version: 66.07
glider: 543
mission: 14
dive: 120
start: 8 20 115 0 54 40
data:
$ID,543
$MISSION,14
$DIVE,120
$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,-24482.246
$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,59
$R_STBD_OVSHOOT,29
$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
$GPS1,200815,004333,-4255.460,836.883,42,1.0,42,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-70.5
$GPS2,200815,005417,-4255.441,837.047,34,1.0,34,-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,259.0,1757,-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,-49.8,0.0,0.0,0,64,0.00,0.00,-44.33,0.000,6,0.000,0.000,61,3249,1704,0,0,0,0,0,0
$GC,66,-0.60,-105.3,3.1,-2.2,6,84,6.72,1.17,-7.07,0.000,4,0.233,0.082,1700,3956,1931,0,0,0,0,0,0
$GC,346,-0.49,-105.3,57.8,-18.2,53,354,0.12,1.08,0.00,0.000,6,0.174,0.032,1737,3237,1933,0,0,0,0,0,0
$GC,690,-0.49,-105.3,110.4,-15.6,108,693,0.00,1.12,0.00,0.000,4,0.000,0.057,1733,3945,1933,0,0,0,0,0,0
$GC,751,-0.47,-105.3,120.6,-16.0,113,759,0.00,1.08,0.00,0.000,6,0.000,0.031,1733,3220,1933,0,0,0,0,0,0
$GC,1076,-0.47,-105.3,167.6,-13.3,144,1080,0.00,1.15,0.00,0.000,4,0.000,0.056,1728,3948,1933,0,0,0,0,0,0
$GC,1115,-0.45,-105.3,173.3,-14.4,147,1123,0.12,1.08,0.00,0.000,6,0.180,0.031,1758,3229,1933,0,0,0,0,0,0
$GC,1440,-0.52,-105.3,208.3,-10.5,178,1441,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,3229,1933,0,0,0,0,0,0
$GC,1759,-0.59,-105.3,242.4,-10.9,208,1764,0.12,1.33,0.00,0.000,4,0.098,0.029,1703,2319,1933,0,0,0,0,0,0
$GC,1793,-0.59,-105.3,247.0,-13.6,211,1797,0.00,1.45,0.00,0.000,6,0.000,0.050,1696,3223,1933,0,0,0,0,0,0
$GC,2123,-0.53,-105.3,302.3,-16.6,242,2128,0.12,1.15,0.00,0.000,4,0.192,0.056,1722,3949,1933,0,0,0,0,0,0
$GC,2169,-0.52,-105.3,309.9,-16.9,246,2173,0.00,1.05,0.00,0.000,6,0.000,0.032,1722,3227,1933,0,0,0,0,0,0
$GC,2502,-0.52,-105.3,358.7,-14.6,277,2506,0.00,1.12,0.00,0.000,4,0.000,0.057,1717,3943,1933,0,0,0,0,0,0
$GC,2582,-0.49,-105.3,371.5,-15.8,284,2585,0.00,1.05,0.00,0.000,6,0.000,0.033,1717,3223,1933,0,0,0,0,0,0
$GC,2908,-0.49,-105.3,418.6,-14.2,309,2912,0.00,1.15,0.00,0.000,4,0.000,0.057,1712,3955,1933,0,0,0,0,0,0
$GC,3008,-0.46,-105.3,434.4,-15.6,313,3013,0.15,1.08,0.00,0.000,6,0.175,0.031,1754,3231,1933,0,0,0,0,0,0
$GC,3329,-0.53,-105.3,468.3,-10.0,329,3333,0.00,1.12,0.00,0.000,4,0.000,0.058,1750,3945,1933,0,0,0,0,0,0
$GC,3367,-0.59,-105.3,472.6,-10.8,330,3375,0.10,1.08,0.00,0.000,6,0.111,0.032,1704,3223,1933,0,0,0,0,0,0
$GC,3685,-0.56,-105.3,516.7,-14.0,346,3689,0.00,1.15,0.00,0.000,4,0.000,0.057,1698,3954,1933,0,0,0,0,0,0
$GC,3740,-0.50,-105.3,525.4,-15.2,348,3745,0.15,1.08,0.00,0.000,6,0.181,0.032,1739,3230,1933,0,0,0,0,0,0
$GC,4061,-0.55,-105.3,560.3,-10.6,364,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,1739,3230,1933,0,0,0,0,0,0
$GC,4370,-0.59,-105.3,593.7,-10.8,379,4374,0.00,1.15,0.00,0.000,4,0.000,0.060,1736,3941,1933,0,0,0,0,0,0
$GC,4419,-0.62,-105.3,600.0,-11.9,381,4424,0.00,1.08,0.00,0.000,6,0.000,0.033,1735,3219,1933,0,0,0,0,0,0
$GC,4747,-0.66,-105.3,638.6,-12.2,397,4751,0.12,1.17,0.00,0.000,4,0.102,0.060,1675,3952,1933,0,0,0,0,0,0
$GC,4792,-0.57,-105.3,645.8,-17.6,399,4796,0.12,1.05,0.00,0.000,6,0.167,0.034,1713,3238,1933,0,0,0,0,0,0
$GC,5123,-0.57,-105.3,692.6,-13.8,415,5127,0.00,1.12,0.00,0.000,4,0.000,0.059,1709,3957,1933,0,0,0,0,0,0
$GC,5223,-0.55,-105.3,707.8,-14.6,419,5227,0.00,1.10,0.00,0.000,6,0.000,0.033,1709,3218,1933,0,0,0,0,0,0
$GC,5544,-0.55,-105.3,752.3,-13.9,435,5548,0.00,1.15,0.00,0.000,4,0.000,0.058,1703,3945,1933,0,0,0,0,0,0
$GC,5605,-0.52,-105.3,761.4,-14.5,437,5613,0.08,1.05,0.00,0.000,6,0.166,0.033,1726,3234,1932,0,0,0,0,0,0
$GC,5921,-0.55,-105.3,799.6,-11.7,453,5922,0.00,0.00,0.00,0.000,6,0.000,0.000,1726,3234,1933,0,0,0,0,0,0
$GC,6230,-0.59,-105.3,834.6,-11.3,468,6234,0.00,1.12,0.00,0.000,4,0.000,0.060,1722,3946,1932,0,0,0,0,0,0
$GC,6343,-0.61,-105.3,848.3,-11.8,473,6347,0.00,1.05,0.00,0.000,6,0.000,0.034,1722,3231,1933,0,0,0,0,0,0
$GC,6675,-0.64,-105.3,885.2,-11.0,489,6679,0.00,1.12,0.00,0.000,4,0.000,0.060,1717,3943,1933,0,0,0,0,0,0
$GC,6729,-0.64,-105.3,891.9,-12.1,491,6734,0.00,1.08,0.00,0.000,6,0.000,0.033,1717,3223,1933,0,0,0,0,0,0
$GC,7051,-0.67,-105.3,928.5,-11.6,507,7055,0.00,1.15,0.00,0.000,4,0.000,0.060,1712,3951,1933,0,0,0,0,0,0
$GC,7106,-0.67,-105.3,935.5,-12.5,509,7111,0.00,1.08,0.00,0.000,6,0.000,0.034,1713,3232,1933,0,0,0,0,0,0
$GC,7427,-0.69,-105.3,971.9,-11.3,525,7431,0.00,1.12,0.00,0.000,4,0.000,0.060,1706,3944,1933,0,0,0,0,0,0
$GC,7476,-0.69,-105.3,978.5,-13.2,527,7481,0.00,1.08,0.00,0.000,6,0.000,0.034,1707,3224,1933,0,0,0,0,0,0
$STATE,7678,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7678,begin apogee
$GC,7683,-0.09,0.0,1001.5,11.6,537,7805,0.55,0.00,114.12,1.770,6,0.155,0.000,1867,3065,1498,0,0,0,0,1,0
$STATE,7806,end apogee,CONTROL_FINISHED_OK
$STATE,7806,begin climb
$GC,7808,0.60,105.3,1005.0,0.0,543,7922,0.68,1.52,106.85,1.829,4,0.093,0.031,2095,2186,1071,0,0,0,0,0,0
$GC,8016,0.60,105.3,983.0,13.7,552,8024,0.00,1.52,0.00,0.000,6,0.000,0.050,2095,3062,1075,0,0,0,0,0,0
$GC,8333,0.54,105.3,935.1,15.3,568,8334,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,3062,1074,0,0,0,0,0,0
$GC,8642,0.49,105.3,888.6,14.8,583,8643,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,3063,1072,0,0,0,0,0,0
$GC,8951,0.45,105.3,844.4,13.9,598,8953,0.17,0.00,0.00,0.000,6,0.200,0.000,2054,3062,1072,0,0,0,0,0,0
$GC,9261,0.47,105.3,807.6,12.1,613,9264,0.00,1.42,0.00,0.000,4,0.000,0.061,2054,3946,1071,0,0,0,0,0,0
$GC,9329,0.45,105.3,798.6,14.2,616,9333,0.00,1.35,0.00,0.000,6,0.000,0.032,2059,3045,1071,0,0,0,0,0,0
$GC,9661,0.45,105.3,758.2,12.1,632,9662,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,3045,1071,0,0,0,0,0,0
$GC,9970,0.45,105.3,720.3,12.2,647,9973,0.00,1.48,0.00,0.000,4,0.000,0.060,2059,3958,1071,0,0,0,0,0,0
$GC,10007,0.40,105.3,714.9,13.3,648,10015,0.00,1.35,0.00,0.000,6,0.000,0.032,2066,3055,1070,0,0,0,0,0,0
$GC,10324,0.40,105.3,674.3,12.8,664,10327,0.00,1.42,0.00,0.000,4,0.000,0.059,2066,3946,1070,0,0,0,0,0,0
$GC,10356,0.36,105.3,669.6,14.4,665,10361,0.15,1.33,0.00,0.000,6,0.194,0.031,2030,3059,1070,0,0,0,0,0,0
$GC,10677,0.42,105.3,634.6,11.1,681,10679,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,3058,1070,0,0,0,0,0,0
$GC,10986,0.49,105.3,601.0,10.7,696,10988,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,3058,1070,0,0,0,0,0,0
$GC,11296,0.55,105.3,568.6,10.2,711,11298,0.15,0.00,0.00,0.000,6,0.088,0.000,2093,3058,1070,0,0,0,0,0,0
$GC,11605,0.51,105.3,525.7,13.9,726,11609,0.00,1.33,0.00,0.000,4,0.000,0.032,2100,2174,1071,0,0,0,0,0,0
$GC,11637,0.51,105.3,521.3,12.2,727,11643,0.12,1.45,0.00,0.000,6,0.201,0.051,2073,3065,1070,0,0,0,0,0,0
$GC,11959,0.51,105.3,481.7,12.4,743,11962,0.00,1.40,0.00,0.000,4,0.000,0.059,2073,3947,1070,0,0,0,0,0,0
$GC,12013,0.45,105.3,473.6,14.6,745,12018,0.00,1.33,0.00,0.000,6,0.000,0.032,2077,3055,1069,0,0,0,0,0,0
$GC,12335,0.45,105.3,434.1,12.0,761,12336,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3055,1069,0,0,0,0,0,0
$GC,12645,0.45,105.3,398.0,11.1,776,12648,0.00,1.42,0.00,0.000,4,0.000,0.059,2078,3946,1069,0,0,0,0,0,0
$GC,12694,0.38,105.3,391.3,13.7,780,12705,0.17,1.30,0.00,0.000,6,0.188,0.031,2035,3063,1070,0,0,0,0,0,0
$GC,13020,0.46,108.1,363.5,8.2,811,13023,0.00,0.00,2.15,0.496,6,0.000,0.000,2035,3063,1058,0,0,0,0,0,0
$GC,13340,0.54,117.8,338.5,7.4,841,13356,0.12,1.42,10.62,1.402,4,0.098,0.057,2089,3959,1019,0,0,0,0,0,0
$GC,13442,0.46,117.8,325.2,13.4,850,13447,0.12,1.35,0.00,0.000,6,0.198,0.031,2062,3051,1026,0,0,0,0,0,0
$GC,13775,0.49,117.8,289.6,10.5,881,13778,0.00,1.45,0.00,0.000,4,0.000,0.059,2062,3954,1025,0,0,0,0,0,0
$GC,13801,0.49,117.8,286.0,12.5,883,13809,0.00,1.35,0.00,0.000,6,0.000,0.031,2067,3058,1025,0,0,0,0,0,0
$GC,14127,0.50,117.8,252.5,9.7,914,14131,0.00,1.30,0.00,0.000,4,0.000,0.031,2074,2179,1025,0,0,0,0,0,0
$GC,14209,0.56,117.8,244.8,9.9,921,14212,0.00,1.42,0.00,0.000,6,0.000,0.053,2074,3062,1025,0,0,0,0,0,0
$GC,14539,0.56,117.8,205.4,12.1,952,14542,0.00,1.40,0.00,0.000,4,0.000,0.058,2074,3948,1025,0,0,0,0,0,0
$GC,14598,0.51,117.8,197.5,14.3,957,14602,0.00,1.33,0.00,0.000,6,0.000,0.031,2080,3051,1025,0,0,0,0,0,0
$GC,14928,0.51,117.8,155.5,12.3,988,14931,0.00,1.30,0.00,0.000,4,0.000,0.031,2087,2170,1026,0,0,0,0,0,0
$GC,15091,0.55,117.8,136.9,10.9,1002,15099,0.00,1.42,0.00,0.000,6,0.000,0.050,2088,3060,1025,0,0,0,0,0,0
$GC,15417,0.55,117.8,98.6,11.4,1034,15423,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,3060,1026,0,0,0,0,0,0
$GC,15766,0.55,117.8,58.6,10.8,1095,15774,0.00,1.30,0.00,0.000,4,0.000,0.031,2094,2172,1026,0,0,0,0,0,0
$GC,15786,0.55,117.8,56.6,10.0,1098,15794,0.00,1.40,0.00,0.000,6,0.000,0.050,2094,3054,1026,0,0,0,0,0,0
$GC,16146,0.52,117.8,8.0,16.0,1159,16155,0.00,1.30,0.00,0.000,4,0.000,0.030,2101,2161,1026,0,0,0,0,0,0
$GC,16180,0.52,117.8,3.4,13.3,1164,16189,0.00,1.42,0.00,0.000,6,0.000,0.049,2101,3060,1026,0,0,0,0,0,0
$STATE,16196,end climb,SURFACE_DEPTH_REACHED
$STATE,16196,begin surface coast
$FINISH,1.2,1.026349
$STATE,16227,end surface coast,CONTROL_FINISHED_OK
$STATE,16227,begin surface
$SM_CCo,16239,55.42,0.496,1,0,681,200.16
$SM_GC,2.18,0.00,0.00,55.42,0.000,0.000,0.496,71,3239,681,-5.72,0.25,200.16
$IRIDIUM_FIX,-4239.11,834.03,150608,090911
$TT8_MAMPS,0.027713
$HUMID,61.45
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.4,24.971
$10V_AH,10.2,13.930
$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,15.575,77.425,233.750,55.425,0.000,103.814,44.754,302.294,0.000,0.000,37.718,2912.591,10383.092,419.092,3067.081,165.527,0.000,1527.733,0.000,2570.764,0.000,0.545,0.000
$DEVICE_MAMPS,232.560,81.855,1829.115,496.485,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,813.433,830.279,830.996,76.306,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353916
$DATA_FILE_SIZE,67049,1171
$CAP_FILE_SIZE,157652,0
$CFSIZE,259252224,249536512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,200815,052835,-4256.109,835.705,101,1.0,101,-25.1