version: 66.07
glider: 543
mission: 14
dive: 282
start: 9 26 115 3 22 32
data:
$ID,543
$MISSION,14
$DIVE,282
$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,-25030.537
$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,50
$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
$GPS1,260915,031357,-4303.328,836.855,38,0.9,38,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-74.6
$GPS2,260915,032210,-4303.296,836.927,15,1.2,15,-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,249.0,1809,-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,16,-0.54,-49.8,0.0,0.0,0,50,0.00,0.00,-32.62,0.000,2,0.000,0.000,63,3240,1447,0,0,0,0,0,0
$GC,53,-0.59,-101.7,3.0,-2.6,4,86,7.00,0.00,-19.60,0.000,6,0.239,0.000,1709,3239,1913,0,0,0,0,0,0
$GC,135,-0.57,-101.7,10.8,-15.4,16,144,0.00,1.15,0.00,0.000,4,0.000,0.056,1705,3957,1916,0,0,0,0,0,0
$GC,170,-0.53,-101.7,17.2,-18.2,21,180,0.08,1.12,0.00,0.000,6,0.168,0.030,1727,3201,1917,0,0,0,0,0,0
$GC,230,-0.53,-101.7,27.0,-14.7,30,239,0.00,0.00,0.00,0.000,6,0.000,0.000,1727,3200,1918,0,0,0,0,0,0
$GC,380,-0.53,-101.7,48.2,-13.6,55,387,0.00,1.20,0.00,0.000,4,0.000,0.056,1723,3954,1917,0,0,0,0,0,0
$GC,418,-0.53,-101.7,53.9,-15.5,61,425,0.00,1.10,0.00,0.000,6,0.000,0.031,1723,3204,1918,0,0,0,0,0,0
$GC,764,-0.53,-101.7,103.9,-14.7,120,768,0.00,1.20,0.00,0.000,4,0.000,0.055,1718,3958,1917,0,0,0,0,0,0
$GC,799,-0.50,-101.7,109.1,-15.6,123,803,0.00,1.10,0.00,0.000,6,0.000,0.031,1718,3204,1918,0,0,0,0,0,0
$GC,1129,-0.50,-101.7,156.2,-13.5,154,1130,0.00,0.00,0.00,0.000,6,0.000,0.000,1718,3204,1918,0,0,0,0,0,0
$GC,1449,-0.50,-101.7,200.1,-14.2,184,1450,0.00,0.00,0.00,0.000,6,0.000,0.000,1718,3204,1918,0,0,0,0,0,0
$GC,1767,-0.50,-101.7,239.4,-12.1,214,1771,0.00,1.20,0.00,0.000,4,0.000,0.056,1712,3959,1918,0,0,0,0,0,0
$GC,1825,-0.50,-101.7,246.7,-13.0,219,1828,0.00,1.10,0.00,0.000,6,0.000,0.031,1713,3205,1917,0,0,0,0,0,0
$GC,2155,-0.50,-101.7,286.9,-12.0,250,2158,0.00,1.17,0.00,0.000,4,0.000,0.055,1707,3956,1917,0,0,0,0,0,0
$GC,2237,-0.48,-101.7,297.1,-13.5,257,2241,0.12,1.08,0.00,0.000,6,0.154,0.031,1745,3219,1917,0,0,0,0,0,0
$GC,2567,-0.55,-101.7,330.6,-9.9,288,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,3220,1917,0,0,0,0,0,0
$GC,2887,-0.63,-101.7,363.3,-10.3,318,2889,0.12,0.00,0.00,0.000,6,0.095,0.000,1686,3217,1917,0,0,0,0,0,0
$GC,3202,-0.59,-101.7,410.8,-15.6,345,3206,0.00,1.15,0.00,0.000,4,0.000,0.056,1680,3951,1917,0,0,0,0,0,0
$GC,3263,-0.52,-101.7,421.5,-18.0,347,3271,0.15,1.10,0.00,0.000,6,0.160,0.031,1725,3197,1917,0,0,0,0,0,0
$GC,3579,-0.56,-101.7,459.5,-11.8,363,3580,0.00,0.00,0.00,0.000,6,0.000,0.000,1725,3197,1917,0,0,0,0,0,0
$GC,3889,-0.61,-101.7,495.0,-11.3,378,3890,0.00,0.00,0.00,0.000,6,0.000,0.000,1725,3197,1918,0,0,0,0,0,0
$GC,4198,-0.65,-101.7,530.5,-11.5,393,4201,0.00,1.20,0.00,0.000,4,0.000,0.057,1721,3955,1917,0,0,0,0,0,0
$GC,4259,-0.68,-101.7,538.2,-12.4,395,4266,0.08,1.10,0.00,0.000,6,0.067,0.031,1677,3201,1917,0,0,0,0,0,0
$GC,4575,-0.63,-101.7,585.3,-14.7,411,4576,0.00,0.00,0.00,0.000,6,0.000,0.000,1676,3200,1917,0,0,0,0,0,0
$GC,4884,-0.58,-101.7,630.0,-14.6,426,4889,0.15,1.23,0.00,0.000,4,0.183,0.057,1710,3958,1917,0,0,0,0,0,0
$GC,4967,-0.58,-101.7,641.4,-13.2,429,4974,0.00,1.10,0.00,0.000,6,0.000,0.031,1710,3205,1918,0,0,0,0,0,0
$GC,5283,-0.60,-101.7,679.0,-12.0,445,5287,0.00,1.20,0.00,0.000,4,0.000,0.057,1705,3959,1917,0,0,0,0,0,0
$GC,5309,-0.60,-101.7,682.6,-12.6,446,5314,0.00,1.12,0.00,0.000,6,0.000,0.030,1705,3198,1917,0,0,0,0,0,0
$GC,5637,-0.60,-101.7,721.8,-11.6,462,5641,0.00,1.27,0.00,0.000,4,0.000,0.028,1705,2304,1917,0,0,0,0,0,0
$GC,5664,-0.64,-101.7,725.2,-12.0,463,5669,0.00,1.45,0.00,0.000,6,0.000,0.051,1697,3207,1917,0,0,0,0,0,0
$GC,5992,-0.64,-101.7,763.1,-12.2,479,5995,0.00,1.17,0.00,0.000,4,0.000,0.057,1692,3956,1917,0,0,0,0,0,0
$GC,6041,-0.61,-101.7,770.1,-14.5,481,6045,0.00,1.08,0.00,0.000,6,0.000,0.031,1692,3215,1917,0,0,0,0,0,0
$GC,6368,-0.61,-101.7,812.8,-13.0,497,6372,0.00,1.17,0.00,0.000,4,0.000,0.057,1686,3955,1918,0,0,0,0,0,0
$GC,6423,-0.57,-101.7,820.8,-14.5,499,6428,0.08,1.10,0.00,0.000,6,0.162,0.031,1709,3208,1918,0,0,0,0,0,0
$GC,6745,-0.60,-101.7,857.3,-10.6,515,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,3207,1918,0,0,0,0,0,0
$GC,7054,-0.63,-101.7,889.8,-10.4,530,7055,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,3207,1917,0,0,0,0,0,0
$GC,7363,-0.67,-101.7,922.2,-10.6,545,7367,0.00,1.17,0.00,0.000,4,0.000,0.058,1705,3945,1918,0,0,0,0,0,0
$GC,7446,-0.67,-101.7,932.3,-12.0,548,7454,0.00,1.10,0.00,0.000,6,0.000,0.031,1705,3203,1918,0,0,0,0,0,0
$GC,7763,-0.70,-101.7,966.6,-10.7,564,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,1705,3203,1918,0,0,0,0,0,0
$GC,8072,-0.73,-101.7,999.5,-10.4,579,8076,0.10,1.23,0.00,0.000,4,0.114,0.058,1655,3957,1918,0,0,0,0,0,0
$STATE,8079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8079,begin apogee
$GC,8086,-0.09,0.0,1000.7,10.4,579,8218,0.75,0.00,116.97,1.838,6,0.167,0.000,1868,2902,1499,0,0,0,0,2,0
$STATE,8219,end apogee,CONTROL_FINISHED_OK
$STATE,8219,begin climb
$GC,8221,0.59,101.7,1003.9,0.0,586,8348,0.70,1.42,111.80,1.800,4,0.088,0.031,2098,2062,1084,0,0,0,0,1,0
$GC,8382,0.61,101.7,988.1,13.4,593,8386,0.00,1.50,0.00,0.000,6,0.000,0.046,2099,2919,1082,0,0,0,0,0,0
$GC,8704,0.60,101.7,939.0,15.7,609,8707,0.00,1.42,0.00,0.000,4,0.000,0.055,2099,3803,1078,0,0,0,0,0,0
$GC,8841,0.53,101.7,915.0,17.3,615,8845,0.08,1.30,0.00,0.000,6,0.197,0.029,2085,2920,1078,0,0,0,0,0,0
$GC,9172,0.53,101.7,867.7,13.8,631,9176,0.00,1.45,0.00,0.000,4,0.000,0.056,2085,3812,1077,0,0,0,0,0,0
$GC,9267,0.49,101.7,852.8,16.2,635,9271,0.00,1.30,0.00,0.000,6,0.000,0.030,2090,2929,1076,0,0,0,0,0,0
$GC,9594,0.49,101.7,807.6,13.9,651,9597,0.00,1.42,0.00,0.000,4,0.000,0.055,2090,3813,1076,0,0,0,0,0,0
$GC,9677,0.43,101.7,794.6,15.1,654,9685,0.17,1.30,0.00,0.000,6,0.181,0.030,2047,2927,1076,0,0,0,0,0,0
$GC,9993,0.50,101.7,758.9,11.2,670,9997,0.00,1.42,0.00,0.000,4,0.000,0.057,2047,3805,1076,0,0,0,0,0,0
$GC,10167,0.52,101.7,735.7,13.8,677,10173,0.00,1.30,0.00,0.000,6,0.000,0.030,2052,2925,1075,0,0,0,0,0,0
$GC,10482,0.58,101.7,698.6,11.7,693,10487,0.12,1.42,0.00,0.000,4,0.100,0.057,2103,3807,1075,0,0,0,0,0,0
$GC,10527,0.50,101.7,691.8,16.0,695,10532,0.12,1.30,0.00,0.000,6,0.192,0.030,2076,2922,1075,0,0,0,0,0,0
$GC,10861,0.53,101.7,648.0,12.9,711,10865,0.00,1.42,0.00,0.000,4,0.000,0.057,2075,3810,1075,0,0,0,0,0,0
$GC,11007,0.50,101.7,626.3,15.3,717,11010,0.00,1.30,0.00,0.000,6,0.000,0.030,2080,2923,1075,0,0,0,0,0,0
$GC,11328,0.52,101.7,587.0,12.1,733,11332,0.00,1.42,0.00,0.000,4,0.000,0.056,2080,3804,1075,0,0,0,0,0,0
$GC,11434,0.48,101.7,572.2,14.4,737,11441,0.00,1.27,0.00,0.000,6,0.000,0.029,2087,2927,1075,0,0,0,0,0,0
$GC,11750,0.48,101.7,533.7,12.2,753,11754,0.00,1.42,0.00,0.000,4,0.000,0.056,2087,3809,1075,0,0,0,0,0,0
$GC,11863,0.44,101.7,517.5,14.8,758,11867,0.15,1.30,0.00,0.000,6,0.177,0.030,2051,2924,1074,0,0,0,0,0,0
$GC,12197,0.51,101.7,483.5,10.1,774,12201,0.00,1.42,0.00,0.000,4,0.000,0.057,2051,3809,1074,0,0,0,0,0,0
$GC,12291,0.53,101.7,471.9,13.1,778,12295,0.00,1.30,0.00,0.000,6,0.000,0.030,2056,2924,1074,0,0,0,0,0,0
$GC,12619,0.60,101.7,436.5,11.1,794,12623,0.12,1.42,0.00,0.000,4,0.098,0.057,2113,3810,1074,0,0,0,0,0,0
$GC,12664,0.50,101.7,429.8,15.9,796,12668,0.15,1.30,0.00,0.000,6,0.187,0.029,2077,2924,1074,0,0,0,0,0,0
$GC,12990,0.53,101.7,388.8,12.3,815,12994,0.00,1.42,0.00,0.000,4,0.000,0.057,2077,3808,1074,0,0,0,0,0,0
$GC,13116,0.51,101.7,370.6,14.2,826,13120,0.00,1.30,0.00,0.000,6,0.000,0.030,2082,2922,1074,0,0,0,0,0,0
$GC,13450,0.53,101.7,327.7,12.7,857,13454,0.00,1.42,0.00,0.000,4,0.000,0.056,2082,3809,1074,0,0,0,0,0,0
$GC,13552,0.50,101.7,312.5,14.6,866,13555,0.00,1.30,0.00,0.000,6,0.000,0.029,2089,2921,1074,0,0,0,0,0,0
$GC,13885,0.50,101.7,269.2,12.4,897,13889,0.00,1.42,0.00,0.000,4,0.000,0.057,2088,3804,1074,0,0,0,0,0,0
$GC,13991,0.46,101.7,253.4,14.7,906,13999,0.15,1.30,0.00,0.000,6,0.175,0.029,2052,2919,1074,0,0,0,0,0,0
$GC,14320,0.54,101.7,220.6,9.8,937,14324,0.00,1.42,0.00,0.000,4,0.000,0.056,2052,3803,1074,0,0,0,0,0,0
$GC,14437,0.57,101.7,206.8,11.6,947,14444,0.00,1.27,0.00,0.000,6,0.000,0.030,2057,2931,1074,0,0,0,0,0,0
$GC,14763,0.65,101.7,175.1,9.5,978,14767,0.15,1.42,0.00,0.000,4,0.087,0.056,2124,3813,1074,0,0,0,0,0,0
$GC,14789,0.60,101.7,171.5,13.2,980,14799,0.10,1.30,0.00,0.000,6,0.200,0.029,2103,2923,1074,0,0,0,0,0,0
$GC,15115,0.60,101.7,132.8,11.5,1011,15119,0.00,1.42,0.00,0.000,4,0.000,0.056,2103,3807,1074,0,0,0,0,0,0
$GC,15257,0.54,101.7,113.7,13.1,1023,15264,0.00,1.30,0.00,0.000,6,0.000,0.029,2108,2919,1074,0,0,0,0,0,0
$GC,15598,0.52,101.7,71.5,12.6,1074,15607,0.12,1.42,0.00,0.000,4,0.200,0.054,2079,3809,1074,0,0,0,0,0,0
$GC,15731,0.52,101.7,54.8,12.8,1096,15737,0.00,1.30,0.00,0.000,6,0.000,0.029,2084,2920,1074,0,0,0,0,0,0
$GC,16090,0.55,101.7,15.4,11.3,1157,16099,0.00,1.42,0.00,0.000,4,0.000,0.054,2084,3807,1074,0,0,0,0,0,0
$GC,16149,0.52,101.7,8.1,12.7,1166,16158,0.00,1.30,0.00,0.000,6,0.000,0.029,2090,2920,1074,0,0,0,0,0,0
$STATE,16188,end climb,SURFACE_DEPTH_REACHED
$STATE,16188,begin surface coast
$FINISH,1.7,1.026524
$STATE,16214,end surface coast,CONTROL_FINISHED_OK
$STATE,16214,begin surface
$SM_CCo,16227,45.20,0.139,0,0,682,200.16
$SM_GC,2.82,0.00,0.00,45.20,0.000,0.000,0.139,64,3216,682,-5.75,0.20,200.16
$IRIDIUM_FIX,-4244.98,753.21,220708,111145
$TT8_MAMPS,0.027713
$HUMID,63.19
$INTERNAL_PRESSURE,11.3688
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,21.6,53.408
$10V_AH,10.1,33.940
$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,16.225,85.375,228.775,45.200,0.000,27.988,21.646,306.818,0.000,0.000,18.087,2948.327,10057.409,417.732,3100.862,233.983,0.000,1586.437,0.000,2715.348,0.000,0.544,0.000
$DEVICE_MAMPS,239.445,63.495,1838.295,139.230,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,815.587,829.686,884.244,85.199,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353912
$DATA_FILE_SIZE,66956,1176
$CAP_FILE_SIZE,163308,0
$CFSIZE,259252224,235323392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,260915,075504,-4303.868,836.023,43,0.9,43,-25.1