version: 66.07
glider: 543
mission: 14
dive: 379
start: 10 18 115 11 20 24
data:
$ID,543
$MISSION,14
$DIVE,379
$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,-25307.73
$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,82
$R_STBD_OVSHOOT,25
$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
$GPS1,181015,105551,-4303.869,836.950,80,1.0,81,-25.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-71.1
$GPS2,181015,112002,-4303.988,837.289,30,1.4,44,-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,294.4,1744,-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,16,-0.54,-49.8,0.0,0.0,0,65,0.00,0.00,-44.08,0.000,6,0.000,0.000,61,3218,1703,0,0,0,0,0,0
$GC,67,-0.60,-108.4,3.1,-1.8,6,86,6.80,1.23,-7.53,0.000,4,0.226,0.078,1703,3961,1942,0,0,0,0,0,0
$GC,242,-0.58,-108.4,32.5,-14.9,34,251,0.00,1.05,0.00,0.000,6,0.000,0.030,1703,3231,1943,0,0,0,0,0,0
$GC,390,-0.58,-108.4,55.3,-15.7,59,396,0.00,0.00,0.00,0.000,6,0.000,0.000,1702,3230,1943,0,0,0,0,0,0
$GC,739,-0.58,-108.4,110.4,-15.4,115,743,0.00,1.12,0.00,0.000,4,0.000,0.054,1697,3947,1943,0,0,0,0,0,0
$GC,777,-0.55,-108.4,117.1,-17.4,118,784,0.00,1.08,0.00,0.000,6,0.000,0.028,1697,3194,1943,0,0,0,0,0,0
$GC,1106,-0.55,-108.4,165.3,-14.7,149,1110,0.10,1.20,0.00,0.000,4,0.192,0.054,1717,3947,1943,0,0,0,0,0,0
$GC,1162,-0.57,-108.4,173.6,-12.7,154,1166,0.00,1.05,0.00,0.000,6,0.000,0.028,1717,3205,1943,0,0,0,0,0,0
$GC,1496,-0.60,-108.4,216.5,-13.4,185,1499,0.00,1.25,0.00,0.000,4,0.000,0.024,1717,2293,1943,0,0,0,0,0,0
$GC,1553,-0.67,-108.4,223.9,-12.3,190,1557,0.00,1.48,0.00,0.000,6,0.000,0.048,1710,3212,1943,0,0,0,0,0,0
$GC,1886,-0.70,-108.4,268.8,-13.2,221,1890,0.00,1.15,0.00,0.000,4,0.000,0.054,1705,3954,1943,0,0,0,0,0,0
$GC,1924,-0.70,-108.4,274.5,-13.1,224,1934,0.00,1.08,0.00,0.000,6,0.000,0.029,1705,3206,1943,0,0,0,0,0,0
$GC,2250,-0.72,-108.4,314.8,-11.9,255,2253,0.00,1.17,0.00,0.000,4,0.000,0.054,1699,3955,1943,0,0,0,0,0,0
$GC,2284,-0.72,-108.4,319.3,-13.4,258,2288,0.00,1.05,0.00,0.000,6,0.000,0.029,1699,3212,1944,0,0,0,0,0,0
$GC,2618,-0.72,-108.4,361.7,-13.3,289,2624,0.00,0.00,0.00,0.000,6,0.000,0.000,1699,3212,1943,0,0,0,0,0,0
$GC,2954,-0.72,-108.4,405.5,-12.8,319,2957,0.00,1.27,0.00,0.000,4,0.000,0.025,1699,2298,1943,0,0,0,0,0,0
$GC,2992,-0.77,-108.4,410.7,-11.9,320,3000,0.08,1.45,0.00,0.000,6,0.058,0.047,1647,3206,1943,0,0,0,0,0,0
$GC,3309,-0.69,-108.4,463.0,-17.1,336,3313,0.12,1.17,0.00,0.000,4,0.196,0.053,1672,3955,1943,0,0,0,0,0,0
$GC,3347,-0.65,-108.4,469.6,-15.8,337,3354,0.00,1.05,0.00,0.000,6,0.000,0.028,1672,3211,1943,0,0,0,0,0,0
$GC,3663,-0.62,-108.4,514.0,-14.2,353,3665,0.12,0.00,0.00,0.000,6,0.180,0.000,1704,3211,1943,0,0,0,0,0,0
$GC,3973,-0.65,-108.4,551.5,-12.0,368,3977,0.00,1.27,0.00,0.000,4,0.000,0.026,1703,2294,1943,0,0,0,0,0,0
$GC,4006,-0.72,-108.4,555.5,-11.5,369,4010,0.00,1.48,0.00,0.000,6,0.000,0.048,1698,3213,1943,0,0,0,0,0,0
$GC,4328,-0.74,-108.4,595.5,-12.7,385,4329,0.00,0.00,0.00,0.000,6,0.000,0.000,1698,3213,1943,0,0,0,0,0,0
$GC,4639,-0.76,-108.4,635.9,-13.2,400,4643,0.12,1.17,0.00,0.000,4,0.095,0.055,1634,3953,1943,0,0,0,0,0,0
$GC,4721,-0.65,-108.4,651.4,-19.4,403,4729,0.17,1.05,0.00,0.000,6,0.166,0.028,1686,3220,1943,0,0,0,0,0,0
$GC,5038,-0.65,-108.4,696.6,-13.9,419,5039,0.00,0.00,0.00,0.000,6,0.000,0.000,1686,3220,1943,0,0,0,0,0,0
$GC,5346,-0.65,-108.4,737.2,-12.6,434,5348,0.00,0.00,0.00,0.000,6,0.000,0.000,1686,3220,1943,0,0,0,0,0,0
$GC,5656,-0.65,-108.4,774.6,-11.8,449,5660,0.00,1.15,0.00,0.000,4,0.000,0.057,1682,3948,1943,0,0,0,0,0,0
$GC,5784,-0.65,-108.4,791.6,-12.6,454,5792,0.00,1.10,0.00,0.000,6,0.000,0.030,1682,3192,1943,0,0,0,0,0,0
$GC,6100,-0.65,-108.4,831.2,-13.1,470,6104,0.00,1.20,0.00,0.000,4,0.000,0.054,1677,3949,1943,0,0,0,0,0,0
$GC,6169,-0.63,-108.4,841.0,-14.7,473,6173,0.00,1.05,0.00,0.000,6,0.000,0.030,1676,3215,1943,0,0,0,0,0,0
$GC,6501,-0.63,-108.4,887.6,-13.7,489,6505,0.00,1.17,0.00,0.000,4,0.000,0.054,1671,3959,1943,0,0,0,0,0,0
$GC,6529,-0.61,-108.4,891.8,-15.3,490,6533,0.10,1.08,0.00,0.000,6,0.156,0.030,1701,3216,1943,0,0,0,0,0,0
$GC,6856,-0.66,-108.4,929.8,-11.1,506,6858,0.00,0.00,0.00,0.000,6,0.000,0.000,1701,3216,1943,0,0,0,0,0,0
$GC,7166,-0.71,-108.4,963.1,-10.7,521,7170,0.00,1.17,0.00,0.000,4,0.000,0.057,1697,3956,1943,0,0,0,0,0,0
$GC,7199,-0.74,-108.4,967.2,-11.5,522,7204,0.00,1.10,0.00,0.000,6,0.000,0.031,1697,3195,1943,0,0,0,0,0,0
$STATE,7519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7519,begin apogee
$GC,7524,-0.09,0.0,1000.3,10.3,538,7674,0.57,0.00,126.75,1.765,6,0.142,0.000,1867,2917,1498,0,0,0,0,4,0
$STATE,7675,end apogee,CONTROL_FINISHED_OK
$STATE,7675,begin climb
$GC,7678,0.60,108.4,1003.5,0.0,545,7809,0.70,1.50,119.03,1.772,4,0.084,0.028,2100,2048,1058,0,0,0,0,1,0
$GC,7923,0.63,108.4,977.4,13.8,556,7926,0.00,1.48,0.00,0.000,6,0.000,0.046,2100,2922,1057,0,0,0,0,0,0
$GC,8244,0.63,108.4,927.8,15.4,572,8247,0.00,1.40,0.00,0.000,4,0.000,0.054,2100,3803,1055,0,0,0,0,0,0
$GC,8290,0.57,108.4,920.1,18.1,574,8294,0.00,1.30,0.00,0.000,6,0.000,0.029,2107,2914,1054,0,0,0,0,0,0
$GC,8623,0.55,108.4,868.9,15.3,590,8624,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2914,1054,0,0,0,0,0,0
$GC,8932,0.54,108.4,823.2,14.6,605,8935,0.00,1.42,0.00,0.000,4,0.000,0.055,2107,3800,1053,0,0,0,0,0,0
$GC,9005,0.46,108.4,811.4,16.7,608,9009,0.17,1.30,0.00,0.000,6,0.187,0.028,2065,2905,1053,0,0,0,0,0,0
$GC,9332,0.52,108.4,774.8,10.6,624,9336,0.00,1.45,0.00,0.000,4,0.000,0.054,2064,3809,1053,0,0,0,0,0,0
$GC,9432,0.52,108.4,761.8,12.8,628,9436,0.00,1.27,0.00,0.000,6,0.000,0.029,2069,2938,1052,0,0,0,0,0,0
$GC,9754,0.57,108.4,724.5,11.5,644,9758,0.00,1.40,0.00,0.000,4,0.000,0.054,2069,3812,1052,0,0,0,0,0,0
$GC,9822,0.57,108.4,715.5,14.1,647,9826,0.00,1.30,0.00,0.000,6,0.000,0.029,2076,2926,1052,0,0,0,0,0,0
$GC,10155,0.60,108.4,675.3,12.2,663,10159,0.00,1.40,0.00,0.000,4,0.000,0.054,2076,3802,1052,0,0,0,0,0,0
$GC,10182,0.60,108.4,671.4,13.0,664,10186,0.00,1.30,0.00,0.000,6,0.000,0.028,2083,2917,1052,0,0,0,0,0,0
$GC,10510,0.62,108.4,630.0,13.0,680,10514,0.00,1.42,0.00,0.000,4,0.000,0.054,2083,3805,1051,0,0,0,0,0,0
$GC,10662,0.60,108.4,607.6,14.4,686,10669,0.00,1.30,0.00,0.000,6,0.000,0.029,2089,2918,1051,0,0,0,0,0,0
$GC,10978,0.62,108.4,568.5,12.2,702,10982,0.00,1.42,0.00,0.000,4,0.000,0.054,2090,3808,1051,0,0,0,0,0,0
$GC,11141,0.58,108.4,545.4,14.1,709,11145,0.00,1.30,0.00,0.000,6,0.000,0.029,2096,2920,1051,0,0,0,0,0,0
$GC,11469,0.58,108.4,504.9,12.4,725,11472,0.00,1.42,0.00,0.000,4,0.000,0.054,2096,3808,1051,0,0,0,0,0,0
$GC,11497,0.55,108.4,501.0,13.7,726,11501,0.00,1.30,0.00,0.000,6,0.000,0.029,2103,2921,1051,0,0,0,0,0,0
$GC,11824,0.55,108.4,459.4,12.5,742,11827,0.00,1.40,0.00,0.000,4,0.000,0.054,2103,3801,1051,0,0,0,0,0,0
$GC,11864,0.49,108.4,453.8,14.7,743,11871,0.15,1.27,0.00,0.000,6,0.177,0.028,2067,2919,1051,0,0,0,0,0,0
$GC,12180,0.55,108.4,422.8,9.2,759,12184,0.00,1.42,0.00,0.000,4,0.000,0.054,2067,3806,1051,0,0,0,0,0,0
$GC,12279,0.55,108.4,411.4,11.2,763,12284,0.00,1.27,0.00,0.000,6,0.000,0.029,2072,2931,1050,0,0,0,0,0,0
$GC,12612,0.61,108.4,378.9,9.9,789,12615,0.00,1.40,0.00,0.000,4,0.000,0.054,2072,3805,1051,0,0,0,0,0,0
$GC,12714,0.61,108.4,367.0,11.7,798,12717,0.00,1.30,0.00,0.000,6,0.000,0.029,2079,2917,1051,0,0,0,0,0,0
$GC,13048,0.65,108.4,333.8,9.8,829,13052,0.10,1.45,0.00,0.000,4,0.112,0.056,2129,3806,1051,0,0,0,0,0,0
$GC,13131,0.55,108.4,321.6,14.8,836,13141,0.15,1.30,0.00,0.000,6,0.187,0.028,2092,2914,1051,0,0,0,0,0,0
$GC,13456,0.58,108.4,286.6,10.6,867,13458,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,2914,1051,0,0,0,0,0,0
$GC,13780,0.60,108.4,252.9,10.7,897,13784,0.00,1.42,0.00,0.000,4,0.000,0.054,2092,3799,1051,0,0,0,0,0,0
$GC,13963,0.57,108.4,230.4,11.1,913,13967,0.00,1.27,0.00,0.000,6,0.000,0.029,2097,2929,1050,0,0,0,0,0,0
$GC,14294,0.60,108.4,195.8,10.6,944,14297,0.00,1.42,0.00,0.000,4,0.000,0.054,2097,3813,1051,0,0,0,0,0,0
$GC,14432,0.56,108.4,178.8,12.0,956,14436,0.00,1.30,0.00,0.000,6,0.000,0.028,2104,2912,1050,0,0,0,0,0,0
$GC,14763,0.56,108.4,139.7,11.6,987,14767,0.00,1.42,0.00,0.000,4,0.000,0.054,2104,3799,1051,0,0,0,0,0,0
$GC,14844,0.52,108.4,129.4,12.8,994,14848,0.12,1.25,0.00,0.000,6,0.177,0.028,2075,2925,1051,0,0,0,0,0,0
$GC,15177,0.59,108.4,99.5,8.8,1025,15183,0.00,1.45,0.00,0.000,4,0.000,0.054,2075,3810,1051,0,0,0,0,0,0
$GC,15312,0.61,108.4,85.4,11.0,1048,15319,0.00,1.27,0.00,0.000,6,0.000,0.028,2080,2929,1051,0,0,0,0,0,0
$GC,15663,0.66,108.4,52.1,10.0,1109,15670,0.10,1.42,0.00,0.000,4,0.112,0.055,2130,3805,1051,0,0,0,0,0,0
$GC,15843,0.58,108.4,26.0,17.5,1139,15852,0.12,1.27,0.00,0.000,6,0.190,0.029,2102,2935,1051,0,0,0,0,0,0
$GC,15997,0.58,108.4,6.6,12.8,1164,16005,0.00,1.40,0.00,0.000,4,0.000,0.053,2101,3810,1050,0,0,0,0,0,0
$STATE,16030,end climb,SURFACE_DEPTH_REACHED
$STATE,16030,begin surface coast
$FINISH,1.3,1.014619
$STATE,16055,end surface coast,CONTROL_FINISHED_OK
$STATE,16055,begin surface
$SM_CCo,16070,47.38,0.134,0,0,683,200.16
$SM_GC,2.76,0.00,0.00,47.38,0.000,0.000,0.134,72,3215,683,-5.72,0.17,200.16
$IRIDIUM_FIX,-4247.91,835.35,140808,000008
$TT8_MAMPS,0.026964
$HUMID,63.54
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,21.3,70.517
$10V_AH,9.9,46.060
$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,15.400,84.550,245.775,47.375,0.000,161.347,266.776,561.269,0.000,0.000,46.528,2934.034,10179.678,427.581,3746.923,275.212,0.000,1575.102,0.000,2665.624,0.000,0.545,0.000
$DEVICE_MAMPS,225.675,78.030,1771.740,133.875,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,812.941,817.792,864.493,79.482,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353904
$DATA_FILE_SIZE,66966,1173
$CAP_FILE_SIZE,166766,0
$CFSIZE,259252224,226807808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,5,1
$GPS,181015,155057,-4303.620,836.386,79,0.9,79,-25.1