version: 66.07
glider: 543
mission: 14
dive: 128
start: 8 22 115 0 31 28
data:
$ID,543
$MISSION,14
$DIVE,128
$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,-24508.932
$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,3209
$C_ROLL_CLIMB,2924
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$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
$GPS1,220815,002222,-4303.947,830.310,69,0.8,70,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-72.4
$GPS2,220815,003105,-4303.950,830.391,17,0.9,18,-25.1
$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,294.5,8647,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.43,-116.8,0.0,0.0,0,74,0.00,0.00,-56.92,0.000,2,0.000,0.000,64,3248,1831,0,0,0,0,0,0
$GC,76,-0.43,-116.8,3.2,-1.8,7,94,6.88,1.10,-4.20,0.000,4,0.230,0.074,1753,3958,1976,0,0,0,0,0,0
$GC,226,-0.31,-116.8,26.3,-14.8,31,235,0.15,1.15,0.00,0.000,6,0.142,0.031,1799,3194,1979,0,0,0,0,0,0
$GC,379,-0.31,-116.8,40.2,-8.3,56,385,0.00,1.30,0.00,0.000,4,0.000,0.028,1799,2304,1979,0,0,0,0,0,0
$GC,411,-0.33,-116.8,42.7,-7.8,61,418,0.00,1.48,0.00,0.000,6,0.000,0.051,1794,3208,1979,0,0,0,0,0,0
$GC,759,-0.33,-116.8,73.4,-8.5,122,765,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,3208,1979,0,0,0,0,0,0
$GC,1102,-0.33,-116.8,103.8,-8.6,179,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,3208,1979,0,0,0,0,0,0
$GC,1425,-0.33,-116.8,133.3,-9.4,209,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,3208,1979,0,0,0,0,0,0
$GC,1750,-0.33,-116.8,163.8,-9.3,240,1751,0.00,0.00,0.00,0.000,6,0.000,0.000,1795,3208,1979,0,0,0,0,0,0
$GC,2069,-0.33,-116.8,191.1,-8.0,270,2073,0.00,1.17,0.00,0.000,4,0.000,0.059,1789,3955,1979,0,0,0,0,0,0
$GC,2105,-0.33,-116.8,194.0,-8.8,273,2109,0.00,1.10,0.00,0.000,6,0.000,0.032,1789,3206,1979,0,0,0,0,0,0
$GC,2435,-0.33,-116.8,219.4,-7.2,304,2439,0.00,1.30,0.00,0.000,4,0.000,0.028,1789,2301,1979,0,0,0,0,0,0
$GC,2485,-0.37,-116.8,223.2,-7.4,308,2494,0.00,1.45,0.00,0.000,6,0.000,0.050,1783,3202,1979,0,0,0,0,0,0
$GC,2811,-0.37,-116.8,247.3,-7.4,339,2815,0.00,1.17,0.00,0.000,4,0.000,0.057,1778,3952,1979,0,0,0,0,0,0
$GC,2838,-0.37,-116.8,249.2,-7.4,341,2841,0.00,1.08,0.00,0.000,6,0.000,0.032,1778,3215,1979,0,0,0,0,0,0
$GC,3168,-0.35,-116.8,274.8,-8.1,372,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,3216,1979,0,0,0,0,0,0
$GC,3488,-0.34,-116.8,300.7,-8.1,402,3489,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,3216,1979,0,0,0,0,0,0
$GC,3806,-0.34,-116.8,326.0,-7.4,432,3807,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,3216,1979,0,0,0,0,0,0
$GC,4124,-0.34,-116.8,346.7,-6.0,462,4126,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,3216,1979,0,0,0,0,0,0
$GC,4443,-0.34,-116.8,367.5,-6.7,492,4447,0.00,1.30,0.00,0.000,4,0.000,0.028,1778,2312,1979,0,0,0,0,0,0
$GC,4478,-0.35,-116.8,369.8,-6.5,495,4482,0.00,1.45,0.00,0.000,6,0.000,0.052,1772,3209,1979,0,0,0,0,0,0
$GC,4809,-0.33,-116.8,393.9,-7.6,526,4812,0.00,1.15,0.00,0.000,4,0.000,0.058,1766,3945,1979,0,0,0,0,0,0
$GC,4836,-0.29,-116.8,396.3,-8.5,528,4845,0.12,1.08,0.00,0.000,6,0.134,0.032,1807,3211,1979,0,0,0,0,0,0
$GC,5154,-0.35,-116.8,412.9,-5.3,547,5156,0.00,0.00,0.00,0.000,6,0.000,0.000,1806,3212,1979,0,0,0,0,0,0
$GC,5463,-0.41,-116.8,430.7,-6.1,562,5465,0.12,0.00,0.00,0.000,6,0.093,0.000,1746,3211,1979,0,0,0,0,0,0
$GC,5772,-0.34,-116.8,463.2,-11.0,577,5776,0.17,1.20,0.00,0.000,4,0.161,0.058,1789,3956,1979,0,0,0,0,0,0
$GC,5827,-0.36,-116.8,468.3,-8.4,579,5831,0.00,1.10,0.00,0.000,6,0.000,0.033,1789,3211,1979,0,0,0,0,0,0
$GC,6148,-0.38,-116.8,492.8,-7.5,595,6152,0.00,1.33,0.00,0.000,4,0.000,0.029,1789,2306,1979,0,0,0,0,0,0
$GC,6198,-0.43,-116.8,496.5,-6.8,597,6202,0.00,1.45,0.00,0.000,6,0.000,0.053,1784,3201,1979,0,0,0,0,0,0
$GC,6525,-0.43,-116.8,521.4,-7.7,613,6526,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,3200,1979,0,0,0,0,0,0
$GC,6835,-0.43,-116.8,545.7,-8.0,628,6836,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,3200,1979,0,0,0,0,0,0
$GC,7144,-0.43,-116.8,571.1,-8.5,643,7147,0.00,1.17,0.00,0.000,4,0.000,0.060,1778,3949,1979,0,0,0,0,0,0
$GC,7183,-0.43,-116.8,574.7,-9.3,644,7189,0.00,1.10,0.00,0.000,6,0.000,0.034,1778,3202,1979,0,0,0,0,0,0
$GC,7498,-0.43,-116.8,602.7,-9.1,660,7499,0.00,0.00,0.00,0.000,6,0.000,0.000,1778,3203,1979,0,0,0,0,0,0
$GC,7807,-0.43,-116.8,630.9,-9.0,675,7810,0.00,1.17,0.00,0.000,4,0.000,0.060,1773,3944,1979,0,0,0,0,0,0
$GC,7839,-0.43,-116.8,634.3,-10.3,676,7843,0.00,1.10,0.00,0.000,6,0.000,0.033,1773,3207,1979,0,0,0,0,0,0
$GC,8161,-0.43,-116.8,664.1,-9.4,692,8164,0.00,1.17,0.00,0.000,4,0.000,0.060,1767,3951,1979,0,0,0,0,0,0
$GC,8187,-0.41,-116.8,666.9,-10.3,693,8192,0.00,1.10,0.00,0.000,6,0.000,0.032,1767,3209,1979,0,0,0,0,0,0
$GC,8515,-0.39,-116.8,697.1,-8.9,709,8518,0.00,1.33,0.00,0.000,4,0.000,0.030,1767,2309,1979,0,0,0,0,0,0
$GC,8537,-0.39,-116.8,699.1,-9.1,710,8541,0.00,1.45,0.00,0.000,6,0.000,0.054,1761,3205,1979,0,0,0,0,0,0
$GC,8869,-0.36,-116.8,729.3,-8.9,726,8873,0.00,1.17,0.00,0.000,4,0.000,0.060,1756,3956,1979,0,0,0,0,0,0
$GC,8942,-0.32,-116.8,736.3,-9.7,729,8947,0.12,1.10,0.00,0.000,6,0.140,0.034,1795,3218,1979,0,0,0,0,0,0
$GC,9270,-0.38,-116.8,756.7,-6.0,745,9274,0.00,1.33,0.00,0.000,4,0.000,0.029,1795,2297,1979,0,0,0,0,0,0
$GC,9297,-0.45,-116.8,758.5,-6.3,746,9301,0.00,1.50,0.00,0.000,6,0.000,0.054,1792,3224,1979,0,0,0,0,0,0
$GC,9625,-0.50,-116.8,778.4,-6.3,762,9627,0.15,0.00,0.00,0.000,6,0.086,0.000,1723,3224,1978,0,0,0,0,0,0
$GC,9934,-0.40,-116.8,812.7,-11.3,777,9938,0.17,1.17,0.00,0.000,4,0.166,0.060,1766,3954,1979,0,0,0,0,0,0
$GC,9988,-0.40,-116.8,817.9,-8.6,779,9992,0.00,1.12,0.00,0.000,6,0.000,0.034,1767,3201,1979,0,0,0,0,0,0
$GC,10310,-0.40,-116.8,843.5,-7.9,795,10313,0.00,1.30,0.00,0.000,4,0.000,0.031,1767,2305,1979,0,0,0,0,0,0
$GC,10332,-0.40,-116.8,845.4,-8.9,796,10336,0.00,1.45,0.00,0.000,6,0.000,0.054,1760,3200,1979,0,0,0,0,0,0
$GC,10665,-0.38,-116.8,872.5,-8.1,812,10669,0.00,1.17,0.00,0.000,4,0.000,0.060,1754,3949,1979,0,0,0,0,0,0
$GC,10714,-0.35,-116.8,877.1,-8.9,814,10719,0.10,1.10,0.00,0.000,6,0.138,0.034,1786,3215,1979,0,0,0,0,0,0
$GC,11043,-0.40,-116.8,896.5,-5.9,830,11044,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,3215,1979,0,0,0,0,0,0
$GC,11351,-0.45,-116.8,914.4,-5.9,845,11355,0.00,1.17,0.00,0.000,4,0.000,0.061,1782,3953,1979,0,0,0,0,0,0
$GC,11384,-0.49,-116.8,916.6,-6.5,846,11389,0.08,1.10,0.00,0.000,6,0.064,0.034,1732,3213,1979,0,0,0,0,0,0
$GC,11706,-0.41,-116.8,947.6,-9.9,862,11708,0.12,0.00,0.00,0.000,6,0.175,0.000,1764,3213,1978,0,0,0,0,0,0
$GC,12014,-0.41,-116.8,971.1,-7.5,877,12015,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,3213,1979,0,0,0,0,0,0
$GC,12324,-0.41,-116.8,993.9,-7.6,892,12325,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,3213,1979,0,0,0,0,0,0
$STATE,12404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12404,begin apogee
$GC,12408,-0.09,0.0,1000.4,7.8,896,12535,0.35,0.00,123.22,1.914,6,0.133,0.000,1873,2916,1499,0,0,0,0,0,0
$STATE,12536,end apogee,CONTROL_FINISHED_OK
$STATE,12536,begin climb
$GC,12537,0.43,116.8,1003.7,0.0,902,12665,0.50,1.45,118.30,1.851,4,0.092,0.032,2043,2050,1022,0,0,0,0,0,0
$GC,12710,0.40,116.8,991.5,10.0,910,12714,0.00,1.52,0.00,0.000,6,0.000,0.050,2042,2920,1020,0,0,0,0,0,0
$GC,13043,0.33,116.8,953.8,11.4,926,13047,0.12,1.48,0.00,0.000,4,0.179,0.059,2012,3804,1016,0,0,0,0,0,0
$GC,13097,0.26,116.8,947.5,11.6,928,13102,0.00,1.38,0.00,0.000,6,0.000,0.030,2018,2903,1016,0,0,0,0,0,0
$GC,13419,0.23,116.8,914.6,10.2,944,13423,0.15,1.50,0.00,0.000,4,0.184,0.059,1981,3811,1015,0,0,0,0,0,0
$GC,13518,0.23,116.8,905.2,9.4,948,13522,0.00,1.35,0.00,0.000,6,0.000,0.031,1986,2925,1015,0,0,0,0,0,0
$GC,13840,0.28,135.7,880.3,7.6,964,13863,0.00,1.50,17.45,1.783,4,0.000,0.059,1986,3809,944,0,0,0,0,0,0
$GC,13908,0.28,135.7,874.2,10.2,967,13912,0.00,1.35,0.00,0.000,6,0.000,0.031,1993,2928,943,0,0,0,0,0,0
$GC,14241,0.32,146.1,846.8,8.0,983,14254,0.00,0.00,10.80,1.694,6,0.000,0.000,1993,2927,903,0,0,0,0,0,0
$GC,14550,0.39,177.9,824.0,7.0,998,14587,0.10,1.48,31.35,1.785,4,0.109,0.057,2037,3814,775,0,0,0,0,0,0
$GC,14626,0.32,177.9,815.8,12.8,1000,14633,0.10,1.38,0.00,0.000,6,0.162,0.031,2015,2925,774,0,0,0,0,0,0
$GC,14941,0.32,177.9,787.2,9.2,1016,14942,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,2925,772,0,0,0,0,0,0
$GC,15250,0.32,177.9,758.3,9.6,1031,15251,0.00,0.00,0.00,0.000,6,0.000,0.000,2016,2926,771,0,0,0,0,0,0
$GC,15560,0.33,177.9,728.2,9.9,1046,15564,0.00,1.42,0.00,0.000,4,0.000,0.059,2015,3805,771,0,0,0,0,0,0
$GC,15586,0.33,177.9,725.0,11.0,1047,15591,0.00,1.35,0.00,0.000,6,0.000,0.031,2020,2915,771,0,0,0,0,0,0
$GC,15914,0.33,177.9,692.1,10.0,1063,15915,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2913,771,0,0,0,0,0,0
$GC,16223,0.33,177.9,661.8,9.8,1078,16227,0.00,1.45,0.00,0.000,4,0.000,0.059,2020,3812,771,0,0,0,0,0,0
$GC,16249,0.32,177.9,658.8,11.0,1079,16253,0.00,1.33,0.00,0.000,6,0.000,0.031,2027,2924,771,0,0,0,0,0,0
$GC,16576,0.32,177.9,625.8,9.8,1095,16577,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2924,770,0,0,0,0,0,0
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$STATE,21835,end climb,SURFACE_DEPTH_REACHED
$STATE,21835,begin surface coast
$FINISH,1.2,1.026535
$STATE,21867,end surface coast,CONTROL_FINISHED_OK
$STATE,21867,begin surface
$SM_CCo,21939,0.00,0.000,0,0,503,244.56
$SM_GC,2.38,5.12,0.00,0.00,0.037,0.000,0.000,67,3238,503,-5.65,0.85,244.56
$IRIDIUM_FIX,-4247.91,829.08,170608,070759
$TT8_MAMPS,0.026964
$HUMID,62.60
$INTERNAL_PRESSURE,11.3493
$TCM_TEMP,13.30
$XPDR_PINGS,0
$24V_AH,22.3,26.540
$10V_AH,10.2,15.027
$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
$DEVICE_SECS,15.975,100.400,364.450,0.000,0.000,27.983,23.522,335.735,0.000,0.000,20.601,3825.817,14262.152,485.538,3681.962,193.534,0.000,1897.155,0.000,3244.465,0.000,0.543,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1076.811,1098.739,1071.779,98.558,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353908
$DATA_FILE_SIZE,86986,1551
$CAP_FILE_SIZE,205090,0
$CFSIZE,259252224,248713216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,220815,063804,-4303.356,828.034,24,0.8,25,-25.0