version: 66.07
glider: 543
mission: 14
dive: 106
start: 8 16 115 23 39 32
data:
$ID,543
$MISSION,14
$DIVE,106
$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,-24436.811
$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,61
$R_STBD_OVSHOOT,29
$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
$GPS1,160815,231729,-4303.480,824.306,73,1.2,73,-25.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-72.8
$GPS2,160815,233910,-4303.558,824.568,20,1.0,20,-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,248.2,1124,-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,-43.65,0.000,6,0.000,0.000,57,3245,1705,0,0,0,0,0,0
$GC,68,-0.59,-103.7,3.2,-2.3,6,86,6.57,1.17,-6.57,0.000,4,0.225,0.080,1701,3955,1923,0,0,0,0,0,0
$GC,254,-0.47,-103.7,39.5,-18.4,36,263,0.15,1.08,0.00,0.000,6,0.173,0.032,1743,3241,1926,0,0,0,0,0,0
$GC,402,-0.47,-103.7,60.6,-13.9,61,408,0.00,0.00,0.00,0.000,6,0.000,0.000,1743,3241,1926,0,0,0,0,0,0
$GC,752,-0.47,-103.7,108.7,-15.2,118,755,0.00,1.12,0.00,0.000,4,0.000,0.056,1739,3949,1926,0,0,0,0,0,0
$GC,887,-0.47,-103.7,129.4,-14.5,130,891,0.00,1.08,0.00,0.000,6,0.000,0.032,1739,3221,1926,0,0,0,0,0,0
$GC,1220,-0.47,-103.7,173.8,-12.6,161,1224,0.00,1.15,0.00,0.000,4,0.000,0.056,1734,3949,1926,0,0,0,0,0,0
$GC,1269,-0.47,-103.7,181.3,-13.9,165,1277,0.00,1.08,0.00,0.000,6,0.000,0.032,1734,3229,1926,0,0,0,0,0,0
$GC,1594,-0.47,-103.7,225.8,-13.6,196,1598,0.00,1.12,0.00,0.000,4,0.000,0.057,1729,3944,1926,0,0,0,0,0,0
$GC,1639,-0.47,-103.7,232.2,-14.0,200,1643,0.00,1.05,0.00,0.000,6,0.000,0.033,1729,3225,1926,0,0,0,0,0,0
$GC,1969,-0.47,-103.7,277.1,-12.9,231,1972,0.00,1.15,0.00,0.000,4,0.000,0.056,1724,3956,1926,0,0,0,0,0,0
$GC,1995,-0.47,-103.7,280.9,-13.6,233,2003,0.00,1.08,0.00,0.000,6,0.000,0.032,1723,3232,1926,0,0,0,0,0,0
$GC,2321,-0.47,-103.7,322.9,-13.0,264,2324,0.00,1.12,0.00,0.000,4,0.000,0.057,1718,3948,1926,0,0,0,0,0,0
$GC,2370,-0.43,-103.7,330.1,-15.0,268,2380,0.17,1.08,0.00,0.000,6,0.175,0.031,1769,3225,1926,0,0,0,0,0,0
$GC,2697,-0.53,-103.7,359.3,-8.8,299,2701,0.12,1.15,0.00,0.000,4,0.099,0.059,1709,3945,1926,0,0,0,0,0,0
$GC,2799,-0.48,-103.7,373.3,-14.0,308,2803,0.10,1.05,0.00,0.000,6,0.164,0.033,1740,3232,1926,0,0,0,0,0,0
$GC,3126,-0.52,-103.7,409.2,-10.6,335,3127,0.00,0.00,0.00,0.000,6,0.000,0.000,1739,3232,1926,0,0,0,0,0,0
$GC,3435,-0.56,-103.7,443.7,-11.4,350,3439,0.00,1.12,0.00,0.000,4,0.000,0.058,1736,3949,1926,0,0,0,0,0,0
$GC,3503,-0.57,-103.7,451.7,-12.1,353,3507,0.00,1.05,0.00,0.000,6,0.000,0.033,1736,3229,1926,0,0,0,0,0,0
$GC,3835,-0.60,-103.7,491.0,-12.1,369,3836,0.00,0.00,0.00,0.000,6,0.000,0.000,1736,3228,1926,0,0,0,0,0,0
$GC,4144,-0.63,-103.7,530.2,-12.8,384,4149,0.10,1.15,0.00,0.000,4,0.116,0.059,1685,3949,1926,0,0,0,0,0,0
$GC,4328,-0.54,-103.7,563.0,-17.9,392,4334,0.17,1.08,0.00,0.000,6,0.184,0.034,1729,3228,1926,0,0,0,0,0,0
$GC,4656,-0.56,-103.7,605.0,-12.4,408,4657,0.00,0.00,0.00,0.000,6,0.000,0.000,1729,3228,1927,0,0,0,0,0,0
$GC,4965,-0.59,-103.7,643.7,-12.2,423,4968,0.00,1.12,0.00,0.000,4,0.000,0.059,1725,3942,1927,0,0,0,0,0,0
$GC,5032,-0.59,-103.7,652.5,-12.5,426,5036,0.00,1.05,0.00,0.000,6,0.000,0.034,1725,3228,1927,0,0,0,0,0,0
$GC,5364,-0.61,-103.7,693.4,-12.5,442,5368,0.00,1.12,0.00,0.000,4,0.000,0.059,1720,3945,1927,0,0,0,0,0,0
$GC,5409,-0.61,-103.7,699.4,-14.3,444,5412,0.00,1.05,0.00,0.000,6,0.000,0.034,1720,3230,1927,0,0,0,0,0,0
$GC,5742,-0.61,-103.7,740.1,-12.0,460,5746,0.00,1.12,0.00,0.000,4,0.000,0.060,1715,3947,1927,0,0,0,0,0,0
$GC,5797,-0.59,-103.7,747.9,-14.3,462,5802,0.00,1.05,0.00,0.000,6,0.000,0.034,1715,3232,1926,0,0,0,0,0,0
$GC,6118,-0.59,-103.7,791.2,-13.2,478,6122,0.00,1.12,0.00,0.000,4,0.000,0.059,1710,3948,1927,0,0,0,0,0,0
$GC,6190,-0.57,-103.7,801.5,-14.7,481,6194,0.00,1.05,0.00,0.000,6,0.000,0.034,1710,3230,1927,0,0,0,0,0,0
$GC,6517,-0.57,-103.7,842.5,-12.4,497,6521,0.00,1.15,0.00,0.000,4,0.000,0.060,1704,3946,1927,0,0,0,0,0,0
$GC,6594,-0.54,-103.7,853.2,-14.2,500,6599,0.00,1.08,0.00,0.000,6,0.000,0.034,1704,3225,1927,0,0,0,0,0,0
$GC,6916,-0.54,-103.7,895.1,-13.1,516,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,1704,3225,1927,0,0,0,0,0,0
$GC,7225,-0.54,-103.7,935.2,-13.0,531,7229,0.00,1.15,0.00,0.000,4,0.000,0.060,1699,3956,1927,0,0,0,0,0,0
$GC,7280,-0.50,-103.7,943.1,-14.1,533,7285,0.15,1.08,0.00,0.000,6,0.187,0.034,1736,3236,1927,0,0,0,0,0,0
$GC,7601,-0.57,-103.7,976.8,-10.3,549,7602,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3236,1927,0,0,0,0,0,0
$STATE,7826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7826,begin apogee
$GC,7830,-0.09,0.0,1001.2,10.9,560,7942,0.45,0.00,108.93,1.905,6,0.146,0.000,1872,3063,1498,0,0,0,0,0,0
$STATE,7943,end apogee,CONTROL_FINISHED_OK
$STATE,7943,begin climb
$GC,7945,0.59,103.7,1004.5,0.0,565,8058,0.68,1.55,104.70,1.844,4,0.093,0.031,2099,2180,1076,0,0,0,0,0,0
$GC,8130,0.59,103.7,986.1,14.1,573,8138,0.00,1.55,0.00,0.000,6,0.000,0.050,2099,3062,1074,0,0,0,0,0,0
$GC,8446,0.54,103.7,938.2,15.2,589,8450,0.00,1.38,0.00,0.000,4,0.000,0.034,2105,2186,1071,0,0,0,0,0,0
$GC,8501,0.52,103.7,930.3,14.5,591,8506,0.10,1.45,0.00,0.000,6,0.189,0.051,2079,3067,1070,0,0,0,0,0,0
$GC,8823,0.51,103.7,885.3,14.6,607,8824,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,3067,1070,0,0,0,0,0,0
$GC,9132,0.49,103.7,840.3,14.7,622,9136,0.00,1.38,0.00,0.000,4,0.000,0.034,2084,2174,1070,0,0,0,0,0,0
$GC,9158,0.49,103.7,836.5,13.2,623,9162,0.00,1.45,0.00,0.000,6,0.000,0.052,2084,3063,1069,0,0,0,0,0,0
$GC,9485,0.46,103.7,785.7,16.1,639,9489,0.00,1.42,0.00,0.000,4,0.000,0.060,2084,3952,1069,0,0,0,0,0,0
$GC,9568,0.38,103.7,770.8,18.4,642,9576,0.20,1.35,0.00,0.000,6,0.200,0.033,2037,3050,1068,0,0,0,0,0,0
$GC,9884,0.44,103.7,732.0,12.1,658,9886,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,3050,1068,0,0,0,0,0,0
$GC,10194,0.50,103.7,694.9,11.7,673,10195,0.00,0.00,0.00,0.000,6,0.000,0.000,2036,3050,1068,0,0,0,0,0,0
$GC,10503,0.56,103.7,659.7,11.4,688,10505,0.15,0.00,0.00,0.000,6,0.093,0.000,2096,3050,1068,0,0,0,0,0,0
$GC,10812,0.52,103.7,614.6,14.3,703,10813,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,3050,1068,0,0,0,0,0,0
$GC,11122,0.48,103.7,572.7,13.2,718,11124,0.15,0.00,0.00,0.000,6,0.200,0.000,2061,3050,1068,0,0,0,0,0,0
$GC,11431,0.50,103.7,541.0,9.9,733,11432,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,3050,1067,0,0,0,0,0,0
$GC,11740,0.52,103.7,511.0,9.8,748,11744,0.00,1.45,0.00,0.000,4,0.000,0.060,2060,3949,1067,0,0,0,0,0,0
$GC,11780,0.49,103.7,506.5,12.0,749,11787,0.00,1.33,0.00,0.000,6,0.000,0.034,2066,3058,1067,0,0,0,0,0,0
$GC,12095,0.49,103.7,473.4,10.4,765,12096,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,3058,1067,0,0,0,0,0,0
$GC,12404,0.49,103.7,440.1,11.0,780,12408,0.00,1.33,0.00,0.000,4,0.000,0.034,2072,2179,1067,0,0,0,0,0,0
$GC,12431,0.53,103.7,437.2,9.6,781,12435,0.00,1.42,0.00,0.000,6,0.000,0.054,2072,3062,1066,0,0,0,0,0,0
$GC,12758,0.53,103.7,399.0,12.1,797,12759,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,3062,1067,0,0,0,0,0,0
$GC,13077,0.53,103.7,360.5,12.2,827,13081,0.00,1.33,0.00,0.000,4,0.000,0.034,2079,2185,1067,0,0,0,0,0,0
$GC,13115,0.57,103.7,356.0,10.9,830,13123,0.00,1.40,0.00,0.000,6,0.000,0.054,2079,3053,1067,0,0,0,0,0,0
$GC,13443,0.57,103.7,315.2,12.1,861,13446,0.00,1.42,0.00,0.000,4,0.000,0.060,2079,3948,1067,0,0,0,0,0,0
$GC,13535,0.50,103.7,301.8,16.6,869,13539,0.00,1.30,0.00,0.000,6,0.000,0.033,2086,3060,1066,0,0,0,0,0,0
$GC,13865,0.49,103.7,259.1,12.3,900,13869,0.00,1.30,0.00,0.000,4,0.000,0.034,2092,2186,1066,0,0,0,0,0,0
$GC,13925,0.51,103.7,252.3,11.6,905,13928,0.00,1.40,0.00,0.000,6,0.000,0.054,2092,3057,1066,0,0,0,0,0,0
$GC,14255,0.48,103.7,208.6,13.4,936,14259,0.12,1.42,0.00,0.000,4,0.200,0.058,2063,3958,1066,0,0,0,0,0,0
$GC,14304,0.45,103.7,201.6,14.8,940,14314,0.00,1.33,0.00,0.000,6,0.000,0.032,2068,3054,1066,0,0,0,0,0,0
$GC,14631,0.47,103.7,164.8,11.4,971,14635,0.00,1.30,0.00,0.000,4,0.000,0.034,2075,2178,1066,0,0,0,0,0,0
$GC,14873,0.53,103.7,139.6,10.0,992,14883,0.00,1.40,0.00,0.000,6,0.000,0.051,2075,3056,1066,0,0,0,0,0,0
$GC,15198,0.53,103.7,106.6,9.4,1023,15202,0.00,1.33,0.00,0.000,4,0.000,0.034,2082,2175,1066,0,0,0,0,0,0
$GC,15233,0.58,105.9,103.5,8.3,1026,15237,0.00,1.42,0.00,0.000,6,0.000,0.053,2082,3066,1067,0,0,0,0,0,0
$GC,15578,0.58,105.9,63.7,13.3,1083,15586,0.00,1.33,0.00,0.000,4,0.000,0.031,2088,2167,1067,0,0,0,0,0,0
$GC,15623,0.61,105.9,58.9,10.9,1090,15630,0.00,1.42,0.00,0.000,6,0.000,0.051,2088,3064,1067,0,0,0,0,0,0
$GC,15981,0.61,105.9,11.2,12.6,1151,15989,0.00,1.40,0.00,0.000,4,0.000,0.059,2088,3953,1066,0,0,0,0,0,0
$STATE,16037,end climb,SURFACE_DEPTH_REACHED
$STATE,16037,begin surface coast
$FINISH,1.8,1.026539
$STATE,16045,end surface coast,CONTROL_FINISHED_OK
$STATE,16045,begin surface
$SM_CCo,16057,60.40,0.311,1,0,681,200.16
$SM_GC,2.14,0.00,0.00,60.40,0.000,0.000,0.311,68,3229,681,-5.73,-0.03,200.16
$IRIDIUM_FIX,-4244.98,825.73,120608,121238
$TT8_MAMPS,0.026964
$HUMID,61.97
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.4,22.658
$10V_AH,10.2,12.293
$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,14.700,71.875,213.625,60.400,0.000,142.892,258.169,504.815,0.000,0.000,22.661,2883.763,10467.036,396.559,3503.927,172.823,0.000,1485.507,0.000,2543.896,0.000,0.546,0.000
$DEVICE_MAMPS,224.910,80.325,1904.850,311.355,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,808.144,822.676,814.548,74.412,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353968
$DATA_FILE_SIZE,66748,1161
$CAP_FILE_SIZE,159848,0
$CFSIZE,259252224,250699776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,170815,041017,-4304.687,823.347,88,0.9,88,-25.0