version: 66.07
glider: 543
mission: 14
dive: 169
start: 8 31 115 1 1 51
data:
$ID,543
$MISSION,14
$DIVE,169
$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,-24648.307
$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,49
$R_STBD_OVSHOOT,21
$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
$GPS1,310815,005229,-4303.100,825.427,71,1.0,72,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-71.7
$GPS2,310815,010128,-4303.079,825.485,26,1.0,27,-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,254.7,2636,-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,-49.8,0.0,0.0,0,50,0.00,0.00,-33.05,0.000,2,0.000,0.000,63,3231,1460,0,0,0,0,0,0
$GC,52,-0.59,-103.5,3.0,-2.4,4,86,6.70,1.15,-20.25,0.000,4,0.227,0.081,1705,3956,1923,0,0,0,0,0,0
$GC,242,-0.51,-103.5,28.1,-17.3,34,251,0.08,1.12,0.00,0.000,6,0.168,0.032,1727,3204,1928,0,0,0,0,0,0
$GC,392,-0.50,-103.5,51.7,-14.9,59,398,0.00,0.00,0.00,0.000,6,0.000,0.000,1727,3203,1928,0,0,0,0,0,0
$GC,743,-0.50,-103.5,105.5,-15.1,118,747,0.00,1.20,0.00,0.000,4,0.000,0.057,1723,3957,1928,0,0,0,0,0,0
$GC,834,-0.46,-103.5,121.1,-17.5,126,838,0.08,1.10,0.00,0.000,6,0.164,0.032,1746,3215,1928,0,0,0,0,0,0
$GC,1168,-0.50,-103.5,167.3,-13.1,157,1172,0.00,1.33,0.00,0.000,4,0.000,0.030,1747,2294,1928,0,0,0,0,0,0
$GC,1195,-0.56,-103.5,171.6,-13.6,159,1202,0.00,1.50,0.00,0.000,6,0.000,0.051,1741,3219,1928,0,0,0,0,0,0
$GC,1520,-0.60,-103.5,215.6,-13.1,190,1521,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,3219,1928,0,0,0,0,0,0
$GC,1840,-0.64,-103.5,254.9,-11.8,220,1844,0.12,1.17,0.00,0.000,4,0.096,0.058,1678,3956,1928,0,0,0,0,0,0
$GC,1922,-0.53,-103.5,268.8,-17.1,227,1931,0.15,1.12,0.00,0.000,6,0.161,0.031,1723,3191,1928,0,0,0,0,0,0
$GC,2248,-0.53,-103.5,307.2,-11.3,258,2251,0.00,1.27,0.00,0.000,4,0.000,0.029,1724,2295,1928,0,0,0,0,0,0
$GC,2286,-0.58,-103.5,311.5,-10.2,261,2293,0.00,1.48,0.00,0.000,6,0.000,0.051,1718,3211,1928,0,0,0,0,0,0
$GC,2611,-0.58,-103.5,347.1,-11.6,292,2614,0.00,1.15,0.00,0.000,4,0.000,0.056,1713,3949,1928,0,0,0,0,0,0
$GC,2645,-0.55,-103.5,351.0,-12.0,295,2649,0.00,1.08,0.00,0.000,6,0.000,0.032,1713,3212,1928,0,0,0,0,0,0
$GC,2975,-0.55,-103.5,389.8,-11.4,326,2976,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,3212,1928,0,0,0,0,0,0
$GC,3298,-0.55,-103.5,428.0,-12.6,346,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,1712,3211,1928,0,0,0,0,0,0
$GC,3607,-0.55,-103.5,467.5,-12.7,361,3611,0.00,1.17,0.00,0.000,4,0.000,0.057,1707,3953,1928,0,0,0,0,0,0
$GC,3668,-0.51,-103.5,476.4,-14.7,363,3675,0.08,1.10,0.00,0.000,6,0.163,0.032,1730,3207,1928,0,0,0,0,0,0
$GC,3984,-0.54,-103.5,514.1,-11.9,379,3985,0.00,0.00,0.00,0.000,6,0.000,0.000,1730,3206,1928,0,0,0,0,0,0
$GC,4293,-0.57,-103.5,551.7,-12.5,394,4294,0.00,0.00,0.00,0.000,6,0.000,0.000,1730,3206,1928,0,0,0,0,0,0
$GC,4603,-0.61,-103.5,589.9,-12.4,409,4604,0.00,0.00,0.00,0.000,6,0.000,0.000,1730,3206,1928,0,0,0,0,0,0
$GC,4912,-0.64,-103.5,625.4,-11.3,424,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,1730,3206,1928,0,0,0,0,0,0
$GC,5221,-0.68,-103.5,660.7,-11.5,439,5223,0.15,0.00,0.00,0.000,6,0.093,0.000,1669,3206,1928,0,0,0,0,0,0
$GC,5530,-0.60,-103.5,708.9,-16.0,454,5532,0.15,0.00,0.00,0.000,6,0.187,0.000,1706,3206,1928,0,0,0,0,0,0
$GC,5839,-0.60,-103.5,751.1,-13.0,469,5840,0.00,0.00,0.00,0.000,6,0.000,0.000,1706,3206,1928,0,0,0,0,0,0
$GC,6149,-0.60,-103.5,789.6,-12.4,484,6152,0.00,1.20,0.00,0.000,4,0.000,0.058,1702,3958,1928,0,0,0,0,0,0
$GC,6204,-0.56,-103.5,797.0,-12.8,486,6208,0.00,1.12,0.00,0.000,6,0.000,0.032,1701,3193,1928,0,0,0,0,0,0
$GC,6525,-0.56,-103.5,835.8,-11.8,502,6529,0.00,1.20,0.00,0.000,4,0.000,0.059,1696,3948,1928,0,0,0,0,0,0
$GC,6580,-0.53,-103.5,843.1,-13.0,504,6585,0.10,1.08,0.00,0.000,6,0.164,0.034,1726,3222,1928,0,0,0,0,0,0
$GC,6901,-0.57,-103.5,873.5,-9.3,520,6905,0.00,1.35,0.00,0.000,4,0.000,0.031,1725,2294,1928,0,0,0,0,0,0
$GC,6972,-0.66,-103.5,880.0,-8.6,523,6977,0.00,1.48,0.00,0.000,6,0.000,0.054,1720,3202,1928,0,0,0,0,0,0
$GC,7300,-0.69,-103.5,911.2,-9.8,539,7304,0.10,1.20,0.00,0.000,4,0.116,0.060,1669,3948,1928,0,0,0,0,0,0
$GC,7556,-0.60,-103.5,947.9,-14.5,550,7561,0.12,1.12,0.00,0.000,6,0.168,0.033,1705,3199,1928,0,0,0,0,0,0
$GC,7878,-0.60,-103.5,984.8,-11.3,566,7879,0.00,0.00,0.00,0.000,6,0.000,0.000,1705,3199,1928,0,0,0,0,0,0
$STATE,8021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8021,begin apogee
$GC,8025,-0.09,0.0,1000.1,10.4,573,8144,0.55,0.00,111.60,1.935,6,0.153,0.000,1867,2920,1499,0,0,0,0,0,0
$STATE,8145,end apogee,CONTROL_FINISHED_OK
$STATE,8145,begin climb
$GC,8146,0.59,103.5,1003.0,0.0,579,8259,0.70,0.00,107.62,1.877,6,0.090,0.000,2093,2919,1075,0,0,0,0,0,0
$GC,8560,0.57,103.5,948.7,14.6,599,8564,0.00,1.48,0.00,0.000,4,0.000,0.057,2093,3800,1071,0,0,0,0,0,0
$GC,8655,0.50,103.5,932.5,18.6,603,8660,0.10,1.35,0.00,0.000,6,0.199,0.030,2074,2908,1070,0,0,0,0,0,0
$GC,8982,0.50,103.5,887.2,13.7,619,8985,0.00,1.48,0.00,0.000,4,0.000,0.057,2074,3808,1070,0,0,0,0,0,0
$GC,9166,0.47,103.5,857.3,16.3,627,9170,0.00,1.33,0.00,0.000,6,0.000,0.031,2079,2923,1068,0,0,0,0,0,0
$GC,9493,0.47,103.5,810.3,14.2,643,9494,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,2923,1068,0,0,0,0,0,0
$GC,9802,0.47,103.5,765.4,14.5,658,9806,0.00,1.45,0.00,0.000,4,0.000,0.058,2078,3810,1068,0,0,0,0,0,0
$GC,9982,0.42,103.5,735.3,16.9,666,9987,0.12,1.33,0.00,0.000,6,0.187,0.031,2050,2912,1067,0,0,0,0,0,0
$GC,10315,0.47,103.5,694.1,12.0,682,10319,0.00,1.45,0.00,0.000,4,0.000,0.059,2050,3801,1067,0,0,0,0,0,0
$GC,10361,0.47,103.5,687.8,13.3,684,10364,0.00,1.30,0.00,0.000,6,0.000,0.031,2056,2925,1067,0,0,0,0,0,0
$GC,10693,0.52,103.5,645.6,12.6,700,10697,0.00,1.42,0.00,0.000,4,0.000,0.059,2055,3800,1067,0,0,0,0,0,0
$GC,10809,0.52,103.5,628.8,14.3,705,10814,0.00,1.30,0.00,0.000,6,0.000,0.031,2062,2922,1067,0,0,0,0,0,0
$GC,11137,0.55,103.5,587.4,12.3,721,11141,0.00,1.42,0.00,0.000,4,0.000,0.059,2062,3798,1066,0,0,0,0,0,0
$GC,11253,0.55,103.5,571.0,14.8,726,11257,0.00,1.30,0.00,0.000,6,0.000,0.031,2068,2918,1067,0,0,0,0,0,0
$GC,11581,0.57,103.5,531.9,11.5,742,11584,0.00,1.45,0.00,0.000,4,0.000,0.059,2069,3809,1067,0,0,0,0,0,0
$GC,11717,0.55,103.5,513.2,14.2,748,11721,0.00,1.30,0.00,0.000,6,0.000,0.031,2076,2927,1066,0,0,0,0,0,0
$GC,12048,0.55,103.5,473.5,11.6,764,12052,0.00,1.42,0.00,0.000,4,0.000,0.059,2075,3803,1066,0,0,0,0,0,0
$GC,12171,0.51,103.5,456.4,14.8,769,12175,0.00,1.30,0.00,0.000,6,0.000,0.031,2082,2927,1067,0,0,0,0,0,0
$GC,12492,0.51,103.5,417.2,12.1,785,12495,0.00,1.42,0.00,0.000,4,0.000,0.059,2082,3805,1067,0,0,0,0,0,0
$GC,12632,0.46,103.5,397.3,13.8,791,12640,0.10,1.30,0.00,0.000,6,0.185,0.031,2060,2921,1067,0,0,0,0,0,0
$GC,12957,0.51,103.5,360.5,11.1,822,12961,0.00,1.42,0.00,0.000,4,0.000,0.058,2060,3801,1066,0,0,0,0,0,0
$GC,13039,0.51,103.5,350.2,13.2,829,13042,0.00,1.30,0.00,0.000,6,0.000,0.032,2065,2920,1067,0,0,0,0,0,0
$GC,13369,0.55,103.5,311.0,11.6,860,13373,0.00,1.42,0.00,0.000,4,0.000,0.059,2065,3797,1066,0,0,0,0,0,0
$GC,13594,0.55,103.5,278.4,14.3,880,13598,0.00,1.30,0.00,0.000,6,0.000,0.031,2072,2915,1066,0,0,0,0,0,0
$GC,13925,0.58,103.5,236.0,13.1,911,13929,0.00,1.45,0.00,0.000,4,0.000,0.058,2072,3809,1066,0,0,0,0,0,0
$GC,14010,0.55,103.5,223.4,15.6,918,14017,0.00,1.30,0.00,0.000,6,0.000,0.031,2078,2926,1066,0,0,0,0,0,0
$GC,14337,0.55,103.5,180.0,12.9,949,14340,0.00,1.42,0.00,0.000,4,0.000,0.057,2078,3807,1066,0,0,0,0,0,0
$GC,14499,0.52,103.5,154.9,14.9,963,14507,0.00,1.30,0.00,0.000,6,0.000,0.031,2085,2922,1066,0,0,0,0,0,0
$GC,14824,0.52,103.5,112.9,12.4,994,14828,0.00,1.42,0.00,0.000,4,0.000,0.057,2085,3803,1066,0,0,0,0,0,0
$GC,14958,0.49,103.5,93.8,15.1,1009,14964,0.00,1.30,0.00,0.000,6,0.000,0.030,2092,2912,1066,0,0,0,0,0,0
$GC,15307,0.49,103.5,49.5,12.2,1070,15314,0.00,1.45,0.00,0.000,4,0.000,0.056,2092,3810,1066,0,0,0,0,0,0
$GC,15398,0.43,103.5,36.4,15.3,1085,15407,0.17,1.30,0.00,0.000,6,0.177,0.031,2048,2926,1066,0,0,0,0,0,0
$GC,15552,0.53,114.9,22.8,7.2,1110,15562,0.00,1.45,4.47,0.731,4,0.000,0.056,2048,3815,1028,0,0,0,0,0,0
$GC,15623,0.57,114.9,16.1,11.2,1121,15633,0.08,1.30,0.00,0.000,6,0.070,0.029,2100,2927,1027,0,0,0,0,0,0
$GC,15682,0.57,114.9,7.7,14.5,1130,15690,0.00,0.00,0.00,0.000,6,0.000,0.000,2100,2927,1028,0,0,0,0,0,0
$STATE,15714,end climb,SURFACE_DEPTH_REACHED
$STATE,15714,begin surface coast
$FINISH,1.5,1.026541
$STATE,15739,end surface coast,CONTROL_FINISHED_OK
$STATE,15739,begin surface
$SM_CCo,15752,39.20,0.142,0,0,681,200.16
$SM_GC,2.97,0.00,0.00,39.20,0.000,0.000,0.142,66,3222,681,-5.75,0.40,200.16
$IRIDIUM_FIX,-4247.91,825.73,260608,080814
$TT8_MAMPS,0.027713
$HUMID,62.24
$INTERNAL_PRESSURE,11.3688
$TCM_TEMP,13.20
$XPDR_PINGS,0
$24V_AH,22.2,33.356
$10V_AH,10.2,19.901
$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,15.100,71.525,223.700,39.200,0.000,28.572,44.955,324.727,0.000,0.000,29.676,2855.928,9799.480,374.510,3110.763,181.317,0.000,1498.746,0.000,2671.547,0.000,0.544,0.000
$DEVICE_MAMPS,227.205,81.090,1935.450,142.290,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,793.123,805.901,864.411,85.528,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353936
$DATA_FILE_SIZE,63561,1139
$CAP_FILE_SIZE,153404,0
$CFSIZE,259252224,245288960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,310815,052632,-4303.718,824.844,52,1.9,55,-25.0