version: 66.07
glider: 543
mission: 14
dive: 261
start: 9 21 115 14 7 40
data:
$ID,543
$MISSION,14
$DIVE,261
$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,-24973.738
$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,80
$R_STBD_OVSHOOT,30
$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
$GPS1,210915,135903,-4254.696,823.891,31,1.0,31,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-75.5
$GPS2,210915,140717,-4254.711,823.938,17,1.2,18,-25.0
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAZ_BUT2
$TGT_LATLONG,-4256.000,824.000
$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,203.0,2388,-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,-44.65,0.000,6,0.000,0.000,60,3221,1704,0,0,0,0,0,0
$GC,67,-0.60,-110.4,3.0,-1.6,6,93,6.90,1.20,-7.97,0.000,4,0.233,0.078,1701,3953,1951,0,0,0,0,0,0
$GC,102,-0.12,-110.4,8.0,-10.3,10,111,0.55,1.08,0.00,0.000,6,0.159,0.030,1859,3234,1952,0,0,0,0,0,0
$GC,161,-0.41,-116.8,12.8,-4.6,19,171,0.25,1.17,-0.45,0.000,4,0.066,0.078,1745,3949,1978,0,0,0,0,0,0
$GC,436,-0.46,-116.8,46.2,-12.7,65,443,0.00,1.10,0.00,0.000,6,0.000,0.030,1745,3196,1978,0,0,0,0,0,0
$GC,783,-0.51,-116.8,89.2,-12.2,126,792,0.00,1.20,0.00,0.000,4,0.000,0.056,1740,3947,1978,0,0,0,0,0,0
$GC,889,-0.55,-116.8,103.3,-13.3,142,893,0.00,1.08,0.00,0.000,6,0.000,0.029,1740,3203,1978,0,0,0,0,0,0
$GC,1223,-0.60,-116.8,147.1,-13.6,173,1229,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,3204,1978,0,0,0,0,0,0
$GC,1550,-0.66,-116.8,188.7,-12.6,204,1554,0.15,1.20,0.00,0.000,4,0.085,0.056,1667,3944,1978,0,0,0,0,0,0
$GC,1641,-0.55,-116.8,205.2,-20.1,212,1645,0.17,1.05,0.00,0.000,6,0.164,0.029,1718,3224,1978,0,0,0,0,0,0
$GC,1971,-0.57,-116.8,250.1,-12.2,243,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,1718,3223,1978,0,0,0,0,0,0
$GC,2293,-0.60,-116.8,291.0,-13.0,273,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,1719,3224,1978,0,0,0,0,0,0
$GC,2619,-0.63,-116.8,333.2,-13.4,304,2622,0.00,1.15,0.00,0.000,4,0.000,0.055,1715,3946,1978,0,0,0,0,0,0
$GC,2779,-0.63,-116.8,355.4,-13.2,318,2783,0.00,1.08,0.00,0.000,6,0.000,0.029,1714,3201,1978,0,0,0,0,0,0
$GC,3112,-0.65,-116.8,397.6,-12.7,349,3113,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,3202,1978,0,0,0,0,0,0
$GC,3420,-0.67,-116.8,438.3,-13.2,365,3423,0.00,1.20,0.00,0.000,4,0.000,0.055,1709,3957,1978,0,0,0,0,0,0
$GC,3469,-0.67,-116.8,445.8,-15.3,367,3473,0.00,1.10,0.00,0.000,6,0.000,0.029,1709,3208,1977,0,0,0,0,0,0
$GC,3797,-0.69,-116.8,490.3,-13.3,383,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,3208,1978,0,0,0,0,0,0
$GC,4108,-0.71,-116.8,530.5,-13.3,398,4110,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,3209,1978,0,0,0,0,0,0
$GC,4415,-0.73,-116.8,570.9,-13.1,413,4417,0.12,0.00,0.00,0.000,6,0.096,0.000,1652,3208,1978,0,0,0,0,0,0
$GC,4725,-0.64,-116.8,623.6,-17.2,428,4727,0.17,0.00,0.00,0.000,6,0.186,0.000,1697,3208,1978,0,0,0,0,0,0
$GC,5034,-0.64,-116.8,665.0,-13.3,443,5035,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,3207,1979,0,0,0,0,0,0
$GC,5343,-0.64,-116.8,703.7,-12.4,458,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,3208,1978,0,0,0,0,0,0
$GC,5652,-0.64,-116.8,740.4,-11.9,473,5656,0.00,1.17,0.00,0.000,4,0.000,0.057,1693,3944,1978,0,0,0,0,0,0
$GC,5724,-0.61,-116.8,750.0,-13.5,476,5728,0.00,1.08,0.00,0.000,6,0.000,0.030,1693,3202,1978,0,0,0,0,0,0
$GC,6051,-0.61,-116.8,791.8,-12.8,492,6055,0.00,1.20,0.00,0.000,4,0.000,0.057,1687,3954,1978,0,0,0,0,0,0
$GC,6188,-0.58,-116.8,810.6,-14.0,498,6192,0.08,1.08,0.00,0.000,6,0.169,0.031,1710,3223,1978,0,0,0,0,0,0
$GC,6521,-0.61,-116.8,848.7,-11.4,514,6525,0.00,1.15,0.00,0.000,4,0.000,0.057,1706,3941,1978,0,0,0,0,0,0
$GC,6659,-0.61,-116.8,866.8,-12.9,520,6664,0.00,1.10,0.00,0.000,6,0.000,0.030,1706,3199,1978,0,0,0,0,0,0
$GC,6988,-0.65,-116.8,907.1,-12.5,536,6991,0.00,1.20,0.00,0.000,4,0.000,0.056,1701,3951,1978,0,0,0,0,0,0
$GC,7059,-0.65,-116.8,917.2,-13.8,539,7064,0.00,1.10,0.00,0.000,6,0.000,0.031,1700,3211,1978,0,0,0,0,0,0
$GC,7388,-0.67,-116.8,958.6,-12.6,555,7391,0.00,1.17,0.00,0.000,4,0.000,0.057,1695,3947,1978,0,0,0,0,0,0
$GC,7455,-0.67,-116.8,968.0,-13.6,558,7459,0.00,1.08,0.00,0.000,6,0.000,0.031,1695,3213,1978,0,0,0,0,0,0
$STATE,7703,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7703,begin apogee
$GC,7708,-0.09,0.0,1000.5,13.1,570,7874,0.60,0.00,137.85,1.789,6,0.148,0.000,1869,2923,1499,0,0,0,0,5,0
$STATE,7875,end apogee,CONTROL_FINISHED_OK
$STATE,7875,begin climb
$GC,7877,0.61,116.8,1006.4,0.0,578,8008,0.70,1.45,123.97,1.814,4,0.084,0.028,2101,2052,1023,0,0,0,0,0,0
$GC,8132,0.64,116.8,978.1,14.8,589,8139,0.00,1.48,0.00,0.000,6,0.000,0.046,2101,2919,1019,0,0,0,0,0,0
$GC,8448,0.62,116.8,927.5,16.3,605,8451,0.00,1.42,0.00,0.000,4,0.000,0.055,2101,3805,1017,0,0,0,0,0,0
$GC,8503,0.55,116.8,917.0,20.0,607,8507,0.00,1.33,0.00,0.000,6,0.000,0.029,2108,2909,1016,0,0,0,0,0,0
$GC,8825,0.52,116.8,859.4,17.7,623,8829,0.15,1.45,0.00,0.000,4,0.203,0.054,2073,3799,1016,0,0,0,0,0,0
$GC,8885,0.50,116.8,849.0,18.0,625,8892,0.00,1.30,0.00,0.000,6,0.000,0.029,2078,2928,1015,0,0,0,0,0,0
$GC,9201,0.51,116.8,802.5,14.4,641,9205,0.00,1.42,0.00,0.000,4,0.000,0.054,2078,3807,1015,0,0,0,0,0,0
$GC,9318,0.48,116.8,782.8,17.0,646,9323,0.00,1.30,0.00,0.000,6,0.000,0.029,2085,2922,1014,0,0,0,0,0,0
$GC,9645,0.48,116.8,736.9,13.7,662,9649,0.00,1.42,0.00,0.000,4,0.000,0.055,2085,3799,1014,0,0,0,0,0,0
$GC,9744,0.44,116.8,721.1,16.3,666,9749,0.12,1.27,0.00,0.000,6,0.184,0.029,2056,2930,1014,0,0,0,0,0,0
$GC,10066,0.50,116.8,685.1,11.1,682,10070,0.00,1.42,0.00,0.000,4,0.000,0.057,2055,3807,1013,0,0,0,0,0,0
$GC,10112,0.52,116.8,679.3,12.9,684,10115,0.00,1.30,0.00,0.000,6,0.000,0.031,2061,2927,1013,0,0,0,0,0,0
$GC,10444,0.57,116.8,640.0,11.9,700,10448,0.00,1.42,0.00,0.000,4,0.000,0.055,2061,3809,1013,0,0,0,0,0,0
$GC,10489,0.57,116.8,633.7,14.3,702,10493,0.00,1.30,0.00,0.000,6,0.000,0.030,2067,2924,1013,0,0,0,0,0,0
$GC,10822,0.60,116.8,589.6,13.6,718,10826,0.00,1.42,0.00,0.000,4,0.000,0.055,2067,3809,1013,0,0,0,0,0,0
$GC,10890,0.60,116.8,579.1,15.8,721,10894,0.00,1.30,0.00,0.000,6,0.000,0.030,2074,2925,1013,0,0,0,0,0,0
$GC,11222,0.63,116.8,531.6,14.2,737,11224,0.10,0.00,0.00,0.000,6,0.111,0.000,2120,2924,1013,0,0,0,0,0,0
$GC,11534,0.58,116.8,478.9,17.1,752,11537,0.00,1.42,0.00,0.000,4,0.000,0.055,2119,3809,1013,0,0,0,0,0,0
$GC,11639,0.49,116.8,458.8,17.7,756,11647,0.20,1.30,0.00,0.000,6,0.188,0.028,2072,2927,1013,0,0,0,0,0,0
$GC,11956,0.53,116.8,418.3,12.7,772,11959,0.00,1.42,0.00,0.000,4,0.000,0.056,2071,3806,1013,0,0,0,0,0,0
$GC,12061,0.53,116.8,403.0,14.2,776,12069,0.00,1.30,0.00,0.000,6,0.000,0.028,2077,2921,1013,0,0,0,0,0,0
$GC,12386,0.57,116.8,364.6,11.9,806,12388,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2921,1013,0,0,0,0,0,0
$GC,12706,0.61,116.8,325.9,12.1,836,12709,0.00,1.45,0.00,0.000,4,0.000,0.057,2076,3812,1013,0,0,0,0,0,0
$GC,12913,0.61,116.8,295.6,14.7,854,12921,0.00,1.33,0.00,0.000,6,0.000,0.028,2083,2914,1012,0,0,0,0,0,0
$GC,13243,0.63,116.8,254.6,12.2,885,13246,0.00,1.45,0.00,0.000,4,0.000,0.056,2083,3809,1012,0,0,0,0,0,0
$GC,13349,0.61,116.8,238.0,15.6,894,13356,0.00,1.30,0.00,0.000,6,0.000,0.029,2090,2924,1013,0,0,0,0,0,0
$GC,13678,0.62,116.8,195.2,12.9,925,13684,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2924,1013,0,0,0,0,0,0
$GC,14003,0.62,116.8,152.1,13.4,956,14004,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,2924,1012,0,0,0,0,0,0
$GC,14323,0.64,116.8,111.9,13.0,986,14326,0.00,1.42,0.00,0.000,4,0.000,0.055,2090,3812,1012,0,0,0,0,0,0
$GC,14427,0.61,116.8,96.6,14.8,997,14434,0.00,1.30,0.00,0.000,6,0.000,0.029,2096,2922,1012,0,0,0,0,0,0
$GC,14774,0.61,116.8,52.6,12.4,1058,14781,0.00,1.42,0.00,0.000,4,0.000,0.054,2096,3806,1012,0,0,0,0,0,0
$GC,14868,0.58,116.8,39.3,14.9,1074,14877,0.00,1.30,0.00,0.000,6,0.000,0.028,2103,2913,1012,0,0,0,0,0,0
$GC,15023,0.58,116.8,18.1,13.2,1099,15031,0.00,1.45,0.00,0.000,4,0.000,0.054,2103,3813,1013,0,0,0,0,0,0
$GC,15110,0.52,116.8,4.3,16.5,1113,15120,0.10,1.30,0.00,0.000,6,0.182,0.028,2081,2908,1013,0,0,0,0,0,0
$STATE,15127,end climb,SURFACE_DEPTH_REACHED
$STATE,15127,begin surface coast
$FINISH,1.2,1.025909
$STATE,15146,end surface coast,CONTROL_FINISHED_OK
$STATE,15146,begin surface
$SM_CCo,15160,51.00,0.215,1,0,683,200.16
$SM_GC,2.10,0.00,0.00,51.00,0.000,0.000,0.215,66,3217,683,-5.75,0.23,200.16
$IRIDIUM_FIX,-4242.04,821.95,170708,232334
$TT8_MAMPS,0.027713
$HUMID,62.36
$INTERNAL_PRESSURE,11.4079
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,21.7,49.864
$10V_AH,10.1,31.454
$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,15.800,67.025,261.825,51.000,0.000,33.860,22.985,300.399,0.000,0.000,20.120,2769.124,9317.349,453.590,2957.513,211.437,0.000,1540.898,0.000,2570.640,0.000,0.545,0.000
$DEVICE_MAMPS,232.560,78.030,1813.815,214.965,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,773.936,782.637,867.635,85.241,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353948
$DATA_FILE_SIZE,63584,1118
$CAP_FILE_SIZE,147055,0
$CFSIZE,259252224,237109248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,1
$GPS,210915,182227,-4255.992,824.779,36,0.9,36,-25.0