version: 66.07
glider: 543
mission: 14
dive: 460
start: 11 5 115 18 19 20
data:
$ID,543
$MISSION,14
$DIVE,460
$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,-25581.645
$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,83
$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
$GPS1,051115,181027,-4303.834,837.442,43,1.0,43,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-74.7
$GPS2,051115,181858,-4303.852,837.577,16,1.9,16,-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,287.8,2152,-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,17,-0.54,-49.8,0.0,0.0,0,51,0.00,0.00,-32.22,0.000,2,0.000,0.000,65,3219,1437,0,0,0,0,0,0
$GC,54,-0.60,-105.4,3.0,-2.2,4,88,7.03,1.23,-20.42,0.000,4,0.235,0.080,1702,3956,1931,0,0,0,0,0,0
$GC,315,-0.60,-105.4,36.0,-14.1,46,323,0.00,1.05,0.00,0.000,6,0.000,0.030,1702,3225,1932,0,0,0,0,0,0
$GC,461,-0.60,-105.4,57.1,-14.0,71,468,0.00,1.33,0.00,0.000,4,0.000,0.025,1702,2281,1932,0,0,0,0,0,0
$GC,494,-0.62,-105.4,61.1,-13.2,76,501,0.00,1.50,0.00,0.000,6,0.000,0.048,1695,3211,1932,0,0,0,0,0,0
$GC,837,-0.62,-105.4,109.2,-14.0,131,841,0.00,1.15,0.00,0.000,4,0.000,0.054,1689,3950,1932,0,0,0,0,0,0
$GC,929,-0.58,-105.4,123.0,-14.9,139,933,0.00,1.05,0.00,0.000,6,0.000,0.029,1689,3215,1932,0,0,0,0,0,0
$GC,1261,-0.56,-105.4,170.4,-13.9,170,1265,0.12,1.17,0.00,0.000,4,0.188,0.054,1716,3948,1932,0,0,0,0,0,0
$GC,1380,-0.59,-105.4,185.4,-12.9,180,1389,0.00,1.08,0.00,0.000,6,0.000,0.030,1716,3201,1932,0,0,0,0,0,0
$GC,1706,-0.64,-105.4,222.7,-10.8,211,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,3201,1932,0,0,0,0,0,0
$GC,2029,-0.69,-105.4,256.3,-11.2,241,2036,0.10,0.00,0.00,0.000,6,0.112,0.000,1665,3201,1932,0,0,0,0,0,0
$GC,2355,-0.65,-105.4,303.9,-14.2,272,2360,0.12,1.20,0.00,0.000,4,0.186,0.053,1690,3949,1932,0,0,0,0,0,0
$GC,2394,-0.63,-105.4,309.8,-13.5,275,2401,0.00,1.05,0.00,0.000,6,0.000,0.030,1691,3216,1932,0,0,0,0,0,0
$GC,2719,-0.63,-105.4,351.8,-13.5,306,2723,0.00,1.17,0.00,0.000,4,0.000,0.054,1685,3959,1932,0,0,0,0,0,0
$GC,2804,-0.61,-105.4,364.0,-14.6,313,2811,0.00,1.08,0.00,0.000,6,0.000,0.029,1685,3210,1932,0,0,0,0,0,0
$GC,3128,-0.61,-105.4,406.3,-12.7,342,3129,0.00,0.00,0.00,0.000,6,0.000,0.000,1685,3210,1933,0,0,0,0,0,0
$GC,3438,-0.61,-105.4,445.3,-12.4,357,3439,0.00,0.00,0.00,0.000,6,0.000,0.000,1685,3210,1933,0,0,0,0,0,0
$GC,3747,-0.61,-105.4,483.4,-12.5,372,3750,0.00,1.17,0.00,0.000,4,0.000,0.055,1680,3952,1933,0,0,0,0,0,0
$GC,3779,-0.58,-105.4,488.1,-13.5,373,3784,0.10,1.08,0.00,0.000,6,0.158,0.029,1710,3213,1933,0,0,0,0,0,0
$GC,4102,-0.64,-105.4,520.8,-9.8,389,4103,0.00,0.00,0.00,0.000,6,0.000,0.000,1710,3213,1933,0,0,0,0,0,0
$GC,4410,-0.69,-105.4,550.3,-9.5,404,4414,0.00,1.17,0.00,0.000,4,0.000,0.055,1706,3953,1933,0,0,0,0,0,0
$GC,4479,-0.73,-105.4,557.5,-11.0,407,4484,0.08,1.08,0.00,0.000,6,0.067,0.030,1660,3211,1933,0,0,0,0,0,0
$GC,4813,-0.69,-105.4,601.9,-13.7,423,4817,0.00,1.17,0.00,0.000,4,0.000,0.054,1655,3953,1933,0,0,0,0,0,0
$GC,4885,-0.61,-105.4,613.1,-15.0,426,4890,0.15,1.08,0.00,0.000,6,0.162,0.028,1699,3213,1933,0,0,0,0,0,0
$GC,5214,-0.65,-105.4,647.7,-10.1,442,5215,0.00,0.00,0.00,0.000,6,0.000,0.000,1699,3213,1933,0,0,0,0,0,0
$GC,5522,-0.69,-105.4,677.6,-10.1,457,5525,0.00,1.17,0.00,0.000,4,0.000,0.055,1695,3953,1933,0,0,0,0,0,0
$GC,5572,-0.71,-105.4,683.3,-10.9,459,5576,0.00,1.10,0.00,0.000,6,0.000,0.031,1695,3195,1933,0,0,0,0,0,0
$GC,5900,-0.75,-105.4,718.6,-10.9,475,5901,0.00,0.00,0.00,0.000,6,0.000,0.000,1695,3195,1933,0,0,0,0,0,0
$GC,6210,-0.78,-105.4,753.6,-11.4,490,6214,0.12,1.23,0.00,0.000,4,0.098,0.056,1632,3952,1933,0,0,0,0,0,0
$GC,6278,-0.67,-105.4,764.2,-16.7,493,6282,0.15,1.08,0.00,0.000,6,0.172,0.030,1677,3216,1933,0,0,0,0,0,0
$GC,6610,-0.67,-105.4,806.6,-12.2,509,6614,0.00,1.33,0.00,0.000,4,0.000,0.026,1677,2289,1933,0,0,0,0,0,0
$GC,6656,-0.72,-105.4,811.9,-10.4,511,6660,0.00,1.50,0.00,0.000,6,0.000,0.049,1671,3213,1933,0,0,0,0,0,0
$GC,6989,-0.72,-105.4,853.2,-12.5,527,6990,0.00,0.00,0.00,0.000,6,0.000,0.000,1672,3214,1933,0,0,0,0,0,0
$GC,7299,-0.72,-105.4,891.2,-12.0,542,7302,0.00,1.15,0.00,0.000,4,0.000,0.055,1666,3950,1933,0,0,0,0,0,0
$GC,7427,-0.69,-105.4,907.7,-12.9,547,7434,0.00,1.08,0.00,0.000,6,0.000,0.031,1666,3202,1933,0,0,0,0,0,0
$GC,7744,-0.69,-105.4,944.6,-11.7,563,7747,0.00,1.20,0.00,0.000,4,0.000,0.055,1660,3956,1933,0,0,0,0,0,0
$GC,7903,-0.64,-105.4,965.1,-13.0,570,7907,0.10,1.08,0.00,0.000,6,0.162,0.031,1690,3220,1933,0,0,0,0,0,0
$GC,8237,-0.68,-105.4,996.5,-9.2,586,8241,0.00,1.17,0.00,0.000,4,0.000,0.056,1686,3956,1933,0,0,0,0,0,0
$STATE,8274,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8274,begin apogee
$GC,8280,-0.09,0.0,1000.4,9.5,587,8430,0.60,0.00,126.32,1.791,6,0.146,0.000,1866,2893,1499,0,0,0,0,4,0
$STATE,8431,end apogee,CONTROL_FINISHED_OK
$STATE,8431,begin climb
$GC,8434,0.60,105.4,1002.8,0.0,595,8581,0.70,1.38,122.75,1.758,4,0.083,0.025,2100,2055,1070,0,0,0,0,3,0
$GC,8667,0.63,105.4,978.4,13.6,605,8674,0.00,1.50,0.00,0.000,6,0.000,0.045,2100,2926,1066,0,0,0,0,0,0
$GC,8983,0.63,105.4,933.1,14.1,621,8986,0.00,1.40,0.00,0.000,4,0.000,0.054,2100,3805,1064,0,0,0,0,0,0
$GC,9066,0.57,105.4,919.5,17.0,624,9073,0.00,1.30,0.00,0.000,6,0.000,0.028,2107,2919,1063,0,0,0,0,0,0
$GC,9383,0.55,105.4,874.2,13.8,640,9386,0.00,1.45,0.00,0.000,4,0.000,0.054,2106,3811,1062,0,0,0,0,0,0
$GC,9475,0.49,105.4,860.0,15.2,644,9479,0.17,1.30,0.00,0.000,6,0.187,0.028,2065,2921,1062,0,0,0,0,0,0
$GC,9809,0.55,105.4,824.0,10.4,660,9812,0.00,1.45,0.00,0.000,4,0.000,0.054,2065,3810,1061,0,0,0,0,0,0
$GC,9858,0.55,105.4,818.0,12.2,662,9863,0.00,1.30,0.00,0.000,6,0.000,0.029,2069,2930,1061,0,0,0,0,0,0
$GC,10186,0.59,105.4,783.8,10.4,678,10187,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2930,1060,0,0,0,0,0,0
$GC,10496,0.64,105.4,750.6,10.9,693,10498,0.12,0.00,0.00,0.000,6,0.102,0.000,2123,2929,1060,0,0,0,0,0,0
$GC,10805,0.60,105.4,707.0,14.2,708,10806,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,2930,1060,0,0,0,0,0,0
$GC,11115,0.56,105.4,662.7,14.4,723,11119,0.12,1.30,0.00,0.000,4,0.195,0.031,2098,2054,1060,0,0,0,0,0,0
$GC,11175,0.61,105.4,655.0,11.6,725,11182,0.00,1.40,0.00,0.000,6,0.000,0.047,2098,2931,1060,0,0,0,0,0,0
$GC,11492,0.61,105.4,614.0,13.0,741,11495,0.00,1.40,0.00,0.000,4,0.000,0.054,2098,3806,1059,0,0,0,0,0,0
$GC,11609,0.56,105.4,596.2,15.5,746,11613,0.00,1.30,0.00,0.000,6,0.000,0.028,2105,2910,1059,0,0,0,0,0,0
$GC,11936,0.56,105.4,553.9,12.5,762,11940,0.00,1.45,0.00,0.000,4,0.000,0.053,2105,3801,1059,0,0,0,0,0,0
$GC,12009,0.50,105.4,543.4,13.9,765,12013,0.15,1.27,0.00,0.000,6,0.179,0.028,2070,2926,1059,0,0,0,0,0,0
$GC,12337,0.56,105.4,510.1,9.6,781,12340,0.00,1.42,0.00,0.000,4,0.000,0.054,2070,3802,1058,0,0,0,0,0,0
$GC,12387,0.58,105.4,504.4,11.0,783,12391,0.00,1.27,0.00,0.000,6,0.000,0.028,2075,2927,1058,0,0,0,0,0,0
$GC,12714,0.63,105.4,471.1,9.8,799,12718,0.00,1.42,0.00,0.000,4,0.000,0.054,2075,3802,1058,0,0,0,0,0,0
$GC,12798,0.63,105.4,461.0,11.8,802,12805,0.00,1.27,0.00,0.000,6,0.000,0.028,2082,2923,1058,0,0,0,0,0,0
$GC,13114,0.67,105.4,427.7,10.5,818,13116,0.10,0.00,0.00,0.000,6,0.108,0.000,2132,2923,1059,0,0,0,0,0,0
$GC,13427,0.62,105.4,384.0,14.0,838,13430,0.00,1.42,0.00,0.000,4,0.000,0.055,2132,3802,1058,0,0,0,0,0,0
$GC,13541,0.52,105.4,365.5,15.8,848,13546,0.22,1.27,0.00,0.000,6,0.182,0.028,2076,2925,1058,0,0,0,0,0,0
$GC,13873,0.58,105.4,330.1,9.8,879,13877,0.00,1.42,0.00,0.000,4,0.000,0.054,2076,3799,1058,0,0,0,0,0,0
$GC,13953,0.58,105.4,320.7,11.7,886,13957,0.00,1.27,0.00,0.000,6,0.000,0.028,2081,2922,1059,0,0,0,0,0,0
$GC,14288,0.62,105.4,285.8,10.3,917,14291,0.00,1.45,0.00,0.000,4,0.000,0.054,2081,3807,1059,0,0,0,0,0,0
$GC,14348,0.62,105.4,278.2,11.9,922,14356,0.00,1.30,0.00,0.000,6,0.000,0.028,2088,2914,1058,0,0,0,0,0,0
$GC,14678,0.65,105.4,242.5,11.3,953,14682,0.00,1.45,0.00,0.000,4,0.000,0.055,2088,3800,1059,0,0,0,0,0,0
$GC,14713,0.65,105.4,237.8,11.8,956,14717,0.00,1.27,0.00,0.000,6,0.000,0.028,2094,2924,1059,0,0,0,0,0,0
$GC,15046,0.67,105.4,199.7,11.0,987,15047,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,2923,1058,0,0,0,0,0,0
$GC,15367,0.70,105.4,164.1,10.6,1017,15371,0.10,1.42,0.00,0.000,4,0.107,0.055,2137,3796,1058,0,0,0,0,0,0
$GC,15598,0.61,105.4,127.6,16.3,1037,15606,0.12,1.27,0.00,0.000,6,0.190,0.027,2108,2917,1058,0,0,0,0,0,0
$GC,15929,0.61,105.4,89.5,10.6,1076,15936,0.00,1.25,0.00,0.000,4,0.000,0.028,2113,2050,1058,0,0,0,0,0,0
$GC,15972,0.65,105.4,85.0,10.6,1083,15980,0.00,1.38,0.00,0.000,6,0.000,0.047,2113,2917,1058,0,0,0,0,0,0
$GC,16326,0.65,105.4,44.8,10.9,1144,16333,0.00,1.42,0.00,0.000,4,0.000,0.054,2113,3807,1058,0,0,0,0,0,0
$GC,16435,0.60,105.4,31.6,13.0,1162,16444,0.00,1.27,0.00,0.000,6,0.000,0.028,2120,2924,1059,0,0,0,0,0,0
$GC,16589,0.60,105.4,14.0,11.1,1187,16598,0.00,1.25,0.00,0.000,4,0.000,0.028,2127,2050,1059,0,0,0,0,0,0
$GC,16607,0.60,105.4,11.6,12.2,1189,16616,0.10,1.38,0.00,0.000,6,0.167,0.047,2098,2917,1059,0,0,0,0,0,0
$GC,16668,0.62,105.4,5.1,11.1,1198,16676,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,2917,1059,0,0,0,0,0,0
$STATE,16688,end climb,SURFACE_DEPTH_REACHED
$STATE,16689,begin surface coast
$FINISH,1.5,1.026260
$STATE,16720,end surface coast,CONTROL_FINISHED_OK
$STATE,16720,begin surface
$SM_CCo,16735,44.45,0.138,0,0,681,200.16
$SM_GC,3.05,0.00,0.00,44.45,0.000,0.000,0.138,75,3218,681,-5.72,0.25,200.16
$IRIDIUM_FIX,-4247.91,834.91,010908,020203
$TT8_MAMPS,0.027713
$HUMID,64.49
$INTERNAL_PRESSURE,11.3786
$TCM_TEMP,13.00
$XPDR_PINGS,0
$24V_AH,20.9,84.566
$10V_AH,9.8,56.088
$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,16.175,82.025,249.075,44.450,0.000,28.106,29.359,301.257,0.000,0.000,19.065,3001.060,10400.854,446.068,3111.027,324.231,0.000,1625.057,0.000,2742.684,0.000,0.544,0.000
$DEVICE_MAMPS,234.855,80.325,1790.865,137.700,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,836.401,857.199,894.571,88.360,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353940
$DATA_FILE_SIZE,70387,1206
$CAP_FILE_SIZE,163242,0
$CFSIZE,259252224,219729920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,7,1
$GPS,051115,230003,-4303.605,837.344,26,0.9,26,-25.1