version: 66.07
glider: 543
mission: 14
dive: 103
start: 8 16 115 6 29 22
data:
$ID,543
$MISSION,14
$DIVE,103
$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,-24426.969
$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,63
$R_STBD_OVSHOOT,28
$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
$GPS1,160815,061658,-4303.095,830.799,67,1.0,67,-25.1
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-68.4
$GPS2,160815,062859,-4303.150,830.970,14,1.1,15,-25.1
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAZ_BUT1
$TGT_LATLONG,-4304.000,824.000
$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,285.6,9561,-17.1,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.43,-116.8,0.0,0.0,0,65,0.00,0.00,-48.78,0.000,2,0.000,0.000,62,3239,1840,0,0,0,0,0,0
$GC,67,-0.43,-116.8,3.3,-2.6,6,85,6.95,1.15,-3.70,0.000,4,0.234,0.077,1757,3953,1976,0,0,0,0,0,0
$GC,349,-0.32,-116.8,45.2,-15.7,53,356,0.12,1.08,0.00,0.000,6,0.156,0.034,1794,3238,1980,0,0,0,0,0,0
$GC,697,-0.32,-116.8,81.5,-8.8,114,705,0.00,1.35,0.00,0.000,4,0.000,0.031,1794,2308,1981,0,0,0,0,0,0
$GC,828,-0.34,-116.8,91.8,-8.0,136,834,0.00,1.50,0.00,0.000,6,0.000,0.053,1789,3234,1980,0,0,0,0,0,0
$GC,1158,-0.33,-116.8,124.6,-10.2,174,1162,0.00,1.12,0.00,0.000,4,0.000,0.058,1784,3950,1980,0,0,0,0,0,0
$GC,1208,-0.31,-116.8,130.2,-10.2,178,1215,0.00,1.10,0.00,0.000,6,0.000,0.033,1784,3203,1981,0,0,0,0,0,0
$GC,1535,-0.28,-116.8,161.1,-9.9,209,1539,0.00,1.17,0.00,0.000,4,0.000,0.058,1778,3946,1981,0,0,0,0,0,0
$GC,1618,-0.25,-116.8,170.0,-10.3,216,1629,0.12,1.08,0.00,0.000,6,0.135,0.033,1819,3230,1980,0,0,0,0,0,0
$GC,1944,-0.33,-116.8,190.6,-6.2,247,1947,0.00,1.30,0.00,0.000,4,0.000,0.029,1819,2312,1980,0,0,0,0,0,0
$GC,1982,-0.43,-116.8,193.2,-6.0,250,1990,0.10,1.48,0.00,0.000,6,0.052,0.052,1746,3232,1980,0,0,0,0,0,0
$GC,2309,-0.34,-116.8,230.1,-11.7,281,2314,0.17,1.12,0.00,0.000,4,0.164,0.057,1790,3943,1980,0,0,0,0,0,0
$GC,2389,-0.34,-116.8,237.4,-7.9,288,2392,0.00,1.05,0.00,0.000,6,0.000,0.034,1790,3225,1980,0,0,0,0,0,0
$GC,2719,-0.34,-116.8,263.6,-8.3,319,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,3225,1981,0,0,0,0,0,0
$GC,3042,-0.34,-116.8,290.7,-8.0,349,3045,0.00,1.12,0.00,0.000,4,0.000,0.059,1784,3940,1980,0,0,0,0,0,0
$GC,3098,-0.34,-116.8,295.9,-8.4,354,3102,0.00,1.05,0.00,0.000,6,0.000,0.034,1784,3225,1980,0,0,0,0,0,0
$GC,3430,-0.34,-116.8,320.4,-7.2,385,3431,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,3224,1980,0,0,0,0,0,0
$GC,3748,-0.34,-116.8,342.9,-7.4,415,3751,0.00,1.15,0.00,0.000,4,0.000,0.059,1779,3956,1981,0,0,0,0,0,0
$GC,3793,-0.34,-116.8,346.6,-7.8,419,3797,0.00,1.05,0.00,0.000,6,0.000,0.034,1779,3238,1981,0,0,0,0,0,0
$GC,4123,-0.34,-116.8,374.4,-8.8,450,4127,0.00,1.12,0.00,0.000,4,0.000,0.060,1774,3955,1980,0,0,0,0,0,0
$GC,4161,-0.32,-116.8,378.1,-9.4,453,4169,0.00,1.08,0.00,0.000,6,0.000,0.034,1774,3223,1980,0,0,0,0,0,0
$GC,4495,-0.29,-116.8,408.2,-9.0,481,4499,0.12,1.15,0.00,0.000,4,0.171,0.061,1803,3945,1980,0,0,0,0,0,0
$GC,4534,-0.34,-116.8,411.3,-7.2,482,4541,0.00,1.05,0.00,0.000,6,0.000,0.034,1803,3227,1980,0,0,0,0,0,0
$GC,4850,-0.39,-116.8,430.8,-6.2,498,4851,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,3227,1980,0,0,0,0,0,0
$GC,5159,-0.44,-116.8,449.6,-6.2,513,5161,0.12,0.00,0.00,0.000,6,0.091,0.000,1741,3227,1980,0,0,0,0,0,0
$GC,5468,-0.35,-116.8,485.2,-12.0,528,5472,0.17,1.15,0.00,0.000,4,0.164,0.060,1784,3947,1980,0,0,0,0,0,0
$GC,5516,-0.35,-116.8,490.0,-8.3,530,5521,0.00,1.08,0.00,0.000,6,0.000,0.034,1784,3230,1980,0,0,0,0,0,0
$GC,5844,-0.35,-116.8,513.8,-6.8,546,5848,0.00,1.15,0.00,0.000,4,0.000,0.061,1779,3945,1981,0,0,0,0,0,0
$GC,5876,-0.35,-116.8,516.4,-8.5,547,5881,0.00,1.08,0.00,0.000,6,0.000,0.034,1779,3227,1980,0,0,0,0,0,0
$GC,6198,-0.35,-116.8,539.1,-7.0,563,6202,0.00,1.30,0.00,0.000,4,0.000,0.031,1778,2321,1980,0,0,0,0,0,0
$GC,6225,-0.36,-116.8,541.2,-8.0,564,6229,0.00,1.45,0.00,0.000,6,0.000,0.055,1773,3224,1980,0,0,0,0,0,0
$GC,6554,-0.35,-116.8,566.0,-7.7,580,6558,0.00,1.15,0.00,0.000,4,0.000,0.060,1767,3958,1980,0,0,0,0,0,0
$GC,6645,-0.33,-116.8,573.4,-8.0,584,6649,0.08,1.08,0.00,0.000,6,0.144,0.036,1792,3233,1980,0,0,0,0,0,0
$GC,6977,-0.36,-116.8,592.6,-5.8,600,6981,0.00,1.33,0.00,0.000,4,0.000,0.031,1791,2317,1980,0,0,0,0,0,0
$GC,7010,-0.42,-116.8,594.6,-5.8,601,7014,0.00,1.48,0.00,0.000,6,0.000,0.055,1786,3233,1980,0,0,0,0,0,0
$GC,7332,-0.44,-116.8,614.7,-6.2,617,7335,0.00,1.12,0.00,0.000,4,0.000,0.061,1781,3950,1980,0,0,0,0,0,0
$GC,7369,-0.44,-116.8,617.5,-7.4,618,7377,0.00,1.10,0.00,0.000,6,0.000,0.035,1782,3217,1980,0,0,0,0,0,0
$GC,7686,-0.44,-116.8,638.7,-6.6,634,7690,0.00,1.17,0.00,0.000,4,0.000,0.062,1776,3958,1980,0,0,0,0,0,0
$GC,7714,-0.44,-116.8,640.9,-8.1,635,7718,0.00,1.08,0.00,0.000,6,0.000,0.036,1776,3234,1980,0,0,0,0,0,0
$GC,8041,-0.44,-116.8,663.8,-7.1,651,8042,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,3234,1981,0,0,0,0,0,0
$GC,8350,-0.44,-116.8,685.9,-7.3,666,8353,0.00,1.15,0.00,0.000,4,0.000,0.062,1770,3958,1980,0,0,0,0,0,0
$GC,8382,-0.44,-116.8,688.7,-8.5,667,8387,0.00,1.10,0.00,0.000,6,0.000,0.035,1770,3228,1980,0,0,0,0,0,0
$GC,8704,-0.44,-116.8,713.3,-7.6,683,8705,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,3229,1980,0,0,0,0,0,0
$GC,9013,-0.44,-116.8,736.2,-7.2,698,9014,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,3228,1980,0,0,0,0,0,0
$GC,9322,-0.44,-116.8,756.5,-6.6,713,9326,0.00,1.15,0.00,0.000,4,0.000,0.062,1765,3956,1980,0,0,0,0,0,0
$GC,9361,-0.42,-116.8,759.4,-7.9,714,9368,0.00,1.08,0.00,0.000,6,0.000,0.036,1765,3233,1980,0,0,0,0,0,0
$GC,9677,-0.40,-116.8,782.7,-7.9,730,9678,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,3233,1980,0,0,0,0,0,0
$GC,9987,-0.39,-116.8,807.0,-7.6,745,9990,0.00,1.15,0.00,0.000,4,0.000,0.062,1760,3958,1980,0,0,0,0,0,0
$GC,10036,-0.36,-116.8,811.6,-8.8,747,10040,0.00,1.10,0.00,0.000,6,0.000,0.036,1760,3220,1980,0,0,0,0,0,0
$GC,10364,-0.33,-116.8,838.4,-8.4,763,10365,0.12,0.00,0.00,0.000,6,0.175,0.000,1792,3220,1980,0,0,0,0,0,0
$GC,10673,-0.39,-116.8,855.8,-5.4,778,10677,0.00,1.17,0.00,0.000,4,0.000,0.063,1788,3958,1980,0,0,0,0,0,0
$GC,10706,-0.43,-116.8,857.9,-5.6,779,10710,0.00,1.08,0.00,0.000,6,0.000,0.036,1788,3237,1980,0,0,0,0,0,0
$GC,11028,-0.48,-116.8,877.2,-6.4,795,11032,0.12,1.35,0.00,0.000,4,0.099,0.032,1731,2323,1980,0,0,0,0,0,0
$GC,11055,-0.46,-116.8,879.9,-9.3,796,11059,0.08,1.48,0.00,0.000,6,0.142,0.056,1749,3233,1981,0,0,0,0,0,0
$GC,11383,-0.42,-116.8,911.4,-10.0,812,11386,0.00,1.12,0.00,0.000,4,0.000,0.062,1746,3951,1980,0,0,0,0,0,0
$GC,11454,-0.36,-116.8,919.3,-10.9,815,11459,0.15,1.10,0.00,0.000,6,0.167,0.035,1788,3223,1980,0,0,0,0,0,0
$GC,11782,-0.41,-116.8,942.0,-6.8,831,11785,0.00,1.30,0.00,0.000,4,0.000,0.032,1788,2326,1980,0,0,0,0,0,0
$GC,11820,-0.49,-116.8,944.7,-5.8,832,11828,0.08,1.48,0.00,0.000,6,0.065,0.057,1733,3237,1980,0,0,0,0,0,0
$GC,12136,-0.41,-116.8,977.9,-10.8,848,12140,0.12,1.15,0.00,0.000,4,0.172,0.063,1761,3956,1980,0,0,0,0,0,0
$GC,12207,-0.41,-116.8,985.0,-8.6,851,12211,0.00,1.08,0.00,0.000,6,0.000,0.036,1761,3233,1980,0,0,0,0,0,0
$STATE,12388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12388,begin apogee
$GC,12392,-0.09,0.0,1000.4,8.4,860,12519,0.38,0.00,123.65,1.926,6,0.138,0.000,1874,3060,1499,0,0,0,0,0,0
$STATE,12520,end apogee,CONTROL_FINISHED_OK
$STATE,12520,begin climb
$GC,12522,0.43,116.8,1003.3,0.0,866,12649,0.50,1.48,117.78,1.867,4,0.093,0.031,2046,2179,1022,0,0,0,0,0,0
$GC,12721,0.38,116.8,986.6,10.4,875,12725,0.00,1.52,0.00,0.000,6,0.000,0.051,2046,3056,1019,0,0,0,0,0,0
$GC,13048,0.29,116.8,945.1,12.5,891,13050,0.17,0.00,0.00,0.000,6,0.179,0.000,2002,3056,1017,0,0,0,0,0,0
$GC,13358,0.27,116.8,915.7,9.3,906,13362,0.00,1.35,0.00,0.000,4,0.000,0.033,2008,2178,1016,0,0,0,0,0,0
$GC,13403,0.28,125.3,911.7,8.1,908,13417,0.00,1.45,7.82,1.609,6,0.000,0.054,2008,3058,987,0,0,0,0,0,0
$GC,13734,0.26,125.3,877.9,10.4,924,13735,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,3058,988,0,0,0,0,0,0
$GC,14043,0.24,125.3,844.5,10.8,939,14044,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,3058,987,0,0,0,0,0,0
$GC,14352,0.22,125.3,812.1,10.2,954,14354,0.12,0.00,0.00,0.000,6,0.179,0.000,1977,3058,987,0,0,0,0,0,0
$GC,14662,0.28,140.3,787.8,7.8,969,14682,0.00,0.00,15.38,1.740,6,0.000,0.000,1977,3058,926,0,0,0,0,0,0
$GC,14991,0.37,169.0,763.7,7.1,985,15026,0.15,1.45,28.38,1.755,4,0.092,0.035,2044,2179,808,0,0,0,0,0,0
$GC,15056,0.35,169.0,757.0,10.6,988,15059,0.00,1.50,0.00,0.000,6,0.000,0.053,2044,3063,808,0,0,0,0,0,0
$GC,15388,0.29,169.0,717.0,11.8,1004,15392,0.15,1.40,0.00,0.000,4,0.170,0.036,2010,2178,807,0,0,0,0,0,0
$GC,15448,0.36,194.0,711.8,7.3,1006,15477,0.00,1.45,24.15,1.706,6,0.000,0.053,2011,3056,708,0,0,0,0,0,0
$GC,15785,0.39,194.0,682.9,8.6,1023,15789,0.00,1.38,0.00,0.000,4,0.000,0.034,2017,2172,707,0,0,0,0,0,0
$GC,15823,0.45,205.6,679.4,8.0,1024,15839,0.00,1.48,12.10,1.614,6,0.000,0.053,2017,3062,660,0,0,0,0,0,0
$GC,16156,0.47,205.6,648.4,9.4,1041,16160,0.12,1.40,0.00,0.000,4,0.098,0.035,2082,2170,660,0,0,0,0,0,0
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$STATE,21813,end climb,SURFACE_DEPTH_REACHED
$STATE,21813,begin surface coast
$FINISH,1.3,1.021923
$STATE,21839,end surface coast,CONTROL_FINISHED_OK
$STATE,21839,begin surface
$SM_CCo,21911,0.00,0.000,0,0,660,206.05
$SM_GC,2.64,5.18,0.00,0.00,0.037,0.000,0.000,69,3237,660,-5.64,0.23,206.05
$IRIDIUM_FIX,-4247.91,831.99,110608,191915
$TT8_MAMPS,0.027713
$HUMID,62.32
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.3,22.147
$10V_AH,10.2,11.943
$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,15.775,112.975,329.250,0.000,0.000,62.697,99.429,374.583,0.000,0.000,16.725,3829.635,14254.883,471.036,3863.459,201.267,0.000,1907.246,0.000,3291.662,0.000,0.545,0.000
$DEVICE_MAMPS,234.090,77.265,1926.270,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1068.503,1092.958,1028.712,91.278,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353936
$DATA_FILE_SIZE,86893,1539
$CAP_FILE_SIZE,212631,0
$CFSIZE,259252224,250900480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,160815,123534,-4302.645,828.336,28,1.1,28,-25.0