version: 66.07
glider: 543
mission: 14
dive: 113
start: 8 18 115 13 23 56
data:
$ID,543
$MISSION,14
$DIVE,113
$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,-24459.086
$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,62
$R_STBD_OVSHOOT,36
$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
$GPS1,180815,130630,-4255.541,824.678,68,0.8,68,-25.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-71.2
$GPS2,180815,132334,-4255.446,824.908,23,1.1,23,-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,255.2,1603,-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,15,-0.54,-49.8,0.0,0.0,0,65,0.00,0.00,-43.90,0.000,6,0.000,0.000,62,3257,1701,0,0,0,0,0,0
$GC,67,-0.60,-108.4,2.9,-1.8,6,86,6.75,1.42,-7.25,0.000,4,0.235,0.053,1702,2324,1941,0,0,0,0,0,0
$GC,117,-0.44,-108.4,11.5,-16.6,13,127,0.20,1.48,0.00,0.000,6,0.150,0.051,1757,3220,1943,0,0,0,0,0,0
$GC,177,-0.49,-108.4,20.6,-15.2,22,185,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,3219,1943,0,0,0,0,0,0
$GC,327,-0.54,-108.4,41.4,-13.2,47,333,0.00,1.17,0.00,0.000,4,0.000,0.058,1753,3954,1944,0,0,0,0,0,0
$GC,368,-0.58,-108.4,47.3,-14.6,54,378,0.08,1.08,0.00,0.000,6,0.068,0.033,1709,3236,1944,0,0,0,0,0,0
$GC,718,-0.53,-108.4,105.0,-15.8,112,721,0.00,1.15,0.00,0.000,4,0.000,0.056,1703,3958,1944,0,0,0,0,0,0
$GC,764,-0.46,-108.4,113.0,-17.1,116,768,0.15,1.08,0.00,0.000,6,0.163,0.032,1747,3234,1944,0,0,0,0,0,0
$GC,1093,-0.50,-108.4,154.9,-12.0,147,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3234,1944,0,0,0,0,0,0
$GC,1416,-0.54,-108.4,195.5,-13.3,177,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3234,1943,0,0,0,0,0,0
$GC,1741,-0.59,-108.4,233.6,-11.8,208,1745,0.00,1.12,0.00,0.000,4,0.000,0.057,1743,3945,1944,0,0,0,0,0,0
$GC,1791,-0.63,-108.4,239.9,-12.0,212,1801,0.10,1.05,0.00,0.000,6,0.062,0.031,1687,3227,1944,0,0,0,0,0,0
$GC,2117,-0.56,-108.4,291.1,-17.0,243,2122,0.12,1.15,0.00,0.000,4,0.188,0.055,1714,3949,1944,0,0,0,0,0,0
$GC,2174,-0.54,-108.4,300.2,-14.5,248,2178,0.00,1.05,0.00,0.000,6,0.000,0.032,1714,3228,1944,0,0,0,0,0,0
$GC,2504,-0.54,-108.4,348.1,-14.7,279,2505,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,3227,1944,0,0,0,0,0,0
$GC,2826,-0.54,-108.4,394.1,-13.7,309,2827,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,3228,1944,0,0,0,0,0,0
$GC,3144,-0.54,-108.4,437.0,-12.9,327,3148,0.00,1.12,0.00,0.000,4,0.000,0.057,1708,3942,1944,0,0,0,0,0,0
$GC,3234,-0.51,-108.4,449.1,-13.3,331,3239,0.08,1.02,0.00,0.000,6,0.163,0.034,1731,3245,1944,0,0,0,0,0,0
$GC,3566,-0.54,-108.4,487.3,-11.9,347,3568,0.00,0.00,0.00,0.000,6,0.000,0.000,1731,3244,1944,0,0,0,0,0,0
$GC,3875,-0.58,-108.4,524.9,-12.3,362,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,1730,3245,1944,0,0,0,0,0,0
$GC,4185,-0.62,-108.4,561.4,-11.6,377,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,1731,3244,1944,0,0,0,0,0,0
$GC,4494,-0.65,-108.4,597.1,-11.3,392,4496,0.12,0.00,0.00,0.000,6,0.103,0.000,1679,3244,1944,0,0,0,0,0,0
$GC,4804,-0.59,-108.4,645.6,-15.9,407,4808,0.12,1.12,0.00,0.000,4,0.190,0.058,1705,3947,1944,0,0,0,0,0,0
$GC,4880,-0.56,-108.4,657.5,-14.9,410,4885,0.00,1.08,0.00,0.000,6,0.000,0.034,1705,3227,1944,0,0,0,0,0,0
$GC,5202,-0.56,-108.4,700.7,-13.6,426,5205,0.00,1.15,0.00,0.000,4,0.000,0.058,1699,3957,1944,0,0,0,0,0,0
$GC,5234,-0.53,-108.4,705.7,-14.5,427,5239,0.12,1.10,0.00,0.000,6,0.184,0.033,1729,3224,1944,0,0,0,0,0,0
$GC,5555,-0.58,-108.4,742.5,-11.4,443,5559,0.00,1.15,0.00,0.000,4,0.000,0.060,1726,3952,1944,0,0,0,0,0,0
$GC,5610,-0.60,-108.4,749.9,-13.3,445,5615,0.00,1.05,0.00,0.000,6,0.000,0.034,1726,3233,1944,0,0,0,0,0,0
$GC,5932,-0.64,-108.4,789.7,-12.4,461,5935,0.00,1.12,0.00,0.000,4,0.000,0.060,1721,3946,1944,0,0,0,0,0,0
$GC,5964,-0.65,-108.4,794.2,-13.8,462,5968,0.00,1.08,0.00,0.000,6,0.000,0.033,1720,3225,1944,0,0,0,0,0,0
$GC,6286,-0.68,-108.4,836.0,-13.5,478,6290,0.10,1.17,0.00,0.000,4,0.119,0.060,1671,3956,1944,0,0,0,0,0,0
$GC,6391,-0.59,-108.4,854.3,-17.8,482,6399,0.12,1.08,0.00,0.000,6,0.191,0.034,1705,3234,1944,0,0,0,0,0,0
$GC,6707,-0.59,-108.4,893.8,-11.6,498,6708,0.00,0.00,0.00,0.000,6,0.000,0.000,1705,3234,1944,0,0,0,0,0,0
$GC,7016,-0.59,-108.4,927.8,-10.9,513,7020,0.00,1.12,0.00,0.000,4,0.000,0.059,1701,3944,1944,0,0,0,0,0,0
$GC,7128,-0.59,-108.4,941.2,-11.9,518,7131,0.00,1.05,0.00,0.000,6,0.000,0.034,1701,3233,1944,0,0,0,0,0,0
$GC,7459,-0.59,-108.4,977.7,-11.1,534,7463,0.00,1.12,0.00,0.000,4,0.000,0.060,1696,3945,1944,0,0,0,0,0,0
$GC,7537,-0.57,-108.4,987.5,-12.1,537,7541,0.00,1.08,0.00,0.000,6,0.000,0.034,1696,3228,1944,0,0,0,0,0,0
$STATE,7651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7651,begin apogee
$GC,7655,-0.09,0.0,1000.5,11.5,543,7774,0.60,0.00,114.80,1.911,6,0.157,0.000,1872,3065,1498,0,0,0,0,0,0
$STATE,7775,end apogee,CONTROL_FINISHED_OK
$STATE,7775,begin climb
$GC,7776,0.60,108.4,1002.4,0.0,549,7898,0.70,1.55,109.88,1.859,4,0.093,0.031,2100,2175,1057,0,0,0,0,0,0
$GC,7936,0.60,108.4,983.4,16.2,556,7944,0.00,1.55,0.00,0.000,6,0.000,0.050,2100,3057,1054,0,0,0,0,0,0
$GC,8252,0.55,108.4,929.7,17.1,572,8254,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,3057,1052,0,0,0,0,0,0
$GC,8562,0.51,108.4,879.8,15.4,587,8566,0.00,1.45,0.00,0.000,4,0.000,0.059,2100,3951,1051,0,0,0,0,0,0
$GC,8584,0.44,108.4,876.0,16.4,588,8588,0.20,1.35,0.00,0.000,6,0.201,0.032,2054,3056,1050,0,0,0,0,0,0
$GC,8917,0.47,108.4,831.4,13.3,604,8918,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,3056,1049,0,0,0,0,0,0
$GC,9226,0.50,108.4,790.6,13.3,619,9227,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,3056,1049,0,0,0,0,0,0
$GC,9535,0.54,108.4,750.3,13.1,634,9539,0.00,1.45,0.00,0.000,4,0.000,0.060,2054,3947,1048,0,0,0,0,0,0
$GC,9574,0.54,108.4,744.8,14.8,635,9581,0.00,1.33,0.00,0.000,6,0.000,0.033,2059,3063,1048,0,0,0,0,0,0
$GC,9889,0.56,108.4,704.9,12.2,651,9893,0.00,1.35,0.00,0.000,4,0.000,0.033,2066,2177,1048,0,0,0,0,0,0
$GC,9934,0.62,108.4,699.6,10.8,653,9938,0.00,1.42,0.00,0.000,6,0.000,0.052,2066,3059,1047,0,0,0,0,0,0
$GC,10266,0.62,108.4,656.6,12.7,669,10271,0.12,1.33,0.00,0.000,4,0.106,0.034,2122,2191,1047,0,0,0,0,0,0
$GC,10338,0.59,108.4,646.2,15.0,672,10343,0.00,1.40,0.00,0.000,6,0.000,0.052,2121,3062,1047,0,0,0,0,0,0
$GC,10666,0.52,108.4,592.6,16.8,688,10670,0.20,1.42,0.00,0.000,4,0.205,0.058,2073,3955,1047,0,0,0,0,0,0
$GC,10692,0.46,108.4,588.2,16.0,689,10696,0.00,1.35,0.00,0.000,6,0.000,0.032,2078,3052,1047,0,0,0,0,0,0
$GC,11019,0.46,108.4,542.4,13.9,705,11020,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,3052,1047,0,0,0,0,0,0
$GC,11328,0.46,108.4,499.5,13.4,720,11332,0.00,1.33,0.00,0.000,4,0.000,0.034,2085,2175,1047,0,0,0,0,0,0
$GC,11373,0.49,108.4,493.9,12.2,722,11377,0.00,1.42,0.00,0.000,6,0.000,0.052,2085,3061,1047,0,0,0,0,0,0
$GC,11705,0.49,108.4,447.1,14.4,738,11709,0.00,1.42,0.00,0.000,4,0.000,0.060,2085,3951,1047,0,0,0,0,0,0
$GC,11732,0.44,108.4,442.7,16.0,739,11737,0.15,1.33,0.00,0.000,6,0.190,0.032,2050,3055,1047,0,0,0,0,0,0
$GC,12059,0.49,108.4,402.3,12.4,755,12060,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,3055,1046,0,0,0,0,0,0
$GC,12378,0.54,108.4,363.8,11.7,784,12381,0.00,1.45,0.00,0.000,4,0.000,0.060,2049,3956,1047,0,0,0,0,0,0
$GC,12446,0.54,108.4,354.3,13.5,790,12449,0.00,1.33,0.00,0.000,6,0.000,0.032,2055,3059,1046,0,0,0,0,0,0
$GC,12779,0.58,108.4,315.1,11.4,821,12783,0.10,1.42,0.00,0.000,4,0.114,0.059,2101,3949,1046,0,0,0,0,0,0
$GC,12851,0.47,108.4,303.4,16.5,827,12859,0.15,1.33,0.00,0.000,6,0.203,0.031,2067,3050,1047,0,0,0,0,0,0
$GC,13176,0.50,108.4,261.9,11.9,858,13180,0.00,1.45,0.00,0.000,4,0.000,0.059,2067,3953,1047,0,0,0,0,0,0
$GC,13214,0.47,108.4,256.5,13.8,861,13222,0.00,1.33,0.00,0.000,6,0.000,0.031,2072,3057,1046,0,0,0,0,0,0
$GC,13539,0.47,108.4,216.6,11.2,892,13543,0.00,1.42,0.00,0.000,4,0.000,0.058,2072,3945,1047,0,0,0,0,0,0
$GC,13657,0.43,108.4,200.1,14.9,902,13665,0.10,1.30,0.00,0.000,6,0.194,0.031,2051,3058,1046,0,0,0,0,0,0
$GC,13984,0.49,108.4,165.9,10.7,933,13988,0.00,1.42,0.00,0.000,4,0.000,0.057,2051,3951,1046,0,0,0,0,0,0
$GC,14041,0.49,108.4,159.1,12.2,938,14044,0.00,1.30,0.00,0.000,6,0.000,0.031,2056,3063,1046,0,0,0,0,0,0
$GC,14374,0.55,108.4,124.3,10.1,969,14380,0.00,0.00,0.00,0.000,6,0.000,0.000,2056,3063,1046,0,0,0,0,0,0
$GC,14704,0.60,108.4,91.6,10.0,1007,14711,0.12,1.30,0.00,0.000,4,0.098,0.030,2121,2175,1046,0,0,0,0,0,0
$GC,14757,0.60,108.4,85.1,12.9,1016,14764,0.00,1.40,0.00,0.000,6,0.000,0.050,2121,3057,1046,0,0,0,0,0,0
$GC,15108,0.54,108.4,34.9,13.4,1077,15117,0.15,1.30,0.00,0.000,4,0.206,0.032,2091,2181,1046,0,0,0,0,0,0
$GC,15132,0.50,108.4,31.4,13.8,1080,15141,0.00,1.40,0.00,0.000,6,0.000,0.050,2091,3066,1046,0,0,0,0,0,0
$GC,15285,0.48,108.4,10.3,15.7,1105,15293,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,3066,1046,0,0,0,0,0,0
$STATE,15335,end climb,SURFACE_DEPTH_REACHED
$STATE,15335,begin surface coast
$FINISH,1.4,1.026603
$STATE,15360,end surface coast,CONTROL_FINISHED_OK
$STATE,15360,begin surface
$SM_CCo,15372,56.58,0.571,1,0,680,200.16
$SM_GC,2.16,0.00,0.00,56.58,0.000,0.000,0.571,71,3254,680,-5.73,0.68,200.16
$IRIDIUM_FIX,-4236.17,824.43,140608,020204
$TT8_MAMPS,0.027713
$HUMID,61.53
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.4,23.874
$10V_AH,10.2,13.129
$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,16.000,71.425,224.675,56.575,0.000,88.929,104.718,523.695,0.000,0.000,25.778,2771.703,9870.234,422.398,3231.658,160.964,0.000,1462.698,0.000,2425.004,0.000,0.544,0.000
$DEVICE_MAMPS,234.855,64.260,1910.970,571.455,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,775.192,791.678,824.290,76.339,0.000,0.000,0.000,0.000,0.000,0.000
$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,63607,1117
$CAP_FILE_SIZE,157660,0
$CFSIZE,259252224,250109952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,180815,174232,-4256.198,823.842,39,1.0,48,-25.0