version: 66.07
glider: 543
mission: 14
dive: 77
start: 8 11 115 0 24 45
data:
$ID,543
$MISSION,14
$DIVE,77
$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,-24348.062
$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,60
$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
$GPS1,110815,001757,-4303.675,824.383,64,0.9,64,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-75.0
$GPS2,110815,002422,-4303.711,824.380,16,1.5,16,-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,22.9,14291,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.47,-126.6,0.0,0.0,0,72,0.00,0.00,-56.47,0.000,2,0.000,0.000,63,3246,1993,0,0,0,0,0,0
$GC,75,-0.47,-126.6,3.5,-2.7,7,92,6.72,1.38,-0.60,0.000,4,0.230,0.057,1752,2334,2020,0,0,0,0,0,0
$GC,147,-0.47,-126.6,18.3,-12.7,18,156,0.00,1.48,0.00,0.000,6,0.000,0.054,1747,3236,2025,0,0,0,0,0,0
$GC,205,-0.47,-126.6,25.5,-13.1,27,213,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3236,2025,0,0,0,0,0,0
$GC,355,-0.47,-126.6,45.1,-13.4,52,362,0.00,1.12,0.00,0.000,4,0.000,0.058,1742,3948,2025,0,0,0,0,0,0
$GC,393,-0.47,-126.6,50.3,-14.2,58,399,0.00,1.05,0.00,0.000,6,0.000,0.034,1742,3239,2025,0,0,0,0,0,0
$GC,739,-0.47,-126.6,97.3,-13.7,119,745,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3240,2025,0,0,0,0,0,0
$GC,1071,-0.47,-126.6,143.9,-13.8,152,1074,0.00,1.15,0.00,0.000,4,0.000,0.060,1737,3959,2025,0,0,0,0,0,0
$GC,1120,-0.47,-126.6,151.4,-15.1,156,1130,0.00,1.10,0.00,0.000,6,0.000,0.033,1737,3220,2025,0,0,0,0,0,0
$GC,1447,-0.47,-126.6,196.0,-13.1,187,1450,0.00,1.17,0.00,0.000,4,0.000,0.059,1731,3957,2025,0,0,0,0,0,0
$GC,1541,-0.47,-126.6,209.9,-13.8,195,1548,0.00,1.08,0.00,0.000,6,0.000,0.034,1731,3231,2025,0,0,0,0,0,0
$GC,1866,-0.47,-126.6,255.2,-13.9,226,1869,0.00,1.12,0.00,0.000,4,0.000,0.058,1726,3951,2025,0,0,0,0,0,0
$GC,1933,-0.47,-126.6,264.8,-14.4,232,1937,0.00,1.05,0.00,0.000,6,0.000,0.034,1726,3230,2025,0,0,0,0,0,0
$GC,2263,-0.47,-126.6,307.8,-13.3,263,2266,0.00,1.33,0.00,0.000,4,0.000,0.031,1726,2327,2025,0,0,0,0,0,0
$GC,2287,-0.47,-126.6,310.7,-13.0,265,2292,0.08,1.45,0.00,0.000,6,0.146,0.053,1744,3234,2025,0,0,0,0,0,0
$GC,2617,-0.47,-126.6,347.6,-11.3,296,2618,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,3233,2025,0,0,0,0,0,0
$GC,2936,-0.47,-126.6,384.3,-11.3,326,2940,0.00,1.12,0.00,0.000,4,0.000,0.060,1741,3956,2025,0,0,0,0,0,0
$GC,2985,-0.47,-126.6,390.4,-12.4,330,2993,0.00,1.08,0.00,0.000,6,0.000,0.034,1740,3227,2025,0,0,0,0,0,0
$GC,3304,-0.47,-126.6,426.4,-11.1,350,3307,0.00,1.12,0.00,0.000,4,0.000,0.060,1735,3946,2025,0,0,0,0,0,0
$GC,3352,-0.47,-126.6,432.4,-12.4,352,3357,0.00,1.08,0.00,0.000,6,0.000,0.034,1735,3220,2025,0,0,0,0,0,0
$GC,3680,-0.47,-126.6,470.7,-11.8,368,3683,0.00,1.15,0.00,0.000,4,0.000,0.060,1730,3953,2025,0,0,0,0,0,0
$GC,3705,-0.47,-126.6,474.3,-13.3,369,3710,0.00,1.08,0.00,0.000,6,0.000,0.034,1730,3230,2025,0,0,0,0,0,0
$GC,4033,-0.47,-126.6,516.7,-12.9,385,4036,0.00,1.15,0.00,0.000,4,0.000,0.060,1725,3947,2025,0,0,0,0,0,0
$GC,4078,-0.47,-126.6,522.7,-13.6,387,4081,0.00,1.05,0.00,0.000,6,0.000,0.035,1725,3230,2025,0,0,0,0,0,0
$GC,4410,-0.47,-126.6,566.4,-12.9,403,4413,0.00,1.12,0.00,0.000,4,0.000,0.059,1719,3947,2025,0,0,0,0,0,0
$GC,4454,-0.47,-126.6,572.5,-13.1,405,4459,0.08,1.05,0.00,0.000,6,0.165,0.035,1743,3234,2025,0,0,0,0,0,0
$GC,4786,-0.47,-126.6,608.9,-10.9,421,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,1743,3233,2025,0,0,0,0,0,0
$GC,5096,-0.47,-126.6,643.0,-11.2,436,5097,0.00,0.00,0.00,0.000,6,0.000,0.000,1743,3233,2025,0,0,0,0,0,0
$GC,5405,-0.47,-126.6,677.9,-11.3,451,5408,0.00,1.33,0.00,0.000,4,0.000,0.033,1743,2327,2025,0,0,0,0,0,0
$GC,5428,-0.47,-126.6,680.4,-11.6,452,5432,0.00,1.45,0.00,0.000,6,0.000,0.056,1738,3226,2025,0,0,0,0,0,0
$GC,5760,-0.47,-126.6,719.3,-11.8,468,5764,0.00,1.12,0.00,0.000,4,0.000,0.061,1732,3944,2025,0,0,0,0,0,0
$GC,5827,-0.47,-126.6,727.6,-12.1,471,5831,0.00,1.05,0.00,0.000,6,0.000,0.036,1732,3229,2025,0,0,0,0,0,0
$GC,6159,-0.47,-126.6,767.5,-11.9,487,6160,0.00,0.00,0.00,0.000,6,0.000,0.000,1732,3229,2025,0,0,0,0,0,0
$GC,6468,-0.47,-126.6,803.3,-11.4,502,6472,0.00,1.12,0.00,0.000,4,0.000,0.061,1727,3944,2025,0,0,0,0,0,0
$GC,6513,-0.47,-126.6,808.7,-12.6,504,6517,0.00,1.05,0.00,0.000,6,0.000,0.037,1727,3231,2025,0,0,0,0,0,0
$GC,6845,-0.47,-126.6,847.7,-12.0,520,6848,0.00,1.15,0.00,0.000,4,0.000,0.063,1722,3945,2025,0,0,0,0,0,0
$GC,6877,-0.47,-126.6,852.1,-12.7,521,6882,0.12,1.08,0.00,0.000,6,0.182,0.035,1753,3229,2025,0,0,0,0,0,0
$GC,7198,-0.47,-126.6,881.4,-8.6,537,7199,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3229,2025,0,0,0,0,0,0
$GC,7508,-0.47,-126.6,906.6,-7.9,552,7511,0.00,1.30,0.00,0.000,4,0.000,0.034,1753,2337,2025,0,0,0,0,0,0
$GC,7523,-0.47,-126.6,908.0,-8.1,552,7530,0.00,1.42,0.00,0.000,6,0.000,0.056,1747,3222,2025,0,0,0,0,0,0
$GC,7839,-0.47,-126.6,934.9,-8.6,568,7843,0.00,1.15,0.00,0.000,4,0.000,0.063,1742,3954,2025,0,0,0,0,0,0
$GC,7888,-0.47,-126.6,939.7,-9.8,570,7892,0.00,1.10,0.00,0.000,6,0.000,0.037,1743,3219,2024,0,0,0,0,0,0
$GC,8215,-0.47,-126.6,971.0,-10.1,586,8219,0.00,1.15,0.00,0.000,4,0.000,0.063,1737,3947,2025,0,0,0,0,0,0
$GC,8275,-0.47,-126.6,977.9,-11.2,588,8282,0.00,1.08,0.00,0.000,6,0.000,0.037,1737,3231,2025,0,0,0,0,0,0
$STATE,8486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8486,begin apogee
$GC,8490,-0.09,0.0,1000.2,10.2,599,8630,0.45,0.00,133.27,1.902,6,0.146,0.000,1873,3060,1498,0,0,0,0,0,0
$STATE,8630,end apogee,CONTROL_FINISHED_OK
$STATE,8630,begin climb
$GC,8632,0.47,126.6,1003.9,0.0,606,8766,0.55,1.55,125.07,1.834,4,0.096,0.036,2057,2186,982,0,0,0,0,0,0
$GC,8871,0.47,126.6,981.5,12.1,617,8876,0.00,1.52,0.00,0.000,6,0.000,0.050,2057,3061,978,0,0,0,0,0,0
$GC,9199,0.47,126.6,937.6,13.4,633,9202,0.00,1.48,0.00,0.000,4,0.000,0.061,2057,3957,976,0,0,0,0,0,0
$GC,9253,0.47,126.6,929.1,15.2,635,9258,0.00,1.42,0.00,0.000,6,0.000,0.032,2064,3040,976,0,0,0,0,0,0
$GC,9575,0.47,126.6,884.7,13.6,651,9578,0.00,1.30,0.00,0.000,4,0.000,0.037,2070,2195,976,0,0,0,0,0,0
$GC,9606,0.47,126.6,880.7,13.3,652,9611,0.00,1.42,0.00,0.000,6,0.000,0.051,2070,3062,975,0,0,0,0,0,0
$GC,9928,0.47,126.6,835.5,14.1,668,9932,0.00,1.38,0.00,0.000,4,0.000,0.037,2077,2188,975,0,0,0,0,0,0
$GC,9965,0.47,126.6,830.2,13.4,669,9973,0.00,1.45,0.00,0.000,6,0.000,0.052,2077,3069,975,0,0,0,0,0,0
$GC,10282,0.47,126.6,783.6,15.1,685,10283,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3069,975,0,0,0,0,0,0
$GC,10591,0.47,126.6,738.1,14.7,700,10595,0.00,1.35,0.00,0.000,4,0.000,0.037,2084,2194,974,0,0,0,0,0,0
$GC,10639,0.47,126.6,731.4,13.5,702,10644,0.00,1.42,0.00,0.000,6,0.000,0.053,2084,3062,974,0,0,0,0,0,0
$GC,10967,0.47,126.6,682.4,15.1,718,10971,0.00,1.42,0.00,0.000,4,0.000,0.060,2084,3952,974,0,0,0,0,0,0
$GC,10989,0.47,126.6,678.8,16.2,719,10993,0.00,1.33,0.00,0.000,6,0.000,0.034,2090,3063,974,0,0,0,0,0,0
$GC,11321,0.47,126.6,625.5,15.9,735,11325,0.12,1.35,0.00,0.000,4,0.213,0.037,2067,2178,974,0,0,0,0,0,0
$GC,11397,0.47,126.6,615.4,11.6,738,11401,0.00,1.42,0.00,0.000,6,0.000,0.052,2068,3060,973,0,0,0,0,0,0
$GC,11718,0.47,126.6,569.8,14.5,754,11722,0.00,1.35,0.00,0.000,4,0.000,0.037,2074,2183,973,0,0,0,0,0,0
$GC,11756,0.47,126.6,564.3,14.1,755,11764,0.00,1.42,0.00,0.000,6,0.000,0.054,2074,3061,973,0,0,0,0,0,0
$GC,12072,0.47,126.6,517.0,15.1,771,12073,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,3061,973,0,0,0,0,0,0
$GC,12381,0.47,126.6,471.2,14.9,786,12382,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,3061,973,0,0,0,0,0,0
$GC,12691,0.47,126.6,426.9,14.2,801,12692,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,3061,973,0,0,0,0,0,0
$GC,13005,0.47,126.6,385.6,13.5,821,13009,0.00,1.40,0.00,0.000,4,0.000,0.062,2074,3943,973,0,0,0,0,0,0
$GC,13028,0.47,126.6,382.1,14.4,823,13031,0.00,1.33,0.00,0.000,6,0.000,0.034,2081,3056,974,0,0,0,0,0,0
$GC,13357,0.47,126.6,336.6,13.8,854,13361,0.00,1.33,0.00,0.000,4,0.000,0.036,2088,2181,973,0,0,0,0,0,0
$GC,13402,0.47,126.6,330.7,12.7,858,13406,0.08,1.40,0.00,0.000,6,0.170,0.054,2065,3054,973,0,0,0,0,0,0
$GC,13735,0.47,126.6,286.1,14.3,889,13741,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,3054,973,0,0,0,0,0,0
$GC,14059,0.47,126.6,239.2,14.8,920,14063,0.00,1.42,0.00,0.000,4,0.000,0.060,2065,3948,973,0,0,0,0,0,0
$GC,14109,0.47,126.6,231.3,15.6,924,14119,0.00,1.35,0.00,0.000,6,0.000,0.033,2070,3045,973,0,0,0,0,0,0
$GC,14436,0.47,126.6,186.4,12.7,955,14437,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,3044,973,0,0,0,0,0,0
$GC,14756,0.47,126.6,147.8,11.3,985,14759,0.00,1.30,0.00,0.000,4,0.000,0.035,2077,2180,973,0,0,0,0,0,0
$GC,14893,0.47,126.6,133.6,10.0,997,14897,0.00,1.40,0.00,0.000,6,0.000,0.053,2077,3056,973,0,0,0,0,0,0
$GC,15219,0.47,126.6,96.9,11.1,1029,15228,0.00,1.42,0.00,0.000,4,0.000,0.059,2077,3953,973,0,0,0,0,0,0
$GC,15264,0.47,126.6,91.3,13.0,1036,15271,0.00,1.30,0.00,0.000,6,0.000,0.033,2084,3067,973,0,0,0,0,0,0
$GC,15611,0.47,126.6,48.3,12.8,1097,15617,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,3067,973,0,0,0,0,0,0
$STATE,15955,end climb,SURFACE_DEPTH_REACHED
$STATE,15955,begin surface coast
$FINISH,1.1,1.017045
$STATE,15981,end surface coast,CONTROL_FINISHED_OK
$STATE,15981,begin surface
$SM_CCo,15993,32.88,0.142,0,0,682,200.16
$SM_GC,2.17,0.00,0.00,32.88,0.000,0.000,0.142,75,3243,682,-5.72,0.34,200.16
$IRIDIUM_FIX,-4244.98,825.73,060608,101020
$TT8_MAMPS,0.027713
$HUMID,62.24
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.4,17.740
$10V_AH,10.3,9.094
$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,13.600,78.775,258.350,32.875,0.000,27.146,23.357,233.862,0.000,0.000,19.407,2831.770,10189.002,424.060,2847.089,127.185,0.000,1515.313,0.000,2525.534,0.000,0.543,0.000
$DEVICE_MAMPS,230.265,71.910,1901.790,141.525,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,804.180,811.066,850.868,82.983,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353972
$DATA_FILE_SIZE,66949,1160
$CAP_FILE_SIZE,143841,0
$CFSIZE,259252224,253022208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110815,045304,-4301.884,824.545,38,1.0,39,-25.0