version: 66.07
glider: 543
mission: 14
dive: 6
start: 7 28 115 20 58 20
data:
$ID,543
$MISSION,14
$DIVE,6
$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,335
$T_MISSION,350
$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,150
$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,250
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-24045.166
$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,1915
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,394
$ROLL_MAX,3944
$ROLL_DEG,25
$C_ROLL_DIVE,3251
$C_ROLL_CLIMB,3028
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,1571
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.00056000001
$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
$GPS1,280715,205358,-4242.796,844.791,17,1.2,17,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-73.5
$GPS2,280715,205758,-4242.793,844.837,33,0.8,33,-25.1
$SPEED_LIMITS,0.172,0.259
$TGT_NAME,SAZ_1
$TGT_LATLONG,-4300.000,834.000
$TGT_RADIUS,800.000
$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,229.8,35086,-17.4,-9.950
$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,14,-0.47,-146.1,0.0,0.0,0,80,0.00,0.00,-63.85,0.000,2,0.000,0.000,71,3246,2058,0,0,0,0,0,0
$GC,82,-0.47,-146.1,3.4,-4.5,8,100,6.75,0.00,-2.35,0.000,6,0.233,0.000,1756,3246,2166,0,0,0,0,0,0
$GC,149,-0.47,-146.1,20.2,-15.7,18,156,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,3245,2172,0,0,0,0,0,0
$GC,299,-0.47,-146.1,36.4,-9.9,43,307,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,3245,2172,0,0,0,0,0,0
$GC,444,-0.47,-146.1,51.8,-11.0,68,450,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,3246,2172,0,0,0,0,0,0
$GC,797,-0.47,-146.1,101.8,-14.9,129,798,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,3245,2172,0,0,0,0,0,0
$GC,1114,-0.47,-146.1,142.2,-12.7,159,1118,0.00,1.12,0.00,0.000,4,0.000,0.067,1752,3943,2172,0,0,0,0,0,0
$GC,1159,-0.47,-146.1,148.4,-14.3,163,1163,0.00,1.05,0.00,0.000,6,0.000,0.038,1752,3260,2172,0,0,0,0,0,0
$GC,1489,-0.47,-146.1,192.2,-12.6,194,1492,0.00,1.38,0.00,0.000,4,0.000,0.039,1752,2341,2172,0,0,0,0,0,0
$GC,1514,-0.47,-146.1,195.5,-12.2,196,1525,0.00,1.50,0.00,0.000,6,0.000,0.060,1746,3252,2172,0,0,0,0,0,0
$GC,1840,-0.47,-146.1,234.2,-11.9,227,1844,0.00,1.10,0.00,0.000,4,0.000,0.065,1740,3950,2172,0,0,0,0,0,0
$GC,1910,-0.47,-146.1,242.6,-13.1,233,1914,0.00,1.08,0.00,0.000,6,0.000,0.039,1740,3242,2172,0,0,0,0,0,0
$GC,2239,-0.47,-146.1,284.4,-12.6,264,2241,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,3241,2172,0,0,0,0,0,0
$GC,2559,-0.47,-146.1,324.1,-12.7,294,2560,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,3241,2172,0,0,0,0,0,0
$GC,2877,-0.47,-146.1,362.7,-12.7,324,2881,0.00,1.12,0.00,0.000,4,0.000,0.067,1735,3945,2172,0,0,0,0,0,0
$GC,2945,-0.47,-146.1,372.1,-13.5,330,2949,0.00,1.05,0.00,0.000,6,0.000,0.040,1735,3258,2172,0,0,0,0,0,0
$GC,3282,-0.47,-146.1,417.9,-13.7,356,3283,0.00,0.00,0.00,0.000,6,0.000,0.000,1736,3258,2172,0,0,0,0,0,0
$GC,3591,-0.47,-146.1,457.9,-12.5,371,3592,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3258,2172,0,0,0,0,0,0
$GC,3900,-0.47,-146.1,498.5,-13.4,386,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3258,2172,0,0,0,0,0,0
$GC,4210,-0.47,-146.1,540.6,-13.4,401,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3258,2172,0,0,0,0,0,0
$GC,4519,-0.47,-146.1,580.1,-12.5,416,4520,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3258,2172,0,0,0,0,0,0
$GC,4828,-0.47,-146.1,617.1,-11.6,431,4829,0.00,0.00,0.00,0.000,6,0.000,0.000,1734,3258,2171,0,0,0,0,0,0
$GC,5138,-0.47,-146.1,652.2,-11.2,446,5139,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3258,2172,0,0,0,0,0,0
$GC,5447,-0.47,-146.1,686.2,-11.0,461,5448,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3258,2171,0,0,0,0,0,0
$GC,5756,-0.47,-146.1,719.9,-11.0,476,5760,0.00,1.12,0.00,0.000,4,0.000,0.070,1730,3955,2171,0,0,0,0,0,0
$GC,5801,-0.47,-146.1,725.0,-11.2,478,5805,0.08,1.08,0.00,0.000,6,0.156,0.044,1754,3261,2170,0,0,0,0,0,0
$GC,6133,-0.47,-146.1,755.4,-9.4,494,6136,0.00,1.38,0.00,0.000,4,0.000,0.043,1754,2347,2171,0,0,0,0,0,0
$GC,6170,-0.47,-146.1,759.0,-8.6,495,6178,0.00,1.48,0.00,0.000,6,0.000,0.063,1749,3254,2171,0,0,0,0,0,0
$GC,6487,-0.47,-146.1,789.6,-9.7,511,6490,0.00,1.10,0.00,0.000,4,0.000,0.070,1744,3948,2171,0,0,0,0,0,0
$GC,6524,-0.47,-146.1,793.6,-10.2,512,6531,0.00,1.10,0.00,0.000,6,0.000,0.042,1744,3237,2170,0,0,0,0,0,0
$GC,6841,-0.47,-146.1,825.0,-9.8,528,6843,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,3237,2170,0,0,0,0,0,0
$GC,7149,-0.47,-146.1,855.3,-9.8,543,7153,0.00,1.30,0.00,0.000,4,0.000,0.038,1744,2352,2170,0,0,0,0,0,0
$GC,7175,-0.47,-146.1,858.0,-9.9,544,7180,0.00,1.48,0.00,0.000,6,0.000,0.062,1737,3265,2170,0,0,0,0,0,0
$GC,7503,-0.47,-146.1,891.6,-9.9,560,7507,0.00,1.10,0.00,0.000,4,0.000,0.070,1732,3959,2170,0,0,0,0,0,0
$GC,7557,-0.47,-146.1,897.7,-10.7,562,7563,0.10,1.10,0.00,0.000,6,0.187,0.042,1756,3251,2169,0,0,0,0,0,0
$GC,7879,-0.47,-146.1,924.8,-8.5,578,7880,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,3251,2170,0,0,0,0,0,0
$GC,8188,-0.47,-146.1,951.1,-8.3,593,8192,0.00,1.35,0.00,0.000,4,0.000,0.039,1756,2347,2169,0,0,0,0,0,0
$GC,8220,-0.47,-146.1,953.8,-7.9,594,8225,0.00,1.45,0.00,0.000,6,0.000,0.062,1752,3248,2170,0,0,0,0,0,0
$GC,8542,-0.47,-146.1,980.8,-8.1,610,8543,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,3248,2170,0,0,0,0,0,0
$STATE,8788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8788,begin apogee
$GC,8792,-0.11,0.0,1000.6,8.0,622,8942,0.40,0.00,147.35,1.907,6,0.145,0.000,1874,3015,1569,0,0,0,0,0,0
$STATE,8943,end apogee,CONTROL_FINISHED_OK
$STATE,8943,begin climb
$GC,8944,0.47,146.1,1004.6,0.0,629,9094,0.55,1.52,141.70,1.854,4,0.079,0.048,2067,2155,976,0,0,0,0,0,0
$GC,9179,0.47,146.1,984.6,12.9,640,9182,0.00,1.50,0.00,0.000,6,0.000,0.057,2067,3023,976,0,0,0,0,0,0
$GC,9510,0.47,146.1,937.6,13.9,656,9512,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,3023,973,0,0,0,0,0,0
$GC,9820,0.47,146.1,895.4,13.2,671,9823,0.00,1.48,0.00,0.000,4,0.000,0.068,2067,3905,973,0,0,0,0,0,0
$GC,9847,0.47,146.1,891.4,15.5,672,9851,0.00,1.40,0.00,0.000,6,0.000,0.039,2074,3022,972,0,0,0,0,0,0
$GC,10173,0.47,146.1,846.4,13.7,688,10177,0.00,1.48,0.00,0.000,4,0.000,0.067,2074,3908,972,0,0,0,0,0,0
$GC,10199,0.47,146.1,842.4,15.2,689,10204,0.00,1.40,0.00,0.000,6,0.000,0.037,2080,3022,972,0,0,0,0,0,0
$GC,10527,0.47,146.1,797.1,13.4,705,10530,0.00,1.35,0.00,0.000,4,0.000,0.046,2087,2152,972,0,0,0,0,0,0
$GC,10549,0.47,146.1,794.2,12.5,706,10552,0.00,1.42,0.00,0.000,6,0.000,0.057,2087,3031,972,0,0,0,0,0,0
$GC,10880,0.47,146.1,747.4,14.1,722,10884,0.00,1.42,0.00,0.000,4,0.000,0.067,2087,3904,972,0,0,0,0,0,0
$GC,10907,0.47,146.1,743.2,15.8,723,10911,0.00,1.35,0.00,0.000,6,0.000,0.038,2094,3039,971,0,0,0,0,0,0
$GC,11234,0.47,146.1,695.2,14.0,739,11235,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,3039,971,0,0,0,0,0,0
$GC,11543,0.47,146.1,652.0,13.8,754,11546,0.00,1.40,0.00,0.000,4,0.000,0.053,2100,2140,971,0,0,0,0,0,0
$GC,11603,0.47,146.1,643.9,13.4,756,11611,0.12,1.45,0.00,0.000,6,0.241,0.057,2074,3029,971,0,0,0,0,0,0
$GC,11919,0.47,146.1,603.9,12.7,772,11922,0.00,1.42,0.00,0.000,4,0.000,0.067,2075,3905,971,0,0,0,0,0,0
$GC,11945,0.47,146.1,600.0,14.6,773,11950,0.00,1.40,0.00,0.000,6,0.000,0.038,2079,3013,971,0,0,0,0,0,0
$GC,12272,0.47,146.1,557.1,13.1,789,12273,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,3013,970,0,0,0,0,0,0
$GC,12581,0.47,146.1,519.6,11.7,804,12583,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,3013,970,0,0,0,0,0,0
$GC,12891,0.47,146.1,484.3,11.2,819,12894,0.00,1.45,0.00,0.000,4,0.000,0.068,2079,3902,970,0,0,0,0,0,0
$GC,12958,0.47,146.1,474.9,14.6,822,12962,0.00,1.35,0.00,0.000,6,0.000,0.039,2086,3030,970,0,0,0,0,0,0
$GC,13289,0.47,146.1,431.8,13.3,838,13290,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,3029,970,0,0,0,0,0,0
$GC,13600,0.47,146.1,389.1,14.5,856,13601,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,3029,970,0,0,0,0,0,0
$GC,13919,0.47,146.1,342.2,14.4,886,13923,0.00,1.42,0.00,0.000,4,0.000,0.067,2086,3905,970,0,0,0,0,0,0
$GC,13955,0.47,146.1,336.8,15.7,889,13959,0.00,1.35,0.00,0.000,6,0.000,0.038,2093,3026,971,0,0,0,0,0,0
$GC,14284,0.47,146.1,290.6,13.6,920,14286,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,3025,970,0,0,0,0,0,0
$GC,14604,0.47,146.1,249.4,13.7,950,14607,0.00,1.42,0.00,0.000,4,0.000,0.067,2093,3904,970,0,0,0,0,0,0
$GC,14709,0.47,146.1,231.9,16.4,959,14718,0.12,1.38,0.00,0.000,6,0.261,0.036,2074,3013,970,0,0,0,0,0,0
$GC,15035,0.47,146.1,190.2,13.0,990,15036,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,3013,971,0,0,0,0,0,0
$GC,15354,0.47,146.1,150.6,12.0,1020,15357,0.00,1.30,0.00,0.000,4,0.000,0.039,2079,2142,970,0,0,0,0,0,0
$GC,15414,0.48,158.2,143.9,9.4,1025,15425,0.00,1.42,6.10,1.179,6,0.000,0.054,2079,3031,924,0,0,0,0,0,0
$GC,15752,0.48,158.2,101.2,14.1,1057,15756,0.00,1.40,0.00,0.000,4,0.000,0.065,2080,3902,925,0,0,0,0,0,0
$GC,15848,0.48,158.2,86.4,14.3,1073,15855,0.00,1.33,0.00,0.000,6,0.000,0.037,2086,3035,926,0,0,0,0,0,0
$GC,16195,0.48,159.0,45.9,9.9,1134,16204,0.00,1.40,0.00,0.000,4,0.000,0.064,2086,3901,926,0,0,0,0,0,0
$GC,16251,0.48,159.0,39.3,12.3,1143,16260,0.00,1.35,0.00,0.000,6,0.000,0.036,2093,3017,925,0,0,0,0,0,0
$GC,16403,0.48,159.0,22.5,11.6,1168,16412,0.00,1.33,0.00,0.000,4,0.000,0.043,2100,2138,926,0,0,0,0,0,0
$GC,16431,0.48,159.0,19.6,11.0,1172,16441,0.10,1.40,0.00,0.000,6,0.213,0.056,2073,3028,926,0,0,0,0,0,0
$GC,16490,0.48,164.5,13.6,9.7,1181,16499,0.00,0.00,3.22,0.591,6,0.000,0.000,2073,3028,897,0,0,0,0,0,0
$GC,16547,0.48,164.5,6.7,13.1,1190,16555,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,3028,898,0,0,0,0,0,0
$STATE,16574,end climb,SURFACE_DEPTH_REACHED
$STATE,16574,begin surface coast
$FINISH,0.3,1.009954
$STATE,16599,end surface coast,CONTROL_FINISHED_OK
$STATE,16599,begin surface
$SM_CCo,16611,57.88,0.400,1,0,548,250.20
$SM_GC,1.46,0.00,0.00,57.88,0.000,0.000,0.400,78,3264,548,-5.73,0.40,250.20
$IRIDIUM_FIX,-4227.40,843.88,240508,101021
$TT8_MAMPS,0.027713
$HUMID,61.18
$INTERNAL_PRESSURE,11.3786
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.6,5.206
$10V_AH,10.3,2.011
$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,13.825,64.450,298.375,57.875,0.000,0.000,0.000,0.000,0.000,0.000,36.183,2899.976,10751.494,470.525,2550.701,93.083,0.000,1550.778,0.000,2514.837,0.000,0.545,0.000
$DEVICE_MAMPS,260.865,77.265,1907.145,400.095,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,829.773,835.525,880.245,86.528,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354620
$DATA_FILE_SIZE,67025,1198
$CAP_FILE_SIZE,163634,0
$CFSIZE,259252224,258064384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,290715,013733,-4244.448,843.657,45,1.1,45,-25.1