version: 66.07
glider: 543
mission: 14
dive: 266
start: 9 22 115 12 32 17
data:
$ID,543
$MISSION,14
$DIVE,266
$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,-24987.689
$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,62
$R_STBD_OVSHOOT,26
$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
$GPS1,220915,122351,-4256.303,825.023,58,0.9,58,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-73.1
$GPS2,220915,123154,-4256.293,825.066,21,1.2,22,-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,315.6,1544,-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,-44.78,0.000,6,0.000,0.000,63,3210,1704,0,0,0,0,0,0
$GC,67,-0.60,-104.4,3.1,-2.3,6,86,6.80,1.25,-6.93,0.000,4,0.230,0.077,1699,3960,1927,0,0,0,0,0,0
$GC,177,-0.53,-104.4,21.2,-16.8,23,187,0.08,1.10,0.00,0.000,6,0.168,0.029,1722,3216,1928,0,0,0,0,0,0
$GC,328,-0.53,-104.4,43.8,-14.3,48,336,0.00,0.00,0.00,0.000,6,0.000,0.000,1722,3217,1928,0,0,0,0,0,0
$GC,680,-0.53,-104.4,93.0,-13.6,109,686,0.00,1.17,0.00,0.000,4,0.000,0.054,1718,3955,1928,0,0,0,0,0,0
$GC,764,-0.51,-104.4,105.9,-14.5,120,773,0.00,1.08,0.00,0.000,6,0.000,0.028,1718,3203,1928,0,0,0,0,0,0
$GC,1089,-0.51,-104.4,151.5,-14.0,151,1092,0.00,1.17,0.00,0.000,4,0.000,0.054,1713,3949,1928,0,0,0,0,0,0
$GC,1159,-0.49,-104.4,161.6,-14.4,157,1164,0.10,1.08,0.00,0.000,6,0.160,0.029,1743,3211,1929,0,0,0,0,0,0
$GC,1490,-0.54,-104.4,199.1,-10.5,188,1494,0.00,1.30,0.00,0.000,4,0.000,0.026,1742,2282,1928,0,0,0,0,0,0
$GC,1549,-0.63,-104.4,204.5,-8.7,193,1554,0.08,1.48,0.00,0.000,6,0.060,0.050,1685,3207,1928,0,0,0,0,0,0
$GC,1880,-0.58,-104.4,250.4,-14.5,224,1884,0.12,1.17,0.00,0.000,4,0.189,0.053,1711,3951,1928,0,0,0,0,0,0
$GC,1998,-0.56,-104.4,267.1,-14.2,234,2005,0.00,1.08,0.00,0.000,6,0.000,0.030,1711,3204,1928,0,0,0,0,0,0
$GC,2326,-0.56,-104.4,308.8,-12.8,265,2330,0.00,1.17,0.00,0.000,4,0.000,0.054,1706,3950,1928,0,0,0,0,0,0
$GC,2374,-0.53,-104.4,315.4,-14.5,269,2377,0.00,1.08,0.00,0.000,6,0.000,0.029,1705,3203,1928,0,0,0,0,0,0
$GC,2704,-0.53,-104.4,358.7,-13.0,300,2707,0.00,1.27,0.00,0.000,4,0.000,0.026,1705,2294,1928,0,0,0,0,0,0
$GC,2738,-0.56,-104.4,363.0,-12.0,303,2742,0.00,1.45,0.00,0.000,6,0.000,0.049,1699,3203,1928,0,0,0,0,0,0
$GC,3077,-0.54,-104.4,408.8,-13.9,332,3081,0.10,1.20,0.00,0.000,4,0.198,0.054,1718,3958,1928,0,0,0,0,0,0
$GC,3144,-0.54,-104.4,417.6,-12.8,335,3148,0.00,1.08,0.00,0.000,6,0.000,0.030,1718,3212,1928,0,0,0,0,0,0
$GC,3476,-0.57,-104.4,458.4,-12.2,351,3480,0.00,1.17,0.00,0.000,4,0.000,0.054,1712,3956,1928,0,0,0,0,0,0
$GC,3508,-0.57,-104.4,463.1,-13.7,352,3513,0.00,1.10,0.00,0.000,6,0.000,0.028,1712,3201,1928,0,0,0,0,0,0
$GC,3830,-0.57,-104.4,503.7,-12.7,368,3834,0.00,1.20,0.00,0.000,4,0.000,0.055,1707,3957,1928,0,0,0,0,0,0
$GC,3936,-0.57,-104.4,518.3,-13.7,372,3943,0.00,1.08,0.00,0.000,6,0.000,0.029,1707,3209,1928,0,0,0,0,0,0
$GC,4252,-0.57,-104.4,557.8,-12.2,388,4255,0.00,1.17,0.00,0.000,4,0.000,0.055,1701,3954,1929,0,0,0,0,0,0
$GC,4290,-0.54,-104.4,563.1,-13.9,389,4297,0.00,1.08,0.00,0.000,6,0.000,0.029,1701,3213,1928,0,0,0,0,0,0
$GC,4606,-0.54,-104.4,602.1,-12.3,405,4610,0.00,1.17,0.00,0.000,4,0.000,0.055,1695,3954,1929,0,0,0,0,0,0
$GC,4639,-0.51,-104.4,606.6,-13.6,406,4644,0.12,1.08,0.00,0.000,6,0.158,0.029,1732,3217,1929,0,0,0,0,0,0
$GC,4960,-0.57,-104.4,638.3,-10.0,422,4962,0.00,0.00,0.00,0.000,6,0.000,0.000,1732,3218,1929,0,0,0,0,0,0
$GC,5269,-0.63,-104.4,670.3,-10.4,437,5270,0.00,0.00,0.00,0.000,6,0.000,0.000,1732,3218,1929,0,0,0,0,0,0
$GC,5579,-0.70,-104.4,702.8,-10.6,452,5583,0.15,1.17,0.00,0.000,4,0.087,0.056,1661,3942,1929,0,0,0,0,0,0
$GC,5639,-0.61,-104.4,712.1,-16.5,454,5646,0.12,1.08,0.00,0.000,6,0.171,0.030,1698,3212,1929,0,0,0,0,0,0
$GC,5955,-0.61,-104.4,753.7,-13.1,470,5956,0.00,0.00,0.00,0.000,6,0.000,0.000,1698,3212,1929,0,0,0,0,0,0
$GC,6264,-0.61,-104.4,792.7,-12.4,485,6268,0.00,1.17,0.00,0.000,4,0.000,0.056,1694,3951,1929,0,0,0,0,0,0
$GC,6315,-0.59,-104.4,799.7,-13.7,487,6319,0.00,1.10,0.00,0.000,6,0.000,0.030,1694,3196,1929,0,0,0,0,0,0
$GC,6642,-0.59,-104.4,840.5,-12.2,503,6645,0.00,1.20,0.00,0.000,4,0.000,0.056,1688,3950,1929,0,0,0,0,0,0
$GC,6765,-0.56,-104.4,857.5,-13.5,508,6769,0.10,1.08,0.00,0.000,6,0.161,0.030,1718,3216,1928,0,0,0,0,0,0
$GC,7086,-0.61,-104.4,889.2,-9.7,524,7089,0.00,1.17,0.00,0.000,4,0.000,0.056,1714,3950,1929,0,0,0,0,0,0
$GC,7132,-0.63,-104.4,894.0,-10.1,526,7135,0.00,1.10,0.00,0.000,6,0.000,0.031,1714,3198,1929,0,0,0,0,0,0
$GC,7464,-0.67,-104.4,927.5,-10.1,542,7468,0.00,1.20,0.00,0.000,4,0.000,0.056,1709,3951,1929,0,0,0,0,0,0
$GC,7509,-0.67,-104.4,932.5,-11.1,544,7513,0.00,1.08,0.00,0.000,6,0.000,0.031,1709,3214,1929,0,0,0,0,0,0
$GC,7842,-0.70,-104.4,968.7,-10.8,560,7846,0.00,1.17,0.00,0.000,4,0.000,0.057,1703,3946,1929,0,0,0,0,0,0
$GC,7869,-0.70,-104.4,972.1,-12.1,561,7873,0.00,1.10,0.00,0.000,6,0.000,0.030,1703,3204,1928,0,0,0,0,0,0
$STATE,8112,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8112,begin apogee
$GC,8117,-0.09,0.0,1000.1,11.5,573,8240,0.57,0.00,113.93,1.841,6,0.152,0.000,1869,2928,1499,0,0,0,0,1,0
$STATE,8241,end apogee,CONTROL_FINISHED_OK
$STATE,8241,begin climb
$GC,8242,0.60,104.4,1003.9,0.0,579,8362,0.70,1.50,111.72,1.805,4,0.088,0.029,2101,2019,1075,0,0,0,0,0,0
$GC,8407,0.62,104.4,988.8,12.4,586,8414,0.00,1.58,0.00,0.000,6,0.000,0.044,2101,2923,1076,0,0,0,0,0,0
$GC,8723,0.60,104.4,943.0,14.0,602,8727,0.00,1.42,0.00,0.000,4,0.000,0.054,2101,3800,1073,0,0,0,0,0,0
$GC,8814,0.52,104.4,927.9,17.4,606,8818,0.10,1.35,0.00,0.000,6,0.197,0.030,2082,2903,1073,0,0,0,0,0,0
$GC,9145,0.52,104.4,883.4,13.2,622,9149,0.00,1.48,0.00,0.000,4,0.000,0.054,2081,3813,1072,0,0,0,0,0,0
$GC,9282,0.49,104.4,862.4,16.1,628,9286,0.00,1.33,0.00,0.000,6,0.000,0.029,2086,2918,1071,0,0,0,0,0,0
$GC,9614,0.49,104.4,815.4,14.1,644,9617,0.00,1.42,0.00,0.000,4,0.000,0.054,2087,3801,1071,0,0,0,0,0,0
$GC,9773,0.44,104.4,789.3,16.5,651,9777,0.15,1.30,0.00,0.000,6,0.182,0.029,2051,2919,1071,0,0,0,0,0,0
$GC,10106,0.50,104.4,749.2,11.9,667,10109,0.00,1.42,0.00,0.000,4,0.000,0.054,2051,3804,1070,0,0,0,0,0,0
$GC,10178,0.52,104.4,739.2,14.6,670,10182,0.00,1.30,0.00,0.000,6,0.000,0.029,2056,2919,1070,0,0,0,0,0,0
$GC,10505,0.57,104.4,698.4,12.5,686,10509,0.10,1.45,0.00,0.000,4,0.114,0.056,2099,3808,1070,0,0,0,0,0,0
$GC,10560,0.50,104.4,689.3,18.1,688,10565,0.12,1.30,0.00,0.000,6,0.187,0.028,2072,2924,1070,0,0,0,0,0,0
$GC,10882,0.53,104.4,646.4,12.7,704,10885,0.00,1.40,0.00,0.000,4,0.000,0.055,2071,3803,1070,0,0,0,0,0,0
$GC,10976,0.53,104.4,632.4,15.0,708,10981,0.00,1.30,0.00,0.000,6,0.000,0.028,2076,2917,1070,0,0,0,0,0,0
$GC,11304,0.56,104.4,591.3,12.7,724,11308,0.00,1.42,0.00,0.000,4,0.000,0.054,2076,3805,1070,0,0,0,0,0,0
$GC,11365,0.53,104.4,582.3,14.7,726,11372,0.00,1.30,0.00,0.000,6,0.000,0.028,2083,2921,1070,0,0,0,0,0,0
$GC,11681,0.53,104.4,540.6,13.4,742,11684,0.00,1.42,0.00,0.000,4,0.000,0.054,2083,3807,1070,0,0,0,0,0,0
$GC,11753,0.49,104.4,529.6,15.4,745,11757,0.00,1.30,0.00,0.000,6,0.000,0.028,2090,2916,1069,0,0,0,0,0,0
$GC,12080,0.49,104.4,486.9,12.8,761,12083,0.00,1.42,0.00,0.000,4,0.000,0.054,2090,3803,1069,0,0,0,0,0,0
$GC,12239,0.44,104.4,463.2,14.6,768,12243,0.15,1.27,0.00,0.000,6,0.179,0.029,2054,2930,1070,0,0,0,0,0,0
$GC,12572,0.50,104.4,427.7,10.5,784,12576,0.00,1.42,0.00,0.000,4,0.000,0.054,2054,3815,1069,0,0,0,0,0,0
$GC,12672,0.53,104.4,414.6,12.8,788,12676,0.00,1.30,0.00,0.000,6,0.000,0.029,2058,2929,1069,0,0,0,0,0,0
$GC,13001,0.58,104.4,379.7,10.9,812,13006,0.10,1.42,0.00,0.000,4,0.112,0.056,2106,3802,1069,0,0,0,0,0,0
$GC,13062,0.51,104.4,370.3,16.9,817,13070,0.12,1.27,0.00,0.000,6,0.186,0.028,2078,2930,1069,0,0,0,0,0,0
$GC,13388,0.54,104.4,330.8,12.2,848,13392,0.00,1.40,0.00,0.000,4,0.000,0.055,2077,3801,1069,0,0,0,0,0,0
$GC,13472,0.52,104.4,318.8,14.4,855,13479,0.00,1.27,0.00,0.000,6,0.000,0.028,2082,2923,1069,0,0,0,0,0,0
$GC,13797,0.54,104.4,277.7,12.0,886,13801,0.00,1.42,0.00,0.000,4,0.000,0.054,2082,3809,1069,0,0,0,0,0,0
$GC,13879,0.51,104.4,266.8,14.4,893,13883,0.00,1.30,0.00,0.000,6,0.000,0.028,2089,2919,1069,0,0,0,0,0,0
$GC,14209,0.51,104.4,223.9,13.3,924,14213,0.00,1.42,0.00,0.000,4,0.000,0.054,2089,3805,1069,0,0,0,0,0,0
$GC,14360,0.45,104.4,201.9,14.8,937,14365,0.12,1.27,0.00,0.000,6,0.178,0.028,2059,2926,1069,0,0,0,0,0,0
$GC,14691,0.52,104.4,165.1,10.3,968,14694,0.00,1.42,0.00,0.000,4,0.000,0.054,2059,3809,1069,0,0,0,0,0,0
$GC,14760,0.54,104.4,156.9,12.1,974,14764,0.00,1.30,0.00,0.000,6,0.000,0.028,2065,2922,1069,0,0,0,0,0,0
$GC,15094,0.61,104.4,121.2,10.4,1005,15101,0.10,0.00,0.00,0.000,6,0.110,0.000,2113,2920,1069,0,0,0,0,0,0
$GC,15433,0.59,104.4,76.3,13.0,1051,15440,0.00,1.42,0.00,0.000,4,0.000,0.054,2113,3806,1069,0,0,0,0,0,0
$GC,15608,0.51,104.4,49.5,15.6,1081,15616,0.15,1.30,0.00,0.000,6,0.182,0.028,2078,2907,1069,0,0,0,0,0,0
$GC,15971,0.56,104.4,9.4,11.2,1142,15980,0.00,1.45,0.00,0.000,4,0.000,0.056,2077,3805,1069,0,0,0,0,0,0
$STATE,16022,end climb,SURFACE_DEPTH_REACHED
$STATE,16022,begin surface coast
$FINISH,1.1,1.025467
$STATE,16047,end surface coast,CONTROL_FINISHED_OK
$STATE,16047,begin surface
$SM_CCo,16061,56.95,0.284,1,0,680,200.16
$SM_GC,2.12,0.00,0.00,56.95,0.000,0.000,0.284,67,3226,680,-5.74,0.51,200.16
$IRIDIUM_FIX,-4236.17,824.43,180708,212139
$TT8_MAMPS,0.027713
$HUMID,62.48
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,21.6,50.602
$10V_AH,10.1,31.981
$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,15.700,91.125,225.650,56.950,0.000,28.294,22.252,298.814,0.000,0.000,23.877,2920.493,9949.650,412.065,3103.498,220.244,0.000,1580.220,0.000,2718.103,0.000,0.544,0.000
$DEVICE_MAMPS,229.500,77.265,1841.355,283.815,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,801.344,811.048,864.352,86.160,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353928
$DATA_FILE_SIZE,66936,1154
$CAP_FILE_SIZE,163577,0
$CFSIZE,259252224,236707840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,220915,170221,-4254.882,823.808,45,1.1,45,-25.0