version: 66.07
glider: 543
mission: 14
dive: 52
start: 8 6 115 16 46 21
data:
$ID,543
$MISSION,14
$DIVE,52
$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,-24274.846
$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,52
$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,57
$R_STBD_OVSHOOT,25
$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
$GPS1,060815,163757,-4259.092,826.002,64,1.0,64,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-69.8
$GPS2,060815,164559,-4259.091,826.045,15,1.8,15,-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,359.2,6360,-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,-0.49,-126.6,0.0,0.0,0,73,0.00,0.00,-56.60,0.000,2,0.000,0.000,62,3235,2000,0,0,0,0,0,0
$GC,75,-0.49,-126.6,3.5,-4.0,7,85,6.70,0.00,-0.38,0.000,6,0.230,0.000,1740,3236,2017,0,0,0,0,0,0
$GC,134,-0.49,-126.6,18.4,-17.4,16,143,0.00,1.35,0.00,0.000,4,0.000,0.033,1741,2327,2024,0,0,0,0,0,0
$GC,156,-0.49,-126.6,22.5,-18.0,19,165,0.00,1.48,0.00,0.000,6,0.000,0.052,1735,3230,2024,0,0,0,0,0,0
$GC,305,-0.49,-126.6,44.5,-14.7,44,311,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3230,2024,0,0,0,0,0,0
$GC,651,-0.49,-126.6,98.1,-15.6,105,660,0.00,1.17,0.00,0.000,4,0.000,0.058,1730,3957,2024,0,0,0,0,0,0
$GC,817,-0.49,-126.6,126.0,-16.1,120,827,0.00,1.10,0.00,0.000,6,0.000,0.032,1730,3221,2024,0,0,0,0,0,0
$GC,1142,-0.49,-126.6,177.0,-14.6,151,1146,0.00,1.30,0.00,0.000,4,0.000,0.031,1730,2325,2024,0,0,0,0,0,0
$GC,1212,-0.49,-126.6,186.0,-12.9,157,1215,0.00,1.45,0.00,0.000,6,0.000,0.053,1723,3228,2025,0,0,0,0,0,0
$GC,1541,-0.49,-126.6,233.5,-14.5,188,1545,0.00,1.12,0.00,0.000,4,0.000,0.058,1718,3947,2024,0,0,0,0,0,0
$GC,1636,-0.49,-126.6,248.4,-15.6,196,1645,0.00,1.08,0.00,0.000,6,0.000,0.033,1718,3223,2024,0,0,0,0,0,0
$GC,1962,-0.49,-126.6,294.0,-12.8,227,1966,0.00,1.15,0.00,0.000,4,0.000,0.057,1712,3957,2024,0,0,0,0,0,0
$GC,1996,-0.49,-126.6,298.9,-14.1,230,2000,0.08,1.05,0.00,0.000,6,0.168,0.034,1735,3241,2024,0,0,0,0,0,0
$GC,2329,-0.49,-126.6,338.2,-11.4,261,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3241,2024,0,0,0,0,0,0
$GC,2653,-0.49,-126.6,377.1,-12.0,292,2657,0.00,1.10,0.00,0.000,4,0.000,0.058,1732,3946,2024,0,0,0,0,0,0
$GC,2698,-0.49,-126.6,382.8,-12.8,296,2702,0.00,1.05,0.00,0.000,6,0.000,0.034,1732,3225,2024,0,0,0,0,0,0
$GC,3022,-0.49,-126.6,423.9,-12.6,318,3026,0.00,1.12,0.00,0.000,4,0.000,0.058,1726,3946,2024,0,0,0,0,0,0
$GC,3090,-0.49,-126.6,432.9,-13.7,321,3093,0.00,1.05,0.00,0.000,6,0.000,0.034,1726,3228,2024,0,0,0,0,0,0
$GC,3421,-0.49,-126.6,475.2,-12.7,337,3425,0.00,1.12,0.00,0.000,4,0.000,0.059,1721,3949,2024,0,0,0,0,0,0
$GC,3498,-0.49,-126.6,485.7,-13.4,340,3502,0.00,1.08,0.00,0.000,6,0.000,0.034,1721,3224,2024,0,0,0,0,0,0
$GC,3819,-0.49,-126.6,526.4,-12.6,356,3821,0.00,0.00,0.00,0.000,6,0.000,0.000,1721,3224,2025,0,0,0,0,0,0
$GC,4129,-0.49,-126.6,564.1,-12.3,371,4130,0.00,0.00,0.00,0.000,6,0.000,0.000,1721,3224,2024,0,0,0,0,0,0
$GC,4438,-0.49,-126.6,601.3,-12.1,386,4442,0.00,1.12,0.00,0.000,4,0.000,0.060,1716,3944,2024,0,0,0,0,0,0
$GC,4483,-0.49,-126.6,607.3,-13.7,388,4487,0.08,1.05,0.00,0.000,6,0.168,0.036,1738,3237,2024,0,0,0,0,0,0
$GC,4814,-0.49,-126.6,644.4,-11.2,404,4815,0.00,0.00,0.00,0.000,6,0.000,0.000,1738,3237,2024,0,0,0,0,0,0
$GC,5123,-0.49,-126.6,679.1,-11.1,419,5127,0.00,1.33,0.00,0.000,4,0.000,0.034,1738,2327,2024,0,0,0,0,0,0
$GC,5138,-0.49,-126.6,681.0,-11.2,419,5146,0.00,1.48,0.00,0.000,6,0.000,0.054,1733,3238,2024,0,0,0,0,0,0
$GC,5454,-0.49,-126.6,716.9,-11.5,435,5458,0.00,1.10,0.00,0.000,4,0.000,0.060,1727,3942,2024,0,0,0,0,0,0
$GC,5476,-0.49,-126.6,719.7,-12.8,436,5480,0.00,1.05,0.00,0.000,6,0.000,0.037,1728,3230,2024,0,0,0,0,0,0
$GC,5808,-0.49,-126.6,758.8,-11.8,452,5809,0.00,0.00,0.00,0.000,6,0.000,0.000,1728,3229,2024,0,0,0,0,0,0
$GC,6117,-0.49,-126.6,794.8,-12.2,467,6118,0.00,0.00,0.00,0.000,6,0.000,0.000,1728,3229,2024,0,0,0,0,0,0
$GC,6427,-0.49,-126.6,831.4,-11.8,482,6430,0.00,1.12,0.00,0.000,4,0.000,0.061,1722,3943,2024,0,0,0,0,0,0
$GC,6481,-0.49,-126.6,838.4,-12.9,484,6486,0.00,1.08,0.00,0.000,6,0.000,0.036,1722,3228,2024,0,0,0,0,0,0
$GC,6803,-0.49,-126.6,878.4,-12.6,500,6804,0.00,0.00,0.00,0.000,6,0.000,0.000,1722,3228,2024,0,0,0,0,0,0
$GC,7112,-0.49,-126.6,916.2,-12.2,515,7113,0.00,0.00,0.00,0.000,6,0.000,0.000,1722,3228,2024,0,0,0,0,0,0
$GC,7421,-0.49,-126.6,954.1,-12.3,530,7425,0.00,1.15,0.00,0.000,4,0.000,0.061,1717,3956,2024,0,0,0,0,0,0
$GC,7447,-0.49,-126.6,957.8,-13.5,531,7452,0.00,1.10,0.00,0.000,6,0.000,0.037,1717,3228,2024,0,0,0,0,0,0
$GC,7774,-0.49,-126.6,998.3,-12.3,547,7778,0.00,1.33,0.00,0.000,4,0.000,0.034,1717,2322,2024,0,0,0,0,0,0
$STATE,7788,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7788,begin apogee
$GC,7793,-0.10,0.0,1000.4,12.3,547,7927,0.50,0.00,131.07,1.905,6,0.152,0.000,1866,3065,1498,0,0,0,0,0,0
$STATE,7928,end apogee,CONTROL_FINISHED_OK
$STATE,7928,begin climb
$GC,7929,0.49,126.6,1004.3,0.0,554,8063,0.60,1.55,125.30,1.851,4,0.103,0.034,2065,2190,983,0,0,0,0,0,0
$GC,8124,0.49,126.6,987.1,11.9,563,8129,0.00,1.52,0.00,0.000,6,0.000,0.051,2064,3058,981,0,0,0,0,0,0
$GC,8451,0.49,126.6,941.1,14.4,579,8455,0.00,1.38,0.00,0.000,4,0.000,0.034,2071,2185,978,0,0,0,0,0,0
$GC,8522,0.49,126.6,931.5,13.6,582,8527,0.00,1.48,0.00,0.000,6,0.000,0.052,2071,3064,978,0,0,0,0,0,0
$GC,8849,0.49,126.6,880.2,15.9,598,8853,0.00,1.38,0.00,0.000,4,0.000,0.035,2078,2181,978,0,0,0,0,0,0
$GC,8875,0.49,126.6,876.0,15.2,599,8880,0.00,1.48,0.00,0.000,6,0.000,0.053,2078,3067,978,0,0,0,0,0,0
$GC,9203,0.49,126.6,823.6,15.8,615,9206,0.00,1.42,0.00,0.000,4,0.000,0.061,2078,3951,977,0,0,0,0,0,0
$GC,9247,0.49,126.6,815.8,18.6,617,9251,0.00,1.35,0.00,0.000,6,0.000,0.034,2084,3057,977,0,0,0,0,0,0
$GC,9579,0.49,126.6,763.0,15.7,633,9583,0.00,1.33,0.00,0.000,4,0.000,0.037,2091,2186,977,0,0,0,0,0,0
$GC,9616,0.49,126.6,757.5,14.2,634,9624,0.00,1.45,0.00,0.000,6,0.000,0.053,2091,3070,977,0,0,0,0,0,0
$GC,9933,0.49,126.6,710.5,14.8,650,9936,0.00,1.35,0.00,0.000,4,0.000,0.037,2098,2187,976,0,0,0,0,0,0
$GC,9955,0.49,126.6,707.2,14.0,651,9959,0.10,1.40,0.00,0.000,6,0.180,0.054,2069,3053,976,0,0,0,0,0,0
$GC,10286,0.49,126.6,663.4,13.2,667,10287,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,3053,976,0,0,0,0,0,0
$GC,10596,0.49,126.6,622.4,13.0,682,10599,0.00,1.45,0.00,0.000,4,0.000,0.062,2069,3955,975,0,0,0,0,0,0
$GC,10633,0.49,126.6,616.5,16.0,683,10641,0.00,1.38,0.00,0.000,6,0.000,0.034,2075,3048,975,0,0,0,0,0,0
$GC,10949,0.49,126.6,573.6,14.0,699,10950,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,3048,976,0,0,0,0,0,0
$GC,11258,0.49,126.6,530.9,13.7,714,11262,0.00,1.33,0.00,0.000,4,0.000,0.037,2082,2173,975,0,0,0,0,0,0
$GC,11282,0.49,126.6,528.0,13.1,715,11286,0.00,1.42,0.00,0.000,6,0.000,0.054,2082,3059,975,0,0,0,0,0,0
$GC,11614,0.49,126.6,482.0,13.9,731,11617,0.00,1.35,0.00,0.000,4,0.000,0.036,2088,2175,975,0,0,0,0,0,0
$GC,11662,0.49,126.6,475.7,11.8,733,11667,0.00,1.45,0.00,0.000,6,0.000,0.054,2088,3066,975,0,0,0,0,0,0
$GC,11990,0.49,126.6,428.2,14.8,749,11993,0.00,1.42,0.00,0.000,4,0.000,0.061,2088,3957,975,0,0,0,0,0,0
$GC,12050,0.49,126.6,418.1,16.7,751,12058,0.12,1.35,0.00,0.000,6,0.227,0.034,2068,3061,975,0,0,0,0,0,0
$GC,12371,0.49,126.6,376.0,13.0,775,12373,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,3061,975,0,0,0,0,0,0
$GC,12693,0.49,126.6,334.0,13.5,805,12697,0.00,1.42,0.00,0.000,4,0.000,0.061,2068,3948,975,0,0,0,0,0,0
$GC,12732,0.49,126.6,327.8,15.8,808,12741,0.00,1.33,0.00,0.000,6,0.000,0.034,2073,3059,975,0,0,0,0,0,0
$GC,13056,0.49,126.6,284.4,13.0,839,13060,0.00,1.33,0.00,0.000,4,0.000,0.035,2080,2183,975,0,0,0,0,0,0
$GC,13158,0.49,126.6,272.2,11.6,848,13162,0.00,1.40,0.00,0.000,6,0.000,0.054,2080,3057,975,0,0,0,0,0,0
$GC,13488,0.49,126.6,228.3,13.5,879,13491,0.00,1.42,0.00,0.000,4,0.000,0.060,2079,3955,975,0,0,0,0,0,0
$GC,13525,0.49,126.6,222.5,15.5,882,13533,0.00,1.35,0.00,0.000,6,0.000,0.033,2086,3054,975,0,0,0,0,0,0
$GC,13854,0.49,126.6,181.1,12.3,913,13860,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,3053,975,0,0,0,0,0,0
$GC,14179,0.49,126.6,141.0,12.1,944,14180,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,3054,975,0,0,0,0,0,0
$GC,14497,0.49,126.6,99.3,12.9,974,14503,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,3054,975,0,0,0,0,0,0
$GC,14843,0.49,126.6,52.6,13.6,1035,14851,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,3054,975,0,0,0,0,0,0
$STATE,15200,end climb,SURFACE_DEPTH_REACHED
$STATE,15200,begin surface coast
$FINISH,0.9,1.024245
$STATE,15226,end surface coast,CONTROL_FINISHED_OK
$STATE,15226,begin surface
$SM_CCo,15238,47.50,0.301,1,0,682,200.16
$SM_GC,2.07,0.00,0.00,47.50,0.000,0.000,0.301,67,3259,682,-5.74,0.79,200.16
$IRIDIUM_FIX,-4244.98,831.99,020608,010153
$TT8_MAMPS,0.027713
$HUMID,61.73
$INTERNAL_PRESSURE,11.4079
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.4,13.712
$10V_AH,10.3,6.744
$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,13.475,69.650,256.375,47.500,0.000,27.880,41.894,308.454,0.000,0.000,18.091,2681.419,9755.608,425.742,2789.261,122.469,0.000,1456.198,0.000,2380.676,0.000,0.544,0.000
$DEVICE_MAMPS,230.265,61.965,1904.850,300.645,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,763.345,776.833,794.759,74.735,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353924
$DATA_FILE_SIZE,63660,1100
$CAP_FILE_SIZE,135060,0
$CFSIZE,259252224,254722048
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,060815,210236,-4257.654,825.926,50,1.1,51,-25.0