version: 66.07
glider: 543
mission: 14
dive: 108
start: 8 17 115 8 56 9
data:
$ID,543
$MISSION,14
$DIVE,108
$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,-24442.838
$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,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
$GPS1,170815,084457,-4302.959,825.237,113,0.9,113,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-65.4
$GPS2,170815,085546,-4302.938,825.344,21,1.2,21,-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,247.7,2679,-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,13,begin dive
$GC,14,-0.54,-49.8,0.0,0.0,0,57,0.00,0.00,-40.60,0.000,2,0.000,0.000,61,3219,1628,0,0,0,0,0,0
$GC,59,-0.59,-102.5,3.0,-2.5,5,85,6.68,1.20,-9.00,0.000,4,0.230,0.080,1702,3956,1918,0,0,0,0,0,0
$GC,347,-0.50,-102.5,54.8,-18.0,53,354,0.10,1.08,0.00,0.000,6,0.171,0.034,1731,3238,1921,0,0,0,0,0,0
$GC,695,-0.50,-102.5,112.4,-16.5,108,699,0.00,1.12,0.00,0.000,4,0.000,0.057,1727,3948,1921,0,0,0,0,0,0
$GC,767,-0.47,-102.5,124.9,-16.7,114,775,0.00,1.10,0.00,0.000,6,0.000,0.031,1728,3213,1922,0,0,0,0,0,0
$GC,1094,-0.47,-102.5,174.5,-15.0,145,1098,0.00,1.27,0.00,0.000,4,0.000,0.031,1728,2330,1921,0,0,0,0,0,0
$GC,1132,-0.50,-102.5,180.2,-13.0,148,1142,0.00,1.45,0.00,0.000,6,0.000,0.050,1721,3232,1922,0,0,0,0,0,0
$GC,1458,-0.48,-102.5,229.5,-15.8,179,1462,0.00,1.12,0.00,0.000,4,0.000,0.057,1715,3952,1921,0,0,0,0,0,0
$GC,1492,-0.45,-102.5,235.3,-17.0,182,1497,0.12,1.05,0.00,0.000,6,0.157,0.033,1753,3238,1921,0,0,0,0,0,0
$GC,1826,-0.51,-102.5,273.2,-10.9,213,1830,0.00,1.12,0.00,0.000,4,0.000,0.057,1749,3957,1922,0,0,0,0,0,0
$GC,1875,-0.54,-102.5,279.6,-11.6,217,1883,0.00,1.10,0.00,0.000,6,0.000,0.032,1749,3213,1921,0,0,0,0,0,0
$GC,2201,-0.60,-102.5,314.2,-10.4,248,2205,0.12,1.17,0.00,0.000,4,0.099,0.058,1688,3949,1921,0,0,0,0,0,0
$GC,2351,-0.50,-102.5,337.2,-16.1,261,2355,0.15,1.05,0.00,0.000,6,0.164,0.034,1733,3237,1921,0,0,0,0,0,0
$GC,2681,-0.53,-102.5,378.9,-12.2,292,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,3236,1922,0,0,0,0,0,0
$GC,3006,-0.55,-102.5,417.7,-11.9,316,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,3236,1922,0,0,0,0,0,0
$GC,3315,-0.58,-102.5,454.7,-12.2,331,3319,0.00,1.12,0.00,0.000,4,0.000,0.059,1729,3949,1921,0,0,0,0,0,0
$GC,3397,-0.58,-102.5,466.0,-13.8,334,3405,0.00,1.08,0.00,0.000,6,0.000,0.032,1729,3223,1922,0,0,0,0,0,0
$GC,3714,-0.60,-102.5,505.2,-12.3,350,3718,0.00,1.15,0.00,0.000,4,0.000,0.059,1724,3952,1922,0,0,0,0,0,0
$GC,3796,-0.60,-102.5,516.6,-13.5,353,3804,0.00,1.08,0.00,0.000,6,0.000,0.032,1724,3228,1921,0,0,0,0,0,0
$GC,4113,-0.60,-102.5,557.4,-13.7,369,4114,0.00,0.00,0.00,0.000,6,0.000,0.000,1724,3228,1921,0,0,0,0,0,0
$GC,4422,-0.60,-102.5,596.5,-12.2,384,4426,0.00,1.12,0.00,0.000,4,0.000,0.059,1718,3946,1921,0,0,0,0,0,0
$GC,4504,-0.60,-102.5,607.4,-12.8,387,4512,0.00,1.08,0.00,0.000,6,0.000,0.034,1718,3224,1921,0,0,0,0,0,0
$GC,4822,-0.60,-102.5,645.0,-11.2,403,4825,0.00,1.15,0.00,0.000,4,0.000,0.059,1713,3953,1921,0,0,0,0,0,0
$GC,4905,-0.58,-102.5,655.8,-13.2,406,4912,0.00,1.05,0.00,0.000,6,0.000,0.034,1713,3238,1921,0,0,0,0,0,0
$GC,5221,-0.58,-102.5,692.9,-11.8,422,5222,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,3238,1921,0,0,0,0,0,0
$GC,5530,-0.58,-102.5,730.9,-12.5,437,5534,0.00,1.12,0.00,0.000,4,0.000,0.060,1708,3951,1922,0,0,0,0,0,0
$GC,5630,-0.55,-102.5,745.0,-14.6,441,5634,0.00,1.08,0.00,0.000,6,0.000,0.034,1708,3231,1922,0,0,0,0,0,0
$GC,5951,-0.55,-102.5,786.5,-13.2,457,5955,0.00,1.15,0.00,0.000,4,0.000,0.061,1702,3945,1922,0,0,0,0,0,0
$GC,6019,-0.52,-102.5,796.1,-14.9,460,6024,0.10,1.05,0.00,0.000,6,0.168,0.034,1732,3236,1922,0,0,0,0,0,0
$GC,6352,-0.56,-102.5,830.4,-9.4,476,6356,0.00,1.12,0.00,0.000,4,0.000,0.060,1728,3948,1922,0,0,0,0,0,0
$GC,6421,-0.59,-102.5,837.3,-10.0,479,6425,0.00,1.08,0.00,0.000,6,0.000,0.035,1728,3222,1922,0,0,0,0,0,0
$GC,6754,-0.63,-102.5,868.3,-9.3,495,6755,0.00,0.00,0.00,0.000,6,0.000,0.000,1728,3222,1922,0,0,0,0,0,0
$GC,7063,-0.67,-102.5,898.2,-9.9,510,7067,0.12,1.17,0.00,0.000,4,0.104,0.062,1667,3955,1922,0,0,0,0,0,0
$GC,7153,-0.57,-102.5,911.7,-16.9,514,7157,0.15,1.08,0.00,0.000,6,0.171,0.036,1712,3232,1922,0,0,0,0,0,0
$GC,7484,-0.57,-102.5,951.9,-11.6,530,7488,0.00,1.12,0.00,0.000,4,0.000,0.060,1708,3945,1922,0,0,0,0,0,0
$GC,7538,-0.57,-102.5,958.8,-11.9,532,7543,0.00,1.10,0.00,0.000,6,0.000,0.034,1708,3212,1922,0,0,0,0,0,0
$GC,7860,-0.57,-102.5,996.7,-11.5,548,7864,0.00,1.17,0.00,0.000,4,0.000,0.060,1702,3957,1921,0,0,0,0,0,0
$STATE,7885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7885,begin apogee
$GC,7890,-0.09,0.0,1000.0,12.5,549,8008,0.55,0.00,108.95,1.903,6,0.160,0.000,1867,3052,1498,0,0,0,0,0,0
$STATE,8008,end apogee,CONTROL_FINISHED_OK
$STATE,8008,begin climb
$GC,8010,0.59,102.5,1002.2,0.0,555,8120,0.70,1.50,103.60,1.847,4,0.096,0.032,2099,2196,1081,0,0,0,0,0,0
$GC,8181,0.59,102.5,982.4,15.2,563,8186,0.00,1.50,0.00,0.000,6,0.000,0.050,2099,3056,1079,0,0,0,0,0,0
$GC,8508,0.55,102.5,929.2,15.9,579,8510,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,3056,1075,0,0,0,0,0,0
$GC,8818,0.50,102.5,883.8,14.9,594,8820,0.12,0.00,0.00,0.000,6,0.210,0.000,2072,3057,1075,0,0,0,0,0,0
$GC,9127,0.50,102.5,843.7,12.5,609,9130,0.00,1.35,0.00,0.000,4,0.000,0.034,2078,2184,1075,0,0,0,0,0,0
$GC,9164,0.54,102.5,839.1,11.4,610,9172,0.00,1.45,0.00,0.000,6,0.000,0.052,2077,3066,1074,0,0,0,0,0,0
$GC,9481,0.54,102.5,799.0,13.0,626,9482,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3066,1073,0,0,0,0,0,0
$GC,9790,0.54,102.5,756.4,14.0,641,9791,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3066,1073,0,0,0,0,0,0
$GC,10099,0.54,102.5,715.6,13.1,656,10100,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,3066,1073,0,0,0,0,0,0
$GC,10409,0.54,102.5,675.6,12.9,671,10410,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3066,1073,0,0,0,0,0,0
$GC,10718,0.54,102.5,635.4,13.1,686,10719,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,3066,1073,0,0,0,0,0,0
$GC,11027,0.54,102.5,597.1,12.0,701,11028,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3066,1073,0,0,0,0,0,0
$GC,11336,0.54,102.5,559.1,12.3,716,11340,0.00,1.42,0.00,0.000,4,0.000,0.061,2077,3954,1073,0,0,0,0,0,0
$GC,11397,0.48,102.5,550.2,14.7,718,11404,0.00,1.33,0.00,0.000,6,0.000,0.033,2084,3061,1072,0,0,0,0,0,0
$GC,11713,0.46,102.5,508.7,13.4,734,11717,0.12,1.33,0.00,0.000,4,0.214,0.035,2061,2184,1072,0,0,0,0,0,0
$GC,11768,0.53,102.5,502.4,10.4,736,11772,0.00,1.42,0.00,0.000,6,0.000,0.053,2061,3066,1072,0,0,0,0,0,0
$GC,12090,0.55,102.5,465.5,11.7,752,12094,0.00,1.42,0.00,0.000,4,0.000,0.060,2061,3958,1072,0,0,0,0,0,0
$GC,12128,0.52,102.5,460.4,13.5,753,12135,0.00,1.33,0.00,0.000,6,0.000,0.033,2068,3064,1072,0,0,0,0,0,0
$GC,12444,0.52,102.5,423.7,11.6,769,12447,0.00,1.42,0.00,0.000,4,0.000,0.060,2068,3955,1072,0,0,0,0,0,0
$GC,12472,0.49,102.5,420.0,14.0,770,12476,0.00,1.33,0.00,0.000,6,0.000,0.033,2074,3061,1072,0,0,0,0,0,0
$GC,12795,0.49,102.5,380.9,12.0,793,12796,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,3060,1072,0,0,0,0,0,0
$GC,13111,0.49,102.5,343.2,12.3,823,13112,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,3060,1072,0,0,0,0,0,0
$GC,13433,0.49,102.5,304.8,11.5,853,13437,0.00,1.33,0.00,0.000,4,0.000,0.034,2080,2178,1071,0,0,0,0,0,0
$GC,13494,0.53,102.5,297.5,10.5,858,13501,0.00,1.42,0.00,0.000,6,0.000,0.053,2082,3062,1072,0,0,0,0,0,0
$GC,13822,0.53,102.5,258.4,12.0,889,13826,0.00,1.42,0.00,0.000,4,0.000,0.060,2082,3956,1071,0,0,0,0,0,0
$GC,13992,0.47,102.5,232.5,16.0,904,13995,0.00,1.33,0.00,0.000,6,0.000,0.033,2088,3052,1072,0,0,0,0,0,0
$GC,14322,0.46,102.5,187.7,13.8,935,14326,0.12,1.30,0.00,0.000,4,0.212,0.034,2065,2178,1071,0,0,0,0,0,0
$GC,14401,0.53,102.5,179.4,9.3,942,14404,0.00,1.42,0.00,0.000,6,0.000,0.053,2064,3066,1072,0,0,0,0,0,0
$GC,14734,0.55,102.5,141.0,10.6,973,14740,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,3066,1072,0,0,0,0,0,0
$GC,15060,0.58,102.5,104.6,10.8,1004,15061,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,3066,1072,0,0,0,0,0,0
$GC,15398,0.62,102.5,67.3,11.4,1060,15405,0.12,0.00,0.00,0.000,6,0.099,0.000,2124,3066,1072,0,0,0,0,0,0
$GC,15756,0.53,102.5,12.9,14.3,1121,15764,0.17,0.00,0.00,0.000,6,0.206,0.000,2083,3066,1072,0,0,0,0,0,0
$GC,15813,0.53,102.5,3.2,17.4,1130,15822,0.00,1.42,0.00,0.000,4,0.000,0.063,2082,3956,1072,0,0,0,0,0,0
$STATE,15829,end climb,SURFACE_DEPTH_REACHED
$STATE,15829,begin surface coast
$FINISH,1.3,1.026531
$STATE,15849,end surface coast,CONTROL_FINISHED_OK
$STATE,15849,begin surface
$SM_CCo,15862,70.57,0.457,1,0,680,200.16
$SM_GC,2.24,0.00,0.00,70.57,0.000,0.000,0.457,63,3237,680,-5.76,0.20,200.16
$IRIDIUM_FIX,-4247.91,822.81,120608,171712
$TT8_MAMPS,0.026964
$HUMID,61.45
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.4,22.957
$10V_AH,10.2,12.503
$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,14.850,63.800,212.550,70.575,0.000,103.505,45.696,305.368,0.000,0.000,23.547,2805.707,10257.224,409.393,2969.811,146.211,0.000,1461.164,0.000,2466.076,0.000,0.544,0.000
$DEVICE_MAMPS,230.265,79.560,1902.555,457.470,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,788.478,803.950,788.042,71.539,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353976
$DATA_FILE_SIZE,63694,1135
$CAP_FILE_SIZE,145953,0
$CFSIZE,259252224,250564608
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,170815,132308,-4303.816,823.951,47,0.9,47,-25.0