version: 66.07
glider: 543
mission: 14
dive: 540
start: 11 25 115 20 48 16
data:
$ID,543
$MISSION,14
$DIVE,540
$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,-25906.24
$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,88
$R_STBD_OVSHOOT,32
$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
$GPS1,251115,203903,-4303.373,837.024,56,0.9,56,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-73.9
$GPS2,251115,204753,-4303.341,837.152,21,0.8,21,-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,257.0,1979,-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,18,-0.54,-49.8,0.0,0.0,0,60,0.00,0.00,-40.45,0.000,2,0.000,0.000,62,3218,1640,0,0,0,0,0,0
$GC,63,-0.60,-112.9,3.1,-1.3,5,89,6.93,1.30,-11.07,0.000,4,0.234,0.047,1704,2316,1960,0,0,0,0,0,0
$GC,245,-0.66,-112.9,24.2,-11.5,34,254,0.00,1.45,0.00,0.000,6,0.000,0.049,1699,3208,1960,0,0,0,0,0,0
$GC,396,-0.66,-112.9,44.2,-13.3,59,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1699,3209,1960,0,0,0,0,0,0
$GC,744,-0.66,-112.9,90.9,-13.6,120,752,0.00,0.00,0.00,0.000,6,0.000,0.000,1699,3209,1960,0,0,0,0,0,0
$GC,1085,-0.66,-112.9,137.3,-13.8,157,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,1699,3209,1960,0,0,0,0,0,0
$GC,1412,-0.66,-112.9,181.9,-13.6,188,1416,0.00,1.20,0.00,0.000,4,0.000,0.055,1693,3955,1960,0,0,0,0,0,0
$GC,1451,-0.66,-112.9,188.1,-14.8,191,1458,0.00,1.02,0.00,0.000,6,0.000,0.028,1693,3231,1960,0,0,0,0,0,0
$GC,1776,-0.66,-112.9,231.8,-13.6,222,1780,0.00,1.15,0.00,0.000,4,0.000,0.054,1688,3958,1960,0,0,0,0,0,0
$GC,1826,-0.66,-112.9,239.3,-14.7,226,1833,0.00,1.08,0.00,0.000,6,0.000,0.028,1688,3209,1960,0,0,0,0,0,0
$GC,2154,-0.66,-112.9,284.9,-14.6,257,2157,0.00,1.20,0.00,0.000,4,0.000,0.053,1682,3955,1960,0,0,0,0,0,0
$GC,2215,-0.65,-112.9,295.1,-15.4,262,2222,0.00,1.08,0.00,0.000,6,0.000,0.028,1682,3202,1960,0,0,0,0,0,0
$GC,2542,-0.65,-112.9,340.6,-14.1,293,2546,0.00,1.17,0.00,0.000,4,0.000,0.052,1676,3952,1960,0,0,0,0,0,0
$GC,2593,-0.62,-112.9,348.6,-14.6,297,2599,0.00,1.05,0.00,0.000,6,0.000,0.028,1676,3210,1960,0,0,0,0,0,0
$GC,2919,-0.62,-112.9,392.4,-13.6,328,2922,0.00,1.30,0.00,0.000,4,0.000,0.025,1676,2277,1961,0,0,0,0,0,0
$GC,2965,-0.66,-112.9,398.3,-12.3,332,2969,0.00,1.50,0.00,0.000,6,0.000,0.046,1668,3206,1960,0,0,0,0,0,0
$GC,3298,-0.64,-112.9,443.8,-13.6,349,3300,0.12,0.00,0.00,0.000,6,0.184,0.000,1699,3206,1960,0,0,0,0,0,0
$GC,3608,-0.68,-112.9,480.0,-11.7,364,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,1699,3206,1960,0,0,0,0,0,0
$GC,3916,-0.72,-112.9,515.4,-11.6,379,3917,0.00,0.00,0.00,0.000,6,0.000,0.000,1700,3206,1960,0,0,0,0,0,0
$GC,4226,-0.76,-112.9,550.9,-11.1,394,4231,0.12,1.30,0.00,0.000,4,0.097,0.026,1643,2295,1960,0,0,0,0,0,0
$GC,4276,-0.76,-112.9,557.9,-13.0,396,4280,0.00,1.48,0.00,0.000,6,0.000,0.047,1636,3207,1960,0,0,0,0,0,0
$GC,4604,-0.68,-112.9,608.6,-15.6,412,4608,0.17,1.20,0.00,0.000,4,0.177,0.052,1677,3959,1960,0,0,0,0,0,0
$GC,4628,-0.63,-112.9,612.0,-15.3,413,4632,0.00,1.08,0.00,0.000,6,0.000,0.029,1677,3204,1960,0,0,0,0,0,0
$GC,4960,-0.63,-112.9,653.4,-12.2,429,4961,0.00,0.00,0.00,0.000,6,0.000,0.000,1677,3204,1960,0,0,0,0,0,0
$GC,5269,-0.63,-112.9,692.1,-12.8,444,5273,0.00,1.20,0.00,0.000,4,0.000,0.054,1672,3958,1960,0,0,0,0,0,0
$GC,5343,-0.61,-112.9,702.0,-13.2,447,5347,0.10,1.08,0.00,0.000,6,0.154,0.029,1702,3216,1960,0,0,0,0,0,0
$GC,5671,-0.67,-112.9,737.9,-10.8,463,5675,0.00,1.33,0.00,0.000,4,0.000,0.025,1702,2287,1960,0,0,0,0,0,0
$GC,5718,-0.77,-112.9,742.7,-10.4,465,5722,0.08,1.50,0.00,0.000,6,0.054,0.047,1646,3208,1960,0,0,0,0,0,0
$GC,6052,-0.72,-112.9,790.7,-14.9,481,6055,0.00,1.17,0.00,0.000,4,0.000,0.054,1640,3957,1960,0,0,0,0,0,0
$GC,6125,-0.63,-112.9,803.1,-17.5,484,6130,0.17,1.08,0.00,0.000,6,0.158,0.030,1692,3215,1960,0,0,0,0,0,0
$GC,6453,-0.68,-112.9,839.0,-10.5,500,6454,0.00,0.00,0.00,0.000,6,0.000,0.000,1692,3215,1960,0,0,0,0,0,0
$GC,6761,-0.73,-112.9,869.6,-9.4,515,6762,0.00,0.00,0.00,0.000,6,0.000,0.000,1693,3214,1960,0,0,0,0,0,0
$GC,7071,-0.78,-112.9,898.5,-9.4,530,7073,0.12,0.00,0.00,0.000,6,0.096,0.000,1637,3214,1960,0,0,0,0,0,0
$GC,7380,-0.73,-112.9,940.3,-13.7,545,7384,0.12,1.35,0.00,0.000,4,0.184,0.027,1668,2288,1960,0,0,0,0,0,0
$GC,7441,-0.78,-112.9,947.5,-11.2,547,7448,0.00,1.52,0.00,0.000,6,0.000,0.047,1662,3218,1960,0,0,0,0,0,0
$GC,7757,-0.78,-112.9,985.3,-12.2,563,7761,0.00,1.33,0.00,0.000,4,0.000,0.025,1662,2294,1960,0,0,0,0,0,0
$GC,7841,-0.82,-112.9,994.6,-10.3,566,7847,0.00,1.50,0.00,0.000,6,0.000,0.047,1655,3210,1960,0,0,0,0,0,0
$STATE,7907,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7907,begin apogee
$GC,7914,-0.09,0.0,1002.2,11.6,570,8050,0.75,0.00,126.10,1.863,6,0.150,0.000,1871,2907,1501,0,0,0,0,1,0
$STATE,8051,end apogee,CONTROL_FINISHED_OK
$STATE,8051,begin climb
$GC,8053,0.60,112.9,1006.0,0.0,577,8203,0.68,1.50,131.62,1.782,4,0.078,0.027,2099,2049,1042,0,0,0,0,2,0
$GC,8299,0.64,112.9,981.8,12.2,588,8303,0.00,1.50,0.00,0.000,6,0.000,0.044,2099,2922,1042,0,0,0,0,0,0
$GC,8621,0.64,112.9,936.4,14.5,604,8622,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2922,1039,0,0,0,0,0,0
$GC,8930,0.64,112.9,892.3,13.7,619,8933,0.00,1.42,0.00,0.000,4,0.000,0.054,2099,3816,1038,0,0,0,0,0,0
$GC,8968,0.58,112.9,886.4,14.8,620,8974,0.00,1.33,0.00,0.000,6,0.000,0.028,2106,2901,1038,0,0,0,0,0,0
$GC,9285,0.57,112.9,842.3,13.3,636,9288,0.00,1.48,0.00,0.000,4,0.000,0.054,2106,3815,1038,0,0,0,0,0,0
$GC,9422,0.50,112.9,821.3,14.9,642,9427,0.15,1.30,0.00,0.000,6,0.186,0.028,2072,2922,1037,0,0,0,0,0,0
$GC,9756,0.54,112.9,784.4,10.8,658,9760,0.00,1.42,0.00,0.000,4,0.000,0.053,2072,3810,1037,0,0,0,0,0,0
$GC,9869,0.54,112.9,770.2,12.7,663,9873,0.00,1.27,0.00,0.000,6,0.000,0.028,2077,2933,1036,0,0,0,0,0,0
$GC,10203,0.57,112.9,731.7,11.4,679,10207,0.00,1.42,0.00,0.000,4,0.000,0.054,2077,3815,1036,0,0,0,0,0,0
$GC,10264,0.56,112.9,723.3,14.2,681,10271,0.00,1.30,0.00,0.000,6,0.000,0.028,2084,2922,1035,0,0,0,0,0,0
$GC,10581,0.58,112.9,683.4,12.5,697,10585,0.00,1.45,0.00,0.000,4,0.000,0.054,2083,3819,1036,0,0,0,0,0,0
$GC,10665,0.55,112.9,671.0,15.1,700,10672,0.00,1.30,0.00,0.000,6,0.000,0.028,2090,2924,1035,0,0,0,0,0,0
$GC,10981,0.55,112.9,629.6,13.3,716,10985,0.00,1.42,0.00,0.000,4,0.000,0.054,2090,3807,1036,0,0,0,0,0,0
$GC,11060,0.52,112.9,617.9,15.0,719,11063,0.00,1.30,0.00,0.000,6,0.000,0.028,2097,2917,1036,0,0,0,0,0,0
$GC,11381,0.52,112.9,575.1,13.2,735,11382,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,2914,1036,0,0,0,0,0,0
$GC,11691,0.52,112.9,536.0,12.3,750,11695,0.00,1.45,0.00,0.000,4,0.000,0.054,2097,3810,1036,0,0,0,0,0,0
$GC,11752,0.47,112.9,527.3,14.3,752,11760,0.15,1.30,0.00,0.000,6,0.176,0.028,2061,2921,1035,0,0,0,0,0,0
$GC,12069,0.55,112.9,496.3,9.3,768,12072,0.00,1.45,0.00,0.000,4,0.000,0.054,2061,3813,1035,0,0,0,0,0,0
$GC,12138,0.57,112.9,488.8,11.2,771,12142,0.00,1.30,0.00,0.000,6,0.000,0.029,2066,2929,1035,0,0,0,0,0,0
$GC,12470,0.64,112.9,455.9,9.8,787,12475,0.12,1.45,0.00,0.000,4,0.099,0.054,2129,3811,1035,0,0,0,0,0,0
$GC,12498,0.59,112.9,452.3,13.7,788,12502,0.12,1.30,0.00,0.000,6,0.188,0.028,2101,2922,1035,0,0,0,0,0,0
$GC,12824,0.59,112.9,412.3,12.4,804,12828,0.00,1.45,0.00,0.000,4,0.000,0.054,2100,3813,1035,0,0,0,0,0,0
$GC,12874,0.54,112.9,405.3,14.2,806,12878,0.00,1.30,0.00,0.000,6,0.000,0.028,2106,2929,1035,0,0,0,0,0,0
$GC,13199,0.54,112.9,364.3,12.6,834,13200,0.00,0.00,0.00,0.000,6,0.000,0.000,2106,2929,1035,0,0,0,0,0,0
$GC,13520,0.54,112.9,326.2,11.4,864,13523,0.00,1.42,0.00,0.000,4,0.000,0.054,2106,3808,1035,0,0,0,0,0,0
$GC,13694,0.49,112.9,302.0,13.5,879,13701,0.15,1.30,0.00,0.000,6,0.179,0.028,2071,2911,1035,0,0,0,0,0,0
$GC,14020,0.56,116.2,273.3,8.2,910,14031,0.00,1.52,2.95,0.827,4,0.000,0.054,2070,3817,1030,0,0,0,0,0,0
$GC,14140,0.59,116.2,261.5,9.8,920,14150,0.00,1.30,0.00,0.000,6,0.000,0.028,2075,2929,1030,0,0,0,0,0,0
$GC,14465,0.65,116.8,233.7,8.5,951,14469,0.12,1.45,0.00,0.000,4,0.097,0.056,2136,3808,1030,0,0,0,0,0,0
$GC,14605,0.54,116.8,214.9,15.2,963,14609,0.20,1.30,0.00,0.000,6,0.185,0.028,2087,2918,1031,0,0,0,0,0,0
$GC,14936,0.59,116.8,184.0,8.9,994,14937,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2918,1031,0,0,0,0,0,0
$GC,15257,0.64,116.8,154.0,9.8,1024,15260,0.00,1.45,0.00,0.000,4,0.000,0.054,2087,3809,1031,0,0,0,0,0,0
$GC,15386,0.64,116.8,139.6,11.4,1035,15392,0.00,1.30,0.00,0.000,6,0.000,0.027,2092,2919,1031,0,0,0,0,0,0
$GC,15711,0.68,116.8,108.1,9.7,1066,15715,0.00,1.45,0.00,0.000,4,0.000,0.053,2092,3812,1031,0,0,0,0,0,0
$GC,15832,0.68,116.8,94.5,11.5,1080,15840,0.00,1.30,0.00,0.000,6,0.000,0.028,2099,2922,1031,0,0,0,0,0,0
$GC,16186,0.71,116.8,59.5,10.2,1141,16193,0.10,1.48,0.00,0.000,4,0.106,0.054,2140,3815,1031,0,0,0,0,0,0
$GC,16305,0.62,116.8,42.4,14.2,1161,16315,0.12,1.30,1.30,0.210,6,0.185,0.027,2112,2918,1023,0,0,0,0,0,0
$STATE,16661,end climb,SURFACE_DEPTH_REACHED
$STATE,16661,begin surface coast
$FINISH,1.8,1.015752
$STATE,16692,end surface coast,CONTROL_FINISHED_OK
$STATE,16692,begin surface
$SM_CCo,16708,51.25,0.329,1,0,680,200.16
$SM_GC,2.43,0.00,0.00,51.25,0.000,0.000,0.329,69,3228,680,-5.73,0.54,200.16
$IRIDIUM_FIX,-4244.98,837.82,210908,040407
$TT8_MAMPS,0.027713
$HUMID,63.97
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,20.4,100.573
$10V_AH,9.8,67.033
$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,16.250,80.525,261.975,51.250,0.000,26.764,20.182,318.444,0.000,0.000,23.123,3022.731,10300.098,444.227,3157.820,361.450,0.000,1618.703,0.000,2786.054,0.000,0.544,0.000
$DEVICE_MAMPS,234.090,58.140,1862.775,328.950,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,849.356,870.026,954.175,96.300,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353868
$DATA_FILE_SIZE,70183,1225
$CAP_FILE_SIZE,160949,0
$CFSIZE,259252224,212193280
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,261115,012858,-4303.739,837.188,39,0.8,39,-25.1