version: 66.07
glider: 543
mission: 14
dive: 350
start: 10 12 115 4 28 46
data:
$ID,543
$MISSION,14
$DIVE,350
$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,-25219.721
$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,73
$R_STBD_OVSHOOT,31
$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
$GPS1,121015,041558,-4303.216,825.139,57,0.8,58,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-69.7
$GPS2,121015,042824,-4303.154,825.291,16,0.8,17,-25.0
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAZ_BUT1
$TGT_LATLONG,-4304.000,824.000
$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,253.1,2346,-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,-45.17,0.000,6,0.000,0.000,61,3231,1704,0,0,0,0,0,0
$GC,69,-0.60,-105.8,3.0,-2.1,6,87,7.07,1.20,-7.32,0.000,4,0.240,0.082,1702,3951,1933,0,0,0,0,0,0
$GC,249,-0.55,-105.8,35.0,-20.6,35,258,0.00,1.08,0.00,0.000,6,0.000,0.030,1702,3212,1935,0,0,0,0,0,0
$GC,398,-0.53,-105.8,62.6,-16.3,60,407,0.12,1.33,0.00,0.000,4,0.188,0.025,1736,2284,1935,0,0,0,0,0,0
$GC,454,-0.61,-105.8,71.1,-12.9,69,463,0.00,1.48,0.00,0.000,6,0.000,0.047,1730,3202,1935,0,0,0,0,0,0
$GC,805,-0.66,-105.8,116.1,-13.2,120,806,0.12,0.00,0.00,0.000,6,0.099,0.000,1672,3203,1935,0,0,0,0,0,0
$GC,1124,-0.59,-105.8,172.9,-17.4,150,1130,0.15,0.00,0.00,0.000,6,0.184,0.000,1709,3203,1935,0,0,0,0,0,0
$GC,1453,-0.61,-105.8,219.2,-12.9,181,1456,0.00,1.27,0.00,0.000,4,0.000,0.025,1710,2293,1935,0,0,0,0,0,0
$GC,1525,-0.67,-105.8,228.1,-11.1,187,1532,0.00,1.48,0.00,0.000,6,0.000,0.048,1704,3211,1935,0,0,0,0,0,0
$GC,1850,-0.67,-105.8,267.5,-12.2,218,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,1704,3211,1935,0,0,0,0,0,0
$GC,2170,-0.69,-105.8,308.3,-12.2,248,2174,0.00,1.30,0.00,0.000,4,0.000,0.026,1704,2290,1935,0,0,0,0,0,0
$GC,2209,-0.74,-105.8,313.2,-11.1,251,2216,0.00,1.48,0.00,0.000,6,0.000,0.048,1697,3205,1935,0,0,0,0,0,0
$GC,2535,-0.74,-105.8,355.3,-12.8,282,2538,0.00,1.17,0.00,0.000,4,0.000,0.054,1691,3957,1935,0,0,0,0,0,0
$GC,2617,-0.72,-105.8,366.6,-14.3,289,2621,0.00,1.08,0.00,0.000,6,0.000,0.030,1691,3207,1935,0,0,0,0,0,0
$GC,2956,-0.72,-105.8,412.2,-13.2,317,2959,0.00,1.27,0.00,0.000,4,0.000,0.026,1691,2293,1935,0,0,0,0,0,0
$GC,2983,-0.73,-105.8,415.8,-12.2,318,2987,0.00,1.48,0.00,0.000,6,0.000,0.049,1684,3213,1935,0,0,0,0,0,0
$GC,3310,-0.72,-105.8,458.3,-13.1,334,3311,0.00,0.00,0.00,0.000,6,0.000,0.000,1684,3213,1935,0,0,0,0,0,0
$GC,3619,-0.72,-105.8,499.3,-13.0,349,3620,0.00,0.00,0.00,0.000,6,0.000,0.000,1684,3213,1935,0,0,0,0,0,0
$GC,3929,-0.72,-105.8,540.3,-13.5,364,3930,0.00,0.00,0.00,0.000,6,0.000,0.000,1684,3213,1935,0,0,0,0,0,0
$GC,4238,-0.72,-105.8,581.8,-13.6,379,4239,0.00,0.00,0.00,0.000,6,0.000,0.000,1684,3213,1935,0,0,0,0,0,0
$GC,4548,-0.72,-105.8,625.0,-14.1,394,4551,0.00,1.15,0.00,0.000,4,0.000,0.055,1679,3949,1935,0,0,0,0,0,0
$GC,4718,-0.68,-105.8,650.6,-14.8,401,4721,0.00,1.08,0.00,0.000,6,0.000,0.031,1679,3204,1935,0,0,0,0,0,0
$GC,5040,-0.66,-105.8,694.7,-13.7,417,5044,0.00,1.17,0.00,0.000,4,0.000,0.055,1673,3949,1935,0,0,0,0,0,0
$GC,5100,-0.61,-105.8,703.8,-15.0,419,5108,0.08,1.05,0.00,0.000,6,0.162,0.030,1696,3223,1935,0,0,0,0,0,0
$GC,5417,-0.63,-105.8,739.4,-10.5,435,5418,0.00,0.00,0.00,0.000,6,0.000,0.000,1696,3222,1935,0,0,0,0,0,0
$GC,5727,-0.65,-105.8,769.6,-9.4,450,5730,0.00,1.33,0.00,0.000,4,0.000,0.025,1696,2288,1935,0,0,0,0,0,0
$GC,5759,-0.71,-105.8,772.9,-8.9,451,5763,0.00,1.48,0.00,0.000,6,0.000,0.049,1690,3202,1935,0,0,0,0,0,0
$GC,6081,-0.71,-105.8,805.1,-10.4,467,6084,0.00,1.17,0.00,0.000,4,0.000,0.055,1685,3952,1935,0,0,0,0,0,0
$GC,6164,-0.71,-105.8,814.9,-11.4,470,6171,0.00,1.08,0.00,0.000,6,0.000,0.031,1685,3206,1935,0,0,0,0,0,0
$GC,6480,-0.71,-105.8,849.7,-11.5,486,6483,0.00,1.17,0.00,0.000,4,0.000,0.056,1680,3949,1935,0,0,0,0,0,0
$GC,6594,-0.69,-105.8,864.6,-13.2,491,6597,0.00,1.08,0.00,0.000,6,0.000,0.031,1679,3205,1935,0,0,0,0,0,0
$GC,6926,-0.69,-105.8,905.8,-12.6,507,6927,0.00,0.00,0.00,0.000,6,0.000,0.000,1680,3205,1935,0,0,0,0,0,0
$GC,7235,-0.69,-105.8,945.5,-12.7,522,7239,0.00,1.17,0.00,0.000,4,0.000,0.055,1674,3947,1935,0,0,0,0,0,0
$GC,7408,-0.66,-105.8,969.4,-13.9,529,7415,0.00,1.08,0.00,0.000,6,0.000,0.031,1674,3203,1935,0,0,0,0,0,0
$STATE,7660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7661,begin apogee
$GC,7666,-0.09,0.0,1001.0,12.3,542,7817,0.68,0.00,127.22,1.766,6,0.150,0.000,1869,2923,1499,0,0,0,0,4,0
$STATE,7818,end apogee,CONTROL_FINISHED_OK
$STATE,7818,begin climb
$GC,7820,0.60,105.8,1005.2,0.0,549,7950,0.68,1.48,116.88,1.761,4,0.082,0.028,2096,2055,1067,0,0,0,0,1,0
$GC,8017,0.64,105.8,985.4,13.5,558,8021,0.00,1.48,0.00,0.000,6,0.000,0.044,2096,2914,1064,0,0,0,0,0,0
$GC,8344,0.64,105.8,938.3,14.5,574,8348,0.00,1.45,0.00,0.000,4,0.000,0.054,2096,3814,1060,0,0,0,0,0,0
$GC,8517,0.60,105.8,908.9,16.6,581,8524,0.00,1.33,0.00,0.000,6,0.000,0.028,2103,2904,1059,0,0,0,0,0,0
$GC,8833,0.60,105.8,861.6,14.6,597,8837,0.00,1.48,0.00,0.000,4,0.000,0.054,2103,3819,1058,0,0,0,0,0,0
$GC,8879,0.54,105.8,854.1,17.2,599,8883,0.00,1.30,0.00,0.000,6,0.000,0.028,2109,2924,1058,0,0,0,0,0,0
$GC,9212,0.52,105.8,801.9,15.1,615,9216,0.12,1.45,0.00,0.000,4,0.205,0.054,2080,3813,1057,0,0,0,0,0,0
$GC,9317,0.51,105.8,785.8,14.6,619,9324,0.00,1.30,0.00,0.000,6,0.000,0.029,2085,2920,1057,0,0,0,0,0,0
$GC,9634,0.53,105.8,744.6,13.1,635,9638,0.00,1.42,0.00,0.000,4,0.000,0.054,2085,3813,1057,0,0,0,0,0,0
$GC,9706,0.50,105.8,734.2,14.5,638,9710,0.00,1.30,0.00,0.000,6,0.000,0.028,2092,2916,1056,0,0,0,0,0,0
$GC,10034,0.50,105.8,690.6,13.5,654,10037,0.00,1.45,0.00,0.000,4,0.000,0.053,2092,3820,1056,0,0,0,0,0,0
$GC,10089,0.47,105.8,682.0,16.0,656,10093,0.12,1.30,0.00,0.000,6,0.181,0.028,2063,2922,1056,0,0,0,0,0,0
$GC,10411,0.53,105.8,644.7,11.5,672,10415,0.00,1.42,0.00,0.000,4,0.000,0.054,2063,3809,1056,0,0,0,0,0,0
$GC,10489,0.55,105.8,634.4,13.5,675,10493,0.00,1.27,0.00,0.000,6,0.000,0.028,2068,2925,1055,0,0,0,0,0,0
$GC,10811,0.60,105.8,596.2,11.9,691,10815,0.00,1.42,0.00,0.000,4,0.000,0.054,2068,3810,1055,0,0,0,0,0,0
$GC,10928,0.60,105.8,579.9,15.0,696,10932,0.00,1.30,0.00,0.000,6,0.000,0.028,2075,2920,1055,0,0,0,0,0,0
$GC,11256,0.65,105.8,539.2,12.5,712,11260,0.10,1.42,0.00,0.000,4,0.113,0.054,2123,3807,1055,0,0,0,0,0,0
$GC,11393,0.55,105.8,516.3,17.1,718,11397,0.15,1.27,0.00,0.000,6,0.190,0.029,2089,2929,1055,0,0,0,0,0,0
$GC,11726,0.58,105.8,473.8,11.8,734,11730,0.00,1.42,0.00,0.000,4,0.000,0.054,2089,3812,1055,0,0,0,0,0,0
$GC,11777,0.55,105.8,467.0,13.0,736,11780,0.00,1.30,0.00,0.000,6,0.000,0.029,2094,2922,1055,0,0,0,0,0,0
$GC,12103,0.55,105.8,427.2,12.3,752,12107,0.00,1.45,0.00,0.000,4,0.000,0.054,2094,3821,1055,0,0,0,0,0,0
$GC,12176,0.51,105.8,416.8,13.9,755,12179,0.00,1.30,0.00,0.000,6,0.000,0.028,2100,2929,1055,0,0,0,0,0,0
$GC,12498,0.51,105.8,375.5,12.5,779,12502,0.00,1.42,0.00,0.000,4,0.000,0.054,2101,3814,1055,0,0,0,0,0,0
$GC,12594,0.47,105.8,361.1,15.5,787,12601,0.17,1.30,0.00,0.000,6,0.174,0.028,2057,2921,1055,0,0,0,0,0,0
$GC,12919,0.55,105.8,329.9,9.5,818,12922,0.00,1.45,0.00,0.000,4,0.000,0.054,2057,3816,1055,0,0,0,0,0,0
$GC,12980,0.59,105.8,322.7,12.6,823,12988,0.08,1.30,0.00,0.000,6,0.070,0.029,2109,2931,1055,0,0,0,0,0,0
$GC,13305,0.59,105.8,276.5,14.4,854,13308,0.00,1.42,0.00,0.000,4,0.000,0.054,2110,3816,1055,0,0,0,0,0,0
$GC,13408,0.54,105.8,259.9,16.7,863,13412,0.12,1.30,0.00,0.000,6,0.181,0.028,2082,2915,1055,0,0,0,0,0,0
$GC,13738,0.59,105.8,219.3,12.1,894,13742,0.00,1.45,0.00,0.000,4,0.000,0.054,2082,3813,1055,0,0,0,0,0,0
$GC,13784,0.59,105.8,213.0,13.5,898,13788,0.00,1.30,0.00,0.000,6,0.000,0.029,2086,2923,1055,0,0,0,0,0,0
$GC,14119,0.62,105.8,174.8,11.0,929,14122,0.00,1.42,0.00,0.000,4,0.000,0.055,2086,3807,1055,0,0,0,0,0,0
$GC,14235,0.62,105.8,159.0,14.1,939,14243,0.00,1.30,0.00,0.000,6,0.000,0.028,2093,2911,1055,0,0,0,0,0,0
$GC,14561,0.65,105.8,121.1,11.7,970,14563,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2910,1055,0,0,0,0,0,0
$GC,14890,0.68,105.8,83.6,11.8,1012,14897,0.00,1.45,0.00,0.000,4,0.000,0.054,2093,3812,1055,0,0,0,0,0,0
$GC,15042,0.67,105.8,63.4,12.6,1038,15051,0.00,1.27,0.00,0.000,6,0.000,0.027,2100,2921,1055,0,0,0,0,0,0
$GC,15400,0.67,105.8,19.3,12.4,1099,15409,0.00,1.42,0.00,0.000,4,0.000,0.054,2100,3810,1055,0,0,0,0,0,0
$STATE,15510,end climb,SURFACE_DEPTH_REACHED
$STATE,15510,begin surface coast
$FINISH,1.3,1.026552
$STATE,15530,end surface coast,CONTROL_FINISHED_OK
$STATE,15530,begin surface
$SM_CCo,15545,43.47,0.135,0,0,682,200.16
$SM_GC,2.73,0.00,0.00,43.47,0.000,0.000,0.135,64,3219,682,-5.75,0.28,200.16
$IRIDIUM_FIX,-4244.98,825.73,070808,171715
$TT8_MAMPS,0.027713
$HUMID,63.42
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,21.4,65.680
$10V_AH,10.0,42.608
$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,15.275,78.975,244.100,43.475,0.000,51.792,60.095,409.396,0.000,0.000,20.195,2801.021,9715.104,421.133,3151.264,243.432,0.000,1530.779,0.000,2580.006,0.000,0.545,0.000
$DEVICE_MAMPS,240.210,81.855,1765.620,134.640,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,777.173,789.055,807.911,76.297,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353896
$DATA_FILE_SIZE,63541,1120
$CAP_FILE_SIZE,153252,0
$CFSIZE,259252224,229257216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,121015,085003,-4303.499,824.740,31,97.5,50,-25.0