version: 66.07
glider: 543
mission: 14
dive: 90
start: 8 13 115 10 59 3
data:
$ID,543
$MISSION,14
$DIVE,90
$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,-24387.104
$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,59
$R_STBD_OVSHOOT,25
$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
$GPS1,130815,104851,-4256.025,837.179,95,1.5,95,-25.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-66.3
$GPS2,130815,105841,-4256.031,837.337,34,1.3,34,-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,296.9,1814,-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,15,-0.54,-49.8,0.0,0.0,0,66,0.00,0.00,-44.58,0.000,6,0.000,0.000,61,3240,1703,0,0,0,0,0,0
$GC,68,-0.60,-104.4,2.9,-2.3,6,86,6.57,1.20,-6.53,0.000,4,0.229,0.080,1700,3963,1928,0,0,0,0,0,0
$GC,106,0.21,-104.4,10.9,-18.0,11,116,0.90,1.10,0.00,0.000,6,0.159,0.031,1965,3233,1930,0,0,0,0,0,0
$GC,166,-1.15,-116.8,14.9,-0.1,20,175,1.27,0.00,-0.77,0.000,6,0.104,0.000,1538,3233,1977,0,0,0,0,0,0
$GC,224,-0.59,-116.8,25.2,-22.4,29,234,0.60,1.15,0.00,0.000,4,0.197,0.047,1699,3956,1978,0,0,0,0,0,0
$GC,312,-0.47,-116.8,45.6,-19.4,43,319,0.15,1.08,0.00,0.000,6,0.166,0.032,1744,3237,1978,0,0,0,0,0,0
$GC,661,-0.52,-116.8,98.6,-13.9,104,668,0.00,1.12,0.00,0.000,4,0.000,0.057,1739,3948,1978,0,0,0,0,0,0
$GC,701,-0.52,-116.8,104.5,-15.1,108,711,0.00,1.10,0.00,0.000,6,0.000,0.032,1740,3214,1978,0,0,0,0,0,0
$GC,1026,-0.57,-116.8,147.0,-12.5,139,1029,0.00,1.17,0.00,0.000,4,0.000,0.057,1734,3956,1978,0,0,0,0,0,0
$GC,1064,-0.57,-116.8,152.3,-13.5,142,1071,0.00,1.10,0.00,0.000,6,0.000,0.032,1734,3219,1978,0,0,0,0,0,0
$GC,1392,-0.62,-116.8,193.3,-12.7,173,1395,0.00,1.15,0.00,0.000,4,0.000,0.056,1729,3953,1978,0,0,0,0,0,0
$GC,1418,-0.66,-116.8,197.5,-13.6,175,1426,0.08,1.05,0.00,0.000,6,0.067,0.032,1683,3231,1978,0,0,0,0,0,0
$GC,1744,-0.53,-116.8,253.5,-16.9,206,1748,0.17,1.15,0.00,0.000,4,0.181,0.056,1724,3954,1978,0,0,0,0,0,0
$GC,1870,-0.53,-116.8,272.5,-14.9,217,1874,0.00,1.05,0.00,0.000,6,0.000,0.033,1724,3232,1978,0,0,0,0,0,0
$GC,2200,-0.56,-116.8,316.4,-13.1,248,2204,0.00,1.12,0.00,0.000,4,0.000,0.057,1718,3951,1978,0,0,0,0,0,0
$GC,2238,-0.56,-116.8,322.1,-15.0,251,2246,0.00,1.08,0.00,0.000,6,0.000,0.032,1719,3223,1978,0,0,0,0,0,0
$GC,2563,-0.56,-116.8,368.6,-15.2,282,2567,0.00,1.15,0.00,0.000,4,0.000,0.057,1714,3957,1978,0,0,0,0,0,0
$GC,2635,-0.53,-116.8,380.3,-15.7,288,2645,0.00,1.08,0.00,0.000,6,0.000,0.032,1714,3223,1978,0,0,0,0,0,0
$GC,2954,-0.53,-116.8,427.1,-14.2,310,2958,0.00,1.15,0.00,0.000,4,0.000,0.057,1708,3958,1978,0,0,0,0,0,0
$GC,2992,-0.47,-116.8,433.0,-14.7,311,3000,0.15,1.08,0.00,0.000,6,0.180,0.033,1746,3234,1978,0,0,0,0,0,0
$GC,3308,-0.62,-116.8,469.3,-11.4,327,3310,0.12,0.00,0.00,0.000,6,0.101,0.000,1693,3234,1978,0,0,0,0,0,0
$GC,3617,-0.56,-116.8,517.1,-15.5,342,3622,0.12,1.15,0.00,0.000,4,0.186,0.059,1720,3957,1978,0,0,0,0,0,0
$GC,3662,-0.56,-116.8,523.5,-13.7,344,3666,0.00,1.08,0.00,0.000,6,0.000,0.034,1720,3223,1978,0,0,0,0,0,0
$GC,3995,-0.60,-116.8,566.0,-12.9,360,3998,0.00,1.15,0.00,0.000,4,0.000,0.058,1715,3957,1978,0,0,0,0,0,0
$GC,4043,-0.60,-116.8,572.9,-13.4,362,4048,0.00,1.08,0.00,0.000,6,0.000,0.033,1715,3231,1977,0,0,0,0,0,0
$GC,4371,-0.60,-116.8,615.2,-12.9,378,4374,0.00,1.12,0.00,0.000,4,0.000,0.059,1709,3949,1978,0,0,0,0,0,0
$GC,4425,-0.60,-116.8,623.3,-14.4,380,4430,0.00,1.08,0.00,0.000,6,0.000,0.034,1709,3226,1978,0,0,0,0,0,0
$GC,4747,-0.60,-116.8,665.5,-13.0,396,4751,0.00,1.12,0.00,0.000,4,0.000,0.059,1704,3943,1978,0,0,0,0,0,0
$GC,4796,-0.60,-116.8,673.0,-14.4,398,4800,0.00,1.08,0.00,0.000,6,0.000,0.034,1704,3224,1978,0,0,0,0,0,0
$GC,5123,-0.60,-116.8,718.7,-14.2,414,5126,0.00,1.15,0.00,0.000,4,0.000,0.059,1698,3956,1978,0,0,0,0,0,0
$GC,5150,-0.55,-116.8,723.1,-16.3,415,5154,0.00,1.08,0.00,0.000,6,0.000,0.034,1698,3228,1978,0,0,0,0,0,0
$GC,5476,-0.55,-116.8,768.6,-13.7,431,5480,0.00,1.12,0.00,0.000,4,0.000,0.059,1693,3947,1978,0,0,0,0,0,0
$GC,5531,-0.47,-116.8,777.2,-15.3,433,5536,0.17,1.08,0.00,0.000,6,0.184,0.034,1741,3232,1978,0,0,0,0,0,0
$GC,5853,-0.64,-116.8,811.4,-10.6,449,5855,0.12,0.00,0.00,0.000,6,0.103,0.000,1689,3232,1978,0,0,0,0,0,0
$GC,6162,-0.60,-116.8,857.9,-15.6,464,6165,0.00,1.12,0.00,0.000,4,0.000,0.060,1683,3949,1978,0,0,0,0,0,0
$GC,6267,-0.49,-116.8,876.6,-17.8,468,6275,0.17,1.08,0.00,0.000,6,0.168,0.035,1737,3225,1978,0,0,0,0,0,0
$GC,6583,-0.65,-116.8,912.4,-10.8,484,6588,0.12,1.15,0.00,0.000,4,0.103,0.062,1678,3942,1978,0,0,0,0,0,0
$GC,6651,-0.53,-116.8,922.6,-16.2,487,6656,0.15,1.05,0.00,0.000,6,0.169,0.035,1723,3236,1977,0,0,0,0,0,0
$GC,6984,-0.64,-116.8,959.9,-10.7,503,6987,0.00,1.12,0.00,0.000,4,0.000,0.060,1720,3950,1978,0,0,0,0,0,0
$GC,7038,-0.71,-116.8,966.4,-11.9,505,7044,0.12,1.10,0.00,0.000,6,0.103,0.035,1664,3221,1978,0,0,0,0,0,0
$STATE,7278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7278,begin apogee
$GC,7282,-0.09,0.0,1001.2,14.8,517,7405,0.70,0.00,120.00,1.877,6,0.169,0.000,1867,3061,1498,0,0,0,0,0,0
$STATE,7406,end apogee,CONTROL_FINISHED_OK
$STATE,7406,begin climb
$GC,7408,0.61,116.8,1004.5,0.0,523,7535,0.70,1.52,116.05,1.813,4,0.099,0.034,2097,2185,1023,0,0,0,0,0,0
$GC,7618,0.61,116.8,978.8,15.7,532,7626,0.00,1.52,0.00,0.000,6,0.000,0.050,2097,3062,1018,0,0,0,0,0,0
$GC,7935,0.54,116.8,925.6,16.9,548,7938,0.00,1.45,0.00,0.000,4,0.000,0.060,2097,3941,1016,0,0,0,0,0,0
$GC,7984,0.36,116.8,916.1,19.4,550,7989,0.28,1.38,0.00,0.000,6,0.202,0.031,2031,3052,1016,0,0,0,0,0,0
$GC,8311,0.51,116.8,876.9,11.2,566,8315,0.12,1.48,0.00,0.000,4,0.103,0.061,2075,3951,1014,0,0,0,0,0,0
$GC,8333,0.51,116.8,873.6,14.4,567,8337,0.00,1.35,0.00,0.000,6,0.000,0.032,2081,3059,1014,0,0,0,0,0,0
$GC,8665,0.51,116.8,825.0,14.6,583,8669,0.00,1.35,0.00,0.000,4,0.000,0.038,2088,2196,1014,0,0,0,0,0,0
$GC,8725,0.56,116.8,816.7,13.6,585,8733,0.00,1.40,0.00,0.000,6,0.000,0.052,2087,3059,1014,0,0,0,0,0,0
$GC,9042,0.51,116.8,768.3,16.4,601,9045,0.00,1.35,0.00,0.000,4,0.000,0.037,2094,2196,1014,0,0,0,0,0,0
$GC,9090,0.51,116.8,760.4,15.0,603,9095,0.00,1.42,0.00,0.000,6,0.000,0.053,2093,3067,1014,0,0,0,0,0,0
$GC,9418,0.45,116.8,706.9,16.0,619,9422,0.17,1.38,0.00,0.000,4,0.198,0.035,2057,2176,1014,0,0,0,0,0,0
$GC,9463,0.60,116.8,700.9,12.0,621,9468,0.10,1.42,0.00,0.000,6,0.072,0.053,2106,3057,1013,0,0,0,0,0,0
$GC,9796,0.51,116.8,644.7,16.9,637,9800,0.15,1.42,0.00,0.000,4,0.208,0.059,2071,3950,1013,0,0,0,0,0,0
$GC,9822,0.42,116.8,639.7,17.3,638,9827,0.10,1.33,0.00,0.000,6,0.200,0.032,2049,3059,1013,0,0,0,0,0,0
$GC,10150,0.51,116.8,599.1,11.8,654,10151,0.00,0.00,0.00,0.000,6,0.000,0.000,2049,3059,1013,0,0,0,0,0,0
$GC,10458,0.61,116.8,563.4,11.5,669,10463,0.15,1.33,0.00,0.000,4,0.094,0.034,2116,2186,1013,0,0,0,0,0,0
$GC,10526,0.56,116.8,554.3,13.9,672,10530,0.00,1.42,0.00,0.000,6,0.000,0.053,2116,3067,1013,0,0,0,0,0,0
$GC,10858,0.44,116.8,502.3,15.6,688,10860,0.25,0.00,0.00,0.000,6,0.203,0.000,2053,3067,1013,0,0,0,0,0,0
$GC,11168,0.52,116.8,466.9,11.2,703,11169,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,3067,1013,0,0,0,0,0,0
$GC,11477,0.61,116.8,431.3,11.5,718,11479,0.15,0.00,0.00,0.000,6,0.093,0.000,2115,3067,1013,0,0,0,0,0,0
$GC,11789,0.49,116.8,381.6,16.3,738,11791,0.20,0.00,0.00,0.000,6,0.203,0.000,2066,3067,1013,0,0,0,0,0,0
$GC,12108,0.54,116.8,342.6,11.6,768,12111,0.00,1.33,0.00,0.000,4,0.000,0.034,2070,2186,1012,0,0,0,0,0,0
$GC,12167,0.66,116.8,336.6,10.6,773,12171,0.10,1.40,0.00,0.000,6,0.066,0.054,2123,3056,1013,0,0,0,0,0,0
$GC,12497,0.53,116.8,285.4,15.7,804,12501,0.17,1.42,0.00,0.000,4,0.208,0.058,2080,3956,1013,0,0,0,0,0,0
$GC,12565,0.44,116.8,275.1,15.0,810,12569,0.12,1.33,0.00,0.000,6,0.194,0.033,2050,3058,1013,0,0,0,0,0,0
$GC,12896,0.55,116.8,237.1,11.6,841,12900,0.00,1.33,0.00,0.000,4,0.000,0.034,2056,2177,1012,0,0,0,0,0,0
$GC,12979,0.73,116.8,227.9,11.1,848,12990,0.20,1.42,0.00,0.000,6,0.054,0.052,2145,3069,1012,0,0,0,0,0,0
$GC,13304,0.52,116.8,170.4,18.2,879,13308,0.28,1.35,0.00,0.000,4,0.206,0.055,2071,3954,1012,0,0,0,0,0,0
$GC,13430,0.46,116.8,150.7,15.7,890,13433,0.00,1.33,0.00,0.000,6,0.000,0.033,2076,3056,1012,0,0,0,0,0,0
$GC,13761,0.46,116.8,108.3,13.9,921,13763,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3055,1012,0,0,0,0,0,0
$GC,14096,0.50,116.8,62.6,12.8,975,14105,0.00,1.30,0.00,0.000,4,0.000,0.032,2083,2172,1012,0,0,0,0,0,0
$GC,14141,0.59,116.8,57.0,12.9,982,14148,0.00,1.40,0.00,0.000,6,0.000,0.052,2083,3056,1012,0,0,0,0,0,0
$GC,14499,0.59,116.8,8.7,12.0,1043,14508,0.00,1.30,0.00,0.000,4,0.000,0.031,2090,2166,1012,0,0,0,0,0,0
$STATE,14556,end climb,SURFACE_DEPTH_REACHED
$STATE,14556,begin surface coast
$FINISH,1.1,1.026445
$STATE,14587,end surface coast,CONTROL_FINISHED_OK
$STATE,14587,begin surface
$SM_CCo,14601,52.83,0.589,1,0,681,200.16
$SM_GC,1.80,0.00,0.00,52.83,0.000,0.000,0.589,63,3251,681,-5.75,0.62,200.16
$IRIDIUM_FIX,-4242.04,842.76,080608,191909
$TT8_MAMPS,0.027713
$HUMID,61.41
$INTERNAL_PRESSURE,11.4079
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.4,19.878
$10V_AH,10.3,10.406
$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,20.325,79.350,236.050,52.825,0.000,26.705,20.746,414.800,0.000,0.000,36.973,2648.475,9152.802,428.887,2873.348,145.837,0.000,1463.657,0.000,2368.977,0.000,0.545,0.000
$DEVICE_MAMPS,228.735,79.560,1876.545,589.050,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,732.450,744.703,788.005,76.647,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353956
$DATA_FILE_SIZE,60221,1057
$CAP_FILE_SIZE,150857,0
$CFSIZE,259252224,252084224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,130815,150457,-4255.835,836.126,61,0.9,61,-25.1