version: 66.07
glider: 543
mission: 14
dive: 391
start: 10 21 115 12 30 2
data:
$ID,543
$MISSION,14
$DIVE,391
$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,-25348.031
$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,89
$R_STBD_OVSHOOT,39
$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
$GPS1,211015,122103,-4303.467,825.631,47,1.0,47,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-73.0
$GPS2,211015,122940,-4303.438,825.716,17,1.7,17,-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,270.9,2544,-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,-49.8,0.0,0.0,0,66,0.00,0.00,-44.05,0.000,6,0.000,0.000,62,3229,1704,0,0,0,0,0,0
$GC,68,-0.60,-108.9,3.2,-1.8,6,94,7.15,1.17,-7.85,0.000,4,0.243,0.081,1698,3943,1944,0,0,0,0,0,0
$GC,138,-0.58,-108.9,12.7,-14.3,16,147,0.00,1.02,0.00,0.000,6,0.000,0.031,1698,3237,1946,0,0,0,0,0,0
$GC,197,-0.58,-108.9,21.1,-13.9,25,206,0.00,1.35,0.00,0.000,4,0.000,0.026,1698,2288,1945,0,0,0,0,0,0
$GC,220,-0.58,-108.9,24.6,-14.5,28,229,0.00,1.48,0.00,0.000,6,0.000,0.048,1691,3202,1945,0,0,0,0,0,0
$GC,371,-0.55,-108.9,47.9,-16.0,53,377,0.12,0.00,0.00,0.000,6,0.189,0.000,1722,3202,1945,0,0,0,0,0,0
$GC,720,-0.59,-108.9,93.2,-12.7,114,728,0.00,0.00,0.00,0.000,6,0.000,0.000,1721,3202,1945,0,0,0,0,0,0
$GC,1054,-0.64,-108.9,135.0,-12.6,149,1057,0.00,1.17,0.00,0.000,4,0.000,0.055,1718,3955,1946,0,0,0,0,0,0
$GC,1103,-0.66,-108.9,141.6,-13.3,153,1107,0.00,1.08,0.00,0.000,6,0.000,0.029,1718,3202,1945,0,0,0,0,0,0
$GC,1434,-0.69,-108.9,181.8,-11.9,184,1438,0.10,1.27,0.00,0.000,4,0.112,0.026,1670,2296,1945,0,0,0,0,0,0
$GC,1460,-0.69,-108.9,185.7,-14.3,186,1468,0.00,1.45,0.00,0.000,6,0.000,0.047,1663,3204,1945,0,0,0,0,0,0
$GC,1788,-0.64,-108.9,231.9,-14.0,217,1790,0.12,0.00,0.00,0.000,6,0.190,0.000,1693,3204,1946,0,0,0,0,0,0
$GC,2105,-0.64,-108.9,268.1,-11.3,247,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,1693,3204,1945,0,0,0,0,0,0
$GC,2429,-0.64,-108.9,305.4,-12.0,277,2432,0.00,1.27,0.00,0.000,4,0.000,0.026,1693,2292,1946,0,0,0,0,0,0
$GC,2463,-0.68,-108.9,310.0,-11.2,280,2467,0.00,1.48,0.00,0.000,6,0.000,0.049,1688,3208,1945,0,0,0,0,0,0
$GC,2793,-0.68,-108.9,352.2,-13.5,311,2794,0.00,0.00,0.00,0.000,6,0.000,0.000,1688,3208,1945,0,0,0,0,0,0
$GC,3116,-0.68,-108.9,395.4,-13.5,341,3120,0.00,1.15,0.00,0.000,4,0.000,0.055,1682,3949,1946,0,0,0,0,0,0
$GC,3151,-0.66,-108.9,400.9,-14.7,344,3155,0.00,1.05,0.00,0.000,6,0.000,0.029,1682,3209,1945,0,0,0,0,0,0
$GC,3472,-0.66,-108.9,444.3,-13.3,360,3476,0.00,1.27,0.00,0.000,4,0.000,0.026,1682,2293,1946,0,0,0,0,0,0
$GC,3511,-0.70,-108.9,449.1,-11.6,361,3518,0.00,1.48,0.00,0.000,6,0.000,0.049,1675,3214,1945,0,0,0,0,0,0
$GC,3828,-0.68,-108.9,492.7,-14.4,377,3831,0.00,1.15,0.00,0.000,4,0.000,0.054,1670,3954,1945,0,0,0,0,0,0
$GC,3877,-0.64,-108.9,500.8,-15.6,379,3881,0.00,1.05,0.00,0.000,6,0.000,0.029,1669,3213,1945,0,0,0,0,0,0
$GC,4205,-0.62,-108.9,546.8,-13.5,395,4207,0.12,0.00,0.00,0.000,6,0.184,0.000,1700,3212,1946,0,0,0,0,0,0
$GC,4514,-0.65,-108.9,580.9,-10.8,410,4518,0.00,1.27,0.00,0.000,4,0.000,0.027,1700,2300,1946,0,0,0,0,0,0
$GC,4575,-0.72,-108.9,587.4,-10.3,412,4582,0.00,1.48,0.00,0.000,6,0.000,0.049,1694,3215,1946,0,0,0,0,0,0
$GC,4892,-0.75,-108.9,622.9,-11.2,428,4895,0.00,1.15,0.00,0.000,4,0.000,0.055,1689,3951,1945,0,0,0,0,0,0
$GC,4937,-0.75,-108.9,628.6,-12.3,430,4941,0.00,1.05,0.00,0.000,6,0.000,0.031,1689,3218,1945,0,0,0,0,0,0
$GC,5271,-0.76,-108.9,666.6,-11.1,446,5272,0.00,0.00,0.00,0.000,6,0.000,0.000,1689,3217,1945,0,0,0,0,0,0
$GC,5579,-0.78,-108.9,702.0,-11.5,461,5581,0.10,0.00,0.00,0.000,6,0.109,0.000,1645,3217,1945,0,0,0,0,0,0
$GC,5889,-0.72,-108.9,747.1,-15.0,476,5893,0.00,1.15,0.00,0.000,4,0.000,0.054,1639,3945,1945,0,0,0,0,0,0
$GC,5945,-0.62,-108.9,756.1,-17.0,478,5949,0.20,1.08,0.00,0.000,6,0.164,0.029,1699,3208,1945,0,0,0,0,0,0
$GC,6266,-0.67,-108.9,793.1,-11.4,494,6267,0.00,0.00,0.00,0.000,6,0.000,0.000,1699,3208,1945,0,0,0,0,0,0
$GC,6576,-0.71,-108.9,827.8,-11.0,509,6577,0.00,0.00,0.00,0.000,6,0.000,0.000,1699,3207,1946,0,0,0,0,0,0
$GC,6884,-0.76,-108.9,860.8,-10.3,524,6889,0.12,1.33,0.00,0.000,4,0.096,0.028,1647,2289,1945,0,0,0,0,0,0
$GC,6911,-0.76,-108.9,864.3,-13.7,525,6915,0.00,1.48,0.00,0.000,6,0.000,0.047,1641,3205,1945,0,0,0,0,0,0
$GC,7240,-0.70,-108.9,909.8,-13.9,541,7244,0.12,1.17,0.00,0.000,4,0.191,0.054,1667,3947,1945,0,0,0,0,0,0
$GC,7330,-0.68,-108.9,922.5,-14.4,545,7333,0.00,1.08,0.00,0.000,6,0.000,0.031,1667,3202,1945,0,0,0,0,0,0
$GC,7663,-0.68,-108.9,963.7,-12.3,561,7666,0.00,1.17,0.00,0.000,4,0.000,0.054,1661,3943,1945,0,0,0,0,0,0
$GC,7718,-0.64,-108.9,971.4,-13.6,563,7723,0.10,1.08,0.00,0.000,6,0.165,0.031,1691,3210,1944,0,0,0,0,0,0
$STATE,7997,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7997,begin apogee
$GC,8002,-0.09,0.0,1002.1,10.7,577,8159,0.60,0.00,130.62,1.784,6,0.142,0.000,1870,2922,1499,0,0,0,0,4,0
$STATE,8160,end apogee,CONTROL_FINISHED_OK
$STATE,8160,begin climb
$GC,8162,0.60,108.9,1006.5,0.0,585,8290,0.68,1.45,118.25,1.788,4,0.082,0.027,2097,2044,1056,0,0,0,0,0,0
$GC,8369,0.65,108.9,986.8,12.0,594,8373,0.00,1.50,0.00,0.000,6,0.000,0.045,2098,2920,1052,0,0,0,0,0,0
$GC,8689,0.65,108.9,942.8,14.1,610,8693,0.00,1.42,0.00,0.000,4,0.000,0.054,2098,3814,1050,0,0,0,0,0,0
$GC,8853,0.61,108.9,916.8,15.5,617,8857,0.00,1.33,0.00,0.000,6,0.000,0.028,2105,2904,1048,0,0,0,0,0,0
$GC,9180,0.61,108.9,866.1,15.2,633,9183,0.00,1.48,0.00,0.000,4,0.000,0.054,2105,3818,1048,0,0,0,0,0,0
$GC,9309,0.56,108.9,843.4,17.7,638,9316,0.00,1.30,0.00,0.000,6,0.000,0.028,2112,2919,1047,0,0,0,0,0,0
$GC,9624,0.56,108.9,793.3,16.0,654,9628,0.00,1.45,0.00,0.000,4,0.000,0.054,2112,3814,1047,0,0,0,0,0,0
$GC,9651,0.51,108.9,788.6,16.7,655,9656,0.15,1.27,0.00,0.000,6,0.184,0.028,2077,2924,1047,0,0,0,0,0,0
$GC,9979,0.56,108.9,747.0,12.4,671,9982,0.00,1.45,0.00,0.000,4,0.000,0.054,2077,3818,1047,0,0,0,0,0,0
$GC,10034,0.56,108.9,738.8,14.1,673,10039,0.00,1.30,0.00,0.000,6,0.000,0.028,2082,2920,1046,0,0,0,0,0,0
$GC,10357,0.60,108.9,697.7,12.5,689,10360,0.00,1.45,0.00,0.000,4,0.000,0.055,2082,3816,1046,0,0,0,0,0,0
$GC,10451,0.60,108.9,683.7,14.5,693,10455,0.00,1.30,0.00,0.000,6,0.000,0.028,2089,2923,1046,0,0,0,0,0,0
$GC,10779,0.62,108.9,641.4,12.6,709,10783,0.00,1.45,0.00,0.000,4,0.000,0.056,2089,3817,1046,0,0,0,0,0,0
$GC,10840,0.60,108.9,632.5,13.8,711,10847,0.00,1.30,0.00,0.000,6,0.000,0.028,2095,2925,1045,0,0,0,0,0,0
$GC,11156,0.62,108.9,593.9,12.1,727,11160,0.00,1.42,0.00,0.000,4,0.000,0.055,2095,3805,1046,0,0,0,0,0,0
$GC,11257,0.59,108.9,579.7,14.5,731,11261,0.00,1.27,0.00,0.000,6,0.000,0.029,2101,2925,1046,0,0,0,0,0,0
$GC,11579,0.59,108.9,540.5,12.3,747,11582,0.00,1.45,0.00,0.000,4,0.000,0.056,2102,3817,1046,0,0,0,0,0,0
$GC,11612,0.56,108.9,535.8,14.2,748,11616,0.00,1.30,0.00,0.000,6,0.000,0.028,2108,2922,1045,0,0,0,0,0,0
$GC,11933,0.56,108.9,495.9,12.5,764,11937,0.00,1.45,0.00,0.000,4,0.000,0.056,2109,3813,1046,0,0,0,0,0,0
$GC,12033,0.50,108.9,481.0,15.0,768,12038,0.15,1.30,0.00,0.000,6,0.177,0.028,2072,2924,1045,0,0,0,0,0,0
$GC,12356,0.57,108.9,446.9,10.5,784,12360,0.00,1.42,0.00,0.000,4,0.000,0.054,2073,3807,1045,0,0,0,0,0,0
$GC,12451,0.59,108.9,434.8,13.4,788,12455,0.00,1.27,0.00,0.000,6,0.000,0.029,2078,2931,1044,0,0,0,0,0,0
$GC,12768,0.64,108.9,398.8,11.5,804,12772,0.00,1.42,0.00,0.000,4,0.000,0.054,2078,3814,1045,0,0,0,0,0,0
$GC,12841,0.64,108.9,389.1,13.2,810,12848,0.00,1.30,0.00,0.000,6,0.000,0.028,2084,2913,1045,0,0,0,0,0,0
$GC,13169,0.68,108.9,350.6,11.9,841,13173,0.12,1.45,0.00,0.000,4,0.094,0.056,2136,3807,1045,0,0,0,0,0,0
$GC,13362,0.59,108.9,316.3,18.8,858,13367,0.15,1.27,0.00,0.000,6,0.190,0.028,2101,2928,1045,0,0,0,0,0,0
$GC,13697,0.61,108.9,272.3,13.4,889,13700,0.00,1.42,0.00,0.000,4,0.000,0.054,2101,3810,1044,0,0,0,0,0,0
$GC,13790,0.57,108.9,258.4,14.1,897,13794,0.00,1.30,0.00,0.000,6,0.000,0.028,2106,2912,1045,0,0,0,0,0,0
$GC,14120,0.57,108.9,215.4,12.9,928,14123,0.00,1.45,0.00,0.000,4,0.000,0.054,2106,3806,1045,0,0,0,0,0,0
$GC,14189,0.53,108.9,205.2,14.8,934,14194,0.10,1.27,0.00,0.000,6,0.185,0.028,2084,2920,1045,0,0,0,0,0,0
$GC,14523,0.59,108.9,168.5,10.6,965,14526,0.00,1.45,0.00,0.000,4,0.000,0.055,2084,3814,1045,0,0,0,0,0,0
$GC,14676,0.59,108.9,148.7,12.1,978,14683,0.00,1.27,0.00,0.000,6,0.000,0.028,2089,2927,1045,0,0,0,0,0,0
$GC,15004,0.63,108.9,113.1,9.9,1009,15007,0.00,1.42,0.00,0.000,4,0.000,0.054,2089,3810,1045,0,0,0,0,0,0
$GC,15176,0.63,108.9,90.9,13.0,1029,15185,0.00,1.27,0.00,0.000,6,0.000,0.028,2096,2922,1045,0,0,0,0,0,0
$GC,15530,0.67,108.9,51.5,11.5,1090,15536,0.00,1.42,0.00,0.000,4,0.000,0.054,2096,3810,1045,0,0,0,0,0,0
$GC,15667,0.67,108.9,33.5,13.4,1113,15675,0.00,1.27,0.00,0.000,6,0.000,0.028,2102,2921,1045,0,0,0,0,0,0
$GC,15821,0.69,108.9,14.9,12.1,1138,15829,0.00,1.42,0.00,0.000,4,0.000,0.054,2102,3809,1045,0,0,0,0,0,0
$GC,15862,0.67,108.9,9.2,13.9,1144,15871,0.00,1.27,0.00,0.000,6,0.000,0.028,2109,2925,1045,0,0,0,0,0,0
$STATE,15913,end climb,SURFACE_DEPTH_REACHED
$STATE,15913,begin surface coast
$FINISH,1.6,1.014782
$STATE,15938,end surface coast,CONTROL_FINISHED_OK
$STATE,15938,begin surface
$SM_CCo,15953,57.58,0.171,1,0,682,200.16
$SM_GC,2.75,0.00,0.00,57.58,0.000,0.000,0.171,75,3228,682,-5.72,0.54,200.16
$IRIDIUM_FIX,-4247.91,825.73,160808,212123
$TT8_MAMPS,0.027713
$HUMID,63.50
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,21.2,72.851
$10V_AH,9.9,47.695
$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,15.675,87.325,248.875,57.575,0.000,28.380,41.996,299.940,0.000,0.000,19.691,2888.574,9878.761,453.556,3034.154,273.180,0.000,1602.543,0.000,2641.341,0.000,0.545,0.000
$DEVICE_MAMPS,242.505,81.090,1787.805,170.595,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,803.198,813.589,857.812,82.323,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353852
$DATA_FILE_SIZE,67032,1156
$CAP_FILE_SIZE,159437,0
$CFSIZE,259252224,225677312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,1
$GPS,211015,165808,-4303.861,824.719,34,1.1,34,-25.0