version: 66.07
glider: 543
mission: 14
dive: 66
start: 8 8 115 23 3 9
data:
$ID,543
$MISSION,14
$DIVE,66
$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,-24315.805
$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,55
$R_STBD_OVSHOOT,34
$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
$GPS1,080815,225559,-4255.708,836.371,49,1.1,49,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-70.6
$GPS2,080815,230246,-4255.704,836.376,15,1.4,15,-25.1
$SPEED_LIMITS,0.172,0.243
$TGT_NAME,SAZ_BUT4
$TGT_LATLONG,-4304.000,836.000
$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,207.0,15372,-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,-0.47,-126.6,0.0,0.0,0,57,0.00,0.00,-41.15,0.000,2,0.000,0.000,62,3245,1669,0,0,0,0,0,0
$GC,59,-0.47,-126.6,3.1,-2.8,5,84,6.65,0.00,-10.43,0.000,6,0.226,0.000,1745,3245,2018,0,0,0,0,0,0
$GC,133,-0.47,-126.6,14.1,-16.0,16,142,0.00,1.12,0.00,0.000,4,0.000,0.060,1741,3937,2022,0,0,0,0,0,0
$GC,167,-0.47,-126.6,20.0,-17.0,21,176,0.00,1.08,0.00,0.000,6,0.000,0.034,1740,3225,2023,0,0,0,0,0,0
$GC,225,-0.47,-126.6,30.8,-20.0,30,233,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,3225,2022,0,0,0,0,0,0
$GC,373,-0.47,-126.6,53.1,-14.2,55,380,0.00,1.15,0.00,0.000,4,0.000,0.057,1735,3945,2022,0,0,0,0,0,0
$GC,445,-0.47,-126.6,64.9,-16.3,67,452,0.00,1.08,0.00,0.000,6,0.000,0.034,1735,3223,2022,0,0,0,0,0,0
$GC,787,-0.47,-126.6,119.2,-15.9,117,793,0.00,0.00,0.00,0.000,6,0.000,0.000,1736,3223,2022,0,0,0,0,0,0
$GC,1112,-0.47,-126.6,169.6,-14.5,148,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3223,2022,0,0,0,0,0,0
$GC,1431,-0.47,-126.6,213.7,-13.4,178,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3223,2022,0,0,0,0,0,0
$GC,1750,-0.47,-126.6,255.4,-13.0,208,1753,0.00,1.30,0.00,0.000,4,0.000,0.032,1735,2331,2022,0,0,0,0,0,0
$GC,1795,-0.47,-126.6,261.3,-12.8,212,1798,0.00,1.42,0.00,0.000,6,0.000,0.053,1729,3218,2022,0,0,0,0,0,0
$GC,2124,-0.47,-126.6,308.0,-14.5,243,2128,0.00,1.15,0.00,0.000,4,0.000,0.057,1723,3956,2022,0,0,0,0,0,0
$GC,2362,-0.47,-126.6,344.2,-14.8,264,2365,0.00,1.08,0.00,0.000,6,0.000,0.034,1723,3221,2023,0,0,0,0,0,0
$GC,2691,-0.47,-126.6,393.4,-14.6,295,2695,0.00,1.15,0.00,0.000,4,0.000,0.057,1718,3956,2023,0,0,0,0,0,0
$GC,2740,-0.47,-126.6,401.8,-16.4,299,2746,0.12,1.08,0.00,0.000,6,0.179,0.034,1749,3234,2023,0,0,0,0,0,0
$GC,3068,-0.47,-126.6,440.5,-11.5,315,3071,0.00,1.33,0.00,0.000,4,0.000,0.032,1749,2321,2023,0,0,0,0,0,0
$GC,3094,-0.47,-126.6,443.5,-10.5,316,3099,0.00,1.48,0.00,0.000,6,0.000,0.053,1743,3233,2023,0,0,0,0,0,0
$GC,3421,-0.47,-126.6,482.2,-12.5,332,3425,0.00,1.12,0.00,0.000,4,0.000,0.059,1738,3955,2024,0,0,0,0,0,0
$GC,3470,-0.47,-126.6,488.8,-12.8,334,3475,0.00,1.08,0.00,0.000,6,0.000,0.034,1738,3226,2024,0,0,0,0,0,0
$GC,3797,-0.47,-126.6,527.7,-11.8,350,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,1738,3226,2023,0,0,0,0,0,0
$GC,4106,-0.47,-126.6,562.9,-11.0,365,4107,0.00,0.00,0.00,0.000,6,0.000,0.000,1738,3225,2023,0,0,0,0,0,0
$GC,4416,-0.47,-126.6,598.3,-11.5,380,4417,0.00,0.00,0.00,0.000,6,0.000,0.000,1738,3225,2023,0,0,0,0,0,0
$GC,4725,-0.47,-126.6,634.3,-11.4,395,4728,0.00,1.12,0.00,0.000,4,0.000,0.060,1733,3944,2023,0,0,0,0,0,0
$GC,4779,-0.47,-126.6,641.2,-12.0,397,4784,0.00,1.08,0.00,0.000,6,0.000,0.035,1733,3226,2024,0,0,0,0,0,0
$GC,5101,-0.47,-126.6,678.8,-11.7,413,5102,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,3225,2023,0,0,0,0,0,0
$GC,5410,-0.47,-126.6,717.1,-12.5,428,5411,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,3225,2024,0,0,0,0,0,0
$GC,5719,-0.47,-126.6,755.7,-12.6,443,5723,0.00,1.15,0.00,0.000,4,0.000,0.061,1727,3957,2024,0,0,0,0,0,0
$GC,5774,-0.47,-126.6,763.1,-13.2,445,5779,0.00,1.10,0.00,0.000,6,0.000,0.036,1727,3227,2023,0,0,0,0,0,0
$GC,6095,-0.47,-126.6,803.2,-12.6,461,6096,0.00,0.00,0.00,0.000,6,0.000,0.000,1727,3227,2024,0,0,0,0,0,0
$GC,6405,-0.47,-126.6,841.7,-12.4,476,6408,0.00,1.15,0.00,0.000,4,0.000,0.061,1722,3955,2024,0,0,0,0,0,0
$GC,6449,-0.47,-126.6,847.6,-13.2,478,6453,0.00,1.08,0.00,0.000,6,0.000,0.037,1722,3233,2023,0,0,0,0,0,0
$GC,6781,-0.47,-126.6,888.6,-12.5,494,6783,0.10,0.00,0.00,0.000,6,0.189,0.000,1747,3232,2023,0,0,0,0,0,0
$GC,7091,-0.47,-126.6,918.6,-9.5,509,7094,0.00,1.12,0.00,0.000,4,0.000,0.063,1742,3944,2023,0,0,0,0,0,0
$GC,7136,-0.47,-126.6,923.1,-9.9,511,7139,0.00,1.08,0.00,0.000,6,0.000,0.037,1743,3223,2024,0,0,0,0,0,0
$GC,7468,-0.47,-126.6,954.4,-9.2,527,7469,0.00,0.00,0.00,0.000,6,0.000,0.000,1743,3223,2023,0,0,0,0,0,0
$GC,7777,-0.47,-126.6,982.2,-9.0,542,7778,0.00,0.00,0.00,0.000,6,0.000,0.000,1743,3223,2023,0,0,0,0,0,0
$STATE,7982,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7982,begin apogee
$GC,7986,-0.09,0.0,1000.6,8.9,552,8118,0.43,0.00,128.88,1.890,6,0.142,0.000,1873,3067,1498,0,0,0,0,0,0
$STATE,8119,end apogee,CONTROL_FINISHED_OK
$STATE,8119,begin climb
$GC,8120,0.47,126.6,1002.8,0.0,558,8252,0.55,1.58,124.85,1.831,4,0.091,0.036,2059,2181,985,0,0,0,0,0,0
$GC,8376,0.47,126.6,977.0,11.9,570,8380,0.00,1.50,0.00,0.000,6,0.000,0.053,2059,3052,984,0,0,0,0,0,0
$GC,8708,0.47,126.6,929.7,14.5,586,8709,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,3052,982,0,0,0,0,0,0
$GC,9017,0.47,126.6,885.1,14.5,601,9019,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,3052,981,0,0,0,0,0,0
$GC,9327,0.47,126.6,840.7,14.2,616,9328,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,3051,981,0,0,0,0,0,0
$GC,9636,0.47,126.6,797.1,13.9,631,9640,0.00,1.35,0.00,0.000,4,0.000,0.037,2066,2170,981,0,0,0,0,0,0
$GC,9690,0.47,126.6,789.9,13.1,633,9695,0.00,1.48,0.00,0.000,6,0.000,0.053,2066,3076,980,0,0,0,0,0,0
$GC,10012,0.47,126.6,744.4,14.2,649,10013,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,3076,980,0,0,0,0,0,0
$GC,10321,0.47,126.6,702.2,13.4,664,10325,0.00,1.38,0.00,0.000,4,0.000,0.036,2072,2175,980,0,0,0,0,0,0
$GC,10359,0.47,126.6,697.2,12.5,665,10367,0.00,1.45,0.00,0.000,6,0.000,0.054,2073,3062,980,0,0,0,0,0,0
$GC,10675,0.47,126.6,653.8,13.9,681,10678,0.00,1.35,0.00,0.000,4,0.000,0.037,2079,2173,980,0,0,0,0,0,0
$GC,10742,0.47,126.6,644.9,14.5,684,10746,0.00,1.42,0.00,0.000,6,0.000,0.054,2079,3058,980,0,0,0,0,0,0
$GC,11074,0.47,126.6,596.5,14.9,700,11075,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,3058,980,0,0,0,0,0,0
$GC,11383,0.47,126.6,551.1,14.8,715,11384,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,3058,980,0,0,0,0,0,0
$GC,11692,0.47,126.6,506.4,14.1,730,11694,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,3058,980,0,0,0,0,0,0
$GC,12002,0.47,126.6,463.4,13.6,745,12003,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,3058,979,0,0,0,0,0,0
$GC,12311,0.47,126.6,421.2,13.5,760,12312,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,3058,979,0,0,0,0,0,0
$GC,12625,0.47,126.6,379.6,12.9,782,12629,0.00,1.35,0.00,0.000,4,0.000,0.037,2086,2160,980,0,0,0,0,0,0
$GC,12670,0.47,126.6,374.3,11.9,786,12673,0.00,1.45,0.00,0.000,6,0.000,0.054,2086,3062,980,0,0,0,0,0,0
$GC,13003,0.47,126.6,330.3,13.1,817,13007,0.00,1.40,0.00,0.000,4,0.000,0.061,2086,3945,979,0,0,0,0,0,0
$GC,13096,0.47,126.6,315.2,16.5,825,13101,0.10,1.33,0.00,0.000,6,0.196,0.034,2065,3050,979,0,0,0,0,0,0
$GC,13426,0.47,126.6,274.8,11.8,856,13428,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,3051,979,0,0,0,0,0,0
$GC,13745,0.47,126.6,238.9,11.3,886,13749,0.00,1.42,0.00,0.000,4,0.000,0.060,2065,3949,979,0,0,0,0,0,0
$GC,13781,0.47,126.6,234.5,13.1,889,13785,0.00,1.33,0.00,0.000,6,0.000,0.034,2070,3057,979,0,0,0,0,0,0
$GC,14111,0.47,126.6,194.2,11.9,920,14115,0.00,1.30,0.00,0.000,4,0.000,0.035,2077,2181,979,0,0,0,0,0,0
$GC,14190,0.47,126.6,185.4,10.4,927,14194,0.00,1.40,0.00,0.000,6,0.000,0.053,2077,3056,979,0,0,0,0,0,0
$GC,14520,0.47,126.6,147.5,12.2,958,14521,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3056,979,0,0,0,0,0,0
$GC,14839,0.47,126.6,112.2,10.6,988,14841,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3056,979,0,0,0,0,0,0
$GC,15171,0.47,126.6,73.6,12.9,1037,15177,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3056,979,0,0,0,0,0,0
$GC,15525,0.47,126.6,27.1,12.6,1098,15534,0.00,1.30,0.00,0.000,4,0.000,0.033,2084,2171,981,0,0,0,0,0,0
$GC,15577,0.47,126.6,20.5,12.9,1106,15586,0.00,1.40,0.00,0.000,6,0.000,0.050,2084,3060,981,0,0,0,0,0,0
$STATE,15721,end climb,SURFACE_DEPTH_REACHED
$STATE,15721,begin surface coast
$FINISH,1.2,1.009661
$STATE,15746,end surface coast,CONTROL_FINISHED_OK
$STATE,15747,begin surface
$SM_CCo,15758,34.15,0.141,0,0,680,200.16
$SM_GC,2.15,0.00,0.00,34.15,0.000,0.000,0.141,70,3242,680,-5.73,0.34,200.16
$IRIDIUM_FIX,-4239.11,834.03,040608,080849
$TT8_MAMPS,0.026964
$HUMID,62.28
$INTERNAL_PRESSURE,11.4176
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,22.4,15.993
$10V_AH,10.3,7.995
$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,13.275,51.125,253.725,34.150,0.000,27.965,20.118,256.584,0.000,0.000,17.610,2751.253,10227.385,371.034,2717.873,140.298,0.000,1377.105,0.000,2394.202,0.000,0.544,0.000
$DEVICE_MAMPS,226.440,78.030,1889.550,140.760,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,787.429,806.144,821.182,78.531,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353988
$DATA_FILE_SIZE,63565,1134
$CAP_FILE_SIZE,131754,0
$CFSIZE,259252224,253816832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090815,032804,-4257.945,836.474,68,1.0,69,-25.1