version: 66.07
glider: 543
mission: 14
dive: 524
start: 11 21 115 23 18 43
data:
$ID,543
$MISSION,14
$DIVE,524
$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,-25844.078
$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,81
$R_STBD_OVSHOOT,26
$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
$GPS1,211115,230821,-4302.123,840.953,36,0.9,36,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-70.3
$GPS2,211115,231819,-4302.056,841.114,19,1.2,20,-25.1
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAZ_BUT4
$TGT_LATLONG,-4304.000,836.000
$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,267.6,7800,-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,15,-0.43,-116.8,0.0,0.0,0,58,0.00,0.00,-40.78,0.000,2,0.000,0.000,61,3226,1470,0,0,0,0,0,0
$GC,61,-0.43,-116.8,3.0,-1.4,5,94,6.88,0.00,-19.65,0.000,6,0.220,0.000,1760,3226,1978,0,0,0,0,0,0
$GC,144,-0.41,-116.8,11.2,-12.8,17,152,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,3226,1979,0,0,0,0,0,0
$GC,203,-0.41,-116.8,19.7,-14.0,26,212,0.00,1.30,0.00,0.000,4,0.000,0.027,1760,2314,1979,0,0,0,0,0,0
$GC,239,-0.41,-116.8,24.8,-13.8,31,247,0.00,1.45,0.00,0.000,6,0.000,0.051,1755,3202,1979,0,0,0,0,0,0
$GC,389,-0.38,-116.8,44.8,-8.7,56,396,0.00,1.17,0.00,0.000,4,0.000,0.058,1749,3944,1979,0,0,0,0,0,0
$GC,427,-0.33,-116.8,48.2,-8.8,62,434,0.12,1.02,0.00,0.000,6,0.138,0.031,1789,3233,1979,0,0,0,0,0,0
$GC,776,-0.38,-116.8,72.3,-7.8,123,785,0.00,1.35,0.00,0.000,4,0.000,0.027,1789,2290,1979,0,0,0,0,0,0
$GC,832,-0.45,-116.8,76.3,-7.0,132,841,0.00,1.50,0.00,0.000,6,0.000,0.050,1785,3211,1979,0,0,0,0,0,0
$GC,1183,-0.48,-116.8,102.0,-8.3,191,1185,0.10,0.00,0.00,0.000,6,0.104,0.000,1727,3211,1979,0,0,0,0,0,0
$GC,1505,-0.40,-116.8,135.7,-11.5,221,1511,0.17,0.00,0.00,0.000,6,0.158,0.000,1773,3211,1979,0,0,0,0,0,0
$GC,1830,-0.45,-116.8,157.9,-6.3,252,1834,0.00,1.33,0.00,0.000,4,0.000,0.027,1773,2294,1979,0,0,0,0,0,0
$GC,1878,-0.51,-116.8,161.1,-7.2,256,1882,0.00,1.50,0.00,0.000,6,0.000,0.049,1769,3216,1979,0,0,0,0,0,0
$GC,2209,-0.59,-116.8,184.9,-7.8,287,2211,0.15,0.00,0.00,0.000,6,0.077,0.000,1693,3217,1979,0,0,0,0,0,0
$GC,2531,-0.46,-116.8,226.2,-13.3,317,2535,0.22,1.17,0.00,0.000,4,0.158,0.050,1751,3958,1979,0,0,0,0,0,0
$GC,2599,-0.44,-116.8,233.6,-9.8,323,2602,0.00,1.08,0.00,0.000,6,0.000,0.030,1750,3211,1979,0,0,0,0,0,0
$GC,2930,-0.44,-116.8,260.1,-7.8,354,2933,0.00,1.30,0.00,0.000,4,0.000,0.026,1750,2291,1979,0,0,0,0,0,0
$GC,3022,-0.45,-116.8,267.0,-7.9,362,3025,0.00,1.50,0.00,0.000,6,0.000,0.048,1744,3212,1979,0,0,0,0,0,0
$GC,3355,-0.43,-116.8,294.1,-8.2,393,3361,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,3212,1979,0,0,0,0,0,0
$GC,3683,-0.41,-116.8,321.8,-8.6,424,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,3212,1979,0,0,0,0,0,0
$GC,4010,-0.39,-116.8,350.9,-9.0,455,4014,0.12,1.17,0.00,0.000,4,0.161,0.056,1773,3948,1978,0,0,0,0,0,0
$GC,4050,-0.43,-116.8,354.2,-7.9,458,4056,0.00,1.08,0.00,0.000,6,0.000,0.031,1773,3206,1979,0,0,0,0,0,0
$GC,4377,-0.47,-116.8,376.6,-6.7,489,4383,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,3205,1979,0,0,0,0,0,0
$GC,4705,-0.51,-116.8,398.3,-6.2,520,4708,0.00,1.30,0.00,0.000,4,0.000,0.026,1773,2292,1979,0,0,0,0,0,0
$GC,4739,-0.57,-116.8,400.8,-6.2,522,4743,0.10,1.50,0.00,0.000,6,0.048,0.049,1702,3211,1979,0,0,0,0,0,0
$GC,5061,-0.46,-116.8,436.5,-11.2,538,5063,0.17,0.00,0.00,0.000,6,0.160,0.000,1749,3211,1978,0,0,0,0,0,0
$GC,5370,-0.46,-116.8,462.2,-8.1,553,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,3212,1979,0,0,0,0,0,0
$GC,5679,-0.46,-116.8,485.7,-7.1,568,5680,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,3212,1979,0,0,0,0,0,0
$GC,5989,-0.46,-116.8,507.0,-6.5,583,5993,0.00,1.33,0.00,0.000,4,0.000,0.026,1749,2284,1979,0,0,0,0,0,0
$GC,6022,-0.49,-116.8,509.2,-6.0,584,6026,0.00,1.52,0.00,0.000,6,0.000,0.049,1744,3214,1979,0,0,0,0,0,0
$GC,6344,-0.49,-116.8,531.4,-7.0,600,6348,0.00,1.33,0.00,0.000,4,0.000,0.027,1744,2293,1979,0,0,0,0,0,0
$GC,6378,-0.49,-116.8,533.9,-6.9,601,6382,0.00,1.50,0.00,0.000,6,0.000,0.049,1737,3208,1979,0,0,0,0,0,0
$GC,6700,-0.46,-116.8,559.6,-8.1,617,6702,0.00,0.00,0.00,0.000,6,0.000,0.000,1737,3208,1978,0,0,0,0,0,0
$GC,7011,-0.44,-116.8,584.1,-8.0,632,7012,0.00,0.00,0.00,0.000,6,0.000,0.000,1737,3208,1979,0,0,0,0,0,0
$GC,7319,-0.41,-116.8,607.4,-7.3,647,7321,0.12,0.00,0.00,0.000,6,0.162,0.000,1769,3208,1979,0,0,0,0,0,0
$GC,7629,-0.46,-116.8,624.0,-5.4,662,7630,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,3208,1979,0,0,0,0,0,0
$GC,7939,-0.51,-116.8,640.7,-5.5,677,7942,0.00,1.33,0.00,0.000,4,0.000,0.028,1770,2291,1978,0,0,0,0,0,0
$GC,7989,-0.58,-116.8,643.8,-5.4,679,7993,0.10,1.50,0.00,0.000,6,0.052,0.050,1701,3203,1979,0,0,0,0,0,0
$GC,8318,-0.49,-116.8,677.2,-10.8,695,8322,0.17,1.35,0.00,0.000,4,0.161,0.028,1750,2292,1978,0,0,0,0,0,0
$GC,8351,-0.51,-116.8,680.3,-7.3,696,8354,0.00,1.50,0.00,0.000,6,0.000,0.050,1744,3203,1979,0,0,0,0,0,0
$GC,8673,-0.51,-116.8,704.2,-7.2,712,8677,0.00,1.30,0.00,0.000,4,0.000,0.028,1744,2296,1979,0,0,0,0,0,0
$GC,8723,-0.53,-116.8,708.1,-8.1,714,8727,0.00,1.50,0.00,0.000,6,0.000,0.050,1737,3209,1979,0,0,0,0,0,0
$GC,9051,-0.51,-116.8,733.2,-7.9,730,9052,0.00,0.00,0.00,0.000,6,0.000,0.000,1738,3209,1978,0,0,0,0,0,0
$GC,9361,-0.49,-116.8,758.5,-8.1,745,9365,0.00,1.35,0.00,0.000,4,0.000,0.028,1737,2284,1979,0,0,0,0,0,0
$GC,9416,-0.49,-116.8,763.2,-7.7,747,9420,0.00,1.52,0.00,0.000,6,0.000,0.050,1730,3209,1979,0,0,0,0,0,0
$GC,9739,-0.47,-116.8,790.2,-8.5,763,9743,0.00,1.17,0.00,0.000,4,0.000,0.057,1725,3953,1979,0,0,0,0,0,0
$GC,9772,-0.43,-116.8,793.4,-8.9,764,9777,0.10,1.08,0.00,0.000,6,0.135,0.031,1757,3215,1979,0,0,0,0,0,0
$GC,10096,-0.46,-116.8,814.2,-6.3,780,10099,0.00,1.33,0.00,0.000,4,0.000,0.028,1757,2292,1979,0,0,0,0,0,0
$GC,10143,-0.51,-116.8,817.0,-6.1,782,10147,0.00,1.50,0.00,0.000,6,0.000,0.050,1752,3206,1979,0,0,0,0,0,0
$GC,10477,-0.53,-116.8,839.0,-6.1,798,10480,0.00,1.17,0.00,0.000,4,0.000,0.057,1747,3952,1978,0,0,0,0,0,0
$GC,10572,-0.53,-116.8,845.6,-6.2,802,10576,0.00,1.10,0.00,0.000,6,0.000,0.031,1747,3197,1979,0,0,0,0,0,0
$GC,10899,-0.53,-116.8,865.4,-5.9,818,10900,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3197,1979,0,0,0,0,0,0
$GC,11209,-0.53,-116.8,884.1,-6.0,833,11210,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3197,1979,0,0,0,0,0,0
$GC,11518,-0.53,-116.8,904.4,-6.5,848,11519,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3197,1979,0,0,0,0,0,0
$GC,11827,-0.53,-116.8,925.4,-7.1,863,11830,0.00,1.20,0.00,0.000,4,0.000,0.058,1742,3944,1978,0,0,0,0,0,0
$GC,11874,-0.53,-116.8,928.8,-7.5,865,11877,0.00,1.08,0.00,0.000,6,0.000,0.031,1742,3209,1979,0,0,0,0,0,0
$GC,12208,-0.53,-116.8,952.9,-7.2,881,12209,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3209,1978,0,0,0,0,0,0
$GC,12517,-0.53,-116.8,975.0,-7.0,896,12518,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3209,1979,0,0,0,0,0,0
$STATE,12617,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12617,begin apogee
$GC,12622,-0.09,0.0,982.1,7.0,901,12780,0.43,0.00,135.77,1.820,6,0.125,0.000,1871,2921,1499,0,0,0,0,3,0
$STATE,12781,end apogee,CONTROL_FINISHED_OK
$STATE,12781,begin climb
$GC,12783,0.43,116.8,986.2,0.0,909,12919,0.50,0.00,129.90,1.814,6,0.084,0.000,2036,2920,1022,0,0,0,0,0,0
$GC,13217,0.40,116.8,949.8,9.5,930,13221,0.00,1.45,0.00,0.000,4,0.000,0.057,2037,3805,1017,0,0,0,0,0,0
$GC,13264,0.32,116.8,944.8,11.1,932,13268,0.10,1.33,0.00,0.000,6,0.166,0.028,2013,2908,1016,0,0,0,0,0,0
$GC,13598,0.37,145.6,919.5,7.1,948,13630,0.00,1.55,27.83,1.797,4,0.000,0.057,2013,3812,906,0,0,0,0,0,0
$GC,13714,0.37,145.6,908.9,9.4,953,13718,0.00,1.33,0.00,0.000,6,0.000,0.029,2018,2921,904,0,0,0,0,0,0
$GC,14036,0.40,153.2,882.3,8.2,969,14051,0.00,1.50,8.20,1.593,4,0.000,0.056,2019,3815,874,0,0,0,0,0,0
$GC,14108,0.38,153.2,875.3,9.7,972,14112,0.00,1.33,0.00,0.000,6,0.000,0.029,2025,2921,874,0,0,0,0,0,0
$GC,14435,0.38,153.2,845.9,8.9,988,14438,0.00,1.42,0.00,0.000,4,0.000,0.055,2025,3801,873,0,0,0,0,0,0
$GC,14458,0.38,153.2,843.6,9.5,989,14461,0.00,1.30,0.00,0.000,6,0.000,0.029,2032,2918,872,0,0,0,0,0,0
$GC,14791,0.38,153.2,813.9,8.6,1005,14795,0.00,1.45,0.00,0.000,4,0.000,0.056,2032,3811,873,0,0,0,0,0,0
$GC,14830,0.34,153.2,809.6,11.1,1006,14837,0.00,1.30,0.00,0.000,6,0.000,0.029,2039,2921,872,0,0,0,0,0,0
$GC,15146,0.34,153.2,780.0,9.3,1022,15149,0.00,1.42,0.00,0.000,4,0.000,0.055,2038,3803,873,0,0,0,0,0,0
$GC,15202,0.29,153.2,773.7,11.5,1024,15206,0.12,1.27,0.00,0.000,6,0.154,0.029,2006,2933,872,0,0,0,0,0,0
$GC,15525,0.37,179.2,749.9,7.3,1040,15556,0.00,1.45,26.73,1.727,4,0.000,0.054,2006,3807,768,0,0,0,0,0,0
$GC,15596,0.40,179.2,744.1,9.9,1043,15599,0.00,1.33,0.00,0.000,6,0.000,0.030,2011,2927,768,0,0,0,0,0,0
$GC,15918,0.48,202.9,719.5,7.4,1059,15945,0.15,0.00,24.73,1.694,6,0.085,0.000,2080,2927,671,0,0,0,0,0,0
$GC,16249,0.40,202.9,674.3,14.3,1075,16253,0.15,1.33,0.00,0.000,4,0.172,0.030,2047,2053,670,0,0,0,0,0,0
$GC,16281,0.42,202.9,670.1,10.5,1076,16285,0.00,1.40,0.00,0.000,6,0.000,0.047,2047,2926,669,0,0,0,0,0,0
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$GC,18006,0.51,202.9,490.5,9.3,1159,18007,0.10,0.00,0.00,0.000,6,0.107,0.000,2089,2931,668,0,0,0,0,0,0
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$STATE,22753,end climb,SURFACE_DEPTH_REACHED
$STATE,22753,begin surface coast
$FINISH,1.5,1.026519
$STATE,22778,end surface coast,CONTROL_FINISHED_OK
$STATE,22778,begin surface
$SM_CCo,22854,0.00,0.000,0,0,504,244.07
$SM_GC,2.56,5.40,0.00,0.00,0.044,0.000,0.000,66,3210,504,-5.65,0.03,244.07
$IRIDIUM_FIX,-4244.98,843.65,170908,060601
$TT8_MAMPS,0.026964
$HUMID,64.49
$INTERNAL_PRESSURE,11.3786
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,20.5,97.540
$10V_AH,9.8,64.929
$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,16.475,105.550,392.050,0.000,0.000,25.981,20.820,375.522,0.000,0.000,23.287,4002.036,14623.532,534.250,3823.749,450.655,0.000,2014.151,0.000,3401.175,0.000,0.545,0.000
$DEVICE_MAMPS,220.320,62.730,1819.935,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1135.126,1165.153,1108.773,96.933,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353952
$DATA_FILE_SIZE,93637,1633
$CAP_FILE_SIZE,214912,0
$CFSIZE,259252224,213581824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,221115,054103,-4302.059,840.683,50,1.1,51,-25.1