version: 66.07
glider: 543
mission: 14
dive: 405
start: 10 24 115 14 7 16
data:
$ID,543
$MISSION,14
$DIVE,405
$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,-25396.775
$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,62
$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
$GPS1,241015,135707,-4255.573,837.485,46,1.2,46,-25.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-70.8
$GPS2,241015,140652,-4255.503,837.631,20,1.1,20,-25.1
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAZ_BUT3
$TGT_LATLONG,-4256.000,836.000
$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,272.5,2396,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.54,-49.8,0.0,0.0,0,64,0.00,0.00,-45.15,0.000,6,0.000,0.000,60,3220,1704,0,0,0,0,0,0
$GC,67,-0.60,-108.4,3.0,-1.8,6,92,6.80,1.38,-7.88,0.000,4,0.225,0.048,1704,2288,1943,0,0,0,0,0,0
$GC,179,-0.65,-108.4,16.9,-10.8,23,188,0.00,1.48,0.00,0.000,6,0.000,0.048,1698,3204,1945,0,0,0,0,0,0
$GC,238,-0.63,-108.4,24.9,-14.5,32,247,0.00,1.17,0.00,0.000,4,0.000,0.054,1692,3954,1945,0,0,0,0,0,0
$GC,262,-0.61,-108.4,28.8,-15.8,35,271,0.00,1.08,0.00,0.000,6,0.000,0.028,1692,3207,1945,0,0,0,0,0,0
$GC,412,-0.59,-108.4,51.2,-15.0,60,420,0.00,0.00,0.00,0.000,6,0.000,0.000,1692,3207,1945,0,0,0,0,0,0
$GC,766,-0.59,-108.4,107.0,-15.3,118,767,0.00,0.00,0.00,0.000,6,0.000,0.000,1692,3207,1945,0,0,0,0,0,0
$GC,1083,-0.59,-108.4,155.9,-14.7,148,1087,0.00,1.17,0.00,0.000,4,0.000,0.054,1687,3950,1945,0,0,0,0,0,0
$GC,1265,-0.56,-108.4,183.8,-15.2,164,1270,0.10,1.08,0.00,0.000,6,0.154,0.029,1717,3208,1945,0,0,0,0,0,0
$GC,1597,-0.60,-108.4,221.2,-10.2,195,1600,0.00,1.17,0.00,0.000,4,0.000,0.054,1713,3951,1945,0,0,0,0,0,0
$GC,1647,-0.63,-108.4,227.4,-11.7,199,1654,0.00,1.08,0.00,0.000,6,0.000,0.030,1713,3202,1945,0,0,0,0,0,0
$GC,1972,-0.67,-108.4,264.0,-10.7,230,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,3202,1945,0,0,0,0,0,0
$GC,2293,-0.72,-108.4,300.5,-11.8,260,2297,0.12,1.30,0.00,0.000,4,0.098,0.026,1652,2288,1945,0,0,0,0,0,0
$GC,2364,-0.72,-108.4,310.8,-13.4,266,2372,0.00,1.48,0.00,0.000,6,0.000,0.047,1646,3207,1945,0,0,0,0,0,0
$GC,2693,-0.65,-108.4,363.4,-16.2,297,2694,0.17,0.00,0.00,0.000,6,0.179,0.000,1691,3207,1945,0,0,0,0,0,0
$GC,3011,-0.67,-108.4,403.4,-12.3,326,3013,0.00,0.00,0.00,0.000,6,0.000,0.000,1691,3207,1945,0,0,0,0,0,0
$GC,3319,-0.68,-108.4,441.5,-12.4,341,3320,0.00,0.00,0.00,0.000,6,0.000,0.000,1691,3207,1945,0,0,0,0,0,0
$GC,3628,-0.70,-108.4,478.6,-11.7,356,3631,0.00,1.17,0.00,0.000,4,0.000,0.055,1687,3960,1945,0,0,0,0,0,0
$GC,3741,-0.70,-108.4,493.6,-13.3,361,3745,0.00,1.08,0.00,0.000,6,0.000,0.029,1687,3209,1945,0,0,0,0,0,0
$GC,4073,-0.70,-108.4,536.1,-12.8,377,4077,0.00,1.20,0.00,0.000,4,0.000,0.056,1682,3953,1945,0,0,0,0,0,0
$GC,4123,-0.68,-108.4,543.3,-14.9,379,4127,0.00,1.08,0.00,0.000,6,0.000,0.029,1682,3200,1945,0,0,0,0,0,0
$GC,4451,-0.68,-108.4,587.3,-13.8,395,4454,0.00,1.20,0.00,0.000,4,0.000,0.055,1676,3955,1945,0,0,0,0,0,0
$GC,4483,-0.65,-108.4,592.4,-15.9,396,4487,0.00,1.08,0.00,0.000,6,0.000,0.028,1676,3208,1945,0,0,0,0,0,0
$GC,4805,-0.65,-108.4,638.1,-14.3,412,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,1676,3208,1944,0,0,0,0,0,0
$GC,5114,-0.65,-108.4,681.6,-13.8,427,5118,0.00,1.17,0.00,0.000,4,0.000,0.055,1671,3950,1945,0,0,0,0,0,0
$GC,5219,-0.62,-108.4,697.4,-14.8,431,5227,0.08,1.08,0.00,0.000,6,0.159,0.029,1694,3215,1945,0,0,0,0,0,0
$GC,5536,-0.66,-108.4,734.3,-11.4,447,5540,0.00,1.17,0.00,0.000,4,0.000,0.056,1690,3956,1945,0,0,0,0,0,0
$GC,5619,-0.66,-108.4,745.0,-12.5,450,5627,0.00,1.08,0.00,0.000,6,0.000,0.029,1690,3206,1945,0,0,0,0,0,0
$GC,5936,-0.69,-108.4,781.6,-11.9,466,5940,0.00,1.27,0.00,0.000,4,0.000,0.027,1690,2298,1945,0,0,0,0,0,0
$GC,5975,-0.74,-108.4,786.1,-11.1,467,5982,0.00,1.48,0.00,0.000,6,0.000,0.049,1683,3212,1945,0,0,0,0,0,0
$GC,6291,-0.76,-108.4,822.7,-11.3,483,6295,0.00,1.15,0.00,0.000,4,0.000,0.055,1677,3951,1945,0,0,0,0,0,0
$GC,6346,-0.76,-108.4,829.6,-12.5,485,6350,0.00,1.08,0.00,0.000,6,0.000,0.030,1677,3207,1945,0,0,0,0,0,0
$GC,6667,-0.76,-108.4,866.6,-11.6,501,6671,0.00,1.17,0.00,0.000,4,0.000,0.055,1672,3947,1945,0,0,0,0,0,0
$GC,6791,-0.74,-108.4,882.0,-12.4,506,6794,0.00,1.05,0.00,0.000,6,0.000,0.031,1671,3216,1945,0,0,0,0,0,0
$GC,7112,-0.74,-108.4,920.0,-12.3,522,7113,0.00,0.00,0.00,0.000,6,0.000,0.000,1672,3216,1945,0,0,0,0,0,0
$GC,7421,-0.74,-108.4,956.0,-11.4,537,7425,0.00,1.17,0.00,0.000,4,0.000,0.055,1666,3957,1945,0,0,0,0,0,0
$GC,7534,-0.72,-108.4,970.1,-12.9,542,7538,0.00,1.08,0.00,0.000,6,0.000,0.031,1665,3213,1945,0,0,0,0,0,0
$STATE,7782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7782,begin apogee
$GC,7788,-0.09,0.0,1000.4,12.1,554,7933,0.70,0.00,126.97,1.800,6,0.150,0.000,1869,2922,1499,0,0,0,0,3,0
$STATE,7934,end apogee,CONTROL_FINISHED_OK
$STATE,7934,begin climb
$GC,7937,0.60,108.4,1003.8,0.0,561,8071,0.68,1.52,119.97,1.774,4,0.085,0.027,2095,2039,1057,0,0,0,0,1,0
$GC,8144,0.65,108.4,984.1,12.4,570,8151,0.00,1.50,0.00,0.000,6,0.000,0.045,2095,2916,1055,0,0,0,0,0,0
$GC,8460,0.65,108.4,939.0,14.6,586,8463,0.00,1.42,0.00,0.000,4,0.000,0.054,2095,3810,1052,0,0,0,0,0,0
$GC,8515,0.60,108.4,929.9,17.8,588,8519,0.00,1.33,0.00,0.000,6,0.000,0.028,2102,2902,1051,0,0,0,0,0,0
$GC,8837,0.60,108.4,881.5,14.6,604,8838,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2902,1051,0,0,0,0,0,0
$GC,9146,0.60,108.4,837.3,14.4,619,9150,0.00,1.45,0.00,0.000,4,0.000,0.054,2102,3802,1050,0,0,0,0,0,0
$GC,9197,0.54,108.4,829.3,17.0,621,9201,0.08,1.27,0.00,0.000,6,0.200,0.028,2088,2921,1050,0,0,0,0,0,0
$GC,9523,0.55,108.4,784.5,13.1,637,9527,0.00,1.27,0.00,0.000,4,0.000,0.030,2093,2052,1049,0,0,0,0,0,0
$GC,9556,0.60,108.4,780.3,12.4,638,9561,0.00,1.38,0.00,0.000,6,0.000,0.046,2093,2923,1049,0,0,0,0,0,0
$GC,9878,0.60,108.4,738.1,13.2,654,9882,0.00,1.27,0.00,0.000,4,0.000,0.030,2100,2052,1049,0,0,0,0,0,0
$GC,9902,0.63,108.4,735.2,12.2,655,9905,0.00,1.38,0.00,0.000,6,0.000,0.046,2100,2919,1049,0,0,0,0,0,0
$GC,10234,0.63,108.4,690.7,13.5,671,10238,0.00,1.42,0.00,0.000,4,0.000,0.054,2100,3816,1049,0,0,0,0,0,0
$GC,10325,0.57,108.4,676.6,15.9,675,10329,0.00,1.27,0.00,0.000,6,0.000,0.028,2106,2929,1048,0,0,0,0,0,0
$GC,10657,0.57,108.4,628.8,14.1,691,10659,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2927,1048,0,0,0,0,0,0
$GC,10967,0.57,108.4,585.7,13.7,706,10971,0.00,1.42,0.00,0.000,4,0.000,0.054,2106,3812,1048,0,0,0,0,0,0
$GC,10994,0.53,108.4,581.3,15.5,707,10999,0.10,1.27,0.00,0.000,6,0.186,0.028,2085,2927,1048,0,0,0,0,0,0
$GC,11323,0.56,108.4,542.4,11.7,723,11327,0.00,1.42,0.00,0.000,4,0.000,0.054,2085,3810,1048,0,0,0,0,0,0
$GC,11355,0.56,108.4,538.0,14.0,724,11359,0.00,1.27,0.00,0.000,6,0.000,0.028,2089,2932,1047,0,0,0,0,0,0
$GC,11677,0.58,108.4,499.1,12.3,740,11681,0.00,1.42,0.00,0.000,4,0.000,0.054,2090,3813,1048,0,0,0,0,0,0
$GC,11733,0.56,108.4,491.2,13.7,742,11737,0.00,1.30,0.00,0.000,6,0.000,0.028,2096,2923,1047,0,0,0,0,0,0
$GC,12054,0.57,108.4,450.8,12.5,758,12057,0.00,1.42,0.00,0.000,4,0.000,0.054,2096,3811,1048,0,0,0,0,0,0
$GC,12109,0.53,108.4,443.1,14.5,760,12113,0.00,1.30,0.00,0.000,6,0.000,0.028,2103,2921,1047,0,0,0,0,0,0
$GC,12431,0.53,108.4,402.9,12.7,776,12435,0.00,1.42,0.00,0.000,4,0.000,0.054,2103,3803,1047,0,0,0,0,0,0
$GC,12466,0.49,108.4,397.9,14.2,778,12470,0.15,1.27,0.00,0.000,6,0.176,0.028,2067,2924,1047,0,0,0,0,0,0
$GC,12798,0.56,108.4,364.2,9.8,809,12802,0.00,1.42,0.00,0.000,4,0.000,0.055,2067,3808,1047,0,0,0,0,0,0
$GC,12826,0.60,108.4,360.8,11.2,811,12833,0.00,1.27,0.00,0.000,6,0.000,0.028,2072,2925,1047,0,0,0,0,0,0
$GC,13151,0.66,108.4,328.2,9.9,842,13155,0.12,1.42,0.00,0.000,4,0.096,0.055,2132,3804,1047,0,0,0,0,0,0
$GC,13212,0.56,108.4,319.2,16.1,847,13219,0.17,1.27,0.00,0.000,6,0.186,0.027,2090,2924,1047,0,0,0,0,0,0
$GC,13537,0.59,108.4,284.7,10.3,878,13541,0.00,1.42,0.00,0.000,4,0.000,0.054,2090,3809,1047,0,0,0,0,0,0
$GC,13575,0.57,108.4,280.6,12.3,881,13579,0.00,1.30,0.00,0.000,6,0.000,0.028,2095,2917,1047,0,0,0,0,0,0
$GC,13906,0.60,108.4,243.2,11.9,912,13907,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2916,1048,0,0,0,0,0,0
$GC,14226,0.62,108.4,205.9,11.0,942,14230,0.00,1.27,0.00,0.000,4,0.000,0.029,2102,2046,1047,0,0,0,0,0,0
$GC,14399,0.69,108.4,188.9,9.5,957,14402,0.00,1.40,0.00,0.000,6,0.000,0.048,2102,2924,1047,0,0,0,0,0,0
$GC,14729,0.71,108.4,152.6,10.6,988,14733,0.00,1.40,0.00,0.000,4,0.000,0.055,2102,3805,1047,0,0,0,0,0,0
$GC,14926,0.68,108.4,126.9,13.7,1005,14933,0.00,1.27,0.00,0.000,6,0.000,0.028,2109,2920,1047,0,0,0,0,0,0
$GC,15261,0.68,108.4,85.9,12.8,1045,15268,0.00,1.42,0.00,0.000,4,0.000,0.054,2109,3799,1048,0,0,0,0,0,0
$GC,15368,0.63,108.4,71.8,13.6,1063,15375,0.00,1.27,0.00,0.000,6,0.000,0.028,2115,2917,1048,0,0,0,0,0,0
$GC,15723,0.63,108.4,28.6,11.6,1124,15732,0.00,1.25,0.00,0.000,4,0.000,0.028,2122,2038,1047,0,0,0,0,0,0
$GC,15818,0.67,108.4,18.4,10.5,1139,15826,0.00,1.40,0.00,0.000,6,0.000,0.049,2122,2920,1048,0,0,0,0,0,0
$GC,15876,0.65,108.4,12.0,11.7,1148,15885,0.00,1.40,0.00,0.000,4,0.000,0.054,2122,3799,1048,0,0,0,0,0,0
$GC,15912,0.59,108.4,6.3,15.7,1153,15921,0.10,1.25,0.00,0.000,6,0.178,0.027,2100,2925,1048,0,0,0,0,0,0
$STATE,15934,end climb,SURFACE_DEPTH_REACHED
$STATE,15934,begin surface coast
$FINISH,1.5,1.026510
$STATE,15953,end surface coast,CONTROL_FINISHED_OK
$STATE,15953,begin surface
$SM_CCo,15968,42.97,0.136,0,0,684,200.16
$SM_GC,2.78,0.00,0.00,42.97,0.000,0.000,0.136,73,3224,684,-5.72,0.42,200.16
$IRIDIUM_FIX,-4239.11,833.59,190808,222242
$TT8_MAMPS,0.027713
$HUMID,63.15
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,21.1,75.240
$10V_AH,9.8,49.368
$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,14.800,85.525,246.950,42.975,0.000,25.912,42.500,368.427,0.000,0.000,24.742,2888.392,9916.066,432.599,3084.599,271.158,0.000,1574.078,0.000,2620.509,0.000,0.545,0.000
$DEVICE_MAMPS,224.910,58.140,1800.045,136.170,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,804.299,816.862,861.153,80.411,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353924
$DATA_FILE_SIZE,66973,1159
$CAP_FILE_SIZE,159495,0
$CFSIZE,259252224,224481280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,241015,183534,-4255.439,836.516,51,0.8,51,-25.1