version: 66.07
glider: 543
mission: 14
dive: 89
start: 8 13 115 6 17 10
data:
$ID,543
$MISSION,14
$DIVE,89
$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,-24383.996
$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,54
$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
$GPS1,130815,060658,-4255.871,833.447,284,0.9,285,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-66.7
$GPS2,130815,061647,-4255.890,833.578,26,0.9,26,-25.1
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAZ_BUT3
$TGT_LATLONG,-4256.000,836.000
$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,118.6,3291,-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,14,-0.54,-49.8,0.0,0.0,0,66,0.00,0.00,-49.22,0.000,2,0.000,0.000,60,3244,1677,0,0,0,0,0,0
$GC,68,-0.59,-96.7,3.1,-3.2,6,86,6.72,1.17,-6.18,0.000,4,0.236,0.078,1704,3961,1895,0,0,0,0,0,0
$GC,347,-0.43,-96.7,65.2,-18.3,53,354,0.17,1.10,0.00,0.000,6,0.173,0.032,1754,3229,1900,0,0,0,0,0,0
$GC,699,-0.48,-96.7,109.9,-15.5,109,702,0.00,1.12,0.00,0.000,4,0.000,0.057,1751,3934,1900,0,0,0,0,0,0
$GC,917,-0.52,-96.7,139.3,-13.5,128,927,0.00,1.08,0.00,0.000,6,0.000,0.032,1751,3219,1900,0,0,0,0,0,0
$GC,1242,-0.61,-96.7,178.0,-10.5,159,1246,0.12,1.30,0.00,0.000,4,0.099,0.029,1697,2323,1900,0,0,0,0,0,0
$GC,1276,-0.61,-96.7,182.1,-12.5,162,1280,0.00,1.45,0.00,0.000,6,0.000,0.051,1690,3225,1900,0,0,0,0,0,0
$GC,1610,-0.47,-96.7,231.3,-15.5,193,1614,0.22,1.15,0.00,0.000,4,0.179,0.053,1746,3958,1900,0,0,0,0,0,0
$GC,1704,-0.52,-96.7,243.5,-11.4,201,1711,0.00,1.05,0.00,0.000,6,0.000,0.032,1747,3234,1900,0,0,0,0,0,0
$GC,2029,-0.60,-96.7,277.1,-10.9,232,2031,0.10,0.00,0.00,0.000,6,0.112,0.000,1701,3233,1900,0,0,0,0,0,0
$GC,2348,-0.52,-96.7,322.8,-15.4,262,2352,0.12,1.15,0.00,0.000,4,0.187,0.057,1728,3956,1900,0,0,0,0,0,0
$GC,2419,-0.52,-96.7,333.6,-14.3,268,2429,0.00,1.08,0.00,0.000,6,0.000,0.032,1728,3224,1900,0,0,0,0,0,0
$GC,2746,-0.52,-96.7,375.7,-12.9,299,2749,0.00,1.15,0.00,0.000,4,0.000,0.057,1722,3959,1900,0,0,0,0,0,0
$GC,2795,-0.49,-96.7,383.1,-14.3,303,2803,0.00,1.08,0.00,0.000,6,0.000,0.032,1722,3231,1900,0,0,0,0,0,0
$GC,3125,-0.49,-96.7,423.7,-12.1,326,3129,0.00,1.12,0.00,0.000,4,0.000,0.057,1717,3951,1900,0,0,0,0,0,0
$GC,3198,-0.44,-96.7,433.6,-13.6,329,3203,0.12,1.05,0.00,0.000,6,0.161,0.034,1755,3237,1900,0,0,0,0,0,0
$GC,3525,-0.59,-96.7,466.8,-10.2,345,3527,0.12,0.00,0.00,0.000,6,0.100,0.000,1702,3237,1900,0,0,0,0,0,0
$GC,3834,-0.53,-96.7,511.0,-14.9,360,3836,0.12,0.00,0.00,0.000,6,0.186,0.000,1732,3236,1900,0,0,0,0,0,0
$GC,4144,-0.59,-96.7,549.8,-12.5,375,4147,0.00,1.12,0.00,0.000,4,0.000,0.059,1729,3953,1900,0,0,0,0,0,0
$GC,4175,-0.59,-96.7,554.3,-14.0,376,4180,0.00,1.10,0.00,0.000,6,0.000,0.032,1729,3209,1900,0,0,0,0,0,0
$GC,4497,-0.64,-96.7,594.4,-12.4,392,4501,0.00,1.17,0.00,0.000,4,0.000,0.058,1723,3958,1900,0,0,0,0,0,0
$GC,4546,-0.64,-96.7,601.1,-13.2,394,4551,0.00,1.08,0.00,0.000,6,0.000,0.032,1723,3232,1900,0,0,0,0,0,0
$GC,4874,-0.64,-96.7,641.2,-12.2,410,4877,0.00,1.12,0.00,0.000,4,0.000,0.059,1718,3950,1900,0,0,0,0,0,0
$GC,4911,-0.64,-96.7,646.4,-12.9,411,4919,0.00,1.08,0.00,0.000,6,0.000,0.033,1718,3223,1900,0,0,0,0,0,0
$GC,5227,-0.64,-96.7,684.7,-12.1,427,5231,0.00,1.15,0.00,0.000,4,0.000,0.058,1713,3956,1900,0,0,0,0,0,0
$GC,5294,-0.59,-96.7,693.6,-13.3,430,5298,0.00,1.05,0.00,0.000,6,0.000,0.034,1713,3236,1900,0,0,0,0,0,0
$GC,5626,-0.59,-96.7,736.9,-12.5,446,5627,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,3235,1900,0,0,0,0,0,0
$GC,5936,-0.59,-96.7,776.7,-12.6,461,5939,0.00,1.12,0.00,0.000,4,0.000,0.059,1708,3953,1900,0,0,0,0,0,0
$GC,5990,-0.55,-96.7,784.2,-13.9,463,5995,0.00,1.08,0.00,0.000,6,0.000,0.034,1707,3223,1900,0,0,0,0,0,0
$GC,6312,-0.55,-96.7,823.9,-12.2,479,6316,0.00,1.15,0.00,0.000,4,0.000,0.060,1702,3956,1900,0,0,0,0,0,0
$GC,6383,-0.48,-96.7,833.5,-14.0,482,6388,0.12,1.08,0.00,0.000,6,0.174,0.034,1739,3232,1900,0,0,0,0,0,0
$GC,6710,-0.61,-96.7,863.9,-9.1,498,6712,0.00,0.00,0.00,0.000,6,0.000,0.000,1739,3232,1899,0,0,0,0,0,0
$GC,7020,-0.74,-96.7,891.4,-8.6,513,7024,0.20,1.12,0.00,0.000,4,0.085,0.057,1653,3941,1900,0,0,0,0,0,0
$GC,7191,-0.48,-96.7,918.7,-17.5,520,7199,0.32,1.08,0.00,0.000,6,0.184,0.033,1744,3223,1900,0,0,0,0,0,0
$GC,7508,-0.64,-96.7,949.5,-9.5,536,7509,0.15,0.00,0.00,0.000,6,0.096,0.000,1682,3223,1900,0,0,0,0,0,0
$GC,7817,-0.56,-96.7,991.3,-13.9,551,7821,0.15,1.15,0.00,0.000,4,0.187,0.060,1716,3944,1900,0,0,0,0,0,0
$STATE,7886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7886,begin apogee
$GC,7892,-0.09,0.0,1000.4,11.3,554,7998,0.50,0.00,102.72,1.895,6,0.160,0.000,1867,3040,1498,0,0,0,0,0,0
$STATE,7998,end apogee,CONTROL_FINISHED_OK
$STATE,7998,begin climb
$GC,8000,0.59,96.7,1003.2,0.0,559,8106,0.70,1.40,96.62,1.831,4,0.103,0.030,2096,2197,1103,0,0,0,0,0,0
$GC,8133,0.59,96.7,990.7,13.9,565,8138,0.00,1.52,0.00,0.000,6,0.000,0.049,2096,3058,1101,0,0,0,0,0,0
$GC,8461,0.49,96.7,942.4,15.1,581,8463,0.12,0.00,0.00,0.000,6,0.210,0.000,2070,3057,1098,0,0,0,0,0,0
$GC,8770,0.49,96.7,901.8,13.3,596,8771,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,3057,1096,0,0,0,0,0,0
$GC,9079,0.49,96.7,860.6,13.7,611,9080,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,3057,1096,0,0,0,0,0,0
$GC,9389,0.49,96.7,817.7,13.6,626,9392,0.00,1.45,0.00,0.000,4,0.000,0.061,2070,3951,1095,0,0,0,0,0,0
$GC,9426,0.38,96.7,812.1,15.4,627,9435,0.15,1.33,0.00,0.000,6,0.197,0.031,2034,3065,1094,0,0,0,0,0,0
$GC,9743,0.51,96.7,777.2,10.5,643,9744,0.10,0.00,0.00,0.000,6,0.116,0.000,2071,3065,1094,0,0,0,0,0,0
$GC,10052,0.51,96.7,737.8,12.6,658,10056,0.00,1.33,0.00,0.000,4,0.000,0.034,2077,2198,1094,0,0,0,0,0,0
$GC,10097,0.55,96.7,732.6,11.9,660,10100,0.00,1.40,0.00,0.000,6,0.000,0.054,2077,3063,1094,0,0,0,0,0,0
$GC,10429,0.52,96.7,693.1,11.5,676,10430,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3063,1093,0,0,0,0,0,0
$GC,10738,0.52,96.7,657.2,11.4,691,10739,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3063,1093,0,0,0,0,0,0
$GC,11047,0.52,96.7,622.8,11.1,706,11048,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3063,1093,0,0,0,0,0,0
$GC,11357,0.52,96.7,589.0,11.4,721,11358,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3063,1093,0,0,0,0,0,0
$GC,11666,0.52,96.7,552.8,12.0,736,11670,0.00,1.33,0.00,0.000,4,0.000,0.034,2084,2191,1093,0,0,0,0,0,0
$GC,11692,0.52,96.7,549.5,11.3,737,11697,0.00,1.40,0.00,0.000,6,0.000,0.052,2084,3057,1093,0,0,0,0,0,0
$GC,12020,0.48,96.7,507.8,13.1,753,12021,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,3058,1093,0,0,0,0,0,0
$GC,12329,0.43,96.7,467.5,13.2,768,12333,0.15,1.42,0.00,0.000,4,0.197,0.060,2047,3954,1093,0,0,0,0,0,0
$GC,12378,0.43,96.7,460.8,12.6,770,12383,0.00,1.33,0.00,0.000,6,0.000,0.033,2052,3068,1092,0,0,0,0,0,0
$GC,12706,0.50,96.7,424.0,11.2,786,12707,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,3068,1092,0,0,0,0,0,0
$GC,13020,0.57,96.7,388.8,11.6,805,13022,0.10,0.00,0.00,0.000,6,0.115,0.000,2097,3068,1092,0,0,0,0,0,0
$GC,13336,0.48,96.7,342.8,15.0,835,13340,0.15,1.40,0.00,0.000,4,0.200,0.059,2060,3951,1092,0,0,0,0,0,0
$GC,13385,0.43,96.7,335.2,14.5,839,13392,0.00,1.33,0.00,0.000,6,0.000,0.033,2065,3059,1092,0,0,0,0,0,0
$GC,13710,0.47,96.7,293.9,12.1,870,13714,0.00,1.30,0.00,0.000,4,0.000,0.033,2072,2186,1092,0,0,0,0,0,0
$GC,13767,0.58,96.7,287.3,11.4,875,13770,0.00,1.40,0.00,0.000,6,0.000,0.054,2072,3060,1092,0,0,0,0,0,0
$GC,14096,0.58,96.7,246.6,12.3,906,14098,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,3060,1092,0,0,0,0,0,0
$GC,14416,0.58,96.7,207.9,12.5,936,14419,0.00,1.30,0.00,0.000,4,0.000,0.034,2079,2189,1092,0,0,0,0,0,0
$GC,14454,0.66,96.7,203.4,10.8,939,14462,0.08,1.40,0.00,0.000,6,0.067,0.053,2122,3064,1092,0,0,0,0,0,0
$GC,14779,0.50,96.7,158.1,14.5,970,14784,0.20,1.33,0.00,0.000,4,0.207,0.034,2078,2182,1092,0,0,0,0,0,0
$GC,14829,0.59,96.7,152.1,10.6,974,14836,0.00,1.40,0.00,0.000,6,0.000,0.051,2078,3058,1092,0,0,0,0,0,0
$GC,15157,0.59,96.7,115.2,12.2,1005,15163,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,3058,1092,0,0,0,0,0,0
$GC,15497,0.59,96.7,77.1,10.7,1054,15503,0.00,1.33,0.00,0.000,4,0.000,0.032,2084,2167,1092,0,0,0,0,0,0
$GC,15551,0.68,96.7,71.1,11.1,1063,15558,0.08,1.42,0.00,0.000,6,0.068,0.052,2127,3061,1092,0,0,0,0,0,0
$GC,15907,0.53,96.7,16.6,16.1,1124,15916,0.20,1.40,0.00,0.000,4,0.209,0.054,2076,3957,1092,0,0,0,0,0,0
$GC,15936,0.42,96.7,12.1,14.9,1128,15946,0.12,1.33,0.00,0.000,6,0.171,0.034,2044,3056,1092,0,0,0,0,0,0
$GC,15996,0.49,118.7,7.9,6.0,1137,16013,0.00,1.30,9.02,0.818,4,0.000,0.030,2049,2184,1010,0,0,0,0,0,0
$GC,16028,0.62,118.7,4.8,9.5,1141,16037,0.12,1.40,0.00,0.000,6,0.057,0.053,2117,3057,1010,0,0,0,0,0,0
$STATE,16056,end climb,SURFACE_DEPTH_REACHED
$STATE,16056,begin surface coast
$FINISH,0.9,1.025295
$STATE,16098,end surface coast,CONTROL_FINISHED_OK
$STATE,16099,begin surface
$SM_CCo,16111,55.85,0.385,1,0,682,200.16
$SM_GC,2.19,0.00,0.00,55.85,0.000,0.000,0.385,74,3239,682,-5.71,0.25,200.16
$IRIDIUM_FIX,-4239.11,740.34,080608,131355
$TT8_MAMPS,0.027713
$HUMID,60.86
$INTERNAL_PRESSURE,11.4176
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,22.5,19.719
$10V_AH,10.2,10.306
$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,17.100,67.250,208.375,55.850,0.000,30.745,29.474,392.018,0.000,0.000,28.825,2846.531,10395.246,396.950,2953.167,160.461,0.000,1457.572,0.000,2467.181,0.000,0.545,0.000
$DEVICE_MAMPS,236.385,78.030,1894.905,384.795,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,800.277,818.281,804.556,73.463,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353932
$DATA_FILE_SIZE,66845,1152
$CAP_FILE_SIZE,151657,0
$CFSIZE,259252224,252149760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,130815,104851,-4256.025,837.179,95,1.5,95,-25.1