version: 66.07
glider: 543
mission: 14
dive: 197
start: 9 6 115 12 44 22
data:
$ID,543
$MISSION,14
$DIVE,197
$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,-24749.818
$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,79
$R_STBD_OVSHOOT,27
$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
$GPS1,060915,123233,-4302.577,825.219,40,0.9,41,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-72.5
$GPS2,060915,124359,-4302.493,825.362,19,1.0,20,-25.0
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAZ_BUT1
$TGT_LATLONG,-4304.000,824.000
$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,238.4,3344,-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,-49.8,0.0,0.0,0,64,0.00,0.00,-47.88,0.000,6,0.000,0.000,64,3226,1704,0,0,0,0,0,0
$GC,67,-0.60,-112.1,2.8,-1.4,6,92,6.68,1.20,-8.52,0.000,4,0.226,0.080,1702,3957,1959,0,0,0,0,0,0
$GC,346,-0.53,-112.1,49.9,-17.6,52,353,0.00,1.08,0.00,0.000,6,0.000,0.031,1702,3222,1964,0,0,0,0,0,0
$GC,696,-0.49,-112.1,106.7,-15.9,110,698,0.15,0.00,0.00,0.000,6,0.181,0.000,1740,3222,1964,0,0,0,0,0,0
$GC,1016,-0.52,-112.1,145.1,-11.4,140,1017,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,3222,1963,0,0,0,0,0,0
$GC,1335,-0.56,-112.1,182.6,-11.0,170,1338,0.00,1.15,0.00,0.000,4,0.000,0.056,1736,3950,1963,0,0,0,0,0,0
$GC,1381,-0.58,-112.1,188.0,-11.8,174,1384,0.00,1.08,0.00,0.000,6,0.000,0.030,1736,3212,1964,0,0,0,0,0,0
$GC,1714,-0.62,-112.1,226.0,-11.4,205,1718,0.00,1.30,0.00,0.000,4,0.000,0.027,1736,2295,1963,0,0,0,0,0,0
$GC,1762,-0.70,-112.1,231.4,-10.5,209,1766,0.12,1.48,0.00,0.000,6,0.054,0.050,1661,3206,1964,0,0,0,0,0,0
$GC,2092,-0.61,-112.1,287.6,-17.6,240,2096,0.17,1.20,0.00,0.000,4,0.189,0.053,1702,3961,1964,0,0,0,0,0,0
$GC,2171,-0.56,-112.1,300.8,-15.8,247,2174,0.00,1.10,0.00,0.000,6,0.000,0.031,1702,3201,1963,0,0,0,0,0,0
$GC,2501,-0.54,-112.1,350.3,-14.6,278,2505,0.00,1.20,0.00,0.000,4,0.000,0.055,1696,3960,1964,0,0,0,0,0,0
$GC,2550,-0.50,-112.1,358.4,-15.3,282,2559,0.12,1.10,0.00,0.000,6,0.157,0.029,1734,3211,1964,0,0,0,0,0,0
$GC,2880,-0.55,-112.1,398.1,-12.3,313,2883,0.00,1.30,0.00,0.000,4,0.000,0.027,1734,2290,1964,0,0,0,0,0,0
$GC,2912,-0.62,-112.1,402.5,-11.5,315,2916,0.00,1.50,0.00,0.000,6,0.000,0.050,1729,3220,1963,0,0,0,0,0,0
$GC,3234,-0.66,-112.1,441.6,-12.4,331,3238,0.10,1.15,0.00,0.000,4,0.111,0.056,1675,3944,1964,0,0,0,0,0,0
$GC,3324,-0.57,-112.1,456.5,-17.0,335,3328,0.12,1.08,0.00,0.000,6,0.161,0.031,1712,3210,1963,0,0,0,0,0,0
$GC,3655,-0.57,-112.1,500.4,-12.9,351,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,1712,3210,1964,0,0,0,0,0,0
$GC,3965,-0.57,-112.1,540.1,-12.8,366,3968,0.00,1.17,0.00,0.000,4,0.000,0.057,1708,3953,1964,0,0,0,0,0,0
$GC,4042,-0.55,-112.1,551.6,-15.4,369,4047,0.00,1.10,0.00,0.000,6,0.000,0.031,1708,3197,1963,0,0,0,0,0,0
$GC,4363,-0.55,-112.1,595.1,-13.7,385,4364,0.00,0.00,0.00,0.000,6,0.000,0.000,1708,3197,1963,0,0,0,0,0,0
$GC,4673,-0.55,-112.1,636.5,-13.1,400,4677,0.00,1.20,0.00,0.000,4,0.000,0.056,1703,3956,1963,0,0,0,0,0,0
$GC,4751,-0.53,-112.1,647.7,-14.1,403,4755,0.00,1.08,0.00,0.000,6,0.000,0.031,1703,3218,1963,0,0,0,0,0,0
$GC,5072,-0.53,-112.1,687.7,-12.1,419,5076,0.00,1.15,0.00,0.000,4,0.000,0.057,1697,3942,1963,0,0,0,0,0,0
$GC,5150,-0.50,-112.1,698.4,-13.5,422,5154,0.12,1.08,0.00,0.000,6,0.157,0.031,1735,3214,1963,0,0,0,0,0,0
$GC,5471,-0.57,-112.1,727.8,-8.8,438,5475,0.00,1.17,0.00,0.000,4,0.000,0.057,1731,3956,1963,0,0,0,0,0,0
$GC,5504,-0.62,-112.1,730.9,-9.9,439,5508,0.00,1.12,0.00,0.000,6,0.000,0.031,1731,3187,1963,0,0,0,0,0,0
$GC,5826,-0.68,-112.1,759.6,-9.3,455,5830,0.12,1.23,0.00,0.000,4,0.101,0.058,1668,3947,1963,0,0,0,0,0,0
$GC,5925,-0.60,-112.1,773.6,-13.9,459,5930,0.12,1.08,0.00,0.000,6,0.164,0.031,1706,3214,1963,0,0,0,0,0,0
$GC,6247,-0.61,-112.1,810.7,-11.6,475,6250,0.00,1.17,0.00,0.000,4,0.000,0.057,1702,3956,1963,0,0,0,0,0,0
$GC,6329,-0.61,-112.1,821.9,-13.1,478,6337,0.00,1.12,0.00,0.000,6,0.000,0.031,1702,3196,1963,0,0,0,0,0,0
$GC,6646,-0.61,-112.1,859.6,-12.1,494,6649,0.00,1.20,0.00,0.000,4,0.000,0.057,1696,3954,1963,0,0,0,0,0,0
$GC,6672,-0.60,-112.1,863.3,-13.2,495,6677,0.00,1.08,0.00,0.000,6,0.000,0.031,1696,3216,1963,0,0,0,0,0,0
$GC,6999,-0.60,-112.1,904.7,-12.7,511,7001,0.00,0.00,0.00,0.000,6,0.000,0.000,1696,3216,1964,0,0,0,0,0,0
$GC,7309,-0.60,-112.1,943.2,-12.4,526,7313,0.00,1.15,0.00,0.000,4,0.000,0.057,1690,3940,1963,0,0,0,0,0,0
$GC,7403,-0.57,-112.1,955.6,-13.3,530,7407,0.00,1.08,0.00,0.000,6,0.000,0.031,1690,3213,1963,0,0,0,0,0,0
$GC,7730,-0.57,-112.1,997.1,-12.9,546,7732,0.12,0.00,0.00,0.000,6,0.185,0.000,1721,3212,1963,0,0,0,0,0,0
$STATE,7769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7770,begin apogee
$GC,7774,-0.09,0.0,1002.2,12.7,548,7913,0.50,0.00,125.85,1.883,6,0.142,0.000,1871,2924,1500,0,0,0,0,2,0
$STATE,7914,end apogee,CONTROL_FINISHED_OK
$STATE,7914,begin climb
$GC,7916,0.60,112.1,1006.7,0.0,555,8043,0.70,1.50,116.53,1.870,4,0.086,0.031,2101,2050,1042,0,0,0,0,0,0
$GC,8093,0.62,112.1,989.5,13.6,563,8098,0.00,1.50,0.00,0.000,6,0.000,0.047,2101,2913,1040,0,0,0,0,0,0
$GC,8422,0.59,112.1,938.4,15.5,579,8426,0.00,1.45,0.00,0.000,4,0.000,0.055,2101,3802,1037,0,0,0,0,0,0
$GC,8460,0.51,112.1,931.1,17.6,580,8468,0.12,1.35,0.00,0.000,6,0.198,0.029,2076,2905,1036,0,0,0,0,0,0
$GC,8776,0.51,112.1,886.5,14.3,596,8780,0.00,1.48,0.00,0.000,4,0.000,0.056,2076,3811,1035,0,0,0,0,0,0
$GC,8848,0.48,112.1,874.5,17.2,599,8852,0.00,1.33,0.00,0.000,6,0.000,0.030,2081,2919,1034,0,0,0,0,0,0
$GC,9175,0.48,112.1,823.2,15.3,615,9178,0.00,1.45,0.00,0.000,4,0.000,0.056,2081,3808,1034,0,0,0,0,0,0
$GC,9213,0.43,112.1,816.6,17.9,616,9221,0.12,1.33,0.00,0.000,6,0.189,0.030,2053,2918,1033,0,0,0,0,0,0
$GC,9529,0.49,112.1,773.4,13.7,632,9533,0.00,1.45,0.00,0.000,4,0.000,0.056,2053,3808,1034,0,0,0,0,0,0
$GC,9646,0.49,112.1,754.8,15.9,637,9650,0.00,1.33,0.00,0.000,6,0.000,0.031,2058,2926,1033,0,0,0,0,0,0
$GC,9974,0.54,112.1,708.9,13.7,653,9977,0.00,1.42,0.00,0.000,4,0.000,0.056,2058,3803,1033,0,0,0,0,0,0
$GC,10096,0.54,112.1,689.2,16.3,658,10101,0.00,1.33,0.00,0.000,6,0.000,0.030,2065,2914,1032,0,0,0,0,0,0
$GC,10418,0.57,112.1,642.9,14.2,674,10422,0.00,1.45,0.00,0.000,4,0.000,0.057,2065,3807,1032,0,0,0,0,0,0
$GC,10512,0.57,112.1,627.9,15.9,678,10517,0.00,1.33,0.00,0.000,6,0.000,0.030,2072,2918,1032,0,0,0,0,0,0
$GC,10840,0.60,112.1,583.3,13.1,694,10844,0.00,1.45,0.00,0.000,4,0.000,0.056,2072,3813,1032,0,0,0,0,0,0
$GC,10895,0.57,112.1,574.8,15.1,696,10900,0.00,1.30,0.00,0.000,6,0.000,0.031,2078,2930,1032,0,0,0,0,0,0
$GC,11216,0.57,112.1,532.7,12.8,712,11220,0.00,1.42,0.00,0.000,4,0.000,0.057,2078,3811,1032,0,0,0,0,0,0
$GC,11307,0.54,112.1,519.4,15.1,716,11311,0.00,1.30,0.00,0.000,6,0.000,0.030,2085,2925,1032,0,0,0,0,0,0
$GC,11639,0.54,112.1,476.8,12.2,732,11642,0.00,1.42,0.00,0.000,4,0.000,0.057,2085,3810,1032,0,0,0,0,0,0
$GC,11685,0.49,112.1,470.6,15.1,734,11688,0.00,1.30,0.00,0.000,6,0.000,0.031,2091,2926,1032,0,0,0,0,0,0
$GC,12017,0.49,112.1,427.7,12.9,750,12020,0.00,1.42,0.00,0.000,4,0.000,0.057,2092,3802,1032,0,0,0,0,0,0
$GC,12134,0.44,112.1,409.9,15.4,755,12138,0.15,1.30,0.00,0.000,6,0.184,0.029,2056,2923,1032,0,0,0,0,0,0
$GC,12458,0.50,112.1,375.5,10.6,781,12460,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,2922,1032,0,0,0,0,0,0
$GC,12776,0.56,112.1,341.0,10.9,811,12780,0.00,1.42,0.00,0.000,4,0.000,0.057,2056,3801,1032,0,0,0,0,0,0
$GC,12894,0.58,112.1,325.4,14.0,821,12901,0.00,1.27,0.00,0.000,6,0.000,0.030,2061,2924,1032,0,0,0,0,0,0
$GC,13219,0.63,112.1,285.5,12.6,852,13221,0.15,0.00,0.00,0.000,6,0.087,0.000,2127,2924,1032,0,0,0,0,0,0
$GC,13538,0.57,112.1,230.4,16.9,882,13543,0.15,1.45,0.00,0.000,4,0.194,0.055,2091,3807,1032,0,0,0,0,0,0
$GC,13657,0.53,112.1,210.0,16.1,892,13666,0.00,1.30,0.00,0.000,6,0.000,0.029,2096,2918,1032,0,0,0,0,0,0
$GC,13983,0.53,112.1,162.0,14.4,923,13986,0.00,1.45,0.00,0.000,4,0.000,0.056,2096,3813,1032,0,0,0,0,0,0
$GC,14040,0.47,112.1,153.0,15.3,928,14044,0.15,1.30,0.00,0.000,6,0.184,0.029,2061,2925,1032,0,0,0,0,0,0
$GC,14370,0.54,112.1,116.8,10.3,959,14373,0.00,1.42,0.00,0.000,4,0.000,0.056,2061,3809,1032,0,0,0,0,0,0
$GC,14442,0.56,112.1,108.8,12.1,965,14445,0.00,1.30,0.00,0.000,6,0.000,0.029,2066,2921,1032,0,0,0,0,0,0
$GC,14785,0.62,112.1,72.3,11.1,1018,14792,0.12,1.27,0.00,0.000,4,0.096,0.031,2131,2047,1032,0,0,0,0,0,0
$GC,14824,0.62,112.1,67.4,12.6,1024,14830,0.00,1.40,0.00,0.000,6,0.000,0.049,2131,2927,1032,0,0,0,0,0,0
$GC,15180,0.55,112.1,15.6,18.0,1085,15189,0.17,1.40,0.00,0.000,4,0.187,0.054,2088,3807,1032,0,0,0,0,0,0
$STATE,15260,end climb,SURFACE_DEPTH_REACHED
$STATE,15261,begin surface coast
$FINISH,1.2,1.003556
$STATE,15281,end surface coast,CONTROL_FINISHED_OK
$STATE,15281,begin surface
$SM_CCo,15294,58.95,0.277,2,0,684,200.16
$SM_GC,2.42,0.00,0.00,58.95,0.000,0.000,0.277,61,3195,684,-5.76,-0.40,200.16
$IRIDIUM_FIX,-4247.91,826.16,030708,020251
$TT8_MAMPS,0.026964
$HUMID,62.04
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.1,38.331
$10V_AH,10.1,23.354
$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,15.700,81.925,242.375,58.950,0.000,51.410,102.138,333.070,0.000,0.000,22.668,2778.875,9592.974,427.316,3056.209,182.704,0.000,1522.006,0.000,2534.779,0.000,0.544,0.000
$DEVICE_MAMPS,225.675,79.560,1883.430,276.930,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,763.506,775.186,798.405,75.042,0.000,0.000,0.000,0.000,0.000,0.000
$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,63564,1101
$CAP_FILE_SIZE,155202,0
$CFSIZE,259252224,242831360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,060915,170133,-4303.105,824.281,33,0.9,33,-25.0