version: 66.07
glider: 543
mission: 14
dive: 201
start: 9 7 115 10 39 11
data:
$ID,543
$MISSION,14
$DIVE,201
$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,-24763.506
$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,85
$R_STBD_OVSHOOT,42
$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
$GPS1,070915,102333,-4256.684,825.247,88,1.2,88,-25.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-66.4
$GPS2,070915,103848,-4256.579,825.444,18,0.8,20,-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,323.7,2232,-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,12,begin dive
$GC,14,-0.54,-49.8,0.0,0.0,0,64,0.00,0.00,-45.28,0.000,6,0.000,0.000,62,3236,1703,0,0,0,0,0,0
$GC,66,-0.60,-109.3,2.9,-1.7,6,92,6.75,1.15,-8.18,0.000,4,0.230,0.083,1698,3924,1947,0,0,0,0,0,0
$GC,112,-0.37,-109.3,9.4,-13.7,12,122,0.28,1.05,0.00,0.000,6,0.171,0.033,1775,3243,1948,0,0,0,0,0,0
$GC,171,-0.47,-109.3,15.9,-9.0,21,180,0.00,1.40,0.00,0.000,4,0.000,0.027,1775,2286,1949,0,0,0,0,0,0
$GC,201,-0.57,-109.3,18.6,-9.1,25,210,0.10,1.48,0.00,0.000,6,0.056,0.051,1709,3188,1949,0,0,0,0,0,0
$GC,260,-0.53,-109.3,26.2,-14.5,34,268,0.00,0.00,0.00,0.000,6,0.000,0.000,1708,3189,1949,0,0,0,0,0,0
$GC,407,-0.49,-109.3,51.6,-16.2,59,414,0.15,1.23,0.00,0.000,4,0.184,0.054,1741,3950,1949,0,0,0,0,0,0
$GC,432,-0.47,-109.3,55.7,-16.7,63,441,0.00,1.12,0.00,0.000,6,0.000,0.030,1741,3183,1949,0,0,0,0,0,0
$GC,787,-0.50,-109.3,103.5,-13.4,123,791,0.00,1.25,0.00,0.000,4,0.000,0.026,1741,2301,1949,0,0,0,0,0,0
$GC,889,-0.57,-109.3,116.3,-12.0,132,893,0.00,1.48,0.00,0.000,6,0.000,0.050,1734,3213,1949,0,0,0,0,0,0
$GC,1220,-0.59,-109.3,161.3,-13.4,163,1224,0.00,1.15,0.00,0.000,4,0.000,0.055,1729,3944,1949,0,0,0,0,0,0
$GC,1280,-0.59,-109.3,170.0,-13.8,168,1290,0.00,1.08,0.00,0.000,6,0.000,0.029,1729,3213,1949,0,0,0,0,0,0
$GC,1606,-0.60,-109.3,212.3,-12.5,199,1609,0.00,1.17,0.00,0.000,4,0.000,0.055,1723,3956,1949,0,0,0,0,0,0
$GC,1697,-0.60,-109.3,224.4,-13.2,207,1701,0.00,1.10,0.00,0.000,6,0.000,0.029,1723,3198,1949,0,0,0,0,0,0
$GC,2027,-0.60,-109.3,264.9,-12.2,238,2030,0.00,1.17,0.00,0.000,4,0.000,0.055,1718,3943,1949,0,0,0,0,0,0
$GC,2064,-0.60,-109.3,269.2,-12.5,241,2068,0.00,1.08,0.00,0.000,6,0.000,0.030,1717,3201,1949,0,0,0,0,0,0
$GC,2394,-0.60,-109.3,313.5,-13.8,272,2398,0.00,1.27,0.00,0.000,4,0.000,0.027,1717,2297,1949,0,0,0,0,0,0
$GC,2433,-0.64,-109.3,318.7,-12.4,275,2440,0.00,1.45,0.00,0.000,6,0.000,0.050,1711,3205,1949,0,0,0,0,0,0
$GC,2758,-0.64,-109.3,361.7,-13.4,306,2761,0.00,1.17,0.00,0.000,4,0.000,0.055,1705,3957,1949,0,0,0,0,0,0
$GC,2860,-0.61,-109.3,376.7,-14.2,315,2864,0.00,1.08,0.00,0.000,6,0.000,0.030,1705,3212,1949,0,0,0,0,0,0
$GC,3197,-0.59,-109.3,422.4,-13.4,339,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,1705,3212,1949,0,0,0,0,0,0
$GC,3506,-0.59,-109.3,463.3,-13.3,354,3509,0.00,1.15,0.00,0.000,4,0.000,0.055,1699,3943,1949,0,0,0,0,0,0
$GC,3619,-0.55,-109.3,479.4,-14.8,359,3623,0.00,1.08,0.00,0.000,6,0.000,0.030,1699,3202,1949,0,0,0,0,0,0
$GC,3951,-0.53,-109.3,526.9,-14.6,375,3956,0.12,1.20,0.00,0.000,4,0.187,0.056,1726,3949,1950,0,0,0,0,0,0
$GC,3977,-0.53,-109.3,530.9,-14.4,376,3982,0.00,1.10,0.00,0.000,6,0.000,0.030,1726,3186,1950,0,0,0,0,0,0
$GC,4305,-0.56,-109.3,573.6,-13.2,392,4308,0.00,1.20,0.00,0.000,4,0.000,0.056,1720,3942,1950,0,0,0,0,0,0
$GC,4354,-0.56,-109.3,580.5,-13.7,394,4358,0.00,1.08,0.00,0.000,6,0.000,0.030,1720,3215,1950,0,0,0,0,0,0
$GC,4681,-0.59,-109.3,623.0,-12.9,410,4685,0.00,1.17,0.00,0.000,4,0.000,0.057,1715,3957,1950,0,0,0,0,0,0
$GC,4736,-0.59,-109.3,630.7,-13.2,412,4741,0.00,1.12,0.00,0.000,6,0.000,0.031,1715,3195,1950,0,0,0,0,0,0
$GC,5058,-0.61,-109.3,671.5,-12.3,428,5062,0.00,1.20,0.00,0.000,4,0.000,0.057,1709,3956,1950,0,0,0,0,0,0
$GC,5095,-0.61,-109.3,676.8,-12.8,429,5103,0.00,1.10,0.00,0.000,6,0.000,0.031,1709,3214,1950,0,0,0,0,0,0
$GC,5412,-0.61,-109.3,713.3,-11.5,445,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,3214,1950,0,0,0,0,0,0
$GC,5722,-0.61,-109.3,749.8,-11.8,460,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,3214,1950,0,0,0,0,0,0
$GC,6030,-0.61,-109.3,787.5,-12.2,475,6032,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,3214,1950,0,0,0,0,0,0
$GC,6340,-0.61,-109.3,826.7,-12.8,490,6344,0.00,1.17,0.00,0.000,4,0.000,0.057,1704,3951,1950,0,0,0,0,0,0
$GC,6412,-0.61,-109.3,836.6,-14.0,493,6416,0.00,1.12,0.00,0.000,6,0.000,0.031,1704,3195,1950,0,0,0,0,0,0
$GC,6739,-0.61,-109.3,877.8,-12.5,509,6743,0.00,1.20,0.00,0.000,4,0.000,0.057,1698,3951,1950,0,0,0,0,0,0
$GC,6830,-0.59,-109.3,889.9,-13.5,513,6834,0.00,1.10,0.00,0.000,6,0.000,0.032,1698,3199,1950,0,0,0,0,0,0
$GC,7162,-0.59,-109.3,928.9,-11.5,529,7166,0.00,1.20,0.00,0.000,4,0.000,0.057,1692,3954,1950,0,0,0,0,0,0
$GC,7278,-0.56,-109.3,943.4,-12.9,534,7283,0.08,1.08,0.00,0.000,6,0.163,0.031,1714,3222,1950,0,0,0,0,0,0
$GC,7605,-0.60,-109.3,974.6,-9.6,550,7609,0.00,1.15,0.00,0.000,4,0.000,0.057,1711,3945,1950,0,0,0,0,0,0
$GC,7683,-0.61,-109.3,983.1,-11.3,553,7688,0.00,1.10,0.00,0.000,6,0.000,0.031,1711,3195,1950,0,0,0,0,0,0
$STATE,7879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7879,begin apogee
$GC,7884,-0.09,0.0,1001.5,9.6,563,8005,0.55,0.00,117.75,1.899,6,0.147,0.000,1872,2925,1499,0,0,0,0,0,0
$STATE,8006,end apogee,CONTROL_FINISHED_OK
$STATE,8006,begin climb
$GC,8007,0.60,109.3,1002.7,0.0,569,8128,0.70,1.45,113.40,1.844,4,0.090,0.028,2102,2047,1052,0,0,0,0,0,0
$GC,8160,0.60,109.3,985.1,16.1,575,8165,0.00,1.52,0.00,0.000,6,0.000,0.046,2102,2918,1051,0,0,0,0,0,0
$GC,8483,0.57,109.3,931.8,16.5,591,8487,0.00,1.45,0.00,0.000,4,0.000,0.056,2102,3808,1047,0,0,0,0,0,0
$GC,8623,0.49,109.3,905.1,19.2,597,8627,0.15,1.35,0.00,0.000,6,0.199,0.029,2069,2911,1046,0,0,0,0,0,0
$GC,8949,0.52,109.3,860.3,12.9,613,8953,0.00,1.48,0.00,0.000,4,0.000,0.055,2070,3811,1046,0,0,0,0,0,0
$GC,9062,0.49,109.3,843.5,15.6,618,9066,0.00,1.33,0.00,0.000,6,0.000,0.030,2075,2924,1045,0,0,0,0,0,0
$GC,9395,0.51,109.3,799.1,13.4,634,9398,0.00,1.42,0.00,0.000,4,0.000,0.057,2075,3807,1045,0,0,0,0,0,0
$GC,9489,0.47,109.3,784.4,16.3,638,9493,0.00,1.30,0.00,0.000,6,0.000,0.030,2082,2927,1044,0,0,0,0,0,0
$GC,9816,0.47,109.3,738.0,14.3,654,9819,0.00,1.42,0.00,0.000,4,0.000,0.056,2082,3807,1044,0,0,0,0,0,0
$GC,9862,0.43,109.3,730.7,17.9,656,9866,0.12,1.30,0.00,0.000,6,0.186,0.030,2053,2929,1044,0,0,0,0,0,0
$GC,10195,0.49,109.3,687.4,13.2,672,10196,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2928,1044,0,0,0,0,0,0
$GC,10504,0.54,109.3,647.1,13.0,687,10507,0.00,1.42,0.00,0.000,4,0.000,0.056,2053,3810,1044,0,0,0,0,0,0
$GC,10563,0.54,109.3,638.3,14.3,689,10571,0.00,1.33,0.00,0.000,6,0.000,0.029,2058,2923,1043,0,0,0,0,0,0
$GC,10880,0.59,109.3,598.0,12.5,705,10884,0.10,1.42,0.00,0.000,4,0.114,0.057,2101,3807,1043,0,0,0,0,0,0
$GC,10994,0.51,109.3,578.3,18.1,710,10998,0.10,1.30,0.00,0.000,6,0.199,0.030,2081,2928,1043,0,0,0,0,0,0
$GC,11325,0.51,109.3,530.9,14.2,726,11329,0.00,1.42,0.00,0.000,4,0.000,0.056,2081,3808,1043,0,0,0,0,0,0
$GC,11352,0.49,109.3,526.5,15.7,727,11356,0.00,1.30,0.00,0.000,6,0.000,0.030,2086,2923,1043,0,0,0,0,0,0
$GC,11679,0.49,109.3,478.0,15.0,743,11683,0.00,1.42,0.00,0.000,4,0.000,0.055,2086,3809,1043,0,0,0,0,0,0
$GC,11773,0.44,109.3,462.3,16.5,747,11778,0.15,1.30,0.00,0.000,6,0.178,0.030,2050,2922,1042,0,0,0,0,0,0
$GC,12100,0.50,109.3,422.7,11.8,763,12104,0.00,1.42,0.00,0.000,4,0.000,0.057,2050,3807,1043,0,0,0,0,0,0
$GC,12183,0.53,109.3,411.5,13.1,766,12191,0.00,1.30,0.00,0.000,6,0.000,0.030,2055,2928,1043,0,0,0,0,0,0
$GC,12506,0.58,109.3,375.0,11.0,792,12511,0.10,1.42,0.00,0.000,4,0.112,0.057,2101,3808,1043,0,0,0,0,0,0
$GC,12635,0.51,109.3,354.9,15.6,803,12643,0.12,1.30,0.00,0.000,6,0.191,0.030,2074,2927,1043,0,0,0,0,0,0
$GC,12960,0.54,109.3,317.2,11.5,834,12964,0.00,1.42,0.00,0.000,4,0.000,0.056,2074,3808,1043,0,0,0,0,0,0
$GC,13042,0.52,109.3,306.7,13.0,841,13046,0.00,1.30,0.00,0.000,6,0.000,0.030,2079,2924,1043,0,0,0,0,0,0
$GC,13373,0.54,109.3,269.4,11.0,872,13376,0.00,1.42,0.00,0.000,4,0.000,0.056,2078,3804,1043,0,0,0,0,0,0
$GC,13468,0.51,109.3,256.9,12.9,880,13477,0.00,1.30,0.00,0.000,6,0.000,0.028,2085,2916,1043,0,0,0,0,0,0
$GC,13794,0.51,109.3,216.0,13.4,911,13796,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,2915,1042,0,0,0,0,0,0
$GC,14115,0.51,109.3,172.7,13.1,941,14119,0.00,1.45,0.00,0.000,4,0.000,0.056,2085,3813,1043,0,0,0,0,0,0
$GC,14288,0.48,109.3,145.8,14.6,956,14298,0.00,1.30,0.00,0.000,6,0.000,0.028,2092,2923,1043,0,0,0,0,0,0
$GC,14615,0.48,109.3,103.9,12.4,987,14619,0.12,1.42,0.00,0.000,4,0.194,0.054,2062,3812,1043,0,0,0,0,0,0
$GC,14752,0.48,109.3,88.1,11.3,1008,14760,0.00,1.30,0.00,0.000,6,0.000,0.029,2068,2922,1043,0,0,0,0,0,0
$GC,15105,0.53,109.3,52.3,10.6,1069,15112,0.00,1.42,0.00,0.000,4,0.000,0.054,2067,3810,1043,0,0,0,0,0,0
$GC,15164,0.53,109.3,44.1,13.5,1079,15170,0.00,1.30,0.00,0.000,6,0.000,0.029,2074,2923,1043,0,0,0,0,0,0
$STATE,15500,end climb,SURFACE_DEPTH_REACHED
$STATE,15500,begin surface coast
$FINISH,1.3,1.026505
$STATE,15526,end surface coast,CONTROL_FINISHED_OK
$STATE,15526,begin surface
$SM_CCo,15539,58.80,0.469,1,0,682,200.16
$SM_GC,2.44,0.00,0.00,58.80,0.000,0.000,0.469,64,3224,682,-5.75,0.42,200.16
$IRIDIUM_FIX,-4244.98,632.78,030708,171754
$TT8_MAMPS,0.027713
$HUMID,62.08
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.1,39.054
$10V_AH,10.1,23.849
$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,14.975,87.300,231.150,58.800,0.000,84.722,189.080,379.976,0.000,0.000,22.162,2865.281,9664.566,420.849,3355.078,201.189,0.000,1575.979,0.000,2669.079,0.000,0.546,0.000
$DEVICE_MAMPS,230.265,82.620,1899.495,468.945,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,793.022,801.195,874.302,87.137,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353924
$DATA_FILE_SIZE,66948,1140
$CAP_FILE_SIZE,160364,0
$CFSIZE,259252224,242466816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,070915,150035,-4254.825,823.986,46,0.9,46,-25.0