version: 66.07
glider: 543
mission: 14
dive: 299
start: 9 30 115 2 5 46
data:
$ID,543
$MISSION,14
$DIVE,299
$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,-25075.814
$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,73
$R_STBD_OVSHOOT,27
$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
$GPS1,300915,015659,-4255.228,824.919,40,0.9,40,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-71.6
$GPS2,300915,020524,-4255.107,825.010,18,1.2,20,-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,244.6,2148,-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,-49.8,0.0,0.0,0,51,0.00,0.00,-33.33,0.000,2,0.000,0.000,62,3206,1462,0,0,0,0,0,0
$GC,54,-0.59,-102.5,3.0,-2.5,4,87,6.82,0.00,-19.00,0.000,6,0.228,0.000,1705,3206,1917,0,0,0,0,0,0
$GC,136,-0.56,-102.5,10.9,-15.0,16,145,0.00,1.20,0.00,0.000,4,0.000,0.057,1701,3950,1918,0,0,0,0,0,0
$GC,224,-0.53,-102.5,25.8,-17.2,30,234,0.08,1.08,0.00,0.000,6,0.169,0.030,1724,3218,1919,0,0,0,0,0,0
$GC,377,-0.54,-102.5,49.6,-14.8,55,384,0.00,1.17,0.00,0.000,4,0.000,0.054,1720,3955,1919,0,0,0,0,0,0
$GC,435,-0.54,-102.5,59.3,-15.2,65,442,0.00,1.10,0.00,0.000,6,0.000,0.030,1720,3200,1919,0,0,0,0,0,0
$GC,781,-0.54,-102.5,108.0,-14.0,121,783,0.00,0.00,0.00,0.000,6,0.000,0.000,1720,3200,1919,0,0,0,0,0,0
$GC,1101,-0.54,-102.5,152.3,-13.6,151,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,1720,3200,1919,0,0,0,0,0,0
$GC,1427,-0.54,-102.5,193.1,-12.0,182,1430,0.00,1.27,0.00,0.000,4,0.000,0.027,1720,2298,1919,0,0,0,0,0,0
$GC,1496,-0.60,-102.5,200.7,-10.9,188,1499,0.00,1.48,0.00,0.000,6,0.000,0.049,1713,3215,1919,0,0,0,0,0,0
$GC,1826,-0.60,-102.5,245.9,-14.9,219,1829,0.00,1.30,0.00,0.000,4,0.000,0.026,1713,2297,1919,0,0,0,0,0,0
$GC,1898,-0.64,-102.5,254.7,-12.3,225,1901,0.00,1.48,0.00,0.000,6,0.000,0.049,1706,3214,1919,0,0,0,0,0,0
$GC,2228,-0.64,-102.5,294.8,-12.1,256,2229,0.00,0.00,0.00,0.000,6,0.000,0.000,1706,3214,1919,0,0,0,0,0,0
$GC,2548,-0.64,-102.5,335.6,-12.9,286,2551,0.00,1.15,0.00,0.000,4,0.000,0.054,1700,3954,1919,0,0,0,0,0,0
$GC,2605,-0.63,-102.5,343.4,-13.1,291,2609,0.00,1.08,0.00,0.000,6,0.000,0.030,1700,3206,1919,0,0,0,0,0,0
$GC,2935,-0.63,-102.5,385.4,-12.6,322,2939,0.00,1.27,0.00,0.000,4,0.000,0.026,1700,2293,1920,0,0,0,0,0,0
$GC,2981,-0.66,-102.5,390.7,-10.8,326,2984,0.00,1.48,0.00,0.000,6,0.000,0.049,1693,3212,1919,0,0,0,0,0,0
$GC,3315,-0.64,-102.5,433.6,-13.3,346,3319,0.00,1.15,0.00,0.000,4,0.000,0.054,1687,3950,1920,0,0,0,0,0,0
$GC,3421,-0.60,-102.5,449.6,-14.6,350,3428,0.00,1.08,0.00,0.000,6,0.000,0.030,1687,3207,1919,0,0,0,0,0,0
$GC,3737,-0.57,-102.5,494.5,-14.3,366,3741,0.12,1.20,0.00,0.000,4,0.197,0.055,1713,3954,1920,0,0,0,0,0,0
$GC,3775,-0.57,-102.5,500.0,-13.5,367,3782,0.00,1.08,0.00,0.000,6,0.000,0.030,1713,3209,1919,0,0,0,0,0,0
$GC,4091,-0.60,-102.5,538.9,-12.2,383,4092,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,3208,1919,0,0,0,0,0,0
$GC,4401,-0.63,-102.5,577.0,-11.9,398,4404,0.00,1.17,0.00,0.000,4,0.000,0.056,1708,3951,1920,0,0,0,0,0,0
$GC,4447,-0.63,-102.5,582.9,-13.0,400,4450,0.00,1.08,0.00,0.000,6,0.000,0.031,1707,3212,1919,0,0,0,0,0,0
$GC,4779,-0.65,-102.5,625.5,-13.0,416,4783,0.00,1.17,0.00,0.000,4,0.000,0.056,1702,3951,1919,0,0,0,0,0,0
$GC,4851,-0.65,-102.5,635.8,-13.7,419,4855,0.00,1.08,0.00,0.000,6,0.000,0.031,1702,3211,1919,0,0,0,0,0,0
$GC,5178,-0.65,-102.5,679.0,-12.8,435,5182,0.00,1.17,0.00,0.000,4,0.000,0.056,1696,3950,1919,0,0,0,0,0,0
$GC,5210,-0.65,-102.5,683.8,-13.9,436,5215,0.00,1.10,0.00,0.000,6,0.000,0.030,1696,3204,1919,0,0,0,0,0,0
$GC,5532,-0.65,-102.5,726.5,-13.1,452,5535,0.00,1.20,0.00,0.000,4,0.000,0.055,1690,3957,1919,0,0,0,0,0,0
$GC,5564,-0.62,-102.5,731.2,-14.2,453,5569,0.00,1.10,0.00,0.000,6,0.000,0.030,1690,3206,1919,0,0,0,0,0,0
$GC,5886,-0.62,-102.5,771.2,-12.2,469,5888,0.00,0.00,0.00,0.000,6,0.000,0.000,1690,3206,1919,0,0,0,0,0,0
$GC,6195,-0.62,-102.5,808.2,-11.7,484,6199,0.00,1.20,0.00,0.000,4,0.000,0.056,1684,3957,1919,0,0,0,0,0,0
$GC,6263,-0.60,-102.5,816.9,-13.2,487,6267,0.00,1.10,0.00,0.000,6,0.000,0.031,1684,3208,1919,0,0,0,0,0,0
$GC,6596,-0.60,-102.5,856.6,-12.3,503,6597,0.00,0.00,0.00,0.000,6,0.000,0.000,1684,3207,1919,0,0,0,0,0,0
$GC,6905,-0.60,-102.5,893.8,-12.4,518,6906,0.00,0.00,0.00,0.000,6,0.000,0.000,1684,3207,1919,0,0,0,0,0,0
$GC,7214,-0.60,-102.5,932.5,-12.2,533,7218,0.00,1.20,0.00,0.000,4,0.000,0.057,1679,3955,1919,0,0,0,0,0,0
$GC,7247,-0.56,-102.5,937.1,-13.4,534,7252,0.12,1.10,0.00,0.000,6,0.164,0.031,1715,3216,1919,0,0,0,0,0,0
$GC,7569,-0.62,-102.5,968.7,-9.3,550,7570,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,3216,1919,0,0,0,0,0,0
$GC,7879,-0.68,-103.3,995.2,-8.5,565,7880,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,3216,1919,0,0,0,0,0,0
$STATE,7938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7938,begin apogee
$GC,7943,-0.09,0.0,1000.4,8.3,568,8089,0.52,0.00,122.70,1.803,6,0.141,0.000,1872,2914,1499,0,0,0,0,4,0
$STATE,8089,end apogee,CONTROL_FINISHED_OK
$STATE,8090,begin climb
$GC,8091,0.59,103.3,1001.7,0.0,575,8220,0.68,1.48,114.57,1.790,4,0.084,0.029,2096,2053,1077,0,0,0,0,1,0
$GC,8326,0.62,103.3,973.2,14.7,585,8333,0.00,1.48,0.00,0.000,6,0.000,0.046,2096,2919,1074,0,0,0,0,0,0
$GC,8643,0.60,103.3,922.7,15.7,601,8647,0.00,1.42,0.00,0.000,4,0.000,0.055,2096,3805,1072,0,0,0,0,0,0
$GC,8711,0.54,103.3,910.7,18.2,604,8715,0.00,1.33,0.00,0.000,6,0.000,0.030,2103,2910,1071,0,0,0,0,0,0
$GC,9044,0.51,103.3,858.0,15.3,620,9048,0.12,1.48,0.00,0.000,4,0.212,0.055,2075,3810,1071,0,0,0,0,0,0
$GC,9181,0.48,103.3,837.2,15.0,626,9185,0.00,1.30,0.00,0.000,6,0.000,0.029,2080,2925,1070,0,0,0,0,0,0
$GC,9514,0.48,103.3,793.9,12.6,642,9517,0.00,1.42,0.00,0.000,4,0.000,0.055,2080,3804,1070,0,0,0,0,0,0
$GC,9563,0.44,103.3,786.7,14.5,644,9568,0.12,1.30,0.00,0.000,6,0.187,0.029,2052,2923,1069,0,0,0,0,0,0
$GC,9890,0.50,103.3,752.1,10.6,660,9894,0.00,1.42,0.00,0.000,4,0.000,0.056,2052,3799,1069,0,0,0,0,0,0
$GC,10031,0.52,103.3,734.3,12.8,666,10035,0.00,1.30,0.00,0.000,6,0.000,0.030,2057,2916,1069,0,0,0,0,0,0
$GC,10358,0.58,103.3,697.0,11.8,682,10363,0.10,1.42,0.00,0.000,4,0.117,0.055,2099,3796,1069,0,0,0,0,0,0
$GC,10427,0.50,103.3,686.5,16.7,685,10431,0.10,1.27,0.00,0.000,6,0.194,0.030,2078,2924,1069,0,0,0,0,0,0
$GC,10760,0.52,103.3,644.0,12.2,701,10763,0.00,1.42,0.00,0.000,4,0.000,0.056,2078,3808,1069,0,0,0,0,0,0
$GC,10855,0.50,103.3,630.2,14.9,705,10859,0.00,1.30,0.00,0.000,6,0.000,0.029,2083,2921,1068,0,0,0,0,0,0
$GC,11181,0.50,103.3,589.4,12.3,721,11185,0.00,1.42,0.00,0.000,4,0.000,0.056,2083,3798,1068,0,0,0,0,0,0
$GC,11345,0.46,103.3,565.7,15.3,728,11349,0.10,1.27,0.00,0.000,6,0.185,0.029,2061,2925,1068,0,0,0,0,0,0
$GC,11672,0.51,103.3,530.4,10.7,744,11676,0.00,1.42,0.00,0.000,4,0.000,0.057,2061,3801,1068,0,0,0,0,0,0
$GC,11766,0.51,103.3,518.1,13.3,748,11771,0.00,1.27,0.00,0.000,6,0.000,0.031,2066,2937,1068,0,0,0,0,0,0
$GC,12094,0.55,103.3,481.5,11.3,764,12097,0.00,1.40,0.00,0.000,4,0.000,0.055,2066,3798,1068,0,0,0,0,0,0
$GC,12171,0.55,103.3,471.4,13.8,767,12176,0.00,1.30,0.00,0.000,6,0.000,0.030,2071,2926,1068,0,0,0,0,0,0
$GC,12493,0.59,103.3,433.8,11.8,783,12497,0.00,1.42,0.00,0.000,4,0.000,0.054,2073,3803,1068,0,0,0,0,0,0
$GC,12711,0.59,103.3,402.8,14.0,792,12719,0.00,1.33,0.00,0.000,6,0.000,0.029,2079,2908,1068,0,0,0,0,0,0
$GC,13036,0.61,103.3,363.5,12.5,822,13040,0.00,1.45,0.00,0.000,4,0.000,0.054,2079,3804,1068,0,0,0,0,0,0
$GC,13063,0.61,103.3,359.7,13.3,824,13072,0.00,1.30,0.00,0.000,6,0.000,0.030,2086,2927,1068,0,0,0,0,0,0
$GC,13390,0.62,103.3,318.7,12.6,855,13394,0.00,1.42,0.00,0.000,4,0.000,0.054,2086,3808,1068,0,0,0,0,0,0
$GC,13498,0.59,103.3,303.1,13.8,864,13507,0.00,1.30,0.00,0.000,6,0.000,0.028,2093,2920,1068,0,0,0,0,0,0
$GC,13825,0.59,103.3,263.8,12.1,895,13828,0.00,1.45,0.00,0.000,4,0.000,0.056,2093,3811,1068,0,0,0,0,0,0
$GC,14033,0.54,103.3,235.3,14.2,913,14037,0.00,1.30,0.00,0.000,6,0.000,0.029,2099,2919,1068,0,0,0,0,0,0
$GC,14363,0.54,103.3,193.9,11.8,944,14367,0.00,1.42,0.00,0.000,4,0.000,0.055,2099,3799,1068,0,0,0,0,0,0
$GC,14401,0.49,103.3,188.8,12.9,947,14409,0.12,1.27,0.00,0.000,6,0.190,0.028,2071,2918,1068,0,0,0,0,0,0
$GC,14727,0.54,103.3,158.2,9.1,978,14731,0.00,1.25,0.00,0.000,4,0.000,0.028,2077,2043,1068,0,0,0,0,0,0
$GC,14822,0.63,103.7,150.0,8.5,986,14829,0.00,1.40,0.00,0.000,6,0.000,0.048,2076,2924,1068,0,0,0,0,0,0
$GC,15150,0.67,103.7,118.5,9.4,1017,15154,0.12,1.42,0.00,0.000,4,0.096,0.056,2131,3798,1068,0,0,0,0,0,0
$GC,15280,0.56,103.7,98.5,15.9,1029,15290,0.15,1.27,0.00,0.000,6,0.194,0.031,2096,2925,1068,0,0,0,0,0,0
$GC,15635,0.56,103.7,59.9,11.4,1090,15642,0.00,1.42,0.00,0.000,4,0.000,0.055,2096,3810,1068,0,0,0,0,0,0
$GC,15842,0.53,103.7,30.5,15.5,1125,15851,0.00,1.30,0.00,0.000,6,0.000,0.029,2101,2910,1068,0,0,0,0,0,0
$GC,15996,0.53,103.7,11.2,13.0,1150,16005,0.00,1.45,0.00,0.000,4,0.000,0.055,2101,3807,1068,0,0,0,0,0,0
$STATE,16058,end climb,SURFACE_DEPTH_REACHED
$STATE,16059,begin surface coast
$FINISH,1.4,1.013985
$STATE,16084,end surface coast,CONTROL_FINISHED_OK
$STATE,16084,begin surface
$SM_CCo,16098,61.72,0.306,2,0,681,200.16
$SM_GC,2.82,0.00,0.00,61.72,0.000,0.000,0.306,63,3236,681,-5.74,0.76,200.16
$IRIDIUM_FIX,-4239.11,818.62,260708,101045
$TT8_MAMPS,0.026964
$HUMID,62.12
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,21.5,56.465
$10V_AH,10.1,36.079
$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,14.700,85.150,237.275,61.725,0.000,27.803,41.626,298.658,0.000,0.000,22.664,2922.553,9945.166,451.341,3101.719,251.487,0.000,1619.546,0.000,2708.977,0.000,0.544,0.000
$DEVICE_MAMPS,227.970,56.610,1803.105,306.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,807.663,829.222,854.688,80.736,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353988
$DATA_FILE_SIZE,67051,1164
$CAP_FILE_SIZE,159789,0
$CFSIZE,259252224,233824256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,1
$GPS,300915,063633,-4255.196,823.880,40,1.7,40,-25.0