version: 66.07
glider: 543
mission: 14
dive: 216
start: 9 10 115 21 21 59
data:
$ID,543
$MISSION,14
$DIVE,216
$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,-24818.193
$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,46
$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
$GPS1,100915,211225,-4302.653,837.102,36,97.9,55,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-74.0
$GPS2,100915,212135,-4302.669,837.190,28,1.0,28,-25.1
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAZ_BUT4
$TGT_LATLONG,-4304.000,836.000
$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,238.3,2943,-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,-49.8,0.0,0.0,0,49,0.00,0.00,-33.08,0.000,2,0.000,0.000,64,3223,1477,0,0,0,0,0,0
$GC,51,-0.60,-106.9,3.0,-2.0,4,85,6.80,1.40,-18.73,0.000,4,0.232,0.047,1704,2282,1935,0,0,0,0,0,0
$GC,123,-0.60,-106.9,8.7,-11.6,14,131,0.00,1.52,0.00,0.000,6,0.000,0.049,1697,3218,1937,0,0,0,0,0,0
$GC,181,-0.55,-106.9,17.8,-16.9,23,190,0.12,0.00,0.00,0.000,6,0.190,0.000,1727,3217,1937,0,0,0,0,0,0
$GC,239,-0.55,-106.9,27.2,-15.3,32,248,0.00,1.15,0.00,0.000,4,0.000,0.056,1723,3941,1938,0,0,0,0,0,0
$GC,285,-0.52,-106.9,33.8,-14.4,39,294,0.00,1.10,0.00,0.000,6,0.000,0.031,1723,3199,1939,0,0,0,0,0,0
$GC,435,-0.50,-106.9,55.6,-14.6,64,441,0.00,0.00,0.00,0.000,6,0.000,0.000,1723,3199,1939,0,0,0,0,0,0
$GC,787,-0.50,-106.9,108.2,-14.6,121,790,0.00,1.20,0.00,0.000,4,0.000,0.055,1718,3955,1939,0,0,0,0,0,0
$GC,834,-0.46,-106.9,115.5,-15.4,125,838,0.10,1.10,0.00,0.000,6,0.160,0.031,1748,3213,1939,0,0,0,0,0,0
$GC,1165,-0.51,-106.9,156.8,-11.9,156,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,3212,1939,0,0,0,0,0,0
$GC,1484,-0.56,-106.9,194.2,-12.2,186,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,3212,1939,0,0,0,0,0,0
$GC,1803,-0.62,-106.9,228.8,-10.2,216,1805,0.12,0.00,0.00,0.000,6,0.097,0.000,1691,3212,1939,0,0,0,0,0,0
$GC,2121,-0.56,-106.9,275.8,-15.0,246,2125,0.12,1.17,0.00,0.000,4,0.184,0.055,1717,3943,1939,0,0,0,0,0,0
$GC,2181,-0.56,-106.9,284.5,-13.5,251,2188,0.00,1.10,0.00,0.000,6,0.000,0.030,1717,3198,1939,0,0,0,0,0,0
$GC,2506,-0.56,-106.9,326.3,-13.2,282,2507,0.00,0.00,0.00,0.000,6,0.000,0.000,1717,3198,1939,0,0,0,0,0,0
$GC,2826,-0.56,-106.9,370.7,-13.8,312,2827,0.00,0.00,0.00,0.000,6,0.000,0.000,1717,3198,1939,0,0,0,0,0,0
$GC,3140,-0.56,-106.9,414.8,-14.2,337,3144,0.00,1.20,0.00,0.000,4,0.000,0.056,1712,3957,1940,0,0,0,0,0,0
$GC,3201,-0.56,-106.9,424.0,-14.9,339,3208,0.00,1.10,0.00,0.000,6,0.000,0.030,1712,3203,1940,0,0,0,0,0,0
$GC,3517,-0.56,-106.9,468.7,-14.1,355,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,1712,3203,1940,0,0,0,0,0,0
$GC,3826,-0.56,-106.9,512.7,-14.5,370,3830,0.00,1.17,0.00,0.000,4,0.000,0.056,1706,3946,1939,0,0,0,0,0,0
$GC,3876,-0.54,-106.9,520.3,-15.2,372,3880,0.00,1.08,0.00,0.000,6,0.000,0.031,1706,3213,1941,0,0,0,0,0,0
$GC,4203,-0.54,-106.9,567.6,-14.9,388,4204,0.00,0.00,0.00,0.000,6,0.000,0.000,1706,3213,1940,0,0,0,0,0,0
$GC,4513,-0.54,-106.9,612.0,-14.4,403,4514,0.00,0.00,0.00,0.000,6,0.000,0.000,1706,3212,1940,0,0,0,0,0,0
$GC,4821,-0.54,-106.9,655.7,-13.7,418,4825,0.00,1.17,0.00,0.000,4,0.000,0.057,1700,3953,1940,0,0,0,0,0,0
$GC,4895,-0.51,-106.9,666.2,-14.5,421,4899,0.10,1.10,0.00,0.000,6,0.161,0.032,1730,3209,1940,0,0,0,0,0,0
$GC,5222,-0.56,-106.9,702.0,-10.5,437,5226,0.00,1.20,0.00,0.000,4,0.000,0.058,1727,3947,1940,0,0,0,0,0,0
$GC,5254,-0.59,-106.9,706.0,-11.3,438,5259,0.00,1.10,0.00,0.000,6,0.000,0.031,1726,3196,1940,0,0,0,0,0,0
$GC,5576,-0.64,-106.9,739.8,-10.3,454,5580,0.00,1.20,0.00,0.000,4,0.000,0.057,1721,3951,1940,0,0,0,0,0,0
$GC,5614,-0.66,-106.9,744.2,-10.8,455,5622,0.00,1.10,0.00,0.000,6,0.000,0.031,1721,3204,1940,0,0,0,0,0,0
$GC,5930,-0.69,-106.9,776.3,-10.2,471,5932,0.12,0.00,0.00,0.000,6,0.101,0.000,1664,3203,1940,0,0,0,0,0,0
$GC,6240,-0.62,-106.9,820.8,-14.9,486,6244,0.15,1.20,0.00,0.000,4,0.186,0.057,1697,3946,1940,0,0,0,0,0,0
$GC,6397,-0.60,-106.9,841.5,-13.2,493,6401,0.00,1.08,0.00,0.000,6,0.000,0.032,1697,3213,1940,0,0,0,0,0,0
$GC,6730,-0.60,-106.9,881.5,-12.4,509,6731,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,3213,1940,0,0,0,0,0,0
$GC,7041,-0.60,-106.9,920.2,-12.7,524,7044,0.00,1.17,0.00,0.000,4,0.000,0.058,1692,3951,1940,0,0,0,0,0,0
$GC,7137,-0.57,-106.9,933.8,-13.4,528,7141,0.00,1.10,0.00,0.000,6,0.000,0.032,1692,3203,1940,0,0,0,0,0,0
$GC,7463,-0.57,-106.9,975.0,-12.8,544,7467,0.00,1.17,0.00,0.000,4,0.000,0.057,1686,3939,1940,0,0,0,0,0,0
$GC,7513,-0.54,-106.9,982.0,-13.8,546,7518,0.12,1.08,0.00,0.000,6,0.159,0.032,1724,3217,1940,0,0,0,0,0,0
$STATE,7694,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7694,begin apogee
$GC,7699,-0.09,0.0,1000.7,10.3,555,7817,0.50,0.00,115.55,1.931,6,0.143,0.000,1873,2913,1498,0,0,0,0,0,0
$STATE,7818,end apogee,CONTROL_FINISHED_OK
$STATE,7818,begin climb
$GC,7820,0.60,106.9,1003.5,0.0,561,7948,0.68,1.50,114.15,1.847,4,0.086,0.031,2097,2047,1062,0,0,0,0,1,0
$GC,7958,0.60,106.9,991.3,13.6,567,7963,0.00,1.55,0.00,0.000,6,0.000,0.046,2098,2921,1062,0,0,0,0,0,0
$GC,8280,0.57,106.9,942.3,15.1,583,8284,0.00,1.45,0.00,0.000,4,0.000,0.055,2097,3810,1057,0,0,0,0,0,0
$GC,8397,0.48,106.9,922.3,16.4,588,8402,0.12,1.35,0.00,0.000,6,0.195,0.030,2071,2915,1056,0,0,0,0,0,0
$GC,8723,0.48,106.9,881.9,11.9,604,8727,0.00,1.45,0.00,0.000,4,0.000,0.057,2072,3800,1057,0,0,0,0,0,0
$GC,8829,0.45,106.9,866.9,14.1,608,8836,0.00,1.30,0.00,0.000,6,0.000,0.030,2076,2928,1056,0,0,0,0,0,0
$GC,9145,0.45,106.9,827.1,12.9,624,9148,0.00,1.42,0.00,0.000,4,0.000,0.057,2076,3803,1055,0,0,0,0,0,0
$GC,9235,0.41,106.9,813.9,14.8,628,9240,0.15,1.33,0.00,0.000,6,0.186,0.031,2041,2916,1054,0,0,0,0,0,0
$GC,9569,0.47,106.9,778.4,10.7,644,9572,0.00,1.45,0.00,0.000,4,0.000,0.057,2041,3804,1054,0,0,0,0,0,0
$GC,9781,0.50,106.9,752.1,13.0,653,9785,0.00,1.30,0.00,0.000,6,0.000,0.031,2046,2934,1053,0,0,0,0,0,0
$GC,10103,0.55,106.9,716.5,11.4,669,10107,0.10,1.42,0.00,0.000,4,0.112,0.058,2089,3813,1053,0,0,0,0,0,0
$GC,10180,0.48,106.9,704.2,16.4,672,10185,0.10,1.33,0.00,0.000,6,0.190,0.031,2069,2921,1053,0,0,0,0,0,0
$GC,10502,0.50,106.9,660.2,13.7,688,10506,0.00,1.45,0.00,0.000,4,0.000,0.057,2069,3813,1054,0,0,0,0,0,0
$GC,10648,0.47,106.9,637.0,15.9,694,10652,0.00,1.33,0.00,0.000,6,0.000,0.030,2074,2923,1053,0,0,0,0,0,0
$GC,10969,0.47,106.9,591.9,13.7,710,10972,0.00,1.42,0.00,0.000,4,0.000,0.056,2074,3805,1053,0,0,0,0,0,0
$GC,11098,0.43,106.9,571.3,16.7,715,11105,0.10,1.30,0.00,0.000,6,0.184,0.030,2052,2923,1052,0,0,0,0,0,0
$GC,11413,0.48,106.9,532.4,11.9,731,11417,0.00,1.45,0.00,0.000,4,0.000,0.057,2052,3814,1052,0,0,0,0,0,0
$GC,11445,0.48,106.9,528.0,13.4,732,11450,0.00,1.35,0.00,0.000,6,0.000,0.030,2057,2916,1053,0,0,0,0,0,0
$GC,11768,0.53,106.9,490.2,11.7,748,11772,0.00,1.45,0.00,0.000,4,0.000,0.057,2057,3807,1052,0,0,0,0,0,0
$GC,11919,0.53,106.9,469.2,13.3,754,11926,0.00,1.30,0.00,0.000,6,0.000,0.030,2064,2928,1053,0,0,0,0,0,0
$GC,12235,0.56,106.9,431.8,11.5,770,12239,0.00,1.42,0.00,0.000,4,0.000,0.057,2064,3808,1053,0,0,0,0,0,0
$GC,12335,0.54,106.9,418.5,13.2,774,12339,0.00,1.30,0.00,0.000,6,0.000,0.030,2070,2927,1053,0,0,0,0,0,0
$GC,12664,0.57,106.9,381.3,11.2,797,12668,0.00,1.42,0.00,0.000,4,0.000,0.057,2070,3808,1052,0,0,0,0,0,0
$GC,12733,0.54,106.9,371.8,13.7,803,12736,0.00,1.30,0.00,0.000,6,0.000,0.031,2077,2925,1052,0,0,0,0,0,0
$GC,13063,0.54,106.9,333.4,11.2,834,13066,0.00,1.42,0.00,0.000,4,0.000,0.057,2077,3806,1052,0,0,0,0,0,0
$GC,13169,0.50,106.9,319.1,13.7,843,13176,0.00,1.30,0.00,0.000,6,0.000,0.030,2084,2925,1052,0,0,0,0,0,0
$GC,13494,0.50,106.9,281.4,11.8,874,13497,0.00,1.42,0.00,0.000,4,0.000,0.057,2084,3810,1052,0,0,0,0,0,0
$GC,13585,0.46,106.9,269.0,14.4,882,13589,0.10,1.30,0.00,0.000,6,0.183,0.030,2062,2923,1052,0,0,0,0,0,0
$GC,13917,0.51,106.9,235.9,9.8,913,13920,0.00,1.42,0.00,0.000,4,0.000,0.056,2062,3806,1052,0,0,0,0,0,0
$GC,14034,0.51,106.9,221.5,12.4,923,14042,0.00,1.30,0.00,0.000,6,0.000,0.030,2067,2926,1052,0,0,0,0,0,0
$GC,14360,0.55,106.9,187.0,10.3,954,14364,0.00,1.42,0.00,0.000,4,0.000,0.056,2066,3809,1052,0,0,0,0,0,0
$GC,14451,0.53,106.9,175.2,13.9,962,14455,0.00,1.30,0.00,0.000,6,0.000,0.030,2074,2927,1052,0,0,0,0,0,0
$GC,14784,0.56,106.9,135.0,12.4,993,14787,0.00,1.42,0.00,0.000,4,0.000,0.055,2074,3810,1052,0,0,0,0,0,0
$GC,14890,0.54,106.9,119.6,14.0,1002,14897,0.00,1.30,0.00,0.000,6,0.000,0.029,2080,2927,1052,0,0,0,0,0,0
$GC,15229,0.56,106.9,79.7,11.1,1048,15235,0.00,1.42,0.00,0.000,4,0.000,0.055,2080,3807,1052,0,0,0,0,0,0
$GC,15335,0.54,106.9,66.6,12.4,1066,15341,0.00,1.30,0.00,0.000,6,0.000,0.029,2087,2920,1052,0,0,0,0,0,0
$GC,15692,0.54,106.9,25.1,11.7,1127,15701,0.00,1.45,0.00,0.000,4,0.000,0.055,2087,3816,1052,0,0,0,0,0,0
$GC,15821,0.47,106.9,7.2,13.9,1148,15830,0.10,1.30,0.00,0.000,6,0.177,0.028,2064,2921,1053,0,0,0,0,0,0
$STATE,15860,end climb,SURFACE_DEPTH_REACHED
$STATE,15860,begin surface coast
$FINISH,1.6,1.026337
$STATE,15892,end surface coast,CONTROL_FINISHED_OK
$STATE,15892,begin surface
$SM_CCo,15905,42.80,0.139,0,0,682,200.16
$SM_GC,2.95,0.00,0.00,42.80,0.000,0.000,0.139,74,3216,682,-5.72,0.20,200.16
$IRIDIUM_FIX,-4247.91,834.91,070708,040447
$TT8_MAMPS,0.027713
$HUMID,61.81
$INTERNAL_PRESSURE,11.3786
$TCM_TEMP,13.30
$XPDR_PINGS,0
$24V_AH,21.9,41.668
$10V_AH,10.2,25.711
$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,14.950,81.325,229.700,42.800,0.000,28.814,46.369,328.505,0.000,0.000,31.119,2907.474,9834.244,399.610,3137.421,211.052,0.000,1554.426,0.000,2701.218,0.000,0.544,0.000
$DEVICE_MAMPS,231.795,68.085,1930.860,139.230,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,804.591,824.121,870.904,82.666,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353996
$DATA_FILE_SIZE,66887,1159
$CAP_FILE_SIZE,159341,0
$CFSIZE,259252224,241147904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,110915,014857,-4303.378,836.604,35,0.9,35,-25.1