version: 66.07
glider: 543
mission: 14
dive: 130
start: 8 22 115 13 14 22
data:
$ID,543
$MISSION,14
$DIVE,130
$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,-24515.914
$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,61
$R_STBD_OVSHOOT,22
$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
$GPS1,220815,130529,-4302.893,825.954,42,0.8,42,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-74.1
$GPS2,220815,131359,-4302.902,826.060,18,1.3,18,-25.0
$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,258.9,3451,-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,-46.72,0.000,6,0.000,0.000,62,3222,1704,0,0,0,0,0,0
$GC,67,-0.60,-109.0,2.9,-1.7,6,93,6.75,1.23,-8.00,0.000,4,0.234,0.080,1701,3961,1946,0,0,0,0,0,0
$GC,356,-0.51,-109.0,54.2,-18.3,54,365,0.10,1.12,0.00,0.000,6,0.168,0.031,1730,3209,1950,0,0,0,0,0,0
$GC,706,-0.51,-109.0,103.1,-13.8,113,709,0.00,1.20,0.00,0.000,4,0.000,0.055,1726,3961,1950,0,0,0,0,0,0
$GC,762,-0.49,-109.0,111.6,-14.4,118,766,0.00,1.12,0.00,0.000,6,0.000,0.031,1726,3196,1950,0,0,0,0,0,0
$GC,1096,-0.49,-109.0,157.3,-12.7,149,1099,0.00,1.20,0.00,0.000,4,0.000,0.057,1720,3955,1950,0,0,0,0,0,0
$GC,1220,-0.46,-109.0,175.5,-15.0,160,1224,0.10,1.08,0.00,0.000,6,0.160,0.031,1751,3224,1950,0,0,0,0,0,0
$GC,1549,-0.52,-109.0,212.7,-10.7,191,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,3224,1950,0,0,0,0,0,0
$GC,1872,-0.57,-109.0,246.7,-11.2,221,1878,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,3224,1950,0,0,0,0,0,0
$GC,2198,-0.64,-109.0,284.3,-12.1,252,2202,0.15,1.17,0.00,0.000,4,0.088,0.057,1680,3956,1950,0,0,0,0,0,0
$GC,2316,-0.54,-109.0,305.3,-18.6,262,2323,0.15,1.10,0.00,0.000,6,0.165,0.031,1724,3204,1950,0,0,0,0,0,0
$GC,2642,-0.54,-109.0,351.1,-14.2,293,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,1724,3204,1950,0,0,0,0,0,0
$GC,2962,-0.56,-109.0,394.3,-13.3,323,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,1724,3204,1950,0,0,0,0,0,0
$GC,3281,-0.57,-109.0,435.7,-12.5,341,3284,0.00,1.17,0.00,0.000,4,0.000,0.057,1720,3954,1950,0,0,0,0,0,0
$GC,3386,-0.57,-109.0,450.3,-13.5,345,3394,0.00,1.10,0.00,0.000,6,0.000,0.031,1720,3202,1950,0,0,0,0,0,0
$GC,3702,-0.57,-109.0,490.0,-12.3,361,3703,0.00,0.00,0.00,0.000,6,0.000,0.000,1720,3203,1950,0,0,0,0,0,0
$GC,4011,-0.57,-109.0,527.4,-11.9,376,4012,0.00,0.00,0.00,0.000,6,0.000,0.000,1720,3203,1950,0,0,0,0,0,0
$GC,4321,-0.57,-109.0,561.8,-10.8,391,4324,0.00,1.17,0.00,0.000,4,0.000,0.057,1715,3948,1950,0,0,0,0,0,0
$GC,4420,-0.57,-109.0,573.4,-11.2,395,4425,0.00,1.10,0.00,0.000,6,0.000,0.032,1715,3205,1950,0,0,0,0,0,0
$GC,4742,-0.57,-109.0,609.7,-11.7,411,4746,0.00,1.17,0.00,0.000,4,0.000,0.057,1709,3952,1950,0,0,0,0,0,0
$GC,4811,-0.55,-109.0,618.6,-13.3,414,4815,0.00,1.08,0.00,0.000,6,0.000,0.032,1710,3217,1949,0,0,0,0,0,0
$GC,5143,-0.55,-109.0,661.4,-13.0,430,5147,0.00,1.17,0.00,0.000,4,0.000,0.058,1704,3959,1950,0,0,0,0,0,0
$GC,5176,-0.52,-109.0,666.2,-14.0,431,5181,0.08,1.10,0.00,0.000,6,0.166,0.031,1727,3214,1950,0,0,0,0,0,0
$GC,5497,-0.56,-109.0,704.6,-12.2,447,5500,0.00,1.17,0.00,0.000,4,0.000,0.059,1723,3957,1950,0,0,0,0,0,0
$GC,5546,-0.58,-109.0,711.4,-13.3,449,5550,0.00,1.12,0.00,0.000,6,0.000,0.031,1723,3198,1950,0,0,0,0,0,0
$GC,5874,-0.61,-109.0,750.3,-11.7,465,5875,0.00,0.00,0.00,0.000,6,0.000,0.000,1723,3198,1950,0,0,0,0,0,0
$GC,6183,-0.64,-109.0,786.3,-11.7,480,6184,0.00,0.00,0.00,0.000,6,0.000,0.000,1723,3198,1950,0,0,0,0,0,0
$GC,6492,-0.68,-109.0,822.0,-11.7,495,6496,0.12,1.23,0.00,0.000,4,0.103,0.059,1663,3959,1950,0,0,0,0,0,0
$GC,6541,-0.58,-109.0,829.9,-16.4,497,6547,0.15,1.10,0.00,0.000,6,0.170,0.031,1708,3217,1950,0,0,0,0,0,0
$GC,6869,-0.58,-109.0,872.1,-12.9,513,6872,0.00,1.17,0.00,0.000,4,0.000,0.059,1704,3959,1950,0,0,0,0,0,0
$GC,6968,-0.58,-109.0,886.6,-14.0,517,6973,0.00,1.12,0.00,0.000,6,0.000,0.031,1704,3200,1950,0,0,0,0,0,0
$GC,7290,-0.58,-109.0,928.6,-13.0,533,7293,0.00,1.20,0.00,0.000,4,0.000,0.059,1698,3959,1950,0,0,0,0,0,0
$GC,7395,-0.55,-109.0,943.7,-14.7,537,7403,0.00,1.10,0.00,0.000,6,0.000,0.032,1698,3210,1949,0,0,0,0,0,0
$GC,7711,-0.55,-109.0,984.2,-12.3,553,7714,0.00,1.17,0.00,0.000,4,0.000,0.058,1692,3954,1949,0,0,0,0,0,0
$GC,7771,-0.52,-109.0,991.9,-13.1,555,7779,0.12,1.10,0.00,0.000,6,0.161,0.033,1730,3205,1950,0,0,0,0,0,0
$STATE,7859,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7859,begin apogee
$GC,7863,-0.09,0.0,1000.3,9.4,560,7983,0.47,0.00,116.70,1.929,6,0.144,0.000,1873,2922,1499,0,0,0,0,0,0
$STATE,7983,end apogee,CONTROL_FINISHED_OK
$STATE,7984,begin climb
$GC,7985,0.60,109.0,1002.3,0.0,566,8104,0.68,1.50,111.53,1.874,4,0.091,0.034,2099,2054,1054,0,0,0,0,0,0
$GC,8125,0.60,109.0,987.3,14.4,572,8133,0.00,1.55,0.00,0.000,6,0.000,0.047,2098,2926,1051,0,0,0,0,0,0
$GC,8442,0.57,109.0,936.1,16.2,588,8446,0.00,1.45,0.00,0.000,4,0.000,0.057,2098,3809,1048,0,0,0,0,0,0
$GC,8525,0.49,109.0,920.3,19.6,591,8533,0.12,1.38,0.00,0.000,6,0.203,0.030,2072,2912,1048,0,0,0,0,0,0
$GC,8841,0.49,109.0,873.3,14.5,607,8845,0.00,1.48,0.00,0.000,4,0.000,0.057,2072,3807,1046,0,0,0,0,0,0
$GC,8932,0.45,109.0,858.8,16.3,611,8935,0.00,1.33,0.00,0.000,6,0.000,0.032,2077,2926,1046,0,0,0,0,0,0
$GC,9263,0.45,109.0,807.7,15.5,627,9267,0.00,1.45,0.00,0.000,4,0.000,0.058,2078,3813,1046,0,0,0,0,0,0
$GC,9346,0.40,109.0,793.5,17.6,630,9354,0.15,1.33,0.00,0.000,6,0.192,0.031,2043,2923,1045,0,0,0,0,0,0
$GC,9662,0.47,109.0,752.9,12.7,646,9666,0.00,1.33,0.00,0.000,4,0.000,0.035,2048,2054,1045,0,0,0,0,0,0
$GC,9695,0.56,109.0,748.8,12.7,647,9700,0.08,1.42,0.00,0.000,6,0.070,0.050,2090,2933,1045,0,0,0,0,0,0
$GC,10016,0.56,109.0,699.4,15.5,663,10019,0.00,1.40,0.00,0.000,4,0.000,0.057,2089,3804,1045,0,0,0,0,0,0
$GC,10138,0.50,109.0,678.3,17.6,668,10143,0.10,1.30,0.00,0.000,6,0.195,0.031,2069,2930,1044,0,0,0,0,0,0
$GC,10460,0.52,109.0,634.3,13.7,684,10463,0.00,1.42,0.00,0.000,4,0.000,0.058,2069,3811,1044,0,0,0,0,0,0
$GC,10509,0.49,109.0,626.4,15.9,686,10513,0.00,1.33,0.00,0.000,6,0.000,0.031,2074,2923,1043,0,0,0,0,0,0
$GC,10836,0.49,109.0,581.4,13.4,702,10840,0.00,1.42,0.00,0.000,4,0.000,0.058,2075,3801,1043,0,0,0,0,0,0
$GC,10949,0.46,109.0,564.4,14.5,707,10953,0.00,1.30,0.00,0.000,6,0.000,0.032,2081,2923,1043,0,0,0,0,0,0
$GC,11281,0.46,109.0,520.5,12.9,723,11285,0.00,1.42,0.00,0.000,4,0.000,0.057,2081,3805,1043,0,0,0,0,0,0
$GC,11372,0.41,109.0,507.3,15.0,727,11376,0.15,1.30,0.00,0.000,6,0.186,0.031,2045,2929,1043,0,0,0,0,0,0
$GC,11704,0.48,109.0,472.8,10.2,743,11708,0.00,1.40,0.00,0.000,4,0.000,0.059,2044,3796,1043,0,0,0,0,0,0
$GC,11741,0.50,109.0,468.1,12.0,744,11749,0.00,1.30,0.00,0.000,6,0.000,0.031,2050,2919,1043,0,0,0,0,0,0
$GC,12058,0.56,109.0,433.4,11.4,760,12062,0.10,1.42,0.00,0.000,4,0.111,0.059,2097,3802,1043,0,0,0,0,0,0
$GC,12186,0.49,109.0,412.7,16.7,765,12193,0.12,1.30,0.00,0.000,6,0.194,0.031,2069,2924,1043,0,0,0,0,0,0
$GC,12508,0.52,109.0,372.0,12.5,791,12511,0.00,1.40,0.00,0.000,4,0.000,0.057,2070,3798,1043,0,0,0,0,0,0
$GC,12598,0.50,109.0,358.8,14.4,799,12602,0.00,1.30,0.00,0.000,6,0.000,0.031,2075,2921,1043,0,0,0,0,0,0
$GC,12928,0.52,109.0,315.0,13.2,830,12929,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2920,1044,0,0,0,0,0,0
$GC,13248,0.54,109.0,272.4,13.3,860,13251,0.00,1.42,0.00,0.000,4,0.000,0.058,2075,3800,1043,0,0,0,0,0,0
$GC,13343,0.50,109.0,257.5,14.9,868,13352,0.00,1.30,0.00,0.000,6,0.000,0.031,2081,2919,1043,0,0,0,0,0,0
$GC,13669,0.50,109.0,214.3,12.5,899,13673,0.00,1.42,0.00,0.000,4,0.000,0.058,2081,3801,1043,0,0,0,0,0,0
$GC,13753,0.47,109.0,202.3,13.9,906,13761,0.10,1.30,0.00,0.000,6,0.188,0.031,2060,2915,1043,0,0,0,0,0,0
$GC,14080,0.52,109.0,167.6,10.6,937,14084,0.00,1.42,0.00,0.000,4,0.000,0.057,2060,3799,1043,0,0,0,0,0,0
$GC,14205,0.52,109.0,151.6,13.7,948,14208,0.00,1.30,0.00,0.000,6,0.000,0.031,2065,2918,1043,0,0,0,0,0,0
$GC,14535,0.57,109.0,115.8,10.4,979,14539,0.00,1.42,0.00,0.000,4,0.000,0.057,2065,3803,1043,0,0,0,0,0,0
$GC,14571,0.57,109.0,112.0,11.1,982,14574,0.00,1.30,0.00,0.000,6,0.000,0.031,2072,2920,1043,0,0,0,0,0,0
$GC,14911,0.61,109.0,74.9,11.4,1032,14920,0.00,1.42,0.00,0.000,4,0.000,0.057,2072,3811,1043,0,0,0,0,0,0
$GC,14990,0.61,109.0,64.9,13.5,1045,14997,0.00,1.30,0.00,0.000,6,0.000,0.031,2078,2924,1043,0,0,0,0,0,0
$GC,15347,0.64,109.0,22.7,11.9,1106,15355,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2923,1043,0,0,0,0,0,0
$GC,15498,0.64,109.0,4.3,11.7,1131,15507,0.00,1.42,0.00,0.000,4,0.000,0.060,2078,3809,1043,0,0,0,0,0,0
$STATE,15514,end climb,SURFACE_DEPTH_REACHED
$STATE,15514,begin surface coast
$FINISH,1.3,1.026516
$STATE,15540,end surface coast,CONTROL_FINISHED_OK
$STATE,15540,begin surface
$SM_CCo,15552,49.15,0.425,1,0,680,200.16
$SM_GC,2.02,0.00,0.00,49.15,0.000,0.000,0.425,75,3220,680,-5.71,0.31,200.16
$IRIDIUM_FIX,-4244.98,828.64,170608,202008
$TT8_MAMPS,0.027713
$HUMID,61.38
$INTERNAL_PRESSURE,11.3786
$TCM_TEMP,13.30
$XPDR_PINGS,0
$24V_AH,22.3,26.883
$10V_AH,10.2,15.275
$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,15.075,79.350,228.225,49.150,0.000,25.640,22.289,328.692,0.000,0.000,21.812,2848.098,9639.215,408.041,3033.803,177.115,0.000,1529.717,0.000,2629.617,0.000,0.543,0.000
$DEVICE_MAMPS,234.090,79.560,1928.565,425.340,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,790.077,805.437,854.221,82.024,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354004
$DATA_FILE_SIZE,66811,1137
$CAP_FILE_SIZE,155100,0
$CFSIZE,259252224,248594432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,220815,173534,-4303.391,824.359,31,0.9,31,-25.0