version: 66.07
glider: 543
mission: 14
dive: 206
start: 9 8 115 14 37 21
data:
$ID,543
$MISSION,14
$DIVE,206
$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,-24782.438
$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,47
$R_STBD_OVSHOOT,22
$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
$GPS1,080915,142733,-4255.287,837.282,69,1.0,69,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-65.8
$GPS2,080915,143658,-4255.265,837.454,20,1.0,21,-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,260.5,2396,-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,-45.03,0.000,6,0.000,0.000,61,3216,1705,0,0,0,0,0,0
$GC,67,-0.60,-104.7,3.1,-2.2,6,86,6.80,1.23,-6.70,0.000,4,0.232,0.077,1700,3959,1927,0,0,0,0,0,0
$GC,135,-0.54,-104.7,18.3,-24.1,16,145,0.08,1.15,0.00,0.000,6,0.171,0.031,1722,3195,1930,0,0,0,0,0,0
$GC,194,-0.52,-104.7,25.9,-11.3,25,203,0.00,1.23,0.00,0.000,4,0.000,0.056,1718,3957,1930,0,0,0,0,0,0
$GC,241,-0.46,-104.7,32.7,-15.3,32,251,0.10,1.12,0.00,0.000,6,0.164,0.031,1747,3202,1930,0,0,0,0,0,0
$GC,390,-0.46,-104.7,53.3,-17.1,57,398,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3202,1930,0,0,0,0,0,0
$GC,737,-0.49,-104.7,103.0,-13.6,116,741,0.00,1.20,0.00,0.000,4,0.000,0.057,1742,3954,1930,0,0,0,0,0,0
$GC,786,-0.49,-104.7,110.0,-12.6,120,796,0.00,1.12,0.00,0.000,6,0.000,0.031,1742,3198,1930,0,0,0,0,0,0
$GC,1112,-0.51,-104.7,151.0,-12.8,151,1116,0.00,1.20,0.00,0.000,4,0.000,0.056,1737,3955,1930,0,0,0,0,0,0
$GC,1139,-0.51,-104.7,155.2,-15.1,153,1147,0.00,1.12,0.00,0.000,6,0.000,0.031,1737,3197,1930,0,0,0,0,0,0
$GC,1465,-0.53,-104.7,199.7,-13.0,184,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,1737,3198,1930,0,0,0,0,0,0
$GC,1784,-0.56,-104.7,241.5,-12.8,214,1785,0.00,0.00,0.00,0.000,6,0.000,0.000,1737,3198,1930,0,0,0,0,0,0
$GC,2103,-0.59,-104.7,279.8,-12.0,244,2106,0.00,1.20,0.00,0.000,4,0.000,0.056,1731,3957,1930,0,0,0,0,0,0
$GC,2141,-0.59,-104.7,285.3,-14.0,247,2148,0.00,1.10,0.00,0.000,6,0.000,0.031,1732,3216,1930,0,0,0,0,0,0
$GC,2467,-0.62,-104.7,327.0,-13.0,278,2470,0.00,1.17,0.00,0.000,4,0.000,0.056,1726,3957,1930,0,0,0,0,0,0
$GC,2504,-0.62,-104.7,331.8,-14.1,281,2508,0.00,1.10,0.00,0.000,6,0.000,0.032,1726,3207,1930,0,0,0,0,0,0
$GC,2834,-0.62,-104.7,374.9,-13.6,312,2838,0.00,1.17,0.00,0.000,4,0.000,0.056,1721,3951,1930,0,0,0,0,0,0
$GC,2872,-0.62,-104.7,380.5,-14.3,315,2880,0.00,1.10,0.00,0.000,6,0.000,0.031,1721,3205,1930,0,0,0,0,0,0
$GC,3195,-0.62,-104.7,422.9,-13.1,338,3198,0.00,1.17,0.00,0.000,4,0.000,0.056,1715,3951,1930,0,0,0,0,0,0
$GC,3233,-0.60,-104.7,428.4,-13.8,339,3240,0.00,1.08,0.00,0.000,6,0.000,0.031,1715,3215,1930,0,0,0,0,0,0
$GC,3549,-0.60,-104.7,468.2,-12.2,355,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,3215,1930,0,0,0,0,0,0
$GC,3858,-0.60,-104.7,505.7,-12.3,370,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,3215,1929,0,0,0,0,0,0
$GC,4167,-0.60,-104.7,541.8,-11.5,385,4171,0.00,1.17,0.00,0.000,4,0.000,0.057,1709,3956,1930,0,0,0,0,0,0
$GC,4267,-0.58,-104.7,554.6,-12.3,389,4271,0.00,1.10,0.00,0.000,6,0.000,0.032,1710,3209,1930,0,0,0,0,0,0
$GC,4588,-0.58,-104.7,595.2,-12.8,405,4590,0.00,0.00,0.00,0.000,6,0.000,0.000,1710,3209,1930,0,0,0,0,0,0
$GC,4898,-0.58,-104.7,637.2,-14.0,420,4902,0.00,1.17,0.00,0.000,4,0.000,0.057,1704,3951,1930,0,0,0,0,0,0
$GC,4953,-0.55,-104.7,645.6,-14.3,422,4958,0.00,1.10,0.00,0.000,6,0.000,0.031,1704,3202,1930,0,0,0,0,0,0
$GC,5274,-0.55,-104.7,690.8,-14.3,438,5278,0.00,1.20,0.00,0.000,4,0.000,0.057,1698,3958,1930,0,0,0,0,0,0
$GC,5387,-0.52,-104.7,708.4,-15.5,443,5392,0.10,1.10,0.00,0.000,6,0.158,0.032,1729,3216,1930,0,0,0,0,0,0
$GC,5721,-0.56,-104.7,749.6,-12.0,459,5723,0.00,0.00,0.00,0.000,6,0.000,0.000,1729,3216,1930,0,0,0,0,0,0
$GC,6029,-0.60,-104.7,785.5,-11.4,474,6030,0.00,0.00,0.00,0.000,6,0.000,0.000,1729,3216,1930,0,0,0,0,0,0
$GC,6338,-0.64,-104.7,818.6,-10.4,489,6339,0.00,0.00,0.00,0.000,6,0.000,0.000,1729,3216,1930,0,0,0,0,0,0
$GC,6647,-0.69,-104.7,850.2,-10.4,504,6649,0.15,0.00,0.00,0.000,6,0.093,0.000,1666,3214,1930,0,0,0,0,0,0
$GC,6957,-0.62,-104.7,893.8,-13.9,519,6959,0.15,0.00,0.00,0.000,6,0.184,0.000,1703,3215,1930,0,0,0,0,0,0
$GC,7265,-0.62,-104.7,928.8,-11.3,534,7267,0.00,0.00,0.00,0.000,6,0.000,0.000,1703,3215,1930,0,0,0,0,0,0
$GC,7575,-0.62,-104.7,964.2,-11.7,549,7579,0.00,1.17,0.00,0.000,4,0.000,0.059,1699,3949,1930,0,0,0,0,0,0
$GC,7630,-0.60,-104.7,971.3,-12.6,551,7635,0.00,1.10,0.00,0.000,6,0.000,0.031,1699,3202,1930,0,0,0,0,0,0
$STATE,7867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7867,begin apogee
$GC,7872,-0.09,0.0,1000.9,12.6,563,7984,0.60,0.00,108.35,1.897,6,0.155,0.000,1871,2920,1499,0,0,0,0,0,0
$STATE,7985,end apogee,CONTROL_FINISHED_OK
$STATE,7985,begin climb
$GC,7987,0.60,104.7,1004.0,0.0,568,8103,0.68,1.52,109.60,1.846,4,0.090,0.031,2096,2044,1072,0,0,0,0,0,0
$GC,8132,0.60,104.7,991.7,12.7,575,8136,0.00,1.55,0.00,0.000,6,0.000,0.047,2096,2924,1075,0,0,0,0,0,0
$GC,8464,0.56,104.7,942.3,15.2,591,8468,0.00,1.48,0.00,0.000,4,0.000,0.057,2096,3811,1073,0,0,0,0,0,0
$GC,8645,0.47,104.7,911.3,17.7,599,8649,0.15,1.35,0.00,0.000,6,0.196,0.031,2063,2912,1072,0,0,0,0,0,0
$GC,8978,0.50,104.7,869.0,12.4,615,8981,0.00,1.45,0.00,0.000,4,0.000,0.057,2063,3802,1071,0,0,0,0,0,0
$GC,9010,0.47,104.7,864.0,14.7,616,9015,0.00,1.33,0.00,0.000,6,0.000,0.030,2068,2918,1072,0,0,0,0,0,0
$GC,9332,0.47,104.7,823.0,12.6,632,9335,0.00,1.45,0.00,0.000,4,0.000,0.057,2068,3812,1071,0,0,0,0,0,0
$GC,9437,0.43,104.7,807.3,14.5,636,9445,0.00,1.33,0.00,0.000,6,0.000,0.030,2075,2924,1071,0,0,0,0,0,0
$GC,9753,0.43,104.7,767.5,12.4,652,9757,0.00,1.45,0.00,0.000,4,0.000,0.058,2075,3808,1071,0,0,0,0,0,0
$GC,9821,0.38,104.7,757.9,15.4,655,9826,0.17,1.33,0.00,0.000,6,0.185,0.031,2033,2922,1071,0,0,0,0,0,0
$GC,10154,0.45,104.7,725.1,9.7,671,10158,0.00,1.42,0.00,0.000,4,0.000,0.058,2033,3807,1071,0,0,0,0,0,0
$GC,10282,0.48,104.7,710.7,11.8,676,10289,0.00,1.30,0.00,0.000,6,0.000,0.031,2038,2926,1070,0,0,0,0,0,0
$GC,10598,0.55,104.7,680.0,9.7,692,10602,0.12,1.45,0.00,0.000,4,0.099,0.059,2092,3813,1069,0,0,0,0,0,0
$GC,10778,0.48,104.7,652.8,16.1,700,10782,0.12,1.33,0.00,0.000,6,0.190,0.031,2064,2913,1070,0,0,0,0,0,0
$GC,11111,0.51,104.7,615.2,11.4,716,11114,0.00,1.45,0.00,0.000,4,0.000,0.058,2063,3810,1070,0,0,0,0,0,0
$GC,11239,0.48,104.7,597.9,14.0,721,11246,0.00,1.30,0.00,0.000,6,0.000,0.031,2069,2933,1070,0,0,0,0,0,0
$GC,11555,0.50,104.7,559.9,11.9,737,11559,0.00,1.40,0.00,0.000,4,0.000,0.057,2068,3805,1070,0,0,0,0,0,0
$GC,11661,0.46,104.7,545.1,13.4,741,11668,0.00,1.30,0.00,0.000,6,0.000,0.031,2075,2922,1069,0,0,0,0,0,0
$GC,11977,0.46,104.7,504.3,12.9,757,11980,0.00,1.42,0.00,0.000,4,0.000,0.057,2075,3809,1070,0,0,0,0,0,0
$GC,12117,0.41,104.7,483.5,14.7,763,12121,0.12,1.30,0.00,0.000,6,0.183,0.031,2046,2928,1070,0,0,0,0,0,0
$GC,12443,0.47,104.7,448.6,10.4,779,12447,0.00,1.42,0.00,0.000,4,0.000,0.058,2046,3811,1069,0,0,0,0,0,0
$GC,12565,0.47,104.7,433.6,12.6,784,12570,0.00,1.33,0.00,0.000,6,0.000,0.030,2051,2919,1069,0,0,0,0,0,0
$GC,12887,0.52,104.7,398.4,11.0,800,12889,0.00,0.00,0.00,0.000,6,0.000,0.000,2051,2919,1069,0,0,0,0,0,0
$GC,13207,0.57,104.7,363.7,10.3,830,13211,0.10,1.45,0.00,0.000,4,0.105,0.060,2098,3805,1069,0,0,0,0,0,0
$GC,13368,0.49,104.7,338.4,17.0,844,13379,0.12,1.30,0.00,0.000,6,0.190,0.030,2070,2927,1069,0,0,0,0,0,0
$GC,13696,0.51,104.7,299.9,11.8,875,13700,0.00,1.42,0.00,0.000,4,0.000,0.057,2070,3815,1069,0,0,0,0,0,0
$GC,13780,0.48,104.7,288.2,13.5,882,13787,0.00,1.30,0.00,0.000,6,0.000,0.031,2075,2926,1069,0,0,0,0,0,0
$GC,14107,0.48,104.7,249.8,11.3,913,14111,0.00,1.42,0.00,0.000,4,0.000,0.057,2076,3813,1069,0,0,0,0,0,0
$GC,14277,0.44,104.7,227.2,13.6,928,14281,0.10,1.30,0.00,0.000,6,0.184,0.030,2054,2928,1069,0,0,0,0,0,0
$GC,14608,0.49,104.7,193.4,10.2,959,14611,0.00,1.42,0.00,0.000,4,0.000,0.057,2054,3815,1069,0,0,0,0,0,0
$GC,14665,0.49,104.7,186.6,11.7,964,14669,0.00,1.30,0.00,0.000,6,0.000,0.031,2059,2931,1069,0,0,0,0,0,0
$GC,14995,0.54,104.7,152.3,10.2,995,14999,0.00,1.40,0.00,0.000,4,0.000,0.056,2059,3806,1070,0,0,0,0,0,0
$GC,15067,0.54,104.7,143.3,12.9,1001,15075,0.00,1.30,0.00,0.000,6,0.000,0.030,2066,2921,1069,0,0,0,0,0,0
$GC,15393,0.58,104.7,107.3,9.0,1032,15396,0.00,1.27,0.00,0.000,4,0.000,0.032,2072,2054,1069,0,0,0,0,0,0
$GC,15431,0.66,114.6,104.1,7.4,1035,15442,0.10,1.40,4.93,0.952,6,0.063,0.049,2128,2925,1031,0,0,0,0,0,0
$GC,15786,0.60,114.6,53.5,16.2,1093,15792,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,2925,1033,0,0,0,0,0,0
$STATE,16092,end climb,SURFACE_DEPTH_REACHED
$STATE,16092,begin surface coast
$FINISH,1.2,1.026534
$STATE,16111,end surface coast,CONTROL_FINISHED_OK
$STATE,16111,begin surface
$SM_CCo,16125,61.08,0.516,1,0,681,200.16
$SM_GC,2.36,0.00,0.00,61.08,0.000,0.000,0.516,67,3224,681,-5.74,0.42,200.16
$IRIDIUM_FIX,-4236.17,833.59,040708,222225
$TT8_MAMPS,0.027713
$HUMID,61.93
$INTERNAL_PRESSURE,11.3786
$TCM_TEMP,13.20
$XPDR_PINGS,0
$24V_AH,22.0,39.938
$10V_AH,10.2,24.481
$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,15.300,75.425,222.875,61.075,0.000,27.546,21.979,377.996,0.000,0.000,23.352,2877.483,10179.670,409.326,3079.228,203.646,0.000,1542.171,0.000,2617.094,0.000,0.545,0.000
$DEVICE_MAMPS,231.795,77.265,1897.200,516.375,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,798.181,819.110,798.495,70.255,0.000,0.000,0.000,0.000,0.000,0.000
$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,66862,1148
$CAP_FILE_SIZE,156339,0
$CFSIZE,259252224,242020352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,080915,190835,-4255.483,836.246,48,0.9,48,-25.1