version: 66.07
glider: 543
mission: 14
dive: 290
start: 9 28 115 3 31 51
data:
$ID,543
$MISSION,14
$DIVE,290
$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,-25053.902
$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,71
$R_STBD_OVSHOOT,28
$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
$GPS1,280915,031503,-4303.510,824.692,172,1.0,172,-25.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-62.3
$GPS2,280915,033129,-4303.668,824.821,25,1.4,25,-25.0
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAZ_BUT1
$TGT_LATLONG,-4304.000,824.000
$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,266.1,1269,-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,13,begin dive
$GC,15,-0.54,-49.8,0.0,0.0,0,64,0.00,0.00,-45.60,0.000,6,0.000,0.000,60,3209,1704,0,0,0,0,0,0
$GC,66,-0.60,-109.0,2.8,-1.7,6,92,6.75,1.20,-8.90,0.000,4,0.226,0.081,1703,3950,1945,0,0,0,0,0,0
$GC,353,-0.55,-109.0,38.8,-18.2,53,363,0.05,1.08,0.00,0.000,6,0.163,0.029,1719,3207,1947,0,0,0,0,0,0
$GC,500,-0.55,-109.0,60.4,-14.4,78,509,0.00,1.17,0.00,0.000,4,0.000,0.054,1715,3951,1947,0,0,0,0,0,0
$GC,533,-0.53,-109.0,65.0,-13.8,83,539,0.00,1.08,0.00,0.000,6,0.000,0.029,1715,3207,1947,0,0,0,0,0,0
$GC,882,-0.53,-109.0,113.6,-14.1,136,886,0.00,1.17,0.00,0.000,4,0.000,0.054,1709,3952,1947,0,0,0,0,0,0
$GC,928,-0.50,-109.0,120.5,-15.1,140,932,0.08,1.08,0.00,0.000,6,0.161,0.030,1732,3210,1947,0,0,0,0,0,0
$GC,1258,-0.53,-109.0,163.8,-12.7,171,1262,0.00,1.27,0.00,0.000,4,0.000,0.026,1732,2298,1947,0,0,0,0,0,0
$GC,1319,-0.61,-109.0,171.1,-11.1,176,1328,0.00,1.45,0.00,0.000,6,0.000,0.049,1727,3202,1947,0,0,0,0,0,0
$GC,1646,-0.64,-109.0,206.6,-11.3,207,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,1727,3201,1947,0,0,0,0,0,0
$GC,1967,-0.67,-109.0,244.1,-11.6,237,1973,0.12,0.00,0.00,0.000,6,0.098,0.000,1670,3203,1947,0,0,0,0,0,0
$GC,2292,-0.60,-109.0,297.3,-16.4,268,2296,0.15,1.20,0.00,0.000,4,0.177,0.054,1705,3961,1947,0,0,0,0,0,0
$GC,2338,-0.58,-109.0,304.2,-14.7,272,2341,0.00,1.10,0.00,0.000,6,0.000,0.030,1704,3195,1947,0,0,0,0,0,0
$GC,2668,-0.58,-109.0,349.8,-14.0,303,2671,0.00,1.20,0.00,0.000,4,0.000,0.054,1698,3957,1947,0,0,0,0,0,0
$GC,2714,-0.55,-109.0,356.3,-14.5,307,2718,0.00,1.08,0.00,0.000,6,0.000,0.029,1698,3208,1947,0,0,0,0,0,0
$GC,3044,-0.55,-109.0,401.0,-13.0,338,3048,0.00,1.27,0.00,0.000,4,0.000,0.026,1698,2305,1947,0,0,0,0,0,0
$GC,3090,-0.58,-109.0,406.7,-11.4,340,3094,0.00,1.48,0.00,0.000,6,0.000,0.049,1691,3221,1947,0,0,0,0,0,0
$GC,3423,-0.55,-109.0,452.5,-14.0,356,3427,0.12,1.17,0.00,0.000,4,0.184,0.054,1718,3955,1947,0,0,0,0,0,0
$GC,3505,-0.55,-109.0,463.4,-12.1,359,3512,0.00,1.10,0.00,0.000,6,0.000,0.030,1718,3205,1947,0,0,0,0,0,0
$GC,3822,-0.58,-109.0,500.0,-11.5,375,3823,0.00,0.00,0.00,0.000,6,0.000,0.000,1718,3205,1947,0,0,0,0,0,0
$GC,4131,-0.61,-109.0,535.5,-11.7,390,4134,0.00,1.17,0.00,0.000,4,0.000,0.054,1713,3947,1947,0,0,0,0,0,0
$GC,4169,-0.61,-109.0,540.6,-13.6,391,4176,0.00,1.08,0.00,0.000,6,0.000,0.031,1713,3209,1947,0,0,0,0,0,0
$GC,4485,-0.63,-109.0,578.6,-12.2,407,4489,0.00,1.20,0.00,0.000,4,0.000,0.057,1708,3951,1947,0,0,0,0,0,0
$GC,4540,-0.63,-109.0,586.0,-13.1,409,4544,0.00,1.10,0.00,0.000,6,0.000,0.030,1707,3204,1947,0,0,0,0,0,0
$GC,4862,-0.63,-109.0,626.1,-12.9,425,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,1708,3203,1947,0,0,0,0,0,0
$GC,5171,-0.65,-109.0,665.3,-12.7,440,5175,0.00,1.20,0.00,0.000,4,0.000,0.056,1702,3957,1947,0,0,0,0,0,0
$GC,5204,-0.65,-109.0,670.1,-14.2,441,5208,0.00,1.12,0.00,0.000,6,0.000,0.031,1702,3198,1947,0,0,0,0,0,0
$GC,5526,-0.65,-109.0,713.4,-13.3,457,5527,0.00,0.00,0.00,0.000,6,0.000,0.000,1702,3199,1947,0,0,0,0,0,0
$GC,5835,-0.65,-109.0,753.9,-13.1,472,5838,0.00,1.20,0.00,0.000,4,0.000,0.057,1696,3951,1947,0,0,0,0,0,0
$GC,5863,-0.65,-109.0,757.9,-14.4,473,5866,0.00,1.08,0.00,0.000,6,0.000,0.031,1696,3217,1947,0,0,0,0,0,0
$GC,6190,-0.65,-109.0,799.5,-12.4,489,6193,0.00,1.17,0.00,0.000,4,0.000,0.056,1690,3954,1946,0,0,0,0,0,0
$GC,6228,-0.62,-109.0,804.9,-13.1,490,6235,0.00,1.10,0.00,0.000,6,0.000,0.031,1690,3201,1947,0,0,0,0,0,0
$GC,6544,-0.62,-109.0,843.0,-11.8,506,6548,0.00,1.20,0.00,0.000,4,0.000,0.057,1684,3954,1946,0,0,0,0,0,0
$GC,6577,-0.59,-109.0,847.2,-12.3,507,6581,0.00,1.10,0.00,0.000,6,0.000,0.031,1684,3202,1946,0,0,0,0,0,0
$GC,6898,-0.59,-109.0,884.8,-11.5,523,6902,0.00,1.20,0.00,0.000,4,0.000,0.057,1679,3953,1947,0,0,0,0,0,0
$GC,6927,-0.55,-109.0,888.4,-12.6,524,6931,0.12,1.10,0.00,0.000,6,0.158,0.031,1717,3211,1946,0,0,0,0,0,0
$GC,7254,-0.61,-109.0,917.3,-8.6,540,7255,0.00,0.00,0.00,0.000,6,0.000,0.000,1717,3210,1947,0,0,0,0,0,0
$GC,7563,-0.66,-109.0,943.5,-8.6,555,7566,0.00,1.30,0.00,0.000,4,0.000,0.028,1717,2301,1946,0,0,0,0,0,0
$GC,7590,-0.74,-113.1,945.7,-8.1,556,7594,0.10,1.48,0.00,0.000,6,0.057,0.051,1656,3210,1946,0,0,0,0,0,0
$GC,7916,-0.68,-113.1,986.5,-13.1,572,7920,0.00,1.17,0.00,0.000,4,0.000,0.056,1650,3955,1947,0,0,0,0,0,0
$GC,7972,-0.59,-113.1,994.8,-15.4,574,7976,0.20,1.10,0.00,0.000,6,0.164,0.031,1708,3205,1946,0,0,0,0,0,0
$STATE,8023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8023,begin apogee
$GC,8027,-0.09,0.0,1000.4,10.8,577,8154,0.55,0.00,118.47,1.860,6,0.144,0.000,1872,2916,1498,0,0,0,0,1,0
$STATE,8155,end apogee,CONTROL_FINISHED_OK
$STATE,8155,begin climb
$GC,8157,0.60,113.1,1002.0,0.0,583,8288,0.70,1.48,121.47,1.822,4,0.088,0.030,2102,2052,1039,0,0,0,0,0,0
$GC,8329,0.63,113.1,983.2,15.1,591,8332,0.00,1.52,0.00,0.000,6,0.000,0.047,2102,2923,1040,0,0,0,0,0,0
$GC,8662,0.61,113.1,931.5,15.2,607,8665,0.00,1.42,0.00,0.000,4,0.000,0.056,2102,3801,1036,0,0,0,0,0,0
$GC,8775,0.54,113.1,912.0,18.1,612,8779,0.00,1.33,0.00,0.000,6,0.000,0.029,2109,2915,1036,0,0,0,0,0,0
$GC,9107,0.51,113.1,861.1,15.1,628,9112,0.15,1.48,0.00,0.000,4,0.204,0.055,2074,3814,1036,0,0,0,0,0,0
$GC,9162,0.48,113.1,852.5,15.4,630,9166,0.00,1.33,0.00,0.000,6,0.000,0.031,2079,2924,1034,0,0,0,0,0,0
$GC,9484,0.50,113.1,809.7,13.6,646,9487,0.00,1.45,0.00,0.000,4,0.000,0.057,2079,3806,1034,0,0,0,0,0,0
$GC,9652,0.47,113.1,783.5,15.8,653,9656,0.00,1.33,0.00,0.000,6,0.000,0.031,2085,2917,1034,0,0,0,0,0,0
$GC,9973,0.47,113.1,739.5,13.7,669,9977,0.00,1.45,0.00,0.000,4,0.000,0.056,2086,3814,1034,0,0,0,0,0,0
$GC,10096,0.42,113.1,719.9,16.2,674,10100,0.15,1.33,0.00,0.000,6,0.179,0.031,2050,2918,1033,0,0,0,0,0,0
$GC,10418,0.50,113.1,683.6,10.6,690,10422,0.00,1.45,0.00,0.000,4,0.000,0.057,2050,3814,1033,0,0,0,0,0,0
$GC,10491,0.52,113.1,674.4,13.1,693,10494,0.00,1.33,0.00,0.000,6,0.000,0.031,2055,2920,1033,0,0,0,0,0,0
$GC,10818,0.58,113.1,635.5,12.2,709,10822,0.10,1.45,0.00,0.000,4,0.112,0.057,2099,3806,1033,0,0,0,0,0,0
$GC,10956,0.52,113.1,612.1,19.3,715,10960,0.10,1.30,0.00,0.000,6,0.192,0.031,2079,2920,1033,0,0,0,0,0,0
$GC,11289,0.55,113.1,563.9,14.1,731,11292,0.00,1.42,0.00,0.000,4,0.000,0.055,2078,3806,1032,0,0,0,0,0,0
$GC,11429,0.52,113.1,541.2,15.9,737,11433,0.00,1.30,0.00,0.000,6,0.000,0.031,2083,2925,1032,0,0,0,0,0,0
$GC,11757,0.52,113.1,496.2,13.1,753,11761,0.00,1.42,0.00,0.000,4,0.000,0.055,2084,3810,1032,0,0,0,0,0,0
$GC,11863,0.49,113.1,480.2,14.2,757,11870,0.00,1.30,0.00,0.000,6,0.000,0.030,2090,2921,1032,0,0,0,0,0,0
$GC,12179,0.49,113.1,439.6,12.5,773,12182,0.00,1.42,0.00,0.000,4,0.000,0.056,2090,3808,1032,0,0,0,0,0,0
$GC,12251,0.44,113.1,429.4,14.2,776,12255,0.15,1.30,0.00,0.000,6,0.175,0.031,2054,2927,1032,0,0,0,0,0,0
$GC,12579,0.51,113.1,398.9,8.7,792,12583,0.00,1.42,0.00,0.000,4,0.000,0.056,2054,3809,1032,0,0,0,0,0,0
$GC,12652,0.54,113.1,391.3,11.0,798,12658,0.00,1.30,0.00,0.000,6,0.000,0.030,2059,2924,1032,0,0,0,0,0,0
$GC,12980,0.60,113.1,360.9,9.7,829,12984,0.12,1.45,0.00,0.000,4,0.097,0.057,2120,3809,1032,0,0,0,0,0,0
$GC,13028,0.51,113.1,354.2,16.2,833,13032,0.17,1.30,0.00,0.000,6,0.190,0.030,2078,2927,1032,0,0,0,0,0,0
$GC,13359,0.55,113.1,315.3,11.3,864,13362,0.00,1.42,0.00,0.000,4,0.000,0.056,2077,3811,1032,0,0,0,0,0,0
$GC,13496,0.55,113.1,297.8,12.6,876,13499,0.00,1.30,0.00,0.000,6,0.000,0.030,2082,2928,1032,0,0,0,0,0,0
$GC,13826,0.57,113.1,262.5,11.2,907,13830,0.00,1.42,0.00,0.000,4,0.000,0.056,2083,3813,1032,0,0,0,0,0,0
$GC,14010,0.55,113.1,237.7,14.1,923,14014,0.00,1.30,0.00,0.000,6,0.000,0.030,2089,2925,1032,0,0,0,0,0,0
$GC,14340,0.56,113.1,199.1,11.5,954,14344,0.00,1.45,0.00,0.000,4,0.000,0.056,2089,3808,1032,0,0,0,0,0,0
$GC,14377,0.53,113.1,194.6,13.2,957,14381,0.00,1.30,0.00,0.000,6,0.000,0.029,2096,2923,1032,0,0,0,0,0,0
$GC,14707,0.53,113.1,150.4,12.1,988,14711,0.00,1.42,0.00,0.000,4,0.000,0.056,2096,3805,1032,0,0,0,0,0,0
$GC,14780,0.49,113.1,141.0,12.7,994,14788,0.12,1.27,0.00,0.000,6,0.181,0.028,2067,2928,1032,0,0,0,0,0,0
$GC,15108,0.56,113.1,106.1,9.9,1025,15111,0.00,1.42,0.00,0.000,4,0.000,0.056,2067,3812,1032,0,0,0,0,0,0
$GC,15189,0.56,113.1,97.7,12.6,1033,15196,0.00,1.30,0.00,0.000,6,0.000,0.029,2072,2921,1032,0,0,0,0,0,0
$GC,15541,0.62,123.6,60.1,7.3,1094,15556,0.00,1.48,4.72,0.820,4,0.000,0.056,2072,3814,996,0,0,0,0,0,0
$GC,15706,0.67,150.1,49.2,5.5,1122,15728,0.08,1.30,13.38,0.956,6,0.065,0.028,2123,2925,886,0,0,0,0,0,0
$STATE,15975,end climb,SURFACE_DEPTH_REACHED
$STATE,15975,begin surface coast
$FINISH,1.1,1.026514
$STATE,15995,end surface coast,CONTROL_FINISHED_OK
$STATE,15996,begin surface
$SM_CCo,16010,47.58,0.619,3,0,683,200.16
$SM_GC,2.66,0.00,0.00,47.58,0.000,0.000,0.619,67,3219,683,-5.72,0.28,200.16
$IRIDIUM_FIX,-4244.98,822.81,240708,161617
$TT8_MAMPS,0.026964
$HUMID,62.56
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,21.5,54.919
$10V_AH,10.1,35.014
$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,16.275,90.750,258.050,47.575,0.000,99.778,141.869,450.595,0.000,0.000,27.786,2944.427,9983.689,430.585,3449.055,248.294,0.000,1601.955,0.000,2698.793,0.000,0.544,0.000
$DEVICE_MAMPS,225.675,81.090,1860.480,618.885,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,812.120,818.414,864.439,81.090,0.000,0.000,0.000,0.000,0.000,0.000
$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,66923,1170
$CAP_FILE_SIZE,167034,0
$CFSIZE,259252224,234573824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,280915,080234,-4303.805,823.543,133,0.9,133,-25.0