version: 66.07
glider: 543
mission: 14
dive: 468
start: 11 7 115 8 48 24
data:
$ID,543
$MISSION,14
$DIVE,468
$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,-25608.533
$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,81
$R_STBD_OVSHOOT,29
$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
$GPS1,071115,083428,-4303.520,837.903,49,0.8,49,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-69.6
$GPS2,071115,084801,-4303.627,837.963,33,0.8,34,-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,280.5,2743,-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,15,-0.54,-49.8,0.0,0.0,0,64,0.00,0.00,-45.65,0.000,6,0.000,0.000,61,3196,1704,0,0,0,0,0,0
$GC,67,-0.60,-107.6,2.9,-1.9,6,93,7.05,1.23,-8.15,0.000,4,0.239,0.080,1700,3950,1939,0,0,0,0,0,0
$GC,358,-0.57,-107.6,47.5,-16.8,54,367,0.00,1.05,0.00,0.000,6,0.000,0.031,1700,3217,1941,0,0,0,0,0,0
$GC,712,-0.57,-107.6,98.2,-14.8,115,719,0.00,1.15,0.00,0.000,4,0.000,0.054,1695,3949,1941,0,0,0,0,0,0
$GC,821,-0.54,-107.6,115.6,-15.3,125,828,0.10,1.05,0.00,0.000,6,0.161,0.030,1725,3219,1941,0,0,0,0,0,0
$GC,1147,-0.59,-107.6,152.5,-10.7,156,1150,0.00,1.33,0.00,0.000,4,0.000,0.024,1725,2282,1941,0,0,0,0,0,0
$GC,1174,-0.68,-107.6,155.7,-10.1,158,1182,0.08,1.50,0.00,0.000,6,0.061,0.047,1668,3211,1942,0,0,0,0,0,0
$GC,1503,-0.63,-107.6,205.2,-15.7,189,1507,0.12,1.17,0.00,0.000,4,0.190,0.054,1694,3954,1941,0,0,0,0,0,0
$GC,1559,-0.61,-107.6,213.6,-13.6,194,1563,0.00,1.08,0.00,0.000,6,0.000,0.029,1694,3203,1941,0,0,0,0,0,0
$GC,1895,-0.61,-107.6,254.3,-12.4,225,1898,0.00,1.17,0.00,0.000,4,0.000,0.054,1688,3950,1941,0,0,0,0,0,0
$GC,1990,-0.59,-107.6,267.9,-13.1,233,1997,0.00,1.05,0.00,0.000,6,0.000,0.030,1688,3214,1941,0,0,0,0,0,0
$GC,2316,-0.59,-107.6,306.9,-11.8,264,2319,0.00,1.30,0.00,0.000,4,0.000,0.025,1688,2292,1941,0,0,0,0,0,0
$GC,2396,-0.63,-107.6,315.6,-10.8,271,2399,0.00,1.48,0.00,0.000,6,0.000,0.048,1681,3205,1941,0,0,0,0,0,0
$GC,2727,-0.63,-107.6,357.0,-13.0,302,2731,0.00,1.17,0.00,0.000,4,0.000,0.054,1675,3958,1942,0,0,0,0,0,0
$GC,2830,-0.59,-107.6,371.5,-14.1,311,2834,0.10,1.08,0.00,0.000,6,0.158,0.030,1705,3215,1941,0,0,0,0,0,0
$GC,3159,-0.63,-107.6,407.7,-10.9,339,3160,0.00,0.00,0.00,0.000,6,0.000,0.000,1705,3215,1941,0,0,0,0,0,0
$GC,3467,-0.67,-107.6,442.0,-11.0,354,3471,0.00,1.15,0.00,0.000,4,0.000,0.055,1701,3946,1941,0,0,0,0,0,0
$GC,3528,-0.67,-107.6,449.6,-12.2,356,3535,0.00,1.08,0.00,0.000,6,0.000,0.030,1701,3196,1941,0,0,0,0,0,0
$GC,3845,-0.71,-107.6,484.4,-11.2,372,3849,0.00,1.20,0.00,0.000,4,0.000,0.056,1696,3953,1941,0,0,0,0,0,0
$GC,3923,-0.71,-107.6,494.2,-12.9,375,3927,0.00,1.08,0.00,0.000,6,0.000,0.030,1696,3208,1941,0,0,0,0,0,0
$GC,4246,-0.73,-107.6,531.8,-11.8,391,4249,0.00,1.17,0.00,0.000,4,0.000,0.055,1690,3951,1941,0,0,0,0,0,0
$GC,4323,-0.73,-107.6,541.8,-12.3,394,4327,0.00,1.08,0.00,0.000,6,0.000,0.030,1690,3207,1941,0,0,0,0,0,0
$GC,4646,-0.75,-107.6,580.2,-11.7,410,4647,0.00,0.00,0.00,0.000,6,0.000,0.000,1690,3207,1941,0,0,0,0,0,0
$GC,4956,-0.77,-107.6,618.6,-12.8,425,4959,0.00,1.17,0.00,0.000,4,0.000,0.055,1684,3950,1941,0,0,0,0,0,0
$GC,5016,-0.77,-107.6,627.1,-13.3,427,5023,0.00,1.08,0.00,0.000,6,0.000,0.030,1685,3208,1941,0,0,0,0,0,0
$GC,5332,-0.77,-107.6,666.7,-12.7,443,5333,0.00,0.00,0.00,0.000,6,0.000,0.000,1684,3206,1941,0,0,0,0,0,0
$GC,5642,-0.77,-107.6,704.0,-12.0,458,5646,0.00,1.17,0.00,0.000,4,0.000,0.056,1679,3947,1941,0,0,0,0,0,0
$GC,5666,-0.77,-107.6,707.0,-12.6,459,5670,0.00,1.08,0.00,0.000,6,0.000,0.031,1679,3205,1941,0,0,0,0,0,0
$GC,5999,-0.77,-107.6,747.5,-12.1,475,6000,0.00,0.00,0.00,0.000,6,0.000,0.000,1679,3204,1941,0,0,0,0,0,0
$GC,6308,-0.77,-107.6,784.9,-12.2,490,6312,0.00,1.17,0.00,0.000,4,0.000,0.056,1673,3945,1941,0,0,0,0,0,0
$GC,6437,-0.73,-107.6,802.8,-14.5,495,6443,0.00,1.08,0.00,0.000,6,0.000,0.031,1673,3203,1941,0,0,0,0,0,0
$GC,6753,-0.73,-107.6,842.0,-11.9,511,6757,0.00,1.17,0.00,0.000,4,0.000,0.055,1668,3944,1941,0,0,0,0,0,0
$GC,6843,-0.69,-107.6,854.0,-13.3,515,6847,0.00,1.05,0.00,0.000,6,0.000,0.031,1668,3213,1941,0,0,0,0,0,0
$GC,7176,-0.69,-107.6,892.6,-11.0,531,7180,0.00,1.17,0.00,0.000,4,0.000,0.056,1662,3953,1941,0,0,0,0,0,0
$GC,7254,-0.65,-107.6,902.4,-12.7,534,7259,0.08,1.08,0.00,0.000,6,0.164,0.031,1685,3216,1941,0,0,0,0,0,0
$GC,7577,-0.68,-107.6,934.8,-10.3,550,7580,0.00,1.17,0.00,0.000,4,0.000,0.057,1681,3953,1941,0,0,0,0,0,0
$GC,7609,-0.68,-107.6,938.6,-11.1,551,7613,0.00,1.08,0.00,0.000,6,0.000,0.031,1681,3209,1941,0,0,0,0,0,0
$GC,7931,-0.70,-107.6,973.4,-10.8,567,7935,0.00,1.17,0.00,0.000,4,0.000,0.055,1675,3950,1941,0,0,0,0,0,0
$GC,7987,-0.70,-107.6,980.0,-12.3,569,7991,0.00,1.08,0.00,0.000,6,0.000,0.031,1675,3210,1941,0,0,0,0,0,0
$STATE,8184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8184,begin apogee
$GC,8189,-0.09,0.0,1002.2,11.4,579,8326,0.68,0.00,122.78,1.831,6,0.151,0.000,1870,2922,1500,0,0,0,0,2,0
$STATE,8327,end apogee,CONTROL_FINISHED_OK
$STATE,8327,begin climb
$GC,8329,0.60,107.6,1006.1,0.0,586,8458,0.70,1.55,120.47,1.809,4,0.080,0.028,2103,2040,1061,0,0,0,0,0,0
$GC,8531,0.63,107.6,986.5,14.0,595,8535,0.00,1.52,0.00,0.000,6,0.000,0.046,2103,2923,1064,0,0,0,0,0,0
$GC,8858,0.63,107.6,938.9,14.8,611,8862,0.00,1.45,0.00,0.000,4,0.000,0.056,2103,3813,1062,0,0,0,0,0,0
$GC,8975,0.56,107.6,918.4,18.7,616,8979,0.00,1.33,0.00,0.000,6,0.000,0.029,2110,2904,1060,0,0,0,0,0,0
$GC,9303,0.54,107.6,867.8,15.5,632,9308,0.12,1.48,0.00,0.000,4,0.211,0.054,2082,3806,1060,0,0,0,0,0,0
$GC,9465,0.52,107.6,843.2,14.3,639,9469,0.00,1.30,0.00,0.000,6,0.000,0.029,2087,2921,1059,0,0,0,0,0,0
$GC,9793,0.54,107.6,800.7,12.2,655,9797,0.00,1.42,0.00,0.000,4,0.000,0.054,2087,3806,1059,0,0,0,0,0,0
$GC,9853,0.51,107.6,791.7,14.9,657,9860,0.00,1.30,0.00,0.000,6,0.000,0.029,2093,2924,1058,0,0,0,0,0,0
$GC,10170,0.51,107.6,749.2,13.4,673,10174,0.00,1.45,0.00,0.000,4,0.000,0.056,2093,3809,1058,0,0,0,0,0,0
$GC,10225,0.47,107.6,740.8,15.6,675,10229,0.12,1.30,0.00,0.000,6,0.184,0.029,2065,2922,1058,0,0,0,0,0,0
$GC,10548,0.53,107.6,705.8,10.7,691,10552,0.00,1.42,0.00,0.000,4,0.000,0.054,2065,3805,1058,0,0,0,0,0,0
$GC,10617,0.53,107.6,697.1,13.7,694,10621,0.00,1.30,0.00,0.000,6,0.000,0.030,2070,2924,1058,0,0,0,0,0,0
$GC,10950,0.58,107.6,660.6,11.3,710,10953,0.00,1.30,0.00,0.000,4,0.000,0.031,2077,2056,1058,0,0,0,0,0,0
$GC,10983,0.66,107.6,657.1,9.8,711,10988,0.08,1.40,0.00,0.000,6,0.073,0.047,2122,2929,1058,0,0,0,0,0,0
$GC,11306,0.62,107.6,610.9,14.3,727,11310,0.00,1.40,0.00,0.000,4,0.000,0.055,2122,3810,1057,0,0,0,0,0,0
$GC,11375,0.53,107.6,599.6,17.1,730,11379,0.17,1.30,0.00,0.000,6,0.188,0.029,2081,2923,1058,0,0,0,0,0,0
$GC,11709,0.57,107.6,562.3,10.7,746,11713,0.00,1.42,0.00,0.000,4,0.000,0.054,2080,3805,1057,0,0,0,0,0,0
$GC,11815,0.55,107.6,548.8,13.1,750,11822,0.00,1.30,0.00,0.000,6,0.000,0.030,2086,2923,1057,0,0,0,0,0,0
$GC,12132,0.58,107.6,514.6,10.8,766,12136,0.00,1.42,0.00,0.000,4,0.000,0.054,2086,3803,1057,0,0,0,0,0,0
$GC,12261,0.56,107.6,498.0,13.4,771,12268,0.00,1.30,0.00,0.000,6,0.000,0.029,2093,2921,1057,0,0,0,0,0,0
$GC,12578,0.59,107.6,463.8,10.3,787,12579,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,2921,1057,0,0,0,0,0,0
$GC,12887,0.61,107.6,431.6,10.3,802,12891,0.00,1.42,0.00,0.000,4,0.000,0.054,2092,3801,1057,0,0,0,0,0,0
$GC,12971,0.57,107.6,421.5,11.8,805,12978,0.00,1.30,0.00,0.000,6,0.000,0.030,2099,2921,1057,0,0,0,0,0,0
$GC,13289,0.57,107.6,386.9,10.8,826,13293,0.00,1.42,0.00,0.000,4,0.000,0.055,2099,3800,1057,0,0,0,0,0,0
$GC,13397,0.52,107.6,373.5,12.3,835,13404,0.10,1.30,0.00,0.000,6,0.183,0.029,2078,2915,1057,0,0,0,0,0,0
$GC,13722,0.58,107.6,344.2,8.9,866,13726,0.00,1.45,0.00,0.000,4,0.000,0.055,2078,3806,1057,0,0,0,0,0,0
$GC,13761,0.58,107.6,340.0,10.3,869,13768,0.00,1.30,0.00,0.000,6,0.000,0.029,2083,2925,1057,0,0,0,0,0,0
$GC,14087,0.62,107.6,307.5,10.6,900,14088,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2925,1057,0,0,0,0,0,0
$GC,14407,0.66,107.6,272.7,10.9,930,14409,0.10,0.00,0.00,0.000,6,0.108,0.000,2133,2925,1057,0,0,0,0,0,0
$GC,14724,0.61,107.6,225.8,15.0,960,14728,0.12,1.45,0.00,0.000,4,0.190,0.054,2102,3808,1057,0,0,0,0,0,0
$GC,14862,0.57,107.6,206.7,13.6,972,14866,0.00,1.30,0.00,0.000,6,0.000,0.028,2107,2916,1057,0,0,0,0,0,0
$GC,15193,0.57,107.6,168.3,11.2,1003,15197,0.00,1.25,0.00,0.000,4,0.000,0.029,2114,2050,1057,0,0,0,0,0,0
$GC,15219,0.60,107.6,165.8,10.1,1005,15223,0.00,1.40,0.00,0.000,6,0.000,0.047,2114,2925,1057,0,0,0,0,0,0
$GC,15550,0.60,107.6,128.5,12.1,1036,15553,0.00,1.40,0.00,0.000,4,0.000,0.054,2114,3805,1057,0,0,0,0,0,0
$GC,15620,0.54,107.6,119.2,13.8,1042,15624,0.15,1.30,0.00,0.000,6,0.179,0.028,2078,2914,1058,0,0,0,0,0,0
$GC,15957,0.61,107.6,87.7,9.1,1084,15964,0.00,1.45,0.00,0.000,4,0.000,0.054,2078,3811,1057,0,0,0,0,0,0
$GC,16081,0.63,107.6,73.8,11.3,1105,16087,0.00,1.30,0.00,0.000,6,0.000,0.028,2084,2922,1057,0,0,0,0,0,0
$GC,16430,0.69,107.6,41.4,8.8,1166,16438,0.12,1.45,0.00,0.000,4,0.090,0.056,2139,3801,1057,0,0,0,0,0,0
$STATE,16705,end climb,SURFACE_DEPTH_REACHED
$STATE,16705,begin surface coast
$FINISH,1.3,1.010535
$STATE,16724,end surface coast,CONTROL_FINISHED_OK
$STATE,16724,begin surface
$SM_CCo,16740,60.78,0.208,1,0,683,200.16
$SM_GC,2.54,0.00,0.00,60.78,0.000,0.000,0.208,69,3211,683,-5.73,0.06,200.16
$IRIDIUM_FIX,-4247.91,834.91,020908,222258
$TT8_MAMPS,0.027713
$HUMID,63.93
$INTERNAL_PRESSURE,11.3688
$TCM_TEMP,12.80
$XPDR_PINGS,0
$24V_AH,20.8,85.799
$10V_AH,9.8,56.994
$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,15.525,88.700,243.250,60.775,0.000,52.017,69.980,433.272,0.000,0.000,37.172,3035.817,10407.942,436.947,3407.381,325.755,0.000,1631.372,0.000,2799.873,0.000,0.545,0.000
$DEVICE_MAMPS,238.680,80.325,1830.645,208.080,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,842.956,847.828,884.422,84.529,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353920
$DATA_FILE_SIZE,70263,1215
$CAP_FILE_SIZE,168405,0
$CFSIZE,259252224,219086848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,071115,133022,-4303.714,838.220,74,0.9,74,-25.1