version: 66.07
glider: 543
mission: 14
dive: 67
start: 8 9 115 3 36 15
data:
$ID,543
$MISSION,14
$DIVE,67
$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,-24318.609
$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,53
$R_STBD_OVSHOOT,26
$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
$GPS1,090815,032804,-4257.945,836.474,68,1.0,69,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-71.2
$GPS2,090815,033553,-4257.941,836.530,30,1.1,30,-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,208.8,11244,-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,-0.47,-126.6,0.0,0.0,0,66,0.00,0.00,-48.78,0.000,2,0.000,0.000,62,3242,1854,0,0,0,0,0,0
$GC,68,-0.47,-126.6,3.4,-3.1,6,86,6.80,1.12,-4.20,0.000,4,0.234,0.076,1743,3962,2015,0,0,0,0,0,0
$GC,211,-0.47,-126.6,32.6,-14.4,29,220,0.00,1.10,0.00,0.000,6,0.000,0.034,1743,3232,2020,0,0,0,0,0,0
$GC,358,-0.47,-126.6,53.8,-15.0,54,366,0.00,0.00,0.00,0.000,6,0.000,0.000,1743,3232,2020,0,0,0,0,0,0
$GC,707,-0.47,-126.6,103.7,-14.0,113,708,0.00,0.00,0.00,0.000,6,0.000,0.000,1743,3232,2020,0,0,0,0,0,0
$GC,1025,-0.47,-126.6,148.0,-13.7,143,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,1743,3232,2020,0,0,0,0,0,0
$GC,1344,-0.47,-126.6,191.4,-13.4,173,1346,0.00,0.00,0.00,0.000,6,0.000,0.000,1743,3232,2020,0,0,0,0,0,0
$GC,1661,-0.47,-126.6,233.1,-13.0,203,1662,0.00,0.00,0.00,0.000,6,0.000,0.000,1743,3232,2020,0,0,0,0,0,0
$GC,1983,-0.47,-126.6,274.2,-12.7,233,1987,0.00,1.12,0.00,0.000,4,0.000,0.058,1738,3949,2020,0,0,0,0,0,0
$GC,2134,-0.47,-126.6,294.9,-13.0,246,2142,0.00,1.08,0.00,0.000,6,0.000,0.033,1738,3220,2020,0,0,0,0,0,0
$GC,2461,-0.47,-126.6,334.9,-12.0,277,2465,0.00,1.15,0.00,0.000,4,0.000,0.057,1732,3954,2020,0,0,0,0,0,0
$GC,2528,-0.47,-126.6,343.8,-13.0,283,2532,0.00,1.05,0.00,0.000,6,0.000,0.034,1732,3231,2020,0,0,0,0,0,0
$GC,2858,-0.47,-126.6,386.4,-13.5,314,2859,0.00,0.00,0.00,0.000,6,0.000,0.000,1732,3231,2020,0,0,0,0,0,0
$GC,3171,-0.47,-126.6,428.1,-13.4,334,3172,0.00,0.00,0.00,0.000,6,0.000,0.000,1732,3231,2020,0,0,0,0,0,0
$GC,3480,-0.47,-126.6,469.2,-13.5,349,3481,0.00,0.00,0.00,0.000,6,0.000,0.000,1732,3231,2020,0,0,0,0,0,0
$GC,3789,-0.47,-126.6,508.4,-12.4,364,3793,0.00,1.12,0.00,0.000,4,0.000,0.058,1727,3948,2020,0,0,0,0,0,0
$GC,3860,-0.47,-126.6,518.3,-13.4,367,3865,0.00,1.08,0.00,0.000,6,0.000,0.034,1727,3225,2020,0,0,0,0,0,0
$GC,4188,-0.47,-126.6,560.9,-13.2,383,4191,0.00,1.12,0.00,0.000,4,0.000,0.059,1722,3944,2020,0,0,0,0,0,0
$GC,4242,-0.47,-126.6,569.0,-13.8,385,4248,0.12,1.08,0.00,0.000,6,0.175,0.034,1753,3225,2020,0,0,0,0,0,0
$GC,4563,-0.47,-126.6,604.5,-10.9,401,4564,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3224,2020,0,0,0,0,0,0
$GC,4872,-0.47,-126.6,637.2,-10.3,416,4876,0.00,1.15,0.00,0.000,4,0.000,0.060,1749,3957,2020,0,0,0,0,0,0
$GC,4916,-0.47,-126.6,642.1,-11.3,418,4920,0.00,1.08,0.00,0.000,6,0.000,0.036,1749,3231,2020,0,0,0,0,0,0
$GC,5248,-0.47,-126.6,676.8,-10.7,434,5249,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,3230,2019,0,0,0,0,0,0
$GC,5558,-0.47,-126.6,710.3,-11.1,449,5559,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,3230,2019,0,0,0,0,0,0
$GC,5867,-0.47,-126.6,744.9,-10.9,464,5868,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,3230,2020,0,0,0,0,0,0
$GC,6176,-0.47,-126.6,778.0,-10.4,479,6177,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,3230,2020,0,0,0,0,0,0
$GC,6486,-0.47,-126.6,808.6,-9.8,494,6487,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,3230,2020,0,0,0,0,0,0
$GC,6795,-0.47,-126.6,838.7,-9.9,509,6799,0.00,1.17,0.00,0.000,4,0.000,0.063,1744,3957,2020,0,0,0,0,0,0
$GC,6844,-0.47,-126.6,844.0,-10.3,511,6848,0.00,1.10,0.00,0.000,6,0.000,0.036,1744,3226,2020,0,0,0,0,0,0
$GC,7171,-0.47,-126.6,877.5,-10.3,527,7172,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,3226,2020,0,0,0,0,0,0
$GC,7480,-0.47,-126.6,909.3,-10.2,542,7484,0.00,1.15,0.00,0.000,4,0.000,0.062,1738,3954,2020,0,0,0,0,0,0
$GC,7525,-0.47,-126.6,914.2,-11.0,544,7529,0.00,1.08,0.00,0.000,6,0.000,0.037,1738,3233,2020,0,0,0,0,0,0
$GC,7857,-0.47,-126.6,949.8,-10.9,560,7858,0.00,0.00,0.00,0.000,6,0.000,0.000,1738,3233,2019,0,0,0,0,0,0
$GC,8166,-0.47,-126.6,983.5,-10.6,575,8170,0.00,1.33,0.00,0.000,4,0.000,0.034,1738,2330,2020,0,0,0,0,0,0
$GC,8192,-0.47,-126.6,986.4,-10.5,576,8197,0.00,1.48,0.00,0.000,6,0.000,0.057,1732,3235,2020,0,0,0,0,0,0
$STATE,8333,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8333,begin apogee
$GC,8337,-0.09,0.0,1002.0,11.4,583,8476,0.45,0.00,131.20,1.894,6,0.147,0.000,1867,3058,1499,0,0,0,0,0,0
$STATE,8477,end apogee,CONTROL_FINISHED_OK
$STATE,8477,begin climb
$GC,8478,0.47,126.6,1006.4,0.0,590,8610,0.55,1.55,124.75,1.828,4,0.098,0.036,2054,2179,982,0,0,0,0,0,0
$GC,8712,0.47,126.6,986.0,12.5,601,8715,0.00,1.52,0.00,0.000,6,0.000,0.053,2055,3057,981,0,0,0,0,0,0
$GC,9043,0.47,126.6,941.9,13.6,617,9047,0.00,1.40,0.00,0.000,4,0.000,0.037,2061,2172,978,0,0,0,0,0,0
$GC,9092,0.47,126.6,935.5,13.0,619,9097,0.00,1.50,0.00,0.000,6,0.000,0.052,2061,3070,978,0,0,0,0,0,0
$GC,9420,0.47,126.6,891.2,13.5,635,9421,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,3070,978,0,0,0,0,0,0
$GC,9729,0.47,126.6,850.5,13.2,650,9732,0.00,1.38,0.00,0.000,4,0.000,0.037,2068,2183,977,0,0,0,0,0,0
$GC,9777,0.47,126.6,844.3,12.4,652,9782,0.00,1.45,0.00,0.000,6,0.000,0.053,2068,3062,977,0,0,0,0,0,0
$GC,10105,0.47,126.6,801.5,13.1,668,10106,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,3062,977,0,0,0,0,0,0
$GC,10414,0.47,126.6,760.6,13.1,683,10418,0.00,1.35,0.00,0.000,4,0.000,0.037,2074,2175,976,0,0,0,0,0,0
$GC,10451,0.47,126.6,755.8,11.5,684,10459,0.00,1.45,0.00,0.000,6,0.000,0.053,2074,3066,976,0,0,0,0,0,0
$GC,10768,0.47,126.6,712.5,13.7,700,10772,0.00,1.38,0.00,0.000,4,0.000,0.037,2081,2165,976,0,0,0,0,0,0
$GC,10794,0.47,126.6,708.9,12.7,701,10799,0.00,1.48,0.00,0.000,6,0.000,0.053,2081,3069,976,0,0,0,0,0,0
$GC,11122,0.47,126.6,663.7,14.0,717,11123,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,3069,976,0,0,0,0,0,0
$GC,11432,0.47,126.6,620.2,13.9,732,11435,0.00,1.35,0.00,0.000,4,0.000,0.036,2088,2179,976,0,0,0,0,0,0
$GC,11476,0.47,126.6,614.2,13.0,734,11480,0.08,1.42,0.00,0.000,6,0.175,0.054,2066,3065,976,0,0,0,0,0,0
$GC,11808,0.47,126.6,571.5,13.4,750,11809,0.00,0.00,0.00,0.000,6,0.000,0.000,2066,3065,975,0,0,0,0,0,0
$GC,12117,0.47,126.6,529.1,13.9,765,12121,0.00,1.42,0.00,0.000,4,0.000,0.061,2066,3955,975,0,0,0,0,0,0
$GC,12176,0.47,126.6,519.2,16.2,767,12185,0.00,1.38,0.00,0.000,6,0.000,0.034,2071,3045,975,0,0,0,0,0,0
$GC,12493,0.47,126.6,474.8,13.6,783,12494,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,3045,975,0,0,0,0,0,0
$GC,12802,0.47,126.6,432.1,13.9,798,12806,0.00,1.45,0.00,0.000,4,0.000,0.060,2071,3953,975,0,0,0,0,0,0
$GC,12828,0.47,126.6,427.8,15.2,799,12833,0.00,1.35,0.00,0.000,6,0.000,0.033,2078,3059,975,0,0,0,0,0,0
$GC,13149,0.47,126.6,382.6,14.0,820,13150,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,3059,975,0,0,0,0,0,0
$GC,13468,0.47,126.6,339.0,13.1,850,13471,0.00,1.33,0.00,0.000,4,0.000,0.036,2085,2185,975,0,0,0,0,0,0
$GC,13504,0.47,126.6,334.6,13.3,853,13507,0.00,1.40,0.00,0.000,6,0.000,0.054,2085,3057,975,0,0,0,0,0,0
$GC,13834,0.47,126.6,293.0,12.7,884,13837,0.00,1.33,0.00,0.000,4,0.000,0.035,2091,2182,975,0,0,0,0,0,0
$GC,13902,0.47,126.6,285.1,10.7,890,13906,0.10,1.40,0.00,0.000,6,0.170,0.054,2062,3058,975,0,0,0,0,0,0
$GC,14234,0.47,126.6,247.6,10.8,921,14237,0.00,1.42,0.00,0.000,4,0.000,0.060,2062,3955,975,0,0,0,0,0,0
$GC,14294,0.47,126.6,239.4,13.4,926,14302,0.00,1.35,0.00,0.000,6,0.000,0.033,2067,3057,975,0,0,0,0,0,0
$GC,14623,0.47,126.6,201.5,11.2,957,14629,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,3057,975,0,0,0,0,0,0
$GC,14948,0.47,126.6,164.1,10.6,988,14949,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,3057,975,0,0,0,0,0,0
$GC,15266,0.47,126.6,129.7,11.8,1018,15267,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,3057,975,0,0,0,0,0,0
$GC,15590,0.47,126.6,90.9,12.8,1054,15597,0.00,1.30,0.00,0.000,4,0.000,0.034,2074,2173,975,0,0,0,0,0,0
$GC,15631,0.47,126.6,85.6,11.8,1061,15638,0.00,1.40,0.00,0.000,6,0.000,0.052,2074,3059,975,0,0,0,0,0,0
$GC,15979,0.49,152.3,48.7,8.6,1122,15994,0.00,0.00,11.43,0.961,6,0.000,0.000,2074,3059,876,0,0,0,0,0,0
$GC,16347,0.49,152.3,3.3,15.3,1184,16355,0.00,1.33,0.00,0.000,4,0.000,0.035,2080,2181,876,0,0,0,0,0,0
$STATE,16362,end climb,SURFACE_DEPTH_REACHED
$STATE,16362,begin surface coast
$FINISH,1.1,1.015651
$STATE,16387,end surface coast,CONTROL_FINISHED_OK
$STATE,16387,begin surface
$SM_CCo,16401,22.02,0.144,0,0,681,200.16
$SM_GC,2.46,0.00,0.00,22.02,0.000,0.000,0.144,67,3243,681,-5.75,0.23,200.16
$IRIDIUM_FIX,-4239.11,836.50,040608,121239
$TT8_MAMPS,0.027713
$HUMID,62.04
$INTERNAL_PRESSURE,11.4079
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.4,16.151
$10V_AH,10.3,8.100
$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,13.500,57.600,267.375,22.025,0.000,28.680,21.647,297.773,0.000,0.000,32.896,2875.211,10610.481,381.858,2880.419,146.867,0.000,1428.024,0.000,2497.177,0.000,0.545,0.000
$DEVICE_MAMPS,234.090,76.500,1894.140,143.820,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,825.172,841.142,850.741,81.405,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353948
$DATA_FILE_SIZE,66923,1190
$CAP_FILE_SIZE,136943,0
$CFSIZE,259252224,253739008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090815,081152,-4300.122,836.774,79,1.1,80,-25.1