version: 66.07
glider: 543
mission: 14
dive: 107
start: 8 17 115 4 28 41
data:
$ID,543
$MISSION,14
$DIVE,107
$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,-24439.82
$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,53
$R_STBD_OVSHOOT,26
$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
$GPS1,170815,041017,-4304.687,823.347,88,0.9,88,-25.0
$_CALLS,4
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-67.2
$GPS2,170815,042818,-4304.707,823.665,54,1.1,54,-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,44.1,1385,-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,-44.17,0.000,6,0.000,0.000,61,3229,1706,0,0,0,0,0,0
$GC,66,-0.60,-105.7,2.9,-2.1,6,84,6.65,1.38,-7.07,0.000,4,0.228,0.053,1709,2321,1931,0,0,0,0,0,0
$GC,245,-0.60,-105.7,32.9,-15.6,35,254,0.00,1.50,0.00,0.000,6,0.000,0.051,1703,3234,1933,0,0,0,0,0,0
$GC,392,-0.53,-105.7,59.0,-19.5,60,401,0.12,1.38,0.00,0.000,4,0.199,0.030,1734,2309,1933,0,0,0,0,0,0
$GC,408,-0.47,-105.7,61.9,-19.1,62,414,0.00,1.50,0.00,0.000,6,0.000,0.051,1729,3230,1933,0,0,0,0,0,0
$GC,755,-0.44,-105.7,117.6,-16.0,114,760,0.12,1.15,0.00,0.000,4,0.184,0.057,1755,3948,1933,0,0,0,0,0,0
$GC,823,-0.46,-105.7,127.7,-14.0,120,827,0.00,1.05,0.00,0.000,6,0.000,0.033,1755,3234,1934,0,0,0,0,0,0
$GC,1154,-0.50,-105.7,169.6,-11.7,151,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,3234,1934,0,0,0,0,0,0
$GC,1475,-0.55,-105.7,208.7,-12.0,181,1479,0.00,1.33,0.00,0.000,4,0.000,0.029,1755,2314,1933,0,0,0,0,0,0
$GC,1509,-0.63,-105.7,212.6,-10.1,184,1513,0.10,1.48,0.00,0.000,6,0.057,0.052,1690,3228,1934,0,0,0,0,0,0
$GC,1839,-0.55,-105.7,265.5,-16.9,215,1841,0.15,0.00,0.00,0.000,6,0.187,0.000,1726,3228,1933,0,0,0,0,0,0
$GC,2161,-0.55,-105.7,308.5,-13.7,245,2164,0.00,1.12,0.00,0.000,4,0.000,0.057,1723,3951,1934,0,0,0,0,0,0
$GC,2240,-0.53,-105.7,320.4,-14.7,252,2243,0.00,1.05,0.00,0.000,6,0.000,0.032,1723,3226,1934,0,0,0,0,0,0
$GC,2569,-0.53,-105.7,366.5,-13.7,283,2570,0.00,0.00,0.00,0.000,6,0.000,0.000,1722,3226,1933,0,0,0,0,0,0
$GC,2896,-0.53,-105.7,411.3,-13.6,310,2900,0.00,1.30,0.00,0.000,4,0.000,0.031,1722,2325,1933,0,0,0,0,0,0
$GC,2918,-0.53,-105.7,414.3,-13.2,311,2922,0.00,1.45,0.00,0.000,6,0.000,0.052,1716,3231,1933,0,0,0,0,0,0
$GC,3250,-0.53,-105.7,459.9,-14.0,327,3254,0.00,1.12,0.00,0.000,4,0.000,0.057,1711,3956,1934,0,0,0,0,0,0
$GC,3311,-0.49,-105.7,469.4,-16.0,329,3319,0.12,1.08,0.00,0.000,6,0.188,0.033,1745,3233,1934,0,0,0,0,0,0
$GC,3627,-0.54,-105.7,504.5,-10.7,345,3631,0.00,1.12,0.00,0.000,4,0.000,0.058,1740,3949,1934,0,0,0,0,0,0
$GC,3695,-0.57,-105.7,512.4,-12.2,348,3699,0.00,1.05,0.00,0.000,6,0.000,0.033,1741,3229,1934,0,0,0,0,0,0
$GC,4027,-0.61,-105.7,550.4,-11.4,364,4028,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,3229,1934,0,0,0,0,0,0
$GC,4336,-0.66,-105.7,585.7,-11.1,379,4338,0.15,0.00,0.00,0.000,6,0.093,0.000,1676,3229,1933,0,0,0,0,0,0
$GC,4646,-0.58,-105.7,634.1,-15.7,394,4650,0.15,1.15,0.00,0.000,4,0.190,0.058,1710,3947,1933,0,0,0,0,0,0
$GC,4694,-0.54,-105.7,641.7,-13.9,396,4698,0.00,1.05,0.00,0.000,6,0.000,0.033,1710,3232,1934,0,0,0,0,0,0
$GC,5021,-0.54,-105.7,687.1,-14.1,412,5025,0.00,1.12,0.00,0.000,4,0.000,0.058,1705,3948,1933,0,0,0,0,0,0
$GC,5121,-0.51,-105.7,702.9,-15.9,416,5126,0.10,1.05,0.00,0.000,6,0.169,0.034,1734,3236,1934,0,0,0,0,0,0
$GC,5442,-0.55,-105.7,741.7,-11.7,432,5446,0.00,1.12,0.00,0.000,4,0.000,0.060,1730,3952,1933,0,0,0,0,0,0
$GC,5487,-0.58,-105.7,747.4,-13.0,434,5491,0.00,1.08,0.00,0.000,6,0.000,0.034,1729,3219,1934,0,0,0,0,0,0
$GC,5820,-0.61,-105.7,787.6,-12.0,450,5823,0.00,1.15,0.00,0.000,4,0.000,0.060,1725,3948,1934,0,0,0,0,0,0
$GC,5852,-0.63,-105.7,791.9,-12.9,451,5857,0.00,1.08,0.00,0.000,6,0.000,0.034,1725,3229,1933,0,0,0,0,0,0
$GC,6174,-0.66,-105.7,832.5,-13.0,467,6178,0.00,1.12,0.00,0.000,4,0.000,0.060,1720,3944,1933,0,0,0,0,0,0
$GC,6268,-0.66,-105.7,846.0,-13.5,471,6272,0.00,1.08,0.00,0.000,6,0.000,0.034,1720,3225,1934,0,0,0,0,0,0
$GC,6595,-0.69,-105.7,885.9,-11.7,487,6600,0.10,1.17,0.00,0.000,4,0.117,0.060,1670,3957,1934,0,0,0,0,0,0
$GC,6611,-0.69,-105.7,888.2,-12.1,487,6618,0.00,1.08,0.00,0.000,6,0.000,0.033,1670,3230,1933,0,0,0,0,0,0
$GC,6927,-0.62,-105.7,934.1,-14.3,503,6932,0.12,1.15,0.00,0.000,4,0.196,0.060,1696,3952,1933,0,0,0,0,0,0
$GC,6959,-0.58,-105.7,938.8,-14.3,504,6963,0.00,1.05,0.00,0.000,6,0.000,0.034,1696,3237,1933,0,0,0,0,0,0
$GC,7281,-0.56,-105.7,979.2,-13.1,520,7285,0.00,1.12,0.00,0.000,4,0.000,0.060,1691,3953,1934,0,0,0,0,0,0
$GC,7330,-0.51,-105.7,986.6,-13.9,522,7335,0.17,1.08,0.00,0.000,6,0.182,0.034,1741,3236,1933,0,0,0,0,0,0
$STATE,7470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7471,begin apogee
$GC,7475,-0.09,0.0,1000.7,9.4,529,7593,0.43,0.00,109.85,1.905,6,0.146,0.000,1869,3062,1498,0,0,0,0,0,0
$STATE,7593,end apogee,CONTROL_FINISHED_OK
$STATE,7594,begin climb
$GC,7595,0.60,105.7,1003.5,0.0,535,7709,0.68,1.52,106.65,1.847,4,0.094,0.033,2096,2188,1068,0,0,0,0,0,0
$GC,7770,0.60,105.7,984.2,15.1,543,7774,0.00,1.50,0.00,0.000,6,0.000,0.049,2096,3049,1066,0,0,0,0,0,0
$GC,8097,0.55,105.7,929.8,16.9,559,8101,0.00,1.38,0.00,0.000,4,0.000,0.034,2103,2171,1063,0,0,0,0,0,0
$GC,8124,0.53,105.7,925.2,15.9,560,8128,0.00,1.48,0.00,0.000,6,0.000,0.050,2102,3062,1063,0,0,0,0,0,0
$GC,8451,0.47,105.7,868.5,17.6,576,8456,0.17,1.40,0.00,0.000,4,0.207,0.035,2067,2174,1062,0,0,0,0,0,0
$GC,8489,0.52,105.7,862.7,13.3,577,8497,0.00,1.45,0.00,0.000,6,0.000,0.051,2067,3056,1061,0,0,0,0,0,0
$GC,8805,0.52,105.7,817.8,14.1,593,8806,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,3056,1060,0,0,0,0,0,0
$GC,9114,0.52,105.7,774.4,14.1,608,9118,0.00,1.45,0.00,0.000,4,0.000,0.060,2068,3950,1060,0,0,0,0,0,0
$GC,9146,0.47,105.7,769.5,15.2,609,9151,0.00,1.35,0.00,0.000,6,0.000,0.032,2074,3049,1060,0,0,0,0,0,0
$GC,9468,0.47,105.7,724.1,14.2,625,9469,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,3050,1060,0,0,0,0,0,0
$GC,9777,0.47,105.7,680.9,13.8,640,9781,0.00,1.45,0.00,0.000,4,0.000,0.060,2074,3951,1059,0,0,0,0,0,0
$GC,9838,0.41,105.7,671.0,16.4,642,9846,0.12,1.33,0.00,0.000,6,0.200,0.033,2046,3057,1059,0,0,0,0,0,0
$GC,10154,0.46,105.7,632.2,12.2,658,10157,0.00,1.33,0.00,0.000,4,0.000,0.034,2052,2185,1059,0,0,0,0,0,0
$GC,10186,0.53,105.7,628.5,11.1,659,10190,0.00,1.42,0.00,0.000,6,0.000,0.051,2052,3066,1059,0,0,0,0,0,0
$GC,10508,0.56,105.7,589.9,11.9,675,10512,0.10,1.40,0.00,0.000,4,0.112,0.060,2095,3946,1059,0,0,0,0,0,0
$GC,10547,0.47,105.7,584.0,15.5,676,10554,0.15,1.33,0.00,0.000,6,0.204,0.032,2061,3056,1058,0,0,0,0,0,0
$GC,10863,0.49,105.7,546.3,11.3,692,10867,0.00,1.33,0.00,0.000,4,0.000,0.034,2066,2183,1058,0,0,0,0,0,0
$GC,10918,0.54,105.7,540.2,10.8,694,10923,0.00,1.40,0.00,0.000,6,0.000,0.052,2066,3053,1059,0,0,0,0,0,0
$GC,11240,0.54,105.7,501.5,12.5,710,11241,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,3053,1058,0,0,0,0,0,0
$GC,11549,0.54,105.7,461.2,13.2,725,11552,0.00,1.42,0.00,0.000,4,0.000,0.060,2066,3945,1058,0,0,0,0,0,0
$GC,11575,0.51,105.7,457.3,14.2,726,11580,0.00,1.33,0.00,0.000,6,0.000,0.032,2073,3055,1058,0,0,0,0,0,0
$GC,11903,0.51,105.7,413.1,13.6,742,11906,0.00,1.42,0.00,0.000,4,0.000,0.060,2073,3938,1058,0,0,0,0,0,0
$GC,11935,0.47,105.7,407.9,15.8,743,11939,0.00,1.33,0.00,0.000,6,0.000,0.032,2080,3054,1058,0,0,0,0,0,0
$GC,12266,0.47,105.7,362.2,13.6,771,12269,0.00,1.33,0.00,0.000,4,0.000,0.034,2087,2176,1058,0,0,0,0,0,0
$GC,12304,0.50,105.7,356.9,13.1,774,12311,0.00,1.42,0.00,0.000,6,0.000,0.052,2086,3060,1058,0,0,0,0,0,0
$GC,12633,0.48,105.7,311.0,13.6,805,12639,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,3060,1058,0,0,0,0,0,0
$GC,12958,0.46,105.7,263.5,15.0,836,12962,0.12,1.35,0.00,0.000,4,0.202,0.034,2063,2173,1058,0,0,0,0,0,0
$GC,12996,0.54,105.7,258.5,12.1,839,13003,0.00,1.42,0.00,0.000,6,0.000,0.052,2063,3061,1058,0,0,0,0,0,0
$GC,13321,0.56,105.7,218.2,11.4,870,13325,0.00,1.42,0.00,0.000,4,0.000,0.060,2063,3956,1058,0,0,0,0,0,0
$GC,13370,0.54,105.7,211.4,14.1,874,13378,0.00,1.33,0.00,0.000,6,0.000,0.032,2069,3058,1058,0,0,0,0,0,0
$GC,13699,0.55,105.7,173.6,10.6,905,13705,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,3058,1058,0,0,0,0,0,0
$GC,14025,0.58,105.7,137.5,10.8,936,14028,0.00,1.42,0.00,0.000,4,0.000,0.058,2069,3951,1058,0,0,0,0,0,0
$GC,14070,0.54,105.7,131.9,12.7,940,14074,0.00,1.33,0.00,0.000,6,0.000,0.032,2076,3054,1058,0,0,0,0,0,0
$GC,14398,0.54,105.7,92.2,13.3,975,14406,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,3053,1058,0,0,0,0,0,0
$GC,14748,0.54,105.7,48.7,12.0,1036,14755,0.00,1.30,0.00,0.000,4,0.000,0.032,2083,2175,1058,0,0,0,0,0,0
$GC,14830,0.59,105.7,39.7,11.4,1050,14838,0.00,1.40,0.00,0.000,6,0.000,0.052,2083,3060,1058,0,0,0,0,0,0
$GC,14981,0.59,105.7,21.2,10.4,1075,14989,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,3060,1058,0,0,0,0,0,0
$GC,15133,0.56,105.7,5.2,10.0,1100,15142,0.00,1.40,0.00,0.000,4,0.000,0.059,2083,3949,1058,0,0,0,0,0,0
$STATE,15148,end climb,SURFACE_DEPTH_REACHED
$STATE,15148,begin surface coast
$FINISH,1.2,1.026506
$STATE,15173,end surface coast,CONTROL_FINISHED_OK
$STATE,15173,begin surface
$SM_CCo,15186,42.88,0.140,0,0,682,200.16
$SM_GC,2.51,0.00,0.00,42.88,0.000,0.000,0.140,71,3220,682,-5.73,-0.25,200.16
$IRIDIUM_FIX,-4244.98,814.06,120608,171753
$TT8_MAMPS,0.027713
$HUMID,62.20
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.4,22.812
$10V_AH,10.2,12.399
$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,15.250,82.125,216.500,42.875,0.000,127.049,246.840,375.780,0.000,0.000,56.547,2750.427,9776.707,396.782,3243.750,143.100,0.000,1443.409,0.000,2424.052,0.000,0.544,0.000
$DEVICE_MAMPS,227.970,60.435,1904.850,139.995,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,766.178,779.874,834.353,80.788,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353920
$DATA_FILE_SIZE,63608,1106
$CAP_FILE_SIZE,152058,0
$CFSIZE,259252224,250634240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170815,084457,-4302.959,825.237,113,0.9,113,-25.0