version: 66.07
glider: 543
mission: 14
dive: 79
start: 8 11 115 9 55 32
data:
$ID,543
$MISSION,14
$DIVE,79
$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,-24353.934
$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,58
$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
$GPS1,110815,094727,-4300.471,825.418,35,1.0,36,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-71.2
$GPS2,110815,095510,-4300.524,825.496,17,1.0,17,-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,11.4,8621,-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,-0.47,-126.6,0.0,0.0,0,74,0.00,0.00,-56.33,0.000,2,0.000,0.000,64,3252,1976,0,0,0,0,0,0
$GC,76,-0.47,-126.6,3.2,-2.5,7,93,6.80,1.12,-1.02,0.000,4,0.233,0.078,1739,3955,2018,0,0,0,0,0,0
$GC,177,-0.47,-126.6,23.8,-14.3,23,186,0.00,1.08,0.00,0.000,6,0.000,0.034,1740,3239,2023,0,0,0,0,0,0
$GC,325,-0.47,-126.6,44.8,-14.5,48,333,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,3239,2023,0,0,0,0,0,0
$GC,676,-0.47,-126.6,94.2,-13.9,109,683,0.00,1.35,0.00,0.000,4,0.000,0.031,1739,2319,2023,0,0,0,0,0,0
$GC,705,-0.47,-126.6,98.7,-14.3,114,714,0.00,1.48,0.00,0.000,6,0.000,0.054,1732,3226,2023,0,0,0,0,0,0
$GC,1039,-0.47,-126.6,147.5,-14.7,146,1042,0.00,1.15,0.00,0.000,4,0.000,0.058,1727,3956,2023,0,0,0,0,0,0
$GC,1065,-0.47,-126.6,151.9,-15.5,148,1075,0.00,1.10,0.00,0.000,6,0.000,0.034,1727,3222,2022,0,0,0,0,0,0
$GC,1390,-0.47,-126.6,200.0,-14.8,179,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,1727,3222,2022,0,0,0,0,0,0
$GC,1713,-0.47,-126.6,246.1,-14.4,209,1717,0.00,1.15,0.00,0.000,4,0.000,0.059,1722,3951,2023,0,0,0,0,0,0
$GC,1760,-0.47,-126.6,253.5,-15.8,213,1763,0.00,1.05,0.00,0.000,6,0.000,0.035,1722,3235,2023,0,0,0,0,0,0
$GC,2089,-0.47,-126.6,300.7,-13.8,244,2094,0.12,1.33,0.00,0.000,4,0.177,0.031,1754,2328,2023,0,0,0,0,0,0
$GC,2123,-0.47,-126.6,304.6,-10.3,247,2126,0.00,1.45,0.00,0.000,6,0.000,0.053,1748,3231,2023,0,0,0,0,0,0
$GC,2453,-0.47,-126.6,338.4,-10.3,278,2456,0.00,1.12,0.00,0.000,4,0.000,0.059,1743,3948,2023,0,0,0,0,0,0
$GC,2498,-0.47,-126.6,343.2,-11.2,282,2501,0.00,1.05,0.00,0.000,6,0.000,0.035,1743,3233,2022,0,0,0,0,0,0
$GC,2831,-0.47,-126.6,378.5,-10.5,313,2835,0.00,1.12,0.00,0.000,4,0.000,0.060,1738,3945,2023,0,0,0,0,0,0
$GC,2870,-0.47,-126.6,383.5,-11.6,316,2879,0.00,1.05,0.00,0.000,6,0.000,0.034,1738,3234,2023,0,0,0,0,0,0
$GC,3189,-0.47,-126.6,420.4,-11.7,339,3193,0.00,1.12,0.00,0.000,4,0.000,0.060,1732,3949,2023,0,0,0,0,0,0
$GC,3226,-0.47,-126.6,425.5,-13.6,340,3234,0.00,1.08,0.00,0.000,6,0.000,0.034,1732,3227,2022,0,0,0,0,0,0
$GC,3543,-0.47,-126.6,464.2,-12.1,356,3546,0.00,1.15,0.00,0.000,4,0.000,0.060,1727,3957,2023,0,0,0,0,0,0
$GC,3581,-0.47,-126.6,469.2,-12.9,357,3588,0.00,1.08,0.00,0.000,6,0.000,0.035,1727,3229,2023,0,0,0,0,0,0
$GC,3896,-0.47,-126.6,507.4,-12.1,373,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,1727,3230,2023,0,0,0,0,0,0
$GC,4206,-0.47,-126.6,546.3,-12.9,388,4209,0.00,1.17,0.00,0.000,4,0.000,0.061,1722,3958,2023,0,0,0,0,0,0
$GC,4273,-0.47,-126.6,555.5,-13.9,391,4277,0.00,1.08,0.00,0.000,6,0.000,0.037,1722,3235,2023,0,0,0,0,0,0
$GC,4605,-0.47,-126.6,599.4,-13.2,407,4607,0.12,0.00,0.00,0.000,6,0.180,0.000,1753,3234,2023,0,0,0,0,0,0
$GC,4914,-0.47,-126.6,629.7,-9.7,422,4918,0.00,1.12,0.00,0.000,4,0.000,0.063,1749,3946,2023,0,0,0,0,0,0
$GC,4940,-0.47,-126.6,632.6,-10.8,423,4945,0.00,1.08,0.00,0.000,6,0.000,0.036,1749,3231,2023,0,0,0,0,0,0
$GC,5268,-0.47,-126.6,663.9,-9.7,439,5271,0.00,1.15,0.00,0.000,4,0.000,0.063,1744,3957,2023,0,0,0,0,0,0
$GC,5294,-0.47,-126.6,666.8,-10.8,440,5298,0.00,1.10,0.00,0.000,6,0.000,0.036,1744,3227,2022,0,0,0,0,0,0
$GC,5622,-0.47,-126.6,698.3,-9.7,456,5623,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,3227,2023,0,0,0,0,0,0
$GC,5931,-0.47,-126.6,728.6,-9.8,471,5932,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,3227,2023,0,0,0,0,0,0
$GC,6240,-0.47,-126.6,759.8,-10.2,486,6243,0.00,1.15,0.00,0.000,4,0.000,0.063,1738,3954,2023,0,0,0,0,0,0
$GC,6271,-0.47,-126.6,763.4,-11.5,487,6277,0.00,1.10,0.00,0.000,6,0.000,0.037,1739,3226,2023,0,0,0,0,0,0
$GC,6593,-0.47,-126.6,796.3,-10.2,503,6597,0.00,1.15,0.00,0.000,4,0.000,0.063,1733,3954,2022,0,0,0,0,0,0
$GC,6642,-0.47,-126.6,802.0,-11.0,505,6647,0.00,1.10,0.00,0.000,6,0.000,0.037,1733,3225,2022,0,0,0,0,0,0
$GC,6969,-0.47,-126.6,836.5,-10.6,521,6973,0.00,1.15,0.00,0.000,4,0.000,0.063,1728,3951,2022,0,0,0,0,0,0
$GC,6991,-0.47,-126.6,839.0,-11.5,522,6995,0.00,1.08,0.00,0.000,6,0.000,0.037,1728,3228,2022,0,0,0,0,0,0
$GC,7323,-0.47,-126.6,875.2,-10.9,538,7324,0.00,0.00,0.00,0.000,6,0.000,0.000,1728,3228,2022,0,0,0,0,0,0
$GC,7633,-0.47,-126.6,910.2,-11.2,553,7634,0.00,0.00,0.00,0.000,6,0.000,0.000,1728,3229,2022,0,0,0,0,0,0
$GC,7942,-0.47,-126.6,943.1,-10.1,568,7945,0.00,1.15,0.00,0.000,4,0.000,0.063,1722,3955,2022,0,0,0,0,0,0
$GC,7973,-0.47,-126.6,946.8,-11.0,569,7978,0.00,1.10,0.00,0.000,6,0.000,0.037,1722,3230,2023,0,0,0,0,0,0
$GC,8296,-0.47,-126.6,977.9,-9.4,585,8297,0.00,0.00,0.00,0.000,6,0.000,0.000,1723,3230,2022,0,0,0,0,0,0
$STATE,8541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8541,begin apogee
$GC,8545,-0.09,0.0,1000.9,9.4,597,8684,0.50,0.00,131.65,1.907,6,0.152,0.000,1871,3061,1500,0,0,0,0,0,0
$STATE,8685,end apogee,CONTROL_FINISHED_OK
$STATE,8685,begin climb
$GC,8687,0.47,126.6,1002.3,0.0,604,8821,0.55,1.55,125.93,1.842,4,0.098,0.035,2057,2181,983,0,0,0,0,0,0
$GC,8904,0.47,126.6,978.6,13.0,614,8909,0.00,1.55,0.00,0.000,6,0.000,0.051,2057,3061,980,0,0,0,0,0,0
$GC,9232,0.47,126.6,931.6,14.5,630,9235,0.00,1.40,0.00,0.000,4,0.000,0.037,2063,2182,978,0,0,0,0,0,0
$GC,9269,0.47,126.6,926.5,12.5,631,9277,0.00,1.48,0.00,0.000,6,0.000,0.052,2063,3062,977,0,0,0,0,0,0
$GC,9585,0.47,126.6,882.8,13.7,647,9589,0.00,1.38,0.00,0.000,4,0.000,0.037,2070,2189,977,0,0,0,0,0,0
$GC,9617,0.47,126.6,878.4,12.3,648,9622,0.00,1.45,0.00,0.000,6,0.000,0.052,2070,3064,977,0,0,0,0,0,0
$GC,9939,0.47,126.6,833.5,13.7,664,9942,0.00,1.38,0.00,0.000,4,0.000,0.037,2077,2182,977,0,0,0,0,0,0
$GC,9970,0.47,126.6,829.2,13.7,665,9975,0.00,1.45,0.00,0.000,6,0.000,0.053,2077,3062,977,0,0,0,0,0,0
$GC,10293,0.47,126.6,781.9,15.0,681,10294,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3062,976,0,0,0,0,0,0
$GC,10602,0.47,126.6,737.1,14.4,696,10605,0.00,1.35,0.00,0.000,4,0.000,0.037,2083,2183,976,0,0,0,0,0,0
$GC,10633,0.47,126.6,732.7,12.8,697,10639,0.00,1.45,0.00,0.000,6,0.000,0.053,2083,3066,976,0,0,0,0,0,0
$GC,10955,0.47,126.6,688.2,13.8,713,10957,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,3066,975,0,0,0,0,0,0
$GC,11265,0.47,126.6,645.5,13.9,728,11268,0.00,1.38,0.00,0.000,4,0.000,0.037,2090,2175,975,0,0,0,0,0,0
$GC,11313,0.47,126.6,639.0,12.5,730,11319,0.12,1.45,0.00,0.000,6,0.192,0.052,2061,3062,975,0,0,0,0,0,0
$GC,11641,0.47,126.6,599.0,12.7,746,11644,0.00,1.35,0.00,0.000,4,0.000,0.036,2066,2176,975,0,0,0,0,0,0
$GC,11667,0.47,126.6,595.7,12.4,747,11672,0.00,1.45,0.00,0.000,6,0.000,0.053,2066,3064,975,0,0,0,0,0,0
$GC,11994,0.47,126.6,554.8,12.2,763,11998,0.00,1.42,0.00,0.000,4,0.000,0.062,2066,3951,975,0,0,0,0,0,0
$GC,12054,0.47,126.6,545.9,14.5,765,12062,0.00,1.38,0.00,0.000,6,0.000,0.034,2073,3041,975,0,0,0,0,0,0
$GC,12370,0.47,126.6,503.1,13.7,781,12374,0.00,1.48,0.00,0.000,4,0.000,0.060,2073,3957,974,0,0,0,0,0,0
$GC,12408,0.47,126.6,497.0,16.4,782,12416,0.00,1.35,0.00,0.000,6,0.000,0.033,2080,3055,974,0,0,0,0,0,0
$GC,12724,0.47,126.6,454.1,13.2,798,12725,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,3055,974,0,0,0,0,0,0
$GC,13033,0.47,126.6,411.8,14.0,813,13037,0.00,1.33,0.00,0.000,4,0.000,0.036,2086,2183,974,0,0,0,0,0,0
$GC,13093,0.47,126.6,403.8,12.2,815,13101,0.00,1.42,0.00,0.000,6,0.000,0.053,2087,3061,974,0,0,0,0,0,0
$GC,13417,0.47,126.6,359.0,14.2,844,13421,0.00,1.42,0.00,0.000,4,0.000,0.061,2086,3957,974,0,0,0,0,0,0
$GC,13476,0.47,126.6,350.3,16.8,849,13480,0.10,1.33,0.00,0.000,6,0.195,0.034,2065,3063,974,0,0,0,0,0,0
$GC,13805,0.47,126.6,310.4,11.7,880,13809,0.00,1.33,0.00,0.000,4,0.000,0.035,2070,2188,974,0,0,0,0,0,0
$GC,13884,0.47,126.6,301.8,10.7,887,13888,0.00,1.40,0.00,0.000,6,0.000,0.054,2070,3061,974,0,0,0,0,0,0
$GC,14214,0.47,126.6,265.0,11.1,918,14218,0.00,1.42,0.00,0.000,4,0.000,0.060,2070,3956,974,0,0,0,0,0,0
$GC,14251,0.47,126.6,260.6,13.8,921,14255,0.00,1.33,0.00,0.000,6,0.000,0.034,2077,3056,974,0,0,0,0,0,0
$GC,14581,0.47,126.6,219.6,12.4,952,14584,0.00,1.30,0.00,0.000,4,0.000,0.034,2084,2193,974,0,0,0,0,0,0
$GC,14642,0.47,126.6,212.7,10.8,957,14650,0.00,1.42,0.00,0.000,6,0.000,0.053,2084,3072,974,0,0,0,0,0,0
$GC,14967,0.47,126.6,168.0,15.1,988,14968,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,3072,974,0,0,0,0,0,0
$GC,15286,0.47,126.6,125.7,12.3,1018,15287,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,3072,974,0,0,0,0,0,0
$GC,15612,0.47,126.6,83.7,12.3,1059,15621,0.00,1.33,0.00,0.000,4,0.000,0.034,2090,2185,974,0,0,0,0,0,0
$GC,15691,0.47,126.6,74.7,11.1,1072,15698,0.10,1.40,0.00,0.000,6,0.158,0.053,2059,3065,974,0,0,0,0,0,0
$GC,16044,0.47,126.6,31.3,13.7,1133,16053,0.00,1.33,0.00,0.000,4,0.000,0.034,2065,2180,974,0,0,0,0,0,0
$GC,16120,0.47,126.6,22.7,12.3,1145,16129,0.00,1.40,0.00,0.000,6,0.000,0.052,2065,3061,974,0,0,0,0,0,0
$STATE,16264,end climb,SURFACE_DEPTH_REACHED
$STATE,16264,begin surface coast
$FINISH,1.2,1.026305
$STATE,16295,end surface coast,CONTROL_FINISHED_OK
$STATE,16295,begin surface
$SM_CCo,16308,32.83,0.141,0,0,682,200.16
$SM_GC,1.97,0.00,0.00,32.83,0.000,0.000,0.141,65,3245,682,-5.75,0.42,200.16
$IRIDIUM_FIX,-4244.98,825.29,060608,181823
$TT8_MAMPS,0.026964
$HUMID,62.56
$INTERNAL_PRESSURE,11.4079
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.4,18.061
$10V_AH,10.3,9.307
$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,13.875,82.025,257.575,32.825,0.000,27.793,44.074,274.885,0.000,0.000,19.806,2860.817,10492.066,427.446,2884.510,138.752,0.000,1517.523,0.000,2499.101,0.000,0.545,0.000
$DEVICE_MAMPS,233.325,78.030,1907.145,140.760,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,814.691,824.307,844.133,80.119,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353960
$DATA_FILE_SIZE,66996,1174
$CAP_FILE_SIZE,145971,0
$CFSIZE,259252224,252870656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110815,142939,-4258.727,826.153,73,0.8,73,-25.0