version: 66.07
glider: 543
mission: 14
dive: 407
start: 10 24 115 23 24 8
data:
$ID,543
$MISSION,14
$DIVE,407
$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,-25402.779
$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,59
$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
$GPS1,241015,231504,-4256.422,836.804,61,1.2,61,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-72.7
$GPS2,241015,232346,-4256.442,836.890,16,1.2,16,-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,329.3,1459,-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,-49.8,0.0,0.0,0,67,0.00,0.00,-44.55,0.000,6,0.000,0.000,63,3224,1702,0,0,0,0,0,0
$GC,69,-0.60,-107.5,3.2,-1.9,6,88,6.97,1.40,-7.35,0.000,4,0.233,0.047,1704,2294,1940,0,0,0,0,0,0
$GC,161,-0.65,-107.5,15.4,-11.6,20,170,0.00,1.50,0.00,0.000,6,0.000,0.050,1699,3205,1941,0,0,0,0,0,0
$GC,220,-0.65,-107.5,23.9,-15.6,29,228,0.00,1.17,0.00,0.000,4,0.000,0.054,1693,3953,1941,0,0,0,0,0,0
$GC,244,-0.63,-107.5,27.7,-15.5,32,253,0.00,1.08,0.00,0.000,6,0.000,0.029,1693,3207,1942,0,0,0,0,0,0
$GC,394,-0.61,-107.5,51.1,-15.2,57,403,0.00,1.17,0.00,0.000,4,0.000,0.054,1687,3947,1942,0,0,0,0,0,0
$GC,512,-0.57,-107.5,70.3,-16.1,77,520,0.08,1.08,0.00,0.000,6,0.158,0.029,1711,3206,1942,0,0,0,0,0,0
$GC,860,-0.60,-107.5,117.2,-14.2,127,861,0.00,0.00,0.00,0.000,6,0.000,0.000,1711,3206,1942,0,0,0,0,0,0
$GC,1180,-0.62,-107.5,160.3,-14.1,157,1184,0.00,1.30,0.00,0.000,4,0.000,0.026,1711,2284,1942,0,0,0,0,0,0
$GC,1221,-0.69,-107.5,166.3,-12.5,160,1229,0.00,1.50,0.00,0.000,6,0.000,0.049,1705,3212,1942,0,0,0,0,0,0
$GC,1546,-0.71,-107.5,212.5,-14.1,191,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,1706,3212,1942,0,0,0,0,0,0
$GC,1870,-0.73,-107.5,256.4,-12.3,221,1874,0.10,1.17,0.00,0.000,4,0.109,0.055,1649,3951,1942,0,0,0,0,0,0
$GC,1996,-0.64,-107.5,277.5,-18.2,232,2000,0.15,1.08,0.00,0.000,6,0.163,0.029,1694,3206,1942,0,0,0,0,0,0
$GC,2328,-0.65,-107.5,321.1,-12.8,263,2331,0.00,1.30,0.00,0.000,4,0.000,0.026,1694,2285,1942,0,0,0,0,0,0
$GC,2355,-0.68,-107.5,324.3,-12.9,265,2358,0.00,1.50,0.00,0.000,6,0.000,0.049,1688,3215,1942,0,0,0,0,0,0
$GC,2685,-0.68,-107.5,366.9,-12.9,296,2689,0.00,1.15,0.00,0.000,4,0.000,0.054,1683,3954,1942,0,0,0,0,0,0
$GC,2766,-0.66,-107.5,377.8,-13.8,303,2769,0.00,1.08,0.00,0.000,6,0.000,0.029,1683,3202,1942,0,0,0,0,0,0
$GC,3093,-0.66,-107.5,418.3,-12.0,327,3097,0.00,1.17,0.00,0.000,4,0.000,0.054,1677,3950,1942,0,0,0,0,0,0
$GC,3120,-0.64,-107.5,422.2,-13.0,328,3125,0.00,1.08,0.00,0.000,6,0.000,0.028,1677,3201,1942,0,0,0,0,0,0
$GC,3448,-0.64,-107.5,465.5,-13.3,344,3449,0.00,0.00,0.00,0.000,6,0.000,0.000,1677,3201,1942,0,0,0,0,0,0
$GC,3758,-0.64,-107.5,508.0,-13.5,359,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,1677,3201,1942,0,0,0,0,0,0
$GC,4066,-0.64,-107.5,548.4,-12.6,374,4070,0.00,1.27,0.00,0.000,4,0.000,0.026,1677,2295,1942,0,0,0,0,0,0
$GC,4093,-0.64,-107.5,552.0,-12.7,375,4097,0.00,1.48,0.00,0.000,6,0.000,0.048,1669,3209,1942,0,0,0,0,0,0
$GC,4421,-0.62,-107.5,595.3,-13.3,391,4426,0.12,1.17,0.00,0.000,4,0.181,0.054,1697,3951,1941,0,0,0,0,0,0
$GC,4490,-0.64,-107.5,603.5,-11.7,394,4493,0.00,1.08,0.00,0.000,6,0.000,0.030,1697,3204,1942,0,0,0,0,0,0
$GC,4823,-0.67,-107.5,639.1,-10.6,410,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,1696,3204,1942,0,0,0,0,0,0
$GC,5132,-0.71,-107.5,671.7,-10.7,425,5135,0.00,1.27,0.00,0.000,4,0.000,0.026,1697,2295,1942,0,0,0,0,0,0
$GC,5178,-0.78,-107.5,676.5,-10.1,427,5182,0.08,1.48,0.00,0.000,6,0.056,0.050,1645,3207,1942,0,0,0,0,0,0
$GC,5511,-0.72,-107.5,724.5,-14.8,443,5512,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,3207,1942,0,0,0,0,0,0
$GC,5819,-0.66,-107.5,770.0,-14.8,458,5823,0.17,1.17,0.00,0.000,4,0.183,0.053,1685,3950,1942,0,0,0,0,0,0
$GC,5847,-0.64,-107.5,774.1,-14.1,459,5850,0.00,1.08,0.00,0.000,6,0.000,0.030,1685,3203,1942,0,0,0,0,0,0
$GC,6174,-0.66,-107.5,814.1,-12.4,475,6178,0.00,1.20,0.00,0.000,4,0.000,0.055,1680,3958,1941,0,0,0,0,0,0
$GC,6280,-0.66,-107.5,828.4,-14.3,479,6287,0.00,1.08,0.00,0.000,6,0.000,0.030,1680,3209,1942,0,0,0,0,0,0
$GC,6596,-0.66,-107.5,867.2,-12.1,495,6597,0.00,0.00,0.00,0.000,6,0.000,0.000,1680,3210,1941,0,0,0,0,0,0
$GC,6905,-0.66,-107.5,903.7,-11.9,510,6906,0.00,0.00,0.00,0.000,6,0.000,0.000,1680,3210,1942,0,0,0,0,0,0
$GC,7215,-0.68,-107.5,939.1,-11.4,525,7216,0.00,0.00,0.00,0.000,6,0.000,0.000,1679,3210,1941,0,0,0,0,0,0
$GC,7524,-0.70,-107.5,972.1,-10.6,540,7528,0.00,1.20,0.00,0.000,4,0.000,0.057,1674,3946,1942,0,0,0,0,0,0
$GC,7547,-0.70,-107.5,974.9,-12.0,541,7551,0.00,1.08,0.00,0.000,6,0.000,0.031,1674,3206,1942,0,0,0,0,0,0
$STATE,7795,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7795,begin apogee
$GC,7801,-0.09,0.0,1002.1,10.7,553,7958,0.68,0.00,129.52,1.780,6,0.147,0.000,1871,2916,1500,0,0,0,0,4,0
$STATE,7959,end apogee,CONTROL_FINISHED_OK
$STATE,7959,begin climb
$GC,7961,0.60,107.5,1004.7,0.0,561,8102,0.68,1.42,121.95,1.747,4,0.083,0.028,2097,2049,1059,0,0,0,0,2,0
$GC,8180,0.64,107.5,981.9,12.1,571,8184,0.00,1.50,0.00,0.000,6,0.000,0.045,2098,2924,1056,0,0,0,0,0,0
$GC,8508,0.64,107.5,934.4,14.8,587,8511,0.00,1.40,0.00,0.000,4,0.000,0.055,2098,3801,1053,0,0,0,0,0,0
$GC,8602,0.60,107.5,918.4,16.9,591,8606,0.00,1.33,0.00,0.000,6,0.000,0.028,2105,2901,1053,0,0,0,0,0,0
$GC,8929,0.60,107.5,869.3,14.8,607,8932,0.00,1.48,0.00,0.000,4,0.000,0.054,2105,3810,1052,0,0,0,0,0,0
$GC,9024,0.55,107.5,853.3,16.8,611,9028,0.00,1.30,0.00,0.000,6,0.000,0.029,2112,2922,1051,0,0,0,0,0,0
$GC,9351,0.53,107.5,805.1,14.6,627,9355,0.12,1.42,0.00,0.000,4,0.203,0.053,2083,3815,1051,0,0,0,0,0,0
$GC,9434,0.53,107.5,793.1,14.4,630,9441,0.00,1.30,0.00,0.000,6,0.000,0.029,2088,2922,1051,0,0,0,0,0,0
$GC,9750,0.56,107.5,754.4,12.4,646,9751,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2922,1050,0,0,0,0,0,0
$GC,10060,0.58,107.5,716.3,11.7,661,10063,0.00,1.42,0.00,0.000,4,0.000,0.054,2088,3803,1050,0,0,0,0,0,0
$GC,10166,0.55,107.5,700.8,14.6,665,10173,0.00,1.27,0.00,0.000,6,0.000,0.029,2094,2927,1050,0,0,0,0,0,0
$GC,10482,0.55,107.5,661.5,12.4,681,10485,0.00,1.42,0.00,0.000,4,0.000,0.054,2094,3808,1050,0,0,0,0,0,0
$GC,10520,0.52,107.5,656.0,14.3,682,10527,0.00,1.30,0.00,0.000,6,0.000,0.029,2101,2922,1050,0,0,0,0,0,0
$GC,10836,0.52,107.5,616.0,12.7,698,10839,0.00,1.42,0.00,0.000,4,0.000,0.054,2101,3808,1050,0,0,0,0,0,0
$GC,10927,0.47,107.5,603.2,15.2,702,10931,0.15,1.30,0.00,0.000,6,0.182,0.028,2065,2917,1049,0,0,0,0,0,0
$GC,11260,0.54,107.5,569.7,9.7,718,11264,0.00,1.42,0.00,0.000,4,0.000,0.054,2065,3805,1049,0,0,0,0,0,0
$GC,11339,0.58,107.5,560.5,11.8,721,11343,0.00,1.27,0.00,0.000,6,0.000,0.029,2070,2930,1049,0,0,0,0,0,0
$GC,11660,0.64,107.5,526.6,10.7,737,11664,0.12,1.42,0.00,0.000,4,0.099,0.054,2129,3812,1049,0,0,0,0,0,0
$GC,11720,0.54,107.5,517.0,16.3,739,11728,0.17,1.30,0.00,0.000,6,0.184,0.028,2086,2922,1049,0,0,0,0,0,0
$GC,12037,0.58,107.5,478.6,12.3,755,12040,0.00,1.42,0.00,0.000,4,0.000,0.054,2086,3802,1049,0,0,0,0,0,0
$GC,12069,0.58,107.5,473.9,14.0,756,12073,0.00,1.27,0.00,0.000,6,0.000,0.028,2091,2921,1049,0,0,0,0,0,0
$GC,12392,0.60,107.5,433.4,12.3,772,12396,0.00,1.45,0.00,0.000,4,0.000,0.054,2091,3812,1049,0,0,0,0,0,0
$GC,12460,0.58,107.5,423.5,14.2,775,12464,0.00,1.30,0.00,0.000,6,0.000,0.028,2097,2922,1048,0,0,0,0,0,0
$GC,12792,0.60,107.5,382.0,12.4,797,12798,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2921,1049,0,0,0,0,0,0
$GC,13118,0.62,107.5,342.1,11.9,828,13122,0.00,1.45,0.00,0.000,4,0.000,0.054,2097,3813,1048,0,0,0,0,0,0
$GC,13245,0.59,107.5,324.6,14.1,839,13248,0.00,1.30,0.00,0.000,6,0.000,0.028,2104,2920,1048,0,0,0,0,0,0
$GC,13575,0.59,107.5,282.7,12.4,870,13579,0.00,1.45,0.00,0.000,4,0.000,0.055,2104,3811,1049,0,0,0,0,0,0
$GC,13625,0.54,107.5,275.8,14.4,874,13633,0.10,1.30,0.00,0.000,6,0.183,0.028,2083,2915,1049,0,0,0,0,0,0
$GC,13954,0.60,107.5,241.1,10.1,905,13958,0.00,1.45,0.00,0.000,4,0.000,0.054,2083,3810,1049,0,0,0,0,0,0
$GC,14213,0.60,107.5,210.3,12.7,928,14217,0.00,1.27,0.00,0.000,6,0.000,0.028,2088,2935,1048,0,0,0,0,0,0
$GC,14544,0.64,107.5,177.1,10.7,959,14547,0.00,1.42,0.00,0.000,4,0.000,0.054,2088,3814,1048,0,0,0,0,0,0
$GC,14601,0.64,107.5,170.3,11.6,964,14604,0.00,1.30,0.00,0.000,6,0.000,0.028,2094,2920,1049,0,0,0,0,0,0
$GC,14932,0.68,107.5,133.4,10.9,995,14935,0.00,1.42,0.00,0.000,4,0.000,0.054,2095,3807,1049,0,0,0,0,0,0
$GC,14969,0.68,107.5,128.3,13.5,998,14977,0.00,1.27,0.00,0.000,6,0.000,0.028,2101,2927,1048,0,0,0,0,0,0
$GC,15301,0.70,107.5,91.6,10.6,1035,15309,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2927,1048,0,0,0,0,0,0
$GC,15653,0.73,107.5,51.8,10.9,1096,15660,0.10,1.42,0.00,0.000,4,0.109,0.054,2142,3807,1049,0,0,0,0,0,0
$GC,15897,0.63,107.5,12.0,16.6,1137,15906,0.12,1.27,0.00,0.000,6,0.192,0.027,2113,2921,1049,0,0,0,0,0,0
$GC,15956,0.63,107.5,4.0,12.3,1146,15964,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2921,1049,0,0,0,0,0,0
$STATE,15971,end climb,SURFACE_DEPTH_REACHED
$STATE,15971,begin surface coast
$FINISH,1.5,1.026510
$STATE,15997,end surface coast,CONTROL_FINISHED_OK
$STATE,15997,begin surface
$SM_CCo,16011,55.08,0.374,1,0,681,200.16
$SM_GC,2.49,0.00,0.00,55.08,0.000,0.000,0.374,75,3233,681,-5.71,0.68,200.16
$IRIDIUM_FIX,-4236.17,839.41,200808,080800
$TT8_MAMPS,0.027713
$HUMID,63.30
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,21.1,75.540
$10V_AH,9.9,49.585
$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,15.425,81.675,251.475,55.075,0.000,28.494,26.408,321.208,0.000,0.000,18.898,2869.910,10012.972,453.832,2975.526,275.783,0.000,1577.281,0.000,2579.358,0.000,0.545,0.000
$DEVICE_MAMPS,233.325,56.610,1780.155,374.085,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,799.604,809.634,831.392,76.269,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354004
$DATA_FILE_SIZE,66871,1152
$CAP_FILE_SIZE,156162,0
$CFSIZE,259252224,224325632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,1
$GPS,251015,035321,-4255.214,836.360,44,1.1,44,-25.1