version: 66.07
glider: 543
mission: 14
dive: 209
start: 9 9 115 4 44 46
data:
$ID,543
$MISSION,14
$DIVE,209
$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,-24792.387
$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,69
$R_STBD_OVSHOOT,31
$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
$GPS1,090915,043552,-4254.332,835.846,40,1.0,40,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-74.3
$GPS2,090915,044423,-4254.299,835.931,17,1.1,18,-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,203.4,3152,-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,-49.8,0.0,0.0,0,58,0.00,0.00,-41.38,0.000,2,0.000,0.000,61,3227,1658,0,0,0,0,0,0
$GC,60,-0.59,-96.7,3.3,-3.2,5,79,7.05,1.38,-7.10,0.000,4,0.243,0.054,1709,2345,1896,0,0,0,0,0,0
$GC,105,-0.37,-96.7,11.2,-17.2,11,114,0.25,1.45,0.00,0.000,6,0.146,0.052,1778,3208,1897,0,0,0,0,0,0
$GC,164,-0.46,-96.7,18.5,-11.3,20,173,0.00,1.20,0.00,0.000,4,0.000,0.059,1774,3956,1898,0,0,0,0,0,0
$GC,217,-0.52,-96.7,24.4,-11.8,28,227,0.08,1.10,0.00,0.000,6,0.063,0.032,1727,3215,1898,0,0,0,0,0,0
$GC,368,-0.50,-96.7,49.7,-19.1,53,374,0.00,0.00,0.00,0.000,6,0.000,0.000,1726,3215,1898,0,0,0,0,0,0
$GC,714,-0.48,-96.7,103.4,-14.7,112,715,0.00,0.00,0.00,0.000,6,0.000,0.000,1726,3215,1898,0,0,0,0,0,0
$GC,1033,-0.48,-96.7,154.7,-16.5,142,1037,0.00,1.17,0.00,0.000,4,0.000,0.055,1721,3956,1898,0,0,0,0,0,0
$GC,1090,-0.45,-96.7,164.6,-17.2,147,1094,0.10,1.10,0.00,0.000,6,0.161,0.031,1750,3212,1898,0,0,0,0,0,0
$GC,1420,-0.50,-96.7,206.0,-11.9,178,1423,0.00,1.33,0.00,0.000,4,0.000,0.028,1750,2290,1898,0,0,0,0,0,0
$GC,1458,-0.58,-96.7,210.6,-10.7,181,1465,0.00,1.48,0.00,0.000,6,0.000,0.050,1745,3206,1898,0,0,0,0,0,0
$GC,1783,-0.63,-96.7,251.2,-12.9,212,1788,0.12,1.20,0.00,0.000,4,0.095,0.057,1682,3957,1898,0,0,0,0,0,0
$GC,1898,-0.54,-96.7,271.9,-18.1,222,1902,0.12,1.10,0.00,0.000,6,0.160,0.031,1720,3203,1898,0,0,0,0,0,0
$GC,2230,-0.54,-96.7,317.9,-13.8,253,2234,0.00,1.17,0.00,0.000,4,0.000,0.055,1715,3950,1898,0,0,0,0,0,0
$GC,2257,-0.52,-96.7,322.1,-14.7,255,2264,0.00,1.08,0.00,0.000,6,0.000,0.031,1716,3209,1898,0,0,0,0,0,0
$GC,2582,-0.52,-96.7,365.4,-13.5,286,2586,0.00,1.20,0.00,0.000,4,0.000,0.057,1710,3954,1898,0,0,0,0,0,0
$GC,2632,-0.49,-96.7,372.9,-14.6,290,2640,0.10,1.08,0.00,0.000,6,0.156,0.031,1740,3218,1898,0,0,0,0,0,0
$GC,2965,-0.53,-96.7,410.0,-11.1,318,2967,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,3219,1898,0,0,0,0,0,0
$GC,3275,-0.58,-96.7,443.4,-10.8,333,3278,0.00,1.15,0.00,0.000,4,0.000,0.057,1736,3943,1898,0,0,0,0,0,0
$GC,3324,-0.61,-96.7,449.5,-12.0,335,3328,0.00,1.10,0.00,0.000,6,0.000,0.031,1736,3195,1898,0,0,0,0,0,0
$GC,3652,-0.65,-96.7,486.1,-11.6,351,3654,0.12,0.00,0.00,0.000,6,0.098,0.000,1679,3194,1899,0,0,0,0,0,0
$GC,3961,-0.58,-96.7,534.4,-15.9,366,3966,0.15,1.23,0.00,0.000,4,0.180,0.056,1713,3956,1899,0,0,0,0,0,0
$GC,4038,-0.56,-96.7,545.7,-13.3,369,4042,0.00,1.10,0.00,0.000,6,0.000,0.032,1713,3208,1899,0,0,0,0,0,0
$GC,4359,-0.56,-96.7,586.5,-12.5,385,4360,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,3208,1899,0,0,0,0,0,0
$GC,4669,-0.56,-96.7,627.1,-13.5,400,4673,0.00,1.17,0.00,0.000,4,0.000,0.057,1708,3950,1899,0,0,0,0,0,0
$GC,4785,-0.54,-96.7,644.9,-15.1,405,4789,0.00,1.10,0.00,0.000,6,0.000,0.032,1708,3203,1899,0,0,0,0,0,0
$GC,5112,-0.54,-96.7,690.5,-13.7,421,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,1707,3203,1899,0,0,0,0,0,0
$GC,5422,-0.54,-96.7,732.4,-13.4,436,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,1708,3203,1899,0,0,0,0,0,0
$GC,5731,-0.54,-96.7,774.4,-13.5,451,5734,0.00,1.20,0.00,0.000,4,0.000,0.057,1702,3956,1899,0,0,0,0,0,0
$GC,5780,-0.51,-96.7,781.6,-14.0,453,5785,0.10,1.10,0.00,0.000,6,0.157,0.033,1732,3214,1899,0,0,0,0,0,0
$GC,6108,-0.57,-96.7,816.5,-10.1,469,6109,0.00,0.00,0.00,0.000,6,0.000,0.000,1732,3214,1899,0,0,0,0,0,0
$GC,6416,-0.63,-96.7,846.8,-9.1,484,6417,0.00,0.00,0.00,0.000,6,0.000,0.000,1732,3214,1899,0,0,0,0,0,0
$GC,6726,-0.69,-96.7,875.5,-9.0,499,6731,0.15,1.20,0.00,0.000,4,0.093,0.059,1663,3951,1899,0,0,0,0,0,0
$GC,6793,-0.58,-96.7,884.9,-16.2,502,6798,0.15,1.10,0.00,0.000,6,0.169,0.033,1708,3212,1899,0,0,0,0,0,0
$GC,7126,-0.58,-96.7,924.0,-11.7,518,7127,0.00,0.00,0.00,0.000,6,0.000,0.000,1708,3211,1899,0,0,0,0,0,0
$GC,7435,-0.58,-96.7,959.7,-11.5,533,7438,0.00,1.17,0.00,0.000,4,0.000,0.059,1703,3946,1899,0,0,0,0,0,0
$GC,7551,-0.58,-96.7,974.9,-12.8,538,7556,0.00,1.12,0.00,0.000,6,0.000,0.033,1703,3198,1898,0,0,0,0,0,0
$STATE,7774,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7774,begin apogee
$GC,7779,-0.09,0.0,1002.2,12.3,549,7883,0.57,0.00,100.97,1.890,6,0.154,0.000,1869,2929,1498,0,0,0,0,0,0
$STATE,7884,end apogee,CONTROL_FINISHED_OK
$STATE,7884,begin climb
$GC,7885,0.59,96.7,1005.7,0.0,554,7992,0.68,0.00,102.50,1.847,6,0.090,0.000,2088,2929,1104,0,0,0,0,0,0
$GC,8298,0.56,96.7,958.1,13.7,574,8302,0.00,1.45,0.00,0.000,4,0.000,0.057,2089,3804,1106,0,0,0,0,0,0
$GC,8435,0.47,96.7,936.3,17.1,580,8439,0.12,1.35,0.00,0.000,6,0.198,0.031,2063,2915,1105,0,0,0,0,0,0
$GC,8766,0.47,96.7,894.6,12.3,596,8769,0.00,1.45,0.00,0.000,4,0.000,0.056,2063,3810,1104,0,0,0,0,0,0
$GC,8879,0.42,96.7,879.1,14.6,601,8883,0.00,1.33,0.00,0.000,6,0.000,0.031,2068,2928,1104,0,0,0,0,0,0
$GC,9210,0.42,96.7,838.5,11.8,617,9214,0.00,1.42,0.00,0.000,4,0.000,0.057,2068,3809,1104,0,0,0,0,0,0
$GC,9304,0.37,96.7,825.4,14.3,621,9309,0.15,1.33,0.00,0.000,6,0.192,0.031,2034,2921,1103,0,0,0,0,0,0
$GC,9633,0.44,96.7,793.7,9.4,637,9636,0.00,1.42,0.00,0.000,4,0.000,0.059,2034,3801,1103,0,0,0,0,0,0
$GC,9750,0.45,96.7,779.7,13.1,642,9754,0.00,1.30,0.00,0.000,6,0.000,0.031,2039,2931,1103,0,0,0,0,0,0
$GC,10077,0.51,96.7,745.0,10.7,658,10081,0.00,1.40,0.00,0.000,4,0.000,0.057,2039,3801,1103,0,0,0,0,0,0
$GC,10160,0.51,96.7,734.6,12.6,661,10168,0.00,1.33,0.00,0.000,6,0.000,0.031,2045,2922,1103,0,0,0,0,0,0
$GC,10477,0.55,96.7,698.2,11.5,677,10481,0.12,1.45,0.00,0.000,4,0.099,0.059,2097,3809,1102,0,0,0,0,0,0
$GC,10537,0.46,96.7,688.7,16.4,679,10545,0.15,1.33,0.00,0.000,6,0.194,0.031,2062,2919,1102,0,0,0,0,0,0
$GC,10853,0.47,96.7,651.0,11.4,695,10857,0.00,1.42,0.00,0.000,4,0.000,0.057,2063,3802,1102,0,0,0,0,0,0
$GC,10921,0.44,96.7,642.3,13.0,698,10925,0.00,1.30,0.00,0.000,6,0.000,0.031,2067,2926,1102,0,0,0,0,0,0
$GC,11253,0.44,96.7,603.8,11.4,714,11257,0.00,1.40,0.00,0.000,4,0.000,0.057,2067,3799,1102,0,0,0,0,0,0
$GC,11420,0.40,96.7,581.4,14.6,721,11425,0.12,1.30,0.00,0.000,6,0.185,0.031,2039,2920,1102,0,0,0,0,0,0
$GC,11742,0.46,96.7,550.5,9.3,737,11746,0.00,1.42,0.00,0.000,4,0.000,0.058,2038,3804,1102,0,0,0,0,0,0
$GC,11781,0.46,96.7,546.3,10.5,738,11788,0.00,1.30,0.00,0.000,6,0.000,0.031,2044,2930,1102,0,0,0,0,0,0
$GC,12098,0.51,96.7,516.4,9.1,754,12102,0.00,1.40,0.00,0.000,4,0.000,0.057,2043,3801,1102,0,0,0,0,0,0
$GC,12237,0.51,96.7,501.4,10.7,760,12242,0.00,1.30,0.00,0.000,6,0.000,0.031,2050,2925,1102,0,0,0,0,0,0
$GC,12564,0.55,96.7,470.3,9.5,776,12569,0.10,1.42,0.00,0.000,4,0.105,0.059,2097,3796,1102,0,0,0,0,0,0
$GC,12609,0.46,96.7,464.5,13.6,778,12614,0.15,1.30,0.00,0.000,6,0.193,0.031,2062,2921,1102,0,0,0,0,0,0
$GC,12942,0.48,96.7,428.9,10.5,794,12946,0.00,1.42,0.00,0.000,4,0.000,0.057,2062,3804,1102,0,0,0,0,0,0
$GC,13070,0.45,96.7,413.2,12.2,799,13077,0.00,1.30,0.00,0.000,6,0.000,0.031,2067,2931,1102,0,0,0,0,0,0
$GC,13392,0.45,96.7,379.6,10.5,824,13395,0.00,1.40,0.00,0.000,4,0.000,0.057,2067,3801,1102,0,0,0,0,0,0
$GC,13476,0.41,96.7,369.1,12.9,831,13483,0.10,1.30,0.00,0.000,6,0.184,0.031,2045,2928,1102,0,0,0,0,0,0
$GC,13801,0.47,96.7,338.5,8.9,862,13804,0.00,1.40,0.00,0.000,4,0.000,0.057,2045,3798,1102,0,0,0,0,0,0
$GC,13962,0.47,96.7,321.0,10.6,876,13972,0.00,1.33,0.00,0.000,6,0.000,0.031,2050,2920,1102,0,0,0,0,0,0
$GC,14290,0.52,97.5,292.5,8.5,907,14294,0.00,1.42,0.00,0.000,4,0.000,0.057,2050,3806,1102,0,0,0,0,0,0
$GC,14419,0.52,97.5,278.5,11.7,918,14427,0.00,1.33,0.00,0.000,6,0.000,0.031,2057,2921,1102,0,0,0,0,0,0
$GC,14747,0.56,97.5,245.6,9.9,949,14751,0.00,1.42,0.00,0.000,4,0.000,0.057,2057,3804,1102,0,0,0,0,0,0
$GC,14826,0.56,97.5,236.2,12.1,956,14830,0.00,1.30,0.00,0.000,6,0.000,0.031,2063,2923,1102,0,0,0,0,0,0
$GC,15156,0.59,97.5,203.3,10.2,987,15160,0.00,1.42,0.00,0.000,4,0.000,0.057,2063,3808,1102,0,0,0,0,0,0
$GC,15418,0.56,97.5,171.7,12.9,1010,15421,0.00,1.30,0.00,0.000,6,0.000,0.031,2070,2926,1102,0,0,0,0,0,0
$GC,15752,0.59,97.5,139.1,10.0,1041,15755,0.00,1.40,0.00,0.000,4,0.000,0.057,2070,3798,1102,0,0,0,0,0,0
$GC,15865,0.56,97.5,126.5,10.7,1051,15869,0.00,1.30,0.00,0.000,6,0.000,0.031,2076,2923,1102,0,0,0,0,0,0
$GC,16193,0.56,97.5,94.6,9.8,1086,16202,0.00,1.40,0.00,0.000,4,0.000,0.055,2077,3801,1102,0,0,0,0,0,0
$GC,16461,0.52,97.5,64.4,11.1,1132,16468,0.00,1.30,0.00,0.000,6,0.000,0.031,2083,2920,1102,0,0,0,0,0,0
$GC,16815,0.52,97.5,25.6,13.3,1193,16824,0.00,1.42,0.00,0.000,4,0.000,0.056,2083,3810,1102,0,0,0,0,0,0
$GC,16980,0.46,97.5,7.0,14.5,1220,16989,0.10,1.30,0.00,0.000,6,0.194,0.030,2062,2926,1102,0,0,0,0,0,0
$STATE,17007,end climb,SURFACE_DEPTH_REACHED
$STATE,17007,begin surface coast
$FINISH,1.2,1.026518
$STATE,17032,end surface coast,CONTROL_FINISHED_OK
$STATE,17033,begin surface
$SM_CCo,17045,49.85,0.138,0,0,681,200.16
$SM_GC,2.78,0.00,0.00,49.85,0.000,0.000,0.138,69,3228,681,-5.73,0.54,200.16
$IRIDIUM_FIX,-4239.11,833.59,050708,131336
$TT8_MAMPS,0.027713
$HUMID,61.69
$INTERNAL_PRESSURE,11.3786
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.0,40.364
$10V_AH,10.2,24.814
$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,16.225,86.225,203.475,49.850,0.000,25.524,28.747,330.971,0.000,0.000,20.246,3092.118,10636.935,386.587,3286.517,202.468,0.000,1600.979,0.000,2863.531,0.000,0.544,0.000
$DEVICE_MAMPS,243.270,64.260,1890.315,138.465,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,852.708,866.298,903.873,84.894,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353932
$DATA_FILE_SIZE,70269,1228
$CAP_FILE_SIZE,168120,0
$CFSIZE,259252224,241762304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090915,093125,-4255.444,836.986,69,1.9,69,-25.1