version: 66.07
glider: 543
mission: 14
dive: 105
start: 8 16 115 18 58 3
data:
$ID,543
$MISSION,14
$DIVE,105
$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,-24433.754
$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,51
$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
$GPS1,160815,184603,-4302.903,825.868,75,0.8,76,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-69.9
$GPS2,160815,185740,-4302.954,825.987,18,1.2,18,-25.0
$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,259.2,3314,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.54,-49.8,0.0,0.0,0,64,0.00,0.00,-44.90,0.000,6,0.000,0.000,63,3242,1706,0,0,0,0,0,0
$GC,66,-0.60,-108.9,3.0,-1.8,6,84,6.57,1.17,-7.50,0.000,4,0.226,0.082,1701,3955,1944,0,0,0,0,0,0
$GC,309,-0.50,-108.9,46.3,-18.6,46,317,0.12,1.08,0.00,0.000,6,0.163,0.033,1738,3230,1948,0,0,0,0,0,0
$GC,658,-0.50,-108.9,97.5,-13.9,107,665,0.00,1.17,0.00,0.000,4,0.000,0.057,1734,3955,1948,0,0,0,0,0,0
$GC,739,-0.49,-108.9,110.2,-16.8,116,743,0.00,1.08,0.00,0.000,6,0.000,0.033,1734,3223,1948,0,0,0,0,0,0
$GC,1069,-0.49,-108.9,156.2,-13.5,147,1073,0.00,1.15,0.00,0.000,4,0.000,0.056,1729,3953,1948,0,0,0,0,0,0
$GC,1140,-0.49,-108.9,166.3,-14.2,153,1148,0.00,1.08,0.00,0.000,6,0.000,0.032,1728,3227,1948,0,0,0,0,0,0
$GC,1466,-0.49,-108.9,209.2,-12.9,184,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,1729,3227,1948,0,0,0,0,0,0
$GC,1785,-0.49,-108.9,247.8,-12.1,214,1789,0.00,1.12,0.00,0.000,4,0.000,0.056,1724,3945,1948,0,0,0,0,0,0
$GC,1972,-0.47,-108.9,273.3,-13.0,230,1979,0.00,1.05,0.00,0.000,6,0.000,0.032,1724,3233,1948,0,0,0,0,0,0
$GC,2299,-0.47,-108.9,312.4,-12.7,261,2302,0.00,1.12,0.00,0.000,4,0.000,0.057,1719,3953,1948,0,0,0,0,0,0
$GC,2348,-0.46,-108.9,318.9,-13.7,265,2352,0.10,1.05,0.00,0.000,6,0.155,0.032,1750,3236,1948,0,0,0,0,0,0
$GC,2677,-0.52,-108.9,357.5,-11.7,296,2681,0.00,1.12,0.00,0.000,4,0.000,0.057,1746,3953,1948,0,0,0,0,0,0
$GC,2716,-0.57,-108.9,362.6,-12.4,299,2723,0.00,1.08,0.00,0.000,6,0.000,0.032,1746,3224,1948,0,0,0,0,0,0
$GC,3041,-0.63,-108.9,401.0,-11.5,330,3043,0.12,0.00,0.00,0.000,6,0.099,0.000,1689,3224,1948,0,0,0,0,0,0
$GC,3351,-0.57,-108.9,449.8,-15.9,345,3355,0.12,1.15,0.00,0.000,4,0.187,0.057,1715,3947,1948,0,0,0,0,0,0
$GC,3440,-0.55,-108.9,463.3,-15.1,349,3444,0.00,1.05,0.00,0.000,6,0.000,0.034,1715,3227,1948,0,0,0,0,0,0
$GC,3772,-0.55,-108.9,508.3,-13.1,365,3776,0.00,1.12,0.00,0.000,4,0.000,0.057,1710,3946,1948,0,0,0,0,0,0
$GC,3817,-0.52,-108.9,514.9,-14.7,367,3821,0.00,1.05,0.00,0.000,6,0.000,0.033,1710,3229,1948,0,0,0,0,0,0
$GC,4149,-0.52,-108.9,560.7,-13.3,383,4153,0.00,1.12,0.00,0.000,4,0.000,0.058,1705,3946,1948,0,0,0,0,0,0
$GC,4243,-0.48,-108.9,574.8,-15.0,387,4248,0.12,1.05,0.00,0.000,6,0.164,0.034,1742,3233,1948,0,0,0,0,0,0
$GC,4572,-0.54,-108.9,611.2,-11.1,403,4575,0.00,1.12,0.00,0.000,4,0.000,0.059,1738,3949,1948,0,0,0,0,0,0
$GC,4617,-0.58,-108.9,616.5,-11.3,405,4621,0.00,1.05,0.00,0.000,6,0.000,0.034,1738,3231,1948,0,0,0,0,0,0
$GC,4949,-0.64,-108.9,653.4,-11.0,421,4953,0.12,1.15,0.00,0.000,4,0.101,0.060,1676,3951,1948,0,0,0,0,0,0
$GC,5009,-0.55,-108.9,662.7,-16.0,423,5017,0.15,1.05,0.00,0.000,6,0.166,0.034,1721,3238,1948,0,0,0,0,0,0
$GC,5325,-0.57,-108.9,703.3,-12.5,439,5329,0.00,1.12,0.00,0.000,4,0.000,0.060,1717,3955,1948,0,0,0,0,0,0
$GC,5362,-0.57,-108.9,708.5,-13.3,440,5370,0.00,1.10,0.00,0.000,6,0.000,0.033,1717,3216,1948,0,0,0,0,0,0
$GC,5679,-0.59,-108.9,748.5,-12.7,456,5683,0.00,1.15,0.00,0.000,4,0.000,0.060,1712,3949,1948,0,0,0,0,0,0
$GC,5746,-0.59,-108.9,758.0,-14.6,459,5750,0.00,1.05,0.00,0.000,6,0.000,0.035,1712,3233,1948,0,0,0,0,0,0
$GC,6078,-0.59,-108.9,800.1,-12.0,475,6082,0.00,1.12,0.00,0.000,4,0.000,0.060,1707,3950,1948,0,0,0,0,0,0
$GC,6177,-0.59,-108.9,813.4,-13.2,479,6182,0.00,1.08,0.00,0.000,6,0.000,0.034,1706,3230,1948,0,0,0,0,0,0
$GC,6499,-0.59,-108.9,851.7,-11.7,495,6501,0.00,0.00,0.00,0.000,6,0.000,0.000,1707,3230,1948,0,0,0,0,0,0
$GC,6808,-0.59,-108.9,887.3,-11.7,510,6812,0.00,1.15,0.00,0.000,4,0.000,0.060,1701,3946,1948,0,0,0,0,0,0
$GC,6846,-0.57,-108.9,892.3,-13.1,511,6854,0.00,1.08,0.00,0.000,6,0.000,0.034,1701,3226,1948,0,0,0,0,0,0
$GC,7162,-0.57,-108.9,931.9,-12.6,527,7166,0.00,1.15,0.00,0.000,4,0.000,0.060,1696,3956,1948,0,0,0,0,0,0
$GC,7235,-0.54,-108.9,942.0,-14.0,530,7239,0.08,1.08,0.00,0.000,6,0.172,0.035,1718,3235,1948,0,0,0,0,0,0
$GC,7561,-0.58,-108.9,979.9,-11.3,546,7562,0.00,0.00,0.00,0.000,6,0.000,0.000,1719,3234,1948,0,0,0,0,0,0
$STATE,7745,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7745,begin apogee
$GC,7749,-0.09,0.0,1000.7,11.1,555,7868,0.50,0.00,115.85,1.910,6,0.149,0.000,1869,3061,1498,0,0,0,0,0,0
$STATE,7869,end apogee,CONTROL_FINISHED_OK
$STATE,7869,begin climb
$GC,7870,0.60,108.9,1003.7,0.0,561,7989,0.68,1.55,109.57,1.842,4,0.093,0.033,2097,2184,1055,0,0,0,0,0,0
$GC,8062,0.60,108.9,982.4,14.5,570,8066,0.00,1.52,0.00,0.000,6,0.000,0.051,2097,3060,1051,0,0,0,0,0,0
$GC,8395,0.56,108.9,928.4,16.6,586,8396,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,3060,1049,0,0,0,0,0,0
$GC,8704,0.52,108.9,875.8,17.4,601,8707,0.00,1.38,0.00,0.000,4,0.000,0.035,2103,2172,1047,0,0,0,0,0,0
$GC,8730,0.49,108.9,871.4,15.7,602,8735,0.12,1.48,0.00,0.000,6,0.187,0.051,2069,3071,1047,0,0,0,0,0,0
$GC,9057,0.49,108.9,821.9,14.9,618,9061,0.00,1.40,0.00,0.000,4,0.000,0.034,2075,2166,1047,0,0,0,0,0,0
$GC,9129,0.53,108.9,812.2,12.9,621,9133,0.00,1.45,0.00,0.000,6,0.000,0.053,2075,3057,1046,0,0,0,0,0,0
$GC,9456,0.53,108.9,766.1,13.9,637,9457,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,3057,1046,0,0,0,0,0,0
$GC,9765,0.53,108.9,723.1,14.1,652,9769,0.00,1.45,0.00,0.000,4,0.000,0.061,2074,3954,1046,0,0,0,0,0,0
$GC,9816,0.47,108.9,715.3,15.8,654,9820,0.00,1.35,0.00,0.000,6,0.000,0.034,2082,3052,1045,0,0,0,0,0,0
$GC,10143,0.45,108.9,669.8,13.9,670,10146,0.00,1.33,0.00,0.000,4,0.000,0.034,2088,2182,1046,0,0,0,0,0,0
$GC,10174,0.45,108.9,665.5,11.9,671,10180,0.15,1.45,0.00,0.000,6,0.192,0.051,2052,3067,1045,0,0,0,0,0,0
$GC,10497,0.49,108.9,628.4,11.7,687,10500,0.00,1.42,0.00,0.000,4,0.000,0.060,2052,3955,1045,0,0,0,0,0,0
$GC,10523,0.49,108.9,624.8,12.6,688,10528,0.00,1.35,0.00,0.000,6,0.000,0.032,2057,3057,1045,0,0,0,0,0,0
$GC,10851,0.51,108.9,586.5,11.8,704,10854,0.00,1.33,0.00,0.000,4,0.000,0.034,2064,2185,1045,0,0,0,0,0,0
$GC,10877,0.56,108.9,583.3,10.5,705,10882,0.00,1.42,0.00,0.000,6,0.000,0.053,2065,3062,1045,0,0,0,0,0,0
$GC,11205,0.58,108.9,543.6,12.4,721,11209,0.00,1.35,0.00,0.000,4,0.000,0.035,2071,2177,1045,0,0,0,0,0,0
$GC,11231,0.62,108.9,540.2,11.8,722,11236,0.00,1.42,0.00,0.000,6,0.000,0.052,2071,3060,1045,0,0,0,0,0,0
$GC,11558,0.62,108.9,499.2,12.6,738,11560,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,3059,1045,0,0,0,0,0,0
$GC,11868,0.62,108.9,460.1,12.6,753,11869,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,3059,1045,0,0,0,0,0,0
$GC,12177,0.62,108.9,420.6,12.7,768,12181,0.00,1.33,0.00,0.000,4,0.000,0.035,2077,2181,1045,0,0,0,0,0,0
$GC,12203,0.65,108.9,417.4,12.3,769,12208,0.08,1.42,0.00,0.000,6,0.068,0.053,2121,3066,1045,0,0,0,0,0,0
$GC,12525,0.57,108.9,364.0,17.0,794,12529,0.12,1.40,0.00,0.000,4,0.216,0.058,2093,3952,1045,0,0,0,0,0,0
$GC,12563,0.49,108.9,358.0,17.1,797,12567,0.10,1.33,0.00,0.000,6,0.207,0.033,2070,3054,1044,0,0,0,0,0,0
$GC,12892,0.49,108.9,311.5,13.5,828,12896,0.00,1.30,0.00,0.000,4,0.000,0.034,2076,2184,1044,0,0,0,0,0,0
$GC,12942,0.54,108.9,305.1,11.9,832,12951,0.00,1.40,0.00,0.000,6,0.000,0.053,2076,3060,1044,0,0,0,0,0,0
$GC,13267,0.54,108.9,261.3,13.6,863,13271,0.00,1.33,0.00,0.000,4,0.000,0.034,2083,2176,1044,0,0,0,0,0,0
$GC,13302,0.57,108.9,257.3,11.5,866,13305,0.00,1.42,0.00,0.000,6,0.000,0.053,2083,3065,1044,0,0,0,0,0,0
$GC,13635,0.57,108.9,215.3,12.4,897,13639,0.00,1.40,0.00,0.000,4,0.000,0.060,2083,3951,1044,0,0,0,0,0,0
$GC,13729,0.50,108.9,201.1,14.2,905,13737,0.00,1.33,0.00,0.000,6,0.000,0.032,2090,3054,1044,0,0,0,0,0,0
$GC,14055,0.49,108.9,158.7,13.0,936,14056,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,3054,1044,0,0,0,0,0,0
$GC,14374,0.49,108.9,116.8,12.8,966,14375,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,3054,1044,0,0,0,0,0,0
$GC,14704,0.49,108.9,76.4,10.6,1013,14711,0.00,1.42,0.00,0.000,4,0.000,0.059,2090,3945,1044,0,0,0,0,0,0
$GC,14779,0.41,108.9,66.4,15.1,1026,14789,0.20,1.30,0.00,0.000,6,0.185,0.031,2039,3056,1044,0,0,0,0,0,0
$GC,15136,0.50,108.9,30.6,10.9,1087,15144,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,3056,1044,0,0,0,0,0,0
$GC,15288,0.60,108.9,14.1,9.6,1112,15297,0.17,0.00,0.00,0.000,6,0.080,0.000,2118,3056,1044,0,0,0,0,0,0
$GC,15346,0.54,108.9,5.9,16.3,1121,15355,0.15,0.00,0.00,0.000,6,0.200,0.000,2082,3055,1044,0,0,0,0,0,0
$STATE,15368,end climb,SURFACE_DEPTH_REACHED
$STATE,15368,begin surface coast
$FINISH,1.4,1.026550
$STATE,15387,end surface coast,CONTROL_FINISHED_OK
$STATE,15387,begin surface
$SM_CCo,15400,53.47,0.359,1,0,682,200.16
$SM_GC,2.18,0.00,0.00,53.47,0.000,0.000,0.359,58,3244,682,-5.77,0.40,200.16
$IRIDIUM_FIX,-4247.91,826.16,120608,080804
$TT8_MAMPS,0.026964
$HUMID,61.85
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.4,22.493
$10V_AH,10.2,12.182
$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,15.300,74.825,225.425,53.475,0.000,51.190,126.227,331.421,0.000,0.000,21.398,2809.723,9732.343,404.563,3047.969,153.716,0.000,1478.714,0.000,2507.651,0.000,0.545,0.000
$DEVICE_MAMPS,225.675,81.855,1910.205,358.785,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,780.676,792.521,840.953,82.997,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354000
$DATA_FILE_SIZE,63684,1127
$CAP_FILE_SIZE,152297,0
$CFSIZE,259252224,250789888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,160815,231729,-4303.480,824.306,73,1.2,73,-25.0