version: 66.07
glider: 543
mission: 14
dive: 325
start: 10 6 115 7 4 16
data:
$ID,543
$MISSION,14
$DIVE,325
$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,390
$T_MISSION,420
$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,120
$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,-25147.574
$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,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,394
$ROLL_MAX,3944
$ROLL_DEG,25
$C_ROLL_DIVE,3209
$C_ROLL_CLIMB,2924
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$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
$GPS1,061015,064906,-4304.376,824.345,100,1.1,100,-25.0
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-70.9
$GPS2,061015,070352,-4304.434,824.491,20,1.4,20,-25.0
$SPEED_LIMITS,0.148,0.223
$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,345.4,1043,-27.0,-8.547
$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,-0.54,-49.8,0.0,0.0,0,64,0.00,0.00,-45.17,0.000,6,0.000,0.000,61,3227,1704,0,0,0,0,0,0
$GC,66,-0.60,-107.8,2.9,-1.9,6,92,6.80,1.40,-7.88,0.000,4,0.228,0.049,1703,2278,1941,0,0,0,0,0,0
$GC,148,-0.62,-107.8,14.2,-14.6,18,157,0.00,1.50,0.00,0.000,6,0.000,0.047,1697,3210,1942,0,0,0,0,0,0
$GC,207,-0.58,-107.8,23.9,-17.1,27,216,0.00,1.17,0.00,0.000,4,0.000,0.054,1691,3958,1941,0,0,0,0,0,0
$GC,261,-0.51,-107.8,33.0,-17.8,35,270,0.15,1.10,0.00,0.000,6,0.156,0.030,1737,3211,1942,0,0,0,0,0,0
$GC,412,-0.54,-107.8,52.5,-12.6,60,421,0.00,1.30,0.00,0.000,4,0.000,0.027,1736,2284,1942,0,0,0,0,0,0
$GC,445,-0.60,-107.8,56.9,-12.1,65,451,0.00,1.48,0.00,0.000,6,0.000,0.049,1731,3203,1942,0,0,0,0,0,0
$GC,800,-0.63,-107.8,102.9,-12.3,125,804,0.00,1.30,0.00,0.000,4,0.000,0.027,1731,2283,1942,0,0,0,0,0,0
$GC,827,-0.68,-107.8,106.7,-12.3,127,835,0.08,1.50,0.00,0.000,6,0.064,0.049,1674,3212,1942,0,0,0,0,0,0
$GC,1153,-0.61,-107.8,160.2,-16.2,158,1155,0.12,0.00,0.00,0.000,6,0.191,0.000,1703,3212,1942,0,0,0,0,0,0
$GC,1471,-0.61,-107.8,204.9,-13.8,188,1474,0.00,1.30,0.00,0.000,4,0.000,0.027,1703,2288,1941,0,0,0,0,0,0
$GC,1494,-0.61,-107.8,208.0,-13.9,190,1498,0.00,1.48,0.00,0.000,6,0.000,0.049,1698,3209,1942,0,0,0,0,0,0
$GC,1827,-0.61,-107.8,251.1,-13.4,221,1830,0.00,1.17,0.00,0.000,4,0.000,0.055,1692,3948,1942,0,0,0,0,0,0
$GC,1953,-0.56,-107.8,269.2,-14.0,232,1957,0.00,1.08,0.00,0.000,6,0.000,0.030,1692,3200,1942,0,0,0,0,0,0
$GC,2284,-0.55,-107.8,312.3,-13.5,263,2286,0.12,0.00,0.00,0.000,6,0.188,0.000,1724,3199,1942,0,0,0,0,0,0
$GC,2605,-0.60,-107.8,347.0,-10.7,293,2608,0.00,1.27,0.00,0.000,4,0.000,0.026,1723,2292,1942,0,0,0,0,0,0
$GC,2628,-0.65,-107.8,349.6,-10.5,295,2631,0.00,1.48,0.00,0.000,6,0.000,0.049,1717,3210,1942,0,0,0,0,0,0
$GC,2958,-0.69,-107.8,386.0,-11.2,326,2962,0.10,1.30,0.00,0.000,4,0.116,0.028,1669,2297,1942,0,0,0,0,0,0
$GC,2981,-0.69,-107.8,388.8,-12.4,328,2984,0.00,1.45,0.00,0.000,6,0.000,0.048,1662,3203,1942,0,0,0,0,0,0
$GC,3305,-0.62,-107.8,437.3,-15.1,347,3309,0.15,1.17,0.00,0.000,4,0.180,0.053,1696,3949,1942,0,0,0,0,0,0
$GC,3359,-0.60,-107.8,445.6,-13.7,349,3364,0.00,1.05,0.00,0.000,6,0.000,0.030,1696,3214,1942,0,0,0,0,0,0
$GC,3681,-0.60,-107.8,486.8,-12.8,365,3682,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,3215,1941,0,0,0,0,0,0
$GC,3990,-0.60,-107.8,525.8,-12.4,380,3993,0.00,1.17,0.00,0.000,4,0.000,0.055,1691,3959,1942,0,0,0,0,0,0
$GC,4084,-0.57,-107.8,538.9,-13.4,384,4088,0.00,1.08,0.00,0.000,6,0.000,0.029,1690,3213,1942,0,0,0,0,0,0
$GC,4412,-0.57,-107.8,581.7,-13.4,400,4413,0.00,0.00,0.00,0.000,6,0.000,0.000,1690,3213,1941,0,0,0,0,0,0
$GC,4721,-0.57,-107.8,622.5,-13.1,415,4722,0.00,0.00,0.00,0.000,6,0.000,0.000,1691,3212,1942,0,0,0,0,0,0
$GC,5030,-0.57,-107.8,664.2,-13.6,430,5034,0.00,1.17,0.00,0.000,4,0.000,0.056,1685,3957,1942,0,0,0,0,0,0
$GC,5098,-0.53,-107.8,674.1,-15.2,433,5103,0.12,1.08,0.00,0.000,6,0.157,0.030,1723,3219,1941,0,0,0,0,0,0
$GC,5431,-0.59,-107.8,711.6,-10.9,449,5432,0.00,0.00,0.00,0.000,6,0.000,0.000,1724,3219,1941,0,0,0,0,0,0
$GC,5740,-0.65,-107.8,745.5,-10.8,464,5744,0.00,1.15,0.00,0.000,4,0.000,0.057,1720,3945,1942,0,0,0,0,0,0
$GC,5763,-0.70,-107.8,748.2,-11.9,465,5768,0.10,1.08,0.00,0.000,6,0.067,0.031,1664,3207,1942,0,0,0,0,0,0
$GC,6097,-0.65,-107.8,796.9,-14.7,481,6101,0.12,1.20,0.00,0.000,4,0.190,0.054,1690,3955,1941,0,0,0,0,0,0
$GC,6165,-0.63,-107.8,806.5,-13.1,484,6168,0.00,1.10,0.00,0.000,6,0.000,0.031,1690,3196,1941,0,0,0,0,0,0
$GC,6497,-0.63,-107.8,846.9,-11.6,500,6498,0.00,0.00,0.00,0.000,6,0.000,0.000,1690,3195,1941,0,0,0,0,0,0
$GC,6807,-0.63,-107.8,883.1,-11.7,515,6808,0.00,0.00,0.00,0.000,6,0.000,0.000,1690,3196,1941,0,0,0,0,0,0
$GC,7116,-0.63,-107.8,917.2,-10.7,530,7119,0.00,1.20,0.00,0.000,4,0.000,0.056,1684,3952,1941,0,0,0,0,0,0
$GC,7165,-0.61,-107.8,923.1,-10.9,532,7169,0.00,1.08,0.00,0.000,6,0.000,0.031,1684,3217,1941,0,0,0,0,0,0
$GC,7493,-0.61,-107.8,957.1,-10.6,548,7496,0.00,1.17,0.00,0.000,4,0.000,0.056,1678,3955,1941,0,0,0,0,0,0
$GC,7538,-0.57,-107.8,962.4,-12.2,550,7543,0.12,1.10,0.00,0.000,6,0.159,0.031,1716,3210,1941,0,0,0,0,0,0
$GC,7872,-0.63,-107.8,992.0,-8.8,566,7874,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,3209,1941,0,0,0,0,0,0
$STATE,7972,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7972,begin apogee
$GC,7977,-0.09,0.0,1001.0,8.8,571,8102,0.50,0.00,116.45,1.805,6,0.138,0.000,1867,2920,1498,0,0,0,0,1,0
$STATE,8102,end apogee,CONTROL_FINISHED_OK
$STATE,8103,begin climb
$GC,8104,0.60,107.8,1003.3,0.0,577,8233,0.70,1.52,115.47,1.773,4,0.086,0.029,2099,2041,1063,0,0,0,0,0,0
$GC,8295,0.63,107.8,983.1,13.3,585,8302,0.00,1.50,0.00,0.000,6,0.000,0.046,2099,2915,1064,0,0,0,0,0,0
$GC,8611,0.63,107.8,936.1,14.6,601,8615,0.00,1.42,0.00,0.000,4,0.000,0.054,2099,3801,1063,0,0,0,0,0,0
$GC,8757,0.57,107.8,910.7,18.1,607,8760,0.00,1.33,0.00,0.000,6,0.000,0.029,2106,2907,1063,0,0,0,0,0,0
$GC,9078,0.55,107.8,862.0,15.0,623,9082,0.00,1.45,0.00,0.000,4,0.000,0.054,2106,3809,1061,0,0,0,0,0,0
$GC,9150,0.48,107.8,849.8,16.4,626,9155,0.17,1.30,0.00,0.000,6,0.187,0.028,2065,2922,1061,0,0,0,0,0,0
$GC,9479,0.53,107.8,810.0,12.1,642,9482,0.00,1.42,0.00,0.000,4,0.000,0.054,2065,3810,1061,0,0,0,0,0,0
$GC,9516,0.53,107.8,804.5,14.5,643,9524,0.00,1.30,0.00,0.000,6,0.000,0.028,2070,2923,1061,0,0,0,0,0,0
$GC,9833,0.57,107.8,764.3,12.8,659,9837,0.00,1.42,0.00,0.000,4,0.000,0.055,2069,3811,1060,0,0,0,0,0,0
$GC,10023,0.57,107.8,736.6,14.0,667,10027,0.00,1.30,0.00,0.000,6,0.000,0.029,2077,2924,1059,0,0,0,0,0,0
$GC,10345,0.60,107.8,698.2,11.6,683,10349,0.00,1.42,0.00,0.000,4,0.000,0.056,2076,3812,1060,0,0,0,0,0,0
$GC,10436,0.58,107.8,685.8,13.9,687,10440,0.00,1.30,0.00,0.000,6,0.000,0.029,2083,2923,1059,0,0,0,0,0,0
$GC,10769,0.59,107.8,644.7,12.3,703,10773,0.00,1.42,0.00,0.000,4,0.000,0.054,2083,3812,1059,0,0,0,0,0,0
$GC,10899,0.56,107.8,626.2,14.4,708,10905,0.00,1.30,0.00,0.000,6,0.000,0.029,2090,2923,1059,0,0,0,0,0,0
$GC,11214,0.56,107.8,584.5,13.3,724,11217,0.00,1.40,0.00,0.000,4,0.000,0.054,2089,3804,1059,0,0,0,0,0,0
$GC,11298,0.52,107.8,571.1,16.9,727,11304,0.00,1.27,0.00,0.000,6,0.000,0.029,2096,2930,1059,0,0,0,0,0,0
$GC,11613,0.52,107.8,526.2,13.8,743,11614,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,2930,1059,0,0,0,0,0,0
$GC,11922,0.52,107.8,485.4,12.8,758,11926,0.00,1.40,0.00,0.000,4,0.000,0.055,2096,3804,1059,0,0,0,0,0,0
$GC,12174,0.47,107.8,447.8,14.8,769,12179,0.15,1.27,0.00,0.000,6,0.180,0.030,2061,2929,1059,0,0,0,0,0,0
$GC,12503,0.53,107.8,415.8,8.6,785,12506,0.00,1.40,0.00,0.000,4,0.000,0.055,2060,3801,1059,0,0,0,0,0,0
$GC,12548,0.53,107.8,411.3,10.4,787,12551,0.00,1.30,0.00,0.000,6,0.000,0.030,2066,2918,1059,0,0,0,0,0,0
$GC,12877,0.59,107.8,381.1,8.8,812,12881,0.00,1.42,0.00,0.000,4,0.000,0.055,2066,3811,1059,0,0,0,0,0,0
$GC,12957,0.59,107.8,372.6,11.8,819,12961,0.00,1.30,0.00,0.000,6,0.000,0.029,2072,2922,1058,0,0,0,0,0,0
$GC,13288,0.63,107.8,339.8,10.3,850,13292,0.10,1.30,0.00,0.000,4,0.114,0.032,2130,2049,1058,0,0,0,0,0,0
$GC,13379,0.63,107.8,328.9,12.7,858,13383,0.00,1.40,0.00,0.000,6,0.000,0.049,2130,2927,1058,0,0,0,0,0,0
$GC,13712,0.57,107.8,281.5,15.5,889,13717,0.15,1.40,0.00,0.000,4,0.192,0.056,2094,3797,1059,0,0,0,0,0,0
$GC,13931,0.52,107.8,248.5,14.6,908,13941,0.00,1.27,0.00,0.000,6,0.000,0.029,2099,2925,1058,0,0,0,0,0,0
$GC,14257,0.52,107.8,209.6,11.3,939,14260,0.00,1.40,0.00,0.000,4,0.000,0.055,2099,3798,1059,0,0,0,0,0,0
$GC,14433,0.47,107.8,187.7,12.8,954,14440,0.15,1.27,0.00,0.000,6,0.179,0.030,2063,2923,1058,0,0,0,0,0,0
$GC,14760,0.55,110.3,160.6,8.3,985,14764,0.00,1.40,0.00,0.000,4,0.000,0.054,2063,3802,1058,0,0,0,0,0,0
$GC,15020,0.57,110.3,133.7,10.3,1008,15025,0.00,1.27,1.23,0.192,6,0.000,0.031,2068,2928,1048,0,0,0,0,0,0
$GC,15345,0.64,110.3,104.0,8.9,1038,15349,0.12,1.33,0.00,0.000,4,0.098,0.031,2135,2037,1057,0,0,0,0,0,0
$GC,15382,0.64,110.3,100.4,11.2,1041,15386,0.00,1.42,0.00,0.000,6,0.000,0.048,2135,2930,1057,0,0,0,0,0,0
$GC,15729,0.59,110.3,51.7,14.7,1101,15738,0.15,1.40,0.00,0.000,4,0.191,0.052,2099,3804,1058,0,0,0,0,0,0
$GC,16005,0.56,110.3,13.3,15.9,1147,16015,0.00,1.30,1.17,0.181,6,0.000,0.028,2104,2907,1049,0,0,0,0,0,0
$GC,16064,0.54,110.3,5.7,10.6,1156,16073,0.00,1.23,0.00,0.000,4,0.000,0.029,2111,2047,1051,0,0,0,0,0,0
$STATE,16086,end climb,SURFACE_DEPTH_REACHED
$STATE,16086,begin surface coast
$FINISH,1.1,1.025872
$STATE,16099,end surface coast,CONTROL_FINISHED_OK
$STATE,16099,begin surface
$SM_CCo,16115,60.38,0.301,1,0,681,200.16
$SM_GC,2.15,0.00,0.00,60.38,0.000,0.000,0.301,66,3216,681,-5.74,0.17,200.16
$IRIDIUM_FIX,-4244.98,825.73,010808,202023
$TT8_MAMPS,0.026964
$HUMID,62.40
$INTERNAL_PRESSURE,11.4079
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,21.5,61.199
$10V_AH,10.0,39.429
$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,15.750,86.975,234.325,60.375,0.000,54.206,52.417,547.294,0.000,0.000,24.033,2919.976,10055.332,419.380,3397.656,274.676,0.000,1590.695,0.000,2699.257,0.000,0.545,0.000
$DEVICE_MAMPS,227.970,56.610,1804.635,300.645,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,806.008,831.246,837.999,75.988,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353952
$DATA_FILE_SIZE,67039,1161
$CAP_FILE_SIZE,166713,0
$CFSIZE,259252224,231481344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,061015,113633,-4302.484,824.341,119,0.9,119,-25.0