version: 66.07
glider: 543
mission: 14
dive: 73
start: 8 10 115 6 50 22
data:
$ID,543
$MISSION,14
$DIVE,73
$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,-24336.137
$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
$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,61
$R_STBD_OVSHOOT,30
$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
$GPS1,100815,063956,-4303.520,831.620,41,1.2,41,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.23
$_SM_ANGLEo,-74.7
$GPS2,100815,064959,-4303.535,831.642,15,2.0,15,-25.1
$SPEED_LIMITS,0.172,0.243
$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,290.3,10376,-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,-0.47,-126.6,0.0,0.0,0,65,0.00,0.00,-48.28,0.000,2,0.000,0.000,66,3256,1831,0,0,0,0,0,0
$GC,67,-0.47,-126.6,3.1,-1.9,6,85,6.90,1.42,-5.07,0.000,4,0.238,0.054,1752,2325,2018,0,0,0,0,0,0
$GC,169,-0.47,-126.6,18.5,-10.2,22,177,0.00,1.48,0.00,0.000,6,0.000,0.052,1747,3225,2022,0,0,0,0,0,0
$GC,226,-0.47,-126.6,25.8,-13.8,31,234,0.00,1.15,0.00,0.000,4,0.000,0.057,1741,3944,2023,0,0,0,0,0,0
$GC,277,-0.47,-126.6,33.6,-15.3,39,286,0.00,1.05,0.00,0.000,6,0.000,0.033,1741,3242,2023,0,0,0,0,0,0
$GC,425,-0.47,-126.6,55.2,-14.6,64,432,0.00,1.12,0.00,0.000,4,0.000,0.057,1736,3947,2023,0,0,0,0,0,0
$GC,449,-0.47,-126.6,59.2,-15.4,68,456,0.00,1.08,0.00,0.000,6,0.000,0.032,1736,3224,2023,0,0,0,0,0,0
$GC,798,-0.47,-126.6,111.4,-15.3,123,799,0.00,0.00,0.00,0.000,6,0.000,0.000,1736,3223,2023,0,0,0,0,0,0
$GC,1117,-0.47,-126.6,158.0,-13.7,153,1121,0.00,1.15,0.00,0.000,4,0.000,0.057,1731,3951,2023,0,0,0,0,0,0
$GC,1174,-0.47,-126.6,166.3,-13.6,158,1177,0.00,1.05,0.00,0.000,6,0.000,0.033,1731,3235,2023,0,0,0,0,0,0
$GC,1507,-0.47,-126.6,209.7,-13.2,189,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,1731,3235,2023,0,0,0,0,0,0
$GC,1832,-0.47,-126.6,253.0,-13.0,220,1835,0.00,1.12,0.00,0.000,4,0.000,0.057,1726,3949,2023,0,0,0,0,0,0
$GC,1869,-0.47,-126.6,258.3,-13.6,223,1877,0.00,1.08,0.00,0.000,6,0.000,0.032,1726,3224,2023,0,0,0,0,0,0
$GC,2194,-0.47,-126.6,300.8,-13.3,254,2198,0.00,1.15,0.00,0.000,4,0.000,0.057,1721,3956,2023,0,0,0,0,0,0
$GC,2221,-0.47,-126.6,304.7,-14.1,256,2231,0.12,1.08,0.00,0.000,6,0.180,0.032,1751,3235,2023,0,0,0,0,0,0
$GC,2545,-0.47,-126.6,339.1,-10.5,287,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,3235,2023,0,0,0,0,0,0
$GC,2868,-0.47,-126.6,373.7,-11.4,317,2872,0.00,1.12,0.00,0.000,4,0.000,0.058,1748,3951,2023,0,0,0,0,0,0
$GC,2928,-0.47,-126.6,381.4,-11.6,322,2936,0.00,1.08,0.00,0.000,6,0.000,0.033,1747,3228,2023,0,0,0,0,0,0
$GC,3259,-0.47,-126.6,418.9,-11.5,346,3263,0.00,1.12,0.00,0.000,4,0.000,0.057,1742,3946,2023,0,0,0,0,0,0
$GC,3291,-0.47,-126.6,423.3,-12.5,347,3295,0.00,1.08,0.00,0.000,6,0.000,0.033,1742,3224,2023,0,0,0,0,0,0
$GC,3612,-0.47,-126.6,462.5,-12.8,363,3616,0.00,1.15,0.00,0.000,4,0.000,0.059,1737,3955,2023,0,0,0,0,0,0
$GC,3638,-0.47,-126.6,466.3,-14.2,364,3643,0.00,1.08,0.00,0.000,6,0.000,0.034,1737,3233,2023,0,0,0,0,0,0
$GC,3966,-0.47,-126.6,508.3,-12.3,380,3969,0.00,1.12,0.00,0.000,4,0.000,0.058,1731,3952,2023,0,0,0,0,0,0
$GC,4033,-0.47,-126.6,517.3,-14.2,383,4036,0.00,1.05,0.00,0.000,6,0.000,0.034,1732,3233,2023,0,0,0,0,0,0
$GC,4365,-0.47,-126.6,558.3,-12.4,399,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,1731,3234,2023,0,0,0,0,0,0
$GC,4674,-0.47,-126.6,596.6,-12.3,414,4677,0.00,1.12,0.00,0.000,4,0.000,0.059,1726,3951,2023,0,0,0,0,0,0
$GC,4773,-0.47,-126.6,609.5,-12.3,418,4778,0.00,1.08,0.00,0.000,6,0.000,0.034,1726,3230,2023,0,0,0,0,0,0
$GC,5095,-0.47,-126.6,647.8,-11.9,434,5096,0.00,0.00,0.00,0.000,6,0.000,0.000,1726,3230,2023,0,0,0,0,0,0
$GC,5404,-0.47,-126.6,683.8,-11.7,449,5405,0.00,0.00,0.00,0.000,6,0.000,0.000,1726,3229,2022,0,0,0,0,0,0
$GC,5713,-0.47,-126.6,721.0,-12.2,464,5717,0.00,1.30,0.00,0.000,4,0.000,0.032,1726,2335,2022,0,0,0,0,0,0
$GC,5736,-0.47,-126.6,723.6,-11.8,465,5740,0.08,1.45,0.00,0.000,6,0.149,0.054,1745,3239,2023,0,0,0,0,0,0
$GC,6068,-0.47,-126.6,756.6,-9.6,481,6069,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,3239,2023,0,0,0,0,0,0
$GC,6377,-0.47,-126.6,786.3,-9.6,496,6381,0.00,1.12,0.00,0.000,4,0.000,0.061,1741,3955,2023,0,0,0,0,0,0
$GC,6431,-0.47,-126.6,792.5,-10.9,498,6436,0.00,1.10,0.00,0.000,6,0.000,0.035,1741,3222,2023,0,0,0,0,0,0
$GC,6753,-0.47,-126.6,826.3,-10.8,514,6756,0.00,1.15,0.00,0.000,4,0.000,0.061,1735,3952,2022,0,0,0,0,0,0
$GC,6798,-0.47,-126.6,831.4,-11.1,516,6801,0.00,1.08,0.00,0.000,6,0.000,0.036,1735,3228,2023,0,0,0,0,0,0
$GC,7129,-0.47,-126.6,867.5,-10.5,532,7130,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3227,2023,0,0,0,0,0,0
$GC,7439,-0.47,-126.6,899.6,-10.3,547,7440,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3227,2023,0,0,0,0,0,0
$GC,7748,-0.47,-126.6,931.8,-10.6,562,7749,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3227,2023,0,0,0,0,0,0
$GC,8057,-0.47,-126.6,963.6,-10.4,577,8061,0.00,1.15,0.00,0.000,4,0.000,0.062,1730,3956,2023,0,0,0,0,0,0
$GC,8128,-0.47,-126.6,971.7,-10.9,580,8133,0.00,1.10,0.00,0.000,6,0.000,0.036,1730,3228,2023,0,0,0,0,0,0
$STATE,8413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8413,begin apogee
$GC,8417,-0.09,0.0,1002.1,10.8,594,8555,0.47,0.00,130.43,1.888,6,0.151,0.000,1872,3058,1498,0,0,0,0,0,0
$STATE,8556,end apogee,CONTROL_FINISHED_OK
$STATE,8556,begin climb
$GC,8558,0.47,126.6,1006.0,0.0,601,8692,0.55,1.55,125.22,1.841,4,0.098,0.035,2057,2184,983,0,0,0,0,0,0
$GC,8794,0.47,126.6,984.0,12.2,612,8797,0.00,1.50,0.00,0.000,6,0.000,0.052,2057,3051,981,0,0,0,0,0,0
$GC,9125,0.47,126.6,938.5,13.7,628,9126,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,3051,978,0,0,0,0,0,0
$GC,9434,0.47,126.6,896.4,13.6,643,9436,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,3051,978,0,0,0,0,0,0
$GC,9744,0.47,126.6,854.0,13.7,658,9748,0.00,1.35,0.00,0.000,4,0.000,0.037,2064,2178,978,0,0,0,0,0,0
$GC,9804,0.47,126.6,846.1,12.2,660,9812,0.00,1.48,0.00,0.000,6,0.000,0.052,2063,3070,978,0,0,0,0,0,0
$GC,10120,0.47,126.6,802.7,13.7,676,10121,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,3070,978,0,0,0,0,0,0
$GC,10429,0.47,126.6,760.9,13.6,691,10433,0.00,1.38,0.00,0.000,4,0.000,0.036,2070,2172,977,0,0,0,0,0,0
$GC,10478,0.47,126.6,754.8,13.2,693,10483,0.00,1.48,0.00,0.000,6,0.000,0.052,2070,3070,977,0,0,0,0,0,0
$GC,10806,0.47,126.6,710.4,13.3,709,10809,0.00,1.38,0.00,0.000,4,0.000,0.036,2077,2169,976,0,0,0,0,0,0
$GC,10850,0.47,126.6,704.9,12.5,711,10854,0.00,1.45,0.00,0.000,6,0.000,0.054,2077,3064,976,0,0,0,0,0,0
$GC,11182,0.47,126.6,661.0,13.0,727,11186,0.00,1.35,0.00,0.000,4,0.000,0.037,2084,2175,976,0,0,0,0,0,0
$GC,11236,0.47,126.6,654.2,11.4,729,11242,0.00,1.45,0.00,0.000,6,0.000,0.053,2084,3062,976,0,0,0,0,0,0
$GC,11558,0.47,126.6,612.1,13.2,745,11559,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,3062,976,0,0,0,0,0,0
$GC,11868,0.47,126.6,570.1,13.3,760,11871,0.00,1.40,0.00,0.000,4,0.000,0.061,2084,3942,976,0,0,0,0,0,0
$GC,11916,0.47,126.6,562.4,16.0,762,11922,0.12,1.35,0.00,0.000,6,0.222,0.033,2063,3051,976,0,0,0,0,0,0
$GC,12243,0.47,126.6,522.6,12.2,778,12244,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,3050,976,0,0,0,0,0,0
$GC,12552,0.47,126.6,484.2,12.5,793,12556,0.00,1.30,0.00,0.000,4,0.000,0.036,2068,2185,976,0,0,0,0,0,0
$GC,12579,0.47,126.6,480.8,12.4,794,12584,0.00,1.42,0.00,0.000,6,0.000,0.052,2068,3060,976,0,0,0,0,0,0
$GC,12907,0.47,126.6,439.6,12.8,810,12908,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,3060,976,0,0,0,0,0,0
$GC,13215,0.47,126.6,399.3,13.3,825,13219,0.00,1.35,0.00,0.000,4,0.000,0.036,2075,2183,976,0,0,0,0,0,0
$GC,13253,0.47,126.6,394.5,12.0,828,13263,0.00,1.45,0.00,0.000,6,0.000,0.053,2075,3070,976,0,0,0,0,0,0
$GC,13578,0.47,126.6,351.4,12.9,859,13579,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,3069,976,0,0,0,0,0,0
$GC,13901,0.47,126.6,310.0,12.8,889,13907,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,3069,976,0,0,0,0,0,0
$GC,14225,0.47,126.6,269.1,12.5,920,14226,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,3069,976,0,0,0,0,0,0
$GC,14544,0.47,126.6,231.0,11.4,950,14548,0.00,1.40,0.00,0.000,4,0.000,0.060,2075,3955,976,0,0,0,0,0,0
$GC,14692,0.47,126.6,209.4,15.4,963,14696,0.00,1.33,0.00,0.000,6,0.000,0.034,2082,3063,976,0,0,0,0,0,0
$GC,15022,0.47,126.6,167.9,12.1,994,15025,0.00,1.33,0.00,0.000,4,0.000,0.034,2088,2177,976,0,0,0,0,0,0
$GC,15078,0.47,126.6,161.5,11.3,999,15082,0.08,1.40,0.00,0.000,6,0.168,0.052,2065,3054,976,0,0,0,0,0,0
$GC,15407,0.47,126.6,122.6,12.7,1030,15410,0.00,1.42,0.00,0.000,4,0.000,0.059,2065,3958,975,0,0,0,0,0,0
$GC,15474,0.47,126.6,112.9,14.4,1036,15478,0.00,1.35,0.00,0.000,6,0.000,0.033,2070,3044,976,0,0,0,0,0,0
$GC,15816,0.47,126.6,71.3,11.5,1087,15822,0.00,1.27,0.00,0.000,4,0.000,0.033,2077,2174,976,0,0,0,0,0,0
$GC,15853,0.47,126.6,67.1,10.9,1093,15859,0.00,1.40,0.00,0.000,6,0.000,0.051,2077,3056,976,0,0,0,0,0,0
$GC,16206,0.47,126.6,24.1,12.0,1154,16214,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3056,976,0,0,0,0,0,0
$GC,16356,0.47,126.6,5.3,14.1,1179,16364,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3056,976,0,0,0,0,0,0
$STATE,16377,end climb,SURFACE_DEPTH_REACHED
$STATE,16377,begin surface coast
$FINISH,1.5,1.026462
$STATE,16402,end surface coast,CONTROL_FINISHED_OK
$STATE,16402,begin surface
$SM_CCo,16414,33.38,0.144,0,0,683,200.16
$SM_GC,2.31,0.00,0.00,33.38,0.000,0.000,0.144,70,3236,683,-5.73,0.17,200.16
$IRIDIUM_FIX,-4244.98,828.64,050608,202045
$TT8_MAMPS,0.026964
$HUMID,61.93
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.4,17.100
$10V_AH,10.2,8.705
$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,13.700,68.400,255.650,33.375,0.000,51.594,102.746,280.644,0.000,0.000,18.029,2888.578,10607.106,410.692,3007.181,139.139,0.000,1498.453,0.000,2541.996,0.000,0.545,0.000
$DEVICE_MAMPS,237.915,74.970,1888.020,143.820,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,823.541,838.586,867.165,83.011,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353940
$DATA_FILE_SIZE,66769,1186
$CAP_FILE_SIZE,144772,0
$CFSIZE,259252224,253304832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100815,112633,-4303.552,829.574,90,0.8,90,-25.0