version: 66.07
glider: 543
mission: 14
dive: 9
start: 7 29 115 12 5 59
data:
$ID,543
$MISSION,14
$DIVE,9
$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,220
$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,-24154.857
$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,27
$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
$GPS1,290715,115810,-4247.322,840.318,14,1.1,14,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-68.7
$GPS2,290715,120536,-4247.257,840.303,29,0.9,29,-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,225.0,25096,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.47,-146.1,0.0,0.0,0,80,0.00,0.00,-64.05,0.000,2,0.000,0.000,72,3263,2021,0,0,0,0,0,0
$GC,82,-0.47,-146.1,3.4,-3.8,8,100,6.75,1.38,-3.28,0.000,4,0.234,0.057,1759,2360,2167,0,0,0,0,0,0
$GC,215,-0.47,-146.1,26.4,-9.7,29,224,0.00,1.45,0.00,0.000,6,0.000,0.059,1754,3240,2174,0,0,0,0,0,0
$GC,363,-0.47,-146.1,47.1,-14.2,54,371,0.00,1.15,0.00,0.000,4,0.000,0.065,1749,3951,2174,0,0,0,0,0,0
$GC,441,-0.47,-146.1,60.6,-16.0,67,448,0.00,1.05,0.00,0.000,6,0.000,0.038,1749,3265,2174,0,0,0,0,0,0
$GC,790,-0.47,-146.1,109.3,-13.6,123,794,0.00,1.38,0.00,0.000,4,0.000,0.038,1749,2360,2174,0,0,0,0,0,0
$GC,824,-0.47,-146.1,114.2,-14.7,126,827,0.00,1.45,0.00,0.000,6,0.000,0.059,1742,3248,2174,0,0,0,0,0,0
$GC,1157,-0.47,-146.1,161.6,-13.2,157,1160,0.00,1.12,0.00,0.000,4,0.000,0.064,1737,3954,2174,0,0,0,0,0,0
$GC,1204,-0.47,-146.1,168.2,-13.9,161,1207,0.00,1.08,0.00,0.000,6,0.000,0.037,1737,3246,2174,0,0,0,0,0,0
$GC,1533,-0.47,-146.1,213.3,-14.1,192,1537,0.00,1.33,0.00,0.000,4,0.000,0.037,1737,2364,2174,0,0,0,0,0,0
$GC,1571,-0.47,-146.1,218.4,-12.8,195,1579,0.12,1.45,0.00,0.000,6,0.169,0.057,1762,3253,2174,0,0,0,0,0,0
$GC,1896,-0.47,-146.1,255.0,-10.7,226,1900,0.00,1.10,0.00,0.000,4,0.000,0.063,1759,3948,2174,0,0,0,0,0,0
$GC,1952,-0.47,-146.1,261.0,-10.6,231,1956,0.00,1.05,0.00,0.000,6,0.000,0.037,1759,3250,2174,0,0,0,0,0,0
$GC,2282,-0.47,-146.1,294.9,-10.0,262,2283,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,3251,2174,0,0,0,0,0,0
$GC,2601,-0.47,-146.1,326.5,-9.9,292,2602,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,3251,2174,0,0,0,0,0,0
$GC,2920,-0.47,-146.1,357.9,-9.6,322,2921,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,3251,2174,0,0,0,0,0,0
$GC,3238,-0.47,-146.1,389.2,-9.9,352,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,3251,2174,0,0,0,0,0,0
$GC,3561,-0.47,-146.1,421.5,-10.1,373,3562,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,3251,2174,0,0,0,0,0,0
$GC,3871,-0.47,-146.1,452.6,-9.9,388,3874,0.00,1.38,0.00,0.000,4,0.000,0.038,1759,2358,2174,0,0,0,0,0,0
$GC,3902,-0.47,-146.1,455.8,-9.3,389,3907,0.00,1.48,0.00,0.000,6,0.000,0.058,1753,3261,2174,0,0,0,0,0,0
$GC,4224,-0.47,-146.1,488.0,-10.1,405,4228,0.00,1.10,0.00,0.000,4,0.000,0.065,1748,3956,2174,0,0,0,0,0,0
$GC,4261,-0.47,-146.1,492.2,-10.7,406,4269,0.00,1.08,0.00,0.000,6,0.000,0.038,1748,3251,2174,0,0,0,0,0,0
$GC,4577,-0.47,-146.1,526.5,-11.1,422,4578,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,3251,2174,0,0,0,0,0,0
$GC,4886,-0.47,-146.1,562.5,-11.9,437,4890,0.00,1.35,0.00,0.000,4,0.000,0.037,1749,2368,2173,0,0,0,0,0,0
$GC,4924,-0.47,-146.1,566.7,-10.6,438,4932,0.00,1.45,0.00,0.000,6,0.000,0.058,1742,3258,2173,0,0,0,0,0,0
$GC,5240,-0.47,-146.1,605.0,-12.4,454,5243,0.00,1.10,0.00,0.000,4,0.000,0.067,1737,3953,2174,0,0,0,0,0,0
$GC,5278,-0.47,-146.1,609.9,-12.8,455,5285,0.00,1.05,0.00,0.000,6,0.000,0.040,1736,3256,2173,0,0,0,0,0,0
$GC,5593,-0.47,-146.1,647.7,-11.6,471,5595,0.00,0.00,0.00,0.000,6,0.000,0.000,1737,3256,2174,0,0,0,0,0,0
$GC,5903,-0.47,-146.1,683.2,-11.3,486,5906,0.00,1.33,0.00,0.000,4,0.000,0.037,1737,2352,2174,0,0,0,0,0,0
$GC,5940,-0.47,-146.1,687.5,-10.7,487,5949,0.12,1.45,0.00,0.000,6,0.181,0.057,1761,3251,2173,0,0,0,0,0,0
$GC,6257,-0.47,-146.1,715.7,-8.8,503,6260,0.00,1.12,0.00,0.000,4,0.000,0.067,1757,3950,2173,0,0,0,0,0,0
$GC,6302,-0.47,-146.1,719.9,-9.9,505,6305,0.00,1.05,0.00,0.000,6,0.000,0.041,1758,3252,2174,0,0,0,0,0,0
$GC,6633,-0.47,-146.1,749.6,-9.4,521,6637,0.00,1.33,0.00,0.000,4,0.000,0.037,1757,2347,2174,0,0,0,0,0,0
$GC,6665,-0.47,-146.1,752.7,-9.2,522,6670,0.00,1.45,0.00,0.000,6,0.000,0.059,1752,3249,2174,0,0,0,0,0,0
$GC,6987,-0.47,-146.1,783.7,-9.8,538,6991,0.00,1.12,0.00,0.000,4,0.000,0.067,1747,3959,2174,0,0,0,0,0,0
$GC,7024,-0.47,-146.1,787.6,-10.9,539,7032,0.00,1.10,0.00,0.000,6,0.000,0.040,1747,3242,2173,0,0,0,0,0,0
$GC,7340,-0.47,-146.1,819.5,-10.3,555,7341,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3242,2173,0,0,0,0,0,0
$GC,7649,-0.47,-146.1,851.3,-10.3,570,7651,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3242,2173,0,0,0,0,0,0
$GC,7959,-0.47,-146.1,881.0,-9.2,585,7960,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3242,2173,0,0,0,0,0,0
$GC,8269,-0.47,-146.1,908.8,-8.7,600,8270,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3242,2173,0,0,0,0,0,0
$GC,8578,-0.47,-146.1,936.6,-9.0,615,8579,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3242,2173,0,0,0,0,0,0
$GC,8887,-0.47,-146.1,964.5,-9.2,630,8891,0.00,1.12,0.00,0.000,4,0.000,0.068,1741,3947,2173,0,0,0,0,0,0
$GC,8925,-0.47,-146.1,968.5,-9.9,631,8932,0.00,1.08,0.00,0.000,6,0.000,0.041,1741,3251,2172,0,0,0,0,0,0
$STATE,9240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9240,begin apogee
$GC,9243,-0.11,0.0,1000.1,9.9,647,9402,0.45,0.00,150.75,1.922,6,0.154,0.000,1876,3024,1570,0,0,0,0,0,0
$STATE,9403,end apogee,CONTROL_FINISHED_OK
$STATE,9403,begin climb
$GC,9404,0.47,146.1,1006.0,0.0,655,9551,0.57,0.00,143.25,1.860,6,0.076,0.000,2068,3024,973,0,0,0,0,0,0
$GC,9866,0.47,146.1,954.4,13.9,678,9868,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,3024,970,0,0,0,0,0,0
$GC,10176,0.47,146.1,910.8,14.2,693,10179,0.00,1.50,0.00,0.000,4,0.000,0.065,2068,3909,969,0,0,0,0,0,0
$GC,10243,0.47,146.1,899.6,17.5,696,10247,0.00,1.40,0.00,0.000,6,0.000,0.039,2075,3029,969,0,0,0,0,0,0
$GC,10575,0.47,146.1,851.3,13.7,712,10578,0.00,1.40,0.00,0.000,4,0.000,0.049,2081,2154,969,0,0,0,0,0,0
$GC,10619,0.47,146.1,845.3,13.3,714,10623,0.00,1.42,0.00,0.000,6,0.000,0.056,2081,3027,968,0,0,0,0,0,0
$GC,10951,0.47,146.1,798.3,14.3,730,10954,0.00,1.45,0.00,0.000,4,0.000,0.065,2081,3909,968,0,0,0,0,0,0
$GC,10977,0.47,146.1,793.9,16.3,731,10981,0.00,1.40,0.00,0.000,6,0.000,0.037,2088,3024,968,0,0,0,0,0,0
$GC,11304,0.47,146.1,747.1,14.3,747,11305,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,3024,968,0,0,0,0,0,0
$GC,11613,0.47,146.1,704.7,13.7,762,11614,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,3024,968,0,0,0,0,0,0
$GC,11923,0.47,146.1,661.8,13.8,777,11926,0.00,1.35,0.00,0.000,4,0.000,0.048,2094,2150,968,0,0,0,0,0,0
$GC,11949,0.47,146.1,658.1,12.7,778,11954,0.00,1.45,0.00,0.000,6,0.000,0.055,2095,3043,968,0,0,0,0,0,0
$GC,12276,0.47,146.1,609.5,15.3,794,12280,0.00,1.38,0.00,0.000,4,0.000,0.047,2101,2152,968,0,0,0,0,0,0
$GC,12308,0.47,146.1,604.7,14.1,795,12314,0.12,1.42,0.00,0.000,6,0.225,0.055,2074,3031,968,0,0,0,0,0,0
$GC,12630,0.47,146.1,558.7,14.3,811,12631,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,3031,968,0,0,0,0,0,0
$GC,12939,0.47,146.1,515.1,14.1,826,12942,0.00,1.42,0.00,0.000,4,0.000,0.065,2074,3904,968,0,0,0,0,0,0
$GC,12965,0.47,146.1,510.8,15.7,827,12970,0.00,1.38,0.00,0.000,6,0.000,0.037,2079,3020,968,0,0,0,0,0,0
$GC,13292,0.47,146.1,463.2,14.5,843,13293,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,3020,967,0,0,0,0,0,0
$GC,13602,0.47,146.1,420.4,13.3,858,13603,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,3020,967,0,0,0,0,0,0
$GC,13915,0.47,146.1,380.9,12.2,880,13919,0.00,1.45,0.00,0.000,4,0.000,0.066,2079,3903,967,0,0,0,0,0,0
$GC,13964,0.47,146.1,373.8,14.1,884,13974,0.00,1.35,0.00,0.000,6,0.000,0.037,2086,3024,967,0,0,0,0,0,0
$GC,14291,0.47,146.1,331.9,12.5,915,14292,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,3024,967,0,0,0,0,0,0
$GC,14611,0.47,146.1,291.8,12.0,945,14614,0.00,1.45,0.00,0.000,4,0.000,0.065,2086,3908,967,0,0,0,0,0,0
$GC,14667,0.47,146.1,283.7,14.8,950,14671,0.00,1.35,0.00,0.000,6,0.000,0.037,2093,3025,968,0,0,0,0,0,0
$GC,15000,0.47,146.1,240.1,13.1,981,15003,0.00,1.30,0.00,0.000,4,0.000,0.038,2099,2156,967,0,0,0,0,0,0
$GC,15046,0.47,146.1,234.1,12.3,985,15051,0.10,1.38,0.00,0.000,6,0.195,0.055,2072,3022,967,0,0,0,0,0,0
$GC,15376,0.47,146.1,193.9,12.0,1016,15380,0.00,1.42,0.00,0.000,4,0.000,0.063,2072,3907,967,0,0,0,0,0,0
$GC,15413,0.47,146.1,188.5,15.0,1019,15421,0.00,1.35,0.00,0.000,6,0.000,0.035,2077,3028,967,0,0,0,0,0,0
$GC,15739,0.47,146.1,146.9,13.3,1050,15740,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3028,967,0,0,0,0,0,0
$GC,16058,0.47,146.1,105.9,12.1,1080,16059,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3028,967,0,0,0,0,0,0
$GC,16397,0.47,146.1,68.1,12.6,1135,16403,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3028,967,0,0,0,0,0,0
$GC,16748,0.47,146.1,31.6,11.0,1196,16756,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3028,967,0,0,0,0,0,0
$GC,16899,0.47,146.1,14.9,13.2,1221,16907,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3028,968,0,0,0,0,0,0
$GC,16956,0.47,146.1,7.2,12.3,1230,16964,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3028,968,0,0,0,0,0,0
$STATE,16988,end climb,SURFACE_DEPTH_REACHED
$STATE,16988,begin surface coast
$FINISH,0.7,1.026472
$STATE,17020,end surface coast,CONTROL_FINISHED_OK
$STATE,17020,begin surface
$SM_CCo,17031,33.62,0.144,0,0,670,220.03
$SM_GC,1.85,0.00,0.00,33.62,0.000,0.000,0.144,84,3262,670,-5.72,0.31,220.03
$IRIDIUM_FIX,-4230.32,838.52,250508,010115
$TT8_MAMPS,0.027713
$HUMID,61.38
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.5,5.837
$10V_AH,10.3,2.349
$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,13.625,65.825,294.000,33.625,0.000,0.000,0.000,0.000,0.000,0.000,31.460,2988.103,11012.786,475.609,2577.497,97.698,0.000,1541.208,0.000,2550.907,0.000,0.544,0.000
$DEVICE_MAMPS,234.090,69.615,1921.680,143.820,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,860.842,870.606,906.743,87.777,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354576
$DATA_FILE_SIZE,70344,1240
$CAP_FILE_SIZE,159301,0
$CFSIZE,259252224,257835008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290715,165213,-4248.896,838.768,56,6.0,75,-25.1