version: 66.07
glider: 543
mission: 14
dive: 323
start: 10 5 115 21 49 2
data:
$ID,543
$MISSION,14
$DIVE,323
$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,-25141.354
$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,65
$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
$GPS1,051015,213550,-4302.791,825.281,53,0.9,53,-25.0
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-66.1
$GPS2,051015,214840,-4302.792,825.547,26,1.1,26,-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,248.1,3063,-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,-44.75,0.000,6,0.000,0.000,61,3226,1704,0,0,0,0,0,0
$GC,67,-0.60,-106.0,3.2,-2.1,6,86,6.88,1.20,-7.25,0.000,4,0.231,0.079,1703,3958,1933,0,0,0,0,0,0
$GC,219,-0.54,-106.0,30.5,-21.7,30,228,0.00,1.08,0.00,0.000,6,0.000,0.030,1703,3218,1935,0,0,0,0,0,0
$GC,370,-0.49,-106.0,53.3,-15.4,55,377,0.15,1.17,0.00,0.000,4,0.179,0.055,1737,3948,1935,0,0,0,0,0,0
$GC,443,-0.52,-106.0,63.7,-13.8,67,450,0.00,1.08,0.00,0.000,6,0.000,0.029,1737,3202,1935,0,0,0,0,0,0
$GC,797,-0.56,-106.0,104.6,-9.8,125,800,0.00,1.17,0.00,0.000,4,0.000,0.055,1732,3946,1935,0,0,0,0,0,0
$GC,846,-0.58,-106.0,110.1,-11.2,129,853,0.00,1.05,0.00,0.000,6,0.000,0.029,1732,3213,1935,0,0,0,0,0,0
$GC,1172,-0.61,-106.0,144.8,-11.2,160,1173,0.00,0.00,0.00,0.000,6,0.000,0.000,1732,3213,1935,0,0,0,0,0,0
$GC,1491,-0.65,-106.0,180.8,-11.1,190,1496,0.10,1.17,0.00,0.000,4,0.112,0.056,1678,3945,1935,0,0,0,0,0,0
$GC,1528,-0.59,-106.0,185.7,-14.6,193,1532,0.10,1.05,0.00,0.000,6,0.164,0.028,1707,3217,1935,0,0,0,0,0,0
$GC,1858,-0.59,-106.0,227.2,-12.8,224,1861,0.00,1.15,0.00,0.000,4,0.000,0.054,1703,3949,1935,0,0,0,0,0,0
$GC,1962,-0.56,-106.0,241.3,-13.1,233,1966,0.00,1.08,0.00,0.000,6,0.000,0.029,1703,3200,1935,0,0,0,0,0,0
$GC,2292,-0.56,-106.0,281.6,-12.1,264,2295,0.00,1.25,0.00,0.000,4,0.000,0.026,1703,2300,1935,0,0,0,0,0,0
$GC,2351,-0.60,-106.0,288.2,-11.2,269,2355,0.00,1.45,0.00,0.000,6,0.000,0.049,1696,3207,1935,0,0,0,0,0,0
$GC,2682,-0.60,-106.0,330.5,-12.8,300,2685,0.00,1.27,0.00,0.000,4,0.000,0.026,1696,2295,1935,0,0,0,0,0,0
$GC,2754,-0.62,-106.0,339.3,-11.6,306,2762,0.00,1.45,0.00,0.000,6,0.000,0.048,1689,3202,1935,0,0,0,0,0,0
$GC,3082,-0.60,-106.0,381.6,-12.2,337,3085,0.00,1.17,0.00,0.000,4,0.000,0.054,1683,3958,1935,0,0,0,0,0,0
$GC,3243,-0.54,-106.0,404.3,-13.9,350,3247,0.12,1.08,0.00,0.000,6,0.157,0.029,1722,3216,1935,0,0,0,0,0,0
$GC,3576,-0.59,-106.0,439.3,-10.6,366,3580,0.00,1.17,0.00,0.000,4,0.000,0.054,1718,3959,1935,0,0,0,0,0,0
$GC,3630,-0.59,-106.0,445.7,-11.3,368,3635,0.00,1.10,0.00,0.000,6,0.000,0.029,1718,3195,1935,0,0,0,0,0,0
$GC,3953,-0.62,-106.0,478.0,-10.0,384,3957,0.00,1.20,0.00,0.000,4,0.000,0.055,1712,3957,1935,0,0,0,0,0,0
$GC,4013,-0.62,-106.0,484.9,-11.7,386,4020,0.00,1.10,0.00,0.000,6,0.000,0.029,1712,3203,1935,0,0,0,0,0,0
$GC,4330,-0.65,-106.0,518.8,-10.8,402,4331,0.00,0.00,0.00,0.000,6,0.000,0.000,1712,3203,1935,0,0,0,0,0,0
$GC,4639,-0.67,-106.0,552.3,-10.9,417,4640,0.00,0.00,0.00,0.000,6,0.000,0.000,1712,3203,1935,0,0,0,0,0,0
$GC,4948,-0.71,-106.0,586.0,-11.4,432,4950,0.10,0.00,0.00,0.000,6,0.109,0.000,1662,3202,1935,0,0,0,0,0,0
$GC,5258,-0.64,-106.0,630.3,-14.8,447,5262,0.12,1.23,0.00,0.000,4,0.191,0.054,1687,3961,1935,0,0,0,0,0,0
$GC,5427,-0.60,-106.0,654.6,-13.6,454,5430,0.00,1.10,0.00,0.000,6,0.000,0.030,1687,3204,1935,0,0,0,0,0,0
$GC,5748,-0.60,-106.0,697.1,-13.1,470,5749,0.00,0.00,0.00,0.000,6,0.000,0.000,1687,3204,1935,0,0,0,0,0,0
$GC,6057,-0.60,-106.0,736.0,-12.5,485,6061,0.00,1.27,0.00,0.000,4,0.000,0.027,1687,2301,1935,0,0,0,0,0,0
$GC,6096,-0.63,-106.0,740.7,-11.2,486,6103,0.00,1.48,0.00,0.000,6,0.000,0.050,1680,3214,1935,0,0,0,0,0,0
$GC,6412,-0.61,-106.0,779.7,-12.5,502,6415,0.00,1.15,0.00,0.000,4,0.000,0.056,1675,3952,1935,0,0,0,0,0,0
$GC,6502,-0.55,-106.0,792.5,-14.6,506,6507,0.15,1.08,0.00,0.000,6,0.161,0.031,1719,3215,1935,0,0,0,0,0,0
$GC,6836,-0.61,-106.0,825.8,-9.6,522,6837,0.00,0.00,0.00,0.000,6,0.000,0.000,1719,3215,1935,0,0,0,0,0,0
$GC,7144,-0.67,-106.0,854.5,-9.3,537,7145,0.00,0.00,0.00,0.000,6,0.000,0.000,1719,3215,1935,0,0,0,0,0,0
$GC,7454,-0.73,-106.0,882.9,-9.1,552,7458,0.15,1.20,0.00,0.000,4,0.091,0.057,1649,3952,1935,0,0,0,0,0,0
$GC,7502,-0.63,-106.0,889.8,-15.3,554,7507,0.15,1.10,0.00,0.000,6,0.169,0.029,1692,3203,1935,0,0,0,0,0,0
$GC,7829,-0.63,-106.0,926.7,-11.4,570,7833,0.00,1.20,0.00,0.000,4,0.000,0.056,1688,3957,1935,0,0,0,0,0,0
$GC,7862,-0.63,-106.0,931.0,-12.5,571,7866,0.00,1.10,0.00,0.000,6,0.000,0.030,1689,3203,1935,0,0,0,0,0,0
$GC,8184,-0.63,-106.0,969.3,-12.0,587,8187,0.00,1.20,0.00,0.000,4,0.000,0.055,1683,3958,1935,0,0,0,0,0,0
$GC,8252,-0.61,-106.0,978.0,-13.1,590,8256,0.00,1.10,0.00,0.000,6,0.000,0.030,1683,3202,1935,0,0,0,0,0,0
$STATE,8438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8438,begin apogee
$GC,8443,-0.09,0.0,1001.1,12.1,599,8581,0.65,0.00,121.35,1.806,6,0.150,0.000,1872,2926,1501,0,0,0,0,2,0
$STATE,8582,end apogee,CONTROL_FINISHED_OK
$STATE,8582,begin climb
$GC,8584,0.60,106.0,1004.9,0.0,606,8715,0.68,1.50,116.65,1.764,4,0.083,0.029,2099,2049,1067,0,0,0,0,1,0
$GC,8765,0.63,106.0,986.8,13.7,614,8770,0.00,1.50,0.00,0.000,6,0.000,0.045,2099,2920,1064,0,0,0,0,0,0
$GC,9087,0.63,106.0,940.5,14.2,630,9090,0.00,1.42,0.00,0.000,4,0.000,0.054,2099,3810,1060,0,0,0,0,0,0
$GC,9192,0.57,106.0,922.7,16.5,634,9199,0.00,1.33,0.00,0.000,6,0.000,0.028,2105,2906,1059,0,0,0,0,0,0
$GC,9508,0.55,106.0,875.2,14.7,650,9512,0.00,1.45,0.00,0.000,4,0.000,0.054,2106,3808,1058,0,0,0,0,0,0
$GC,9614,0.49,106.0,856.1,18.3,654,9622,0.15,1.30,0.00,0.000,6,0.191,0.028,2071,2921,1058,0,0,0,0,0,0
$GC,9931,0.53,106.0,816.6,12.2,670,9934,0.00,1.42,0.00,0.000,4,0.000,0.054,2071,3804,1057,0,0,0,0,0,0
$GC,10021,0.53,106.0,804.0,14.3,674,10025,0.00,1.27,0.00,0.000,6,0.000,0.029,2076,2924,1057,0,0,0,0,0,0
$GC,10354,0.56,106.0,763.4,12.0,690,10358,0.00,1.42,0.00,0.000,4,0.000,0.055,2076,3806,1057,0,0,0,0,0,0
$GC,10454,0.54,106.0,748.9,14.5,694,10458,0.00,1.27,0.00,0.000,6,0.000,0.028,2083,2930,1056,0,0,0,0,0,0
$GC,10776,0.56,106.0,707.9,12.5,710,10777,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,2929,1056,0,0,0,0,0,0
$GC,11086,0.58,106.0,669.3,12.2,725,11089,0.00,1.42,0.00,0.000,4,0.000,0.055,2083,3814,1056,0,0,0,0,0,0
$GC,11146,0.55,106.0,660.1,15.8,727,11153,0.00,1.30,0.00,0.000,6,0.000,0.028,2089,2918,1055,0,0,0,0,0,0
$GC,11463,0.55,106.0,618.9,13.0,743,11466,0.00,1.45,0.00,0.000,4,0.000,0.054,2090,3814,1055,0,0,0,0,0,0
$GC,11614,0.51,106.0,595.5,14.5,749,11620,0.00,1.30,0.00,0.000,6,0.000,0.028,2096,2925,1055,0,0,0,0,0,0
$GC,11929,0.51,106.0,552.2,13.9,765,11933,0.00,1.42,0.00,0.000,4,0.000,0.054,2096,3808,1055,0,0,0,0,0,0
$GC,12066,0.46,106.0,530.6,15.0,771,12070,0.15,1.30,0.00,0.000,6,0.178,0.028,2060,2917,1055,0,0,0,0,0,0
$GC,12399,0.53,106.0,494.4,10.4,787,12400,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2916,1055,0,0,0,0,0,0
$GC,12707,0.60,106.0,463.3,9.9,802,12711,0.12,1.45,0.00,0.000,4,0.099,0.055,2118,3813,1055,0,0,0,0,0,0
$GC,12847,0.51,106.0,441.5,16.2,808,12852,0.17,1.30,0.00,0.000,6,0.185,0.028,2076,2928,1055,0,0,0,0,0,0
$GC,13175,0.56,106.0,405.3,11.0,824,13179,0.00,1.42,0.00,0.000,4,0.000,0.054,2076,3807,1055,0,0,0,0,0,0
$GC,13232,0.56,106.0,398.2,12.8,827,13235,0.00,1.30,0.00,0.000,6,0.000,0.028,2081,2913,1055,0,0,0,0,0,0
$GC,13563,0.59,106.0,358.9,12.4,858,13567,0.00,1.45,0.00,0.000,4,0.000,0.055,2082,3806,1055,0,0,0,0,0,0
$GC,13800,0.57,106.0,323.5,15.0,879,13804,0.00,1.27,0.00,0.000,6,0.000,0.029,2088,2929,1055,0,0,0,0,0,0
$GC,14131,0.60,106.0,281.4,12.1,910,14132,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,2927,1055,0,0,0,0,0,0
$GC,14451,0.62,106.0,242.3,12.5,940,14455,0.00,1.27,0.00,0.000,4,0.000,0.031,2095,2063,1055,0,0,0,0,0,0
$GC,14497,0.68,106.0,236.4,11.6,944,14501,0.00,1.38,0.00,0.000,6,0.000,0.048,2095,2923,1055,0,0,0,0,0,0
$GC,14828,0.70,106.0,194.1,12.5,975,14832,0.10,1.27,0.00,0.000,4,0.106,0.031,2143,2061,1055,0,0,0,0,0,0
$GC,14873,0.70,106.0,187.8,13.8,979,14876,0.00,1.38,0.00,0.000,6,0.000,0.050,2143,2923,1055,0,0,0,0,0,0
$GC,15203,0.64,106.0,135.6,15.1,1010,15207,0.12,1.40,0.00,0.000,4,0.201,0.054,2110,3806,1055,0,0,0,0,0,0
$GC,15430,0.58,106.0,102.1,14.6,1030,15434,0.00,1.27,0.00,0.000,6,0.000,0.028,2116,2924,1055,0,0,0,0,0,0
$GC,15777,0.55,106.0,52.3,11.7,1089,15787,0.12,1.42,0.00,0.000,4,0.216,0.054,2089,3808,1055,0,0,0,0,0,0
$GC,15904,0.55,106.0,34.4,12.7,1110,15914,0.00,1.27,0.00,0.000,6,0.000,0.030,2093,2934,1055,0,0,0,0,0,0
$GC,16059,0.55,106.0,16.7,15.4,1135,16068,0.00,1.30,0.00,0.000,4,0.000,0.028,2100,2029,1055,0,0,0,0,0,0
$GC,16077,0.58,106.0,14.0,15.0,1137,16086,0.00,1.42,0.00,0.000,6,0.000,0.049,2100,2924,1055,0,0,0,0,0,0
$GC,16135,0.58,106.0,6.5,13.2,1146,16144,0.00,1.40,0.00,0.000,4,0.000,0.051,2100,3812,1055,0,0,0,0,0,0
$STATE,16162,end climb,SURFACE_DEPTH_REACHED
$STATE,16162,begin surface coast
$FINISH,1.2,1.023723
$STATE,16187,end surface coast,CONTROL_FINISHED_OK
$STATE,16187,begin surface
$SM_CCo,16202,50.17,0.447,1,0,682,200.16
$SM_GC,2.18,0.00,0.00,50.17,0.000,0.000,0.447,68,3221,682,-5.73,0.34,200.16
$IRIDIUM_FIX,-4247.91,825.73,010808,111115
$TT8_MAMPS,0.026964
$HUMID,63.11
$INTERNAL_PRESSURE,11.4079
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,21.5,60.889
$10V_AH,10.0,39.212
$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,15.775,84.000,238.000,50.175,0.000,51.580,125.423,374.092,0.000,0.000,28.715,2902.704,10166.239,421.484,3274.411,254.108,0.000,1586.755,0.000,2682.894,0.000,0.545,0.000
$DEVICE_MAMPS,231.030,78.795,1806.165,446.760,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,800.337,813.550,825.104,77.893,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353980
$DATA_FILE_SIZE,66833,1154
$CAP_FILE_SIZE,162918,0
$CFSIZE,259252224,231641088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,1
$GPS,061015,022204,-4303.237,824.424,87,0.8,87,-25.0