version: 66.07
glider: 543
mission: 14
dive: 109
start: 8 17 115 13 37 51
data:
$ID,543
$MISSION,14
$DIVE,109
$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,-24445.928
$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,48
$R_STBD_OVSHOOT,24
$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
$GPS1,170815,132308,-4303.816,823.951,47,0.9,47,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-67.6
$GPS2,170815,133728,-4303.914,824.099,35,0.8,35,-25.0
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAZ_BUT2
$TGT_LATLONG,-4256.000,824.000
$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,24.5,14657,-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,13,begin dive
$GC,14,-0.43,-116.8,0.0,0.0,0,65,0.00,0.00,-48.33,0.000,2,0.000,0.000,60,3237,1834,0,0,0,0,0,0
$GC,67,-0.43,-116.8,3.4,-2.8,6,85,7.12,1.35,-3.67,0.000,4,0.242,0.050,1763,2312,1977,0,0,0,0,0,0
$GC,246,-0.36,-116.8,32.5,-12.2,35,255,0.00,1.50,0.00,0.000,6,0.000,0.053,1758,3226,1979,0,0,0,0,0,0
$GC,393,-0.26,-116.8,53.1,-11.2,60,401,0.22,0.00,0.00,0.000,6,0.164,0.000,1819,3226,1979,0,0,0,0,0,0
$GC,745,-0.30,-116.8,72.6,-6.8,121,752,0.00,1.33,0.00,0.000,4,0.000,0.029,1819,2312,1979,0,0,0,0,0,0
$GC,770,-0.37,-116.8,74.7,-7.8,125,777,0.08,1.50,0.00,0.000,6,0.058,0.051,1756,3237,1979,0,0,0,0,0,0
$GC,1114,-0.28,-116.8,112.7,-13.0,177,1116,0.20,0.00,0.00,0.000,6,0.168,0.000,1809,3237,1979,0,0,0,0,0,0
$GC,1430,-0.31,-116.8,139.3,-7.5,207,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,1808,3236,1979,0,0,0,0,0,0
$GC,1753,-0.35,-116.8,161.8,-6.2,237,1757,0.00,1.12,0.00,0.000,4,0.000,0.059,1805,3950,1979,0,0,0,0,0,0
$GC,1814,-0.38,-116.8,167.0,-7.8,242,1821,0.00,1.08,0.00,0.000,6,0.000,0.034,1804,3224,1979,0,0,0,0,0,0
$GC,2143,-0.41,-116.8,191.3,-7.8,273,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,1805,3224,1979,0,0,0,0,0,0
$GC,2469,-0.44,-116.8,217.0,-7.6,304,2471,0.12,0.00,0.00,0.000,6,0.092,0.000,1742,3224,1979,0,0,0,0,0,0
$GC,2786,-0.34,-116.8,255.6,-12.0,334,2791,0.17,1.15,0.00,0.000,4,0.164,0.057,1785,3941,1979,0,0,0,0,0,0
$GC,2855,-0.34,-116.8,261.8,-8.1,340,2858,0.00,1.05,0.00,0.000,6,0.000,0.034,1785,3226,1979,0,0,0,0,0,0
$GC,3185,-0.34,-116.8,285.9,-6.9,371,3189,0.00,1.30,0.00,0.000,4,0.000,0.028,1786,2317,1979,0,0,0,0,0,0
$GC,3242,-0.36,-116.8,289.7,-6.7,376,3246,0.00,1.48,0.00,0.000,6,0.000,0.053,1779,3234,1978,0,0,0,0,0,0
$GC,3573,-0.35,-116.8,314.8,-8.0,407,3576,0.00,1.12,0.00,0.000,4,0.000,0.058,1774,3955,1979,0,0,0,0,0,0
$GC,3668,-0.32,-116.8,323.5,-9.4,415,3675,0.00,1.08,0.00,0.000,6,0.000,0.033,1774,3225,1979,0,0,0,0,0,0
$GC,3994,-0.29,-116.8,354.4,-10.0,446,3998,0.12,1.15,0.00,0.000,4,0.166,0.060,1802,3944,1979,0,0,0,0,0,0
$GC,4019,-0.30,-116.8,357.1,-9.3,448,4029,0.00,1.08,0.00,0.000,6,0.000,0.033,1803,3221,1979,0,0,0,0,0,0
$GC,4346,-0.34,-116.8,382.5,-8.0,479,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,3221,1979,0,0,0,0,0,0
$GC,4662,-0.38,-116.8,406.4,-7.4,505,4666,0.00,1.30,0.00,0.000,4,0.000,0.030,1803,2319,1979,0,0,0,0,0,0
$GC,4678,-0.43,-116.8,407.8,-7.5,505,4685,0.00,1.48,0.00,0.000,6,0.000,0.054,1797,3234,1979,0,0,0,0,0,0
$GC,4994,-0.46,-116.8,432.1,-7.8,521,4996,0.12,0.00,0.00,0.000,6,0.094,0.000,1739,3236,1979,0,0,0,0,0,0
$GC,5303,-0.36,-116.8,469.3,-12.2,536,5307,0.17,1.15,0.00,0.000,4,0.164,0.060,1782,3957,1979,0,0,0,0,0,0
$GC,5325,-0.30,-116.8,471.8,-11.3,537,5329,0.00,1.05,0.00,0.000,6,0.000,0.034,1781,3238,1979,0,0,0,0,0,0
$GC,5657,-0.30,-116.8,501.6,-9.1,553,5661,0.00,1.12,0.00,0.000,4,0.000,0.060,1776,3952,1979,0,0,0,0,0,0
$GC,5689,-0.28,-116.8,504.8,-9.9,554,5695,0.10,1.08,0.00,0.000,6,0.171,0.034,1807,3232,1979,0,0,0,0,0,0
$GC,6012,-0.34,-116.8,526.6,-6.4,570,6013,0.00,0.00,0.00,0.000,6,0.000,0.000,1807,3232,1979,0,0,0,0,0,0
$GC,6320,-0.40,-116.8,545.3,-5.8,585,6324,0.00,1.33,0.00,0.000,4,0.000,0.031,1807,2320,1979,0,0,0,0,0,0
$GC,6345,-0.48,-116.8,546.6,-5.9,586,6349,0.12,1.48,0.00,0.000,6,0.050,0.055,1734,3233,1979,0,0,0,0,0,0
$GC,6677,-0.37,-116.8,584.6,-12.1,602,6682,0.17,1.15,0.00,0.000,4,0.168,0.060,1776,3957,1979,0,0,0,0,0,0
$GC,6748,-0.37,-116.8,591.4,-8.6,605,6753,0.00,1.10,0.00,0.000,6,0.000,0.034,1776,3223,1979,0,0,0,0,0,0
$GC,7077,-0.37,-116.8,617.3,-8.2,621,7078,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,3223,1979,0,0,0,0,0,0
$GC,7385,-0.37,-116.8,644.0,-8.6,636,7389,0.00,1.15,0.00,0.000,4,0.000,0.061,1771,3949,1979,0,0,0,0,0,0
$GC,7418,-0.35,-116.8,647.1,-9.1,637,7422,0.00,1.08,0.00,0.000,6,0.000,0.035,1771,3225,1979,0,0,0,0,0,0
$GC,7739,-0.33,-116.8,675.7,-9.1,653,7741,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,3224,1979,0,0,0,0,0,0
$GC,8049,-0.32,-116.8,703.1,-8.8,668,8053,0.12,1.17,0.00,0.000,4,0.170,0.062,1800,3955,1979,0,0,0,0,0,0
$GC,8098,-0.38,-116.8,707.0,-6.9,670,8102,0.00,1.08,0.00,0.000,6,0.000,0.036,1800,3228,1979,0,0,0,0,0,0
$GC,8425,-0.44,-116.8,728.0,-6.3,686,8429,0.10,1.33,0.00,0.000,4,0.109,0.031,1750,2328,1979,0,0,0,0,0,0
$GC,8457,-0.41,-116.8,730.8,-8.3,687,8461,0.00,1.45,0.00,0.000,6,0.000,0.054,1743,3227,1979,0,0,0,0,0,0
$GC,8779,-0.34,-116.8,763.7,-9.9,703,8783,0.17,1.15,0.00,0.000,4,0.165,0.062,1786,3945,1979,0,0,0,0,0,0
$GC,8847,-0.38,-116.8,768.7,-6.6,706,8850,0.00,1.05,0.00,0.000,6,0.000,0.037,1786,3237,1979,0,0,0,0,0,0
$GC,9179,-0.40,-116.8,790.4,-6.3,722,9183,0.00,1.33,0.00,0.000,4,0.000,0.032,1786,2328,1979,0,0,0,0,0,0
$GC,9206,-0.45,-116.8,792.5,-6.8,723,9210,0.00,1.48,0.00,0.000,6,0.000,0.056,1780,3237,1979,0,0,0,0,0,0
$GC,9534,-0.45,-116.8,814.4,-6.7,739,9535,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,3238,1979,0,0,0,0,0,0
$GC,9843,-0.46,-116.8,836.5,-7.2,754,9847,0.00,1.35,0.00,0.000,4,0.000,0.032,1780,2318,1979,0,0,0,0,0,0
$GC,9867,-0.49,-116.8,838.2,-7.7,755,9871,0.00,1.48,0.00,0.000,6,0.000,0.056,1774,3227,1979,0,0,0,0,0,0
$GC,10199,-0.49,-116.8,863.7,-7.9,771,10203,0.00,1.15,0.00,0.000,4,0.000,0.062,1769,3956,1979,0,0,0,0,0,0
$GC,10260,-0.49,-116.8,868.7,-8.2,773,10267,0.00,1.10,0.00,0.000,6,0.000,0.036,1768,3225,1979,0,0,0,0,0,0
$GC,10576,-0.49,-116.8,895.4,-8.5,789,10580,0.00,1.15,0.00,0.000,4,0.000,0.062,1763,3951,1979,0,0,0,0,0,0
$GC,10614,-0.47,-116.8,899.1,-9.8,790,10622,0.00,1.10,0.00,0.000,6,0.000,0.035,1763,3222,1979,0,0,0,0,0,0
$GC,10930,-0.47,-116.8,926.6,-8.3,806,10934,0.00,1.17,0.00,0.000,4,0.000,0.062,1758,3960,1979,0,0,0,0,0,0
$GC,10968,-0.44,-116.8,930.2,-9.3,807,10976,0.00,1.10,0.00,0.000,6,0.000,0.035,1758,3223,1979,0,0,0,0,0,0
$GC,11284,-0.42,-116.8,957.7,-8.8,823,11288,0.00,1.17,0.00,0.000,4,0.000,0.061,1752,3961,1979,0,0,0,0,0,0
$GC,11330,-0.37,-116.8,961.9,-9.7,825,11334,0.08,1.10,0.00,0.000,6,0.148,0.035,1776,3226,1979,0,0,0,0,0,0
$GC,11663,-0.39,-116.8,986.4,-7.1,841,11666,0.00,1.33,0.00,0.000,4,0.000,0.033,1775,2320,1979,0,0,0,0,0,0
$GC,11708,-0.44,-116.8,989.8,-7.2,843,11712,0.00,1.48,0.00,0.000,6,0.000,0.057,1770,3233,1979,0,0,0,0,0,0
$STATE,11853,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11853,begin apogee
$GC,11857,-0.09,0.0,1000.4,7.5,850,11978,0.32,0.00,117.25,1.893,6,0.137,0.000,1869,3055,1498,0,0,0,0,0,0
$STATE,11978,end apogee,CONTROL_FINISHED_OK
$STATE,11979,begin climb
$GC,11980,0.43,116.8,1003.5,0.0,856,12107,0.50,1.45,117.75,1.861,4,0.096,0.031,2039,2179,1028,0,0,0,0,0,0
$GC,12214,0.39,116.8,983.9,10.4,866,12221,0.00,1.52,0.00,0.000,6,0.000,0.052,2039,3060,1028,0,0,0,0,0,0
$GC,12530,0.32,116.8,946.9,11.8,882,12531,0.12,0.00,0.00,0.000,6,0.180,0.000,2010,3060,1027,0,0,0,0,0,0
$GC,12839,0.29,116.8,916.1,10.3,897,12840,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,3060,1026,0,0,0,0,0,0
$GC,13148,0.26,116.8,884.7,10.0,912,13149,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,3060,1025,0,0,0,0,0,0
$GC,13458,0.24,116.8,852.6,10.5,927,13461,0.00,1.38,0.00,0.000,4,0.000,0.035,2015,2173,1025,0,0,0,0,0,0
$GC,13484,0.24,121.4,850.0,8.3,928,13495,0.08,1.45,4.32,1.256,6,0.153,0.053,1992,3060,1006,0,0,0,0,0,0
$GC,13811,0.24,121.4,821.8,8.6,944,13814,0.00,1.35,0.00,0.000,4,0.000,0.034,1997,2173,1013,0,0,0,0,0,0
$GC,13843,0.29,125.9,819.3,8.3,945,13856,0.00,1.45,5.93,1.446,6,0.000,0.054,1997,3059,989,0,0,0,0,0,0
$GC,14164,0.30,136.2,792.9,8.0,961,14178,0.00,0.00,11.70,1.677,6,0.000,0.000,1997,3059,942,0,0,0,0,0,0
$GC,14473,0.31,150.0,768.3,7.9,976,14496,0.00,1.40,14.40,1.688,4,0.000,0.035,2003,2172,889,0,0,0,0,0,0
$GC,14529,0.39,177.0,764.1,7.2,978,14563,0.00,1.48,27.08,1.730,6,0.000,0.054,2003,3062,779,0,0,0,0,0,0
$GC,14871,0.41,178.2,734.7,8.5,995,14876,0.10,0.00,2.22,0.562,6,0.109,0.000,2045,3062,771,0,0,0,0,0,0
$GC,15180,0.36,178.2,697.5,12.5,1010,15185,0.00,1.38,1.25,0.289,4,0.000,0.034,2053,2168,772,0,0,0,0,0,0
$GC,15235,0.34,178.2,691.0,11.5,1012,15243,0.10,1.48,0.00,0.000,6,0.148,0.053,2021,3067,780,0,0,0,0,0,0
$GC,15550,0.34,178.2,659.4,10.0,1028,15554,0.00,1.38,0.00,0.000,4,0.000,0.035,2027,2172,780,0,0,0,0,0,0
$GC,15588,0.37,187.4,655.8,8.1,1029,15604,0.00,1.45,10.48,1.578,6,0.000,0.054,2027,3062,734,0,0,0,0,0,0
$GC,15926,0.37,187.4,623.0,9.2,1046,15927,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,3062,741,0,0,0,0,0,0
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$GC,18416,0.42,189.9,374.6,8.6,1178,18420,0.00,1.35,0.00,0.000,4,0.000,0.034,2026,2168,732,0,0,0,0,0,0
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$STATE,21911,end climb,SURFACE_DEPTH_REACHED
$STATE,21911,begin surface coast
$FINISH,1.2,1.015096
$STATE,21942,end surface coast,CONTROL_FINISHED_OK
$STATE,21942,begin surface
$SM_CCo,21955,3.08,0.177,0,0,681,200.16
$SM_GC,2.45,0.00,0.00,3.08,0.000,0.000,0.177,73,3243,681,-5.73,0.37,200.16
$IRIDIUM_FIX,-4244.98,825.73,120608,222206
$TT8_MAMPS,0.026964
$HUMID,62.44
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.4,23.163
$10V_AH,10.3,12.643
$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,15.850,110.050,327.775,3.075,0.000,25.068,27.564,672.018,0.000,0.000,37.593,3900.841,14094.880,476.435,4100.294,247.794,0.000,1921.860,0.000,3363.531,0.000,0.545,0.000
$DEVICE_MAMPS,241.740,61.965,1892.610,177.480,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1096.230,1123.728,1088.190,97.946,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354144
$DATA_FILE_SIZE,90193,1578
$CAP_FILE_SIZE,215447,0
$CFSIZE,259252224,250392576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,170815,194602,-4301.703,825.290,98,1.0,98,-25.0