version: 66.07
glider: 543
mission: 14
dive: 80
start: 8 11 115 14 38 29
data:
$ID,543
$MISSION,14
$DIVE,80
$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,-24357.02
$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,32
$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
$GPS1,110815,142939,-4258.727,826.153,73,0.8,73,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-72.4
$GPS2,110815,143807,-4258.786,826.197,29,0.7,30,-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,355.0,5957,-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,14,begin dive
$GC,15,-0.47,-126.6,0.0,0.0,0,66,0.00,0.00,-48.40,0.000,2,0.000,0.000,62,3251,1791,0,0,0,0,0,0
$GC,68,-0.47,-126.6,3.1,-2.3,6,86,6.78,1.15,-6.43,0.000,4,0.231,0.083,1741,3950,2018,0,0,0,0,0,0
$GC,111,-0.47,-126.6,12.5,-21.5,12,120,0.00,1.08,0.00,0.000,6,0.000,0.033,1741,3236,2022,0,0,0,0,0,0
$GC,169,-0.47,-126.6,22.9,-18.6,21,177,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,3236,2023,0,0,0,0,0,0
$GC,319,-0.47,-126.6,41.9,-12.5,46,326,0.00,1.35,0.00,0.000,4,0.000,0.031,1741,2315,2023,0,0,0,0,0,0
$GC,332,-0.47,-126.6,43.8,-13.3,48,340,0.00,1.48,0.00,0.000,6,0.000,0.052,1734,3222,2023,0,0,0,0,0,0
$GC,683,-0.47,-126.6,96.9,-14.8,109,689,0.00,0.00,0.00,0.000,6,0.000,0.000,1734,3222,2023,0,0,0,0,0,0
$GC,1017,-0.47,-126.6,146.6,-14.2,142,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,1734,3221,2023,0,0,0,0,0,0
$GC,1334,-0.47,-126.6,187.8,-12.1,172,1337,0.00,1.15,0.00,0.000,4,0.000,0.058,1729,3955,2023,0,0,0,0,0,0
$GC,1383,-0.47,-126.6,194.6,-13.7,176,1392,0.00,1.10,0.00,0.000,6,0.000,0.033,1729,3219,2023,0,0,0,0,0,0
$GC,1709,-0.47,-126.6,237.8,-13.5,207,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,1729,3219,2023,0,0,0,0,0,0
$GC,2029,-0.47,-126.6,282.2,-13.6,237,2030,0.00,0.00,0.00,0.000,6,0.000,0.000,1729,3219,2023,0,0,0,0,0,0
$GC,2346,-0.47,-126.6,323.2,-11.9,267,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,1729,3219,2023,0,0,0,0,0,0
$GC,2668,-0.47,-126.6,361.9,-11.8,297,2674,0.00,0.00,0.00,0.000,6,0.000,0.000,1729,3219,2023,0,0,0,0,0,0
$GC,3003,-0.47,-126.6,403.3,-12.5,328,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,1728,3219,2023,0,0,0,0,0,0
$GC,3312,-0.47,-126.6,441.7,-12.4,343,3315,0.00,1.17,0.00,0.000,4,0.000,0.059,1723,3960,2023,0,0,0,0,0,0
$GC,3349,-0.47,-126.6,447.0,-14.0,344,3357,0.00,1.10,0.00,0.000,6,0.000,0.034,1723,3224,2023,0,0,0,0,0,0
$GC,3665,-0.47,-126.6,486.7,-12.1,360,3669,0.00,1.30,0.00,0.000,4,0.000,0.031,1723,2325,2023,0,0,0,0,0,0
$GC,3680,-0.47,-126.6,488.9,-12.3,360,3689,0.12,1.48,0.00,0.000,6,0.171,0.052,1749,3240,2023,0,0,0,0,0,0
$GC,3997,-0.47,-126.6,518.9,-9.1,376,3998,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,3240,2022,0,0,0,0,0,0
$GC,4306,-0.47,-126.6,547.0,-9.1,391,4309,0.00,1.10,0.00,0.000,4,0.000,0.061,1745,3939,2023,0,0,0,0,0,0
$GC,4355,-0.47,-126.6,552.1,-9.9,393,4359,0.00,1.08,0.00,0.000,6,0.000,0.035,1745,3224,2023,0,0,0,0,0,0
$GC,4682,-0.47,-126.6,583.8,-10.0,409,4686,0.00,1.15,0.00,0.000,4,0.000,0.061,1740,3953,2023,0,0,0,0,0,0
$GC,4708,-0.47,-126.6,586.9,-11.2,410,4713,0.00,1.08,0.00,0.000,6,0.000,0.034,1740,3233,2023,0,0,0,0,0,0
$GC,5036,-0.47,-126.6,622.8,-11.2,426,5037,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,3232,2023,0,0,0,0,0,0
$GC,5345,-0.47,-126.6,658.7,-11.7,441,5346,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,3232,2023,0,0,0,0,0,0
$GC,5654,-0.47,-126.6,693.4,-11.1,456,5655,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,3232,2023,0,0,0,0,0,0
$GC,5964,-0.47,-126.6,727.4,-11.0,471,5965,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,3232,2023,0,0,0,0,0,0
$GC,6273,-0.47,-126.6,761.2,-10.9,486,6274,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,3232,2023,0,0,0,0,0,0
$GC,6582,-0.47,-126.6,792.8,-9.8,501,6583,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,3232,2023,0,0,0,0,0,0
$GC,6892,-0.47,-126.6,822.4,-9.5,516,6895,0.00,1.12,0.00,0.000,4,0.000,0.063,1735,3943,2023,0,0,0,0,0,0
$GC,6914,-0.47,-126.6,824.7,-10.1,517,6918,0.00,1.05,0.00,0.000,6,0.000,0.037,1735,3235,2023,0,0,0,0,0,0
$GC,7246,-0.47,-126.6,857.9,-9.7,533,7247,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3235,2023,0,0,0,0,0,0
$GC,7555,-0.47,-126.6,888.3,-10.1,548,7556,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3235,2023,0,0,0,0,0,0
$GC,7864,-0.47,-126.6,919.5,-10.1,563,7865,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3235,2023,0,0,0,0,0,0
$GC,8174,-0.47,-126.6,951.6,-10.4,578,8177,0.00,1.12,0.00,0.000,4,0.000,0.063,1729,3946,2023,0,0,0,0,0,0
$GC,8196,-0.47,-126.6,954.0,-10.8,579,8200,0.00,1.08,0.00,0.000,6,0.000,0.037,1729,3223,2023,0,0,0,0,0,0
$GC,8528,-0.47,-126.6,989.7,-10.6,595,8531,0.00,1.15,0.00,0.000,4,0.000,0.063,1724,3951,2023,0,0,0,0,0,0
$GC,8572,-0.47,-126.6,994.8,-12.5,597,8576,0.00,1.08,0.00,0.000,6,0.000,0.037,1724,3227,2023,0,0,0,0,0,0
$STATE,8635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8635,begin apogee
$GC,8639,-0.09,0.0,1001.5,10.8,600,8778,0.50,0.00,132.73,1.897,6,0.152,0.000,1873,3056,1499,0,0,0,0,0,0
$STATE,8779,end apogee,CONTROL_FINISHED_OK
$STATE,8779,begin climb
$GC,8780,0.47,126.6,1005.2,0.0,607,8914,0.55,1.55,125.62,1.837,4,0.098,0.035,2058,2178,982,0,0,0,0,0,0
$GC,8986,0.47,126.6,987.1,10.3,616,8994,0.00,1.55,0.00,0.000,6,0.000,0.051,2057,3060,978,0,0,0,0,0,0
$GC,9302,0.47,126.6,947.9,12.7,632,9303,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,3060,976,0,0,0,0,0,0
$GC,9612,0.47,126.6,908.9,12.6,647,9613,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,3060,975,0,0,0,0,0,0
$GC,9921,0.47,126.6,869.0,12.7,662,9922,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,3060,975,0,0,0,0,0,0
$GC,10230,0.47,126.6,829.5,12.5,677,10234,0.00,1.35,0.00,0.000,4,0.000,0.037,2064,2184,974,0,0,0,0,0,0
$GC,10256,0.47,126.6,826.2,12.3,678,10261,0.00,1.45,0.00,0.000,6,0.000,0.052,2064,3066,974,0,0,0,0,0,0
$GC,10584,0.47,126.6,780.9,14.3,694,10587,0.00,1.42,0.00,0.000,4,0.000,0.062,2064,3946,974,0,0,0,0,0,0
$GC,10610,0.47,126.6,776.4,16.1,695,10615,0.00,1.38,0.00,0.000,6,0.000,0.034,2071,3042,974,0,0,0,0,0,0
$GC,10937,0.47,126.6,727.1,15.0,711,10941,0.00,1.30,0.00,0.000,4,0.000,0.037,2078,2193,973,0,0,0,0,0,0
$GC,10975,0.47,126.6,721.7,13.6,712,10983,0.00,1.42,0.00,0.000,6,0.000,0.052,2078,3066,973,0,0,0,0,0,0
$GC,11291,0.47,126.6,673.0,15.6,728,11295,0.00,1.35,0.00,0.000,4,0.000,0.037,2084,2189,973,0,0,0,0,0,0
$GC,11317,0.47,126.6,668.9,14.9,729,11322,0.00,1.42,0.00,0.000,6,0.000,0.052,2084,3061,973,0,0,0,0,0,0
$GC,11645,0.47,126.6,616.6,16.4,745,11646,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,3061,973,0,0,0,0,0,0
$GC,11954,0.47,126.6,568.0,15.6,760,11955,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,3061,973,0,0,0,0,0,0
$GC,12263,0.47,126.6,520.4,15.5,775,12267,0.00,1.42,0.00,0.000,4,0.000,0.061,2085,3952,973,0,0,0,0,0,0
$GC,12313,0.47,126.6,511.9,17.7,777,12317,0.10,1.33,0.00,0.000,6,0.195,0.034,2063,3061,973,0,0,0,0,0,0
$GC,12640,0.47,126.6,467.7,13.3,793,12643,0.00,1.33,0.00,0.000,4,0.000,0.036,2068,2191,973,0,0,0,0,0,0
$GC,12684,0.47,126.6,462.1,13.0,795,12688,0.00,1.40,0.00,0.000,6,0.000,0.054,2069,3059,973,0,0,0,0,0,0
$GC,13016,0.47,126.6,419.3,12.7,811,13019,0.00,1.42,0.00,0.000,4,0.000,0.060,2068,3958,973,0,0,0,0,0,0
$GC,13048,0.47,126.6,414.5,15.3,812,13053,0.00,1.33,0.00,0.000,6,0.000,0.033,2075,3062,972,0,0,0,0,0,0
$GC,13376,0.47,126.6,372.3,12.6,838,13380,0.00,1.33,0.00,0.000,4,0.000,0.036,2082,2188,973,0,0,0,0,0,0
$GC,13412,0.47,126.6,368.2,12.0,841,13416,0.00,1.40,0.00,0.000,6,0.000,0.054,2082,3062,972,0,0,0,0,0,0
$GC,13742,0.47,126.6,325.6,12.5,872,13743,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,3061,972,0,0,0,0,0,0
$GC,14061,0.47,126.6,286.5,12.2,902,14065,0.00,1.33,0.00,0.000,4,0.000,0.034,2088,2183,972,0,0,0,0,0,0
$GC,14088,0.47,126.6,283.2,10.7,904,14098,0.12,1.42,0.00,0.000,6,0.187,0.053,2058,3063,972,0,0,0,0,0,0
$GC,14412,0.47,126.6,247.7,11.2,935,14416,0.00,1.42,0.00,0.000,4,0.000,0.060,2058,3956,972,0,0,0,0,0,0
$GC,14495,0.47,126.6,236.4,14.1,942,14503,0.00,1.35,0.00,0.000,6,0.000,0.033,2064,3051,972,0,0,0,0,0,0
$GC,14823,0.47,126.6,197.7,11.5,973,14827,0.00,1.42,0.00,0.000,4,0.000,0.060,2064,3944,972,0,0,0,0,0,0
$GC,14857,0.47,126.6,193.3,12.3,976,14860,0.00,1.30,0.00,0.000,6,0.000,0.033,2070,3062,972,0,0,0,0,0,0
$GC,15187,0.47,126.6,152.9,12.8,1007,15188,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,3062,972,0,0,0,0,0,0
$GC,15509,0.47,126.6,113.9,11.9,1037,15513,0.00,1.42,0.00,0.000,4,0.000,0.060,2070,3955,972,0,0,0,0,0,0
$GC,15569,0.47,126.6,104.8,13.7,1042,15577,0.00,1.35,0.00,0.000,6,0.000,0.031,2077,3049,972,0,0,0,0,0,0
$GC,15915,0.47,126.6,61.5,12.5,1099,15921,0.00,1.30,0.00,0.000,4,0.000,0.034,2084,2173,972,0,0,0,0,0,0
$GC,15944,0.47,126.6,57.6,12.1,1104,15953,0.00,1.40,0.00,0.000,6,0.000,0.050,2084,3057,972,0,0,0,0,0,0
$GC,16303,0.47,126.6,10.4,16.1,1165,16312,0.00,1.33,0.00,0.000,4,0.000,0.034,2091,2176,973,0,0,0,0,0,0
$GC,16355,0.48,140.7,4.4,9.2,1173,16366,0.08,1.40,5.60,0.152,6,0.170,0.054,2068,3057,922,0,0,0,0,0,0
$STATE,16372,end climb,SURFACE_DEPTH_REACHED
$STATE,16372,begin surface coast
$FINISH,1.1,1.026470
$STATE,16403,end surface coast,CONTROL_FINISHED_OK
$STATE,16403,begin surface
$SM_CCo,16415,39.12,0.177,1,0,682,200.16
$SM_GC,1.99,0.00,0.00,39.12,0.000,0.000,0.177,69,3245,682,-5.74,0.42,200.16
$IRIDIUM_FIX,-4242.04,822.38,060608,232318
$TT8_MAMPS,0.026964
$HUMID,62.20
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.4,18.221
$10V_AH,10.3,9.411
$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,13.575,65.450,263.950,39.125,0.000,26.849,41.356,312.744,0.000,0.000,33.216,2848.695,10686.313,427.859,2862.071,143.625,0.000,1472.278,0.000,2436.527,0.000,0.546,0.000
$DEVICE_MAMPS,231.030,82.620,1897.200,176.715,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,818.598,838.320,847.513,81.406,0.000,0.000,0.000,0.000,0.000,0.000
$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,67029,1180
$CAP_FILE_SIZE,140362,0
$CFSIZE,259252224,252801024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,110815,191404,-4257.367,825.347,41,1.1,42,-25.0