version: 66.07
glider: 543
mission: 14
dive: 557
start: 11 29 115 8 38 15
data:
$ID,543
$MISSION,14
$DIVE,557
$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,-25964.125
$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,82
$R_STBD_OVSHOOT,34
$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
$GPS1,291115,082834,-4303.286,836.740,57,1.0,57,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-69.0
$GPS2,291115,083752,-4303.271,836.863,19,1.1,20,-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,246.0,1786,-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,16,-0.54,-49.8,0.0,0.0,0,66,0.00,0.00,-44.70,0.000,6,0.000,0.000,63,3224,1704,0,0,0,0,0,0
$GC,69,-0.60,-112.9,3.0,-1.3,6,94,7.03,1.20,-8.43,0.000,4,0.233,0.080,1698,3949,1962,0,0,0,0,0,0
$GC,287,-0.60,-112.9,31.7,-12.3,41,295,0.00,1.02,0.00,0.000,6,0.000,0.029,1698,3228,1963,0,0,0,0,0,0
$GC,435,-0.60,-112.9,51.2,-13.8,66,443,0.00,1.33,0.00,0.000,4,0.000,0.024,1697,2291,1963,0,0,0,0,0,0
$GC,457,-0.60,-112.9,54.2,-13.6,69,466,0.00,1.48,0.00,0.000,6,0.000,0.047,1691,3200,1963,0,0,0,0,0,0
$GC,815,-0.60,-112.9,103.1,-13.0,129,819,0.00,1.17,0.00,0.000,4,0.000,0.053,1685,3954,1963,0,0,0,0,0,0
$GC,873,-0.57,-112.9,111.5,-14.4,134,878,0.10,1.08,0.00,0.000,6,0.159,0.029,1715,3212,1963,0,0,0,0,0,0
$GC,1207,-0.61,-112.9,152.6,-13.0,165,1213,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,3212,1963,0,0,0,0,0,0
$GC,1535,-0.66,-112.9,195.8,-12.7,196,1538,0.00,1.17,0.00,0.000,4,0.000,0.054,1711,3955,1963,0,0,0,0,0,0
$GC,1585,-0.69,-112.9,203.1,-13.7,200,1594,0.00,1.08,0.00,0.000,6,0.000,0.028,1711,3204,1963,0,0,0,0,0,0
$GC,1911,-0.73,-112.9,241.9,-11.0,231,1915,0.12,1.20,0.00,0.000,4,0.096,0.054,1645,3950,1963,0,0,0,0,0,0
$GC,2030,-0.63,-112.9,260.8,-16.5,241,2037,0.15,1.05,0.00,0.000,6,0.163,0.028,1690,3213,1963,0,0,0,0,0,0
$GC,2355,-0.63,-112.9,298.4,-11.5,272,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,1690,3213,1963,0,0,0,0,0,0
$GC,2677,-0.63,-112.9,334.9,-11.7,302,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,1690,3213,1963,0,0,0,0,0,0
$GC,3008,-0.65,-112.9,374.7,-12.2,333,3012,0.00,1.17,0.00,0.000,4,0.000,0.054,1686,3951,1963,0,0,0,0,0,0
$GC,3087,-0.65,-112.9,385.7,-13.6,340,3091,0.00,1.08,0.00,0.000,6,0.000,0.028,1686,3196,1963,0,0,0,0,0,0
$GC,3413,-0.65,-112.9,427.0,-13.1,361,3414,0.00,0.00,0.00,0.000,6,0.000,0.000,1686,3195,1963,0,0,0,0,0,0
$GC,3721,-0.65,-112.9,465.4,-12.2,376,3725,0.00,1.20,0.00,0.000,4,0.000,0.054,1680,3949,1963,0,0,0,0,0,0
$GC,3813,-0.65,-112.9,476.9,-13.0,380,3816,0.00,1.05,0.00,0.000,6,0.000,0.028,1681,3209,1963,0,0,0,0,0,0
$GC,4146,-0.65,-112.9,516.6,-11.5,396,4149,0.00,1.17,0.00,0.000,4,0.000,0.055,1675,3951,1963,0,0,0,0,0,0
$GC,4184,-0.62,-112.9,521.6,-12.8,397,4191,0.00,1.05,0.00,0.000,6,0.000,0.028,1675,3210,1963,0,0,0,0,0,0
$GC,4501,-0.62,-112.9,559.0,-11.9,413,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,1675,3209,1963,0,0,0,0,0,0
$GC,4809,-0.62,-112.9,595.1,-11.3,428,4813,0.00,1.20,0.00,0.000,4,0.000,0.056,1669,3950,1963,0,0,0,0,0,0
$GC,4871,-0.59,-112.9,602.9,-13.2,430,4878,0.12,1.05,0.00,0.000,6,0.156,0.028,1707,3218,1963,0,0,0,0,0,0
$GC,5188,-0.65,-112.9,632.3,-9.2,446,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,1707,3218,1963,0,0,0,0,0,0
$GC,5496,-0.72,-112.9,661.9,-9.8,461,5500,0.00,1.17,0.00,0.000,4,0.000,0.056,1703,3955,1963,0,0,0,0,0,0
$GC,5574,-0.76,-112.9,670.8,-11.5,464,5578,0.10,1.08,0.00,0.000,6,0.063,0.029,1644,3210,1963,0,0,0,0,0,0
$GC,5896,-0.71,-112.9,719.3,-15.2,480,5900,0.12,1.20,0.00,0.000,4,0.188,0.055,1670,3951,1963,0,0,0,0,0,0
$GC,5942,-0.68,-112.9,726.2,-15.3,482,5945,0.00,1.08,0.00,0.000,6,0.000,0.028,1670,3199,1963,0,0,0,0,0,0
$GC,6275,-0.68,-112.9,771.0,-13.7,498,6279,0.00,1.20,0.00,0.000,4,0.000,0.055,1665,3952,1963,0,0,0,0,0,0
$GC,6353,-0.64,-112.9,782.6,-14.6,501,6358,0.08,1.05,0.00,0.000,6,0.165,0.030,1687,3222,1963,0,0,0,0,0,0
$GC,6676,-0.68,-112.9,820.6,-12.0,517,6680,0.00,1.15,0.00,0.000,4,0.000,0.056,1683,3948,1962,0,0,0,0,0,0
$GC,6736,-0.68,-112.9,828.9,-13.5,519,6743,0.00,1.08,0.00,0.000,6,0.000,0.029,1684,3199,1963,0,0,0,0,0,0
$GC,7054,-0.71,-112.9,866.2,-11.8,535,7055,0.00,0.00,0.00,0.000,6,0.000,0.000,1683,3200,1963,0,0,0,0,0,0
$GC,7362,-0.74,-112.9,900.5,-10.8,550,7366,0.00,1.30,0.00,0.000,4,0.000,0.026,1683,2288,1963,0,0,0,0,0,0
$GC,7418,-0.81,-112.9,906.2,-9.0,552,7422,0.08,1.50,0.00,0.000,6,0.063,0.048,1631,3208,1963,0,0,0,0,0,0
$GC,7740,-0.75,-112.9,950.4,-14.5,568,7744,0.12,1.20,0.00,0.000,4,0.190,0.055,1657,3956,1963,0,0,0,0,0,0
$GC,7863,-0.71,-112.9,967.3,-13.6,573,7867,0.00,1.08,0.00,0.000,6,0.000,0.030,1657,3215,1963,0,0,0,0,0,0
$STATE,8143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8143,begin apogee
$GC,8150,-0.09,0.0,1001.6,12.0,587,8305,0.75,0.00,133.60,1.804,6,0.152,0.000,1871,2914,1500,0,0,0,0,3,0
$STATE,8305,end apogee,CONTROL_FINISHED_OK
$STATE,8306,begin climb
$GC,8308,0.60,112.9,1005.3,0.0,595,8483,0.68,1.48,138.48,1.692,4,0.080,0.026,2100,2053,1038,0,0,0,0,6,0
$GC,8572,0.64,112.9,977.2,15.2,607,8576,0.00,1.50,0.00,0.000,6,0.000,0.047,2100,2919,1036,0,0,0,0,0,0
$GC,8895,0.64,112.9,929.1,15.2,623,8898,0.00,1.42,0.00,0.000,4,0.000,0.054,2100,3804,1033,0,0,0,0,0,0
$GC,8963,0.59,112.9,916.9,17.3,626,8967,0.00,1.33,0.00,0.000,6,0.000,0.028,2107,2898,1032,0,0,0,0,0,0
$GC,9298,0.57,112.9,863.3,15.6,642,9299,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2898,1032,0,0,0,0,0,0
$GC,9605,0.55,112.9,817.3,14.6,657,9606,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,2898,1031,0,0,0,0,0,0
$GC,9914,0.55,112.9,776.0,13.1,672,9917,0.00,1.50,0.00,0.000,4,0.000,0.056,2107,3806,1030,0,0,0,0,0,0
$GC,9976,0.49,112.9,767.0,14.7,674,9983,0.15,1.30,0.00,0.000,6,0.183,0.028,2072,2925,1030,0,0,0,0,0,0
$GC,10292,0.54,112.9,733.7,10.6,690,10293,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,2925,1030,0,0,0,0,0,0
$GC,10602,0.60,112.9,701.4,10.2,705,10606,0.00,1.45,0.00,0.000,4,0.000,0.054,2072,3817,1030,0,0,0,0,0,0
$GC,10640,0.60,112.9,696.7,11.9,706,10647,0.00,1.33,0.00,0.000,6,0.000,0.028,2077,2918,1029,0,0,0,0,0,0
$GC,10957,0.64,112.9,663.1,11.0,722,10961,0.10,1.48,0.00,0.000,4,0.113,0.055,2122,3815,1029,0,0,0,0,0,0
$GC,10985,0.60,112.9,659.3,14.6,723,10989,0.10,1.30,0.00,0.000,6,0.190,0.028,2101,2921,1030,0,0,0,0,0,0
$GC,11311,0.60,112.9,618.7,12.3,739,11315,0.00,1.45,0.00,0.000,4,0.000,0.054,2101,3805,1029,0,0,0,0,0,0
$GC,11373,0.55,112.9,610.1,14.2,741,11380,0.00,1.30,0.00,0.000,6,0.000,0.028,2106,2920,1029,0,0,0,0,0,0
$GC,11689,0.55,112.9,569.5,13.2,757,11693,0.00,1.45,0.00,0.000,4,0.000,0.054,2106,3804,1029,0,0,0,0,0,0
$GC,11735,0.50,112.9,563.0,15.1,759,11740,0.15,1.30,0.00,0.000,6,0.179,0.028,2071,2923,1029,0,0,0,0,0,0
$GC,12070,0.56,112.9,528.9,10.1,775,12072,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2922,1029,0,0,0,0,0,0
$GC,12378,0.63,112.9,498.3,10.0,790,12382,0.10,1.45,0.00,0.000,4,0.112,0.054,2123,3810,1029,0,0,0,0,0,0
$GC,12411,0.56,112.9,493.8,14.4,791,12415,0.12,1.30,0.00,0.000,6,0.188,0.028,2095,2925,1029,0,0,0,0,0,0
$GC,12733,0.58,112.9,455.0,11.9,807,12737,0.00,1.45,0.00,0.000,4,0.000,0.054,2094,3811,1029,0,0,0,0,0,0
$GC,12789,0.55,112.9,447.5,13.2,809,12793,0.00,1.30,0.00,0.000,6,0.000,0.028,2099,2928,1029,0,0,0,0,0,0
$GC,13112,0.55,112.9,409.1,12.0,825,13113,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2928,1029,0,0,0,0,0,0
$GC,13429,0.55,112.9,371.1,12.0,851,13430,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2927,1029,0,0,0,0,0,0
$GC,13750,0.56,112.9,335.5,11.5,881,13754,0.00,1.45,0.00,0.000,4,0.000,0.053,2099,3813,1029,0,0,0,0,0,0
$GC,13801,0.53,112.9,328.4,13.0,885,13807,0.00,1.33,0.00,0.000,6,0.000,0.028,2106,2920,1029,0,0,0,0,0,0
$GC,14126,0.53,112.9,290.3,12.2,916,14129,0.00,1.48,0.00,0.000,4,0.000,0.053,2106,3816,1029,0,0,0,0,0,0
$GC,14207,0.49,112.9,279.4,14.0,923,14212,0.15,1.33,0.00,0.000,6,0.175,0.027,2071,2910,1029,0,0,0,0,0,0
$GC,14538,0.57,112.9,250.0,8.6,954,14542,0.00,1.25,0.00,0.000,4,0.000,0.029,2075,2044,1029,0,0,0,0,0,0
$GC,14576,0.68,114.1,247.1,8.4,957,14580,0.10,1.42,0.00,0.000,6,0.060,0.047,2138,2932,1029,0,0,0,0,0,0
$GC,14906,0.64,114.1,206.3,12.4,988,14910,0.00,1.40,0.00,0.000,4,0.000,0.053,2139,3806,1029,0,0,0,0,0,0
$GC,15038,0.54,114.1,187.7,13.9,999,15046,0.20,1.27,0.00,0.000,6,0.181,0.027,2089,2928,1029,0,0,0,0,0,0
$GC,15364,0.60,114.1,157.3,8.9,1030,15365,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2928,1029,0,0,0,0,0,0
$GC,15685,0.65,114.1,127.6,9.5,1060,15688,0.00,1.42,0.00,0.000,4,0.000,0.054,2090,3802,1029,0,0,0,0,0,0
$GC,15746,0.65,114.1,120.3,11.5,1065,15753,0.00,1.27,0.00,0.000,6,0.000,0.028,2095,2924,1029,0,0,0,0,0,0
$GC,16085,0.69,114.1,84.7,11.1,1108,16092,0.00,1.45,0.00,0.000,4,0.000,0.054,2095,3798,1028,0,0,0,0,0,0
$GC,16123,0.69,114.1,80.0,12.3,1114,16130,0.00,1.27,0.00,0.000,6,0.000,0.028,2101,2924,1029,0,0,0,0,0,0
$GC,16473,0.72,114.1,41.1,11.2,1175,16481,0.10,1.45,0.00,0.000,4,0.109,0.055,2143,3805,1029,0,0,0,0,0,0
$GC,16586,0.63,114.1,25.1,15.6,1193,16595,0.12,1.27,0.00,0.000,6,0.186,0.027,2115,2925,1029,0,0,0,0,0,0
$GC,16742,0.63,114.1,6.1,11.1,1218,16750,0.00,1.45,0.00,0.000,4,0.000,0.052,2114,3803,1029,0,0,0,0,0,0
$STATE,16769,end climb,SURFACE_DEPTH_REACHED
$STATE,16769,begin surface coast
$FINISH,1.7,1.026374
$STATE,16800,end surface coast,CONTROL_FINISHED_OK
$STATE,16800,begin surface
$SM_CCo,16816,61.58,0.412,1,0,681,200.16
$SM_GC,2.73,0.00,0.00,61.58,0.000,0.000,0.412,59,3206,681,-5.77,-0.08,200.16
$IRIDIUM_FIX,-4239.11,608.39,240908,171749
$TT8_MAMPS,0.026964
$HUMID,64.33
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,20.4,103.184
$10V_AH,9.7,69.018
$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,16.400,81.700,272.075,61.575,0.000,25.288,39.926,317.583,0.000,0.000,22.716,3023.514,10444.890,492.866,3123.039,348.858,0.000,1662.478,0.000,2714.441,0.000,0.544,0.000
$DEVICE_MAMPS,233.325,79.560,1803.870,412.335,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,850.440,861.003,914.258,88.047,0.000,0.000,0.000,0.000,0.000,0.000
$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,70171,1227
$CAP_FILE_SIZE,162353,0
$CFSIZE,259252224,210800640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,10,1
$GPS,291115,132059,-4303.976,836.658,42,0.8,42,-25.1