version: 66.07
glider: 543
mission: 14
dive: 98
start: 8 15 115 3 24 50
data:
$ID,543
$MISSION,14
$DIVE,98
$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,-24411.391
$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,3230
$C_ROLL_CLIMB,3060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,31
$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
$GPS1,150815,031621,-4303.375,836.143,123,1.0,123,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-68.0
$GPS2,150815,032428,-4303.330,836.153,19,1.2,19,-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,214.5,1258,-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,14,begin dive
$GC,15,-0.54,-49.8,0.0,0.0,0,65,0.00,0.00,-46.08,0.000,6,0.000,0.000,61,3258,1706,0,0,0,0,0,0
$GC,67,-0.60,-109.5,2.6,-1.7,6,93,6.85,1.15,-8.07,0.000,4,0.242,0.084,1701,3950,1948,0,0,0,0,0,0
$GC,202,-0.52,-109.5,25.0,-16.5,27,211,0.10,1.08,0.00,0.000,6,0.176,0.034,1729,3242,1951,0,0,0,0,0,0
$GC,354,-0.49,-109.5,48.2,-14.3,52,361,0.00,1.38,0.00,0.000,4,0.000,0.031,1729,2310,1951,0,0,0,0,0,0
$GC,384,-0.49,-109.5,53.4,-15.3,57,392,0.00,1.50,0.00,0.000,6,0.000,0.054,1724,3228,1951,0,0,0,0,0,0
$GC,731,-0.45,-109.5,105.4,-14.6,115,736,0.12,1.17,0.00,0.000,4,0.192,0.059,1750,3955,1951,0,0,0,0,0,0
$GC,811,-0.45,-109.5,117.4,-15.9,122,814,0.00,1.10,0.00,0.000,6,0.000,0.034,1749,3219,1951,0,0,0,0,0,0
$GC,1144,-0.49,-109.5,160.2,-12.8,153,1148,0.00,1.30,0.00,0.000,4,0.000,0.030,1750,2320,1951,0,0,0,0,0,0
$GC,1205,-0.58,-109.5,167.9,-10.5,158,1212,0.00,1.48,0.00,0.000,6,0.000,0.053,1743,3231,1951,0,0,0,0,0,0
$GC,1534,-0.60,-109.5,208.6,-13.4,189,1537,0.00,1.15,0.00,0.000,4,0.000,0.060,1737,3944,1951,0,0,0,0,0,0
$GC,1627,-0.60,-109.5,222.3,-13.0,197,1635,0.00,1.08,0.00,0.000,6,0.000,0.033,1737,3225,1951,0,0,0,0,0,0
$GC,1953,-0.63,-109.5,263.1,-12.5,228,1955,0.10,0.00,0.00,0.000,6,0.113,0.000,1693,3224,1951,0,0,0,0,0,0
$GC,2272,-0.56,-109.5,315.2,-16.6,258,2276,0.12,1.15,0.00,0.000,4,0.190,0.058,1719,3944,1951,0,0,0,0,0,0
$GC,2309,-0.53,-109.5,321.6,-15.6,261,2317,0.00,1.08,0.00,0.000,6,0.000,0.034,1718,3225,1951,0,0,0,0,0,0
$GC,2634,-0.53,-109.5,371.0,-15.3,292,2638,0.00,1.15,0.00,0.000,4,0.000,0.059,1713,3953,1952,0,0,0,0,0,0
$GC,2707,-0.49,-109.5,383.4,-16.8,298,2715,0.12,1.08,0.00,0.000,6,0.186,0.034,1743,3235,1951,0,0,0,0,0,0
$GC,3037,-0.54,-109.5,428.0,-13.2,320,3041,0.00,1.12,0.00,0.000,4,0.000,0.060,1739,3950,1951,0,0,0,0,0,0
$GC,3092,-0.57,-109.5,435.9,-13.5,322,3096,0.00,1.10,0.00,0.000,6,0.000,0.034,1739,3217,1951,0,0,0,0,0,0
$GC,3414,-0.61,-109.5,478.1,-12.8,338,3417,0.00,1.17,0.00,0.000,4,0.000,0.061,1734,3958,1952,0,0,0,0,0,0
$GC,3468,-0.63,-109.5,485.7,-13.5,340,3473,0.00,1.10,0.00,0.000,6,0.000,0.037,1734,3232,1951,0,0,0,0,0,0
$GC,3790,-0.66,-109.5,525.2,-12.5,356,3794,0.12,1.15,0.00,0.000,4,0.103,0.063,1674,3944,1951,0,0,0,0,0,0
$GC,3880,-0.55,-109.5,540.9,-18.8,360,3884,0.15,1.08,0.00,0.000,6,0.171,0.036,1719,3237,1951,0,0,0,0,0,0
$GC,4211,-0.55,-109.5,585.1,-12.7,376,4212,0.00,0.00,0.00,0.000,6,0.000,0.000,1719,3237,1951,0,0,0,0,0,0
$GC,4520,-0.55,-109.5,622.7,-11.7,391,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,1719,3237,1951,0,0,0,0,0,0
$GC,4830,-0.55,-109.5,659.0,-11.8,406,4833,0.00,1.12,0.00,0.000,4,0.000,0.064,1715,3944,1951,0,0,0,0,0,0
$GC,4951,-0.55,-109.5,674.5,-12.2,411,4956,0.00,1.10,0.00,0.000,6,0.000,0.037,1715,3222,1951,0,0,0,0,0,0
$GC,5273,-0.55,-109.5,714.5,-12.7,427,5277,0.00,1.15,0.00,0.000,4,0.000,0.064,1710,3944,1951,0,0,0,0,0,0
$GC,5344,-0.55,-109.5,724.4,-13.3,430,5349,0.00,1.10,0.00,0.000,6,0.000,0.037,1710,3223,1952,0,0,0,0,0,0
$GC,5671,-0.55,-109.5,765.5,-12.5,446,5675,0.00,1.15,0.00,0.000,4,0.000,0.063,1705,3946,1951,0,0,0,0,0,0
$GC,5726,-0.52,-109.5,772.9,-13.1,448,5731,0.00,1.10,0.00,0.000,6,0.000,0.036,1705,3225,1951,0,0,0,0,0,0
$GC,6048,-0.52,-109.5,813.8,-12.5,464,6052,0.12,1.17,0.00,0.000,4,0.195,0.065,1731,3953,1951,0,0,0,0,0,0
$GC,6152,-0.56,-109.5,826.3,-12.0,468,6160,0.00,1.08,0.00,0.000,6,0.000,0.036,1731,3237,1951,0,0,0,0,0,0
$GC,6468,-0.60,-109.5,860.8,-10.9,484,6472,0.00,1.12,0.00,0.000,4,0.000,0.065,1726,3946,1951,0,0,0,0,0,0
$GC,6529,-0.63,-109.5,868.1,-12.0,486,6536,0.00,1.08,0.00,0.000,6,0.000,0.037,1726,3227,1952,0,0,0,0,0,0
$GC,6845,-0.66,-109.5,904.3,-11.6,502,6847,0.10,0.00,0.00,0.000,6,0.118,0.000,1682,3226,1952,0,0,0,0,0,0
$GC,7154,-0.62,-109.5,949.2,-14.7,517,7158,0.00,1.15,0.00,0.000,4,0.000,0.063,1676,3952,1952,0,0,0,0,0,0
$GC,7232,-0.54,-109.5,961.9,-17.6,520,7237,0.15,1.08,0.00,0.000,6,0.168,0.037,1721,3235,1952,0,0,0,0,0,0
$GC,7553,-0.58,-109.5,998.6,-11.1,536,7555,0.00,0.00,0.00,0.000,6,0.000,0.000,1721,3235,1952,0,0,0,0,0,0
$STATE,7572,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7572,begin apogee
$GC,7576,-0.09,0.0,1001.0,11.3,537,7695,0.50,0.00,111.22,1.888,6,0.152,0.000,1871,3047,1502,0,0,0,0,0,0
$STATE,7696,end apogee,CONTROL_FINISHED_OK
$STATE,7696,begin climb
$GC,7698,0.60,109.5,1003.8,0.0,543,7816,0.68,1.52,109.65,1.828,4,0.094,0.033,2098,2176,1053,0,0,0,0,0,0
$GC,7854,0.60,109.5,988.3,14.6,550,7859,0.00,1.58,0.00,0.000,6,0.000,0.051,2098,3071,1054,0,0,0,0,0,0
$GC,8176,0.56,109.5,938.5,15.7,566,8177,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,3071,1052,0,0,0,0,0,0
$GC,8486,0.51,109.5,890.8,15.8,581,8490,0.00,1.38,0.00,0.000,4,0.000,0.035,2104,2183,1051,0,0,0,0,0,0
$GC,8518,0.49,109.5,885.8,14.2,582,8523,0.12,1.45,0.00,0.000,6,0.189,0.053,2071,3064,1051,0,0,0,0,0,0
$GC,8839,0.49,109.5,841.6,13.8,598,8843,0.00,1.45,0.00,0.000,4,0.000,0.066,2071,3953,1050,0,0,0,0,0,0
$GC,8899,0.44,109.5,831.9,15.7,600,8906,0.00,1.38,0.00,0.000,6,0.000,0.034,2076,3049,1049,0,0,0,0,0,0
$GC,9214,0.44,109.5,785.1,15.2,616,9218,0.00,1.33,0.00,0.000,4,0.000,0.035,2082,2177,1049,0,0,0,0,0,0
$GC,9237,0.44,109.5,781.8,15.1,617,9241,0.10,1.42,0.00,0.000,6,0.181,0.054,2054,3054,1049,0,0,0,0,0,0
$GC,9569,0.47,109.5,735.7,13.6,633,9572,0.00,1.45,0.00,0.000,4,0.000,0.065,2054,3952,1049,0,0,0,0,0,0
$GC,9685,0.46,109.5,717.7,15.7,638,9690,0.00,1.35,0.00,0.000,6,0.000,0.034,2060,3053,1048,0,0,0,0,0,0
$GC,10013,0.48,109.5,674.5,13.1,654,10016,0.00,1.30,0.00,0.000,4,0.000,0.035,2067,2193,1047,0,0,0,0,0,0
$GC,10107,0.53,109.5,662.9,11.6,658,10111,0.00,1.40,0.00,0.000,6,0.000,0.054,2066,3057,1048,0,0,0,0,0,0
$GC,10434,0.53,109.5,620.1,13.0,674,10437,0.00,1.42,0.00,0.000,4,0.000,0.063,2066,3950,1048,0,0,0,0,0,0
$GC,10479,0.49,109.5,613.7,14.9,676,10483,0.00,1.33,0.00,0.000,6,0.000,0.034,2073,3058,1048,0,0,0,0,0,0
$GC,10811,0.49,109.5,571.0,12.6,692,10814,0.00,1.42,0.00,0.000,4,0.000,0.062,2073,3946,1048,0,0,0,0,0,0
$GC,10843,0.44,109.5,566.1,15.5,693,10848,0.10,1.33,0.00,0.000,6,0.200,0.033,2052,3058,1047,0,0,0,0,0,0
$GC,11164,0.48,109.5,529.7,11.2,709,11168,0.00,1.30,0.00,0.000,4,0.000,0.034,2058,2186,1047,0,0,0,0,0,0
$GC,11209,0.55,109.5,525.2,9.9,711,11213,0.00,1.42,0.00,0.000,6,0.000,0.054,2058,3069,1048,0,0,0,0,0,0
$GC,11542,0.58,109.5,489.7,10.4,727,11546,0.10,1.35,0.00,0.000,4,0.117,0.035,2109,2183,1047,0,0,0,0,0,0
$GC,11573,0.58,109.5,485.9,12.2,728,11578,0.00,1.45,0.00,0.000,6,0.000,0.054,2109,3070,1048,0,0,0,0,0,0
$GC,11895,0.52,109.5,443.9,12.8,744,11899,0.15,1.42,0.00,0.000,4,0.210,0.063,2075,3957,1048,0,0,0,0,0,0
$GC,11933,0.47,109.5,438.7,13.2,745,11941,0.00,1.33,0.00,0.000,6,0.000,0.034,2080,3065,1048,0,0,0,0,0,0
$GC,12249,0.47,109.5,402.0,11.9,761,12250,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,3065,1048,0,0,0,0,0,0
$GC,12567,0.47,109.5,362.0,13.3,790,12571,0.00,1.42,0.00,0.000,4,0.000,0.062,2080,3958,1047,0,0,0,0,0,0
$GC,12636,0.41,109.5,351.7,15.7,796,12640,0.15,1.35,0.00,0.000,6,0.190,0.033,2044,3054,1047,0,0,0,0,0,0
$GC,12965,0.48,109.5,312.2,12.0,827,12969,0.00,1.30,0.00,0.000,4,0.000,0.034,2050,2179,1047,0,0,0,0,0,0
$GC,13004,0.57,109.5,307.8,11.4,830,13011,0.08,1.42,0.00,0.000,6,0.067,0.054,2097,3062,1047,0,0,0,0,0,0
$GC,13332,0.54,109.5,261.5,13.6,861,13338,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,3061,1047,0,0,0,0,0,0
$GC,13658,0.50,109.5,220.2,12.7,892,13659,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,3061,1048,0,0,0,0,0,0
$GC,13976,0.47,109.5,180.8,14.1,922,13978,0.15,0.00,0.00,0.000,6,0.207,0.000,2062,3062,1047,0,0,0,0,0,0
$GC,14294,0.50,109.5,144.3,11.6,952,14298,0.00,1.33,0.00,0.000,4,0.000,0.034,2067,2176,1047,0,0,0,0,0,0
$GC,14401,0.57,109.5,132.4,9.5,961,14408,0.00,1.42,0.00,0.000,6,0.000,0.054,2067,3062,1048,0,0,0,0,0,0
$GC,14727,0.61,115.6,103.3,7.8,992,14740,0.00,1.45,2.67,0.656,4,0.000,0.060,2067,3956,1027,0,0,0,0,0,0
$GC,14752,0.63,139.6,101.7,5.8,994,14768,0.08,1.33,11.50,1.139,6,0.070,0.033,2114,3063,928,0,0,0,0,0,0
$GC,15110,0.59,139.6,56.3,13.5,1054,15116,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,3062,928,0,0,0,0,0,0
$STATE,15427,end climb,SURFACE_DEPTH_REACHED
$STATE,15427,begin surface coast
$FINISH,1.5,1.026527
$STATE,15446,end surface coast,CONTROL_FINISHED_OK
$STATE,15446,begin surface
$SM_CCo,15459,53.85,0.666,3,0,683,200.16
$SM_GC,2.03,0.00,0.00,53.85,0.000,0.000,0.666,73,3252,683,-5.71,0.62,200.16
$IRIDIUM_FIX,-4244.98,837.82,100608,121211
$TT8_MAMPS,0.027713
$HUMID,61.45
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.4,21.240
$10V_AH,10.3,11.306
$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,15.925,79.275,235.050,53.850,0.000,28.703,21.984,312.778,0.000,0.000,21.957,2781.619,9765.564,435.896,2894.490,138.347,0.000,1516.713,0.000,2484.601,0.000,0.544,0.000
$DEVICE_MAMPS,241.740,84.150,1888.020,665.550,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,770.183,782.484,784.863,71.536,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353948
$DATA_FILE_SIZE,63622,1111
$CAP_FILE_SIZE,153621,0
$CFSIZE,259252224,251412480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,150815,074531,-4305.135,835.842,80,1.0,80,-25.1