version: 66.07
glider: 543
mission: 14
dive: 234
start: 9 15 115 5 10 11
data:
$ID,543
$MISSION,14
$DIVE,234
$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,-24884.561
$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,76
$R_STBD_OVSHOOT,34
$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
$GPS1,150915,045827,-4254.919,836.743,40,0.9,40,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-69.6
$GPS2,150915,050948,-4254.849,836.909,15,1.0,17,-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,235.1,2463,-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,-49.8,0.0,0.0,0,72,0.00,0.00,-51.80,0.000,6,0.000,0.000,65,3229,1702,0,0,0,0,0,0
$GC,74,-0.60,-111.7,3.0,-1.4,7,100,6.80,1.17,-8.25,0.000,4,0.232,0.083,1699,3933,1956,0,0,0,0,0,0
$GC,256,-0.53,-111.7,33.4,-17.2,36,265,0.10,1.05,0.00,0.000,6,0.165,0.031,1729,3231,1958,0,0,0,0,0,0
$GC,407,-0.53,-111.7,55.3,-14.4,61,413,0.00,0.00,0.00,0.000,6,0.000,0.000,1729,3231,1958,0,0,0,0,0,0
$GC,752,-0.53,-111.7,107.1,-15.0,118,753,0.00,0.00,0.00,0.000,6,0.000,0.000,1729,3231,1958,0,0,0,0,0,0
$GC,1072,-0.53,-111.7,155.3,-14.8,148,1075,0.00,1.12,0.00,0.000,4,0.000,0.056,1725,3936,1958,0,0,0,0,0,0
$GC,1118,-0.51,-111.7,162.4,-15.7,152,1121,0.00,1.08,0.00,0.000,6,0.000,0.030,1725,3203,1958,0,0,0,0,0,0
$GC,1448,-0.51,-111.7,208.2,-13.5,183,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,1725,3202,1958,0,0,0,0,0,0
$GC,1770,-0.53,-111.7,250.3,-12.6,213,1773,0.00,1.17,0.00,0.000,4,0.000,0.055,1720,3940,1959,0,0,0,0,0,0
$GC,1817,-0.53,-111.7,256.7,-13.6,217,1821,0.00,1.08,0.00,0.000,6,0.000,0.030,1719,3201,1958,0,0,0,0,0,0
$GC,2147,-0.53,-111.7,300.3,-12.8,248,2150,0.00,1.17,0.00,0.000,4,0.000,0.056,1714,3938,1958,0,0,0,0,0,0
$GC,2242,-0.51,-111.7,314.2,-14.6,256,2251,0.00,1.05,0.00,0.000,6,0.000,0.030,1714,3213,1958,0,0,0,0,0,0
$GC,2569,-0.51,-111.7,356.8,-12.9,287,2573,0.00,1.15,0.00,0.000,4,0.000,0.055,1709,3939,1958,0,0,0,0,0,0
$GC,2596,-0.51,-111.7,361.0,-14.4,289,2604,0.08,1.08,0.00,0.000,6,0.155,0.030,1732,3204,1958,0,0,0,0,0,0
$GC,2922,-0.55,-111.7,397.3,-11.1,320,2925,0.00,1.27,0.00,0.000,4,0.000,0.027,1732,2298,1958,0,0,0,0,0,0
$GC,2971,-0.63,-111.7,402.7,-9.7,324,2976,0.00,1.45,0.00,0.000,6,0.000,0.050,1726,3202,1958,0,0,0,0,0,0
$GC,3299,-0.66,-111.7,441.4,-12.2,340,3303,0.10,1.20,0.00,0.000,4,0.109,0.057,1673,3956,1958,0,0,0,0,0,0
$GC,3412,-0.58,-111.7,460.3,-16.9,345,3416,0.12,1.10,0.00,0.000,6,0.160,0.031,1711,3201,1958,0,0,0,0,0,0
$GC,3744,-0.58,-111.7,505.5,-13.7,361,3745,0.00,0.00,0.00,0.000,6,0.000,0.000,1710,3201,1958,0,0,0,0,0,0
$GC,4053,-0.58,-111.7,547.2,-13.4,376,4056,0.00,1.20,0.00,0.000,4,0.000,0.057,1706,3956,1958,0,0,0,0,0,0
$GC,4090,-0.56,-111.7,552.6,-13.7,377,4098,0.00,1.10,0.00,0.000,6,0.000,0.031,1706,3204,1958,0,0,0,0,0,0
$GC,4407,-0.56,-111.7,594.4,-13.3,393,4410,0.00,1.17,0.00,0.000,4,0.000,0.057,1701,3945,1958,0,0,0,0,0,0
$GC,4452,-0.53,-111.7,600.8,-14.2,395,4456,0.08,1.08,0.00,0.000,6,0.164,0.031,1724,3218,1958,0,0,0,0,0,0
$GC,4786,-0.57,-111.7,638.9,-11.2,411,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,1724,3218,1958,0,0,0,0,0,0
$GC,5094,-0.61,-111.7,673.5,-11.2,426,5095,0.00,0.00,0.00,0.000,6,0.000,0.000,1724,3219,1958,0,0,0,0,0,0
$GC,5403,-0.66,-111.7,709.0,-11.2,441,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,1724,3218,1958,0,0,0,0,0,0
$GC,5713,-0.70,-111.7,741.4,-10.2,456,5715,0.15,0.00,0.00,0.000,6,0.090,0.000,1662,3218,1958,0,0,0,0,0,0
$GC,6022,-0.64,-111.7,785.4,-14.3,471,6026,0.15,1.17,0.00,0.000,4,0.189,0.056,1695,3945,1958,0,0,0,0,0,0
$GC,6082,-0.62,-111.7,793.6,-12.6,473,6089,0.00,1.10,0.00,0.000,6,0.000,0.031,1695,3196,1958,0,0,0,0,0,0
$GC,6398,-0.62,-111.7,833.5,-13.1,489,6401,0.00,1.20,0.00,0.000,4,0.000,0.057,1690,3950,1958,0,0,0,0,0,0
$GC,6447,-0.58,-111.7,841.0,-15.4,491,6451,0.00,1.08,0.00,0.000,6,0.000,0.031,1690,3214,1958,0,0,0,0,0,0
$GC,6774,-0.58,-111.7,886.7,-13.8,507,6775,0.00,0.00,0.00,0.000,6,0.000,0.000,1690,3215,1958,0,0,0,0,0,0
$GC,7083,-0.58,-111.7,927.2,-12.4,522,7087,0.00,1.17,0.00,0.000,4,0.000,0.057,1684,3952,1958,0,0,0,0,0,0
$GC,7178,-0.54,-111.7,939.8,-14.3,526,7183,0.12,1.10,0.00,0.000,6,0.162,0.032,1722,3209,1958,0,0,0,0,0,0
$GC,7506,-0.60,-111.7,970.4,-9.1,542,7507,0.00,0.00,0.00,0.000,6,0.000,0.000,1722,3209,1958,0,0,0,0,0,0
$GC,7815,-0.65,-111.7,997.5,-8.6,557,7816,0.00,0.00,0.00,0.000,6,0.000,0.000,1722,3209,1958,0,0,0,0,0,0
$STATE,7854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7854,begin apogee
$GC,7858,-0.09,0.0,1001.2,9.0,559,7980,0.50,0.00,118.68,1.911,6,0.145,0.000,1870,2906,1499,0,0,0,0,0,0
$STATE,7981,end apogee,CONTROL_FINISHED_OK
$STATE,7981,begin climb
$GC,7983,0.60,111.7,1002.7,0.0,565,8109,0.70,0.00,117.30,1.857,6,0.090,0.000,2094,2906,1045,0,0,0,0,0,0
$GC,8416,0.60,111.7,943.5,15.6,586,8419,0.00,1.50,0.00,0.000,4,0.000,0.057,2094,3806,1040,0,0,0,0,0,0
$GC,8584,0.54,111.7,913.7,19.4,593,8588,0.00,1.35,0.00,0.000,6,0.000,0.029,2100,2908,1039,0,0,0,0,0,0
$GC,8905,0.51,111.7,861.1,16.5,609,8909,0.12,1.48,0.00,0.000,4,0.207,0.056,2073,3804,1039,0,0,0,0,0,0
$GC,9011,0.48,111.7,843.3,16.6,613,9018,0.00,1.30,0.00,0.000,6,0.000,0.029,2078,2928,1038,0,0,0,0,0,0
$GC,9327,0.48,111.7,798.4,14.0,629,9330,0.00,1.42,0.00,0.000,4,0.000,0.057,2078,3810,1038,0,0,0,0,0,0
$GC,9432,0.44,111.7,781.6,15.7,633,9440,0.10,1.30,0.00,0.000,6,0.186,0.029,2056,2922,1037,0,0,0,0,0,0
$GC,9749,0.50,111.7,745.1,11.3,649,9752,0.00,1.42,0.00,0.000,4,0.000,0.057,2056,3805,1037,0,0,0,0,0,0
$GC,9861,0.50,111.7,729.9,14.2,654,9865,0.00,1.30,0.00,0.000,6,0.000,0.031,2061,2925,1037,0,0,0,0,0,0
$GC,10194,0.54,111.7,688.6,12.0,670,10198,0.00,1.45,0.00,0.000,4,0.000,0.057,2061,3809,1036,0,0,0,0,0,0
$GC,10299,0.54,111.7,673.2,14.8,674,10307,0.00,1.33,0.00,0.000,6,0.000,0.029,2068,2923,1036,0,0,0,0,0,0
$GC,10616,0.57,111.7,632.4,12.9,690,10620,0.00,1.42,0.00,0.000,4,0.000,0.057,2068,3804,1036,0,0,0,0,0,0
$GC,10662,0.55,111.7,625.9,14.1,692,10665,0.00,1.30,0.00,0.000,6,0.000,0.030,2075,2924,1036,0,0,0,0,0,0
$GC,10994,0.57,111.7,582.4,12.7,708,10998,0.00,1.42,0.00,0.000,4,0.000,0.057,2075,3810,1036,0,0,0,0,0,0
$GC,11088,0.55,111.7,567.9,15.7,712,11093,0.00,1.30,0.00,0.000,6,0.000,0.030,2081,2925,1036,0,0,0,0,0,0
$GC,11416,0.55,111.7,523.6,13.2,728,11419,0.00,1.42,0.00,0.000,4,0.000,0.056,2081,3811,1036,0,0,0,0,0,0
$GC,11529,0.51,111.7,505.9,15.6,733,11533,0.00,1.30,0.00,0.000,6,0.000,0.031,2088,2928,1036,0,0,0,0,0,0
$GC,11861,0.51,111.7,458.7,13.8,749,11865,0.00,1.42,0.00,0.000,4,0.000,0.056,2088,3810,1036,0,0,0,0,0,0
$GC,11998,0.46,111.7,437.2,16.7,755,12002,0.12,1.30,0.00,0.000,6,0.178,0.031,2059,2925,1036,0,0,0,0,0,0
$GC,12320,0.52,111.7,398.6,11.4,771,12324,0.00,1.42,0.00,0.000,4,0.000,0.057,2060,3810,1036,0,0,0,0,0,0
$GC,12377,0.52,111.7,391.3,12.8,776,12381,0.00,1.30,0.00,0.000,6,0.000,0.031,2064,2924,1036,0,0,0,0,0,0
$GC,12708,0.56,111.7,352.6,11.8,807,12712,0.00,1.42,0.00,0.000,4,0.000,0.057,2064,3809,1035,0,0,0,0,0,0
$GC,12803,0.56,111.7,339.7,14.0,815,12811,0.00,1.30,0.00,0.000,6,0.000,0.029,2071,2924,1035,0,0,0,0,0,0
$GC,13129,0.60,111.7,300.6,12.1,846,13132,0.00,1.42,0.00,0.000,4,0.000,0.057,2071,3803,1035,0,0,0,0,0,0
$GC,13377,0.60,111.7,264.0,15.0,868,13381,0.00,1.30,0.00,0.000,6,0.000,0.030,2078,2914,1035,0,0,0,0,0,0
$GC,13708,0.63,111.7,220.5,12.6,899,13711,0.00,1.45,0.00,0.000,4,0.000,0.057,2077,3806,1036,0,0,0,0,0,0
$GC,13838,0.61,111.7,202.9,13.4,910,13844,0.00,1.30,0.00,0.000,6,0.000,0.029,2084,2919,1036,0,0,0,0,0,0
$GC,14164,0.63,111.7,164.9,11.3,941,14168,0.00,1.27,0.00,0.000,4,0.000,0.032,2091,2055,1035,0,0,0,0,0,0
$GC,14214,0.69,111.7,158.9,12.3,945,14222,0.08,1.38,0.00,0.000,6,0.064,0.049,2135,2918,1036,0,0,0,0,0,0
$GC,14539,0.62,111.7,108.5,15.2,976,14543,0.12,1.40,0.00,0.000,4,0.210,0.054,2105,3801,1036,0,0,0,0,0,0
$GC,14666,0.55,111.7,88.6,15.9,993,14674,0.00,1.27,0.00,0.000,6,0.000,0.029,2110,2922,1036,0,0,0,0,0,0
$GC,15018,0.53,111.7,38.5,14.0,1054,15028,0.12,1.42,0.00,0.000,4,0.207,0.054,2081,3809,1036,0,0,0,0,0,0
$GC,15072,0.53,111.7,31.0,14.2,1062,15081,0.00,1.30,0.00,0.000,6,0.000,0.029,2086,2918,1036,0,0,0,0,0,0
$GC,15225,0.56,111.7,12.6,10.8,1087,15233,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2917,1036,0,0,0,0,0,0
$GC,15283,0.56,111.7,5.0,13.7,1096,15291,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,2917,1036,0,0,0,0,0,0
$STATE,15298,end climb,SURFACE_DEPTH_REACHED
$STATE,15298,begin surface coast
$FINISH,1.4,1.023128
$STATE,15323,end surface coast,CONTROL_FINISHED_OK
$STATE,15323,begin surface
$SM_CCo,15336,41.15,0.138,0,0,681,200.16
$SM_GC,2.71,0.00,0.00,41.15,0.000,0.000,0.138,70,3228,681,-5.73,0.57,200.16
$IRIDIUM_FIX,-4236.17,845.22,110708,181844
$TT8_MAMPS,0.027713
$HUMID,62.40
$INTERNAL_PRESSURE,11.3786
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,21.8,44.974
$10V_AH,10.1,28.013
$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,15.225,72.150,235.975,41.150,0.000,52.547,104.022,327.006,0.000,0.000,19.856,2752.616,9643.951,403.450,3049.552,199.984,0.000,1501.441,0.000,2539.276,0.000,0.544,0.000
$DEVICE_MAMPS,231.795,82.620,1910.970,137.700,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,765.096,779.829,804.684,76.619,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353920
$DATA_FILE_SIZE,63502,1102
$CAP_FILE_SIZE,151245,0
$CFSIZE,259252224,239525888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,150915,092755,-4255.614,836.158,31,41.9,50,-25.1