version: 66.07
glider: 543
mission: 14
dive: 139
start: 8 24 115 11 43 57
data:
$ID,543
$MISSION,14
$DIVE,139
$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,-24545.9
$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,68
$R_STBD_OVSHOOT,26
$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
$GPS1,240815,113555,-4255.835,825.761,43,2.8,62,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-77.1
$GPS2,240815,114334,-4255.812,825.748,17,1.7,17,-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,286.7,2395,-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,15,-0.54,-49.8,0.0,0.0,0,65,0.00,0.00,-44.53,0.000,6,0.000,0.000,63,3205,1704,0,0,0,0,0,0
$GC,67,-0.60,-107.2,3.1,-1.9,6,86,6.62,1.25,-7.25,0.000,4,0.226,0.080,1701,3959,1938,0,0,0,0,0,0
$GC,123,-0.46,-107.2,12.6,-17.0,14,132,0.15,1.10,0.00,0.000,6,0.162,0.031,1745,3228,1940,0,0,0,0,0,0
$GC,182,-0.48,-107.2,21.1,-13.5,23,190,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,3229,1940,0,0,0,0,0,0
$GC,332,-0.50,-107.2,41.3,-13.0,48,340,0.00,1.35,0.00,0.000,4,0.000,0.028,1745,2296,1940,0,0,0,0,0,0
$GC,381,-0.57,-107.2,47.2,-12.2,56,387,0.00,1.50,0.00,0.000,6,0.000,0.051,1739,3214,1940,0,0,0,0,0,0
$GC,728,-0.59,-107.2,92.5,-13.1,117,737,0.00,1.17,0.00,0.000,4,0.000,0.056,1734,3957,1940,0,0,0,0,0,0
$GC,838,-0.59,-107.2,108.1,-13.8,131,845,0.00,1.12,0.00,0.000,6,0.000,0.031,1733,3199,1940,0,0,0,0,0,0
$GC,1163,-0.61,-107.2,151.3,-13.4,162,1165,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,3199,1940,0,0,0,0,0,0
$GC,1483,-0.63,-107.2,190.4,-12.1,192,1487,0.00,1.20,0.00,0.000,4,0.000,0.056,1728,3955,1940,0,0,0,0,0,0
$GC,1509,-0.63,-107.2,194.0,-12.5,194,1517,0.00,1.12,0.00,0.000,6,0.000,0.031,1728,3199,1940,0,0,0,0,0,0
$GC,1839,-0.65,-107.2,231.3,-11.4,225,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,1728,3199,1940,0,0,0,0,0,0
$GC,2164,-0.67,-107.2,270.2,-12.4,256,2168,0.12,1.20,0.00,0.000,4,0.100,0.057,1666,3947,1940,0,0,0,0,0,0
$GC,2202,-0.56,-107.2,276.7,-18.4,259,2210,0.17,1.08,0.00,0.000,6,0.162,0.031,1719,3213,1940,0,0,0,0,0,0
$GC,2527,-0.56,-107.2,319.3,-13.5,290,2528,0.00,0.00,0.00,0.000,6,0.000,0.000,1719,3213,1940,0,0,0,0,0,0
$GC,2846,-0.56,-107.2,361.5,-13.3,320,2850,0.00,1.17,0.00,0.000,4,0.000,0.056,1715,3958,1940,0,0,0,0,0,0
$GC,2895,-0.56,-107.2,368.8,-14.2,324,2905,0.00,1.12,0.00,0.000,6,0.000,0.031,1715,3194,1940,0,0,0,0,0,0
$GC,3220,-0.56,-107.2,412.7,-13.7,351,3221,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,3194,1940,0,0,0,0,0,0
$GC,3527,-0.56,-107.2,454.4,-13.3,366,3531,0.00,1.20,0.00,0.000,4,0.000,0.057,1709,3952,1940,0,0,0,0,0,0
$GC,3618,-0.54,-107.2,467.7,-14.6,370,3621,0.00,1.08,0.00,0.000,6,0.000,0.032,1709,3216,1940,0,0,0,0,0,0
$GC,3950,-0.54,-107.2,513.1,-13.2,386,3953,0.00,1.15,0.00,0.000,4,0.000,0.057,1703,3947,1940,0,0,0,0,0,0
$GC,3987,-0.51,-107.2,518.7,-14.6,387,3996,0.10,1.10,0.00,0.000,6,0.158,0.031,1734,3209,1940,0,0,0,0,0,0
$GC,4304,-0.56,-107.2,552.3,-10.4,403,4305,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,3209,1940,0,0,0,0,0,0
$GC,4613,-0.60,-107.2,581.6,-8.8,418,4617,0.00,1.20,0.00,0.000,4,0.000,0.059,1730,3953,1940,0,0,0,0,0,0
$GC,4667,-0.63,-107.2,587.2,-9.9,420,4672,0.00,1.10,0.00,0.000,6,0.000,0.031,1729,3201,1940,0,0,0,0,0,0
$GC,4989,-0.67,-107.2,617.6,-9.9,436,4994,0.12,1.20,0.00,0.000,4,0.102,0.058,1669,3949,1940,0,0,0,0,0,0
$GC,5111,-0.58,-107.2,636.0,-14.8,441,5116,0.12,1.08,0.00,0.000,6,0.166,0.032,1707,3218,1940,0,0,0,0,0,0
$GC,5432,-0.58,-107.2,673.0,-11.3,457,5436,0.00,1.15,0.00,0.000,4,0.000,0.057,1703,3947,1941,0,0,0,0,0,0
$GC,5493,-0.56,-107.2,681.1,-13.2,459,5500,0.00,1.12,0.00,0.000,6,0.000,0.032,1703,3190,1941,0,0,0,0,0,0
$GC,5809,-0.56,-107.2,719.8,-12.2,475,5810,0.00,0.00,0.00,0.000,6,0.000,0.000,1702,3190,1941,0,0,0,0,0,0
$GC,6118,-0.56,-107.2,757.8,-12.0,490,6121,0.00,1.20,0.00,0.000,4,0.000,0.058,1697,3949,1941,0,0,0,0,0,0
$GC,6201,-0.53,-107.2,768.9,-12.7,493,6209,0.10,1.10,0.00,0.000,6,0.194,0.032,1723,3218,1941,0,0,0,0,0,0
$GC,6517,-0.57,-107.2,801.8,-10.4,509,6521,0.00,1.15,0.00,0.000,4,0.000,0.058,1719,3944,1941,0,0,0,0,0,0
$GC,6622,-0.59,-107.2,814.4,-12.1,513,6630,0.00,1.12,0.00,0.000,6,0.000,0.032,1719,3189,1941,0,0,0,0,0,0
$GC,6939,-0.63,-107.2,850.4,-11.5,529,6943,0.00,1.20,0.00,0.000,4,0.000,0.059,1714,3948,1941,0,0,0,0,0,0
$GC,6976,-0.63,-107.2,855.7,-13.3,530,6984,0.00,1.10,0.00,0.000,6,0.000,0.032,1714,3213,1941,0,0,0,0,0,0
$GC,7293,-0.66,-107.2,894.0,-11.6,546,7297,0.00,1.17,0.00,0.000,4,0.000,0.059,1708,3953,1941,0,0,0,0,0,0
$GC,7387,-0.66,-107.2,906.2,-13.4,550,7392,0.00,1.12,0.00,0.000,6,0.000,0.032,1708,3201,1941,0,0,0,0,0,0
$GC,7715,-0.68,-107.2,943.7,-11.3,566,7718,0.00,1.20,0.00,0.000,4,0.000,0.059,1703,3957,1941,0,0,0,0,0,0
$GC,7805,-0.68,-107.2,954.6,-13.0,570,7809,0.00,1.10,0.00,0.000,6,0.000,0.034,1703,3213,1941,0,0,0,0,0,0
$GC,8136,-0.68,-107.2,990.7,-10.6,586,8140,0.00,1.33,0.00,0.000,4,0.000,0.030,1702,2302,1941,0,0,0,0,0,0
$GC,8158,-0.70,-107.2,993.0,-10.8,587,8162,0.00,1.48,0.00,0.000,6,0.000,0.054,1695,3213,1941,0,0,0,0,0,0
$STATE,8241,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8241,begin apogee
$GC,8245,-0.09,0.0,1002.2,11.0,591,8365,0.60,0.00,114.55,1.932,6,0.155,0.000,1869,2918,1500,0,0,0,0,0,0
$STATE,8366,end apogee,CONTROL_FINISHED_OK
$STATE,8366,begin climb
$GC,8367,0.60,107.2,1004.5,0.0,597,8486,0.70,1.52,110.32,1.843,4,0.091,0.033,2102,2048,1061,0,0,0,0,0,0
$GC,8502,0.60,107.2,989.7,14.6,603,8507,0.00,1.58,0.00,0.000,6,0.000,0.047,2102,2929,1060,0,0,0,0,0,0
$GC,8824,0.57,107.2,937.1,16.6,619,8825,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2929,1055,0,0,0,0,0,0
$GC,9134,0.53,107.2,886.3,16.4,634,9138,0.00,1.42,0.00,0.000,4,0.000,0.057,2101,3810,1054,0,0,0,0,0,0
$GC,9273,0.45,107.2,859.9,18.8,640,9278,0.17,1.35,0.00,0.000,6,0.198,0.031,2061,2915,1054,0,0,0,0,0,0
$GC,9600,0.49,107.2,815.2,13.3,656,9604,0.00,1.45,0.00,0.000,4,0.000,0.058,2061,3799,1054,0,0,0,0,0,0
$GC,9668,0.49,107.2,805.0,15.4,659,9672,0.00,1.30,0.00,0.000,6,0.000,0.032,2066,2929,1053,0,0,0,0,0,0
$GC,10000,0.51,107.2,758.1,13.8,675,10004,0.00,1.42,0.00,0.000,4,0.000,0.057,2066,3804,1053,0,0,0,0,0,0
$GC,10113,0.49,107.2,740.1,16.8,680,10117,0.00,1.30,0.00,0.000,6,0.000,0.031,2073,2930,1052,0,0,0,0,0,0
$GC,10445,0.49,107.2,693.2,13.9,696,10446,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2929,1052,0,0,0,0,0,0
$GC,10754,0.49,107.2,648.6,14.7,711,10758,0.00,1.42,0.00,0.000,4,0.000,0.057,2073,3806,1052,0,0,0,0,0,0
$GC,10794,0.46,107.2,642.3,17.5,712,10800,0.00,1.33,0.00,0.000,6,0.000,0.031,2080,2916,1052,0,0,0,0,0,0
$GC,11109,0.46,107.2,594.4,15.0,728,11113,0.00,1.45,0.00,0.000,4,0.000,0.057,2080,3811,1052,0,0,0,0,0,0
$GC,11225,0.42,107.2,574.3,17.7,733,11230,0.15,1.33,0.00,0.000,6,0.186,0.031,2044,2928,1052,0,0,0,0,0,0
$GC,11554,0.48,107.2,535.6,11.1,749,11558,0.00,1.42,0.00,0.000,4,0.000,0.057,2044,3807,1051,0,0,0,0,0,0
$GC,11625,0.51,107.2,526.0,12.9,752,11630,0.00,1.33,0.00,0.000,6,0.000,0.031,2049,2908,1051,0,0,0,0,0,0
$GC,11953,0.57,107.2,488.0,11.3,768,11958,0.10,1.45,0.00,0.000,4,0.109,0.058,2096,3803,1051,0,0,0,0,0,0
$GC,12003,0.49,107.2,480.3,16.4,770,12008,0.12,1.30,0.00,0.000,6,0.195,0.031,2069,2928,1051,0,0,0,0,0,0
$GC,12331,0.52,107.2,439.3,12.1,786,12334,0.00,1.42,0.00,0.000,4,0.000,0.057,2069,3810,1051,0,0,0,0,0,0
$GC,12470,0.50,107.2,418.8,15.4,792,12475,0.00,1.33,0.00,0.000,6,0.000,0.031,2073,2919,1051,0,0,0,0,0,0
$GC,12792,0.52,107.2,378.1,12.8,815,12796,0.00,1.45,0.00,0.000,4,0.000,0.057,2074,3813,1051,0,0,0,0,0,0
$GC,12853,0.50,107.2,369.1,14.0,820,12863,0.00,1.30,0.00,0.000,6,0.000,0.031,2080,2925,1051,0,0,0,0,0,0
$GC,13180,0.50,107.2,327.2,12.6,851,13181,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,2925,1051,0,0,0,0,0,0
$GC,13500,0.50,107.2,286.5,13.1,881,13503,0.00,1.42,0.00,0.000,4,0.000,0.057,2080,3804,1051,0,0,0,0,0,0
$GC,13583,0.46,107.2,273.1,15.0,888,13592,0.00,1.30,0.00,0.000,6,0.000,0.030,2087,2921,1051,0,0,0,0,0,0
$GC,13909,0.46,107.2,226.0,14.6,919,13914,0.12,1.42,0.00,0.000,4,0.203,0.057,2056,3806,1051,0,0,0,0,0,0
$GC,13943,0.46,107.2,220.8,13.7,922,13947,0.00,1.30,0.00,0.000,6,0.000,0.031,2062,2925,1051,0,0,0,0,0,0
$GC,14277,0.50,107.2,180.2,12.0,953,14281,0.00,1.40,0.00,0.000,4,0.000,0.057,2062,3802,1051,0,0,0,0,0,0
$GC,14390,0.50,107.2,163.5,14.5,963,14394,0.00,1.30,0.00,0.000,6,0.000,0.031,2068,2918,1051,0,0,0,0,0,0
$GC,14720,0.55,107.2,122.7,11.5,994,14724,0.00,1.42,0.00,0.000,4,0.000,0.056,2068,3805,1050,0,0,0,0,0,0
$GC,14861,0.55,107.2,103.8,13.6,1006,14868,0.00,1.30,0.00,0.000,6,0.000,0.030,2075,2921,1051,0,0,0,0,0,0
$GC,15206,0.58,107.2,62.6,11.3,1064,15213,0.00,1.42,0.00,0.000,4,0.000,0.056,2075,3807,1051,0,0,0,0,0,0
$GC,15361,0.57,107.2,41.5,13.3,1091,15368,0.00,1.30,0.00,0.000,6,0.000,0.031,2082,2921,1051,0,0,0,0,0,0
$STATE,15686,end climb,SURFACE_DEPTH_REACHED
$STATE,15687,begin surface coast
$FINISH,1.3,1.019267
$STATE,15712,end surface coast,CONTROL_FINISHED_OK
$STATE,15713,begin surface
$SM_CCo,15725,45.72,0.138,0,0,681,200.16
$SM_GC,2.96,0.00,0.00,45.72,0.000,0.000,0.138,66,3215,681,-5.75,0.20,200.16
$IRIDIUM_FIX,-4239.11,819.04,190608,202029
$TT8_MAMPS,0.027713
$HUMID,61.45
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.3,28.342
$10V_AH,10.2,16.335
$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,14.925,82.425,224.875,45.725,0.000,26.520,40.905,274.717,0.000,0.000,19.790,2878.793,9739.576,410.946,3032.711,168.176,0.000,1549.393,0.000,2659.819,0.000,0.544,0.000
$DEVICE_MAMPS,226.440,79.560,1932.390,138.465,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,797.099,803.080,877.431,88.072,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353928
$DATA_FILE_SIZE,66986,1150
$CAP_FILE_SIZE,156644,0
$CFSIZE,259252224,247828480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,240815,160803,-4255.306,823.939,40,0.9,40,-25.0