version: 66.07
glider: 543
mission: 14
dive: 132
start: 8 22 115 22 22 56
data:
$ID,543
$MISSION,14
$DIVE,132
$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,-24522.352
$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,71
$R_STBD_OVSHOOT,33
$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
$GPS1,220815,220826,-4304.854,823.996,55,1.0,55,-25.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-73.3
$GPS2,220815,222233,-4304.836,824.175,27,0.9,28,-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,16.3,1567,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.54,-49.8,0.0,0.0,0,65,0.00,0.00,-45.05,0.000,6,0.000,0.000,63,3228,1705,0,0,0,0,0,0
$GC,67,-0.60,-105.8,3.1,-2.1,6,85,6.72,1.38,-7.30,0.000,4,0.232,0.054,1708,2331,1932,0,0,0,0,0,0
$GC,194,-0.60,-105.8,21.5,-13.9,26,202,0.00,1.42,0.00,0.000,6,0.000,0.053,1704,3198,1935,0,0,0,0,0,0
$GC,343,-0.53,-105.8,47.0,-17.7,51,352,0.12,0.00,0.00,0.000,6,0.193,0.000,1733,3197,1935,0,0,0,0,0,0
$GC,695,-0.53,-105.8,100.1,-14.7,112,698,0.00,1.20,0.00,0.000,4,0.000,0.057,1729,3954,1935,0,0,0,0,0,0
$GC,775,-0.50,-105.8,113.1,-16.0,119,778,0.00,1.08,0.00,0.000,6,0.000,0.033,1729,3227,1934,0,0,0,0,0,0
$GC,1104,-0.50,-105.8,162.2,-14.4,150,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,1728,3227,1935,0,0,0,0,0,0
$GC,1424,-0.50,-105.8,207.4,-14.4,180,1427,0.00,1.15,0.00,0.000,4,0.000,0.057,1723,3953,1934,0,0,0,0,0,0
$GC,1495,-0.50,-105.8,219.0,-16.2,186,1503,0.00,1.12,0.00,0.000,6,0.000,0.032,1723,3200,1935,0,0,0,0,0,0
$GC,1823,-0.50,-105.8,264.1,-13.0,217,1826,0.00,1.27,0.00,0.000,4,0.000,0.029,1723,2313,1935,0,0,0,0,0,0
$GC,1845,-0.50,-105.8,267.2,-12.9,219,1849,0.00,1.45,0.00,0.000,6,0.000,0.051,1717,3213,1934,0,0,0,0,0,0
$GC,2175,-0.50,-105.8,311.2,-12.9,250,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,1717,3213,1935,0,0,0,0,0,0
$GC,2495,-0.50,-105.8,351.7,-12.3,280,2498,0.00,1.15,0.00,0.000,4,0.000,0.057,1711,3949,1935,0,0,0,0,0,0
$GC,2612,-0.46,-105.8,368.2,-13.7,290,2621,0.12,1.10,0.00,0.000,6,0.182,0.032,1747,3213,1935,0,0,0,0,0,0
$GC,2941,-0.52,-105.8,400.3,-9.3,321,2942,0.00,0.00,0.00,0.000,6,0.000,0.000,1746,3213,1935,0,0,0,0,0,0
$GC,3247,-0.57,-105.8,429.7,-9.7,336,3251,0.00,1.33,0.00,0.000,4,0.000,0.030,1747,2293,1934,0,0,0,0,0,0
$GC,3273,-0.65,-105.8,432.5,-9.7,337,3278,0.10,1.48,0.00,0.000,6,0.056,0.051,1684,3209,1935,0,0,0,0,0,0
$GC,3601,-0.58,-105.8,482.8,-16.0,353,3605,0.12,1.17,0.00,0.000,4,0.189,0.057,1710,3951,1935,0,0,0,0,0,0
$GC,3646,-0.55,-105.8,489.9,-14.7,355,3650,0.00,1.10,0.00,0.000,6,0.000,0.034,1710,3201,1935,0,0,0,0,0,0
$GC,3978,-0.55,-105.8,535.8,-13.7,371,3980,0.00,0.00,0.00,0.000,6,0.000,0.000,1710,3201,1935,0,0,0,0,0,0
$GC,4288,-0.55,-105.8,577.4,-13.3,386,4291,0.00,1.17,0.00,0.000,4,0.000,0.058,1704,3947,1935,0,0,0,0,0,0
$GC,4325,-0.51,-105.8,582.9,-14.2,387,4334,0.10,1.10,0.00,0.000,6,0.164,0.033,1733,3213,1935,0,0,0,0,0,0
$GC,4642,-0.54,-105.8,615.2,-9.6,403,4645,0.00,1.17,0.00,0.000,4,0.000,0.059,1730,3954,1935,0,0,0,0,0,0
$GC,4690,-0.56,-105.8,620.6,-11.5,405,4695,0.00,1.12,0.00,0.000,6,0.000,0.033,1730,3198,1935,0,0,0,0,0,0
$GC,5018,-0.60,-105.8,652.9,-10.3,421,5022,0.00,1.20,0.00,0.000,4,0.000,0.059,1724,3957,1935,0,0,0,0,0,0
$GC,5087,-0.61,-105.8,660.3,-10.8,424,5091,0.00,1.10,0.00,0.000,6,0.000,0.034,1724,3213,1935,0,0,0,0,0,0
$GC,5420,-0.64,-105.8,693.7,-10.2,440,5423,0.00,1.17,0.00,0.000,4,0.000,0.059,1719,3954,1935,0,0,0,0,0,0
$GC,5452,-0.64,-105.8,697.5,-10.9,441,5457,0.00,1.12,0.00,0.000,6,0.000,0.033,1719,3201,1935,0,0,0,0,0,0
$GC,5774,-0.65,-105.8,733.4,-11.3,457,5777,0.00,1.30,0.00,0.000,4,0.000,0.031,1719,2301,1935,0,0,0,0,0,0
$GC,5812,-0.70,-105.8,737.6,-10.0,458,5819,0.00,1.48,0.00,0.000,6,0.000,0.052,1712,3213,1935,0,0,0,0,0,0
$GC,6128,-0.70,-105.8,773.2,-11.5,474,6131,0.00,1.15,0.00,0.000,4,0.000,0.059,1706,3945,1934,0,0,0,0,0,0
$GC,6154,-0.68,-105.8,776.7,-12.7,475,6159,0.00,1.10,0.00,0.000,6,0.000,0.033,1706,3209,1934,0,0,0,0,0,0
$GC,6481,-0.68,-105.8,815.9,-11.9,491,6485,0.00,1.20,0.00,0.000,4,0.000,0.060,1701,3949,1935,0,0,0,0,0,0
$GC,6514,-0.65,-105.8,820.4,-13.2,492,6518,0.00,1.12,0.00,0.000,6,0.000,0.034,1700,3200,1935,0,0,0,0,0,0
$GC,6835,-0.65,-105.8,860.5,-12.3,508,6839,0.00,1.20,0.00,0.000,4,0.000,0.060,1695,3955,1935,0,0,0,0,0,0
$GC,6884,-0.61,-105.8,867.2,-13.0,510,6889,0.00,1.10,0.00,0.000,6,0.000,0.034,1694,3210,1935,0,0,0,0,0,0
$GC,7212,-0.59,-105.8,906.7,-12.0,526,7215,0.00,1.17,0.00,0.000,4,0.000,0.059,1689,3951,1935,0,0,0,0,0,0
$GC,7311,-0.55,-105.8,920.2,-13.7,530,7316,0.10,1.10,0.00,0.000,6,0.168,0.034,1718,3215,1935,0,0,0,0,0,0
$GC,7633,-0.58,-105.8,953.6,-11.0,546,7634,0.00,0.00,0.00,0.000,6,0.000,0.000,1717,3215,1935,0,0,0,0,0,0
$GC,7942,-0.61,-105.8,988.6,-11.2,561,7944,0.00,0.00,0.00,0.000,6,0.000,0.000,1719,3215,1935,0,0,0,0,0,0
$STATE,8044,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8044,begin apogee
$GC,8048,-0.09,0.0,1000.4,11.4,566,8167,0.50,0.00,111.53,1.904,6,0.149,0.000,1867,2916,1500,0,0,0,0,0,0
$STATE,8168,end apogee,CONTROL_FINISHED_OK
$STATE,8168,begin climb
$GC,8169,0.60,105.8,1004.4,0.0,572,8285,0.70,1.50,108.55,1.858,4,0.093,0.034,2100,2053,1067,0,0,0,0,0,0
$GC,8340,0.60,105.8,987.9,13.5,580,8345,0.00,1.50,0.00,0.000,6,0.000,0.048,2100,2918,1066,0,0,0,0,0,0
$GC,8668,0.56,105.8,940.7,14.7,596,8671,0.00,1.48,0.00,0.000,4,0.000,0.057,2100,3814,1064,0,0,0,0,0,0
$GC,8736,0.48,105.8,929.5,17.6,599,8740,0.15,1.38,0.00,0.000,6,0.200,0.032,2068,2914,1063,0,0,0,0,0,0
$GC,9067,0.48,105.8,886.6,13.2,615,9071,0.00,1.48,0.00,0.000,4,0.000,0.058,2068,3813,1062,0,0,0,0,0,0
$GC,9203,0.44,105.8,865.2,16.0,621,9206,0.00,1.35,0.00,0.000,6,0.000,0.031,2073,2920,1061,0,0,0,0,0,0
$GC,9534,0.44,105.8,818.7,13.8,637,9538,0.00,1.45,0.00,0.000,4,0.000,0.058,2073,3810,1061,0,0,0,0,0,0
$GC,9589,0.40,105.8,810.1,15.7,639,9594,0.15,1.33,0.00,0.000,6,0.192,0.032,2039,2928,1060,0,0,0,0,0,0
$GC,9910,0.46,105.8,773.9,11.1,655,9914,0.00,1.45,0.00,0.000,4,0.000,0.060,2038,3813,1060,0,0,0,0,0,0
$GC,9978,0.49,105.8,765.1,13.4,658,9982,0.00,1.33,0.00,0.000,6,0.000,0.033,2044,2928,1059,0,0,0,0,0,0
$GC,10311,0.54,105.8,726.0,11.7,674,10315,0.10,1.42,0.00,0.000,4,0.116,0.060,2084,3804,1060,0,0,0,0,0,0
$GC,10378,0.48,105.8,715.5,15.9,677,10381,0.00,1.33,0.00,0.000,6,0.000,0.032,2090,2917,1059,0,0,0,0,0,0
$GC,10710,0.47,105.8,666.2,15.4,693,10715,0.12,1.45,0.00,0.000,4,0.210,0.059,2061,3810,1060,0,0,0,0,0,0
$GC,10793,0.45,105.8,653.0,15.8,696,10801,0.00,1.33,0.00,0.000,6,0.000,0.032,2066,2923,1059,0,0,0,0,0,0
$GC,11110,0.47,105.8,609.2,13.7,712,11114,0.00,1.42,0.00,0.000,4,0.000,0.059,2066,3800,1059,0,0,0,0,0,0
$GC,11222,0.45,105.8,591.3,16.0,717,11226,0.00,1.33,0.00,0.000,6,0.000,0.033,2073,2917,1059,0,0,0,0,0,0
$GC,11554,0.45,105.8,544.5,13.7,733,11558,0.00,1.45,0.00,0.000,4,0.000,0.059,2073,3809,1059,0,0,0,0,0,0
$GC,11660,0.41,105.8,528.0,15.3,737,11668,0.12,1.33,0.00,0.000,6,0.187,0.031,2044,2919,1059,0,0,0,0,0,0
$GC,11976,0.47,105.8,493.2,10.7,753,11977,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,2919,1059,0,0,0,0,0,0
$GC,12285,0.54,105.8,459.8,10.8,768,12290,0.10,1.45,0.00,0.000,4,0.112,0.060,2088,3813,1059,0,0,0,0,0,0
$GC,12391,0.48,105.8,443.6,14.9,772,12399,0.10,1.33,0.00,0.000,6,0.194,0.032,2067,2922,1059,0,0,0,0,0,0
$GC,12707,0.50,105.8,403.2,12.8,788,12711,0.00,1.42,0.00,0.000,4,0.000,0.060,2067,3802,1059,0,0,0,0,0,0
$GC,12801,0.49,105.8,389.3,15.0,794,12808,0.00,1.30,0.00,0.000,6,0.000,0.032,2072,2924,1059,0,0,0,0,0,0
$GC,13130,0.51,105.8,346.5,13.3,825,13133,0.00,1.42,0.00,0.000,4,0.000,0.058,2072,3809,1059,0,0,0,0,0,0
$GC,13201,0.48,105.8,335.0,15.6,831,13209,0.00,1.33,0.00,0.000,6,0.000,0.031,2079,2922,1059,0,0,0,0,0,0
$GC,13527,0.48,105.8,292.8,12.9,862,13530,0.00,1.42,0.00,0.000,4,0.000,0.059,2079,3800,1059,0,0,0,0,0,0
$GC,13721,0.44,105.8,265.5,14.2,879,13725,0.12,1.30,0.00,0.000,6,0.184,0.033,2050,2923,1059,0,0,0,0,0,0
$GC,14051,0.50,105.8,232.4,9.4,910,14052,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2923,1059,0,0,0,0,0,0
$GC,14370,0.56,105.8,201.9,9.6,940,14375,0.10,1.42,0.00,0.000,4,0.112,0.059,2093,3805,1059,0,0,0,0,0,0
$GC,14475,0.49,105.8,187.4,14.5,949,14479,0.10,1.30,0.00,0.000,6,0.196,0.032,2073,2925,1059,0,0,0,0,0,0
$GC,14806,0.52,105.8,148.4,11.5,980,14809,0.00,1.42,0.00,0.000,4,0.000,0.058,2072,3814,1059,0,0,0,0,0,0
$GC,14855,0.48,105.8,142.1,12.2,984,14864,0.00,1.33,0.00,0.000,6,0.000,0.031,2078,2918,1059,0,0,0,0,0,0
$GC,15182,0.51,105.8,105.7,11.0,1015,15186,0.00,1.42,0.00,0.000,4,0.000,0.057,2078,3801,1058,0,0,0,0,0,0
$GC,15353,0.48,105.8,83.6,13.0,1041,15362,0.00,1.30,0.00,0.000,6,0.000,0.031,2084,2918,1059,0,0,0,0,0,0
$GC,15705,0.48,105.8,43.4,12.0,1102,15711,0.00,1.42,0.00,0.000,4,0.000,0.057,2084,3804,1059,0,0,0,0,0,0
$GC,15837,0.45,105.8,25.4,13.8,1124,15847,0.12,1.30,0.00,0.000,6,0.182,0.031,2055,2918,1059,0,0,0,0,0,0
$GC,15991,0.52,105.8,9.6,10.3,1149,16000,0.00,1.42,0.00,0.000,4,0.000,0.056,2055,3804,1059,0,0,0,0,0,0
$GC,16014,0.57,105.8,6.8,11.4,1152,16023,0.00,1.30,0.00,0.000,6,0.000,0.031,2061,2924,1059,0,0,0,0,0,0
$STATE,16047,end climb,SURFACE_DEPTH_REACHED
$STATE,16047,begin surface coast
$FINISH,1.2,1.026506
$STATE,16078,end surface coast,CONTROL_FINISHED_OK
$STATE,16078,begin surface
$SM_CCo,16091,42.38,0.142,0,0,683,200.16
$SM_GC,2.72,0.00,0.00,42.38,0.000,0.000,0.142,67,3224,683,-5.74,0.42,200.16
$IRIDIUM_FIX,-4247.91,826.16,180608,111140
$TT8_MAMPS,0.027713
$HUMID,62.20
$INTERNAL_PRESSURE,11.3786
$TCM_TEMP,13.10
$XPDR_PINGS,0
$24V_AH,22.3,27.180
$10V_AH,10.2,15.489
$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,15.150,89.300,220.075,42.375,0.000,129.618,62.100,383.224,0.000,0.000,30.355,2917.667,10190.748,394.142,3304.382,174.250,0.000,1546.816,0.000,2669.465,0.000,0.545,0.000
$DEVICE_MAMPS,231.795,65.790,1904.085,142.290,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,807.540,822.788,864.227,83.935,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353980
$DATA_FILE_SIZE,66876,1162
$CAP_FILE_SIZE,165076,0
$CFSIZE,259252224,248430592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230815,025304,-4302.704,824.419,40,1.0,40,-25.0