version: 66.07
glider: 543
mission: 14
dive: 293
start: 9 28 115 21 25 28
data:
$ID,543
$MISSION,14
$DIVE,293
$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,-25060.881
$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,63
$R_STBD_OVSHOOT,38
$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
$GPS1,280915,210921,-4256.396,825.205,104,1.3,104,-25.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-67.1
$GPS2,280915,212506,-4256.343,825.146,26,1.6,26,-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,317.2,1678,-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,-49.8,0.0,0.0,0,58,0.00,0.00,-41.12,0.000,2,0.000,0.000,60,3227,1646,0,0,0,0,0,0
$GC,60,-0.59,-99.9,3.1,-2.8,5,86,6.97,1.38,-8.32,0.000,4,0.237,0.054,1708,2315,1909,0,0,0,0,0,0
$GC,159,-0.59,-99.9,16.5,-14.1,20,168,0.00,1.45,0.00,0.000,6,0.000,0.050,1702,3203,1910,0,0,0,0,0,0
$GC,217,-0.56,-99.9,25.8,-16.5,29,225,0.00,0.00,0.00,0.000,6,0.000,0.000,1702,3203,1910,0,0,0,0,0,0
$GC,366,-0.52,-99.9,51.9,-16.8,54,374,0.12,0.00,0.00,0.000,6,0.186,0.000,1733,3203,1911,0,0,0,0,0,0
$GC,717,-0.55,-99.9,95.7,-12.8,115,723,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,3203,1910,0,0,0,0,0,0
$GC,1047,-0.57,-99.9,141.4,-13.9,148,1050,0.00,1.17,0.00,0.000,4,0.000,0.058,1729,3949,1910,0,0,0,0,0,0
$GC,1232,-0.59,-99.9,168.4,-14.6,164,1241,0.00,1.08,0.00,0.000,6,0.000,0.031,1729,3203,1910,0,0,0,0,0,0
$GC,1559,-0.62,-99.9,209.8,-13.0,195,1563,0.00,1.27,0.00,0.000,4,0.000,0.028,1729,2306,1910,0,0,0,0,0,0
$GC,1632,-0.70,-99.9,218.9,-11.2,201,1639,0.10,1.45,0.00,0.000,6,0.056,0.051,1664,3209,1910,0,0,0,0,0,0
$GC,1957,-0.62,-99.9,275.0,-17.0,232,1959,0.15,0.00,0.00,0.000,6,0.187,0.000,1701,3209,1910,0,0,0,0,0,0
$GC,2275,-0.62,-99.9,318.4,-13.3,262,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,1701,3209,1910,0,0,0,0,0,0
$GC,2595,-0.62,-99.9,363.8,-14.7,292,2598,0.00,1.20,0.00,0.000,4,0.000,0.057,1697,3957,1910,0,0,0,0,0,0
$GC,2655,-0.59,-99.9,372.6,-15.4,297,2659,0.00,1.08,0.00,0.000,6,0.000,0.031,1697,3216,1910,0,0,0,0,0,0
$GC,2982,-0.59,-99.9,421.6,-14.8,321,2983,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,3216,1910,0,0,0,0,0,0
$GC,3291,-0.59,-99.9,465.3,-14.3,336,3295,0.00,1.30,0.00,0.000,4,0.000,0.028,1697,2303,1910,0,0,0,0,0,0
$GC,3306,-0.59,-99.9,467.8,-14.1,336,3313,0.00,1.45,0.00,0.000,6,0.000,0.049,1690,3202,1910,0,0,0,0,0,0
$GC,3623,-0.56,-99.9,514.9,-15.1,352,3625,0.12,0.00,0.00,0.000,6,0.185,0.000,1721,3202,1910,0,0,0,0,0,0
$GC,3932,-0.60,-99.9,553.1,-11.9,367,3936,0.00,1.17,0.00,0.000,4,0.000,0.057,1717,3949,1910,0,0,0,0,0,0
$GC,3965,-0.62,-99.9,557.4,-12.3,368,3969,0.00,1.08,0.00,0.000,6,0.000,0.032,1717,3208,1910,0,0,0,0,0,0
$GC,4287,-0.66,-99.9,595.1,-11.5,384,4291,0.00,1.17,0.00,0.000,4,0.000,0.057,1712,3945,1910,0,0,0,0,0,0
$GC,4336,-0.66,-99.9,601.3,-12.2,386,4341,0.00,1.10,0.00,0.000,6,0.000,0.031,1712,3201,1910,0,0,0,0,0,0
$GC,4664,-0.68,-99.9,638.8,-11.6,402,4665,0.00,0.00,0.00,0.000,6,0.000,0.000,1712,3200,1910,0,0,0,0,0,0
$GC,4974,-0.70,-99.9,674.6,-11.6,417,4979,0.10,1.23,0.00,0.000,4,0.114,0.059,1661,3954,1910,0,0,0,0,0,0
$GC,5029,-0.61,-99.9,683.3,-16.4,419,5033,0.12,1.08,0.00,0.000,6,0.167,0.032,1698,3224,1910,0,0,0,0,0,0
$GC,5351,-0.61,-99.9,723.6,-12.3,435,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,1698,3224,1910,0,0,0,0,0,0
$GC,5659,-0.61,-99.9,760.5,-11.8,450,5663,0.00,1.35,0.00,0.000,4,0.000,0.029,1698,2291,1910,0,0,0,0,0,0
$GC,5687,-0.64,-99.9,763.6,-10.8,451,5690,0.00,1.48,0.00,0.000,6,0.000,0.051,1693,3201,1910,0,0,0,0,0,0
$GC,6014,-0.64,-99.9,800.1,-11.1,467,6017,0.00,1.17,0.00,0.000,4,0.000,0.057,1687,3948,1910,0,0,0,0,0,0
$GC,6059,-0.61,-99.9,805.6,-12.2,469,6063,0.00,1.10,0.00,0.000,6,0.000,0.033,1687,3198,1910,0,0,0,0,0,0
$GC,6392,-0.61,-99.9,844.8,-12.1,485,6395,0.00,1.20,0.00,0.000,4,0.000,0.057,1681,3949,1910,0,0,0,0,0,0
$GC,6464,-0.57,-99.9,854.2,-13.5,488,6468,0.10,1.08,0.00,0.000,6,0.158,0.033,1712,3222,1910,0,0,0,0,0,0
$GC,6791,-0.61,-99.9,886.5,-9.7,504,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,1712,3222,1910,0,0,0,0,0,0
$GC,7100,-0.66,-99.9,915.9,-9.6,519,7104,0.00,1.17,0.00,0.000,4,0.000,0.059,1708,3954,1910,0,0,0,0,0,0
$GC,7138,-0.68,-99.9,920.2,-10.7,520,7145,0.00,1.10,0.00,0.000,6,0.000,0.033,1708,3204,1910,0,0,0,0,0,0
$GC,7454,-0.71,-99.9,951.6,-10.0,536,7458,0.00,1.30,0.00,0.000,4,0.000,0.029,1708,2303,1910,0,0,0,0,0,0
$GC,7487,-0.78,-99.9,955.1,-10.0,537,7492,0.10,1.48,0.00,0.000,6,0.054,0.052,1648,3210,1910,0,0,0,0,0,0
$STATE,7807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7807,begin apogee
$GC,7812,-0.09,0.0,1000.2,14.5,553,7932,0.77,0.00,111.47,1.853,6,0.164,0.000,1866,2911,1498,0,0,0,0,1,0
$STATE,7932,end apogee,CONTROL_FINISHED_OK
$STATE,7932,begin climb
$GC,7935,0.59,99.9,1003.7,0.0,559,8050,0.70,1.42,107.85,1.808,4,0.090,0.028,2096,2040,1091,0,0,0,0,0,0
$GC,8111,0.62,99.9,986.8,12.5,567,8115,0.00,1.52,0.00,0.000,6,0.000,0.048,2096,2917,1089,0,0,0,0,0,0
$GC,8433,0.60,99.9,940.0,14.8,583,8436,0.00,1.45,0.00,0.000,4,0.000,0.057,2096,3812,1086,0,0,0,0,0,0
$GC,8629,0.53,99.9,907.1,16.8,591,8636,0.00,1.33,0.00,0.000,6,0.000,0.031,2103,2922,1085,0,0,0,0,0,0
$GC,8945,0.49,99.9,862.4,14.1,607,8949,0.15,1.45,0.00,0.000,4,0.207,0.057,2068,3806,1085,0,0,0,0,0,0
$GC,9039,0.47,99.9,849.1,13.3,611,9043,0.00,1.33,0.00,0.000,6,0.000,0.031,2073,2921,1084,0,0,0,0,0,0
$GC,9366,0.49,99.9,810.9,11.6,627,9370,0.00,1.45,0.00,0.000,4,0.000,0.057,2073,3807,1084,0,0,0,0,0,0
$GC,9506,0.45,99.9,791.8,13.9,633,9510,0.00,1.33,0.00,0.000,6,0.000,0.031,2080,2922,1083,0,0,0,0,0,0
$GC,9833,0.45,99.9,751.4,12.1,649,9837,0.00,1.45,0.00,0.000,4,0.000,0.057,2080,3811,1083,0,0,0,0,0,0
$GC,9911,0.41,99.9,740.5,14.1,652,9916,0.15,1.33,0.00,0.000,6,0.185,0.031,2045,2918,1083,0,0,0,0,0,0
$GC,10233,0.48,99.9,709.7,9.2,668,10236,0.00,1.45,0.00,0.000,4,0.000,0.057,2044,3811,1083,0,0,0,0,0,0
$GC,10288,0.50,99.9,703.4,11.2,670,10292,0.00,1.33,0.00,0.000,6,0.000,0.031,2049,2921,1082,0,0,0,0,0,0
$GC,10610,0.56,99.9,672.1,9.9,686,10614,0.10,1.45,0.00,0.000,4,0.112,0.057,2092,3812,1082,0,0,0,0,0,0
$GC,10760,0.50,99.9,649.8,15.1,692,10768,0.10,1.33,0.00,0.000,6,0.191,0.031,2072,2914,1082,0,0,0,0,0,0
$GC,11077,0.52,99.9,613.0,11.5,708,11080,0.00,1.45,0.00,0.000,4,0.000,0.057,2071,3806,1082,0,0,0,0,0,0
$GC,11190,0.50,99.9,597.8,13.5,713,11193,0.00,1.30,0.00,0.000,6,0.000,0.031,2077,2927,1082,0,0,0,0,0,0
$GC,11523,0.51,99.9,556.7,12.2,729,11526,0.00,1.42,0.00,0.000,4,0.000,0.057,2077,3805,1082,0,0,0,0,0,0
$GC,11645,0.48,99.9,539.2,14.3,734,11649,0.00,1.30,0.00,0.000,6,0.000,0.031,2083,2928,1082,0,0,0,0,0,0
$GC,11967,0.48,99.9,498.3,12.8,750,11971,0.00,1.42,0.00,0.000,4,0.000,0.057,2083,3807,1082,0,0,0,0,0,0
$GC,12119,0.43,99.9,476.0,14.6,756,12126,0.15,1.30,0.00,0.000,6,0.179,0.031,2047,2928,1082,0,0,0,0,0,0
$GC,12435,0.50,99.9,444.1,9.7,772,12439,0.00,1.42,0.00,0.000,4,0.000,0.057,2048,3803,1082,0,0,0,0,0,0
$GC,12467,0.53,99.9,440.4,11.3,773,12471,0.00,1.30,0.00,0.000,6,0.000,0.031,2052,2925,1082,0,0,0,0,0,0
$GC,12789,0.60,99.9,407.4,9.8,789,12793,0.12,1.42,0.00,0.000,4,0.095,0.057,2111,3802,1082,0,0,0,0,0,0
$GC,12960,0.51,99.9,380.6,17.5,801,12964,0.15,1.30,0.00,0.000,6,0.192,0.031,2077,2924,1082,0,0,0,0,0,0
$GC,13290,0.54,99.9,341.3,11.1,832,13294,0.00,1.42,0.00,0.000,4,0.000,0.057,2077,3804,1082,0,0,0,0,0,0
$GC,13385,0.51,99.9,328.9,13.1,840,13394,0.00,1.30,0.00,0.000,6,0.000,0.031,2082,2925,1082,0,0,0,0,0,0
$GC,13711,0.53,99.9,292.0,10.7,871,13715,0.00,1.42,0.00,0.000,4,0.000,0.056,2082,3807,1082,0,0,0,0,0,0
$GC,13852,0.49,99.9,274.7,12.0,883,13859,0.00,1.30,0.00,0.000,6,0.000,0.031,2088,2926,1082,0,0,0,0,0,0
$GC,14177,0.49,99.9,240.5,11.5,914,14181,0.00,1.42,0.00,0.000,4,0.000,0.056,2088,3806,1082,0,0,0,0,0,0
$GC,14215,0.45,99.9,235.2,13.5,917,14223,0.12,1.30,0.00,0.000,6,0.181,0.030,2059,2924,1082,0,0,0,0,0,0
$GC,14541,0.51,99.9,203.2,10.2,948,14544,0.00,1.45,0.00,0.000,4,0.000,0.057,2058,3813,1082,0,0,0,0,0,0
$GC,14692,0.51,99.9,185.0,12.1,961,14696,0.00,1.30,0.00,0.000,6,0.000,0.030,2064,2928,1082,0,0,0,0,0,0
$GC,15022,0.56,99.9,147.6,11.3,992,15026,0.00,1.42,0.00,0.000,4,0.000,0.056,2064,3807,1082,0,0,0,0,0,0
$GC,15095,0.56,99.9,138.3,12.5,998,15102,0.00,1.30,0.00,0.000,6,0.000,0.029,2070,2924,1082,0,0,0,0,0,0
$GC,15423,0.61,100.8,108.0,8.4,1029,15427,0.00,1.45,0.00,0.000,4,0.000,0.056,2070,3809,1082,0,0,0,0,0,0
$GC,15688,0.61,100.8,83.0,10.5,1066,15694,0.00,1.30,0.00,0.000,6,0.000,0.029,2077,2921,1082,0,0,0,0,0,0
$GC,16038,0.66,100.8,44.7,10.7,1127,16045,0.12,1.45,0.00,0.000,4,0.096,0.057,2133,3805,1082,0,0,0,0,0,0
$STATE,16282,end climb,SURFACE_DEPTH_REACHED
$STATE,16282,begin surface coast
$FINISH,1.3,1.026542
$STATE,16301,end surface coast,CONTROL_FINISHED_OK
$STATE,16301,begin surface
$SM_CCo,16316,49.40,0.135,0,0,681,200.16
$SM_GC,2.70,0.00,0.00,49.40,0.000,0.000,0.135,75,3231,681,-5.71,0.62,200.16
$IRIDIUM_FIX,-4239.11,824.86,250708,101014
$TT8_MAMPS,0.026964
$HUMID,62.83
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,21.6,55.529
$10V_AH,10.1,35.411
$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,16.100,84.450,219.325,49.400,0.000,98.618,173.041,396.628,0.000,0.000,28.203,2943.717,10296.943,394.957,3414.025,248.011,0.000,1562.029,0.000,2714.769,0.000,0.544,0.000
$DEVICE_MAMPS,237.150,58.905,1852.830,134.640,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,812.196,826.048,821.676,75.036,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353940
$DATA_FILE_SIZE,67019,1171
$CAP_FILE_SIZE,162827,0
$CFSIZE,259252224,234299392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,290915,020227,-4254.991,824.420,217,0.8,217,-25.0