.60,108.4,1004.3,0.0,540,7799,0.70,1.45,112.30,1.867,4,0.093,0.028,2096,2047,1057,0,0,0,0,0,0
$GC,7855,0.62,108.4,984.9,14.8,548,7859,0.00,1.52,0.00,0.000,6,0.000,0.047,2096,2922,1054,0,0,0,0,0,0
$GC,8182,0.60,108.4,932.0,16.5,564,8186,0.00,1.45,0.00,0.000,4,0.000,0.056,2095,3807,1051,0,0,0,0,0,0
$GC,8310,0.52,108.4,908.4,18.7,569,8318,0.10,1.35,0.00,0.000,6,0.203,0.028,2077,2904,1049,0,0,0,0,0,0
$GC,8627,0.52,108.4,860.9,14.6,585,8630,0.00,1.48,0.00,0.000,4,0.000,0.056,2077,3808,1049,0,0,0,0,0,0
$GC,8687,0.48,108.4,850.9,16.1,587,8694,0.00,1.30,0.00,0.000,6,0.000,0.029,2082,2928,1048,0,0,0,0,0,0
$GC,9003,0.48,108.4,804.3,15.0,603,9007,0.00,1.42,0.00,0.000,4,0.000,0.056,2082,3808,1048,0,0,0,0,0,0
$GC,9052,0.43,108.4,795.9,17.4,605,9057,0.12,1.30,0.00,0.000,6,0.188,0.029,2054,2927,1048,0,0,0,0,0,0
$GC,9381,0.48,108.4,754.4,12.9,621,9384,0.00,1.42,0.00,0.000,4,0.000,0.057,2053,3801,1048,0,0,0,0,0,0
$GC,9426,0.48,108.4,747.8,15.4,623,9429,0.00,1.30,0.00,0.000,6,0.000,0.030,2058,2921,1047,0,0,0,0,0,0
$GC,9758,0.52,108.4,704.2,13.0,639,9759,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2920,1047,0,0,0,0,0,0
$GC,10068,0.56,108.4,664.4,12.8,654,10072,0.00,1.45,0.00,0.000,4,0.000,0.057,2059,3809,1047,0,0,0,0,0,0
$GC,10105,0.56,108.4,659.1,13.9,655,10113,0.00,1.33,0.00,0.000,6,0.000,0.030,2066,2924,1047,0,0,0,0,0,0
$GC,10422,0.59,108.4,618.6,12.8,671,10426,0.00,1.42,0.00,0.000,4,0.000,0.057,2065,3809,1047,0,0,0,0,0,0
$GC,10522,0.57,108.4,603.9,15.0,675,10526,0.00,1.30,0.00,0.000,6,0.000,0.030,2072,2926,1046,0,0,0,0,0,0
$GC,10844,0.59,108.4,562.1,13.0,691,10848,0.00,1.42,0.00,0.000,4,0.000,0.057,2072,3804,1046,0,0,0,0,0,0
$GC,10912,0.56,108.4,552.3,15.0,694,10916,0.00,1.30,0.00,0.000,6,0.000,0.030,2079,2922,1046,0,0,0,0,0,0
$GC,11244,0.56,108.4,508.0,12.9,710,11248,0.00,1.45,0.00,0.000,4,0.000,0.057,2079,3815,1046,0,0,0,0,0,0
$GC,11361,0.52,108.4,490.1,16.0,715,11365,0.00,1.30,0.00,0.000,6,0.000,0.030,2085,2928,1046,0,0,0,0,0,0
$GC,11687,0.52,108.4,443.3,14.1,731,11691,0.00,1.42,0.00,0.000,4,0.000,0.057,2085,3806,1046,0,0,0,0,0,0
$GC,11850,0.47,108.4,416.6,16.3,738,11854,0.10,1.30,0.00,0.000,6,0.191,0.030,2064,2923,1046,0,0,0,0,0,0
$GC,12173,0.51,108.4,378.0,11.3,762,12174,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2923,1046,0,0,0,0,0,0
$GC,12490,0.56,108.4,341.7,11.1,792,12494,0.00,1.42,0.00,0.000,4,0.000,0.057,2064,3803,1046,0,0,0,0,0,0
$GC,12616,0.56,108.4,325.5,13.8,803,12620,0.00,1.30,0.00,0.000,6,0.000,0.031,2069,2924,1046,0,0,0,0,0,0
$GC,12946,0.59,108.4,286.6,11.9,834,12950,0.00,1.42,0.00,0.000,4,0.000,0.056,2069,3804,1046,0,0,0,0,0,0
$GC,12984,0.59,108.4,281.8,14.6,837,12987,0.00,1.30,0.00,0.000,6,0.000,0.029,2076,2915,1046,0,0,0,0,0,0
$GC,13314,0.62,108.4,237.9,13.3,868,13318,0.00,1.45,0.00,0.000,4,0.000,0.057,2076,3810,1046,0,0,0,0,0,0
$GC,13364,0.59,108.4,230.4,14.9,872,13373,0.00,1.30,0.00,0.000,6,0.000,0.030,2083,2925,1046,0,0,0,0,0,0
$GC,13690,0.59,108.4,187.0,12.7,903,13694,0.00,1.42,0.00,0.000,4,0.000,0.056,2083,3809,1046,0,0,0,0,0,0
$GC,13876,0.55,108.4,158.4,14.8,919,13884,0.00,1.30,0.00,0.000,6,0.000,0.028,2089,2915,1046,0,0,0,0,0,0
$GC,14201,0.55,108.4,122.1,10.7,950,14205,0.00,1.45,0.00,0.000,4,0.000,0.055,2089,3812,1046,0,0,0,0,0,0
$GC,14406,0.52,108.4,94.2,13.2,971,14413,0.00,1.30,0.00,0.000,6,0.000,0.030,2096,2924,1046,0,0,0,0,0,0
$GC,14755,0.52,108.4,53.3,11.5,1032,14764,0.00,1.40,0.00,0.000,4,0.000,0.056,2096,3802,1046,0,0,0,0,0,0
$GC,14857,0.47,108.4,38.9,15.3,1049,14867,0.15,1.27,0.00,0.000,6,0.182,0.029,2061,2925,1046,0,0,0,0,0,0
$GC,15012,0.54,108.4,22.4,10.4,1074,15020,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2925,1047,0,0,0,0,0,0
$GC,15165,0.60,108.4,6.3,10.0,1099,15174,0.12,1.45,0.00,0.000,4,0.098,0.054,2120,3813,1046,0,0,0,0,0,0
$STATE,15193,end climb,SURFACE_DEPTH_REACHED
$STATE,15193,begin surface coast
$FINISH,1.3,1.014029
$STATE,15218,end surface coast,CONTROL_FINISHED_OK
$STATE,15218,begin surface
$SM_CCo,15232,57.22,0.405,1,0,681,200.16
$SM_GC,2.46,0.00,0.00,57.22,0.000,0.000,0.405,65,3222,681,-5.75,0.34,200.16
$IRIDIUM_FIX,-4244.98,831.55,300608,202017
$TT8_MAMPS,0.027713
$HUMID,62.01
$INTERNAL_PRESSURE,11.3786
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.1,36.792
$10V_AH,10.2,22.283
$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,14.725,76.900,228.725,57.225,0.000,48.372,20.991,393.904,0.000,0.000,30.077,2774.323,9463.855,397.695,3057.813,198.102,0.000,1487.668,0.000,2565.128,0.000,0.544,0.000
$DEVICE_MAMPS,231.030,78.030,1938.510,404.685,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,768.891,786.244,837.996,81.394,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353940
$DATA_FILE_SIZE,63572,1107
$CAP_FILE_SIZE,149997,0
$CFSIZE,259252224,243589120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,040915,155652,-4303.622,836.344,61,0.9,61,-25.1