version: 66.07
glider: 543
mission: 14
dive: 456
start: 11 4 115 23 27 12
data:
$ID,543
$MISSION,14
$DIVE,456
$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,-25568.791
$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,85
$R_STBD_OVSHOOT,30
$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
$GPS1,041115,231803,-4303.522,838.071,72,0.9,72,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-74.5
$GPS2,041115,232650,-4303.525,838.203,18,0.8,19,-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,278.7,3108,-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,-49.8,0.0,0.0,0,66,0.00,0.00,-44.50,0.000,6,0.000,0.000,63,3217,1704,0,0,0,0,0,0
$GC,69,-0.60,-113.4,3.2,-1.2,6,94,7.05,1.30,-8.45,0.000,4,0.236,0.052,1704,2333,1963,0,0,0,0,0,0
$GC,245,-0.66,-113.4,25.3,-12.2,34,254,0.00,1.42,0.00,0.000,6,0.000,0.050,1699,3209,1964,0,0,0,0,0,0
$GC,395,-0.66,-113.4,46.6,-14.0,59,402,0.00,1.17,0.00,0.000,4,0.000,0.056,1694,3946,1964,0,0,0,0,0,0
$GC,466,-0.64,-113.4,57.2,-14.6,71,473,0.00,1.02,0.00,0.000,6,0.000,0.031,1694,3231,1964,0,0,0,0,0,0
$GC,811,-0.64,-113.4,108.2,-14.7,127,814,0.00,1.12,0.00,0.000,4,0.000,0.054,1688,3946,1964,0,0,0,0,0,0
$GC,848,-0.61,-113.4,113.5,-15.4,130,851,0.00,1.08,0.00,0.000,6,0.000,0.028,1688,3197,1964,0,0,0,0,0,0
$GC,1182,-0.59,-113.4,161.1,-14.4,161,1186,0.00,1.20,0.00,0.000,4,0.000,0.054,1682,3956,1964,0,0,0,0,0,0
$GC,1289,-0.55,-113.4,178.3,-15.6,170,1296,0.12,1.08,0.00,0.000,6,0.154,0.029,1720,3214,1964,0,0,0,0,0,0
$GC,1618,-0.61,-113.4,215.5,-11.0,201,1621,0.00,1.30,0.00,0.000,4,0.000,0.026,1720,2289,1964,0,0,0,0,0,0
$GC,1642,-0.69,-113.4,218.5,-11.6,203,1645,0.00,1.50,0.00,0.000,6,0.000,0.048,1715,3216,1964,0,0,0,0,0,0
$GC,1973,-0.74,-113.4,257.2,-12.0,234,1977,0.15,1.17,0.00,0.000,4,0.087,0.055,1639,3956,1964,0,0,0,0,0,0
$GC,2065,-0.63,-113.4,273.3,-19.1,242,2069,0.17,1.08,0.00,0.000,6,0.167,0.029,1691,3212,1964,0,0,0,0,0,0
$GC,2396,-0.63,-113.4,319.2,-13.7,273,2400,0.00,1.17,0.00,0.000,4,0.000,0.054,1687,3954,1964,0,0,0,0,0,0
$GC,2445,-0.63,-113.4,326.3,-14.8,277,2448,0.00,1.08,0.00,0.000,6,0.000,0.028,1687,3200,1964,0,0,0,0,0,0
$GC,2775,-0.63,-113.4,374.3,-14.8,308,2776,0.00,0.00,0.00,0.000,6,0.000,0.000,1687,3201,1964,0,0,0,0,0,0
$GC,3091,-0.63,-113.4,417.0,-13.2,332,3094,0.00,1.20,0.00,0.000,4,0.000,0.055,1681,3955,1964,0,0,0,0,0,0
$GC,3118,-0.63,-113.4,421.0,-14.7,333,3122,0.00,1.05,0.00,0.000,6,0.000,0.028,1681,3218,1964,0,0,0,0,0,0
$GC,3445,-0.63,-113.4,465.5,-14.0,349,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,1681,3218,1964,0,0,0,0,0,0
$GC,3755,-0.63,-113.4,508.7,-13.9,364,3759,0.00,1.15,0.00,0.000,4,0.000,0.055,1676,3945,1964,0,0,0,0,0,0
$GC,3816,-0.61,-113.4,517.9,-14.9,366,3824,0.08,1.05,0.00,0.000,6,0.155,0.029,1699,3219,1964,0,0,0,0,0,0
$GC,4133,-0.64,-113.4,554.6,-11.3,382,4137,0.00,1.15,0.00,0.000,4,0.000,0.055,1695,3945,1964,0,0,0,0,0,0
$GC,4171,-0.64,-113.4,559.7,-12.9,383,4178,0.00,1.08,0.00,0.000,6,0.000,0.029,1695,3198,1964,0,0,0,0,0,0
$GC,4488,-0.68,-113.4,595.8,-11.3,399,4489,0.00,0.00,0.00,0.000,6,0.000,0.000,1695,3199,1964,0,0,0,0,0,0
$GC,4798,-0.71,-113.4,631.6,-11.5,414,4802,0.00,1.20,0.00,0.000,4,0.000,0.055,1689,3952,1964,0,0,0,0,0,0
$GC,4875,-0.71,-113.4,641.8,-13.0,417,4879,0.00,1.08,0.00,0.000,6,0.000,0.030,1690,3206,1964,0,0,0,0,0,0
$GC,5197,-0.74,-113.4,680.4,-12.3,433,5201,0.00,1.17,0.00,0.000,4,0.000,0.055,1684,3947,1964,0,0,0,0,0,0
$GC,5288,-0.74,-113.4,693.0,-14.2,437,5292,0.00,1.08,0.00,0.000,6,0.000,0.030,1684,3202,1964,0,0,0,0,0,0
$GC,5621,-0.75,-113.4,735.7,-12.7,453,5625,0.00,1.20,0.00,0.000,4,0.000,0.054,1679,3955,1964,0,0,0,0,0,0
$GC,5682,-0.75,-113.4,744.1,-13.3,455,5689,0.00,1.08,0.00,0.000,6,0.000,0.031,1679,3212,1964,0,0,0,0,0,0
$GC,5998,-0.75,-113.4,782.4,-11.8,471,5999,0.00,0.00,0.00,0.000,6,0.000,0.000,1678,3212,1964,0,0,0,0,0,0
$GC,6307,-0.75,-113.4,819.1,-12.1,486,6308,0.00,0.00,0.00,0.000,6,0.000,0.000,1678,3212,1964,0,0,0,0,0,0
$GC,6617,-0.75,-113.4,855.3,-11.5,501,6618,0.00,0.00,0.00,0.000,6,0.000,0.000,1679,3212,1964,0,0,0,0,0,0
$GC,6926,-0.75,-113.4,890.8,-11.3,516,6929,0.00,1.30,0.00,0.000,4,0.000,0.027,1679,2300,1964,0,0,0,0,0,0
$GC,6953,-0.79,-113.4,894.1,-11.2,517,6957,0.00,1.50,0.00,0.000,6,0.000,0.050,1671,3217,1964,0,0,0,0,0,0
$GC,7281,-0.79,-113.4,931.9,-11.5,533,7284,0.00,1.15,0.00,0.000,4,0.000,0.056,1666,3951,1964,0,0,0,0,0,0
$GC,7364,-0.77,-113.4,943.2,-14.6,536,7371,0.00,1.08,0.00,0.000,6,0.000,0.031,1666,3207,1964,0,0,0,0,0,0
$GC,7681,-0.77,-113.4,985.0,-13.3,552,7682,0.00,0.00,0.00,0.000,6,0.000,0.000,1666,3207,1964,0,0,0,0,0,0
$STATE,7802,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7802,begin apogee
$GC,7807,-0.09,0.0,1002.0,13.7,558,7974,0.70,0.00,138.18,1.779,6,0.149,0.000,1868,2919,1498,0,0,0,0,5,0
$STATE,7975,end apogee,CONTROL_FINISHED_OK
$STATE,7975,begin climb
$GC,7977,0.60,113.4,1008.9,0.0,566,8116,0.70,1.50,127.15,1.779,4,0.081,0.028,2102,2052,1037,0,0,0,0,1,0
$GC,8168,0.65,113.4,993.2,11.7,575,8172,0.00,1.52,0.00,0.000,6,0.000,0.045,2102,2925,1035,0,0,0,0,0,0
$GC,8501,0.65,113.4,947.1,13.9,591,8505,0.00,1.40,0.00,0.000,4,0.000,0.054,2102,3801,1031,0,0,0,0,0,0
$GC,8556,0.60,113.4,937.9,17.4,593,8560,0.00,1.33,0.00,0.000,6,0.000,0.028,2109,2897,1031,0,0,0,0,0,0
$GC,8878,0.60,113.4,887.7,15.4,609,8882,0.00,1.48,0.00,0.000,4,0.000,0.054,2109,3806,1030,0,0,0,0,0,0
$GC,8947,0.54,113.4,876.0,17.5,612,8951,0.12,1.30,0.00,0.000,6,0.189,0.029,2082,2921,1030,0,0,0,0,0,0
$GC,9280,0.57,113.4,830.8,13.6,628,9284,0.00,1.45,0.00,0.000,4,0.000,0.054,2082,3811,1029,0,0,0,0,0,0
$GC,9304,0.57,113.4,827.2,14.6,629,9308,0.00,1.30,0.00,0.000,6,0.000,0.029,2087,2925,1029,0,0,0,0,0,0
$GC,9637,0.59,113.4,782.1,13.3,645,9640,0.00,1.45,0.00,0.000,4,0.000,0.054,2087,3814,1029,0,0,0,0,0,0
$GC,9687,0.57,113.4,774.4,15.9,647,9690,0.00,1.33,0.00,0.000,6,0.000,0.028,2093,2911,1029,0,0,0,0,0,0
$GC,10014,0.57,113.4,729.9,13.7,663,10015,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2909,1029,0,0,0,0,0,0
$GC,10323,0.57,113.4,688.9,13.2,678,10327,0.00,1.48,0.00,0.000,4,0.000,0.055,2094,3812,1029,0,0,0,0,0,0
$GC,10395,0.53,113.4,678.3,14.6,681,10399,0.00,1.30,0.00,0.000,6,0.000,0.028,2100,2924,1028,0,0,0,0,0,0
$GC,10722,0.53,113.4,635.5,12.8,697,10726,0.00,1.42,0.00,0.000,4,0.000,0.054,2100,3805,1028,0,0,0,0,0,0
$GC,10846,0.49,113.4,617.2,15.5,702,10850,0.12,1.27,0.00,0.000,6,0.178,0.029,2071,2932,1028,0,0,0,0,0,0
$GC,11168,0.54,113.4,583.8,10.0,718,11172,0.00,1.42,0.00,0.000,4,0.000,0.055,2071,3806,1028,0,0,0,0,0,0
$GC,11235,0.54,113.4,575.8,12.4,721,11239,0.00,1.30,0.00,0.000,6,0.000,0.028,2076,2917,1028,0,0,0,0,0,0
$GC,11569,0.59,113.4,542.6,9.7,737,11573,0.00,1.45,0.00,0.000,4,0.000,0.054,2076,3803,1028,0,0,0,0,0,0
$GC,11641,0.59,113.4,533.8,12.6,740,11645,0.00,1.27,0.00,0.000,6,0.000,0.028,2082,2927,1027,0,0,0,0,0,0
$GC,11971,0.63,113.4,498.6,11.0,756,11975,0.00,1.42,0.00,0.000,4,0.000,0.054,2082,3808,1028,0,0,0,0,0,0
$GC,12032,0.63,113.4,490.7,11.9,758,12039,0.00,1.30,0.00,0.000,6,0.000,0.028,2089,2924,1027,0,0,0,0,0,0
$GC,12348,0.65,113.4,454.1,11.8,774,12352,0.00,1.42,0.00,0.000,4,0.000,0.054,2089,3804,1027,0,0,0,0,0,0
$GC,12433,0.64,113.4,442.3,13.7,777,12439,0.00,1.30,0.00,0.000,6,0.000,0.028,2096,2912,1027,0,0,0,0,0,0
$GC,12749,0.65,113.4,402.4,12.4,793,12750,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2912,1027,0,0,0,0,0,0
$GC,13068,0.65,113.4,363.4,12.3,822,13069,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2912,1027,0,0,0,0,0,0
$GC,13386,0.67,113.4,324.3,12.6,852,13390,0.00,1.45,0.00,0.000,4,0.000,0.055,2096,3799,1027,0,0,0,0,0,0
$GC,13456,0.64,113.4,314.2,14.0,858,13459,0.00,1.27,0.00,0.000,6,0.000,0.028,2102,2921,1027,0,0,0,0,0,0
$GC,13788,0.64,113.4,270.7,12.8,889,13789,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2919,1027,0,0,0,0,0,0
$GC,14107,0.64,113.4,229.7,13.0,919,14110,0.00,1.45,0.00,0.000,4,0.000,0.054,2102,3804,1027,0,0,0,0,0,0
$GC,14153,0.60,113.4,222.6,15.1,923,14157,0.00,1.27,0.00,0.000,6,0.000,0.028,2109,2924,1027,0,0,0,0,0,0
$GC,14484,0.60,113.4,180.0,11.4,954,14485,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2921,1027,0,0,0,0,0,0
$GC,14804,0.60,113.4,141.8,12.0,984,14807,0.00,1.45,0.00,0.000,4,0.000,0.054,2109,3812,1027,0,0,0,0,0,0
$GC,14912,0.55,113.4,126.9,14.5,993,14919,0.10,1.30,0.00,0.000,6,0.177,0.028,2088,2919,1027,0,0,0,0,0,0
$GC,15245,0.60,113.4,90.4,11.6,1031,15252,0.00,1.25,0.00,0.000,4,0.000,0.028,2093,2054,1027,0,0,0,0,0,0
$GC,15278,0.67,113.4,87.1,10.7,1036,15285,0.00,1.38,0.00,0.000,6,0.000,0.046,2093,2922,1027,0,0,0,0,0,0
$GC,15630,0.71,113.4,48.8,10.8,1097,15637,0.12,1.40,0.00,0.000,4,0.091,0.054,2145,3797,1027,0,0,0,0,0,0
$GC,15733,0.61,113.4,33.3,15.9,1114,15743,0.15,1.25,0.00,0.000,6,0.188,0.027,2109,2926,1027,0,0,0,0,0,0
$GC,15888,0.61,113.4,14.6,11.8,1139,15897,0.00,1.42,0.00,0.000,4,0.000,0.051,2109,3803,1027,0,0,0,0,0,0
$GC,15918,0.61,113.4,10.9,11.8,1143,15927,0.00,1.27,0.00,0.000,6,0.000,0.026,2114,2914,1027,0,0,0,0,0,0
$GC,15978,0.58,113.4,3.6,12.2,1152,15986,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2915,1027,0,0,0,0,0,0
$STATE,15993,end climb,SURFACE_DEPTH_REACHED
$STATE,15993,begin surface coast
$FINISH,1.6,1.026478
$STATE,16018,end surface coast,CONTROL_FINISHED_OK
$STATE,16018,begin surface
$SM_CCo,16033,40.70,0.137,0,0,681,200.16
$SM_GC,2.98,0.00,0.00,40.70,0.000,0.000,0.137,64,3224,681,-5.75,0.42,200.16
$IRIDIUM_FIX,-4247.91,837.82,310808,070702
$TT8_MAMPS,0.026964
$HUMID,64.21
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.30
$XPDR_PINGS,0
$24V_AH,20.9,83.963
$10V_AH,9.8,55.638
$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,15.075,82.700,265.325,40.700,0.000,32.281,41.782,297.578,0.000,0.000,22.228,2870.278,9998.538,445.625,2972.058,307.605,0.000,1566.685,0.000,2590.747,0.000,0.545,0.000
$DEVICE_MAMPS,236.385,58.140,1779.390,136.935,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,804.036,821.098,867.850,86.126,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353936
$DATA_FILE_SIZE,66853,1158
$CAP_FILE_SIZE,155337,0
$CFSIZE,259252224,220061696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,1
$GPS,051115,035621,-4303.563,837.704,38,1.0,38,-25.1