version: 66.07
glider: 543
mission: 14
dive: 198
start: 9 6 115 17 9 51
data:
$ID,543
$MISSION,14
$DIVE,198
$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,-24753.184
$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,23
$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
$GPS1,060915,170133,-4303.105,824.281,33,0.9,33,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-71.8
$GPS2,060915,170928,-4303.013,824.326,19,1.6,20,-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,218.6,1881,-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,12,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,-45.15,0.000,6,0.000,0.000,60,3194,1704,0,0,0,0,0,0
$GC,66,-0.60,-110.3,2.9,-1.6,6,92,6.78,1.30,-8.35,0.000,4,0.229,0.053,1707,2319,1952,0,0,0,0,0,0
$GC,141,-0.60,-110.3,14.3,-15.8,17,150,0.00,1.45,0.00,0.000,6,0.000,0.050,1702,3209,1955,0,0,0,0,0,0
$GC,200,-0.54,-110.3,22.9,-15.0,26,208,0.00,1.20,0.00,0.000,4,0.000,0.055,1696,3951,1956,0,0,0,0,0,0
$GC,270,-0.43,-110.3,35.4,-18.8,37,280,0.20,1.08,0.00,0.000,6,0.161,0.030,1754,3221,1958,0,0,0,0,0,0
$GC,418,-0.47,-110.3,58.5,-14.0,62,424,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,3221,1958,0,0,0,0,0,0
$GC,763,-0.52,-110.3,101.1,-9.6,122,766,0.00,1.33,0.00,0.000,4,0.000,0.027,1754,2304,1958,0,0,0,0,0,0
$GC,824,-0.61,-110.3,107.0,-8.7,127,831,0.10,1.48,0.00,0.000,6,0.054,0.050,1690,3210,1958,0,0,0,0,0,0
$GC,1149,-0.55,-110.3,159.4,-16.6,158,1153,0.15,1.15,0.00,0.000,4,0.181,0.053,1724,3945,1958,0,0,0,0,0,0
$GC,1243,-0.55,-110.3,173.6,-14.3,166,1251,0.00,1.10,0.00,0.000,6,0.000,0.029,1723,3198,1957,0,0,0,0,0,0
$GC,1570,-0.55,-110.3,217.1,-14.0,197,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,1724,3198,1958,0,0,0,0,0,0
$GC,1889,-0.55,-110.3,257.7,-12.1,227,1893,0.00,1.17,0.00,0.000,4,0.000,0.055,1718,3942,1957,0,0,0,0,0,0
$GC,1961,-0.52,-110.3,267.9,-13.7,233,1969,0.00,1.08,0.00,0.000,6,0.000,0.030,1718,3203,1958,0,0,0,0,0,0
$GC,2286,-0.52,-110.3,309.2,-13.4,264,2288,0.00,0.00,0.00,0.000,6,0.000,0.000,1718,3202,1958,0,0,0,0,0,0
$GC,2606,-0.52,-110.3,351.4,-13.7,294,2609,0.00,1.17,0.00,0.000,4,0.000,0.055,1713,3948,1958,0,0,0,0,0,0
$GC,2723,-0.50,-110.3,369.0,-14.7,304,2733,0.08,1.08,0.00,0.000,6,0.161,0.030,1735,3212,1958,0,0,0,0,0,0
$GC,3047,-0.54,-110.3,407.5,-11.6,332,3048,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3213,1958,0,0,0,0,0,0
$GC,3357,-0.59,-110.3,444.0,-11.9,347,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3213,1958,0,0,0,0,0,0
$GC,3665,-0.63,-110.3,480.4,-11.8,362,3669,0.00,1.17,0.00,0.000,4,0.000,0.057,1731,3954,1958,0,0,0,0,0,0
$GC,3760,-0.66,-110.3,492.8,-13.5,366,3764,0.10,1.10,0.00,0.000,6,0.065,0.030,1677,3202,1958,0,0,0,0,0,0
$GC,4087,-0.59,-110.3,544.8,-16.0,382,4089,0.12,0.00,0.00,0.000,6,0.190,0.000,1707,3201,1958,0,0,0,0,0,0
$GC,4395,-0.59,-110.3,587.4,-13.6,397,4399,0.00,1.17,0.00,0.000,4,0.000,0.056,1703,3941,1958,0,0,0,0,0,0
$GC,4501,-0.56,-110.3,603.2,-14.4,401,4508,0.00,1.08,0.00,0.000,6,0.000,0.031,1703,3211,1958,0,0,0,0,0,0
$GC,4817,-0.56,-110.3,645.3,-13.5,417,4818,0.00,0.00,0.00,0.000,6,0.000,0.000,1703,3211,1959,0,0,0,0,0,0
$GC,5126,-0.56,-110.3,686.8,-13.0,432,5130,0.00,1.17,0.00,0.000,4,0.000,0.056,1697,3952,1958,0,0,0,0,0,0
$GC,5232,-0.52,-110.3,702.0,-15.0,436,5240,0.10,1.10,0.00,0.000,6,0.160,0.031,1727,3203,1958,0,0,0,0,0,0
$GC,5548,-0.57,-110.3,735.6,-10.5,452,5552,0.00,1.17,0.00,0.000,4,0.000,0.057,1723,3942,1958,0,0,0,0,0,0
$GC,5684,-0.59,-110.3,751.1,-11.8,458,5688,0.00,1.08,0.00,0.000,6,0.000,0.031,1723,3210,1958,0,0,0,0,0,0
$GC,6017,-0.62,-110.3,786.6,-10.7,474,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,1723,3210,1958,0,0,0,0,0,0
$GC,6326,-0.66,-110.3,820.3,-11.1,489,6330,0.00,1.17,0.00,0.000,4,0.000,0.058,1717,3949,1958,0,0,0,0,0,0
$GC,6426,-0.66,-110.3,832.7,-12.1,493,6431,0.00,1.10,0.00,0.000,6,0.000,0.031,1718,3206,1958,0,0,0,0,0,0
$GC,6748,-0.69,-110.3,870.4,-11.4,509,6750,0.12,0.00,0.00,0.000,6,0.103,0.000,1662,3206,1958,0,0,0,0,0,0
$GC,7057,-0.63,-110.3,916.0,-14.5,524,7061,0.15,1.20,0.00,0.000,4,0.188,0.057,1695,3947,1958,0,0,0,0,0,0
$GC,7140,-0.60,-110.3,927.6,-13.3,527,7147,0.00,1.08,0.00,0.000,6,0.000,0.031,1695,3215,1958,0,0,0,0,0,0
$GC,7455,-0.60,-110.3,966.2,-12.0,543,7459,0.00,1.17,0.00,0.000,4,0.000,0.057,1690,3955,1959,0,0,0,0,0,0
$GC,7569,-0.56,-110.3,980.9,-13.6,548,7573,0.08,1.10,0.00,0.000,6,0.163,0.032,1713,3212,1958,0,0,0,0,0,0
$STATE,7754,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7754,begin apogee
$GC,7759,-0.09,0.0,1000.5,9.9,557,7877,0.52,0.00,113.53,1.898,6,0.149,0.000,1867,2923,1500,0,0,0,0,0,0
$STATE,7878,end apogee,CONTROL_FINISHED_OK
$STATE,7878,begin climb
$GC,7880,0.60,110.3,1002.6,0.0,563,8007,0.73,1.52,115.28,1.873,4,0.090,0.030,2103,2047,1054,0,0,0,0,0,0
$GC,8034,0.60,110.3,985.5,15.1,570,8039,0.00,1.52,0.00,0.000,6,0.000,0.046,2103,2919,1055,0,0,0,0,0,0
$GC,8362,0.56,110.3,931.9,16.5,586,8366,0.00,1.45,0.00,0.000,4,0.000,0.056,2103,3805,1053,0,0,0,0,0,0
$GC,8453,0.48,110.3,914.9,18.6,590,8457,0.17,1.35,0.00,0.000,6,0.201,0.030,2064,2909,1052,0,0,0,0,0,0
$GC,8786,0.51,110.3,869.0,13.3,606,8789,0.00,1.48,0.00,0.000,4,0.000,0.056,2064,3813,1051,0,0,0,0,0,0
$GC,8831,0.49,110.3,862.4,14.9,608,8835,0.00,1.33,0.00,0.000,6,0.000,0.030,2069,2925,1050,0,0,0,0,0,0
$GC,9164,0.51,110.3,820.3,12.4,624,9167,0.00,1.45,0.00,0.000,4,0.000,0.057,2069,3801,1050,0,0,0,0,0,0
$GC,9218,0.49,110.3,812.3,15.3,626,9223,0.00,1.30,0.00,0.000,6,0.000,0.029,2076,2925,1050,0,0,0,0,0,0
$GC,9540,0.49,110.3,770.2,12.6,642,9543,0.00,1.42,0.00,0.000,4,0.000,0.056,2076,3806,1049,0,0,0,0,0,0
$GC,9595,0.45,110.3,762.0,14.9,644,9600,0.10,1.30,0.00,0.000,6,0.190,0.030,2055,2926,1049,0,0,0,0,0,0
$GC,9916,0.49,110.3,725.9,11.0,660,9920,0.00,1.42,0.00,0.000,4,0.000,0.056,2055,3809,1048,0,0,0,0,0,0
$GC,10029,0.49,110.3,711.3,13.5,665,10033,0.00,1.30,0.00,0.000,6,0.000,0.031,2060,2929,1048,0,0,0,0,0,0
$GC,10361,0.53,110.3,673.6,11.2,681,10365,0.00,1.42,0.00,0.000,4,0.000,0.056,2060,3814,1048,0,0,0,0,0,0
$GC,10488,0.53,110.3,656.5,13.7,686,10496,0.00,1.30,0.00,0.000,6,0.000,0.029,2067,2925,1048,0,0,0,0,0,0
$GC,10805,0.56,110.3,618.1,11.6,702,10808,0.00,1.27,0.00,0.000,4,0.000,0.033,2074,2070,1048,0,0,0,0,0,0
$GC,10865,0.61,110.3,611.3,10.1,704,10872,0.00,1.38,0.00,0.000,6,0.000,0.049,2074,2924,1048,0,0,0,0,0,0
$GC,11181,0.61,110.3,573.1,12.3,720,11185,0.00,1.45,0.00,0.000,4,0.000,0.057,2074,3818,1048,0,0,0,0,0,0
$GC,11249,0.58,110.3,563.7,14.5,723,11253,0.00,1.30,0.00,0.000,6,0.000,0.031,2080,2939,1048,0,0,0,0,0,0
$GC,11581,0.58,110.3,521.1,12.7,739,11585,0.00,1.40,0.00,0.000,4,0.000,0.057,2080,3810,1048,0,0,0,0,0,0
$GC,11618,0.54,110.3,515.5,15.0,740,11626,0.00,1.33,0.00,0.000,6,0.000,0.030,2087,2918,1047,0,0,0,0,0,0
$GC,11934,0.54,110.3,472.5,13.8,756,11938,0.00,1.42,0.00,0.000,4,0.000,0.056,2087,3805,1048,0,0,0,0,0,0
$GC,11967,0.49,110.3,467.5,15.1,757,11971,0.10,1.30,0.00,0.000,6,0.188,0.031,2066,2924,1048,0,0,0,0,0,0
$GC,12288,0.52,110.3,427.0,12.2,773,12292,0.00,1.45,0.00,0.000,4,0.000,0.057,2066,3807,1048,0,0,0,0,0,0
$GC,12321,0.52,110.3,422.4,14.0,774,12325,0.00,1.30,0.00,0.000,6,0.000,0.030,2071,2929,1047,0,0,0,0,0,0
$GC,12649,0.54,110.3,382.6,12.0,796,12657,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2928,1048,0,0,0,0,0,0
$GC,12975,0.56,110.3,342.4,12.6,827,12979,0.00,1.42,0.00,0.000,4,0.000,0.057,2071,3812,1048,0,0,0,0,0,0
$GC,13066,0.54,110.3,329.4,14.2,835,13070,0.00,1.30,0.00,0.000,6,0.000,0.030,2077,2930,1048,0,0,0,0,0,0
$GC,13397,0.54,110.3,289.1,11.3,866,13400,0.00,1.42,0.00,0.000,4,0.000,0.056,2078,3813,1048,0,0,0,0,0,0
$GC,13503,0.51,110.3,274.3,13.2,875,13510,0.00,1.33,0.00,0.000,6,0.000,0.029,2084,2917,1048,0,0,0,0,0,0
$GC,13828,0.51,110.3,235.1,12.3,906,13831,0.00,1.42,0.00,0.000,4,0.000,0.056,2084,3807,1048,0,0,0,0,0,0
$GC,13896,0.46,110.3,225.4,14.1,912,13900,0.10,1.30,0.00,0.000,6,0.186,0.030,2062,2922,1048,0,0,0,0,0,0
$GC,14228,0.56,127.9,201.0,6.5,943,14253,0.00,1.45,15.32,1.389,4,0.000,0.057,2063,3805,980,0,0,0,0,0,0
$GC,14378,0.57,127.9,186.3,12.5,956,14382,0.00,1.30,0.00,0.000,6,0.000,0.031,2067,2930,982,0,0,0,0,0,0
$GC,14708,0.62,127.9,149.9,11.4,987,14713,0.12,1.33,0.00,0.000,4,0.097,0.031,2133,2044,982,0,0,0,0,0,0
$GC,14742,0.62,127.9,145.6,13.3,990,14745,0.00,1.42,0.00,0.000,6,0.000,0.049,2132,2930,982,0,0,0,0,0,0
$GC,15069,0.57,127.9,93.8,16.0,1023,15078,0.15,1.40,0.00,0.000,4,0.190,0.054,2096,3801,982,0,0,0,0,0,0
$GC,15150,0.53,127.9,81.0,15.2,1036,15156,0.00,1.30,0.00,0.000,6,0.000,0.030,2100,2916,981,0,0,0,0,0,0
$GC,15504,0.53,127.9,33.6,11.7,1097,15513,0.00,1.27,0.00,0.000,4,0.000,0.032,2107,2048,982,0,0,0,0,0,0
$GC,15551,0.56,127.9,27.3,13.0,1104,15560,0.00,1.40,0.00,0.000,6,0.000,0.050,2107,2923,982,0,0,0,0,0,0
$GC,15704,0.52,127.9,4.6,16.1,1129,15713,0.12,1.42,0.00,0.000,4,0.207,0.054,2079,3814,982,0,0,0,0,0,0
$STATE,15720,end climb,SURFACE_DEPTH_REACHED
$STATE,15720,begin surface coast
$FINISH,1.3,1.022825
$STATE,15740,end surface coast,CONTROL_FINISHED_OK
$STATE,15740,begin surface
$SM_CCo,15754,46.85,0.562,1,0,681,200.16
$SM_GC,2.14,0.00,0.00,46.85,0.000,0.000,0.562,63,3230,681,-5.75,0.59,200.16
$IRIDIUM_FIX,-4247.91,826.16,030708,020237
$TT8_MAMPS,0.026964
$HUMID,62.87
$INTERNAL_PRESSURE,11.3786
$TCM_TEMP,13.00
$XPDR_PINGS,0
$24V_AH,22.1,38.485
$10V_AH,10.2,23.458
$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,15.600,85.400,244.125,46.850,0.000,28.244,20.805,297.714,0.000,0.000,22.518,2839.946,9819.343,438.121,2978.808,204.152,0.000,1586.182,0.000,2605.133,0.000,0.543,0.000
$DEVICE_MAMPS,228.735,58.140,1897.965,561.510,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,787.872,810.634,818.275,73.755,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353944
$DATA_FILE_SIZE,66918,1134
$CAP_FILE_SIZE,158475,0
$CFSIZE,259252224,242745344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,060915,213505,-4304.029,824.478,73,2.0,73,-25.0