version: 66.07
glider: 543
mission: 14
dive: 144
start: 8 25 115 10 26 45
data:
$ID,543
$MISSION,14
$DIVE,144
$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,-24561.961
$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,22
$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
$GPS1,250815,101833,-4255.027,824.529,36,1.2,36,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-73.5
$GPS2,250815,102622,-4255.067,824.544,21,1.2,22,-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,228.1,1879,-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,-44.83,0.000,6,0.000,0.000,61,3204,1704,0,0,0,0,0,0
$GC,67,-0.60,-109.2,3.0,-1.7,6,86,6.78,1.25,-7.62,0.000,4,0.234,0.080,1700,3957,1946,0,0,0,0,0,0
$GC,348,-0.52,-109.2,54.2,-18.3,53,356,0.10,1.10,0.00,0.000,6,0.168,0.031,1729,3225,1949,0,0,0,0,0,0
$GC,699,-0.52,-109.2,106.6,-14.4,111,703,0.00,1.17,0.00,0.000,4,0.000,0.056,1725,3959,1949,0,0,0,0,0,0
$GC,801,-0.50,-109.2,122.1,-14.9,120,804,0.00,1.12,0.00,0.000,6,0.000,0.031,1725,3199,1949,0,0,0,0,0,0
$GC,1130,-0.50,-109.2,170.5,-14.4,151,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,1725,3199,1949,0,0,0,0,0,0
$GC,1452,-0.50,-109.2,214.7,-13.8,181,1455,0.00,1.20,0.00,0.000,4,0.000,0.056,1719,3954,1949,0,0,0,0,0,0
$GC,1569,-0.49,-109.2,232.9,-14.8,191,1576,0.00,1.10,0.00,0.000,6,0.000,0.031,1719,3203,1949,0,0,0,0,0,0
$GC,1894,-0.49,-109.2,275.6,-12.7,222,1895,0.00,0.00,0.00,0.000,6,0.000,0.000,1719,3204,1949,0,0,0,0,0,0
$GC,2214,-0.49,-109.2,318.5,-13.6,252,2217,0.00,1.20,0.00,0.000,4,0.000,0.055,1714,3961,1949,0,0,0,0,0,0
$GC,2252,-0.46,-109.2,324.2,-15.1,255,2260,0.10,1.12,0.00,0.000,6,0.157,0.031,1745,3201,1949,0,0,0,0,0,0
$GC,2577,-0.52,-109.2,362.8,-12.0,286,2578,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,3201,1949,0,0,0,0,0,0
$GC,2896,-0.58,-109.2,400.6,-11.7,316,2900,0.00,1.20,0.00,0.000,4,0.000,0.057,1740,3955,1949,0,0,0,0,0,0
$GC,3019,-0.63,-109.2,416.4,-11.9,321,3024,0.08,1.10,0.00,0.000,6,0.067,0.032,1694,3209,1949,0,0,0,0,0,0
$GC,3341,-0.59,-109.2,466.1,-15.4,337,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,1694,3209,1949,0,0,0,0,0,0
$GC,3650,-0.55,-109.2,511.4,-14.0,352,3654,0.12,1.20,0.00,0.000,4,0.190,0.057,1720,3953,1949,0,0,0,0,0,0
$GC,3704,-0.55,-109.2,518.8,-13.3,354,3709,0.00,1.12,0.00,0.000,6,0.000,0.031,1721,3197,1949,0,0,0,0,0,0
$GC,4026,-0.57,-109.2,559.2,-12.9,370,4027,0.00,0.00,0.00,0.000,6,0.000,0.000,1721,3197,1949,0,0,0,0,0,0
$GC,4336,-0.59,-109.2,598.4,-12.6,385,4337,0.00,0.00,0.00,0.000,6,0.000,0.000,1721,3197,1949,0,0,0,0,0,0
$GC,4645,-0.61,-109.2,636.9,-12.4,400,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,1721,3197,1949,0,0,0,0,0,0
$GC,4954,-0.63,-109.2,673.3,-11.6,415,4958,0.00,1.20,0.00,0.000,4,0.000,0.058,1715,3953,1948,0,0,0,0,0,0
$GC,5089,-0.63,-109.2,690.0,-12.0,421,5093,0.00,1.08,0.00,0.000,6,0.000,0.034,1715,3222,1949,0,0,0,0,0,0
$GC,5422,-0.65,-109.2,727.6,-11.0,437,5425,0.00,1.33,0.00,0.000,4,0.000,0.030,1715,2296,1949,0,0,0,0,0,0
$GC,5448,-0.68,-109.2,730.7,-10.7,438,5453,0.00,1.48,0.00,0.000,6,0.000,0.052,1708,3213,1949,0,0,0,0,0,0
$GC,5775,-0.68,-109.2,766.8,-10.7,454,5777,0.00,0.00,0.00,0.000,6,0.000,0.000,1708,3214,1949,0,0,0,0,0,0
$GC,6085,-0.68,-109.2,801.4,-11.6,469,6089,0.00,1.15,0.00,0.000,4,0.000,0.059,1702,3946,1949,0,0,0,0,0,0
$GC,6145,-0.67,-109.2,809.0,-12.5,471,6153,0.00,1.10,0.00,0.000,6,0.000,0.033,1702,3203,1949,0,0,0,0,0,0
$GC,6461,-0.67,-109.2,846.4,-11.4,487,6465,0.00,1.17,0.00,0.000,4,0.000,0.058,1696,3943,1949,0,0,0,0,0,0
$GC,6511,-0.64,-109.2,852.9,-12.0,489,6515,0.00,1.08,0.00,0.000,6,0.000,0.033,1697,3215,1949,0,0,0,0,0,0
$GC,6837,-0.64,-109.2,893.4,-12.3,505,6839,0.00,0.00,0.00,0.000,6,0.000,0.000,1696,3214,1949,0,0,0,0,0,0
$GC,7147,-0.64,-109.2,931.4,-12.7,520,7151,0.00,1.17,0.00,0.000,4,0.000,0.059,1691,3954,1949,0,0,0,0,0,0
$GC,7224,-0.60,-109.2,942.3,-13.5,523,7228,0.00,1.10,0.00,0.000,6,0.000,0.034,1691,3211,1949,0,0,0,0,0,0
$GC,7546,-0.59,-109.2,981.9,-12.5,539,7549,0.00,1.17,0.00,0.000,4,0.000,0.059,1685,3950,1949,0,0,0,0,0,0
$GC,7623,-0.55,-109.2,992.9,-13.1,542,7629,0.12,1.10,0.00,0.000,6,0.167,0.033,1722,3215,1949,0,0,0,0,0,0
$STATE,7695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7695,begin apogee
$GC,7700,-0.09,0.0,1000.5,10.8,546,7819,0.50,0.00,116.20,1.950,6,0.146,0.000,1871,2915,1499,0,0,0,0,0,0
$STATE,7820,end apogee,CONTROL_FINISHED_OK
$STATE,7820,begin climb
$GC,7821,0.60,109.2,1002.9,0.0,552,7941,0.68,1.45,112.95,1.885,4,0.091,0.031,2097,2047,1052,0,0,0,0,0,0
$GC,7974,0.60,109.2,987.0,14.4,558,7978,0.00,1.52,0.00,0.000,6,0.000,0.047,2097,2922,1052,0,0,0,0,0,0
$GC,8296,0.57,109.2,936.8,15.2,574,8300,0.00,1.45,0.00,0.000,4,0.000,0.057,2097,3807,1048,0,0,0,0,0,0
$GC,8432,0.49,109.2,913.4,17.7,580,8436,0.12,1.35,0.00,0.000,6,0.202,0.030,2071,2915,1047,0,0,0,0,0,0
$GC,8763,0.49,109.2,869.8,12.8,596,8767,0.00,1.45,0.00,0.000,4,0.000,0.057,2071,3805,1047,0,0,0,0,0,0
$GC,8831,0.45,109.2,860.0,16.0,599,8834,0.00,1.33,0.00,0.000,6,0.000,0.031,2076,2925,1046,0,0,0,0,0,0
$GC,9163,0.45,109.2,815.7,14.0,615,9167,0.00,1.42,0.00,0.000,4,0.000,0.057,2076,3804,1046,0,0,0,0,0,0
$GC,9275,0.41,109.2,798.1,16.6,620,9280,0.15,1.33,0.00,0.000,6,0.190,0.031,2042,2924,1046,0,0,0,0,0,0
$GC,9610,0.47,109.2,758.8,11.7,636,9614,0.00,1.42,0.00,0.000,4,0.000,0.058,2041,3805,1045,0,0,0,0,0,0
$GC,9682,0.50,109.2,748.7,13.7,639,9686,0.00,1.33,0.00,0.000,6,0.000,0.031,2046,2919,1045,0,0,0,0,0,0
$GC,10009,0.55,109.2,709.4,11.9,655,10011,0.10,0.00,0.00,0.000,6,0.113,0.000,2086,2918,1045,0,0,0,0,0,0
$GC,10318,0.55,109.2,662.7,15.4,670,10322,0.00,1.45,0.00,0.000,4,0.000,0.058,2086,3807,1045,0,0,0,0,0,0
$GC,10464,0.49,109.2,637.7,17.1,676,10468,0.08,1.33,0.00,0.000,6,0.198,0.031,2072,2914,1045,0,0,0,0,0,0
$GC,10785,0.50,109.2,592.3,14.4,692,10789,0.00,1.45,0.00,0.000,4,0.000,0.058,2072,3808,1045,0,0,0,0,0,0
$GC,10921,0.47,109.2,570.8,16.1,698,10925,0.00,1.33,0.00,0.000,6,0.000,0.031,2078,2917,1045,0,0,0,0,0,0
$GC,11253,0.47,109.2,525.2,13.3,714,11257,0.00,1.45,0.00,0.000,4,0.000,0.057,2078,3813,1045,0,0,0,0,0,0
$GC,11298,0.42,109.2,518.7,15.7,716,11303,0.12,1.33,0.00,0.000,6,0.190,0.031,2049,2925,1045,0,0,0,0,0,0
$GC,11631,0.48,109.2,481.1,10.9,732,11635,0.00,1.42,0.00,0.000,4,0.000,0.058,2049,3809,1045,0,0,0,0,0,0
$GC,11736,0.48,109.2,467.2,12.9,736,11744,0.00,1.35,0.00,0.000,6,0.000,0.031,2055,2913,1044,0,0,0,0,0,0
$GC,12053,0.53,109.2,430.6,11.8,752,12057,0.00,1.45,0.00,0.000,4,0.000,0.057,2054,3809,1044,0,0,0,0,0,0
$GC,12130,0.53,109.2,420.1,14.2,755,12135,0.00,1.35,0.00,0.000,6,0.000,0.030,2061,2910,1044,0,0,0,0,0,0
$GC,12458,0.57,109.2,380.5,11.7,778,12461,0.00,1.45,0.00,0.000,4,0.000,0.058,2061,3805,1044,0,0,0,0,0,0
$GC,12541,0.57,109.2,368.6,14.1,785,12548,0.00,1.33,0.00,0.000,6,0.000,0.031,2068,2922,1044,0,0,0,0,0,0
$GC,12866,0.59,109.2,329.9,11.8,816,12870,0.00,1.42,0.00,0.000,4,0.000,0.057,2068,3805,1044,0,0,0,0,0,0
$GC,13004,0.57,109.2,311.4,13.1,828,13007,0.00,1.30,0.00,0.000,6,0.000,0.031,2074,2925,1044,0,0,0,0,0,0
$GC,13334,0.59,109.2,272.6,11.0,859,13337,0.00,1.42,0.00,0.000,4,0.000,0.057,2075,3805,1044,0,0,0,0,0,0
$GC,13372,0.55,109.2,267.5,13.1,862,13379,0.00,1.30,0.00,0.000,6,0.000,0.030,2081,2924,1044,0,0,0,0,0,0
$GC,13701,0.55,109.2,229.9,12.0,893,13704,0.00,1.42,0.00,0.000,4,0.000,0.057,2081,3808,1044,0,0,0,0,0,0
$GC,13918,0.51,109.2,197.8,14.8,912,13928,0.00,1.30,0.00,0.000,6,0.000,0.030,2088,2926,1044,0,0,0,0,0,0
$GC,14244,0.51,109.2,156.2,13.6,943,14247,0.00,1.42,0.00,0.000,4,0.000,0.057,2088,3812,1044,0,0,0,0,0,0
$GC,14350,0.46,109.2,139.0,16.0,952,14360,0.12,1.30,0.00,0.000,6,0.188,0.029,2060,2923,1044,0,0,0,0,0,0
$GC,14676,0.51,109.2,101.0,11.2,983,14680,0.00,1.40,0.00,0.000,4,0.000,0.057,2059,3802,1044,0,0,0,0,0,0
$GC,14848,0.51,109.2,78.5,13.4,1012,14855,0.00,1.30,0.00,0.000,6,0.000,0.031,2065,2913,1044,0,0,0,0,0,0
$GC,15201,0.56,109.2,39.1,10.7,1073,15210,0.00,1.45,0.00,0.000,4,0.000,0.057,2065,3812,1044,0,0,0,0,0,0
$GC,15355,0.56,109.2,19.1,13.2,1098,15364,0.00,1.30,0.00,0.000,6,0.000,0.030,2071,2923,1044,0,0,0,0,0,0
$GC,15413,0.60,109.2,12.2,11.7,1107,15422,0.00,1.42,0.00,0.000,4,0.000,0.057,2071,3806,1044,0,0,0,0,0,0
$GC,15483,0.60,109.2,3.2,13.2,1118,15492,0.00,1.30,0.00,0.000,6,0.000,0.030,2078,2918,1044,0,0,0,0,0,0
$STATE,15499,end climb,SURFACE_DEPTH_REACHED
$STATE,15499,begin surface coast
$FINISH,1.4,1.026489
$STATE,15524,end surface coast,CONTROL_FINISHED_OK
$STATE,15524,begin surface
$SM_CCo,15537,41.08,0.139,0,0,680,200.16
$SM_GC,3.07,0.00,0.00,41.08,0.000,0.000,0.139,64,3227,680,-5.75,0.48,200.16
$IRIDIUM_FIX,-4239.11,821.95,200608,191955
$TT8_MAMPS,0.027713
$HUMID,61.61
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.3,29.062
$10V_AH,10.2,16.863
$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,14.550,78.750,229.150,41.075,0.000,28.415,41.148,278.344,0.000,0.000,24.287,2821.126,9677.128,381.130,3000.718,167.072,0.000,1498.557,0.000,2615.641,0.000,0.544,0.000
$DEVICE_MAMPS,234.090,80.325,1949.985,139.230,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,779.876,791.003,827.875,79.163,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353948
$DATA_FILE_SIZE,63576,1124
$CAP_FILE_SIZE,152223,0
$CFSIZE,259252224,247447552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,250815,144733,-4256.522,824.182,36,1.1,36,-25.0