version: 66.07
glider: 543
mission: 14
dive: 157
start: 8 28 115 1 31 16
data:
$ID,543
$MISSION,14
$DIVE,157
$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,-24605.957
$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,73
$R_STBD_OVSHOOT,36
$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
$GPS1,280815,012120,-4256.871,835.976,100,1.4,112,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-67.3
$GPS2,280815,013053,-4256.852,836.024,23,1.2,24,-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,23.9,1578,-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,-44.30,0.000,6,0.000,0.000,53,3230,1704,0,0,0,0,0,0
$GC,67,-0.59,-95.3,3.5,-3.3,6,85,6.70,1.38,-5.43,0.000,4,0.224,0.052,1717,2322,1889,0,0,0,0,0,0
$GC,275,-0.59,-95.3,35.5,-13.6,40,284,0.00,1.42,0.00,0.000,6,0.000,0.051,1712,3197,1892,0,0,0,0,0,0
$GC,422,-0.53,-95.3,59.8,-17.9,65,429,0.00,1.20,0.00,0.000,4,0.000,0.056,1706,3957,1892,0,0,0,0,0,0
$GC,608,-0.45,-95.3,92.6,-17.1,97,616,0.15,1.08,0.00,0.000,6,0.164,0.033,1750,3235,1892,0,0,0,0,0,0
$GC,938,-0.48,-95.3,134.5,-11.1,132,939,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,3235,1892,0,0,0,0,0,0
$GC,1257,-0.52,-95.3,173.3,-13.2,162,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,3235,1892,0,0,0,0,0,0
$GC,1576,-0.56,-95.3,212.8,-11.3,192,1579,0.00,1.15,0.00,0.000,4,0.000,0.057,1746,3956,1892,0,0,0,0,0,0
$GC,1599,-0.59,-95.3,215.7,-12.0,194,1603,0.00,1.10,0.00,0.000,6,0.000,0.032,1746,3203,1892,0,0,0,0,0,0
$GC,1933,-0.63,-95.3,252.0,-10.6,225,1940,0.12,0.00,0.00,0.000,6,0.098,0.000,1690,3203,1892,0,0,0,0,0,0
$GC,2258,-0.56,-95.3,299.7,-14.5,256,2262,0.12,1.23,0.00,0.000,4,0.187,0.057,1716,3962,1892,0,0,0,0,0,0
$GC,2303,-0.52,-95.3,305.9,-13.5,260,2306,0.00,1.10,0.00,0.000,6,0.000,0.032,1716,3211,1892,0,0,0,0,0,0
$GC,2633,-0.50,-95.3,345.8,-12.1,291,2637,0.00,1.17,0.00,0.000,4,0.000,0.057,1711,3955,1892,0,0,0,0,0,0
$GC,2750,-0.45,-95.3,361.9,-13.4,301,2758,0.12,1.10,0.00,0.000,6,0.168,0.031,1747,3213,1892,0,0,0,0,0,0
$GC,3076,-0.50,-95.3,392.7,-9.8,332,3077,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3213,1892,0,0,0,0,0,0
$GC,3398,-0.55,-95.3,425.3,-10.1,351,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,1746,3212,1892,0,0,0,0,0,0
$GC,3707,-0.60,-95.3,457.4,-10.5,366,3709,0.12,0.00,0.00,0.000,6,0.099,0.000,1693,3212,1892,0,0,0,0,0,0
$GC,4016,-0.55,-95.3,502.2,-14.5,381,4020,0.12,1.20,0.00,0.000,4,0.189,0.058,1719,3958,1893,0,0,0,0,0,0
$GC,4062,-0.53,-95.3,508.6,-13.3,383,4066,0.00,1.10,0.00,0.000,6,0.000,0.032,1719,3205,1893,0,0,0,0,0,0
$GC,4394,-0.53,-95.3,550.8,-12.6,399,4395,0.00,0.00,0.00,0.000,6,0.000,0.000,1719,3205,1893,0,0,0,0,0,0
$GC,4703,-0.53,-95.3,589.1,-12.3,414,4707,0.00,1.20,0.00,0.000,4,0.000,0.057,1713,3961,1893,0,0,0,0,0,0
$GC,4741,-0.50,-95.3,594.3,-13.0,415,4748,0.00,1.10,0.00,0.000,6,0.000,0.032,1713,3213,1893,0,0,0,0,0,0
$GC,5057,-0.50,-95.3,631.5,-11.7,431,5061,0.12,1.20,0.00,0.000,4,0.186,0.060,1740,3956,1893,0,0,0,0,0,0
$GC,5147,-0.54,-95.3,641.1,-10.5,435,5150,0.00,1.10,0.00,0.000,6,0.000,0.034,1740,3207,1893,0,0,0,0,0,0
$GC,5479,-0.59,-95.3,672.5,-9.4,451,5482,0.00,1.20,0.00,0.000,4,0.000,0.059,1733,3961,1893,0,0,0,0,0,0
$GC,5494,-0.63,-95.3,674.3,-9.6,451,5502,0.00,1.10,0.00,0.000,6,0.000,0.032,1734,3206,1893,0,0,0,0,0,0
$GC,5811,-0.67,-95.3,706.6,-10.4,467,5813,0.12,0.00,0.00,0.000,6,0.102,0.000,1679,3206,1893,0,0,0,0,0,0
$GC,6120,-0.60,-95.3,748.7,-13.7,482,6124,0.12,1.23,0.00,0.000,4,0.194,0.059,1705,3962,1893,0,0,0,0,0,0
$GC,6158,-0.56,-95.3,753.9,-14.0,483,6165,0.00,1.10,0.00,0.000,6,0.000,0.033,1705,3216,1893,0,0,0,0,0,0
$GC,6473,-0.56,-95.3,790.0,-11.7,499,6477,0.00,1.33,0.00,0.000,4,0.000,0.031,1705,2297,1893,0,0,0,0,0,0
$GC,6511,-0.58,-95.3,794.4,-10.5,500,6519,0.00,1.48,0.00,0.000,6,0.000,0.052,1698,3213,1893,0,0,0,0,0,0
$GC,6827,-0.56,-95.3,830.6,-11.5,516,6832,0.00,1.15,0.00,0.000,4,0.000,0.058,1692,3945,1893,0,0,0,0,0,0
$GC,6860,-0.50,-95.3,835.1,-12.9,517,6865,0.15,1.10,0.00,0.000,6,0.185,0.033,1734,3209,1893,0,0,0,0,0,0
$GC,7182,-0.56,-95.3,864.2,-9.1,533,7183,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3209,1893,0,0,0,0,0,0
$GC,7491,-0.62,-95.3,892.8,-9.3,548,7495,0.00,1.20,0.00,0.000,4,0.000,0.061,1731,3944,1893,0,0,0,0,0,0
$GC,7563,-0.65,-95.3,900.4,-10.0,551,7568,0.08,1.08,0.00,0.000,6,0.071,0.034,1688,3214,1893,0,0,0,0,0,0
$GC,7890,-0.61,-95.3,941.3,-13.0,567,7894,0.00,1.17,0.00,0.000,4,0.000,0.059,1682,3953,1893,0,0,0,0,0,0
$GC,8012,-0.53,-95.3,959.3,-14.6,572,8017,0.15,1.12,0.00,0.000,6,0.167,0.033,1726,3202,1893,0,0,0,0,0,0
$GC,8335,-0.58,-95.3,991.5,-9.7,588,8336,0.00,0.00,0.00,0.000,6,0.000,0.000,1726,3202,1893,0,0,0,0,0,0
$STATE,8436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8436,begin apogee
$GC,8440,-0.09,0.0,1001.0,9.2,593,8543,0.50,0.00,100.40,1.916,6,0.151,0.000,1873,2921,1499,0,0,0,0,0,0
$STATE,8544,end apogee,CONTROL_FINISHED_OK
$STATE,8544,begin climb
$GC,8546,0.59,95.3,1002.7,0.0,598,8653,0.65,1.52,99.15,1.858,4,0.090,0.034,2092,2049,1110,0,0,0,0,0,0
$GC,8703,0.60,95.3,986.2,14.4,605,8708,0.00,1.50,0.00,0.000,6,0.000,0.048,2092,2914,1109,0,0,0,0,0,0
$GC,9030,0.57,95.3,938.0,14.5,621,9034,0.00,1.48,0.00,0.000,4,0.000,0.057,2092,3813,1106,0,0,0,0,0,0
$GC,9175,0.49,95.3,912.9,18.8,627,9180,0.12,1.38,0.00,0.000,6,0.200,0.031,2067,2906,1105,0,0,0,0,0,0
$GC,9496,0.49,95.3,869.8,13.0,643,9500,0.00,1.48,0.00,0.000,4,0.000,0.059,2065,3806,1105,0,0,0,0,0,0
$GC,9624,0.45,95.3,850.3,15.5,648,9632,0.00,1.33,0.00,0.000,6,0.000,0.031,2072,2920,1104,0,0,0,0,0,0
$GC,9940,0.45,95.3,808.4,13.4,664,9944,0.00,1.45,0.00,0.000,4,0.000,0.058,2072,3811,1104,0,0,0,0,0,0
$GC,10053,0.40,95.3,791.1,15.9,669,10057,0.12,1.33,0.00,0.000,6,0.193,0.032,2044,2927,1103,0,0,0,0,0,0
$GC,10386,0.45,95.3,753.7,10.6,685,10387,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,2927,1103,0,0,0,0,0,0
$GC,10694,0.50,95.3,721.2,10.4,700,10698,0.00,1.42,0.00,0.000,4,0.000,0.060,2044,3800,1103,0,0,0,0,0,0
$GC,10765,0.50,95.3,712.6,11.9,703,10770,0.00,1.33,0.00,0.000,6,0.000,0.032,2049,2924,1103,0,0,0,0,0,0
$GC,11094,0.54,95.3,677.9,10.6,719,11097,0.00,1.42,0.00,0.000,4,0.000,0.059,2049,3799,1102,0,0,0,0,0,0
$GC,11176,0.54,95.3,667.7,12.5,722,11184,0.00,1.33,0.00,0.000,6,0.000,0.031,2056,2919,1103,0,0,0,0,0,0
$GC,11493,0.57,95.3,633.7,10.7,738,11497,0.10,1.42,0.00,0.000,4,0.114,0.060,2098,3796,1102,0,0,0,0,0,0
$GC,11610,0.48,95.3,615.8,15.2,743,11614,0.12,1.30,0.00,0.000,6,0.202,0.032,2071,2925,1102,0,0,0,0,0,0
$GC,11936,0.48,95.3,578.0,11.5,759,11940,0.00,1.42,0.00,0.000,4,0.000,0.059,2071,3808,1102,0,0,0,0,0,0
$GC,12098,0.44,95.3,555.5,14.9,766,12103,0.08,1.33,0.00,0.000,6,0.194,0.032,2055,2920,1102,0,0,0,0,0,0
$GC,12425,0.47,95.3,520.0,10.6,782,12429,0.00,1.45,0.00,0.000,4,0.000,0.059,2055,3813,1103,0,0,0,0,0,0
$GC,12518,0.47,95.3,508.3,11.9,786,12523,0.00,1.35,0.00,0.000,6,0.000,0.031,2061,2918,1102,0,0,0,0,0,0
$GC,12846,0.50,95.3,473.3,10.5,802,12848,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2918,1102,0,0,0,0,0,0
$GC,13155,0.53,95.3,442.4,9.9,817,13159,0.00,1.45,0.00,0.000,4,0.000,0.058,2060,3808,1102,0,0,0,0,0,0
$GC,13336,0.51,95.3,420.6,11.2,825,13340,0.00,1.33,0.00,0.000,6,0.000,0.032,2067,2919,1102,0,0,0,0,0,0
$GC,13664,0.53,95.3,387.5,10.0,846,13667,0.00,1.45,0.00,0.000,4,0.000,0.058,2067,3814,1102,0,0,0,0,0,0
$GC,13700,0.50,95.3,383.4,11.0,849,13704,0.00,1.33,0.00,0.000,6,0.000,0.032,2074,2924,1102,0,0,0,0,0,0
$GC,14030,0.50,95.3,347.5,10.6,880,14034,0.00,1.42,0.00,0.000,4,0.000,0.058,2074,3806,1102,0,0,0,0,0,0
$GC,14290,0.45,95.3,315.1,12.8,903,14294,0.00,1.30,0.00,0.000,6,0.000,0.032,2080,2927,1102,0,0,0,0,0,0
$GC,14620,0.45,95.3,280.9,10.3,934,14624,0.00,1.42,0.00,0.000,4,0.000,0.058,2080,3807,1102,0,0,0,0,0,0
$GC,14734,0.40,95.3,266.8,12.3,944,14739,0.17,1.33,0.00,0.000,6,0.182,0.031,2037,2912,1102,0,0,0,0,0,0
$GC,15065,0.48,102.3,240.7,7.7,975,15075,0.00,0.00,5.55,1.245,6,0.000,0.000,2037,2911,1081,0,0,0,0,0,0
$GC,15393,0.57,102.3,214.0,8.7,1006,15398,0.15,1.48,0.00,0.000,4,0.086,0.060,2104,3806,1082,0,0,0,0,0,0
$GC,15556,0.47,102.3,189.9,14.5,1020,15566,0.17,1.30,0.00,0.000,6,0.193,0.031,2063,2927,1082,0,0,0,0,0,0
$GC,15883,0.51,102.3,154.7,10.9,1051,15886,0.00,1.42,0.00,0.000,4,0.000,0.057,2063,3815,1082,0,0,0,0,0,0
$GC,15954,0.49,102.3,146.2,12.4,1057,15957,0.00,1.33,0.00,0.000,6,0.000,0.031,2068,2920,1082,0,0,0,0,0,0
$GC,16284,0.53,102.3,111.4,9.8,1088,16288,0.00,1.42,0.00,0.000,4,0.000,0.057,2068,3809,1083,0,0,0,0,0,0
$GC,16489,0.51,102.3,87.5,12.0,1115,16495,0.00,1.30,0.00,0.000,6,0.000,0.031,2074,2923,1083,0,0,0,0,0,0
$GC,16837,0.53,102.3,49.3,11.8,1176,16846,0.00,1.42,0.00,0.000,4,0.000,0.057,2074,3814,1083,0,0,0,0,0,0
$GC,16904,0.51,102.3,40.7,13.2,1187,16910,0.00,1.30,0.00,0.000,6,0.000,0.031,2081,2925,1083,0,0,0,0,0,0
$STATE,17200,end climb,SURFACE_DEPTH_REACHED
$STATE,17200,begin surface coast
$FINISH,1.3,1.026508
$STATE,17232,end surface coast,CONTROL_FINISHED_OK
$STATE,17232,begin surface
$SM_CCo,17244,65.18,0.609,2,0,683,200.16
$SM_GC,2.36,0.00,0.00,65.18,0.000,0.000,0.609,69,3236,683,-5.71,0.76,200.16
$IRIDIUM_FIX,-4239.11,839.41,230608,101007
$TT8_MAMPS,0.027713
$HUMID,61.41
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,22.2,31.115
$10V_AH,10.2,18.329
$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,15.750,81.175,205.100,65.175,0.000,25.439,57.710,358.391,0.000,0.000,26.010,3107.249,10847.653,403.277,3337.715,196.584,0.000,1603.995,0.000,2855.785,0.000,0.544,0.000
$DEVICE_MAMPS,224.145,61.200,1916.325,608.940,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,863.051,884.996,903.899,83.293,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353920
$DATA_FILE_SIZE,70395,1242
$CAP_FILE_SIZE,166143,0
$CFSIZE,259252224,246374400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,2
$GPS,280815,062251,-4255.033,836.578,141,1.0,141,-25.1