version: 66.07
glider: 543
mission: 14
dive: 357
start: 10 13 115 16 13 3
data:
$ID,543
$MISSION,14
$DIVE,357
$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,-25240.346
$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,77
$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
$GPS1,131015,160333,-4255.282,823.932,48,0.9,48,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-72.3
$GPS2,131015,161241,-4255.226,824.002,37,0.9,37,-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,205.1,1434,-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,-49.8,0.0,0.0,0,65,0.00,0.00,-43.88,0.000,6,0.000,0.000,62,3222,1704,0,0,0,0,0,0
$GC,67,-0.60,-107.2,3.3,-2.0,6,86,6.95,1.23,-7.18,0.000,4,0.235,0.077,1703,3958,1938,0,0,0,0,0,0
$GC,304,-0.56,-107.2,43.9,-19.2,45,313,0.00,1.08,0.00,0.000,6,0.000,0.031,1703,3226,1939,0,0,0,0,0,0
$GC,658,-0.55,-107.2,97.8,-15.2,106,664,0.00,1.33,0.00,0.000,4,0.000,0.024,1703,2280,1939,0,0,0,0,0,0
$GC,706,-0.58,-107.2,105.1,-13.5,111,710,0.00,1.48,0.00,0.000,6,0.000,0.049,1696,3198,1939,0,0,0,0,0,0
$GC,1037,-0.56,-107.2,152.7,-13.8,142,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,1696,3198,1940,0,0,0,0,0,0
$GC,1357,-0.54,-107.2,198.0,-14.7,172,1361,0.12,1.30,0.00,0.000,4,0.186,0.026,1727,2283,1939,0,0,0,0,0,0
$GC,1403,-0.62,-107.2,203.8,-11.1,176,1406,0.00,1.50,0.00,0.000,6,0.000,0.049,1722,3214,1939,0,0,0,0,0,0
$GC,1733,-0.65,-107.2,242.1,-12.0,207,1737,0.00,1.15,0.00,0.000,4,0.000,0.054,1716,3953,1939,0,0,0,0,0,0
$GC,1783,-0.68,-107.2,248.7,-12.9,211,1790,0.00,1.08,0.00,0.000,6,0.000,0.028,1716,3199,1939,0,0,0,0,0,0
$GC,2108,-0.72,-107.2,285.5,-11.6,242,2110,0.12,0.00,0.00,0.000,6,0.099,0.000,1659,3199,1939,0,0,0,0,0,0
$GC,2428,-0.66,-107.2,335.5,-15.5,272,2429,0.12,0.00,0.00,0.000,6,0.184,0.000,1689,3198,1939,0,0,0,0,0,0
$GC,2745,-0.66,-107.2,379.4,-13.2,302,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,1689,3198,1940,0,0,0,0,0,0
$GC,3070,-0.66,-107.2,422.6,-13.5,325,3071,0.00,0.00,0.00,0.000,6,0.000,0.000,1689,3198,1939,0,0,0,0,0,0
$GC,3381,-0.66,-107.2,462.8,-12.7,340,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,1689,3198,1939,0,0,0,0,0,0
$GC,3688,-0.66,-107.2,500.9,-12.4,355,3692,0.00,1.25,0.00,0.000,4,0.000,0.027,1689,2303,1939,0,0,0,0,0,0
$GC,3735,-0.70,-107.2,506.5,-11.6,357,3738,0.00,1.45,0.00,0.000,6,0.000,0.050,1684,3205,1939,0,0,0,0,0,0
$GC,4067,-0.70,-107.2,551.2,-13.4,373,4068,0.00,0.00,0.00,0.000,6,0.000,0.000,1683,3205,1939,0,0,0,0,0,0
$GC,4376,-0.70,-107.2,593.0,-13.7,388,4377,0.00,0.00,0.00,0.000,6,0.000,0.000,1684,3205,1939,0,0,0,0,0,0
$GC,4686,-0.70,-107.2,634.6,-13.1,403,4687,0.00,0.00,0.00,0.000,6,0.000,0.000,1683,3205,1939,0,0,0,0,0,0
$GC,4995,-0.70,-107.2,675.1,-13.0,418,4998,0.00,1.17,0.00,0.000,4,0.000,0.055,1678,3954,1939,0,0,0,0,0,0
$GC,5101,-0.66,-107.2,690.8,-14.7,422,5108,0.00,1.08,0.00,0.000,6,0.000,0.030,1678,3213,1939,0,0,0,0,0,0
$GC,5417,-0.66,-107.2,733.0,-13.4,438,5420,0.00,1.17,0.00,0.000,4,0.000,0.056,1672,3954,1939,0,0,0,0,0,0
$GC,5489,-0.61,-107.2,743.8,-15.2,441,5493,0.10,1.08,0.00,0.000,6,0.162,0.030,1702,3214,1939,0,0,0,0,0,0
$GC,5817,-0.64,-107.2,781.7,-11.4,457,5821,0.00,1.33,0.00,0.000,4,0.000,0.026,1702,2282,1939,0,0,0,0,0,0
$GC,5872,-0.72,-107.2,787.8,-9.9,459,5876,0.00,1.50,0.00,0.000,6,0.000,0.049,1696,3209,1939,0,0,0,0,0,0
$GC,6195,-0.74,-107.2,825.3,-11.9,475,6198,0.00,1.17,0.00,0.000,4,0.000,0.056,1690,3957,1939,0,0,0,0,0,0
$GC,6332,-0.74,-107.2,843.1,-14.2,481,6335,0.00,1.10,0.00,0.000,6,0.000,0.031,1690,3197,1939,0,0,0,0,0,0
$GC,6665,-0.76,-107.2,882.4,-11.5,497,6666,0.00,0.00,0.00,0.000,6,0.000,0.000,1690,3196,1939,0,0,0,0,0,0
$GC,6974,-0.78,-107.2,917.2,-11.0,512,6976,0.10,0.00,0.00,0.000,6,0.112,0.000,1647,3196,1939,0,0,0,0,0,0
$GC,7283,-0.72,-107.2,959.9,-13.9,527,7287,0.00,1.20,0.00,0.000,4,0.000,0.056,1641,3952,1939,0,0,0,0,0,0
$GC,7311,-0.63,-107.2,964.4,-15.7,528,7315,0.17,1.08,0.00,0.000,6,0.164,0.031,1692,3218,1939,0,0,0,0,0,0
$STATE,7635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7635,begin apogee
$GC,7641,-0.09,0.0,1000.5,10.9,544,7780,0.60,0.00,125.32,1.719,6,0.146,0.000,1869,2909,1499,0,0,0,0,2,0
$STATE,7781,end apogee,CONTROL_FINISHED_OK
$STATE,7781,begin climb
$GC,7783,0.60,107.2,1004.3,0.0,551,7911,0.68,1.42,117.18,1.776,4,0.084,0.026,2096,2044,1066,0,0,0,0,0,0
$GC,7984,0.64,107.2,985.4,13.0,560,7987,0.00,1.50,0.00,0.000,6,0.000,0.045,2096,2921,1067,0,0,0,0,0,0
$GC,8311,0.64,107.2,939.1,14.3,576,8314,0.00,1.42,0.00,0.000,4,0.000,0.054,2096,3813,1065,0,0,0,0,0,0
$GC,8380,0.58,107.2,928.3,17.8,579,8383,0.00,1.33,0.00,0.000,6,0.000,0.028,2102,2910,1064,0,0,0,0,0,0
$GC,8713,0.57,107.2,879.2,14.9,595,8717,0.00,1.42,0.00,0.000,4,0.000,0.054,2103,3801,1064,0,0,0,0,0,0
$GC,8804,0.50,107.2,863.9,17.7,599,8808,0.12,1.27,0.00,0.000,6,0.190,0.028,2074,2916,1063,0,0,0,0,0,0
$GC,9138,0.53,107.2,822.1,11.9,615,9141,0.00,1.42,0.00,0.000,4,0.000,0.054,2074,3806,1062,0,0,0,0,0,0
$GC,9228,0.53,107.2,809.7,13.9,619,9231,0.00,1.27,0.00,0.000,6,0.000,0.029,2080,2935,1062,0,0,0,0,0,0
$GC,9561,0.56,107.2,768.8,12.1,635,9565,0.00,1.40,0.00,0.000,4,0.000,0.054,2079,3810,1062,0,0,0,0,0,0
$GC,9606,0.54,107.2,762.6,13.7,637,9610,0.00,1.30,0.00,0.000,6,0.000,0.028,2086,2919,1062,0,0,0,0,0,0
$GC,9938,0.54,107.2,721.1,12.0,653,9942,0.00,1.42,0.00,0.000,4,0.000,0.053,2086,3811,1062,0,0,0,0,0,0
$GC,10045,0.51,107.2,705.6,14.1,657,10051,0.00,1.30,0.00,0.000,6,0.000,0.028,2093,2921,1061,0,0,0,0,0,0
$GC,10360,0.51,107.2,665.1,12.5,673,10364,0.00,1.42,0.00,0.000,4,0.000,0.053,2093,3813,1061,0,0,0,0,0,0
$GC,10533,0.46,107.2,639.8,14.5,680,10541,0.15,1.30,0.00,0.000,6,0.179,0.028,2057,2925,1061,0,0,0,0,0,0
$GC,10850,0.54,107.2,608.0,10.2,696,10853,0.00,1.40,0.00,0.000,4,0.000,0.054,2057,3800,1061,0,0,0,0,0,0
$GC,10918,0.57,107.2,599.9,12.6,699,10922,0.00,1.27,0.00,0.000,6,0.000,0.029,2062,2922,1060,0,0,0,0,0,0
$GC,11251,0.63,107.2,564.0,10.7,715,11255,0.12,1.42,0.00,0.000,4,0.100,0.054,2120,3801,1060,0,0,0,0,0,0
$GC,11351,0.54,107.2,547.4,17.4,719,11355,0.15,1.27,0.00,0.000,6,0.188,0.028,2085,2925,1060,0,0,0,0,0,0
$GC,11672,0.57,107.2,507.8,11.7,735,11676,0.00,1.42,0.00,0.000,4,0.000,0.054,2085,3805,1060,0,0,0,0,0,0
$GC,11728,0.54,107.2,500.3,13.1,737,11731,0.00,1.27,0.00,0.000,6,0.000,0.028,2090,2923,1060,0,0,0,0,0,0
$GC,12049,0.54,107.2,461.2,12.2,753,12052,0.00,1.40,0.00,0.000,4,0.000,0.054,2091,3801,1060,0,0,0,0,0,0
$GC,12190,0.50,107.2,441.0,14.9,759,12194,0.08,1.27,0.00,0.000,6,0.186,0.028,2075,2921,1060,0,0,0,0,0,0
$GC,12516,0.54,107.2,405.6,10.6,775,12520,0.00,1.42,0.00,0.000,4,0.000,0.055,2075,3809,1060,0,0,0,0,0,0
$GC,12620,0.54,107.2,393.1,12.6,781,12624,0.00,1.27,0.00,0.000,6,0.000,0.030,2080,2933,1060,0,0,0,0,0,0
$GC,12951,0.58,107.2,358.2,10.3,812,12954,0.00,1.40,0.00,0.000,4,0.000,0.054,2080,3808,1060,0,0,0,0,0,0
$GC,13056,0.56,107.2,345.9,12.7,821,13060,0.00,1.30,0.00,0.000,6,0.000,0.028,2087,2911,1060,0,0,0,0,0,0
$GC,13387,0.58,107.2,310.7,10.7,852,13388,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2910,1060,0,0,0,0,0,0
$GC,13708,0.62,107.2,274.9,11.2,882,13711,0.00,1.42,0.00,0.000,4,0.000,0.054,2087,3799,1060,0,0,0,0,0,0
$GC,13949,0.60,107.2,242.7,13.8,903,13955,0.00,1.27,0.00,0.000,6,0.000,0.028,2094,2919,1060,0,0,0,0,0,0
$GC,14274,0.62,107.2,204.3,12.1,934,14278,0.00,1.42,0.00,0.000,4,0.000,0.054,2093,3809,1060,0,0,0,0,0,0
$GC,14389,0.59,107.2,188.8,13.1,944,14392,0.00,1.27,0.00,0.000,6,0.000,0.028,2100,2923,1060,0,0,0,0,0,0
$GC,14719,0.59,107.2,147.6,12.1,975,14723,0.00,1.40,0.00,0.000,4,0.000,0.053,2100,3803,1060,0,0,0,0,0,0
$GC,14780,0.54,107.2,139.5,13.7,980,14789,0.00,1.27,0.00,0.000,6,0.000,0.028,2107,2923,1060,0,0,0,0,0,0
$GC,15104,0.54,107.2,100.9,11.7,1011,15108,0.00,1.40,0.00,0.000,4,0.000,0.053,2107,3799,1060,0,0,0,0,0,0
$GC,15306,0.49,107.2,73.7,12.7,1045,15314,0.15,1.27,0.00,0.000,6,0.177,0.028,2070,2912,1060,0,0,0,0,0,0
$GC,15659,0.57,107.9,40.7,8.5,1106,15666,0.00,1.42,0.00,0.000,4,0.000,0.054,2071,3804,1060,0,0,0,0,0,0
$GC,15769,0.59,107.9,29.8,9.3,1124,15777,0.00,1.27,0.00,0.000,6,0.000,0.028,2077,2927,1060,0,0,0,0,0,0
$GC,15923,0.66,112.8,16.3,8.0,1149,15934,0.12,1.40,2.85,0.485,4,0.096,0.052,2133,3806,1037,0,0,0,0,0,0
$GC,15954,0.65,112.8,13.1,9.2,1153,15963,0.00,1.27,0.00,0.000,6,0.000,0.026,2140,2913,1040,0,0,0,0,0,0
$GC,16014,0.59,112.8,6.1,11.9,1162,16023,0.17,1.45,0.00,0.000,4,0.194,0.052,2097,3808,1041,0,0,0,0,0,0
$STATE,16030,end climb,SURFACE_DEPTH_REACHED
$STATE,16030,begin surface coast
$FINISH,1.5,1.026549
$STATE,16055,end surface coast,CONTROL_FINISHED_OK
$STATE,16055,begin surface
$SM_CCo,16070,60.97,0.405,1,0,681,200.16
$SM_GC,2.72,0.00,0.00,60.97,0.000,0.000,0.405,64,3236,681,-5.75,0.71,200.16
$IRIDIUM_FIX,-4242.04,824.86,090808,010146
$TT8_MAMPS,0.027713
$HUMID,62.16
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,21.3,66.844
$10V_AH,10.0,43.430
$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,15.500,78.900,245.350,60.975,0.000,25.779,20.386,330.250,0.000,0.000,39.535,2917.775,9963.808,415.830,3109.242,274.491,0.000,1554.519,0.000,2689.613,0.000,0.545,0.000
$DEVICE_MAMPS,234.855,77.265,1776.330,405.450,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,811.895,828.804,881.040,87.086,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353872
$DATA_FILE_SIZE,66942,1168
$CAP_FILE_SIZE,156395,0
$CFSIZE,259252224,228663296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,131015,204333,-4256.468,825.195,57,0.8,57,-25.0