version: 66.07
glider: 543
mission: 14
dive: 86
start: 8 12 115 13 17 4
data:
$ID,543
$MISSION,14
$DIVE,86
$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,-24375.086
$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,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,394
$ROLL_MAX,3944
$ROLL_DEG,25
$C_ROLL_DIVE,3230
$C_ROLL_CLIMB,3060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$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
$GPS1,120815,130857,-4255.770,825.026,92,0.9,92,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-70.1
$GPS2,120815,131642,-4255.815,825.145,34,0.9,34,-25.0
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAZ_BUT2
$TGT_LATLONG,-4256.000,824.000
$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,282.5,1590,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.54,-49.8,0.0,0.0,0,65,0.00,0.00,-46.05,0.000,6,0.000,0.000,61,3237,1706,0,0,0,0,0,0
$GC,67,-0.60,-104.1,2.8,-2.3,6,85,6.53,1.17,-6.28,0.000,4,0.226,0.078,1702,3960,1925,0,0,0,0,0,0
$GC,217,-0.44,-104.1,34.2,-18.1,30,226,0.17,1.10,0.00,0.000,6,0.161,0.033,1755,3233,1930,0,0,0,0,0,0
$GC,366,-0.52,-104.1,56.8,-13.5,55,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,3233,1930,0,0,0,0,0,0
$GC,714,-0.61,-104.1,99.9,-12.2,116,720,0.15,0.00,0.00,0.000,6,0.090,0.000,1691,3233,1931,0,0,0,0,0,0
$GC,1039,-0.49,-104.1,161.2,-19.3,147,1043,0.20,1.15,0.00,0.000,4,0.174,0.057,1741,3946,1930,0,0,0,0,0,0
$GC,1076,-0.49,-104.1,168.1,-16.1,150,1084,0.00,1.08,0.00,0.000,6,0.000,0.032,1741,3224,1930,0,0,0,0,0,0
$GC,1404,-0.56,-104.1,214.4,-13.8,181,1407,0.00,1.15,0.00,0.000,4,0.000,0.057,1735,3954,1930,0,0,0,0,0,0
$GC,1452,-0.56,-104.1,221.3,-14.5,185,1455,0.00,1.05,0.00,0.000,6,0.000,0.033,1735,3236,1931,0,0,0,0,0,0
$GC,1782,-0.62,-104.1,266.4,-12.2,216,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3236,1931,0,0,0,0,0,0
$GC,2101,-0.69,-104.1,304.6,-12.1,246,2106,0.15,1.12,0.00,0.000,4,0.090,0.058,1663,3942,1931,0,0,0,0,0,0
$GC,2173,-0.45,-104.1,317.8,-19.4,252,2184,0.30,1.08,0.00,0.000,6,0.174,0.031,1751,3221,1931,0,0,0,0,0,0
$GC,2499,-0.59,-104.1,356.0,-11.7,283,2504,0.12,1.17,0.00,0.000,4,0.099,0.059,1690,3955,1931,0,0,0,0,0,0
$GC,2625,-0.45,-104.1,377.2,-18.1,294,2630,0.20,1.08,0.00,0.000,6,0.161,0.033,1750,3227,1931,0,0,0,0,0,0
$GC,2962,-0.60,-104.1,416.7,-11.3,319,2966,0.12,1.15,0.00,0.000,4,0.100,0.058,1690,3949,1931,0,0,0,0,0,0
$GC,3010,-0.48,-104.1,424.5,-16.4,321,3016,0.17,1.08,0.00,0.000,6,0.175,0.033,1741,3226,1931,0,0,0,0,0,0
$GC,3339,-0.59,-104.1,463.5,-11.6,337,3342,0.00,1.12,0.00,0.000,4,0.000,0.059,1738,3943,1931,0,0,0,0,0,0
$GC,3371,-0.67,-104.1,467.7,-12.4,338,3376,0.10,1.05,0.00,0.000,6,0.063,0.033,1682,3227,1930,0,0,0,0,0,0
$GC,3692,-0.56,-104.1,518.5,-15.9,354,3697,0.15,1.15,0.00,0.000,4,0.184,0.058,1716,3949,1931,0,0,0,0,0,0
$GC,3751,-0.56,-104.1,527.3,-13.3,356,3759,0.00,1.08,0.00,0.000,6,0.000,0.033,1716,3227,1930,0,0,0,0,0,0
$GC,4067,-0.56,-104.1,565.1,-11.7,372,4071,0.00,1.12,0.00,0.000,4,0.000,0.059,1711,3944,1930,0,0,0,0,0,0
$GC,4100,-0.53,-104.1,569.2,-12.5,373,4104,0.00,1.05,0.00,0.000,6,0.000,0.034,1711,3232,1931,0,0,0,0,0,0
$GC,4421,-0.53,-104.1,608.5,-12.1,389,4425,0.00,1.12,0.00,0.000,4,0.000,0.059,1706,3951,1931,0,0,0,0,0,0
$GC,4470,-0.48,-104.1,615.3,-13.8,391,4475,0.15,1.08,0.00,0.000,6,0.179,0.033,1743,3233,1930,0,0,0,0,0,0
$GC,4798,-0.63,-104.1,649.8,-11.2,407,4802,0.12,1.15,0.00,0.000,4,0.103,0.060,1684,3953,1930,0,0,0,0,0,0
$GC,4835,-0.51,-104.1,655.7,-16.1,408,4843,0.17,1.10,0.00,0.000,6,0.180,0.033,1734,3219,1931,0,0,0,0,0,0
$GC,5151,-0.62,-104.1,693.7,-11.8,424,5155,0.00,1.15,0.00,0.000,4,0.000,0.060,1731,3950,1930,0,0,0,0,0,0
$GC,5206,-0.70,-104.1,700.9,-12.7,426,5211,0.15,1.08,0.00,0.000,6,0.093,0.034,1667,3229,1930,0,0,0,0,0,0
$GC,5527,-0.56,-104.1,754.5,-16.6,442,5532,0.20,1.15,0.00,0.000,4,0.184,0.059,1715,3951,1930,0,0,0,0,0,0
$GC,5572,-0.56,-104.1,761.3,-14.2,444,5575,0.00,1.08,0.00,0.000,6,0.000,0.034,1715,3222,1930,0,0,0,0,0,0
$GC,5904,-0.60,-104.1,802.3,-12.0,460,5907,0.00,1.15,0.00,0.000,4,0.000,0.060,1710,3953,1931,0,0,0,0,0,0
$GC,5930,-0.60,-104.1,806.1,-13.5,461,5935,0.00,1.10,0.00,0.000,6,0.000,0.034,1709,3220,1930,0,0,0,0,0,0
$GC,6257,-0.60,-104.1,846.3,-12.4,477,6261,0.00,1.15,0.00,0.000,4,0.000,0.060,1704,3948,1930,0,0,0,0,0,0
$GC,6306,-0.60,-104.1,852.9,-13.3,479,6311,0.00,1.08,0.00,0.000,6,0.000,0.034,1704,3228,1930,0,0,0,0,0,0
$GC,6633,-0.60,-104.1,893.1,-12.6,495,6637,0.00,1.12,0.00,0.000,4,0.000,0.060,1698,3943,1930,0,0,0,0,0,0
$GC,6688,-0.56,-104.1,900.9,-14.1,497,6693,0.00,1.08,0.00,0.000,6,0.000,0.034,1699,3227,1930,0,0,0,0,0,0
$GC,7010,-0.56,-104.1,944.5,-13.9,513,7013,0.00,1.12,0.00,0.000,4,0.000,0.060,1693,3940,1930,0,0,0,0,0,0
$GC,7077,-0.50,-104.1,954.6,-14.8,516,7082,0.15,1.05,0.00,0.000,6,0.165,0.035,1738,3238,1930,0,0,0,0,0,0
$GC,7410,-0.67,-104.1,989.6,-9.9,532,7414,0.15,1.15,0.00,0.000,4,0.094,0.062,1670,3955,1930,0,0,0,0,0,0
$GC,7477,-0.52,-104.1,999.7,-16.4,535,7481,0.20,1.10,0.00,0.000,6,0.168,0.035,1729,3220,1931,0,0,0,0,0,0
$STATE,7485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7485,begin apogee
$GC,7489,-0.09,0.0,1001.5,15.3,535,7602,0.45,0.00,108.88,1.873,6,0.158,0.000,1867,3055,1498,0,0,0,0,0,0
$STATE,7603,end apogee,CONTROL_FINISHED_OK
$STATE,7603,begin climb
$GC,7605,0.60,104.1,1004.4,0.0,541,7712,0.73,0.00,104.12,1.820,6,0.097,0.000,2096,3054,1073,0,0,0,0,0,0
$GC,8012,0.50,104.1,949.4,15.1,561,8015,0.00,1.48,0.00,0.000,4,0.000,0.060,2096,3937,1070,0,0,0,0,0,0
$GC,8084,0.30,104.1,936.5,18.3,564,8089,0.35,1.38,0.00,0.000,6,0.201,0.031,2010,3045,1070,0,0,0,0,0,0
$GC,8411,0.50,104.1,901.9,10.2,580,8413,0.17,0.00,0.00,0.000,6,0.096,0.000,2071,3045,1068,0,0,0,0,0,0
$GC,8720,0.50,104.1,858.7,14.2,595,8721,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,3045,1068,0,0,0,0,0,0
$GC,9029,0.50,104.1,816.3,13.1,610,9030,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,3045,1068,0,0,0,0,0,0
$GC,9338,0.50,104.1,775.7,12.9,625,9340,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,3045,1067,0,0,0,0,0,0
$GC,9648,0.50,104.1,735.6,13.0,640,9652,0.00,1.33,0.00,0.000,4,0.000,0.037,2078,2188,1067,0,0,0,0,0,0
$GC,9674,0.53,104.1,732.0,12.6,641,9679,0.00,1.40,0.00,0.000,6,0.000,0.053,2077,3053,1067,0,0,0,0,0,0
$GC,10002,0.50,104.1,686.8,14.1,657,10006,0.00,1.45,0.00,0.000,4,0.000,0.060,2078,3957,1067,0,0,0,0,0,0
$GC,10029,0.38,104.1,682.3,16.2,658,10034,0.17,1.33,0.00,0.000,6,0.197,0.032,2035,3065,1066,0,0,0,0,0,0
$GC,10356,0.49,104.1,642.4,12.1,674,10359,0.00,1.33,0.00,0.000,4,0.000,0.034,2041,2190,1066,0,0,0,0,0,0
$GC,10394,0.66,104.1,637.9,11.6,675,10402,0.17,1.40,0.00,0.000,6,0.070,0.053,2118,3057,1066,0,0,0,0,0,0
$GC,10710,0.50,104.1,584.2,17.2,691,10712,0.20,0.00,0.00,0.000,6,0.208,0.000,2070,3058,1066,0,0,0,0,0,0
$GC,11019,0.50,104.1,541.1,13.6,706,11022,0.00,1.42,0.00,0.000,4,0.000,0.060,2070,3949,1066,0,0,0,0,0,0
$GC,11090,0.41,104.1,529.7,16.0,709,11095,0.12,1.33,0.00,0.000,6,0.195,0.033,2040,3058,1066,0,0,0,0,0,0
$GC,11418,0.52,104.1,492.0,11.1,725,11421,0.00,1.33,0.00,0.000,4,0.000,0.034,2045,2180,1066,0,0,0,0,0,0
$GC,11456,0.69,104.1,487.9,10.2,726,11464,0.20,1.42,0.00,0.000,6,0.057,0.053,2132,3066,1066,0,0,0,0,0,0
$GC,11772,0.49,104.1,437.7,15.8,742,11774,0.25,0.00,0.00,0.000,6,0.207,0.000,2070,3066,1066,0,0,0,0,0,0
$GC,12081,0.49,104.1,400.2,11.7,757,12084,0.00,1.40,0.00,0.000,4,0.000,0.060,2070,3947,1066,0,0,0,0,0,0
$GC,12140,0.40,104.1,392.6,13.5,761,12144,0.12,1.33,0.00,0.000,6,0.194,0.034,2040,3056,1066,0,0,0,0,0,0
$GC,12469,0.51,104.1,359.4,9.6,792,12473,0.00,1.42,0.00,0.000,4,0.000,0.060,2040,3944,1066,0,0,0,0,0,0
$GC,12553,0.51,104.1,349.6,12.6,799,12561,0.00,1.35,0.00,0.000,6,0.000,0.032,2046,3046,1066,0,0,0,0,0,0
$GC,12879,0.62,104.1,318.5,9.1,830,12883,0.17,1.30,0.00,0.000,4,0.086,0.034,2127,2178,1066,0,0,0,0,0,0
$GC,12935,0.54,104.1,312.0,11.4,835,12939,0.12,1.40,0.00,0.000,6,0.182,0.054,2091,3057,1066,0,0,0,0,0,0
$GC,13265,0.48,104.1,273.8,11.4,866,13268,0.00,1.42,0.00,0.000,4,0.000,0.059,2091,3955,1066,0,0,0,0,0,0
$GC,13406,0.32,104.1,253.8,14.6,878,13413,0.28,1.33,0.00,0.000,6,0.193,0.032,2018,3060,1066,0,0,0,0,0,0
$GC,13733,0.54,109.3,227.0,8.0,909,13746,0.17,1.33,3.95,1.089,4,0.085,0.033,2099,2172,1054,0,0,0,0,0,0
$GC,13803,0.54,109.3,219.0,11.4,915,13806,0.00,1.42,0.00,0.000,6,0.000,0.053,2099,3064,1054,0,0,0,0,0,0
$GC,14133,0.47,109.3,176.1,13.2,946,14137,0.15,1.42,0.00,0.000,4,0.200,0.058,2063,3958,1054,0,0,0,0,0,0
$GC,14189,0.42,109.3,168.4,14.5,951,14193,0.00,1.33,0.00,0.000,6,0.000,0.032,2068,3060,1054,0,0,0,0,0,0
$GC,14520,0.47,109.3,129.5,12.2,982,14523,0.00,1.33,0.00,0.000,4,0.000,0.032,2075,2175,1054,0,0,0,0,0,0
$GC,14679,0.59,109.3,113.0,10.2,996,14683,0.00,1.42,0.00,0.000,6,0.000,0.052,2075,3068,1054,0,0,0,0,0,0
$GC,15019,0.59,109.3,74.6,12.4,1046,15025,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,3068,1055,0,0,0,0,0,0
$GC,15372,0.59,109.3,28.8,12.8,1107,15380,0.00,1.33,0.00,0.000,4,0.000,0.032,2081,2167,1055,0,0,0,0,0,0
$GC,15418,0.67,109.3,22.8,12.9,1114,15428,0.08,1.42,0.00,0.000,6,0.073,0.051,2127,3067,1054,0,0,0,0,0,0
$STATE,15552,end climb,SURFACE_DEPTH_REACHED
$STATE,15552,begin surface coast
$FINISH,0.8,1.008093
$STATE,15572,end surface coast,CONTROL_FINISHED_OK
$STATE,15572,begin surface
$SM_CCo,15584,43.58,0.139,0,0,681,200.16
$SM_GC,1.67,0.00,0.00,43.58,0.000,0.000,0.139,67,3249,681,-5.73,0.54,200.16
$IRIDIUM_FIX,-4239.11,824.43,070608,232352
$TT8_MAMPS,0.027713
$HUMID,61.53
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.5,19.135
$10V_AH,10.3,9.924
$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,19.075,78.925,216.950,43.575,0.000,33.772,25.079,282.406,0.000,0.000,36.962,2852.136,9798.034,393.700,2895.602,160.097,0.000,1473.234,0.000,2511.235,0.000,0.545,0.000
$DEVICE_MAMPS,225.675,78.030,1873.485,139.230,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,789.929,807.034,814.553,75.025,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353888
$DATA_FILE_SIZE,66949,1139
$CAP_FILE_SIZE,157374,0
$CFSIZE,259252224,252420096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120815,174005,-4255.962,823.254,118,1.5,119,-25.0