version: 66.07
glider: 543
mission: 14
dive: 150
start: 8 26 115 13 43 27
data:
$ID,543
$MISSION,14
$DIVE,150
$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,-24581.418
$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,69
$R_STBD_OVSHOOT,29
$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
$GPS1,260815,133434,-4254.879,825.812,60,0.8,60,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-70.4
$GPS2,260815,134304,-4254.875,825.895,19,1.0,20,-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,255.9,3309,-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,-45.10,0.000,6,0.000,0.000,64,3230,1704,0,0,0,0,0,0
$GC,67,-0.60,-110.3,2.8,-1.6,6,85,6.78,1.23,-7.78,0.000,4,0.234,0.082,1699,3958,1951,0,0,0,0,0,0
$GC,347,-0.52,-110.3,55.2,-19.5,53,354,0.10,1.10,0.00,0.000,6,0.172,0.031,1728,3225,1952,0,0,0,0,0,0
$GC,691,-0.52,-110.3,110.6,-15.9,108,694,0.00,1.15,0.00,0.000,4,0.000,0.056,1724,3946,1952,0,0,0,0,0,0
$GC,785,-0.49,-110.3,126.6,-16.2,116,795,0.00,1.12,0.00,0.000,6,0.000,0.031,1724,3187,1953,0,0,0,0,0,0
$GC,1112,-0.49,-110.3,177.4,-15.1,147,1116,0.00,1.20,0.00,0.000,4,0.000,0.056,1718,3943,1952,0,0,0,0,0,0
$GC,1184,-0.47,-110.3,189.5,-16.4,153,1192,0.10,1.08,0.00,0.000,6,0.187,0.031,1745,3219,1952,0,0,0,0,0,0
$GC,1510,-0.53,-110.3,230.1,-12.1,184,1514,0.00,1.33,0.00,0.000,4,0.000,0.028,1744,2290,1952,0,0,0,0,0,0
$GC,1579,-0.62,-110.3,237.8,-10.7,190,1583,0.08,1.48,0.00,0.000,6,0.060,0.051,1690,3209,1952,0,0,0,0,0,0
$GC,1910,-0.56,-110.3,290.9,-16.7,221,1914,0.12,1.17,0.00,0.000,4,0.186,0.056,1716,3951,1952,0,0,0,0,0,0
$GC,2005,-0.54,-110.3,306.0,-14.5,229,2012,0.00,1.08,0.00,0.000,6,0.000,0.031,1716,3203,1952,0,0,0,0,0,0
$GC,2330,-0.54,-110.3,351.9,-14.2,260,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,3203,1953,0,0,0,0,0,0
$GC,2649,-0.54,-110.3,397.2,-14.0,290,2653,0.00,1.17,0.00,0.000,4,0.000,0.057,1711,3949,1952,0,0,0,0,0,0
$GC,2741,-0.52,-110.3,410.7,-14.4,295,2745,0.00,1.08,0.00,0.000,6,0.000,0.032,1711,3208,1952,0,0,0,0,0,0
$GC,3073,-0.52,-110.3,458.5,-14.1,311,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,1710,3208,1952,0,0,0,0,0,0
$GC,3382,-0.52,-110.3,501.3,-13.6,326,3386,0.00,1.17,0.00,0.000,4,0.000,0.057,1705,3953,1952,0,0,0,0,0,0
$GC,3443,-0.49,-110.3,510.5,-15.5,328,3451,0.12,1.10,0.00,0.000,6,0.160,0.032,1742,3209,1952,0,0,0,0,0,0
$GC,3759,-0.55,-110.3,547.3,-11.5,344,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3209,1953,0,0,0,0,0,0
$GC,4069,-0.61,-110.3,583.0,-11.5,359,4071,0.10,0.00,0.00,0.000,6,0.112,0.000,1696,3209,1952,0,0,0,0,0,0
$GC,4378,-0.59,-110.3,627.5,-14.2,374,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,1696,3209,1952,0,0,0,0,0,0
$GC,4687,-0.57,-110.3,671.4,-13.8,389,4691,0.00,1.20,0.00,0.000,4,0.000,0.059,1691,3950,1952,0,0,0,0,0,0
$GC,4748,-0.53,-110.3,680.9,-15.6,391,4755,0.12,1.10,0.00,0.000,6,0.161,0.033,1728,3206,1953,0,0,0,0,0,0
$GC,5064,-0.57,-110.3,715.9,-10.8,407,5067,0.00,1.17,0.00,0.000,4,0.000,0.058,1724,3946,1952,0,0,0,0,0,0
$GC,5091,-0.60,-110.3,719.4,-12.0,408,5095,0.00,1.08,0.00,0.000,6,0.000,0.032,1724,3211,1952,0,0,0,0,0,0
$GC,5418,-0.63,-110.3,756.2,-11.4,424,5419,0.00,0.00,0.00,0.000,6,0.000,0.000,1724,3211,1952,0,0,0,0,0,0
$GC,5727,-0.67,-110.3,790.8,-10.9,439,5729,0.10,0.00,0.00,0.000,6,0.115,0.000,1679,3211,1952,0,0,0,0,0,0
$GC,6037,-0.63,-110.3,834.4,-14.4,454,6040,0.00,1.17,0.00,0.000,4,0.000,0.058,1673,3952,1952,0,0,0,0,0,0
$GC,6198,-0.56,-110.3,860.8,-15.8,461,6203,0.15,1.10,0.00,0.000,6,0.164,0.033,1717,3210,1952,0,0,0,0,0,0
$GC,6526,-0.59,-110.3,897.5,-10.3,477,6529,0.00,1.20,0.00,0.000,4,0.000,0.060,1714,3947,1953,0,0,0,0,0,0
$GC,6586,-0.59,-110.3,904.6,-11.4,479,6593,0.00,1.12,0.00,0.000,6,0.000,0.033,1714,3192,1953,0,0,0,0,0,0
$GC,6902,-0.62,-110.3,937.3,-10.0,495,6906,0.00,1.27,0.00,0.000,4,0.000,0.031,1713,2312,1953,0,0,0,0,0,0
$GC,6929,-0.67,-110.3,940.3,-10.3,496,6934,0.00,1.45,0.00,0.000,6,0.000,0.054,1707,3206,1953,0,0,0,0,0,0
$GC,7257,-0.69,-110.3,975.9,-10.9,512,7260,0.00,1.17,0.00,0.000,4,0.000,0.060,1701,3948,1953,0,0,0,0,0,0
$GC,7311,-0.69,-110.3,982.7,-12.7,514,7316,0.00,1.10,0.00,0.000,6,0.000,0.033,1701,3216,1953,0,0,0,0,0,0
$STATE,7466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7467,begin apogee
$GC,7471,-0.09,0.0,1001.3,12.1,522,7590,0.57,0.00,114.55,1.929,6,0.158,0.000,1866,2914,1500,0,0,0,0,0,0
$STATE,7591,end apogee,CONTROL_FINISHED_OK
$STATE,7591,begin climb
$GC,7592,0.60,110.3,1004.8,0.0,528,7713,0.70,1.50,113.90,1.874,4,0.092,0.032,2099,2051,1051,0,0,0,0,0,0
$GC,7746,0.60,110.3,990.1,13.6,534,7751,0.00,1.52,0.00,0.000,6,0.000,0.048,2099,2922,1051,0,0,0,0,0,0
$GC,8068,0.57,110.3,942.4,14.5,550,8072,0.00,1.45,0.00,0.000,4,0.000,0.058,2099,3801,1047,0,0,0,0,0,0
$GC,8145,0.48,110.3,929.3,17.1,553,8151,0.15,1.35,0.00,0.000,6,0.202,0.031,2067,2918,1047,0,0,0,0,0,0
$GC,8467,0.48,110.3,888.5,12.4,569,8468,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2917,1046,0,0,0,0,0,0
$GC,8777,0.50,110.3,849.0,13.0,584,8780,0.00,1.45,0.00,0.000,4,0.000,0.058,2067,3805,1045,0,0,0,0,0,0
$GC,8966,0.46,110.3,819.2,16.4,592,8971,0.00,1.33,0.00,0.000,6,0.000,0.031,2072,2921,1044,0,0,0,0,0,0
$GC,9288,0.46,110.3,772.5,14.6,608,9291,0.00,1.42,0.00,0.000,4,0.000,0.058,2072,3801,1044,0,0,0,0,0,0
$GC,9356,0.42,110.3,761.4,16.2,611,9360,0.10,1.33,0.00,0.000,6,0.193,0.032,2051,2918,1044,0,0,0,0,0,0
$GC,9688,0.47,110.3,717.6,12.9,627,9692,0.00,1.45,0.00,0.000,4,0.000,0.058,2051,3812,1044,0,0,0,0,0,0
$GC,9720,0.47,110.3,712.9,14.5,628,9725,0.00,1.35,0.00,0.000,6,0.000,0.031,2056,2917,1044,0,0,0,0,0,0
$GC,10043,0.51,110.3,672.3,12.3,644,10046,0.00,1.45,0.00,0.000,4,0.000,0.058,2057,3813,1044,0,0,0,0,0,0
$GC,10115,0.49,110.3,662.4,15.0,647,10119,0.00,1.33,0.00,0.000,6,0.000,0.031,2063,2926,1044,0,0,0,0,0,0
$GC,10442,0.52,110.3,624.0,11.2,663,10446,0.00,1.42,0.00,0.000,4,0.000,0.059,2063,3810,1044,0,0,0,0,0,0
$GC,10570,0.49,110.3,606.7,13.9,668,10577,0.00,1.33,0.00,0.000,6,0.000,0.031,2070,2917,1044,0,0,0,0,0,0
$GC,10886,0.51,110.3,568.9,12.2,684,10888,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2917,1044,0,0,0,0,0,0
$GC,11195,0.53,110.3,531.2,12.3,699,11199,0.00,1.42,0.00,0.000,4,0.000,0.058,2070,3799,1044,0,0,0,0,0,0
$GC,11295,0.50,110.3,516.7,15.2,703,11300,0.00,1.30,0.00,0.000,6,0.000,0.031,2076,2922,1043,0,0,0,0,0,0
$GC,11617,0.50,110.3,475.5,12.9,719,11621,0.00,1.42,0.00,0.000,4,0.000,0.058,2077,3805,1043,0,0,0,0,0,0
$GC,11722,0.45,110.3,459.3,16.2,723,11730,0.10,1.30,0.00,0.000,6,0.192,0.031,2056,2926,1043,0,0,0,0,0,0
$GC,12039,0.50,110.3,422.8,11.2,739,12043,0.00,1.42,0.00,0.000,4,0.000,0.058,2055,3812,1043,0,0,0,0,0,0
$GC,12129,0.50,110.3,410.7,13.6,743,12133,0.00,1.33,0.00,0.000,6,0.000,0.031,2061,2917,1043,0,0,0,0,0,0
$GC,12459,0.54,110.3,371.7,12.2,769,12462,0.00,1.42,0.00,0.000,4,0.000,0.058,2061,3801,1043,0,0,0,0,0,0
$GC,12542,0.53,110.3,359.5,14.0,776,12551,0.00,1.30,0.00,0.000,6,0.000,0.031,2067,2921,1043,0,0,0,0,0,0
$GC,12869,0.55,110.3,318.2,12.9,807,12873,0.00,1.42,0.00,0.000,4,0.000,0.059,2067,3805,1043,0,0,0,0,0,0
$GC,12964,0.53,110.3,303.6,15.0,815,12972,0.00,1.30,0.00,0.000,6,0.000,0.031,2074,2926,1043,0,0,0,0,0,0
$GC,13290,0.55,110.3,263.2,12.4,846,13293,0.00,1.42,0.00,0.000,4,0.000,0.057,2074,3811,1043,0,0,0,0,0,0
$GC,13381,0.52,110.3,250.3,14.5,854,13385,0.00,1.33,0.00,0.000,6,0.000,0.031,2081,2915,1043,0,0,0,0,0,0
$GC,13713,0.52,110.3,209.5,12.2,885,13717,0.00,1.42,0.00,0.000,4,0.000,0.057,2081,3803,1044,0,0,0,0,0,0
$GC,13781,0.47,110.3,199.7,15.1,891,13785,0.10,1.30,0.00,0.000,6,0.200,0.031,2060,2921,1043,0,0,0,0,0,0
$GC,14111,0.52,110.3,164.6,10.1,922,14112,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2920,1043,0,0,0,0,0,0
$GC,14430,0.57,110.3,133.8,9.7,952,14434,0.00,1.42,0.00,0.000,4,0.000,0.057,2060,3809,1043,0,0,0,0,0,0
$GC,14548,0.57,110.3,119.7,12.4,962,14556,0.00,1.33,0.00,0.000,6,0.000,0.031,2065,2921,1043,0,0,0,0,0,0
$GC,14882,0.61,110.3,85.1,10.4,1005,14892,0.10,1.45,0.00,0.000,4,0.112,0.058,2117,3811,1043,0,0,0,0,0,0
$GC,15025,0.51,110.3,63.3,16.2,1029,15034,0.17,1.30,0.00,0.000,6,0.196,0.030,2077,2924,1043,0,0,0,0,0,0
$GC,15384,0.55,110.3,22.8,8.7,1090,15393,0.00,1.42,0.00,0.000,4,0.000,0.057,2076,3801,1043,0,0,0,0,0,0
$STATE,15535,end climb,SURFACE_DEPTH_REACHED
$STATE,15535,begin surface coast
$FINISH,1.3,1.026407
$STATE,15566,end surface coast,CONTROL_FINISHED_OK
$STATE,15566,begin surface
$SM_CCo,15580,42.10,0.139,0,0,680,200.16
$SM_GC,2.49,0.00,0.00,42.10,0.000,0.000,0.139,68,3205,680,-5.74,-0.14,200.16
$IRIDIUM_FIX,-4242.04,834.03,210608,222205
$TT8_MAMPS,0.026215
$HUMID,62.16
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.3,29.958
$10V_AH,10.2,17.500
$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,15.200,77.600,228.450,42.100,0.000,39.023,43.310,306.716,0.000,0.000,22.366,2805.896,9766.376,388.648,2997.082,174.950,0.000,1484.708,0.000,2577.169,0.000,0.546,0.000
$DEVICE_MAMPS,234.090,81.855,1928.565,139.230,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,777.548,795.818,827.975,81.712,0.000,0.000,0.000,0.000,0.000,0.000
$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,63496,1120
$CAP_FILE_SIZE,152095,0
$CFSIZE,259252224,246980608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260815,180527,-4255.298,824.689,63,0.8,63,-25.0