version: 66.07
glider: 543
mission: 14
dive: 207
start: 9 8 115 19 17 56
data:
$ID,543
$MISSION,14
$DIVE,207
$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,-24785.658
$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,72
$R_STBD_OVSHOOT,25
$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
$GPS1,080915,190835,-4255.483,836.246,48,0.9,48,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-66.7
$GPS2,080915,191733,-4255.433,836.326,37,1.1,37,-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,227.9,1140,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.54,-49.8,0.0,0.0,0,65,0.00,0.00,-45.00,0.000,6,0.000,0.000,61,3224,1704,0,0,0,0,0,0
$GC,67,-0.59,-97.8,3.2,-3.0,6,86,6.70,1.23,-6.03,0.000,4,0.225,0.078,1704,3961,1900,0,0,0,0,0,0
$GC,177,-0.49,-97.8,24.7,-24.9,23,186,0.10,1.10,0.00,0.000,6,0.167,0.031,1733,3225,1902,0,0,0,0,0,0
$GC,326,-0.49,-97.8,51.0,-15.0,48,335,0.00,1.17,0.00,0.000,4,0.000,0.056,1729,3957,1902,0,0,0,0,0,0
$GC,376,-0.45,-97.8,59.4,-18.0,56,383,0.08,1.12,0.00,0.000,6,0.163,0.031,1751,3206,1902,0,0,0,0,0,0
$GC,730,-0.49,-97.8,107.4,-12.9,113,736,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,3205,1902,0,0,0,0,0,0
$GC,1056,-0.53,-97.8,146.2,-11.7,144,1059,0.00,1.30,0.00,0.000,4,0.000,0.028,1751,2297,1902,0,0,0,0,0,0
$GC,1115,-0.63,-97.8,152.6,-10.5,149,1119,0.10,1.48,0.00,0.000,6,0.056,0.052,1685,3207,1902,0,0,0,0,0,0
$GC,1445,-0.55,-97.8,206.4,-16.7,180,1449,0.15,1.17,0.00,0.000,4,0.188,0.054,1718,3945,1902,0,0,0,0,0,0
$GC,1504,-0.52,-97.8,215.2,-14.7,185,1507,0.00,1.08,0.00,0.000,6,0.000,0.031,1717,3206,1902,0,0,0,0,0,0
$GC,1834,-0.52,-97.8,258.4,-13.0,216,1837,0.00,1.17,0.00,0.000,4,0.000,0.054,1712,3950,1902,0,0,0,0,0,0
$GC,1917,-0.48,-97.8,270.9,-15.7,223,1925,0.10,1.08,0.00,0.000,6,0.164,0.030,1741,3221,1902,0,0,0,0,0,0
$GC,2243,-0.52,-97.8,307.1,-11.4,254,2244,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,3221,1902,0,0,0,0,0,0
$GC,2562,-0.57,-97.8,343.8,-12.3,284,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,3221,1902,0,0,0,0,0,0
$GC,2883,-0.61,-97.8,380.8,-11.4,314,2885,0.10,0.00,0.00,0.000,6,0.112,0.000,1695,3220,1902,0,0,0,0,0,0
$GC,3205,-0.57,-97.8,428.6,-15.0,336,3208,0.00,1.15,0.00,0.000,4,0.000,0.056,1689,3949,1902,0,0,0,0,0,0
$GC,3277,-0.49,-97.8,440.8,-17.2,339,3282,0.17,1.08,0.00,0.000,6,0.161,0.031,1741,3216,1902,0,0,0,0,0,0
$GC,3605,-0.54,-97.8,479.3,-11.2,355,3608,0.00,1.15,0.00,0.000,4,0.000,0.057,1737,3941,1902,0,0,0,0,0,0
$GC,3654,-0.57,-97.8,485.4,-11.9,357,3658,0.00,1.08,0.00,0.000,6,0.000,0.031,1737,3204,1902,0,0,0,0,0,0
$GC,3981,-0.61,-97.8,522.3,-11.3,373,3983,0.00,0.00,0.00,0.000,6,0.000,0.000,1737,3203,1902,0,0,0,0,0,0
$GC,4291,-0.65,-97.8,557.4,-11.4,388,4295,0.12,1.23,0.00,0.000,4,0.097,0.057,1676,3956,1902,0,0,0,0,0,0
$GC,4336,-0.56,-97.8,564.3,-16.4,390,4341,0.12,1.10,0.00,0.000,6,0.164,0.032,1713,3213,1902,0,0,0,0,0,0
$GC,4669,-0.56,-97.8,609.8,-13.6,406,4672,0.00,1.17,0.00,0.000,4,0.000,0.057,1709,3953,1903,0,0,0,0,0,0
$GC,4752,-0.53,-97.8,622.7,-14.4,409,4759,0.00,1.10,0.00,0.000,6,0.000,0.031,1709,3202,1903,0,0,0,0,0,0
$GC,5068,-0.53,-97.8,665.6,-13.5,425,5071,0.00,1.17,0.00,0.000,4,0.000,0.057,1703,3940,1903,0,0,0,0,0,0
$GC,5128,-0.49,-97.8,674.7,-14.4,427,5136,0.12,1.08,0.00,0.000,6,0.160,0.031,1740,3217,1903,0,0,0,0,0,0
$GC,5444,-0.55,-97.8,708.6,-10.4,443,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,3218,1903,0,0,0,0,0,0
$GC,5754,-0.62,-97.8,739.8,-9.8,458,5756,0.10,0.00,0.00,0.000,6,0.111,0.000,1695,3217,1903,0,0,0,0,0,0
$GC,6064,-0.59,-97.8,781.7,-13.8,473,6067,0.00,1.17,0.00,0.000,4,0.000,0.057,1689,3956,1903,0,0,0,0,0,0
$GC,6176,-0.53,-97.8,798.3,-14.9,478,6181,0.12,1.10,0.00,0.000,6,0.161,0.032,1726,3216,1903,0,0,0,0,0,0
$GC,6509,-0.57,-97.8,835.4,-10.7,494,6513,0.00,1.17,0.00,0.000,4,0.000,0.058,1722,3953,1903,0,0,0,0,0,0
$GC,6555,-0.59,-97.8,840.9,-11.6,496,6559,0.00,1.12,0.00,0.000,6,0.000,0.032,1722,3187,1903,0,0,0,0,0,0
$GC,6887,-0.63,-97.8,878.4,-11.3,512,6891,0.00,1.23,0.00,0.000,4,0.000,0.058,1718,3953,1903,0,0,0,0,0,0
$GC,6970,-0.63,-97.8,888.7,-12.8,515,6978,0.00,1.12,0.00,0.000,6,0.000,0.032,1717,3201,1902,0,0,0,0,0,0
$GC,7287,-0.65,-97.8,924.9,-11.6,531,7290,0.00,1.30,0.00,0.000,4,0.000,0.030,1717,2304,1903,0,0,0,0,0,0
$GC,7348,-0.72,-97.8,931.8,-10.5,533,7355,0.08,1.48,0.00,0.000,6,0.060,0.053,1662,3210,1902,0,0,0,0,0,0
$GC,7663,-0.65,-97.8,979.7,-15.4,549,7668,0.12,1.20,0.00,0.000,4,0.197,0.057,1688,3957,1903,0,0,0,0,0,0
$GC,7709,-0.60,-97.8,986.5,-14.5,551,7713,0.00,1.10,0.00,0.000,6,0.000,0.032,1688,3210,1903,0,0,0,0,0,0
$STATE,7813,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7813,begin apogee
$GC,7817,-0.09,0.0,1000.8,13.5,556,7921,0.65,0.00,100.05,1.883,6,0.160,0.000,1872,2923,1499,0,0,0,0,0,0
$STATE,7921,end apogee,CONTROL_FINISHED_OK
$STATE,7921,begin climb
$GC,7923,0.59,97.8,1003.5,0.0,561,8030,0.70,0.00,103.50,1.845,6,0.088,0.000,2095,2923,1099,0,0,0,0,0,0
$GC,8326,0.55,97.8,955.5,14.1,581,8327,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2923,1106,0,0,0,0,0,0
$GC,8635,0.51,97.8,913.2,13.9,596,8636,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2923,1105,0,0,0,0,0,0
$GC,8944,0.48,97.8,869.8,14.1,611,8948,0.15,1.45,0.00,0.000,4,0.199,0.060,2060,3799,1104,0,0,0,0,0,0
$GC,9084,0.45,97.8,849.9,13.3,617,9087,0.00,1.33,0.00,0.000,6,0.000,0.031,2066,2916,1103,0,0,0,0,0,0
$GC,9410,0.45,97.8,811.3,11.4,633,9414,0.00,1.42,0.00,0.000,4,0.000,0.057,2066,3798,1103,0,0,0,0,0,0
$GC,9533,0.40,97.8,794.7,13.4,638,9538,0.10,1.30,0.00,0.000,6,0.196,0.031,2045,2921,1102,0,0,0,0,0,0
$GC,9854,0.45,97.8,763.1,9.7,654,9858,0.00,1.42,0.00,0.000,4,0.000,0.057,2044,3804,1102,0,0,0,0,0,0
$GC,10005,0.45,97.8,746.6,11.4,660,10012,0.00,1.30,0.00,0.000,6,0.000,0.031,2050,2935,1102,0,0,0,0,0,0
$GC,10321,0.49,97.8,716.7,9.3,676,10325,0.00,1.40,0.00,0.000,4,0.000,0.057,2050,3804,1102,0,0,0,0,0,0
$GC,10483,0.49,97.8,698.0,11.5,683,10488,0.00,1.33,0.00,0.000,6,0.000,0.031,2056,2918,1102,0,0,0,0,0,0
$GC,10811,0.52,97.8,665.7,10.4,699,10815,0.00,1.42,0.00,0.000,4,0.000,0.057,2056,3802,1102,0,0,0,0,0,0
$GC,10928,0.50,97.8,651.5,12.3,704,10932,0.00,1.30,0.00,0.000,6,0.000,0.031,2063,2925,1101,0,0,0,0,0,0
$GC,11256,0.52,97.8,618.8,9.7,720,11259,0.00,1.42,0.00,0.000,4,0.000,0.057,2063,3811,1101,0,0,0,0,0,0
$GC,11333,0.49,97.8,609.8,12.0,723,11337,0.00,1.33,0.00,0.000,6,0.000,0.031,2069,2920,1101,0,0,0,0,0,0
$GC,11655,0.49,97.8,577.7,9.6,739,11658,0.00,1.42,0.00,0.000,4,0.000,0.057,2069,3804,1101,0,0,0,0,0,0
$GC,11828,0.45,97.8,558.4,11.6,746,11835,0.00,1.30,0.00,0.000,6,0.000,0.031,2076,2923,1101,0,0,0,0,0,0
$GC,12144,0.45,97.8,528.1,9.7,762,12148,0.00,1.40,0.00,0.000,4,0.000,0.057,2076,3794,1101,0,0,0,0,0,0
$GC,12272,0.39,97.8,513.6,10.8,767,12279,0.15,1.30,0.00,0.000,6,0.183,0.031,2040,2919,1101,0,0,0,0,0,0
$GC,12589,0.47,109.7,490.5,7.2,783,12604,0.00,1.40,10.68,1.513,4,0.000,0.057,2039,3807,1053,0,0,0,0,0,0
$GC,12672,0.49,109.7,482.9,9.5,786,12676,0.00,1.33,0.00,0.000,6,0.000,0.031,2045,2926,1059,0,0,0,0,0,0
$GC,13005,0.55,109.7,453.8,9.3,802,13009,0.12,1.45,0.00,0.000,4,0.093,0.059,2101,3808,1059,0,0,0,0,0,0
$GC,13188,0.46,109.7,427.1,15.1,810,13193,0.17,1.33,0.00,0.000,6,0.188,0.031,2060,2920,1059,0,0,0,0,0,0
$GC,13507,0.50,109.7,393.2,10.3,828,13508,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2920,1059,0,0,0,0,0,0
$GC,13825,0.53,109.7,358.4,11.1,858,13829,0.00,1.42,0.00,0.000,4,0.000,0.057,2060,3804,1058,0,0,0,0,0,0
$GC,14027,0.53,109.7,331.7,13.6,876,14031,0.00,1.30,0.00,0.000,6,0.000,0.031,2066,2927,1059,0,0,0,0,0,0
$GC,14358,0.56,109.7,294.3,10.6,907,14362,0.00,1.42,0.00,0.000,4,0.000,0.058,2066,3811,1059,0,0,0,0,0,0
$GC,14429,0.54,109.7,286.2,12.3,913,14432,0.00,1.33,0.00,0.000,6,0.000,0.031,2072,2921,1059,0,0,0,0,0,0
$GC,14759,0.56,109.7,249.9,11.1,944,14763,0.00,1.42,0.00,0.000,4,0.000,0.057,2072,3807,1059,0,0,0,0,0,0
$GC,14979,0.52,109.7,220.2,14.4,963,14986,0.00,1.30,0.00,0.000,6,0.000,0.031,2078,2923,1059,0,0,0,0,0,0
$GC,15304,0.52,109.7,178.8,13.7,994,15307,0.00,1.27,0.00,0.000,4,0.000,0.033,2086,2057,1059,0,0,0,0,0,0
$GC,15331,0.55,109.7,175.3,12.6,996,15340,0.00,1.40,0.00,0.000,6,0.000,0.050,2086,2928,1059,0,0,0,0,0,0
$GC,15656,0.55,109.7,135.1,11.1,1027,15659,0.00,1.40,0.00,0.000,4,0.000,0.057,2085,3813,1059,0,0,0,0,0,0
$GC,15820,0.50,109.7,113.0,14.5,1041,15827,0.00,1.30,0.00,0.000,6,0.000,0.031,2092,2927,1059,0,0,0,0,0,0
$GC,16161,0.50,109.7,70.5,12.3,1092,16169,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2927,1058,0,0,0,0,0,0
$GC,16517,0.50,109.7,24.5,13.5,1153,16526,0.00,1.40,0.00,0.000,4,0.000,0.057,2092,3804,1059,0,0,0,0,0,0
$STATE,16663,end climb,SURFACE_DEPTH_REACHED
$STATE,16663,begin surface coast
$FINISH,1.3,1.026267
$STATE,16682,end surface coast,CONTROL_FINISHED_OK
$STATE,16682,begin surface
$SM_CCo,16696,44.17,0.138,0,0,682,200.16
$SM_GC,2.42,0.00,0.00,44.17,0.000,0.000,0.138,64,3220,682,-5.75,0.31,200.16
$IRIDIUM_FIX,-4239.11,836.50,050708,030345
$TT8_MAMPS,0.027713
$HUMID,62.60
$INTERNAL_PRESSURE,11.3688
$TCM_TEMP,13.10
$XPDR_PINGS,0
$24V_AH,22.0,40.074
$10V_AH,10.2,24.590
$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,15.825,78.800,214.225,44.175,0.000,26.757,28.328,336.228,0.000,0.000,39.022,2983.979,10484.748,400.384,3197.148,211.234,0.000,1574.152,0.000,2759.245,0.000,0.544,0.000
$DEVICE_MAMPS,224.910,78.030,1883.430,138.465,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,820.157,837.655,811.693,73.436,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353960
$DATA_FILE_SIZE,66811,1180
$CAP_FILE_SIZE,163098,0
$CFSIZE,259252224,241938432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,080915,235931,-4256.530,836.259,120,1.0,120,-25.1