version: 66.07
glider: 543
mission: 14
dive: 53
start: 8 6 115 21 10 27
data:
$ID,543
$MISSION,14
$DIVE,53
$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,-24277.721
$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,54
$R_STBD_OVSHOOT,38
$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
$GPS1,060815,210236,-4257.654,825.926,50,1.1,51,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-72.5
$GPS2,060815,211005,-4257.712,825.994,43,1.1,43,-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,344.5,4167,-22.5,-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,-0.52,-90.3,0.0,0.0,0,73,0.00,0.00,-52.47,0.000,6,0.000,0.000,62,3258,1870,0,0,0,0,0,0
$GC,75,-0.56,-126.6,3.2,-2.6,7,92,6.62,1.08,-3.80,0.000,4,0.232,0.076,1715,3934,2016,0,0,0,0,0,0
$GC,218,-0.56,-126.6,34.4,-18.9,30,227,0.00,1.08,0.00,0.000,6,0.000,0.034,1715,3221,2021,0,0,0,0,0,0
$GC,365,-0.56,-126.6,60.7,-17.6,55,372,0.00,1.33,0.00,0.000,4,0.000,0.032,1715,2320,2021,0,0,0,0,0,0
$GC,385,-0.56,-126.6,64.2,-17.8,58,392,0.00,1.45,0.00,0.000,6,0.000,0.053,1709,3216,2021,0,0,0,0,0,0
$GC,728,-0.56,-126.6,125.8,-18.7,107,732,0.00,1.15,0.00,0.000,4,0.000,0.057,1703,3949,2021,0,0,0,0,0,0
$GC,818,-0.56,-126.6,142.8,-20.3,115,822,0.00,1.05,0.00,0.000,6,0.000,0.034,1703,3233,2021,0,0,0,0,0,0
$GC,1149,-0.56,-126.6,202.4,-16.6,146,1153,0.00,1.12,0.00,0.000,4,0.000,0.057,1697,3949,2022,0,0,0,0,0,0
$GC,1353,-0.56,-126.6,239.5,-16.4,164,1357,0.00,1.05,0.00,0.000,6,0.000,0.034,1698,3230,2021,0,0,0,0,0,0
$GC,1683,-0.56,-126.6,292.5,-16.4,195,1686,0.00,1.12,0.00,0.000,4,0.000,0.057,1692,3949,2022,0,0,0,0,0,0
$GC,1717,-0.56,-126.6,298.1,-17.2,198,1722,0.08,1.05,0.00,0.000,6,0.168,0.034,1715,3236,2021,0,0,0,0,0,0
$GC,2051,-0.56,-126.6,346.7,-14.6,229,2054,0.00,1.33,0.00,0.000,4,0.000,0.032,1714,2320,2022,0,0,0,0,0,0
$GC,2065,-0.56,-126.6,349.9,-15.4,230,2073,0.00,1.48,0.00,0.000,6,0.000,0.051,1709,3234,2022,0,0,0,0,0,0
$GC,2401,-0.56,-126.6,403.8,-16.6,261,2404,0.00,1.10,0.00,0.000,4,0.000,0.057,1704,3941,2021,0,0,0,0,0,0
$GC,2483,-0.56,-126.6,418.3,-17.1,264,2491,0.00,1.08,0.00,0.000,6,0.000,0.034,1704,3220,2022,0,0,0,0,0,0
$GC,2799,-0.56,-126.6,468.5,-15.6,280,2803,0.00,1.15,0.00,0.000,4,0.000,0.058,1698,3954,2022,0,0,0,0,0,0
$GC,2847,-0.56,-126.6,476.7,-17.0,282,2852,0.00,1.08,0.00,0.000,6,0.000,0.034,1698,3231,2022,0,0,0,0,0,0
$GC,3175,-0.56,-126.6,528.6,-15.8,298,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,1699,3231,2022,0,0,0,0,0,0
$GC,3484,-0.56,-126.6,575.5,-14.7,313,3488,0.00,1.12,0.00,0.000,4,0.000,0.058,1692,3948,2022,0,0,0,0,0,0
$GC,3538,-0.56,-126.6,584.6,-15.8,315,3544,0.12,1.08,0.00,0.000,6,0.191,0.034,1723,3235,2022,0,0,0,0,0,0
$GC,3860,-0.56,-126.6,623.5,-11.7,331,3863,0.00,1.12,0.00,0.000,4,0.000,0.060,1719,3951,2022,0,0,0,0,0,0
$GC,3920,-0.56,-126.6,631.4,-12.6,333,3928,0.00,1.10,0.00,0.000,6,0.000,0.035,1719,3218,2022,0,0,0,0,0,0
$GC,4236,-0.56,-126.6,670.4,-12.4,349,4239,0.00,1.15,0.00,0.000,4,0.000,0.060,1714,3950,2022,0,0,0,0,0,0
$GC,4258,-0.56,-126.6,673.3,-13.2,350,4262,0.00,1.05,0.00,0.000,6,0.000,0.036,1713,3238,2022,0,0,0,0,0,0
$GC,4590,-0.56,-126.6,716.1,-12.9,366,4594,0.00,1.10,0.00,0.000,4,0.000,0.060,1708,3938,2022,0,0,0,0,0,0
$GC,4635,-0.56,-126.6,722.3,-13.6,368,4638,0.00,1.05,0.00,0.000,6,0.000,0.036,1708,3231,2022,0,0,0,0,0,0
$GC,4966,-0.56,-126.6,768.1,-13.8,384,4970,0.00,1.12,0.00,0.000,4,0.000,0.061,1703,3946,2022,0,0,0,0,0,0
$GC,5049,-0.56,-126.6,780.7,-15.4,387,5057,0.00,1.08,0.00,0.000,6,0.000,0.036,1703,3228,2022,0,0,0,0,0,0
$GC,5365,-0.56,-126.6,825.2,-14.0,403,5368,0.00,1.12,0.00,0.000,4,0.000,0.060,1697,3946,2022,0,0,0,0,0,0
$GC,5500,-0.56,-126.6,845.4,-15.6,409,5503,0.00,1.05,0.00,0.000,6,0.000,0.037,1697,3237,2022,0,0,0,0,0,0
$GC,5831,-0.56,-126.6,892.3,-13.9,425,5832,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,3237,2022,0,0,0,0,0,0
$GC,6141,-0.56,-126.6,935.0,-13.3,440,6144,0.00,1.12,0.00,0.000,4,0.000,0.061,1692,3954,2022,0,0,0,0,0,0
$GC,6178,-0.56,-126.6,940.7,-15.7,441,6186,0.12,1.10,0.00,0.000,6,0.196,0.036,1721,3225,2022,0,0,0,0,0,0
$GC,6494,-0.56,-126.6,975.5,-10.6,457,6495,0.00,0.00,0.00,0.000,6,0.000,0.000,1721,3226,2022,0,0,0,0,0,0
$STATE,6740,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6740,begin apogee
$GC,6744,-0.10,0.0,1001.3,10.2,469,6883,0.50,0.00,131.35,1.906,6,0.153,0.000,1873,3057,1500,0,0,0,0,0,0
$STATE,6884,end apogee,CONTROL_FINISHED_OK
$STATE,6884,begin climb
$GC,6885,0.56,126.6,1003.2,0.0,476,7020,0.65,1.55,125.57,1.851,4,0.098,0.034,2089,2181,982,0,0,0,0,0,0
$GC,7137,0.56,126.6,971.6,14.9,487,7145,0.00,1.50,0.00,0.000,6,0.000,0.051,2089,3052,979,0,0,0,0,0,0
$GC,7453,0.56,126.6,920.2,16.5,503,7457,0.00,1.38,0.00,0.000,4,0.000,0.037,2096,2177,977,0,0,0,0,0,0
$GC,7520,0.56,126.6,909.8,14.8,506,7524,0.00,1.45,0.00,0.000,6,0.000,0.053,2096,3055,977,0,0,0,0,0,0
$GC,7852,0.56,126.6,855.5,16.6,522,7855,0.00,1.38,0.00,0.000,4,0.000,0.037,2102,2169,976,0,0,0,0,0,0
$GC,7906,0.56,126.6,846.5,16.3,524,7911,0.00,1.48,0.00,0.000,6,0.000,0.052,2102,3061,976,0,0,0,0,0,0
$GC,8228,0.56,126.6,792.2,16.9,540,8231,0.00,1.42,0.00,0.000,4,0.000,0.060,2102,3947,975,0,0,0,0,0,0
$GC,8344,0.56,126.6,770.1,18.3,545,8349,0.00,1.38,0.00,0.000,6,0.000,0.034,2109,3047,975,0,0,0,0,0,0
$GC,8671,0.56,126.6,714.8,17.0,561,8675,0.00,1.33,0.00,0.000,4,0.000,0.037,2116,2188,975,0,0,0,0,0,0
$GC,8742,0.56,126.6,703.4,15.7,564,8747,0.00,1.42,0.00,0.000,6,0.000,0.053,2116,3061,975,0,0,0,0,0,0
$GC,9070,0.56,126.6,647.0,17.2,580,9071,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,3061,974,0,0,0,0,0,0
$GC,9379,0.56,126.6,593.7,17.1,595,9380,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,3060,974,0,0,0,0,0,0
$GC,9689,0.56,126.6,542.7,16.6,610,9692,0.00,1.33,0.00,0.000,4,0.000,0.036,2122,2186,974,0,0,0,0,0,0
$GC,9737,0.56,126.6,534.9,15.3,612,9743,0.12,1.42,0.00,0.000,6,0.206,0.053,2089,3061,974,0,0,0,0,0,0
$GC,10065,0.56,126.6,487.7,14.4,628,10066,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,3060,973,0,0,0,0,0,0
$GC,10374,0.56,126.6,445.3,13.3,643,10377,0.00,1.33,0.00,0.000,4,0.000,0.035,2094,2183,974,0,0,0,0,0,0
$GC,10467,0.56,126.6,433.6,12.4,647,10472,0.00,1.42,0.00,0.000,6,0.000,0.054,2094,3060,974,0,0,0,0,0,0
$GC,10788,0.56,126.6,390.5,13.7,665,10792,0.00,1.40,0.00,0.000,4,0.000,0.060,2094,3944,974,0,0,0,0,0,0
$GC,10810,0.56,126.6,386.7,15.5,667,10814,0.00,1.33,0.00,0.000,6,0.000,0.034,2101,3054,973,0,0,0,0,0,0
$GC,11140,0.56,126.6,339.9,14.0,698,11144,0.00,1.45,0.00,0.000,4,0.000,0.060,2101,3957,974,0,0,0,0,0,0
$GC,11155,0.56,126.6,337.4,14.8,699,11163,0.00,1.35,0.00,0.000,6,0.000,0.033,2107,3061,973,0,0,0,0,0,0
$GC,11480,0.56,126.6,289.0,15.3,730,11484,0.00,1.33,0.00,0.000,4,0.000,0.035,2114,2182,973,0,0,0,0,0,0
$GC,11516,0.56,126.6,284.2,14.8,733,11520,0.00,1.40,0.00,0.000,6,0.000,0.053,2114,3057,973,0,0,0,0,0,0
$GC,11846,0.56,126.6,229.8,16.3,764,11849,0.00,1.33,0.00,0.000,4,0.000,0.034,2121,2180,973,0,0,0,0,0,0
$GC,11895,0.56,126.6,222.3,13.8,768,11905,0.12,1.42,0.00,0.000,6,0.203,0.053,2093,3060,973,0,0,0,0,0,0
$GC,12220,0.56,126.6,175.1,15.5,799,12223,0.00,1.40,0.00,0.000,4,0.000,0.059,2092,3951,973,0,0,0,0,0,0
$GC,12417,0.56,126.6,140.3,16.7,816,12427,0.00,1.35,0.00,0.000,6,0.000,0.032,2098,3045,973,0,0,0,0,0,0
$GC,12746,0.56,126.6,91.5,14.5,852,12754,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,3045,973,0,0,0,0,0,0
$GC,13097,0.56,126.6,37.9,14.1,913,13105,0.00,1.27,0.00,0.000,4,0.000,0.034,2104,2187,973,0,0,0,0,0,0
$GC,13113,0.56,126.6,35.6,14.1,915,13122,0.00,1.38,0.00,0.000,6,0.000,0.050,2104,3060,973,0,0,0,0,0,0
$GC,13265,0.56,126.6,12.3,14.9,940,13274,0.00,1.30,0.00,0.000,4,0.000,0.033,2111,2171,973,0,0,0,0,0,0
$GC,13323,0.56,126.6,3.0,15.2,949,13332,0.00,1.40,0.00,0.000,6,0.000,0.053,2111,3056,973,0,0,0,0,0,0
$STATE,13338,end climb,SURFACE_DEPTH_REACHED
$STATE,13339,begin surface coast
$FINISH,1.0,1.026434
$STATE,13358,end surface coast,CONTROL_FINISHED_OK
$STATE,13358,begin surface
$SM_CCo,13370,41.65,0.370,1,0,681,200.16
$SM_GC,2.04,0.00,0.00,41.65,0.000,0.000,0.370,64,3241,681,-5.75,0.28,200.16
$IRIDIUM_FIX,-4242.04,825.29,020608,060642
$TT8_MAMPS,0.026964
$HUMID,61.65
$INTERNAL_PRESSURE,11.4176
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.4,13.870
$10V_AH,10.3,6.833
$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,13.825,73.425,256.925,41.650,0.000,26.310,18.857,273.665,0.000,0.000,46.212,2365.338,8394.728,430.614,2559.147,119.756,0.000,1406.433,0.000,2186.048,0.000,0.545,0.000
$DEVICE_MAMPS,231.795,75.735,1905.615,370.260,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,660.161,672.183,686.074,65.189,0.000,0.000,0.000,0.000,0.000,0.000
$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,53658,954
$CAP_FILE_SIZE,128139,0
$CFSIZE,259252224,254664704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,070815,005534,-4256.658,825.409,56,1.1,56,-25.0