version: 66.07
glider: 543
mission: 14
dive: 155
start: 8 27 115 16 23 50
data:
$ID,543
$MISSION,14
$DIVE,155
$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,-24599.359
$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
$GPS1,270815,160827,-4256.128,837.059,158,0.9,158,-25.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-73.1
$GPS2,270815,162328,-4256.274,837.311,28,1.3,28,-25.1
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAZ_BUT3
$TGT_LATLONG,-4256.000,836.000
$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,311.0,1848,-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,-45.25,0.000,6,0.000,0.000,62,3226,1704,0,0,0,0,0,0
$GC,67,-0.60,-110.6,2.6,-1.6,6,93,6.80,1.20,-8.27,0.000,4,0.235,0.083,1698,3950,1951,0,0,0,0,0,0
$GC,131,-0.51,-110.6,13.5,-19.1,15,140,0.12,1.08,0.00,0.000,6,0.168,0.032,1733,3229,1953,0,0,0,0,0,0
$GC,189,-0.51,-110.6,23.6,-15.7,24,197,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,3229,1954,0,0,0,0,0,0
$GC,339,-0.51,-110.6,45.3,-14.3,49,345,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,3229,1954,0,0,0,0,0,0
$GC,687,-0.51,-110.6,97.1,-15.1,110,693,0.00,1.35,0.00,0.000,4,0.000,0.028,1733,2287,1954,0,0,0,0,0,0
$GC,716,-0.52,-110.6,101.3,-14.1,114,723,0.00,1.48,0.00,0.000,6,0.000,0.050,1728,3204,1954,0,0,0,0,0,0
$GC,1043,-0.52,-110.6,150.6,-15.3,145,1046,0.00,1.17,0.00,0.000,4,0.000,0.057,1722,3953,1954,0,0,0,0,0,0
$GC,1099,-0.49,-110.6,159.8,-15.2,150,1103,0.00,1.10,0.00,0.000,6,0.000,0.032,1722,3196,1954,0,0,0,0,0,0
$GC,1433,-0.49,-110.6,208.3,-14.1,181,1436,0.00,1.20,0.00,0.000,4,0.000,0.056,1717,3956,1953,0,0,0,0,0,0
$GC,1502,-0.46,-110.6,219.3,-15.5,187,1506,0.10,1.08,0.00,0.000,6,0.158,0.032,1746,3218,1954,0,0,0,0,0,0
$GC,1832,-0.51,-110.6,260.3,-12.4,218,1835,0.00,1.15,0.00,0.000,4,0.000,0.057,1742,3946,1954,0,0,0,0,0,0
$GC,1868,-0.53,-110.6,264.9,-13.5,221,1872,0.00,1.08,0.00,0.000,6,0.000,0.032,1742,3201,1954,0,0,0,0,0,0
$GC,2198,-0.57,-110.6,308.3,-13.1,252,2202,0.00,1.17,0.00,0.000,4,0.000,0.057,1737,3945,1954,0,0,0,0,0,0
$GC,2258,-0.59,-110.6,316.5,-14.4,257,2261,0.00,1.08,0.00,0.000,6,0.000,0.032,1737,3200,1954,0,0,0,0,0,0
$GC,2588,-0.62,-110.6,361.2,-13.3,288,2589,0.00,0.00,0.00,0.000,6,0.000,0.000,1737,3200,1954,0,0,0,0,0,0
$GC,2907,-0.65,-110.6,403.5,-13.5,317,2911,0.12,1.30,0.00,0.000,4,0.099,0.029,1682,2304,1954,0,0,0,0,0,0
$GC,2952,-0.63,-110.6,410.6,-15.6,319,2956,0.00,1.45,0.00,0.000,6,0.000,0.050,1675,3211,1954,0,0,0,0,0,0
$GC,3284,-0.54,-110.6,470.7,-17.7,335,3288,0.20,1.17,0.00,0.000,4,0.179,0.056,1724,3952,1953,0,0,0,0,0,0
$GC,3316,-0.52,-110.6,476.4,-15.8,336,3321,0.00,1.10,0.00,0.000,6,0.000,0.032,1724,3203,1954,0,0,0,0,0,0
$GC,3638,-0.52,-110.6,517.6,-12.5,352,3639,0.00,0.00,0.00,0.000,6,0.000,0.000,1724,3202,1954,0,0,0,0,0,0
$GC,3947,-0.52,-110.6,554.9,-12.2,367,3951,0.00,1.17,0.00,0.000,4,0.000,0.057,1718,3949,1954,0,0,0,0,0,0
$GC,4003,-0.50,-110.6,562.3,-12.8,369,4007,0.00,1.08,0.00,0.000,6,0.000,0.033,1718,3208,1953,0,0,0,0,0,0
$GC,4323,-0.50,-110.6,602.3,-12.4,385,4325,0.00,0.00,0.00,0.000,6,0.000,0.000,1718,3208,1954,0,0,0,0,0,0
$GC,4633,-0.50,-110.6,639.5,-11.9,400,4635,0.00,0.00,0.00,0.000,6,0.000,0.000,1718,3208,1954,0,0,0,0,0,0
$GC,4943,-0.50,-110.6,676.9,-11.9,415,4944,0.00,0.00,0.00,0.000,6,0.000,0.000,1718,3208,1954,0,0,0,0,0,0
$GC,5252,-0.50,-110.6,714.7,-12.2,430,5255,0.00,1.30,0.00,0.000,4,0.000,0.030,1718,2305,1954,0,0,0,0,0,0
$GC,5274,-0.53,-110.6,717.5,-12.5,431,5278,0.00,1.45,0.00,0.000,6,0.000,0.054,1711,3206,1954,0,0,0,0,0,0
$GC,5607,-0.53,-110.6,759.1,-12.3,447,5608,0.00,0.00,0.00,0.000,6,0.000,0.000,1711,3205,1954,0,0,0,0,0,0
$GC,5916,-0.53,-110.6,797.1,-12.4,462,5917,0.00,0.00,0.00,0.000,6,0.000,0.000,1712,3205,1954,0,0,0,0,0,0
$GC,6225,-0.53,-110.6,834.8,-11.8,477,6229,0.00,1.17,0.00,0.000,4,0.000,0.060,1706,3952,1954,0,0,0,0,0,0
$GC,6303,-0.51,-110.6,845.0,-13.1,480,6307,0.10,1.08,0.00,0.000,6,0.163,0.034,1735,3222,1954,0,0,0,0,0,0
$GC,6624,-0.57,-110.6,877.6,-10.2,496,6625,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3222,1954,0,0,0,0,0,0
$GC,6933,-0.64,-110.6,909.0,-10.0,511,6938,0.12,1.35,0.00,0.000,4,0.101,0.031,1681,2303,1953,0,0,0,0,0,0
$GC,6955,-0.67,-110.6,911.6,-12.5,512,6959,0.00,1.45,0.00,0.000,6,0.000,0.053,1675,3202,1953,0,0,0,0,0,0
$GC,7288,-0.61,-110.6,958.7,-14.0,528,7292,0.12,1.20,0.00,0.000,4,0.192,0.060,1700,3953,1953,0,0,0,0,0,0
$GC,7423,-0.59,-110.6,977.3,-13.8,534,7427,0.00,1.10,0.00,0.000,6,0.000,0.034,1701,3201,1954,0,0,0,0,0,0
$STATE,7609,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7610,begin apogee
$GC,7614,-0.09,0.0,1002.3,13.0,543,7733,0.57,0.00,115.60,1.911,6,0.158,0.000,1866,2917,1499,0,0,0,0,0,0
$STATE,7734,end apogee,CONTROL_FINISHED_OK
$STATE,7734,begin climb
$GC,7735,0.60,110.6,1006.6,0.0,549,7854,0.70,0.00,113.70,1.855,6,0.094,0.000,2091,2917,1048,0,0,0,0,0,0
$GC,8170,0.58,110.6,950.5,15.0,570,8173,0.00,1.48,0.00,0.000,4,0.000,0.058,2091,3802,1044,0,0,0,0,0,0
$GC,8343,0.51,110.6,921.2,16.7,577,8351,0.00,1.35,0.00,0.000,6,0.000,0.031,2098,2905,1043,0,0,0,0,0,0
$GC,8659,0.48,110.6,873.4,15.1,593,8661,0.15,0.00,0.00,0.000,6,0.206,0.000,2063,2905,1042,0,0,0,0,0,0
$GC,8968,0.51,110.6,831.4,13.9,608,8972,0.00,1.48,0.00,0.000,4,0.000,0.060,2063,3806,1042,0,0,0,0,0,0
$GC,9131,0.48,110.6,804.9,16.8,615,9134,0.00,1.30,0.00,0.000,6,0.000,0.032,2069,2931,1041,0,0,0,0,0,0
$GC,9457,0.50,110.6,754.8,15.6,631,9461,0.00,1.42,0.00,0.000,4,0.000,0.059,2069,3811,1041,0,0,0,0,0,0
$GC,9549,0.47,110.6,739.3,16.8,635,9552,0.00,1.33,0.00,0.000,6,0.000,0.033,2075,2924,1040,0,0,0,0,0,0
$GC,9880,0.47,110.6,690.2,14.5,651,9884,0.00,1.42,0.00,0.000,4,0.000,0.058,2075,3806,1040,0,0,0,0,0,0
$GC,9986,0.43,110.6,672.2,17.3,655,9994,0.12,1.30,0.00,0.000,6,0.187,0.031,2047,2923,1040,0,0,0,0,0,0
$GC,10302,0.49,110.6,631.2,13.0,671,10305,0.00,1.42,0.00,0.000,4,0.000,0.058,2047,3803,1040,0,0,0,0,0,0
$GC,10351,0.50,110.6,623.9,14.3,673,10355,0.00,1.30,0.00,0.000,6,0.000,0.031,2052,2923,1039,0,0,0,0,0,0
$GC,10679,0.55,110.6,583.7,11.7,689,10680,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2923,1039,0,0,0,0,0,0
$GC,10988,0.60,110.6,549.1,10.8,704,10992,0.12,1.42,0.00,0.000,4,0.097,0.059,2109,3803,1039,0,0,0,0,0,0
$GC,11149,0.50,110.6,523.1,15.9,711,11154,0.15,1.30,0.00,0.000,6,0.202,0.031,2075,2926,1039,0,0,0,0,0,0
$GC,11475,0.50,110.6,484.8,11.3,727,11479,0.00,1.42,0.00,0.000,4,0.000,0.058,2075,3808,1039,0,0,0,0,0,0
$GC,11566,0.47,110.6,472.9,13.4,731,11569,0.00,1.30,0.00,0.000,6,0.000,0.031,2080,2924,1039,0,0,0,0,0,0
$GC,11898,0.47,110.6,433.1,12.1,747,11901,0.00,1.42,0.00,0.000,4,0.000,0.058,2080,3803,1039,0,0,0,0,0,0
$GC,11958,0.42,110.6,424.7,14.3,749,11966,0.15,1.30,0.00,0.000,6,0.181,0.031,2044,2919,1039,0,0,0,0,0,0
$GC,12277,0.49,110.6,392.4,10.1,768,12280,0.00,1.42,0.00,0.000,4,0.000,0.058,2044,3804,1039,0,0,0,0,0,0
$GC,12327,0.51,110.6,386.2,12.6,772,12336,0.00,1.30,0.00,0.000,6,0.000,0.031,2049,2926,1039,0,0,0,0,0,0
$GC,12654,0.57,110.6,350.1,11.0,803,12656,0.12,0.00,0.00,0.000,6,0.096,0.000,2108,2925,1039,0,0,0,0,0,0
$GC,12972,0.54,110.6,302.3,15.5,833,12976,0.00,1.42,0.00,0.000,4,0.000,0.058,2108,3808,1039,0,0,0,0,0,0
$GC,13156,0.44,110.6,269.6,18.0,849,13160,0.20,1.30,0.00,0.000,6,0.192,0.031,2059,2928,1039,0,0,0,0,0,0
$GC,13486,0.49,110.6,229.1,11.1,880,13489,0.00,1.42,0.00,0.000,4,0.000,0.057,2059,3808,1039,0,0,0,0,0,0
$GC,13558,0.49,110.6,219.3,13.9,886,13566,0.00,1.33,0.00,0.000,6,0.000,0.030,2064,2916,1039,0,0,0,0,0,0
$GC,13886,0.53,110.6,181.6,11.2,917,13889,0.00,1.42,0.00,0.000,4,0.000,0.057,2064,3801,1039,0,0,0,0,0,0
$GC,13957,0.53,110.6,171.3,14.1,923,13965,0.00,1.30,0.00,0.000,6,0.000,0.030,2071,2923,1039,0,0,0,0,0,0
$GC,14283,0.56,110.6,133.6,11.0,954,14286,0.00,1.42,0.00,0.000,4,0.000,0.057,2070,3809,1039,0,0,0,0,0,0
$GC,14329,0.54,110.6,127.9,12.6,958,14332,0.00,1.30,0.00,0.000,6,0.000,0.031,2077,2924,1039,0,0,0,0,0,0
$GC,14657,0.57,110.6,90.8,11.3,995,14664,0.00,1.42,0.00,0.000,4,0.000,0.056,2077,3807,1038,0,0,0,0,0,0
$GC,14744,0.55,110.6,79.4,13.2,1010,14751,0.00,1.30,0.00,0.000,6,0.000,0.030,2084,2915,1039,0,0,0,0,0,0
$GC,15094,0.55,110.6,37.9,12.4,1071,15103,0.00,1.42,0.00,0.000,4,0.000,0.056,2084,3800,1039,0,0,0,0,0,0
$GC,15111,0.55,110.6,35.8,12.7,1073,15120,0.00,1.27,0.00,0.000,6,0.000,0.030,2091,2923,1039,0,0,0,0,0,0
$GC,15264,0.55,110.6,14.7,13.9,1098,15272,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2923,1039,0,0,0,0,0,0
$GC,15321,0.55,110.6,6.3,13.9,1107,15330,0.00,1.42,0.00,0.000,4,0.000,0.057,2091,3804,1039,0,0,0,0,0,0
$STATE,15349,end climb,SURFACE_DEPTH_REACHED
$STATE,15349,begin surface coast
$FINISH,1.1,1.026493
$STATE,15374,end surface coast,CONTROL_FINISHED_OK
$STATE,15374,begin surface
$SM_CCo,15387,43.17,0.138,0,0,680,200.16
$SM_GC,2.28,0.00,0.00,43.17,0.000,0.000,0.138,70,3222,680,-5.73,0.37,200.16
$IRIDIUM_FIX,-4239.11,834.03,230608,050518
$TT8_MAMPS,0.027713
$HUMID,62.28
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.3,30.822
$10V_AH,10.2,18.104
$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,15.400,75.225,229.300,43.175,0.000,87.287,140.175,395.664,0.000,0.000,30.815,2781.962,9782.997,391.482,3196.513,177.371,0.000,1481.924,0.000,2516.106,0.000,0.544,0.000
$DEVICE_MAMPS,234.855,83.385,1910.970,138.465,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,773.720,783.739,811.540,77.281,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353904
$DATA_FILE_SIZE,63713,1115
$CAP_FILE_SIZE,155300,0
$CFSIZE,259252224,246550528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,270815,204257,-4255.515,836.226,82,1.0,82,-25.1