version: 66.07
glider: 543
mission: 14
dive: 313
start: 10 3 115 7 34 44
data:
$ID,543
$MISSION,14
$DIVE,313
$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,-25109.979
$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,67
$R_STBD_OVSHOOT,24
$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
$GPS1,031015,072528,-4303.303,836.515,42,0.9,42,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-74.3
$GPS2,031015,073422,-4303.317,836.536,21,1.5,21,-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,234.9,1457,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.54,-49.8,0.0,0.0,0,66,0.00,0.00,-44.70,0.000,6,0.000,0.000,63,3216,1703,0,0,0,0,0,0
$GC,68,-0.60,-109.7,3.1,-1.7,6,94,6.93,1.38,-7.68,0.000,4,0.236,0.050,1706,2294,1948,0,0,0,0,0,0
$GC,192,-0.63,-109.7,20.6,-14.7,25,200,0.00,1.48,0.00,0.000,6,0.000,0.050,1701,3205,1950,0,0,0,0,0,0
$GC,343,-0.60,-109.7,43.6,-16.3,50,348,0.00,0.00,0.00,0.000,6,0.000,0.000,1701,3205,1949,0,0,0,0,0,0
$GC,691,-0.56,-109.7,98.8,-16.7,111,700,0.00,1.17,0.00,0.000,4,0.000,0.056,1695,3955,1950,0,0,0,0,0,0
$GC,740,-0.51,-109.7,107.6,-18.6,116,745,0.12,1.08,0.00,0.000,6,0.158,0.029,1733,3215,1950,0,0,0,0,0,0
$GC,1071,-0.54,-109.7,153.8,-14.0,147,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,3215,1950,0,0,0,0,0,0
$GC,1394,-0.58,-109.7,193.9,-11.8,177,1400,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,3215,1950,0,0,0,0,0,0
$GC,1721,-0.63,-109.7,233.9,-12.1,208,1724,0.00,1.17,0.00,0.000,4,0.000,0.057,1728,3956,1950,0,0,0,0,0,0
$GC,1744,-0.67,-109.7,237.0,-12.7,210,1748,0.08,1.10,0.00,0.000,6,0.068,0.030,1681,3195,1950,0,0,0,0,0,0
$GC,2078,-0.62,-109.7,290.6,-16.1,241,2081,0.00,1.27,0.00,0.000,4,0.000,0.026,1681,2290,1950,0,0,0,0,0,0
$GC,2125,-0.62,-109.7,297.7,-13.7,245,2129,0.00,1.48,0.00,0.000,6,0.000,0.050,1674,3208,1950,0,0,0,0,0,0
$GC,2455,-0.57,-109.7,351.2,-15.9,276,2460,0.17,1.20,0.00,0.000,4,0.178,0.054,1716,3959,1950,0,0,0,0,0,0
$GC,2524,-0.57,-109.7,361.0,-13.4,282,2528,0.00,1.08,0.00,0.000,6,0.000,0.031,1715,3215,1950,0,0,0,0,0,0
$GC,2857,-0.59,-109.7,400.6,-12.0,313,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,3215,1950,0,0,0,0,0,0
$GC,3164,-0.62,-109.7,436.0,-11.2,328,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,3215,1950,0,0,0,0,0,0
$GC,3474,-0.65,-109.7,472.1,-11.6,343,3475,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,3215,1950,0,0,0,0,0,0
$GC,3783,-0.67,-109.7,510.4,-12.6,358,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,3214,1950,0,0,0,0,0,0
$GC,4092,-0.70,-109.7,549.6,-12.7,373,4094,0.10,0.00,0.00,0.000,6,0.114,0.000,1667,3214,1950,0,0,0,0,0,0
$GC,4402,-0.64,-109.7,600.2,-16.1,388,4404,0.12,0.00,0.00,0.000,6,0.190,0.000,1696,3214,1950,0,0,0,0,0,0
$GC,4711,-0.64,-109.7,641.6,-12.9,403,4712,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,3214,1950,0,0,0,0,0,0
$GC,5020,-0.64,-109.7,680.9,-12.5,418,5024,0.00,1.17,0.00,0.000,4,0.000,0.057,1692,3951,1950,0,0,0,0,0,0
$GC,5060,-0.62,-109.7,686.1,-12.9,419,5067,0.00,1.08,0.00,0.000,6,0.000,0.031,1692,3215,1950,0,0,0,0,0,0
$GC,5375,-0.62,-109.7,725.6,-12.7,435,5379,0.00,1.17,0.00,0.000,4,0.000,0.055,1687,3958,1950,0,0,0,0,0,0
$GC,5448,-0.58,-109.7,735.8,-13.8,438,5451,0.00,1.10,0.00,0.000,6,0.000,0.030,1687,3199,1950,0,0,0,0,0,0
$GC,5774,-0.58,-109.7,778.6,-13.1,454,5778,0.00,1.27,0.00,0.000,4,0.000,0.027,1687,2299,1950,0,0,0,0,0,0
$GC,5820,-0.61,-109.7,784.0,-11.8,456,5824,0.00,1.48,0.00,0.000,6,0.000,0.050,1680,3211,1949,0,0,0,0,0,0
$GC,6153,-0.59,-109.7,826.9,-12.8,472,6157,0.12,1.17,0.00,0.000,4,0.190,0.056,1706,3948,1950,0,0,0,0,0,0
$GC,6213,-0.59,-109.7,834.7,-12.0,474,6220,0.00,1.10,0.00,0.000,6,0.000,0.031,1706,3202,1950,0,0,0,0,0,0
$GC,6530,-0.63,-109.7,866.9,-10.4,490,6531,0.00,0.00,0.00,0.000,6,0.000,0.000,1706,3202,1950,0,0,0,0,0,0
$GC,6839,-0.66,-109.7,898.7,-10.3,505,6842,0.00,1.20,0.00,0.000,4,0.000,0.057,1701,3956,1950,0,0,0,0,0,0
$GC,6907,-0.66,-109.7,906.6,-12.4,508,6910,0.00,1.10,0.00,0.000,6,0.000,0.031,1701,3203,1950,0,0,0,0,0,0
$GC,7240,-0.69,-109.7,942.2,-10.7,524,7241,0.00,0.00,0.00,0.000,6,0.000,0.000,1701,3203,1949,0,0,0,0,0,0
$GC,7548,-0.72,-109.7,975.3,-10.5,539,7550,0.00,0.00,0.00,0.000,6,0.000,0.000,1701,3203,1950,0,0,0,0,0,0
$STATE,7794,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7794,begin apogee
$GC,7799,-0.09,0.0,1001.6,10.7,551,7921,0.57,0.00,118.82,1.877,6,0.144,0.000,1870,2919,1499,0,0,0,0,0,0
$STATE,7922,end apogee,CONTROL_FINISHED_OK
$STATE,7922,begin climb
$GC,7924,0.60,109.7,1004.2,0.0,557,8052,0.70,1.52,118.68,1.811,4,0.086,0.030,2100,2044,1052,0,0,0,0,0,0
$GC,8085,0.63,109.7,988.4,13.7,564,8089,0.00,1.52,0.00,0.000,6,0.000,0.044,2100,2917,1052,0,0,0,0,0,0
$GC,8407,0.63,109.7,939.6,15.2,580,8410,0.00,1.42,0.00,0.000,4,0.000,0.054,2100,3802,1048,0,0,0,0,0,0
$GC,8479,0.57,109.7,927.0,16.8,583,8483,0.00,1.35,0.00,0.000,6,0.000,0.028,2107,2897,1048,0,0,0,0,0,0
$GC,8806,0.54,109.7,875.4,15.9,599,8810,0.00,1.48,0.00,0.000,4,0.000,0.054,2107,3805,1047,0,0,0,0,0,0
$GC,8979,0.46,109.7,843.6,17.3,606,8987,0.20,1.30,0.00,0.000,6,0.192,0.028,2059,2923,1047,0,0,0,0,0,0
$GC,9296,0.52,109.7,803.7,12.3,622,9299,0.00,1.42,0.00,0.000,4,0.000,0.055,2059,3806,1047,0,0,0,0,0,0
$GC,9431,0.52,109.7,785.1,13.6,628,9434,0.00,1.30,0.00,0.000,6,0.000,0.030,2064,2924,1046,0,0,0,0,0,0
$GC,9763,0.56,109.7,745.4,11.7,644,9767,0.00,1.42,0.00,0.000,4,0.000,0.055,2064,3806,1046,0,0,0,0,0,0
$GC,9831,0.56,109.7,736.5,13.0,647,9835,0.00,1.30,0.00,0.000,6,0.000,0.030,2071,2921,1045,0,0,0,0,0,0
$GC,10164,0.60,109.7,697.4,11.5,663,10168,0.00,1.42,0.00,0.000,4,0.000,0.055,2071,3805,1045,0,0,0,0,0,0
$GC,10310,0.60,109.7,677.3,14.2,669,10313,0.00,1.30,0.00,0.000,6,0.000,0.030,2077,2921,1045,0,0,0,0,0,0
$GC,10632,0.63,109.7,639.2,12.0,685,10635,0.00,1.42,0.00,0.000,4,0.000,0.056,2077,3806,1045,0,0,0,0,0,0
$GC,10700,0.60,109.7,629.9,13.6,688,10704,0.00,1.30,0.00,0.000,6,0.000,0.029,2084,2918,1045,0,0,0,0,0,0
$GC,11033,0.62,109.7,589.4,12.5,704,11037,0.00,1.42,0.00,0.000,4,0.000,0.056,2084,3802,1045,0,0,0,0,0,0
$GC,11116,0.59,109.7,577.6,14.0,707,11123,0.00,1.27,0.00,0.000,6,0.000,0.029,2091,2927,1045,0,0,0,0,0,0
$GC,11432,0.59,109.7,537.0,13.2,723,11436,0.00,1.42,0.00,0.000,4,0.000,0.056,2091,3814,1045,0,0,0,0,0,0
$GC,11605,0.54,109.7,510.9,15.5,730,11612,0.00,1.30,0.00,0.000,6,0.000,0.029,2097,2924,1045,0,0,0,0,0,0
$GC,11922,0.54,109.7,467.2,14.0,746,11925,0.00,1.42,0.00,0.000,4,0.000,0.056,2097,3803,1045,0,0,0,0,0,0
$GC,12035,0.49,109.7,449.0,16.3,751,12039,0.12,1.30,0.00,0.000,6,0.185,0.029,2069,2915,1045,0,0,0,0,0,0
$GC,12368,0.54,109.7,407.6,12.3,767,12372,0.00,1.45,0.00,0.000,4,0.000,0.056,2069,3813,1045,0,0,0,0,0,0
$GC,12418,0.54,109.7,400.6,13.7,769,12422,0.00,1.30,0.00,0.000,6,0.000,0.029,2074,2929,1044,0,0,0,0,0,0
$GC,12744,0.58,109.7,361.5,11.6,799,12748,0.00,1.42,0.00,0.000,4,0.000,0.056,2074,3812,1045,0,0,0,0,0,0
$GC,12885,0.58,109.7,342.5,13.6,811,12892,0.00,1.30,0.00,0.000,6,0.000,0.029,2081,2922,1044,0,0,0,0,0,0
$GC,13210,0.61,109.7,304.6,11.3,842,13213,0.00,1.42,0.00,0.000,4,0.000,0.056,2081,3806,1045,0,0,0,0,0,0
$GC,13278,0.60,109.7,295.9,13.1,848,13282,0.00,1.30,0.00,0.000,6,0.000,0.029,2087,2921,1045,0,0,0,0,0,0
$GC,13609,0.62,109.7,257.9,11.4,879,13613,0.00,1.45,0.00,0.000,4,0.000,0.057,2088,3809,1045,0,0,0,0,0,0
$GC,13714,0.59,109.7,244.2,13.4,888,13724,0.00,1.30,0.00,0.000,6,0.000,0.028,2094,2921,1044,0,0,0,0,0,0
$GC,14041,0.59,109.7,205.9,12.0,919,14045,0.00,1.42,0.00,0.000,4,0.000,0.055,2094,3802,1045,0,0,0,0,0,0
$GC,14228,0.56,109.7,180.2,12.8,935,14235,0.00,1.27,0.00,0.000,6,0.000,0.028,2101,2926,1044,0,0,0,0,0,0
$GC,14553,0.56,109.7,144.1,10.4,966,14557,0.00,1.42,0.00,0.000,4,0.000,0.055,2101,3813,1045,0,0,0,0,0,0
$GC,14734,0.52,109.7,121.5,11.7,982,14738,0.10,1.30,0.00,0.000,6,0.187,0.028,2080,2916,1045,0,0,0,0,0,0
$GC,15066,0.57,109.7,88.2,10.0,1022,15073,0.00,1.42,0.00,0.000,4,0.000,0.054,2080,3804,1045,0,0,0,0,0,0
$GC,15188,0.57,109.7,73.7,11.9,1043,15195,0.00,1.27,0.00,0.000,6,0.000,0.028,2085,2927,1045,0,0,0,0,0,0
$GC,15540,0.61,109.7,36.4,11.0,1104,15549,0.00,1.42,0.00,0.000,4,0.000,0.056,2085,3810,1045,0,0,0,0,0,0
$GC,15646,0.61,109.7,22.5,13.3,1121,15655,0.00,1.30,0.00,0.000,6,0.000,0.028,2091,2917,1045,0,0,0,0,0,0
$GC,15801,0.63,109.7,4.0,12.7,1146,15810,0.00,1.42,0.00,0.000,4,0.000,0.054,2091,3804,1045,0,0,0,0,0,0
$STATE,15817,end climb,SURFACE_DEPTH_REACHED
$STATE,15817,begin surface coast
$FINISH,1.5,1.026532
$STATE,15842,end surface coast,CONTROL_FINISHED_OK
$STATE,15842,begin surface
$SM_CCo,15857,56.45,0.156,1,0,683,200.16
$SM_GC,2.63,0.00,0.00,56.45,0.000,0.000,0.156,71,3212,683,-5.72,0.08,200.16
$IRIDIUM_FIX,-4244.98,834.47,290708,151537
$TT8_MAMPS,0.027713
$HUMID,62.16
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,21.4,58.978
$10V_AH,10.1,37.837
$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,14.750,76.375,237.500,56.450,0.000,27.666,47.358,315.364,0.000,0.000,23.412,2870.511,9858.775,412.803,3063.672,239.696,0.000,1541.927,0.000,2650.561,0.000,0.544,0.000
$DEVICE_MAMPS,235.620,56.610,1876.545,156.060,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,800.115,812.118,864.257,85.501,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353892
$DATA_FILE_SIZE,66927,1152
$CAP_FILE_SIZE,153143,0
$CFSIZE,259252224,232603648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,031015,120121,-4304.103,836.061,42,0.9,42,-25.1