version: 66.07
glider: 543
mission: 14
dive: 56
start: 8 7 115 7 57 26
data:
$ID,543
$MISSION,14
$DIVE,56
$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,-24286.135
$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,63
$R_STBD_OVSHOOT,28
$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
$GPS1,070815,074949,-4255.803,823.764,50,2.0,50,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-72.3
$GPS2,070815,075703,-4255.846,823.834,37,1.3,37,-25.0
$SPEED_LIMITS,0.172,0.243
$TGT_NAME,SAZ_BUT3
$TGT_LATLONG,-4256.000,836.000
$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,116.0,16499,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.49,-126.6,0.0,0.0,0,72,0.00,0.00,-56.65,0.000,2,0.000,0.000,62,3254,1970,0,0,0,0,0,0
$GC,75,-0.49,-126.6,3.3,-2.5,7,92,6.65,1.40,-1.17,0.000,4,0.229,0.063,1745,2334,2019,0,0,0,0,0,0
$GC,258,-0.49,-126.6,31.8,-13.4,37,267,0.00,1.45,0.00,0.000,6,0.000,0.054,1740,3225,2024,0,0,0,0,0,0
$GC,404,-0.49,-126.6,52.7,-12.6,62,410,0.00,0.00,0.00,0.000,6,0.000,0.000,1739,3225,2024,0,0,0,0,0,0
$GC,749,-0.49,-126.6,105.2,-15.4,120,750,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,3225,2024,0,0,0,0,0,0
$GC,1068,-0.49,-126.6,151.6,-13.8,150,1071,0.00,1.15,0.00,0.000,4,0.000,0.059,1734,3955,2024,0,0,0,0,0,0
$GC,1285,-0.49,-126.6,181.9,-13.4,169,1289,0.00,1.05,0.00,0.000,6,0.000,0.034,1734,3239,2025,0,0,0,0,0,0
$GC,1615,-0.49,-126.6,226.8,-13.6,200,1618,0.00,1.12,0.00,0.000,4,0.000,0.058,1728,3954,2024,0,0,0,0,0,0
$GC,1664,-0.49,-126.6,234.0,-13.8,204,1674,0.00,1.08,0.00,0.000,6,0.000,0.033,1729,3228,2024,0,0,0,0,0,0
$GC,1989,-0.49,-126.6,277.9,-13.2,235,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,1729,3228,2024,0,0,0,0,0,0
$GC,2312,-0.49,-126.6,320.8,-13.5,265,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,1729,3228,2024,0,0,0,0,0,0
$GC,2636,-0.49,-126.6,365.3,-13.9,296,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,1729,3228,2024,0,0,0,0,0,0
$GC,2964,-0.49,-126.6,408.9,-13.2,324,2965,0.00,0.00,0.00,0.000,6,0.000,0.000,1729,3228,2024,0,0,0,0,0,0
$GC,3273,-0.49,-126.6,449.3,-12.9,339,3276,0.00,1.15,0.00,0.000,4,0.000,0.059,1723,3960,2024,0,0,0,0,0,0
$GC,3349,-0.49,-126.6,459.7,-13.1,342,3354,0.00,1.08,0.00,0.000,6,0.000,0.034,1723,3233,2024,0,0,0,0,0,0
$GC,3671,-0.49,-126.6,499.3,-12.4,358,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,1723,3233,2024,0,0,0,0,0,0
$GC,3980,-0.49,-126.6,536.9,-12.4,373,3981,0.00,0.00,0.00,0.000,6,0.000,0.000,1723,3233,2024,0,0,0,0,0,0
$GC,4290,-0.49,-126.6,575.1,-12.2,388,4294,0.00,1.12,0.00,0.000,4,0.000,0.060,1718,3952,2024,0,0,0,0,0,0
$GC,4366,-0.49,-126.6,585.5,-12.9,391,4371,0.00,1.08,0.00,0.000,6,0.000,0.035,1718,3230,2024,0,0,0,0,0,0
$GC,4688,-0.49,-126.6,628.0,-13.7,407,4691,0.00,1.12,0.00,0.000,4,0.000,0.060,1713,3948,2024,0,0,0,0,0,0
$GC,4742,-0.49,-126.6,636.2,-14.5,409,4748,0.12,1.08,0.00,0.000,6,0.181,0.035,1744,3231,2024,0,0,0,0,0,0
$GC,5064,-0.49,-126.6,673.4,-11.6,425,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,3231,2025,0,0,0,0,0,0
$GC,5373,-0.49,-126.6,708.4,-11.0,440,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,3231,2024,0,0,0,0,0,0
$GC,5683,-0.49,-126.6,741.7,-10.5,455,5684,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,3231,2024,0,0,0,0,0,0
$GC,5992,-0.49,-126.6,773.7,-10.5,470,5995,0.00,1.15,0.00,0.000,4,0.000,0.063,1739,3958,2024,0,0,0,0,0,0
$GC,6074,-0.49,-126.6,783.0,-10.9,473,6082,0.00,1.10,0.00,0.000,6,0.000,0.035,1740,3226,2024,0,0,0,0,0,0
$GC,6390,-0.49,-126.6,815.5,-10.3,489,6394,0.00,1.15,0.00,0.000,4,0.000,0.063,1734,3957,2024,0,0,0,0,0,0
$GC,6427,-0.49,-126.6,819.8,-10.8,490,6435,0.00,1.10,0.00,0.000,6,0.000,0.036,1734,3224,2024,0,0,0,0,0,0
$GC,6744,-0.49,-126.6,853.9,-10.8,506,6747,0.00,1.15,0.00,0.000,4,0.000,0.062,1729,3956,2024,0,0,0,0,0,0
$GC,6781,-0.49,-126.6,858.8,-12.8,507,6788,0.00,1.10,0.00,0.000,6,0.000,0.037,1728,3223,2024,0,0,0,0,0,0
$GC,7097,-0.49,-126.6,895.9,-11.9,523,7100,0.00,1.15,0.00,0.000,4,0.000,0.063,1724,3954,2024,0,0,0,0,0,0
$GC,7128,-0.49,-126.6,900.0,-12.2,524,7134,0.00,1.10,0.00,0.000,6,0.000,0.037,1724,3223,2025,0,0,0,0,0,0
$GC,7450,-0.49,-126.6,936.0,-11.0,540,7454,0.00,1.15,0.00,0.000,4,0.000,0.063,1718,3952,2024,0,0,0,0,0,0
$GC,7498,-0.49,-126.6,941.9,-11.4,542,7503,0.00,1.10,0.00,0.000,6,0.000,0.037,1718,3223,2024,0,0,0,0,0,0
$GC,7826,-0.49,-126.6,976.7,-10.7,558,7827,0.00,0.00,0.00,0.000,6,0.000,0.000,1718,3223,2024,0,0,0,0,0,0
$STATE,8051,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8051,begin apogee
$GC,8055,-0.10,0.0,1000.9,10.5,569,8194,0.50,0.00,131.43,1.917,6,0.155,0.000,1867,3066,1500,0,0,0,0,0,0
$STATE,8195,end apogee,CONTROL_FINISHED_OK
$STATE,8195,begin climb
$GC,8197,0.49,126.6,1003.3,0.0,576,8331,0.57,1.58,125.70,1.852,4,0.103,0.035,2059,2175,982,0,0,0,0,0,0
$GC,8448,0.49,126.6,977.9,12.0,587,8456,0.00,1.52,0.00,0.000,6,0.000,0.052,2059,3060,980,0,0,0,0,0,0
$GC,8764,0.49,126.6,936.7,12.9,603,8768,0.00,1.42,0.00,0.000,4,0.000,0.037,2066,2170,978,0,0,0,0,0,0
$GC,8801,0.49,126.6,932.1,11.4,604,8809,0.00,1.50,0.00,0.000,6,0.000,0.052,2066,3065,978,0,0,0,0,0,0
$GC,9117,0.49,126.6,891.5,12.8,620,9121,0.00,1.38,0.00,0.000,4,0.000,0.037,2073,2181,978,0,0,0,0,0,0
$GC,9166,0.49,126.6,885.6,11.5,622,9171,0.00,1.45,0.00,0.000,6,0.000,0.052,2073,3060,978,0,0,0,0,0,0
$GC,9493,0.49,126.6,842.4,13.5,638,9494,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,3060,978,0,0,0,0,0,0
$GC,9802,0.49,126.6,799.5,13.9,653,9806,0.00,1.38,0.00,0.000,4,0.000,0.037,2079,2177,977,0,0,0,0,0,0
$GC,9828,0.49,126.6,795.7,12.5,654,9833,0.00,1.45,0.00,0.000,6,0.000,0.053,2079,3060,977,0,0,0,0,0,0
$GC,10156,0.49,126.6,747.9,15.2,670,10157,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,3060,977,0,0,0,0,0,0
$GC,10465,0.49,126.6,701.4,14.9,685,10469,0.00,1.38,0.00,0.000,4,0.000,0.037,2086,2172,976,0,0,0,0,0,0
$GC,10492,0.49,126.6,697.4,14.2,686,10496,0.00,1.45,0.00,0.000,6,0.000,0.053,2086,3061,976,0,0,0,0,0,0
$GC,10819,0.49,126.6,648.3,14.6,702,10822,0.00,1.35,0.00,0.000,4,0.000,0.037,2092,2172,976,0,0,0,0,0,0
$GC,10867,0.49,126.6,641.4,13.4,704,10873,0.00,1.45,0.00,0.000,6,0.000,0.054,2092,3062,976,0,0,0,0,0,0
$GC,11195,0.49,126.6,592.1,15.0,720,11196,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,3062,976,0,0,0,0,0,0
$GC,11504,0.49,126.6,545.6,14.9,735,11505,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,3062,976,0,0,0,0,0,0
$GC,11813,0.49,126.6,501.4,14.2,750,11817,0.00,1.35,0.00,0.000,4,0.000,0.037,2099,2168,976,0,0,0,0,0,0
$GC,11851,0.49,126.6,496.0,13.7,751,11859,0.12,1.45,0.00,0.000,6,0.200,0.054,2070,3061,976,0,0,0,0,0,0
$GC,12167,0.49,126.6,455.6,12.9,767,12168,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,3061,976,0,0,0,0,0,0
$GC,12476,0.49,126.6,414.6,13.0,782,12478,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,3061,975,0,0,0,0,0,0
$GC,12791,0.49,126.6,372.9,12.6,806,12792,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,3061,976,0,0,0,0,0,0
$GC,13110,0.49,126.6,334.1,11.9,836,13112,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,3061,975,0,0,0,0,0,0
$GC,13431,0.49,126.6,296.6,11.8,866,13434,0.00,1.35,0.00,0.000,4,0.000,0.034,2076,2161,975,0,0,0,0,0,0
$GC,13457,0.49,129.4,293.3,9.8,868,13467,0.00,1.45,0.00,0.000,6,0.000,0.053,2076,3059,975,0,0,0,0,0,0
$GC,13781,0.49,129.4,254.9,12.3,899,13785,0.00,1.33,0.00,0.000,4,0.000,0.034,2083,2170,975,0,0,0,0,0,0
$GC,13872,0.49,129.4,245.0,11.0,907,13876,0.00,1.42,0.00,0.000,6,0.000,0.054,2083,3063,975,0,0,0,0,0,0
$GC,14202,0.49,129.4,200.8,13.3,938,14205,0.00,1.40,0.00,0.000,4,0.000,0.060,2083,3952,975,0,0,0,0,0,0
$GC,14283,0.49,129.4,188.7,15.4,945,14286,0.00,1.33,0.00,0.000,6,0.000,0.033,2089,3051,975,0,0,0,0,0,0
$GC,14612,0.49,129.4,141.8,12.0,976,14616,0.00,1.42,0.00,0.000,4,0.000,0.059,2089,3951,975,0,0,0,0,0,0
$GC,14639,0.49,129.4,138.1,13.7,978,14648,0.12,1.33,0.00,0.000,6,0.220,0.032,2068,3057,975,0,0,0,0,0,0
$GC,14966,0.49,129.4,103.2,10.3,1009,14970,0.00,1.30,0.00,0.000,4,0.000,0.032,2073,2174,975,0,0,0,0,0,0
$GC,15028,0.49,129.4,96.3,10.5,1017,15037,0.00,1.40,0.00,0.000,6,0.000,0.052,2074,3056,976,0,0,0,0,0,0
$GC,15379,0.49,129.4,53.7,12.1,1078,15386,0.00,1.40,0.00,0.000,4,0.000,0.058,2074,3950,975,0,0,0,0,0,0
$GC,15421,0.49,129.4,48.0,14.0,1085,15427,0.00,1.30,0.00,0.000,6,0.000,0.032,2080,3059,976,0,0,0,0,0,0
$GC,15779,0.50,142.1,4.5,9.3,1146,15789,0.00,1.35,6.50,0.164,4,0.000,0.038,2087,2191,913,0,0,0,0,0,0
$STATE,15796,end climb,SURFACE_DEPTH_REACHED
$STATE,15796,begin surface coast
$FINISH,1.7,1.026438
$STATE,15809,end surface coast,CONTROL_FINISHED_OK
$STATE,15810,begin surface
$SM_CCo,15822,43.30,0.505,1,0,682,200.16
$SM_GC,2.10,0.00,0.00,43.30,0.000,0.000,0.505,64,3248,682,-5.74,0.51,200.16
$IRIDIUM_FIX,-4239.11,821.95,020608,171707
$TT8_MAMPS,0.027713
$HUMID,61.49
$INTERNAL_PRESSURE,11.4079
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,22.4,14.358
$10V_AH,10.3,7.095
$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,13.550,64.925,263.625,43.300,0.000,24.717,42.898,247.332,0.000,0.000,39.945,2783.512,10142.756,433.096,2838.693,115.839,0.000,1475.914,0.000,2465.987,0.000,0.544,0.000
$DEVICE_MAMPS,228.735,62.730,1917.090,504.900,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,797.975,805.261,850.606,85.524,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353956
$DATA_FILE_SIZE,66875,1150
$CAP_FILE_SIZE,136225,0
$CFSIZE,259252224,254451712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,070815,122427,-4255.966,827.562,116,0.9,116,-25.0