version: 66.07
glider: 543
mission: 14
dive: 50
start: 8 6 115 7 39 14
data:
$ID,543
$MISSION,14
$DIVE,50
$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,335
$T_MISSION,350
$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,130
$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,-24269.174
$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,52
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,394
$ROLL_MAX,3944
$ROLL_DEG,25
$C_ROLL_DIVE,3230
$C_ROLL_CLIMB,3060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,58
$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
$GPS1,060815,073059,-4302.098,824.593,119,0.8,119,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-70.0
$GPS2,060815,073852,-4302.197,824.736,30,1.1,30,-25.0
$SPEED_LIMITS,0.172,0.243
$TGT_NAME,SAZ_BUT2
$TGT_LATLONG,-4256.000,824.000
$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,20.0,11520,-18.8,-9.950
$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,14,-0.49,-126.6,0.0,0.0,0,73,0.00,0.00,-56.70,0.000,2,0.000,0.000,61,3249,1980,0,0,0,0,0,0
$GC,75,-0.49,-126.6,3.3,-3.1,7,85,6.70,0.00,-0.82,0.000,6,0.232,0.000,1740,3249,2018,0,0,0,0,0,0
$GC,134,-0.49,-126.6,19.4,-17.7,16,142,0.00,1.12,0.00,0.000,4,0.000,0.059,1736,3947,2025,0,0,0,0,0,0
$GC,179,-0.49,-126.6,26.7,-16.7,23,188,0.00,1.08,0.00,0.000,6,0.000,0.034,1736,3232,2025,0,0,0,0,0,0
$GC,327,-0.49,-126.6,49.4,-14.3,48,335,0.00,0.00,0.00,0.000,6,0.000,0.000,1736,3232,2025,0,0,0,0,0,0
$GC,674,-0.49,-126.6,101.6,-14.0,108,675,0.00,0.00,0.00,0.000,6,0.000,0.000,1736,3232,2026,0,0,0,0,0,0
$GC,993,-0.49,-126.6,147.7,-14.7,138,996,0.00,1.33,0.00,0.000,4,0.000,0.031,1736,2328,2025,0,0,0,0,0,0
$GC,1030,-0.49,-126.6,153.2,-13.2,141,1038,0.00,1.48,0.00,0.000,6,0.000,0.053,1729,3235,2025,0,0,0,0,0,0
$GC,1356,-0.49,-126.6,198.2,-13.7,172,1360,0.00,1.12,0.00,0.000,4,0.000,0.058,1724,3947,2025,0,0,0,0,0,0
$GC,1393,-0.49,-126.6,204.2,-15.4,175,1401,0.00,1.08,0.00,0.000,6,0.000,0.033,1723,3225,2025,0,0,0,0,0,0
$GC,1719,-0.49,-126.6,250.2,-14.2,206,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,1724,3224,2025,0,0,0,0,0,0
$GC,2038,-0.49,-126.6,294.0,-13.7,236,2041,0.00,1.15,0.00,0.000,4,0.000,0.058,1718,3957,2025,0,0,0,0,0,0
$GC,2096,-0.49,-126.6,302.1,-14.2,241,2100,0.00,1.08,0.00,0.000,6,0.000,0.034,1718,3225,2025,0,0,0,0,0,0
$GC,2426,-0.49,-126.6,350.9,-15.2,272,2430,0.00,1.12,0.00,0.000,4,0.000,0.057,1713,3942,2026,0,0,0,0,0,0
$GC,2460,-0.49,-126.6,356.4,-16.5,275,2464,0.08,1.05,0.00,0.000,6,0.167,0.034,1736,3231,2025,0,0,0,0,0,0
$GC,2789,-0.49,-126.6,400.7,-13.2,306,2793,0.00,1.33,0.00,0.000,4,0.000,0.031,1736,2318,2025,0,0,0,0,0,0
$GC,2905,-0.49,-126.6,414.6,-11.4,311,2910,0.00,1.48,0.00,0.000,6,0.000,0.052,1730,3236,2025,0,0,0,0,0,0
$GC,3233,-0.49,-126.6,456.1,-12.8,327,3237,0.00,1.33,0.00,0.000,4,0.000,0.031,1730,2325,2025,0,0,0,0,0,0
$GC,3255,-0.49,-126.6,458.8,-11.9,328,3258,0.00,1.45,0.00,0.000,6,0.000,0.054,1723,3233,2025,0,0,0,0,0,0
$GC,3586,-0.49,-126.6,501.1,-13.2,344,3590,0.00,1.30,0.00,0.000,4,0.000,0.033,1723,2335,2026,0,0,0,0,0,0
$GC,3618,-0.49,-126.6,505.4,-12.6,345,3623,0.00,1.45,0.00,0.000,6,0.000,0.052,1717,3235,2025,0,0,0,0,0,0
$GC,3940,-0.49,-126.6,548.7,-13.2,361,3944,0.00,1.12,0.00,0.000,4,0.000,0.058,1711,3957,2025,0,0,0,0,0,0
$GC,4011,-0.49,-126.6,559.1,-14.4,364,4016,0.12,1.08,0.00,0.000,6,0.186,0.034,1741,3230,2025,0,0,0,0,0,0
$GC,4338,-0.49,-126.6,594.8,-10.7,380,4342,0.00,1.15,0.00,0.000,4,0.000,0.061,1738,3948,2025,0,0,0,0,0,0
$GC,4376,-0.49,-126.6,599.5,-12.6,381,4383,0.00,1.08,0.00,0.000,6,0.000,0.034,1738,3227,2025,0,0,0,0,0,0
$GC,4692,-0.49,-126.6,635.9,-11.7,397,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,1738,3227,2025,0,0,0,0,0,0
$GC,5001,-0.49,-126.6,670.7,-10.9,412,5005,0.00,1.12,0.00,0.000,4,0.000,0.060,1732,3942,2025,0,0,0,0,0,0
$GC,5032,-0.49,-126.6,674.4,-11.5,413,5037,0.00,1.08,0.00,0.000,6,0.000,0.035,1733,3227,2025,0,0,0,0,0,0
$GC,5354,-0.49,-126.6,708.9,-10.8,429,5355,0.00,0.00,0.00,0.000,6,0.000,0.000,1732,3227,2025,0,0,0,0,0,0
$GC,5663,-0.49,-126.6,740.5,-10.0,444,5667,0.00,1.12,0.00,0.000,4,0.000,0.061,1727,3943,2025,0,0,0,0,0,0
$GC,5717,-0.49,-126.6,746.9,-10.8,446,5722,0.00,1.08,0.00,0.000,6,0.000,0.036,1727,3228,2025,0,0,0,0,0,0
$GC,6039,-0.49,-126.6,782.3,-11.5,462,6042,0.00,1.30,0.00,0.000,4,0.000,0.034,1727,2336,2025,0,0,0,0,0,0
$GC,6061,-0.49,-126.6,784.8,-11.8,463,6065,0.00,1.45,0.00,0.000,6,0.000,0.055,1721,3242,2025,0,0,0,0,0,0
$GC,6393,-0.49,-126.6,826.4,-13.2,479,6394,0.00,0.00,0.00,0.000,6,0.000,0.000,1721,3242,2025,0,0,0,0,0,0
$GC,6702,-0.49,-126.6,866.7,-13.0,494,6705,0.00,1.10,0.00,0.000,4,0.000,0.061,1715,3944,2025,0,0,0,0,0,0
$GC,6728,-0.49,-126.6,870.7,-14.5,495,6734,0.12,1.08,0.00,0.000,6,0.186,0.036,1746,3232,2025,0,0,0,0,0,0
$GC,7056,-0.49,-126.6,906.4,-11.0,511,7059,0.00,1.33,0.00,0.000,4,0.000,0.034,1746,2329,2025,0,0,0,0,0,0
$GC,7082,-0.49,-126.6,909.5,-10.8,512,7087,0.00,1.48,0.00,0.000,6,0.000,0.056,1740,3239,2025,0,0,0,0,0,0
$GC,7409,-0.49,-126.6,945.2,-10.5,528,7413,0.00,1.12,0.00,0.000,4,0.000,0.063,1735,3956,2025,0,0,0,0,0,0
$GC,7447,-0.49,-126.6,949.5,-11.6,529,7455,0.00,1.10,0.00,0.000,6,0.000,0.036,1735,3225,2025,0,0,0,0,0,0
$GC,7763,-0.49,-126.6,982.2,-10.1,545,7766,0.00,1.15,0.00,0.000,4,0.000,0.063,1730,3955,2025,0,0,0,0,0,0
$GC,7794,-0.49,-126.6,985.8,-10.9,546,7799,0.00,1.10,0.00,0.000,6,0.000,0.037,1730,3225,2024,0,0,0,0,0,0
$STATE,7950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7950,begin apogee
$GC,7954,-0.10,0.0,1001.8,10.2,554,8093,0.47,0.00,133.00,1.898,6,0.148,0.000,1873,3058,1498,0,0,0,0,0,0
$STATE,8094,end apogee,CONTROL_FINISHED_OK
$STATE,8094,begin climb
$GC,8095,0.49,126.6,1005.6,0.0,561,8229,0.57,1.55,125.22,1.841,4,0.099,0.035,2066,2178,982,0,0,0,0,0,0
$GC,8346,0.49,126.6,980.3,12.0,572,8354,0.00,1.50,0.00,0.000,6,0.000,0.052,2066,3052,979,0,0,0,0,0,0
$GC,8662,0.49,126.6,937.0,13.7,588,8663,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,3052,977,0,0,0,0,0,0
$GC,8971,0.49,126.6,895.2,13.6,603,8973,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,3052,977,0,0,0,0,0,0
$GC,9281,0.49,126.6,853.6,13.2,618,9284,0.00,1.35,0.00,0.000,4,0.000,0.037,2073,2172,976,0,0,0,0,0,0
$GC,9318,0.49,126.6,848.8,12.4,619,9326,0.00,1.48,0.00,0.000,6,0.000,0.053,2073,3069,976,0,0,0,0,0,0
$GC,9634,0.49,126.6,804.6,14.7,635,9638,0.00,1.38,0.00,0.000,4,0.000,0.036,2079,2175,975,0,0,0,0,0,0
$GC,9683,0.49,126.6,797.8,13.8,637,9688,0.00,1.45,0.00,0.000,6,0.000,0.053,2079,3062,975,0,0,0,0,0,0
$GC,10010,0.49,126.6,749.3,14.5,653,10014,0.00,1.35,0.00,0.000,4,0.000,0.036,2086,2180,975,0,0,0,0,0,0
$GC,10077,0.49,126.6,740.0,13.7,656,10081,0.00,1.42,0.00,0.000,6,0.000,0.054,2086,3062,975,0,0,0,0,0,0
$GC,10409,0.49,126.6,690.9,14.9,672,10412,0.00,1.35,0.00,0.000,4,0.000,0.036,2092,2180,974,0,0,0,0,0,0
$GC,10454,0.49,126.6,684.7,14.0,674,10457,0.00,1.42,0.00,0.000,6,0.000,0.054,2092,3062,974,0,0,0,0,0,0
$GC,10785,0.49,126.6,633.7,15.5,690,10789,0.00,1.42,0.00,0.000,4,0.000,0.062,2092,3953,974,0,0,0,0,0,0
$GC,10817,0.49,126.6,627.9,18.4,691,10823,0.15,1.38,0.00,0.000,6,0.222,0.034,2065,3045,974,0,0,0,0,0,0
$GC,11139,0.49,126.6,581.9,14.3,707,11140,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,3045,974,0,0,0,0,0,0
$GC,11448,0.49,126.6,538.2,14.2,722,11452,0.00,1.48,0.00,0.000,4,0.000,0.061,2065,3958,973,0,0,0,0,0,0
$GC,11502,0.49,126.6,529.3,16.6,724,11507,0.00,1.38,0.00,0.000,6,0.000,0.034,2071,3054,974,0,0,0,0,0,0
$GC,11824,0.49,126.6,484.0,13.9,740,11825,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,3053,973,0,0,0,0,0,0
$GC,12133,0.49,126.6,442.6,13.3,755,12137,0.00,1.33,0.00,0.000,4,0.000,0.037,2078,2178,974,0,0,0,0,0,0
$GC,12204,0.49,126.6,433.7,12.1,758,12209,0.00,1.45,0.00,0.000,6,0.000,0.054,2078,3070,973,0,0,0,0,0,0
$GC,12523,0.49,126.6,390.0,13.5,776,12527,0.00,1.35,0.00,0.000,4,0.000,0.035,2084,2182,973,0,0,0,0,0,0
$GC,12549,0.49,126.6,386.4,12.5,778,12557,0.00,1.42,0.00,0.000,6,0.000,0.054,2084,3061,973,0,0,0,0,0,0
$GC,12877,0.49,126.6,340.9,14.0,809,12878,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,3061,973,0,0,0,0,0,0
$GC,13196,0.49,126.6,296.7,14.4,839,13199,0.00,1.33,0.00,0.000,4,0.000,0.035,2091,2181,973,0,0,0,0,0,0
$GC,13240,0.49,126.6,290.5,12.3,843,13244,0.00,1.40,0.00,0.000,6,0.000,0.054,2091,3057,973,0,0,0,0,0,0
$GC,13570,0.49,126.6,242.9,14.6,874,13571,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,3057,973,0,0,0,0,0,0
$GC,13889,0.49,126.6,196.4,14.4,904,13893,0.00,1.42,0.00,0.000,4,0.000,0.060,2091,3954,973,0,0,0,0,0,0
$GC,13915,0.49,126.6,192.1,16.0,906,13924,0.12,1.35,0.00,0.000,6,0.225,0.033,2070,3048,973,0,0,0,0,0,0
$GC,14243,0.49,126.6,153.2,11.4,937,14246,0.00,1.30,0.00,0.000,4,0.000,0.034,2075,2175,973,0,0,0,0,0,0
$GC,14280,0.49,126.6,148.7,10.8,940,14290,0.00,1.42,0.00,0.000,6,0.000,0.052,2075,3064,973,0,0,0,0,0,0
$GC,14606,0.49,126.6,110.0,11.6,971,14609,0.00,1.33,0.00,0.000,4,0.000,0.033,2082,2174,973,0,0,0,0,0,0
$GC,14654,0.49,126.6,104.5,10.2,975,14662,0.00,1.42,0.00,0.000,6,0.000,0.051,2082,3061,973,0,0,0,0,0,0
$GC,14998,0.49,126.6,63.9,11.8,1032,15007,0.00,1.33,0.00,0.000,4,0.000,0.032,2089,2169,973,0,0,0,0,0,0
$GC,15047,0.49,126.6,58.3,11.3,1040,15053,0.00,1.40,0.00,0.000,6,0.000,0.053,2089,3054,973,0,0,0,0,0,0
$GC,15402,0.49,126.6,11.8,13.3,1101,15411,0.00,1.30,0.00,0.000,4,0.000,0.033,2095,2175,973,0,0,0,0,0,0
$GC,15472,0.52,158.3,4.7,8.3,1112,15490,0.00,1.40,13.55,0.146,6,0.000,0.053,2095,3062,849,0,0,0,0,0,0
$STATE,15496,end climb,SURFACE_DEPTH_REACHED
$STATE,15497,begin surface coast
$FINISH,1.0,1.026454
$STATE,15522,end surface coast,CONTROL_FINISHED_OK
$STATE,15522,begin surface
$SM_CCo,15533,32.90,0.248,1,0,682,200.16
$SM_GC,2.19,0.00,0.00,32.90,0.000,0.000,0.248,73,3252,682,-5.72,0.65,200.16
$IRIDIUM_FIX,-4244.98,825.73,010608,161608
$TT8_MAMPS,0.027713
$HUMID,61.77
$INTERNAL_PRESSURE,11.4079
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.4,13.392
$10V_AH,10.3,6.542
$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,13.700,83.300,271.775,32.900,0.000,28.654,22.429,300.239,0.000,0.000,33.362,2740.802,9910.655,438.337,2834.737,122.255,0.000,1510.064,0.000,2434.156,0.000,0.545,0.000
$DEVICE_MAMPS,231.795,71.145,1897.965,247.860,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,775.366,787.992,804.555,77.584,0.000,0.000,0.000,0.000,0.000,0.000
$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,63685,1119
$CAP_FILE_SIZE,143591,0
$CFSIZE,259252224,254857216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,060815,120104,-4300.751,825.528,105,0.8,105,-25.0