version: 66.07
glider: 543
mission: 14
dive: 117
start: 8 19 115 11 12 54
data:
$ID,543
$MISSION,14
$DIVE,117
$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,-24472.293
$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,55
$R_STBD_OVSHOOT,18
$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
$GPS1,190815,110004,-4256.083,837.291,57,1.0,57,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-71.5
$GPS2,190815,111231,-4255.998,837.383,17,0.8,17,-25.1
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAZ_BUT3
$TGT_LATLONG,-4256.000,836.000
$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,295.0,1876,-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,-43.70,0.000,6,0.000,0.000,62,3220,1702,0,0,0,0,0,0
$GC,66,-0.59,-103.1,3.2,-2.4,6,84,6.65,1.23,-6.72,0.000,4,0.227,0.079,1702,3961,1923,0,0,0,0,0,0
$GC,128,-0.49,-103.1,14.1,-19.0,15,137,0.12,1.10,0.00,0.000,6,0.160,0.031,1738,3232,1925,0,0,0,0,0,0
$GC,187,-0.49,-103.1,22.9,-14.2,24,195,0.00,0.00,0.00,0.000,6,0.000,0.000,1738,3232,1925,0,0,0,0,0,0
$GC,338,-0.49,-103.1,43.4,-13.7,49,344,0.00,0.00,0.00,0.000,6,0.000,0.000,1738,3232,1925,0,0,0,0,0,0
$GC,686,-0.49,-103.1,91.5,-13.6,110,693,0.00,1.15,0.00,0.000,4,0.000,0.057,1734,3956,1925,0,0,0,0,0,0
$GC,722,-0.48,-103.1,96.8,-15.0,116,729,0.00,1.08,0.00,0.000,6,0.000,0.032,1734,3223,1924,0,0,0,0,0,0
$GC,1056,-0.48,-103.1,143.5,-14.1,149,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,1734,3223,1924,0,0,0,0,0,0
$GC,1373,-0.48,-103.1,184.7,-11.7,179,1376,0.00,1.30,0.00,0.000,4,0.000,0.029,1734,2323,1925,0,0,0,0,0,0
$GC,1411,-0.52,-103.1,189.3,-11.2,182,1419,0.00,1.48,0.00,0.000,6,0.000,0.051,1728,3238,1925,0,0,0,0,0,0
$GC,1738,-0.52,-103.1,231.3,-13.0,213,1742,0.00,1.12,0.00,0.000,4,0.000,0.056,1722,3958,1925,0,0,0,0,0,0
$GC,1765,-0.50,-103.1,235.5,-14.3,215,1772,0.00,1.08,0.00,0.000,6,0.000,0.031,1722,3228,1925,0,0,0,0,0,0
$GC,2090,-0.50,-103.1,277.9,-13.1,246,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,1722,3228,1925,0,0,0,0,0,0
$GC,2409,-0.50,-103.1,320.0,-13.5,276,2413,0.00,1.12,0.00,0.000,4,0.000,0.057,1717,3945,1925,0,0,0,0,0,0
$GC,2550,-0.47,-103.1,340.6,-13.8,288,2559,0.10,1.05,0.00,0.000,6,0.158,0.032,1747,3229,1924,0,0,0,0,0,0
$GC,2874,-0.51,-103.1,374.8,-10.5,319,2875,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3228,1925,0,0,0,0,0,0
$GC,3202,-0.56,-103.1,409.0,-10.3,346,3205,0.00,1.15,0.00,0.000,4,0.000,0.059,1743,3957,1925,0,0,0,0,0,0
$GC,3296,-0.60,-103.1,420.4,-11.6,350,3300,0.00,1.08,0.00,0.000,6,0.000,0.033,1743,3225,1924,0,0,0,0,0,0
$GC,3623,-0.64,-103.1,454.6,-10.2,366,3625,0.12,0.00,0.00,0.000,6,0.101,0.000,1686,3225,1925,0,0,0,0,0,0
$GC,3933,-0.57,-103.1,499.5,-14.8,381,3937,0.12,1.15,0.00,0.000,4,0.190,0.058,1712,3945,1925,0,0,0,0,0,0
$GC,4009,-0.54,-103.1,510.6,-13.9,384,4014,0.00,1.08,0.00,0.000,6,0.000,0.033,1712,3223,1925,0,0,0,0,0,0
$GC,4331,-0.52,-103.1,550.9,-12.9,400,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,1712,3223,1925,0,0,0,0,0,0
$GC,4641,-0.51,-103.1,590.0,-12.7,415,4642,0.00,0.00,0.00,0.000,6,0.000,0.000,1712,3222,1925,0,0,0,0,0,0
$GC,4949,-0.51,-103.1,629.3,-12.5,430,4953,0.00,1.15,0.00,0.000,4,0.000,0.059,1707,3950,1925,0,0,0,0,0,0
$GC,5085,-0.47,-103.1,647.8,-13.4,436,5090,0.12,1.05,0.00,0.000,6,0.164,0.034,1743,3241,1925,0,0,0,0,0,0
$GC,5418,-0.52,-103.1,680.7,-9.3,452,5422,0.00,1.12,0.00,0.000,4,0.000,0.060,1739,3952,1925,0,0,0,0,0,0
$GC,5456,-0.56,-103.1,685.0,-10.7,453,5463,0.00,1.08,0.00,0.000,6,0.000,0.034,1740,3223,1925,0,0,0,0,0,0
$GC,5772,-0.61,-103.1,715.1,-9.6,469,5776,0.00,1.15,0.00,0.000,4,0.000,0.060,1734,3951,1925,0,0,0,0,0,0
$GC,5810,-0.63,-103.1,719.2,-10.7,470,5817,0.00,1.08,0.00,0.000,6,0.000,0.034,1734,3229,1925,0,0,0,0,0,0
$GC,6126,-0.67,-103.1,750.2,-9.7,486,6131,0.15,1.15,0.00,0.000,4,0.093,0.060,1663,3943,1925,0,0,0,0,0,0
$GC,6226,-0.56,-103.1,765.9,-16.2,490,6231,0.20,1.08,0.00,0.000,6,0.184,0.034,1718,3227,1925,0,0,0,0,0,0
$GC,6548,-0.57,-103.1,802.7,-11.2,506,6551,0.00,1.15,0.00,0.000,4,0.000,0.060,1715,3955,1925,0,0,0,0,0,0
$GC,6619,-0.57,-103.1,811.6,-13.0,509,6623,0.00,1.10,0.00,0.000,6,0.000,0.034,1715,3219,1925,0,0,0,0,0,0
$GC,6946,-0.57,-103.1,848.7,-11.3,525,6950,0.00,1.15,0.00,0.000,4,0.000,0.060,1709,3946,1925,0,0,0,0,0,0
$GC,6984,-0.55,-103.1,853.8,-13.2,526,6991,0.00,1.05,0.00,0.000,6,0.000,0.035,1709,3233,1925,0,0,0,0,0,0
$GC,7300,-0.55,-103.1,892.5,-12.5,542,7303,0.00,1.12,0.00,0.000,4,0.000,0.060,1704,3945,1925,0,0,0,0,0,0
$GC,7383,-0.52,-103.1,904.2,-14.8,545,7391,0.10,1.05,0.00,0.000,6,0.164,0.034,1733,3240,1925,0,0,0,0,0,0
$GC,7699,-0.57,-103.1,939.1,-10.9,561,7702,0.00,1.12,0.00,0.000,4,0.000,0.062,1729,3950,1925,0,0,0,0,0,0
$GC,7753,-0.60,-103.1,945.9,-12.3,563,7758,0.00,1.10,0.00,0.000,6,0.000,0.034,1729,3219,1925,0,0,0,0,0,0
$GC,8075,-0.65,-103.1,980.4,-10.6,579,8077,0.00,0.00,0.00,0.000,6,0.000,0.000,1729,3219,1925,0,0,0,0,0,0
$STATE,8280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8280,begin apogee
$GC,8284,-0.09,0.0,1001.9,10.3,589,8392,0.47,0.00,104.72,1.841,6,0.150,0.000,1869,3060,1499,0,0,0,0,0,0
$STATE,8393,end apogee,CONTROL_FINISHED_OK
$STATE,8393,begin climb
$GC,8394,0.59,103.1,1004.6,0.0,594,8508,0.68,1.55,104.93,1.835,4,0.096,0.033,2096,2175,1082,0,0,0,0,0,0
$GC,8557,0.59,103.1,987.5,14.0,601,8565,0.00,1.55,0.00,0.000,6,0.000,0.050,2096,3055,1084,0,0,0,0,0,0
$GC,8874,0.55,103.1,936.8,16.0,617,8878,0.00,1.38,0.00,0.000,4,0.000,0.034,2102,2176,1082,0,0,0,0,0,0
$GC,8901,0.53,103.1,932.5,15.2,618,8905,0.00,1.48,0.00,0.000,6,0.000,0.051,2102,3066,1081,0,0,0,0,0,0
$GC,9228,0.48,103.1,880.4,15.7,634,9233,0.17,1.45,0.00,0.000,4,0.206,0.062,2063,3946,1080,0,0,0,0,0,0
$GC,9274,0.44,103.1,873.3,15.6,636,9278,0.00,1.35,0.00,0.000,6,0.000,0.032,2067,3054,1080,0,0,0,0,0,0
$GC,9606,0.44,103.1,830.1,13.0,652,9609,0.00,1.33,0.00,0.000,4,0.000,0.034,2074,2185,1080,0,0,0,0,0,0
$GC,9655,0.48,103.1,823.8,12.6,654,9659,0.00,1.45,0.00,0.000,6,0.000,0.052,2073,3069,1079,0,0,0,0,0,0
$GC,9982,0.48,103.1,781.8,12.6,670,9983,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,3069,1079,0,0,0,0,0,0
$GC,10291,0.48,103.1,741.2,13.3,685,10295,0.00,1.40,0.00,0.000,4,0.000,0.061,2074,3947,1079,0,0,0,0,0,0
$GC,10324,0.42,103.1,736.2,15.6,686,10329,0.12,1.33,0.00,0.000,6,0.200,0.033,2047,3062,1078,0,0,0,0,0,0
$GC,10646,0.46,103.1,696.7,12.6,702,10647,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,3061,1078,0,0,0,0,0,0
$GC,10954,0.50,103.1,657.6,12.7,717,10956,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,3062,1077,0,0,0,0,0,0
$GC,11264,0.55,103.1,619.9,12.2,732,11266,0.10,0.00,0.00,0.000,6,0.112,0.000,2086,3062,1078,0,0,0,0,0,0
$GC,11573,0.53,103.1,576.7,13.4,747,11577,0.00,1.35,0.00,0.000,4,0.000,0.034,2093,2170,1077,0,0,0,0,0,0
$GC,11599,0.53,103.1,573.0,12.5,748,11604,0.00,1.45,0.00,0.000,6,0.000,0.052,2093,3064,1077,0,0,0,0,0,0
$GC,11927,0.49,103.1,525.4,15.1,764,11931,0.00,1.35,0.00,0.000,4,0.000,0.035,2099,2174,1077,0,0,0,0,0,0
$GC,11987,0.49,103.1,517.0,13.0,766,11996,0.10,1.42,0.00,0.000,6,0.181,0.053,2072,3057,1077,0,0,0,0,0,0
$GC,12303,0.49,103.1,476.8,12.7,782,12304,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,3057,1078,0,0,0,0,0,0
$GC,12613,0.49,103.1,438.0,12.4,797,12614,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,3057,1077,0,0,0,0,0,0
$GC,12922,0.49,103.1,401.9,11.3,812,12926,0.00,1.33,0.00,0.000,4,0.000,0.034,2077,2175,1077,0,0,0,0,0,0
$GC,12962,0.54,103.1,397.7,10.3,814,12968,0.00,1.42,0.00,0.000,6,0.000,0.054,2077,3058,1077,0,0,0,0,0,0
$GC,13289,0.54,103.1,360.4,11.3,845,13293,0.00,1.42,0.00,0.000,4,0.000,0.060,2077,3957,1077,0,0,0,0,0,0
$GC,13350,0.48,103.1,351.8,13.8,850,13357,0.00,1.33,0.00,0.000,6,0.000,0.033,2084,3059,1077,0,0,0,0,0,0
$GC,13678,0.48,103.1,311.9,13.2,881,13684,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,3059,1077,0,0,0,0,0,0
$GC,14003,0.48,103.1,266.9,14.2,912,14007,0.00,1.42,0.00,0.000,4,0.000,0.060,2083,3955,1077,0,0,0,0,0,0
$GC,14116,0.41,103.1,248.2,17.1,922,14120,0.15,1.33,0.00,0.000,6,0.193,0.033,2047,3059,1077,0,0,0,0,0,0
$GC,14449,0.47,103.1,208.1,11.8,953,14455,0.00,0.00,0.00,0.000,6,0.000,0.000,2048,3059,1076,0,0,0,0,0,0
$GC,14775,0.53,103.1,169.9,11.3,984,14778,0.00,1.30,0.00,0.000,4,0.000,0.031,2053,2179,1077,0,0,0,0,0,0
$GC,14858,0.62,103.1,161.0,11.0,991,14866,0.12,1.40,0.00,0.000,6,0.057,0.052,2120,3053,1077,0,0,0,0,0,0
$GC,15184,0.56,103.1,114.1,14.4,1022,15188,0.15,1.45,0.00,0.000,4,0.209,0.058,2084,3955,1077,0,0,0,0,0,0
$GC,15221,0.49,103.1,109.3,15.1,1025,15225,0.00,1.33,0.00,0.000,6,0.000,0.033,2090,3057,1077,0,0,0,0,0,0
$GC,15564,0.49,103.1,65.1,12.5,1079,15570,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,3057,1077,0,0,0,0,0,0
$GC,15918,0.47,103.1,23.4,11.7,1140,15928,0.12,1.33,0.00,0.000,4,0.219,0.033,2066,2173,1077,0,0,0,0,0,0
$GC,15995,0.55,103.1,14.4,11.3,1152,16004,0.00,1.42,0.00,0.000,6,0.000,0.055,2066,3060,1077,0,0,0,0,0,0
$GC,16053,0.55,103.1,7.2,13.2,1161,16062,0.00,1.40,0.00,0.000,4,0.000,0.057,2067,3955,1077,0,0,0,0,0,0
$STATE,16076,end climb,SURFACE_DEPTH_REACHED
$STATE,16076,begin surface coast
$FINISH,1.3,1.026542
$STATE,16095,end surface coast,CONTROL_FINISHED_OK
$STATE,16095,begin surface
$SM_CCo,16108,44.67,0.140,0,0,682,200.16
$SM_GC,2.63,0.00,0.00,44.67,0.000,0.000,0.140,74,3230,682,-5.72,0.00,200.16
$IRIDIUM_FIX,-4239.11,746.17,150608,000003
$TT8_MAMPS,0.027713
$HUMID,61.85
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.4,24.522
$10V_AH,10.2,13.616
$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,15.200,72.825,209.650,44.675,0.000,56.599,87.991,397.335,0.000,0.000,20.515,2885.641,10312.151,403.248,3129.895,170.189,0.000,1490.789,0.000,2540.252,0.000,0.544,0.000
$DEVICE_MAMPS,227.205,78.795,1841.355,139.995,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,810.140,826.080,847.502,80.141,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353956
$DATA_FILE_SIZE,66921,1167
$CAP_FILE_SIZE,157293,0
$CFSIZE,259252224,249765888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190815,154307,-4255.236,835.936,26,1.8,26,-25.1