version: 66.07
glider: 543
mission: 14
dive: 137
start: 8 24 115 2 43 45
data:
$ID,543
$MISSION,14
$DIVE,137
$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,-24539.482
$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,28
$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
$GPS1,240815,023428,-4255.735,824.742,39,1.3,39,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-72.5
$GPS2,240815,024322,-4255.722,824.830,16,1.9,16,-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,270.4,1238,-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,15,-0.54,-49.8,0.0,0.0,0,65,0.00,0.00,-44.50,0.000,6,0.000,0.000,64,3227,1704,0,0,0,0,0,0
$GC,67,-0.60,-110.5,2.9,-1.6,6,86,6.75,1.23,-7.70,0.000,4,0.235,0.081,1697,3958,1952,0,0,0,0,0,0
$GC,224,-0.51,-110.5,31.1,-18.0,31,234,0.12,1.10,0.00,0.000,6,0.166,0.032,1733,3225,1956,0,0,0,0,0,0
$GC,372,-0.51,-110.5,52.9,-14.0,56,379,0.00,1.35,0.00,0.000,4,0.000,0.028,1733,2290,1956,0,0,0,0,0,0
$GC,405,-0.54,-110.5,56.9,-13.0,61,411,0.00,1.50,0.00,0.000,6,0.000,0.051,1728,3210,1956,0,0,0,0,0,0
$GC,749,-0.54,-110.5,104.5,-13.3,119,753,0.00,1.17,0.00,0.000,4,0.000,0.056,1722,3956,1956,0,0,0,0,0,0
$GC,820,-0.51,-110.5,114.4,-14.7,125,824,0.00,1.10,0.00,0.000,6,0.000,0.031,1722,3203,1956,0,0,0,0,0,0
$GC,1150,-0.51,-110.5,158.5,-12.5,156,1153,0.00,1.17,0.00,0.000,4,0.000,0.056,1717,3946,1956,0,0,0,0,0,0
$GC,1199,-0.48,-110.5,165.5,-14.6,160,1209,0.08,1.08,0.00,0.000,6,0.159,0.031,1740,3217,1956,0,0,0,0,0,0
$GC,1526,-0.52,-110.5,204.0,-12.3,191,1529,0.00,1.15,0.00,0.000,4,0.000,0.057,1736,3943,1956,0,0,0,0,0,0
$GC,1620,-0.54,-110.5,217.3,-13.4,199,1628,0.00,1.10,0.00,0.000,6,0.000,0.031,1736,3191,1956,0,0,0,0,0,0
$GC,1946,-0.58,-110.5,258.3,-12.6,230,1949,0.00,1.20,0.00,0.000,4,0.000,0.057,1731,3951,1956,0,0,0,0,0,0
$GC,1995,-0.58,-110.5,265.2,-13.9,234,2002,0.00,1.10,0.00,0.000,6,0.000,0.031,1731,3206,1956,0,0,0,0,0,0
$GC,2324,-0.60,-110.5,306.4,-12.3,265,2327,0.00,1.17,0.00,0.000,4,0.000,0.056,1725,3955,1956,0,0,0,0,0,0
$GC,2350,-0.60,-110.5,310.7,-14.0,267,2358,0.00,1.10,0.00,0.000,6,0.000,0.031,1725,3207,1955,0,0,0,0,0,0
$GC,2676,-0.62,-110.5,351.4,-12.5,298,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,1725,3207,1956,0,0,0,0,0,0
$GC,2996,-0.64,-110.5,390.6,-12.0,328,2999,0.00,1.17,0.00,0.000,4,0.000,0.057,1720,3952,1956,0,0,0,0,0,0
$GC,3075,-0.64,-110.5,401.1,-13.2,335,3078,0.00,1.08,0.00,0.000,6,0.000,0.031,1720,3213,1956,0,0,0,0,0,0
$GC,3395,-0.64,-110.5,440.1,-12.1,351,3399,0.00,1.30,0.00,0.000,4,0.000,0.028,1720,2308,1956,0,0,0,0,0,0
$GC,3428,-0.68,-110.5,444.0,-11.4,352,3432,0.00,1.45,0.00,0.000,6,0.000,0.051,1713,3208,1956,0,0,0,0,0,0
$GC,3749,-0.68,-110.5,484.4,-12.7,368,3753,0.00,1.17,0.00,0.000,4,0.000,0.057,1707,3957,1956,0,0,0,0,0,0
$GC,3781,-0.65,-110.5,489.1,-14.3,369,3786,0.00,1.12,0.00,0.000,6,0.000,0.031,1707,3190,1956,0,0,0,0,0,0
$GC,4103,-0.65,-110.5,531.8,-13.4,385,4106,0.00,1.20,0.00,0.000,4,0.000,0.057,1701,3951,1956,0,0,0,0,0,0
$GC,4158,-0.61,-110.5,540.1,-15.3,387,4163,0.00,1.10,0.00,0.000,6,0.000,0.031,1701,3211,1956,0,0,0,0,0,0
$GC,4480,-0.59,-110.5,583.7,-13.3,403,4483,0.00,1.17,0.00,0.000,4,0.000,0.057,1695,3956,1956,0,0,0,0,0,0
$GC,4525,-0.54,-110.5,590.4,-15.2,405,4529,0.10,1.10,0.00,0.000,6,0.161,0.032,1725,3210,1956,0,0,0,0,0,0
$GC,4857,-0.58,-110.5,629.4,-11.9,421,4859,0.00,0.00,0.00,0.000,6,0.000,0.000,1725,3209,1956,0,0,0,0,0,0
$GC,5166,-0.61,-110.5,666.7,-11.8,436,5169,0.00,1.20,0.00,0.000,4,0.000,0.060,1721,3952,1956,0,0,0,0,0,0
$GC,5239,-0.63,-110.5,676.3,-12.5,439,5243,0.00,1.10,0.00,0.000,6,0.000,0.032,1721,3201,1956,0,0,0,0,0,0
$GC,5566,-0.66,-110.5,718.0,-12.5,455,5567,0.00,0.00,0.00,0.000,6,0.000,0.000,1721,3201,1956,0,0,0,0,0,0
$GC,5875,-0.69,-110.5,755.6,-12.0,470,5879,0.12,1.20,0.00,0.000,4,0.104,0.059,1663,3946,1956,0,0,0,0,0,0
$GC,5935,-0.59,-110.5,765.3,-16.2,472,5943,0.15,1.08,0.00,0.000,6,0.166,0.032,1708,3218,1956,0,0,0,0,0,0
$GC,6250,-0.59,-110.5,805.3,-12.2,488,6254,0.00,1.33,0.00,0.000,4,0.000,0.030,1708,2300,1956,0,0,0,0,0,0
$GC,6283,-0.64,-110.5,809.2,-10.8,489,6287,0.00,1.48,0.00,0.000,6,0.000,0.052,1702,3215,1956,0,0,0,0,0,0
$GC,6604,-0.64,-110.5,847.4,-11.6,505,6608,0.00,1.15,0.00,0.000,4,0.000,0.058,1696,3949,1956,0,0,0,0,0,0
$GC,6659,-0.61,-110.5,854.7,-13.3,507,6664,0.00,1.10,0.00,0.000,6,0.000,0.033,1696,3202,1956,0,0,0,0,0,0
$GC,6981,-0.61,-110.5,892.4,-12.0,523,6984,0.00,1.17,0.00,0.000,4,0.000,0.059,1690,3942,1956,0,0,0,0,0,0
$GC,7052,-0.57,-110.5,901.8,-13.5,526,7057,0.08,1.08,0.00,0.000,6,0.167,0.033,1713,3216,1956,0,0,0,0,0,0
$GC,7380,-0.60,-110.5,936.6,-10.7,542,7381,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,3216,1956,0,0,0,0,0,0
$GC,7689,-0.63,-110.5,969.7,-10.3,557,7692,0.00,1.15,0.00,0.000,4,0.000,0.060,1709,3939,1956,0,0,0,0,0,0
$GC,7743,-0.63,-110.5,976.3,-11.5,559,7748,0.00,1.10,0.00,0.000,6,0.000,0.033,1709,3200,1956,0,0,0,0,0,0
$STATE,7981,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7981,begin apogee
$GC,7986,-0.09,0.0,1002.0,10.8,571,8107,0.55,0.00,118.32,1.926,6,0.148,0.000,1872,2930,1499,0,0,0,0,0,0
$STATE,8108,end apogee,CONTROL_FINISHED_OK
$STATE,8108,begin climb
$GC,8110,0.60,110.5,1004.1,0.0,577,8230,0.68,1.48,113.32,1.851,4,0.091,0.031,2095,2050,1047,0,0,0,0,0,0
$GC,8280,0.62,110.5,984.9,14.5,584,8284,0.00,1.52,0.00,0.000,6,0.000,0.047,2095,2925,1045,0,0,0,0,0,0
$GC,8607,0.60,110.5,932.8,16.0,600,8611,0.00,1.42,0.00,0.000,4,0.000,0.056,2095,3798,1042,0,0,0,0,0,0
$GC,8729,0.53,110.5,910.4,18.7,605,8733,0.00,1.35,0.00,0.000,6,0.000,0.030,2102,2904,1041,0,0,0,0,0,0
$GC,9051,0.50,110.5,859.4,15.6,621,9055,0.12,1.48,0.00,0.000,4,0.214,0.056,2074,3805,1040,0,0,0,0,0,0
$GC,9118,0.47,110.5,848.5,16.4,624,9122,0.00,1.33,0.00,0.000,6,0.000,0.031,2079,2924,1040,0,0,0,0,0,0
$GC,9450,0.47,110.5,802.4,13.7,640,9453,0.00,1.45,0.00,0.000,4,0.000,0.057,2080,3814,1040,0,0,0,0,0,0
$GC,9487,0.43,110.5,796.5,15.5,641,9496,0.12,1.33,0.00,0.000,6,0.189,0.030,2051,2928,1039,0,0,0,0,0,0
$GC,9804,0.48,110.5,759.9,11.6,657,9808,0.00,1.42,0.00,0.000,4,0.000,0.058,2051,3801,1039,0,0,0,0,0,0
$GC,9836,0.48,110.5,755.5,13.3,658,9841,0.00,1.33,0.00,0.000,6,0.000,0.031,2056,2922,1039,0,0,0,0,0,0
$GC,10158,0.52,110.5,716.0,12.7,674,10162,0.00,1.45,0.00,0.000,4,0.000,0.058,2056,3814,1039,0,0,0,0,0,0
$GC,10218,0.52,110.5,707.2,14.4,676,10226,0.00,1.35,0.00,0.000,6,0.000,0.031,2063,2918,1039,0,0,0,0,0,0
$GC,10535,0.55,110.5,665.9,13.0,692,10539,0.00,1.45,0.00,0.000,4,0.000,0.058,2063,3810,1039,0,0,0,0,0,0
$GC,10606,0.55,110.5,655.3,15.6,695,10611,0.00,1.30,0.00,0.000,6,0.000,0.031,2069,2928,1039,0,0,0,0,0,0
$GC,10934,0.58,110.5,612.7,13.1,711,10937,0.00,1.42,0.00,0.000,4,0.000,0.058,2069,3807,1038,0,0,0,0,0,0
$GC,11002,0.56,110.5,602.5,14.9,714,11005,0.00,1.30,0.00,0.000,6,0.000,0.031,2076,2926,1038,0,0,0,0,0,0
$GC,11334,0.56,110.5,557.0,14.2,730,11335,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2925,1038,0,0,0,0,0,0
$GC,11643,0.56,110.5,512.8,14.4,745,11647,0.00,1.42,0.00,0.000,4,0.000,0.058,2076,3807,1038,0,0,0,0,0,0
$GC,11698,0.52,110.5,503.8,15.9,747,11702,0.00,1.30,0.00,0.000,6,0.000,0.031,2083,2925,1038,0,0,0,0,0,0
$GC,12019,0.52,110.5,457.4,14.3,763,12023,0.00,1.42,0.00,0.000,4,0.000,0.059,2083,3809,1038,0,0,0,0,0,0
$GC,12052,0.48,110.5,452.2,16.1,764,12057,0.08,1.30,0.00,0.000,6,0.199,0.031,2069,2925,1038,0,0,0,0,0,0
$GC,12374,0.51,110.5,409.7,12.7,780,12378,0.00,1.42,0.00,0.000,4,0.000,0.059,2069,3815,1038,0,0,0,0,0,0
$GC,12412,0.49,110.5,404.0,14.5,781,12420,0.00,1.33,0.00,0.000,6,0.000,0.031,2074,2923,1038,0,0,0,0,0,0
$GC,12738,0.52,110.5,361.4,12.4,810,12741,0.00,1.42,0.00,0.000,4,0.000,0.058,2074,3808,1038,0,0,0,0,0,0
$GC,12820,0.49,110.5,349.5,14.1,817,12823,0.00,1.33,0.00,0.000,6,0.000,0.031,2081,2912,1038,0,0,0,0,0,0
$GC,13149,0.49,110.5,306.3,12.5,848,13153,0.00,1.45,0.00,0.000,4,0.000,0.059,2081,3808,1038,0,0,0,0,0,0
$GC,13188,0.45,110.5,300.7,15.1,851,13196,0.10,1.30,0.00,0.000,6,0.192,0.031,2059,2928,1038,0,0,0,0,0,0
$GC,13513,0.50,110.5,262.8,11.1,882,13517,0.00,1.42,0.00,0.000,4,0.000,0.058,2059,3808,1038,0,0,0,0,0,0
$GC,13569,0.50,110.5,255.5,13.1,887,13573,0.00,1.30,0.00,0.000,6,0.000,0.032,2064,2929,1038,0,0,0,0,0,0
$GC,13900,0.55,110.5,218.9,11.2,918,13903,0.00,1.42,0.00,0.000,4,0.000,0.058,2064,3813,1037,0,0,0,0,0,0
$GC,13990,0.55,110.5,207.0,13.1,926,13994,0.00,1.33,0.00,0.000,6,0.000,0.031,2070,2917,1038,0,0,0,0,0,0
$GC,14324,0.58,110.5,167.9,11.9,957,14328,0.00,1.42,0.00,0.000,4,0.000,0.057,2071,3800,1037,0,0,0,0,0,0
$GC,14448,0.56,110.5,150.4,13.4,968,14452,0.00,1.27,0.00,0.000,6,0.000,0.031,2077,2932,1038,0,0,0,0,0,0
$GC,14778,0.59,110.5,108.7,12.4,999,14782,0.00,1.40,0.00,0.000,4,0.000,0.057,2077,3805,1037,0,0,0,0,0,0
$GC,14864,0.57,110.5,96.7,14.4,1008,14873,0.00,1.30,0.00,0.000,6,0.000,0.031,2084,2918,1037,0,0,0,0,0,0
$GC,15217,0.59,110.5,52.9,12.0,1069,15224,0.00,1.42,0.00,0.000,4,0.000,0.056,2084,3807,1037,0,0,0,0,0,0
$GC,15264,0.56,110.5,46.1,13.9,1077,15273,0.00,1.30,0.00,0.000,6,0.000,0.031,2091,2918,1037,0,0,0,0,0,0
$STATE,15613,end climb,SURFACE_DEPTH_REACHED
$STATE,15614,begin surface coast
$FINISH,1.4,1.026477
$STATE,15640,end surface coast,CONTROL_FINISHED_OK
$STATE,15640,begin surface
$SM_CCo,15652,40.05,0.140,0,0,680,200.16
$SM_GC,2.77,0.00,0.00,40.05,0.000,0.000,0.140,72,3229,680,-5.73,0.57,200.16
$IRIDIUM_FIX,-4244.98,825.29,190608,090914
$TT8_MAMPS,0.027713
$HUMID,61.65
$INTERNAL_PRESSURE,11.3786
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.3,28.062
$10V_AH,10.2,16.120
$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,14.500,93.075,231.650,40.050,0.000,27.928,44.684,331.368,0.000,0.000,18.780,2863.824,9765.489,396.321,3020.116,171.110,0.000,1512.041,0.000,2583.441,0.000,0.544,0.000
$DEVICE_MAMPS,234.855,81.090,1926.270,139.995,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,791.377,802.291,850.986,81.713,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353952
$DATA_FILE_SIZE,66892,1140
$CAP_FILE_SIZE,159370,0
$CFSIZE,259252224,247984128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,240815,070634,-4256.018,822.761,41,1.6,42,-25.0