version: 66.07
glider: 543
mission: 14
dive: 170
start: 8 31 115 5 37 33
data:
$ID,543
$MISSION,14
$DIVE,170
$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,-24651.693
$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,70
$R_STBD_OVSHOOT,27
$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
$GPS1,310815,052632,-4303.718,824.844,52,1.9,55,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-73.8
$GPS2,310815,053710,-4303.683,824.969,28,1.0,29,-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,270.9,1437,-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,-44.67,0.000,6,0.000,0.000,64,3224,1704,0,0,0,0,0,0
$GC,67,-0.60,-110.5,3.3,-1.6,6,85,6.78,1.23,-7.53,0.000,4,0.233,0.082,1698,3956,1952,0,0,0,0,0,0
$GC,206,-0.51,-110.5,28.3,-18.1,28,215,0.12,1.10,0.00,0.000,6,0.164,0.031,1734,3221,1954,0,0,0,0,0,0
$GC,355,-0.51,-110.5,50.1,-13.7,53,361,0.00,1.17,0.00,0.000,4,0.000,0.057,1730,3952,1954,0,0,0,0,0,0
$GC,404,-0.48,-110.5,57.7,-16.3,61,411,0.00,1.10,0.00,0.000,6,0.000,0.031,1730,3207,1954,0,0,0,0,0,0
$GC,751,-0.48,-110.5,112.3,-15.8,116,753,0.00,0.00,0.00,0.000,6,0.000,0.000,1730,3207,1954,0,0,0,0,0,0
$GC,1072,-0.48,-110.5,161.8,-15.2,146,1076,0.00,1.17,0.00,0.000,4,0.000,0.057,1725,3942,1954,0,0,0,0,0,0
$GC,1164,-0.46,-110.5,176.8,-16.0,154,1168,0.08,1.08,0.00,0.000,6,0.164,0.031,1748,3217,1954,0,0,0,0,0,0
$GC,1497,-0.51,-110.5,218.5,-12.1,185,1500,0.00,1.17,0.00,0.000,4,0.000,0.057,1744,3957,1954,0,0,0,0,0,0
$GC,1520,-0.55,-110.5,221.9,-12.8,187,1523,0.00,1.10,0.00,0.000,6,0.000,0.031,1744,3204,1954,0,0,0,0,0,0
$GC,1850,-0.59,-110.5,263.3,-12.5,218,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,3204,1954,0,0,0,0,0,0
$GC,2169,-0.65,-110.5,301.1,-11.4,248,2173,0.15,1.20,0.00,0.000,4,0.088,0.057,1671,3949,1954,0,0,0,0,0,0
$GC,2242,-0.53,-110.5,313.4,-17.5,254,2250,0.17,1.08,0.00,0.000,6,0.166,0.031,1722,3219,1954,0,0,0,0,0,0
$GC,2569,-0.53,-110.5,355.4,-12.3,285,2572,0.00,1.15,0.00,0.000,4,0.000,0.057,1719,3945,1954,0,0,0,0,0,0
$GC,2619,-0.51,-110.5,362.5,-13.8,289,2625,0.00,1.08,0.00,0.000,6,0.000,0.031,1718,3208,1954,0,0,0,0,0,0
$GC,2942,-0.51,-110.5,403.3,-12.5,319,2946,0.00,1.17,0.00,0.000,4,0.000,0.057,1714,3953,1954,0,0,0,0,0,0
$GC,3048,-0.49,-110.5,417.5,-13.0,323,3056,0.08,1.08,0.00,0.000,6,0.164,0.031,1736,3220,1954,0,0,0,0,0,0
$GC,3364,-0.54,-110.5,450.4,-10.3,339,3365,0.00,0.00,0.00,0.000,6,0.000,0.000,1736,3221,1954,0,0,0,0,0,0
$GC,3674,-0.58,-110.5,482.2,-10.2,354,3675,0.00,0.00,0.00,0.000,6,0.000,0.000,1736,3220,1954,0,0,0,0,0,0
$GC,3983,-0.62,-110.5,514.6,-10.4,369,3986,0.00,1.15,0.00,0.000,4,0.000,0.058,1732,3948,1954,0,0,0,0,0,0
$GC,4043,-0.65,-110.5,521.9,-11.4,371,4051,0.08,1.10,0.00,0.000,6,0.070,0.032,1688,3196,1954,0,0,0,0,0,0
$GC,4360,-0.60,-110.5,567.6,-14.9,387,4363,0.00,1.20,0.00,0.000,4,0.000,0.056,1682,3955,1954,0,0,0,0,0,0
$GC,4443,-0.52,-110.5,581.4,-15.8,390,4451,0.15,1.10,0.00,0.000,6,0.163,0.031,1726,3207,1954,0,0,0,0,0,0
$GC,4759,-0.55,-110.5,620.5,-12.2,406,4763,0.00,1.17,0.00,0.000,4,0.000,0.058,1723,3949,1954,0,0,0,0,0,0
$GC,4819,-0.55,-110.5,628.7,-13.2,408,4827,0.00,1.10,0.00,0.000,6,0.000,0.032,1722,3203,1954,0,0,0,0,0,0
$GC,5136,-0.57,-110.5,666.0,-11.5,424,5137,0.00,0.00,0.00,0.000,6,0.000,0.000,1722,3203,1954,0,0,0,0,0,0
$GC,5445,-0.60,-110.5,699.4,-10.4,439,5446,0.00,0.00,0.00,0.000,6,0.000,0.000,1722,3203,1954,0,0,0,0,0,0
$GC,5754,-0.63,-110.5,732.1,-10.7,454,5758,0.00,1.20,0.00,0.000,4,0.000,0.059,1717,3956,1954,0,0,0,0,0,0
$GC,5867,-0.63,-110.5,745.4,-12.4,459,5871,0.00,1.10,0.00,0.000,6,0.000,0.034,1717,3212,1954,0,0,0,0,0,0
$GC,6199,-0.65,-110.5,781.3,-11.1,475,6203,0.00,1.17,0.00,0.000,4,0.000,0.058,1711,3950,1954,0,0,0,0,0,0
$GC,6226,-0.65,-110.5,784.8,-13.0,476,6230,0.00,1.12,0.00,0.000,6,0.000,0.032,1711,3196,1954,0,0,0,0,0,0
$GC,6553,-0.65,-110.5,823.5,-12.0,492,6554,0.00,0.00,0.00,0.000,6,0.000,0.000,1712,3197,1954,0,0,0,0,0,0
$GC,6863,-0.67,-110.5,859.5,-11.2,507,6867,0.00,1.20,0.00,0.000,4,0.000,0.060,1706,3949,1954,0,0,0,0,0,0
$GC,6962,-0.67,-110.5,872.3,-11.8,511,6967,0.00,1.10,0.00,0.000,6,0.000,0.034,1706,3215,1954,0,0,0,0,0,0
$GC,7284,-0.67,-110.5,908.2,-10.7,527,7285,0.00,0.00,0.00,0.000,6,0.000,0.000,1706,3215,1954,0,0,0,0,0,0
$GC,7593,-0.67,-110.5,940.2,-10.1,542,7597,0.00,1.17,0.00,0.000,4,0.000,0.059,1700,3952,1954,0,0,0,0,0,0
$GC,7620,-0.67,-110.5,943.2,-10.5,543,7625,0.00,1.12,0.00,0.000,6,0.000,0.033,1700,3200,1954,0,0,0,0,0,0
$GC,7947,-0.67,-110.5,976.1,-10.0,559,7951,0.00,1.20,0.00,0.000,4,0.000,0.059,1695,3954,1954,0,0,0,0,0,0
$GC,7996,-0.64,-110.5,981.9,-12.2,561,8001,0.00,1.12,0.00,0.000,6,0.000,0.033,1695,3192,1954,0,0,0,0,0,0
$STATE,8178,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8178,begin apogee
$GC,8182,-0.09,0.0,1001.8,10.9,570,8313,0.60,0.00,121.93,1.902,6,0.156,0.000,1867,2926,1499,0,0,0,0,1,0
$STATE,8313,end apogee,CONTROL_FINISHED_OK
$STATE,8313,begin climb
$GC,8315,0.60,110.5,1003.7,0.0,576,8436,0.70,1.52,114.28,1.854,4,0.090,0.033,2096,2051,1048,0,0,0,0,0,0
$GC,8498,0.62,110.5,980.8,15.8,583,8505,0.00,1.50,0.00,0.000,6,0.000,0.048,2097,2914,1044,0,0,0,0,0,0
$GC,8814,0.59,110.5,926.1,17.1,599,8818,0.00,1.48,0.00,0.000,4,0.000,0.058,2096,3805,1041,0,0,0,0,0,0
$GC,8896,0.52,110.5,909.8,20.2,602,8904,0.10,1.35,0.00,0.000,6,0.203,0.031,2078,2915,1041,0,0,0,0,0,0
$GC,9212,0.52,110.5,860.6,15.0,618,9216,0.00,1.48,0.00,0.000,4,0.000,0.058,2078,3809,1040,0,0,0,0,0,0
$GC,9250,0.48,110.5,854.1,17.4,619,9258,0.00,1.33,0.00,0.000,6,0.000,0.031,2083,2927,1039,0,0,0,0,0,0
$GC,9566,0.48,110.5,806.5,14.9,635,9570,0.00,1.45,0.00,0.000,4,0.000,0.058,2083,3810,1039,0,0,0,0,0,0
$GC,9672,0.43,110.5,788.3,16.9,639,9680,0.15,1.33,0.00,0.000,6,0.190,0.031,2048,2921,1039,0,0,0,0,0,0
$GC,9988,0.49,110.5,748.5,12.8,655,9991,0.00,1.45,0.00,0.000,4,0.000,0.059,2048,3804,1039,0,0,0,0,0,0
$GC,10042,0.49,110.5,740.6,14.6,657,10047,0.00,1.35,0.00,0.000,6,0.000,0.031,2054,2916,1038,0,0,0,0,0,0
$GC,10365,0.53,110.5,699.5,12.6,673,10368,0.00,1.45,0.00,0.000,4,0.000,0.059,2053,3802,1038,0,0,0,0,0,0
$GC,10432,0.53,110.5,689.5,15.0,676,10436,0.00,1.33,0.00,0.000,6,0.000,0.032,2060,2917,1038,0,0,0,0,0,0
$GC,10765,0.57,110.5,644.1,13.4,692,10768,0.00,1.45,0.00,0.000,4,0.000,0.059,2060,3804,1038,0,0,0,0,0,0
$GC,10802,0.57,110.5,638.1,15.4,693,10810,0.00,1.33,0.00,0.000,6,0.000,0.031,2067,2920,1038,0,0,0,0,0,0
$GC,11119,0.60,110.5,594.5,13.9,709,11120,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,2920,1038,0,0,0,0,0,0
$GC,11428,0.63,110.5,552.8,13.8,724,11432,0.12,1.45,0.00,0.000,4,0.099,0.059,2121,3813,1038,0,0,0,0,0,0
$GC,11511,0.51,110.5,536.7,19.7,727,11519,0.17,1.33,0.00,0.000,6,0.203,0.031,2080,2926,1038,0,0,0,0,0,0
$GC,11827,0.51,110.5,490.7,13.8,743,11831,0.00,1.42,0.00,0.000,4,0.000,0.058,2080,3802,1037,0,0,0,0,0,0
$GC,11873,0.47,110.5,483.7,15.6,745,11876,0.00,1.30,0.00,0.000,6,0.000,0.031,2085,2921,1037,0,0,0,0,0,0
$GC,12205,0.47,110.5,435.3,14.6,761,12208,0.00,1.45,0.00,0.000,4,0.000,0.058,2085,3812,1038,0,0,0,0,0,0
$GC,12237,0.42,110.5,429.8,16.8,762,12242,0.15,1.30,0.00,0.000,6,0.181,0.031,2049,2928,1038,0,0,0,0,0,0
$GC,12563,0.49,110.5,390.6,11.7,781,12567,0.00,1.42,0.00,0.000,4,0.000,0.058,2049,3808,1037,0,0,0,0,0,0
$GC,12624,0.51,110.5,382.3,12.7,786,12631,0.00,1.30,0.00,0.000,6,0.000,0.031,2054,2928,1037,0,0,0,0,0,0
$GC,12951,0.57,110.5,342.6,11.8,817,12956,0.10,1.42,0.00,0.000,4,0.112,0.059,2102,3807,1037,0,0,0,0,0,0
$GC,13092,0.49,110.5,318.0,18.1,829,13099,0.15,1.30,0.00,0.000,6,0.193,0.031,2068,2928,1037,0,0,0,0,0,0
$GC,13418,0.53,110.5,276.2,11.6,860,13420,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2928,1037,0,0,0,0,0,0
$GC,13736,0.56,110.5,237.8,12.2,890,13740,0.00,1.42,0.00,0.000,4,0.000,0.058,2068,3807,1037,0,0,0,0,0,0
$GC,13774,0.56,110.5,232.5,13.7,893,13781,0.00,1.30,0.00,0.000,6,0.000,0.031,2073,2926,1037,0,0,0,0,0,0
$GC,14099,0.59,110.5,193.1,11.4,924,14103,0.00,1.42,0.00,0.000,4,0.000,0.058,2073,3807,1037,0,0,0,0,0,0
$GC,14195,0.57,110.5,179.7,13.8,932,14204,0.00,1.30,0.00,0.000,6,0.000,0.031,2080,2924,1037,0,0,0,0,0,0
$GC,14522,0.60,110.5,140.6,12.2,963,14525,0.00,1.27,0.00,0.000,4,0.000,0.033,2086,2053,1037,0,0,0,0,0,0
$GC,14549,0.64,110.5,137.3,10.9,965,14556,0.00,1.40,0.00,0.000,6,0.000,0.050,2086,2930,1037,0,0,0,0,0,0
$GC,14876,0.64,110.5,98.3,12.1,997,14883,0.00,1.40,0.00,0.000,4,0.000,0.057,2086,3807,1037,0,0,0,0,0,0
$GC,14948,0.60,110.5,88.2,14.4,1009,14955,0.00,1.30,0.00,0.000,6,0.000,0.031,2093,2925,1037,0,0,0,0,0,0
$GC,15298,0.60,110.5,44.4,12.4,1070,15305,0.00,1.42,0.00,0.000,4,0.000,0.057,2093,3806,1037,0,0,0,0,0,0
$GC,15385,0.56,110.5,32.1,15.3,1084,15394,0.00,1.30,0.00,0.000,6,0.000,0.031,2099,2922,1037,0,0,0,0,0,0
$GC,15537,0.56,110.5,10.7,13.5,1109,15545,0.00,0.00,0.00,0.000,6,0.000,0.000,2099,2922,1037,0,0,0,0,0,0
$STATE,15593,end climb,SURFACE_DEPTH_REACHED
$STATE,15593,begin surface coast
$FINISH,1.5,1.026409
$STATE,15613,end surface coast,CONTROL_FINISHED_OK
$STATE,15613,begin surface
$SM_CCo,15625,40.08,0.142,0,0,681,200.16
$SM_GC,2.77,0.00,0.00,40.08,0.000,0.000,0.142,77,3212,681,-5.71,0.08,200.16
$IRIDIUM_FIX,-4244.98,825.73,260608,181832
$TT8_MAMPS,0.026964
$HUMID,62.44
$INTERNAL_PRESSURE,11.3786
$TCM_TEMP,13.00
$XPDR_PINGS,0
$24V_AH,22.2,33.506
$10V_AH,10.1,20.005
$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,15.250,82.100,236.200,40.075,0.000,55.833,123.101,264.745,0.000,0.000,31.143,2790.113,9922.521,432.213,2979.599,178.601,0.000,1514.547,0.000,2496.641,0.000,0.544,0.000
$DEVICE_MAMPS,232.560,81.855,1901.790,141.525,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,779.316,793.225,801.694,74.709,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353924
$DATA_FILE_SIZE,63562,1121
$CAP_FILE_SIZE,155166,0
$CFSIZE,259252224,245211136
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,310815,100003,-4303.658,823.502,50,0.7,50,-25.0