version: 66.07
glider: 543
mission: 14
dive: 260
start: 9 21 115 9 41 17
data:
$ID,543
$MISSION,14
$DIVE,260
$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,-24970.291
$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,80
$R_STBD_OVSHOOT,32
$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
$GPS1,210915,092934,-4256.588,824.768,36,1.2,36,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-73.7
$GPS2,210915,094054,-4256.595,824.882,21,0.9,21,-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,337.6,1627,-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,-49.8,0.0,0.0,0,64,0.00,0.00,-44.67,0.000,6,0.000,0.000,63,3223,1704,0,0,0,0,0,0
$GC,66,-0.60,-111.8,2.9,-1.4,6,92,6.88,1.20,-8.18,0.000,4,0.232,0.081,1702,3955,1957,0,0,0,0,0,0
$GC,283,-0.53,-111.8,40.4,-18.5,41,290,0.00,1.05,0.00,0.000,6,0.000,0.031,1701,3233,1958,0,0,0,0,0,0
$GC,632,-0.49,-111.8,99.3,-16.0,102,640,0.15,0.00,0.00,0.000,6,0.184,0.000,1739,3233,1958,0,0,0,0,0,0
$GC,959,-0.54,-111.8,142.2,-12.6,133,965,0.00,0.00,0.00,0.000,6,0.000,0.000,1739,3233,1958,0,0,0,0,0,0
$GC,1285,-0.59,-111.8,182.6,-11.5,164,1289,0.00,1.33,0.00,0.000,4,0.000,0.027,1739,2294,1958,0,0,0,0,0,0
$GC,1320,-0.67,-111.8,186.6,-11.0,167,1324,0.10,1.48,0.00,0.000,6,0.053,0.050,1673,3213,1958,0,0,0,0,0,0
$GC,1650,-0.60,-111.8,241.3,-17.1,198,1654,0.15,1.17,0.00,0.000,4,0.190,0.054,1706,3954,1958,0,0,0,0,0,0
$GC,1695,-0.56,-111.8,248.8,-15.7,202,1699,0.00,1.08,0.00,0.000,6,0.000,0.030,1706,3206,1958,0,0,0,0,0,0
$GC,2028,-0.56,-111.8,294.7,-13.6,233,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,1706,3206,1958,0,0,0,0,0,0
$GC,2354,-0.56,-111.8,339.1,-13.3,264,2357,0.00,1.17,0.00,0.000,4,0.000,0.055,1700,3951,1958,0,0,0,0,0,0
$GC,2483,-0.53,-111.8,358.3,-14.0,275,2491,0.08,1.08,0.00,0.000,6,0.171,0.030,1723,3210,1958,0,0,0,0,0,0
$GC,2808,-0.57,-111.8,398.2,-12.5,306,2812,0.00,1.27,0.00,0.000,4,0.000,0.026,1723,2298,1958,0,0,0,0,0,0
$GC,2825,-0.61,-111.8,400.4,-12.6,307,2831,0.00,1.45,0.00,0.000,6,0.000,0.049,1718,3204,1958,0,0,0,0,0,0
$GC,3140,-0.64,-111.8,437.6,-11.6,323,3144,0.00,1.17,0.00,0.000,4,0.000,0.055,1712,3956,1958,0,0,0,0,0,0
$GC,3212,-0.64,-111.8,446.7,-12.2,326,3216,0.00,1.10,0.00,0.000,6,0.000,0.030,1712,3197,1958,0,0,0,0,0,0
$GC,3539,-0.64,-111.8,485.4,-11.6,342,3543,0.00,1.25,0.00,0.000,4,0.000,0.027,1712,2306,1958,0,0,0,0,0,0
$GC,3585,-0.69,-111.8,490.5,-10.8,344,3588,0.00,1.45,0.00,0.000,6,0.000,0.050,1705,3208,1958,0,0,0,0,0,0
$GC,3917,-0.69,-111.8,531.9,-12.5,360,3921,0.00,1.17,0.00,0.000,4,0.000,0.057,1700,3957,1958,0,0,0,0,0,0
$GC,3985,-0.67,-111.8,541.3,-13.2,363,3989,0.00,1.08,0.00,0.000,6,0.000,0.031,1700,3217,1958,0,0,0,0,0,0
$GC,4317,-0.67,-111.8,584.9,-12.9,379,4321,0.00,1.30,0.00,0.000,4,0.000,0.027,1700,2294,1959,0,0,0,0,0,0
$GC,4340,-0.67,-111.8,587.8,-12.8,380,4344,0.00,1.48,0.00,0.000,6,0.000,0.050,1693,3209,1959,0,0,0,0,0,0
$GC,4672,-0.67,-111.8,633.3,-13.7,396,4676,0.00,1.17,0.00,0.000,4,0.000,0.056,1687,3956,1959,0,0,0,0,0,0
$GC,4733,-0.62,-111.8,642.7,-15.1,398,4740,0.00,1.10,0.00,0.000,6,0.000,0.031,1687,3202,1959,0,0,0,0,0,0
$GC,5049,-0.60,-111.8,688.9,-15.0,414,5053,0.00,1.20,0.00,0.000,4,0.000,0.056,1681,3956,1959,0,0,0,0,0,0
$GC,5076,-0.56,-111.8,693.5,-16.1,415,5081,0.12,1.10,0.00,0.000,6,0.163,0.031,1718,3214,1959,0,0,0,0,0,0
$GC,5404,-0.60,-111.8,734.4,-12.2,431,5405,0.00,0.00,0.00,0.000,6,0.000,0.000,1718,3214,1959,0,0,0,0,0,0
$GC,5712,-0.64,-111.8,769.7,-11.1,446,5716,0.00,1.17,0.00,0.000,4,0.000,0.057,1714,3948,1959,0,0,0,0,0,0
$GC,5762,-0.66,-111.8,775.7,-11.3,448,5766,0.00,1.10,0.00,0.000,6,0.000,0.031,1714,3197,1959,0,0,0,0,0,0
$GC,6090,-0.70,-111.8,810.4,-10.8,464,6094,0.10,1.23,0.00,0.000,4,0.110,0.058,1662,3951,1959,0,0,0,0,0,0
$GC,6179,-0.62,-111.8,824.0,-15.2,468,6184,0.12,1.08,0.00,0.000,6,0.167,0.031,1698,3224,1959,0,0,0,0,0,0
$GC,6512,-0.62,-111.8,863.8,-11.6,484,6515,0.00,1.17,0.00,0.000,4,0.000,0.057,1694,3956,1959,0,0,0,0,0,0
$GC,6617,-0.60,-111.8,877.4,-13.7,488,6625,0.00,1.10,0.00,0.000,6,0.000,0.031,1694,3204,1959,0,0,0,0,0,0
$GC,6934,-0.60,-111.8,914.3,-11.6,504,6935,0.00,0.00,0.00,0.000,6,0.000,0.000,1694,3204,1959,0,0,0,0,0,0
$GC,7243,-0.60,-111.8,950.0,-11.5,519,7246,0.00,1.20,0.00,0.000,4,0.000,0.058,1689,3951,1959,0,0,0,0,0,0
$GC,7297,-0.60,-111.8,957.3,-12.4,521,7302,0.00,1.10,0.00,0.000,6,0.000,0.031,1689,3211,1959,0,0,0,0,0,0
$GC,7619,-0.60,-111.8,995.6,-11.9,537,7623,0.00,1.20,0.00,0.000,4,0.000,0.057,1683,3958,1959,0,0,0,0,0,0
$STATE,7650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7650,begin apogee
$GC,7656,-0.09,0.0,1000.1,12.9,538,7808,0.62,0.00,128.82,1.811,6,0.157,0.000,1866,2910,1499,0,0,0,0,3,0
$STATE,7809,end apogee,CONTROL_FINISHED_OK
$STATE,7809,begin climb
$GC,7811,0.60,111.8,1003.5,0.0,546,7939,0.70,1.48,118.62,1.805,4,0.086,0.031,2097,2057,1043,0,0,0,0,0,0
$GC,8039,0.64,111.8,977.6,14.4,556,8043,0.00,1.48,0.00,0.000,6,0.000,0.045,2098,2928,1040,0,0,0,0,0,0
$GC,8360,0.64,111.8,926.9,16.2,572,8364,0.00,1.42,0.00,0.000,4,0.000,0.055,2097,3812,1037,0,0,0,0,0,0
$GC,8430,0.57,111.8,914.5,18.7,575,8434,0.00,1.33,0.00,0.000,6,0.000,0.030,2104,2919,1037,0,0,0,0,0,0
$GC,8762,0.54,111.8,859.1,16.1,591,8766,0.00,1.45,0.00,0.000,4,0.000,0.054,2104,3814,1036,0,0,0,0,0,0
$GC,8823,0.46,111.8,847.3,18.6,593,8831,0.17,1.33,0.00,0.000,6,0.190,0.028,2063,2916,1036,0,0,0,0,0,0
$GC,9139,0.50,111.8,805.1,12.8,609,9143,0.00,1.45,0.00,0.000,4,0.000,0.055,2062,3805,1035,0,0,0,0,0,0
$GC,9267,0.50,111.8,786.0,14.4,614,9275,0.00,1.33,0.00,0.000,6,0.000,0.029,2067,2923,1034,0,0,0,0,0,0
$GC,9584,0.54,111.8,746.3,12.0,630,9588,0.00,1.42,0.00,0.000,4,0.000,0.056,2068,3801,1034,0,0,0,0,0,0
$GC,9661,0.54,111.8,735.4,14.4,633,9666,0.00,1.33,0.00,0.000,6,0.000,0.029,2074,2916,1034,0,0,0,0,0,0
$GC,9983,0.57,111.8,695.4,12.3,649,9987,0.00,1.45,0.00,0.000,4,0.000,0.055,2074,3805,1034,0,0,0,0,0,0
$GC,10029,0.55,111.8,689.0,14.8,651,10033,0.00,1.30,0.00,0.000,6,0.000,0.030,2081,2923,1034,0,0,0,0,0,0
$GC,10362,0.57,111.8,645.5,13.0,667,10365,0.00,1.42,0.00,0.000,4,0.000,0.055,2081,3802,1034,0,0,0,0,0,0
$GC,10411,0.54,111.8,638.2,14.9,669,10415,0.00,1.30,0.00,0.000,6,0.000,0.029,2087,2918,1034,0,0,0,0,0,0
$GC,10738,0.54,111.8,594.4,13.1,685,10742,0.00,1.45,0.00,0.000,4,0.000,0.055,2087,3812,1034,0,0,0,0,0,0
$GC,10821,0.49,111.8,581.4,15.2,688,10829,0.00,1.30,0.00,0.000,6,0.000,0.029,2094,2920,1034,0,0,0,0,0,0
$GC,11137,0.49,111.8,536.9,14.0,704,11141,0.00,1.45,0.00,0.000,4,0.000,0.055,2094,3812,1033,0,0,0,0,0,0
$GC,11232,0.44,111.8,521.3,16.1,708,11237,0.17,1.30,0.00,0.000,6,0.177,0.029,2051,2927,1033,0,0,0,0,0,0
$GC,11560,0.51,111.8,485.6,10.7,724,11564,0.00,1.42,0.00,0.000,4,0.000,0.055,2051,3805,1033,0,0,0,0,0,0
$GC,11593,0.54,111.8,481.4,11.9,725,11597,0.00,1.30,0.00,0.000,6,0.000,0.029,2056,2926,1033,0,0,0,0,0,0
$GC,11915,0.61,111.8,447.1,10.6,741,11917,0.12,0.00,0.00,0.000,6,0.098,0.000,2114,2926,1033,0,0,0,0,0,0
$GC,12224,0.57,111.8,402.3,14.6,756,12228,0.00,1.42,0.00,0.000,4,0.000,0.055,2114,3804,1033,0,0,0,0,0,0
$GC,12361,0.49,111.8,379.9,16.5,767,12365,0.17,1.30,0.00,0.000,6,0.187,0.029,2072,2918,1033,0,0,0,0,0,0
$GC,12691,0.52,111.8,339.9,12.2,798,12694,0.00,1.45,0.00,0.000,4,0.000,0.055,2072,3809,1033,0,0,0,0,0,0
$GC,12781,0.52,111.8,326.8,15.0,806,12785,0.00,1.30,0.00,0.000,6,0.000,0.028,2077,2917,1033,0,0,0,0,0,0
$GC,13115,0.56,111.8,283.9,12.6,837,13119,0.00,1.45,0.00,0.000,4,0.000,0.056,2077,3806,1033,0,0,0,0,0,0
$GC,13298,0.54,111.8,257.9,14.0,853,13301,0.00,1.30,0.00,0.000,6,0.000,0.029,2084,2921,1033,0,0,0,0,0,0
$GC,13629,0.57,111.8,218.2,11.5,884,13630,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2919,1033,0,0,0,0,0,0
$GC,13948,0.59,111.8,180.7,11.7,914,13951,0.00,1.42,0.00,0.000,4,0.000,0.055,2084,3803,1033,0,0,0,0,0,0
$GC,14062,0.57,111.8,164.6,14.5,924,14066,0.00,1.27,0.00,0.000,6,0.000,0.028,2090,2925,1033,0,0,0,0,0,0
$GC,14392,0.58,111.8,125.3,12.0,955,14396,0.00,1.42,0.00,0.000,4,0.000,0.054,2090,3810,1033,0,0,0,0,0,0
$GC,14465,0.55,111.8,115.6,14.8,961,14468,0.00,1.27,0.00,0.000,6,0.000,0.028,2097,2927,1033,0,0,0,0,0,0
$GC,14803,0.55,111.8,70.4,13.3,1011,14812,0.00,1.42,0.00,0.000,4,0.000,0.054,2097,3808,1033,0,0,0,0,0,0
$GC,14969,0.50,111.8,45.1,15.6,1039,14977,0.10,1.27,0.00,0.000,6,0.179,0.028,2075,2926,1033,0,0,0,0,0,0
$STATE,15318,end climb,SURFACE_DEPTH_REACHED
$STATE,15319,begin surface coast
$FINISH,1.2,1.026498
$STATE,15345,end surface coast,CONTROL_FINISHED_OK
$STATE,15345,begin surface
$SM_CCo,15357,40.10,0.136,0,0,681,200.16
$SM_GC,2.65,0.00,0.00,40.10,0.000,0.000,0.136,60,3222,681,-5.76,0.37,200.16
$IRIDIUM_FIX,-4230.32,1044.04,170708,131327
$TT8_MAMPS,0.026964
$HUMID,63.07
$INTERNAL_PRESSURE,11.4079
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,21.7,49.708
$10V_AH,10.1,31.349
$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,15.100,83.275,247.450,40.100,0.000,58.384,123.495,301.807,0.000,0.000,24.528,2761.951,9625.660,411.589,3072.360,205.244,0.000,1509.916,0.000,2553.039,0.000,0.545,0.000
$DEVICE_MAMPS,231.795,81.090,1810.755,136.170,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,763.725,781.871,817.943,81.092,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353904
$DATA_FILE_SIZE,63600,1102
$CAP_FILE_SIZE,152299,0
$CFSIZE,259252224,237178880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,210915,135903,-4254.696,823.891,31,1.0,31,-25.0