version: 66.07
glider: 543
mission: 14
dive: 351
start: 10 12 115 8 59 25
data:
$ID,543
$MISSION,14
$DIVE,351
$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,-25222.385
$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,74
$R_STBD_OVSHOOT,20
$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
$GPS1,121015,085003,-4303.499,824.740,31,97.5,50,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-69.8
$GPS2,121015,085903,-4303.421,824.695,46,1.0,46,-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,246.3,1427,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.54,-49.8,0.0,0.0,0,59,0.00,0.00,-40.42,0.000,2,0.000,0.000,61,3219,1609,0,0,0,0,0,0
$GC,62,-0.59,-103.2,3.1,-2.4,5,87,6.88,0.00,-11.18,0.000,6,0.229,0.000,1704,3220,1918,0,0,0,0,0,0
$GC,136,-0.59,-103.2,11.3,-14.3,16,144,0.00,0.00,0.00,0.000,6,0.000,0.000,1704,3220,1919,0,0,0,0,0,0
$GC,194,-0.58,-103.2,20.9,-16.6,25,203,0.00,1.17,0.00,0.000,4,0.000,0.055,1700,3956,1920,0,0,0,0,0,0
$GC,230,-0.54,-103.2,27.3,-18.0,30,239,0.00,1.08,0.00,0.000,6,0.000,0.029,1700,3210,1921,0,0,0,0,0,0
$GC,381,-0.52,-103.2,51.1,-14.1,55,388,0.12,0.00,0.00,0.000,6,0.185,0.000,1731,3210,1920,0,0,0,0,0,0
$GC,729,-0.57,-103.2,94.0,-11.8,116,735,0.00,0.00,0.00,0.000,6,0.000,0.000,1731,3210,1921,0,0,0,0,0,0
$GC,1059,-0.62,-103.2,133.1,-12.0,151,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,1731,3210,1921,0,0,0,0,0,0
$GC,1381,-0.67,-103.2,170.6,-12.0,181,1385,0.12,1.30,0.00,0.000,4,0.098,0.026,1674,2293,1921,0,0,0,0,0,0
$GC,1397,-0.70,-103.2,173.6,-12.6,182,1404,0.00,1.48,0.00,0.000,6,0.000,0.047,1668,3217,1921,0,0,0,0,0,0
$GC,1725,-0.64,-103.2,226.5,-15.2,213,1729,0.12,1.15,0.00,0.000,4,0.190,0.054,1694,3950,1920,0,0,0,0,0,0
$GC,1740,-0.59,-103.2,229.5,-15.2,214,1747,0.00,1.05,0.00,0.000,6,0.000,0.029,1694,3211,1921,0,0,0,0,0,0
$GC,2068,-0.59,-103.2,271.8,-12.9,245,2072,0.00,1.27,0.00,0.000,4,0.000,0.025,1694,2296,1921,0,0,0,0,0,0
$GC,2141,-0.62,-103.2,281.3,-11.7,251,2148,0.00,1.45,0.00,0.000,6,0.000,0.047,1687,3202,1921,0,0,0,0,0,0
$GC,2466,-0.60,-103.2,324.6,-14.1,282,2470,0.00,1.17,0.00,0.000,4,0.000,0.054,1682,3959,1921,0,0,0,0,0,0
$GC,2539,-0.56,-103.2,336.0,-16.1,288,2549,0.12,1.08,0.00,0.000,6,0.154,0.029,1719,3211,1921,0,0,0,0,0,0
$GC,2864,-0.61,-103.2,375.2,-12.1,319,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,1719,3212,1921,0,0,0,0,0,0
$GC,3192,-0.66,-103.2,411.8,-11.1,345,3193,0.00,0.00,0.00,0.000,6,0.000,0.000,1719,3212,1921,0,0,0,0,0,0
$GC,3500,-0.72,-103.2,445.5,-10.8,360,3504,0.12,1.30,0.00,0.000,4,0.098,0.026,1662,2292,1921,0,0,0,0,0,0
$GC,3548,-0.72,-103.2,452.1,-13.6,362,3553,0.00,1.48,0.00,0.000,6,0.000,0.046,1655,3210,1921,0,0,0,0,0,0
$GC,3877,-0.65,-103.2,502.8,-16.0,378,3879,0.15,0.00,0.00,0.000,6,0.186,0.000,1693,3210,1921,0,0,0,0,0,0
$GC,4185,-0.65,-103.2,543.3,-13.3,393,4189,0.00,1.30,0.00,0.000,4,0.000,0.026,1693,2291,1921,0,0,0,0,0,0
$GC,4218,-0.69,-103.2,547.6,-12.1,394,4222,0.00,1.48,0.00,0.000,6,0.000,0.049,1688,3205,1920,0,0,0,0,0,0
$GC,4539,-0.69,-103.2,589.5,-13.5,410,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,1688,3205,1921,0,0,0,0,0,0
$GC,4849,-0.69,-103.2,630.4,-13.4,425,4852,0.00,1.17,0.00,0.000,4,0.000,0.055,1683,3957,1920,0,0,0,0,0,0
$GC,4962,-0.67,-103.2,646.9,-14.2,430,4966,0.00,1.08,0.00,0.000,6,0.000,0.030,1682,3208,1921,0,0,0,0,0,0
$GC,5295,-0.67,-103.2,691.5,-13.1,446,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,1682,3208,1921,0,0,0,0,0,0
$GC,5605,-0.67,-103.2,731.4,-12.5,461,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,1682,3208,1921,0,0,0,0,0,0
$GC,5913,-0.67,-103.2,769.4,-12.3,476,5917,0.00,1.27,0.00,0.000,4,0.000,0.028,1682,2304,1921,0,0,0,0,0,0
$GC,5940,-0.68,-103.2,772.8,-11.9,477,5944,0.00,1.48,0.00,0.000,6,0.000,0.048,1675,3217,1921,0,0,0,0,0,0
$GC,6268,-0.67,-103.2,811.4,-11.7,493,6270,0.00,0.00,0.00,0.000,6,0.000,0.000,1675,3218,1921,0,0,0,0,0,0
$GC,6577,-0.65,-103.2,848.8,-12.3,508,6578,0.00,0.00,0.00,0.000,6,0.000,0.000,1675,3217,1921,0,0,0,0,0,0
$GC,6886,-0.65,-103.2,886.7,-12.4,523,6887,0.00,0.00,0.00,0.000,6,0.000,0.000,1675,3217,1921,0,0,0,0,0,0
$GC,7196,-0.65,-103.2,925.6,-12.3,538,7197,0.00,0.00,0.00,0.000,6,0.000,0.000,1675,3217,1920,0,0,0,0,0,0
$GC,7505,-0.65,-103.2,964.3,-12.5,553,7508,0.00,1.15,0.00,0.000,4,0.000,0.056,1669,3950,1921,0,0,0,0,0,0
$GC,7578,-0.62,-103.2,973.9,-13.2,556,7582,0.10,1.08,0.00,0.000,6,0.160,0.031,1699,3218,1920,0,0,0,0,0,0
$STATE,7840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7840,begin apogee
$GC,7845,-0.09,0.0,1000.1,9.7,569,7976,0.57,0.00,117.30,1.792,6,0.144,0.000,1870,2911,1499,0,0,0,0,2,0
$STATE,7977,end apogee,CONTROL_FINISHED_OK
$STATE,7977,begin climb
$GC,7979,0.59,103.2,1003.4,0.0,575,8108,0.68,1.42,114.20,1.756,4,0.084,0.026,2096,2047,1078,0,0,0,0,1,0
$GC,8169,0.64,103.2,985.7,12.4,583,8176,0.00,1.50,0.00,0.000,6,0.000,0.045,2096,2916,1075,0,0,0,0,0,0
$GC,8486,0.64,103.2,942.8,13.1,599,8489,0.00,1.42,0.00,0.000,4,0.000,0.054,2096,3808,1072,0,0,0,0,0,0
$GC,8637,0.59,103.2,919.5,15.1,605,8644,0.00,1.33,0.00,0.000,6,0.000,0.028,2102,2903,1071,0,0,0,0,0,0
$GC,8953,0.59,103.2,875.7,14.2,621,8957,0.00,1.45,0.00,0.000,4,0.000,0.054,2103,3803,1071,0,0,0,0,0,0
$GC,9008,0.53,103.2,866.7,16.3,623,9013,0.10,1.27,0.00,0.000,6,0.194,0.028,2082,2927,1070,0,0,0,0,0,0
$GC,9329,0.55,103.2,824.3,13.5,639,9333,0.00,1.42,0.00,0.000,4,0.000,0.054,2082,3813,1070,0,0,0,0,0,0
$GC,9384,0.53,103.2,815.7,16.1,641,9388,0.00,1.30,0.00,0.000,6,0.000,0.029,2088,2925,1070,0,0,0,0,0,0
$GC,9705,0.53,103.2,770.5,13.9,657,9709,0.00,1.42,0.00,0.000,4,0.000,0.054,2087,3812,1070,0,0,0,0,0,0
$GC,9783,0.50,103.2,758.1,16.4,660,9786,0.00,1.30,0.00,0.000,6,0.000,0.028,2094,2923,1069,0,0,0,0,0,0
$GC,10104,0.50,103.2,713.6,13.4,676,10107,0.00,1.42,0.00,0.000,4,0.000,0.054,2094,3813,1069,0,0,0,0,0,0
$GC,10195,0.45,103.2,699.8,15.4,680,10199,0.15,1.30,0.00,0.000,6,0.181,0.029,2058,2924,1069,0,0,0,0,0,0
$GC,10528,0.53,103.2,663.1,10.5,696,10532,0.00,1.40,0.00,0.000,4,0.000,0.054,2058,3802,1069,0,0,0,0,0,0
$GC,10551,0.57,103.2,660.4,11.4,697,10555,0.00,1.27,0.00,0.000,6,0.000,0.029,2063,2928,1068,0,0,0,0,0,0
$GC,10884,0.63,103.2,623.0,11.1,713,10889,0.12,1.42,0.00,0.000,4,0.100,0.054,2117,3813,1068,0,0,0,0,0,0
$GC,10955,0.55,103.2,611.7,17.4,716,10960,0.10,1.30,0.00,0.000,6,0.190,0.029,2096,2922,1068,0,0,0,0,0,0
$GC,11282,0.55,103.2,568.1,13.4,732,11286,0.00,1.42,0.00,0.000,4,0.000,0.054,2095,3807,1068,0,0,0,0,0,0
$GC,11419,0.50,103.2,547.8,14.8,738,11423,0.10,1.30,0.00,0.000,6,0.185,0.030,2073,2920,1068,0,0,0,0,0,0
$GC,11754,0.55,103.2,508.5,11.1,754,11757,0.00,1.42,0.00,0.000,4,0.000,0.055,2073,3803,1068,0,0,0,0,0,0
$GC,11814,0.55,103.2,500.6,13.3,756,11821,0.00,1.30,0.00,0.000,6,0.000,0.029,2078,2921,1068,0,0,0,0,0,0
$GC,12131,0.59,103.2,466.8,10.2,772,12135,0.00,1.42,0.00,0.000,4,0.000,0.054,2078,3803,1068,0,0,0,0,0,0
$GC,12214,0.59,103.2,456.6,13.2,775,12221,0.00,1.30,0.00,0.000,6,0.000,0.028,2085,2913,1068,0,0,0,0,0,0
$GC,12531,0.62,103.2,423.3,11.2,791,12534,0.00,1.45,0.00,0.000,4,0.000,0.054,2084,3811,1068,0,0,0,0,0,0
$GC,12609,0.60,103.2,412.9,13.0,794,12612,0.00,1.30,0.00,0.000,6,0.000,0.029,2091,2923,1068,0,0,0,0,0,0
$GC,12939,0.62,103.2,372.7,11.9,820,12943,0.00,1.42,0.00,0.000,4,0.000,0.054,2091,3804,1068,0,0,0,0,0,0
$GC,13070,0.59,103.2,354.9,13.4,831,13076,0.00,1.27,0.00,0.000,6,0.000,0.028,2097,2924,1068,0,0,0,0,0,0
$GC,13395,0.59,103.2,317.9,12.2,862,13399,0.00,1.40,0.00,0.000,4,0.000,0.054,2097,3799,1068,0,0,0,0,0,0
$GC,13486,0.55,103.2,305.3,14.1,870,13489,0.00,1.27,0.00,0.000,6,0.000,0.028,2104,2918,1068,0,0,0,0,0,0
$GC,13820,0.55,103.2,260.2,14.8,901,13824,0.00,1.42,0.00,0.000,4,0.000,0.054,2104,3800,1068,0,0,0,0,0,0
$GC,13900,0.50,103.2,246.4,16.3,908,13904,0.15,1.27,0.00,0.000,6,0.179,0.029,2069,2922,1067,0,0,0,0,0,0
$GC,14230,0.57,103.2,212.2,9.1,939,14234,0.00,1.42,0.00,0.000,4,0.000,0.054,2069,3805,1068,0,0,0,0,0,0
$GC,14383,0.59,103.2,195.7,11.8,952,14392,0.00,1.27,0.00,0.000,6,0.000,0.029,2074,2929,1068,0,0,0,0,0,0
$GC,14710,0.65,103.2,161.5,10.5,983,14714,0.12,1.40,0.00,0.000,4,0.097,0.054,2130,3802,1068,0,0,0,0,0,0
$GC,14840,0.56,103.2,140.6,16.2,994,14847,0.15,1.27,0.00,0.000,6,0.184,0.028,2094,2919,1068,0,0,0,0,0,0
$GC,15167,0.59,103.2,101.1,11.4,1025,15171,0.00,1.42,0.00,0.000,4,0.000,0.054,2094,3806,1068,0,0,0,0,0,0
$GC,15276,0.57,103.2,86.7,13.0,1043,15283,0.00,1.27,0.00,0.000,6,0.000,0.028,2099,2923,1067,0,0,0,0,0,0
$GC,15624,0.59,103.2,45.7,12.2,1104,15632,0.00,1.42,0.00,0.000,4,0.000,0.054,2099,3809,1068,0,0,0,0,0,0
$GC,15681,0.56,103.2,38.4,13.1,1113,15690,0.00,1.27,0.00,0.000,6,0.000,0.028,2106,2923,1068,0,0,0,0,0,0
$GC,15836,0.56,103.2,19.1,13.6,1138,15845,0.00,1.42,0.00,0.000,4,0.000,0.054,2106,3812,1068,0,0,0,0,0,0
$STATE,15934,end climb,SURFACE_DEPTH_REACHED
$STATE,15934,begin surface coast
$FINISH,1.6,1.026564
$STATE,15954,end surface coast,CONTROL_FINISHED_OK
$STATE,15954,begin surface
$SM_CCo,15969,59.10,0.296,1,0,682,200.16
$SM_GC,2.53,0.00,0.00,59.10,0.000,0.000,0.296,60,3232,682,-5.77,0.65,200.16
$IRIDIUM_FIX,-4247.91,822.81,070808,171720
$TT8_MAMPS,0.026964
$HUMID,62.60
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.20
$XPDR_PINGS,0
$24V_AH,21.3,65.821
$10V_AH,10.0,42.714
$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,15.475,79.425,231.500,59.100,0.000,34.180,23.060,307.622,0.000,0.000,48.820,2878.434,9979.893,432.617,3012.865,266.020,0.000,1556.285,0.000,2595.061,0.000,0.545,0.000
$DEVICE_MAMPS,228.735,55.845,1792.395,296.055,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,801.926,816.630,837.658,77.229,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353960
$DATA_FILE_SIZE,67051,1157
$CAP_FILE_SIZE,155600,0
$CFSIZE,259252224,229175296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,121015,132827,-4303.775,824.125,71,0.9,72,-25.0