version: 66.07
glider: 543
mission: 14
dive: 51
start: 8 6 115 12 9 26
data:
$ID,543
$MISSION,14
$DIVE,51
$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,-24272.035
$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,56
$R_STBD_OVSHOOT,31
$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
$GPS1,060815,120104,-4300.751,825.528,105,0.8,105,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-68.8
$GPS2,060815,120904,-4300.740,825.702,29,1.3,29,-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,10.3,9077,-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,15,-0.49,-126.6,0.0,0.0,0,66,0.00,0.00,-48.78,0.000,2,0.000,0.000,61,3252,1809,0,0,0,0,0,0
$GC,68,-0.49,-126.6,3.0,-2.7,6,85,6.57,0.00,-5.78,0.000,6,0.224,0.000,1737,3252,2018,0,0,0,0,0,0
$GC,134,-0.49,-126.6,15.3,-14.5,16,142,0.00,1.38,0.00,0.000,4,0.000,0.031,1737,2321,2024,0,0,0,0,0,0
$GC,179,-0.49,-126.6,21.5,-13.7,23,188,0.00,1.48,0.00,0.000,6,0.000,0.053,1732,3225,2024,0,0,0,0,0,0
$GC,328,-0.49,-126.6,45.3,-15.5,48,336,0.00,0.00,0.00,0.000,6,0.000,0.000,1732,3225,2024,0,0,0,0,0,0
$GC,679,-0.49,-126.6,100.1,-15.3,109,682,0.00,1.33,0.00,0.000,4,0.000,0.031,1732,2326,2024,0,0,0,0,0,0
$GC,712,-0.49,-126.6,105.8,-15.1,112,716,0.00,1.48,0.00,0.000,6,0.000,0.053,1725,3235,2024,0,0,0,0,0,0
$GC,1043,-0.49,-126.6,162.7,-17.3,143,1046,0.00,1.12,0.00,0.000,4,0.000,0.057,1720,3955,2024,0,0,0,0,0,0
$GC,1076,-0.49,-126.6,169.1,-18.7,146,1080,0.00,1.08,0.00,0.000,6,0.000,0.034,1720,3224,2025,0,0,0,0,0,0
$GC,1409,-0.49,-126.6,224.9,-15.5,177,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,1720,3223,2025,0,0,0,0,0,0
$GC,1725,-0.49,-126.6,273.3,-14.6,207,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,1720,3223,2025,0,0,0,0,0,0
$GC,2047,-0.49,-126.6,317.7,-13.1,237,2051,0.00,1.30,0.00,0.000,4,0.000,0.033,1720,2325,2025,0,0,0,0,0,0
$GC,2094,-0.49,-126.6,323.6,-11.6,241,2098,0.08,1.45,0.00,0.000,6,0.153,0.052,1738,3235,2025,0,0,0,0,0,0
$GC,2423,-0.49,-126.6,359.6,-10.5,272,2426,0.00,1.33,0.00,0.000,4,0.000,0.032,1738,2323,2025,0,0,0,0,0,0
$GC,2536,-0.49,-126.6,370.3,-9.5,282,2540,0.00,1.45,0.00,0.000,6,0.000,0.051,1733,3232,2025,0,0,0,0,0,0
$GC,2865,-0.49,-126.6,404.5,-10.4,311,2869,0.00,1.30,0.00,0.000,4,0.000,0.033,1733,2333,2025,0,0,0,0,0,0
$GC,3082,-0.49,-126.6,425.5,-9.6,320,3090,0.00,1.45,0.00,0.000,6,0.000,0.052,1726,3232,2025,0,0,0,0,0,0
$GC,3399,-0.49,-126.6,460.3,-11.3,336,3402,0.00,1.30,0.00,0.000,4,0.000,0.033,1726,2335,2025,0,0,0,0,0,0
$GC,3566,-0.49,-126.6,478.2,-10.8,343,3570,0.00,1.42,0.00,0.000,6,0.000,0.052,1719,3231,2025,0,0,0,0,0,0
$GC,3887,-0.49,-126.6,516.1,-12.0,359,3891,0.00,1.30,0.00,0.000,4,0.000,0.034,1719,2334,2025,0,0,0,0,0,0
$GC,3987,-0.49,-126.6,527.5,-11.3,363,3992,0.12,1.45,0.00,0.000,6,0.180,0.053,1750,3234,2025,0,0,0,0,0,0
$GC,4308,-0.49,-126.6,558.0,-9.7,379,4312,0.00,1.30,0.00,0.000,4,0.000,0.033,1750,2338,2025,0,0,0,0,0,0
$GC,4402,-0.49,-126.6,566.7,-9.1,383,4407,0.00,1.42,0.00,0.000,6,0.000,0.054,1745,3228,2025,0,0,0,0,0,0
$GC,4729,-0.49,-126.6,599.7,-10.4,399,4733,0.00,1.30,0.00,0.000,4,0.000,0.034,1745,2335,2025,0,0,0,0,0,0
$GC,4778,-0.49,-126.6,604.8,-9.8,401,4783,0.00,1.42,0.00,0.000,6,0.000,0.054,1738,3226,2025,0,0,0,0,0,0
$GC,5105,-0.49,-126.6,641.4,-11.2,417,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,1738,3226,2025,0,0,0,0,0,0
$GC,5414,-0.49,-126.6,675.2,-11.1,432,5415,0.00,0.00,0.00,0.000,6,0.000,0.000,1738,3226,2025,0,0,0,0,0,0
$GC,5724,-0.49,-126.6,710.2,-11.0,447,5727,0.00,1.12,0.00,0.000,4,0.000,0.061,1733,3944,2025,0,0,0,0,0,0
$GC,5800,-0.49,-126.6,719.5,-12.0,450,5805,0.00,1.08,0.00,0.000,6,0.000,0.036,1733,3226,2025,0,0,0,0,0,0
$GC,6122,-0.49,-126.6,755.4,-10.8,466,6123,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,3225,2025,0,0,0,0,0,0
$GC,6432,-0.49,-126.6,788.6,-10.5,481,6435,0.00,1.15,0.00,0.000,4,0.000,0.062,1727,3955,2025,0,0,0,0,0,0
$GC,6476,-0.49,-126.6,793.7,-11.8,483,6480,0.00,1.08,0.00,0.000,6,0.000,0.037,1727,3232,2025,0,0,0,0,0,0
$GC,6808,-0.49,-126.6,830.7,-11.5,499,6811,0.00,1.33,0.00,0.000,4,0.000,0.034,1727,2327,2025,0,0,0,0,0,0
$GC,6845,-0.49,-126.6,835.1,-10.6,500,6853,0.00,1.48,0.00,0.000,6,0.000,0.054,1721,3238,2025,0,0,0,0,0,0
$GC,7161,-0.49,-126.6,875.5,-13.1,516,7165,0.00,1.12,0.00,0.000,4,0.000,0.061,1715,3956,2025,0,0,0,0,0,0
$GC,7239,-0.49,-126.6,886.2,-14.0,519,7244,0.08,1.08,0.00,0.000,6,0.174,0.037,1738,3235,2025,0,0,0,0,0,0
$GC,7560,-0.49,-126.6,921.7,-10.5,535,7564,0.00,1.12,0.00,0.000,4,0.000,0.062,1734,3949,2025,0,0,0,0,0,0
$GC,7619,-0.49,-126.6,928.8,-12.1,537,7627,0.00,1.10,0.00,0.000,6,0.000,0.036,1734,3219,2025,0,0,0,0,0,0
$GC,7935,-0.49,-126.6,963.1,-10.8,553,7939,0.00,1.15,0.00,0.000,4,0.000,0.063,1729,3947,2025,0,0,0,0,0,0
$GC,7961,-0.49,-126.6,966.3,-11.5,554,7966,0.00,1.08,0.00,0.000,6,0.000,0.036,1729,3231,2025,0,0,0,0,0,0
$STATE,8287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8287,begin apogee
$GC,8291,-0.10,0.0,1001.7,10.7,570,8430,0.47,0.00,132.32,1.893,6,0.150,0.000,1872,3061,1498,0,0,0,0,0,0
$STATE,8431,end apogee,CONTROL_FINISHED_OK
$STATE,8431,begin climb
$GC,8433,0.49,126.6,1005.5,0.0,577,8567,0.57,1.55,125.18,1.838,4,0.099,0.035,2065,2183,983,0,0,0,0,0,0
$GC,8701,0.49,126.6,978.3,11.9,589,8705,0.00,1.50,0.00,0.000,6,0.000,0.052,2064,3055,980,0,0,0,0,0,0
$GC,9022,0.49,126.6,935.5,13.6,605,9026,0.00,1.38,0.00,0.000,4,0.000,0.035,2071,2177,978,0,0,0,0,0,0
$GC,9059,0.49,126.6,930.3,12.7,606,9068,0.00,1.50,0.00,0.000,6,0.000,0.052,2071,3071,978,0,0,0,0,0,0
$GC,9376,0.49,126.6,884.7,14.7,622,9377,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,3071,977,0,0,0,0,0,0
$GC,9685,0.49,126.6,840.3,14.0,637,9686,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,3071,977,0,0,0,0,0,0
$GC,9994,0.49,126.6,798.3,13.2,652,9998,0.00,1.38,0.00,0.000,4,0.000,0.037,2078,2173,977,0,0,0,0,0,0
$GC,10071,0.49,126.6,788.2,13.1,655,10076,0.00,1.48,0.00,0.000,6,0.000,0.054,2077,3071,977,0,0,0,0,0,0
$GC,10393,0.49,126.6,743.2,14.3,671,10396,0.00,1.38,0.00,0.000,4,0.000,0.037,2085,2168,976,0,0,0,0,0,0
$GC,10464,0.49,126.6,733.4,13.5,674,10469,0.00,1.48,0.00,0.000,6,0.000,0.054,2085,3070,976,0,0,0,0,0,0
$GC,10791,0.49,126.6,685.7,14.6,690,10793,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,3070,976,0,0,0,0,0,0
$GC,11101,0.49,126.6,640.1,14.7,705,11105,0.00,1.35,0.00,0.000,4,0.000,0.036,2091,2178,975,0,0,0,0,0,0
$GC,11171,0.49,126.6,630.2,13.6,708,11176,0.00,1.45,0.00,0.000,6,0.000,0.053,2091,3068,976,0,0,0,0,0,0
$GC,11499,0.49,126.6,579.6,15.4,724,11500,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,3068,975,0,0,0,0,0,0
$GC,11808,0.49,126.6,532.5,14.7,739,11812,0.00,1.38,0.00,0.000,4,0.000,0.037,2098,2165,975,0,0,0,0,0,0
$GC,11879,0.49,126.6,522.9,13.1,742,11885,0.12,1.45,0.00,0.000,6,0.203,0.054,2069,3059,975,0,0,0,0,0,0
$GC,12206,0.49,126.6,483.5,11.8,758,12208,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,3058,975,0,0,0,0,0,0
$GC,12516,0.49,126.6,446.1,12.3,773,12519,0.00,1.42,0.00,0.000,4,0.000,0.061,2069,3953,975,0,0,0,0,0,0
$GC,12553,0.49,126.6,440.8,13.7,774,12561,0.00,1.38,0.00,0.000,6,0.000,0.034,2075,3039,975,0,0,0,0,0,0
$GC,12869,0.49,126.6,400.3,12.9,790,12870,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,3039,975,0,0,0,0,0,0
$GC,13188,0.49,126.6,358.9,13.6,819,13189,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,3039,975,0,0,0,0,0,0
$GC,13510,0.49,126.6,315.0,13.8,849,13514,0.00,1.27,0.00,0.000,4,0.000,0.035,2082,2183,975,0,0,0,0,0,0
$GC,13543,0.49,126.6,309.8,13.0,852,13547,0.00,1.40,0.00,0.000,6,0.000,0.055,2082,3056,975,0,0,0,0,0,0
$GC,13873,0.49,126.6,264.5,13.5,883,13877,0.00,1.42,0.00,0.000,4,0.000,0.062,2081,3951,975,0,0,0,0,0,0
$GC,13908,0.49,126.6,259.3,16.3,886,13912,0.00,1.33,0.00,0.000,6,0.000,0.034,2088,3058,975,0,0,0,0,0,0
$GC,14242,0.49,126.6,212.6,14.1,917,14245,0.00,1.33,0.00,0.000,4,0.000,0.034,2095,2174,975,0,0,0,0,0,0
$GC,14275,0.49,126.6,207.3,13.4,920,14280,0.08,1.42,0.00,0.000,6,0.173,0.054,2072,3069,975,0,0,0,0,0,0
$GC,14604,0.49,126.6,167.0,11.4,951,14608,0.00,1.40,0.00,0.000,4,0.000,0.060,2072,3954,975,0,0,0,0,0,0
$GC,14638,0.49,126.6,162.8,12.9,954,14642,0.00,1.33,0.00,0.000,6,0.000,0.033,2077,3056,975,0,0,0,0,0,0
$GC,14972,0.49,126.6,124.4,11.5,985,14975,0.00,1.30,0.00,0.000,4,0.000,0.034,2084,2177,975,0,0,0,0,0,0
$GC,15109,0.49,126.6,108.8,11.3,997,15112,0.00,1.40,0.00,0.000,6,0.000,0.052,2084,3059,975,0,0,0,0,0,0
$GC,15454,0.49,126.6,67.5,11.7,1051,15461,0.00,1.40,0.00,0.000,4,0.000,0.059,2084,3941,975,0,0,0,0,0,0
$GC,15525,0.49,126.6,57.4,14.6,1063,15532,0.00,1.30,0.00,0.000,6,0.000,0.032,2090,3056,975,0,0,0,0,0,0
$GC,15882,0.49,126.6,9.7,13.9,1124,15891,0.00,1.30,0.00,0.000,4,0.000,0.034,2097,2172,975,0,0,0,0,0,0
$STATE,15933,end climb,SURFACE_DEPTH_REACHED
$STATE,15933,begin surface coast
$FINISH,0.8,1.017057
$STATE,15952,end surface coast,CONTROL_FINISHED_OK
$STATE,15952,begin surface
$SM_CCo,15965,43.12,0.246,1,0,680,200.16
$SM_GC,2.06,0.00,0.00,43.12,0.000,0.000,0.246,72,3236,680,-5.72,0.17,200.16
$IRIDIUM_FIX,-4244.98,822.38,010608,202045
$TT8_MAMPS,0.027713
$HUMID,61.65
$INTERNAL_PRESSURE,11.4079
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.4,13.551
$10V_AH,10.3,6.646
$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,13.525,80.500,257.500,43.125,0.000,30.665,23.175,303.584,0.000,0.000,31.710,2814.090,10164.104,413.677,2957.472,146.306,0.000,1520.023,0.000,2556.284,0.000,0.545,0.000
$DEVICE_MAMPS,224.145,62.730,1892.610,246.330,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,788.804,806.364,804.596,77.591,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354000
$DATA_FILE_SIZE,66791,1135
$CAP_FILE_SIZE,144486,0
$CFSIZE,259252224,254779392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,060815,163757,-4259.092,826.002,64,1.0,64,-25.0