version: 66.07
glider: 543
mission: 14
dive: 588
start: 12 6 115 21 15 15
data:
$ID,543
$MISSION,14
$DIVE,588
$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,390
$T_MISSION,420
$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,120
$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,-26079.611
$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,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,394
$ROLL_MAX,3944
$ROLL_DEG,25
$C_ROLL_DIVE,3209
$C_ROLL_CLIMB,2924
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,74
$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
$GPS1,061215,205903,-4254.643,840.933,59,0.9,59,-25.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-66.8
$GPS2,061215,211452,-4254.695,841.353,17,1.0,18,-25.1
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,RECOVER
$TGT_LATLONG,-4241.490,844.240
$TGT_RADIUS,500.000
$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,34.2,24768,-17.1,-8.547
$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,15,-0.43,-116.8,0.0,0.0,0,73,0.00,0.00,-55.40,0.000,2,0.000,0.000,60,3219,1868,0,0,0,0,0,0
$GC,76,-0.43,-116.8,3.4,-2.1,7,93,7.00,1.35,-2.90,0.000,4,0.226,0.044,1764,2294,1976,0,0,0,0,0,0
$GC,190,-0.43,-116.8,18.5,-9.5,25,199,0.00,1.50,0.00,0.000,6,0.000,0.047,1758,3206,1979,0,0,0,0,0,0
$GC,249,-0.40,-116.8,23.6,-7.8,34,257,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,3205,1979,0,0,0,0,0,0
$GC,403,-0.38,-116.8,37.5,-8.2,59,412,0.00,1.30,0.00,0.000,4,0.000,0.025,1759,2292,1979,0,0,0,0,0,0
$GC,489,-0.38,-116.8,45.0,-8.8,73,496,0.00,1.50,0.00,0.000,6,0.000,0.047,1752,3207,1979,0,0,0,0,0,0
$GC,837,-0.35,-116.8,77.5,-9.2,134,844,0.15,0.00,0.00,0.000,6,0.150,0.000,1794,3207,1979,0,0,0,0,0,0
$GC,1188,-0.47,-116.8,99.4,-5.7,195,1197,0.12,1.33,0.00,0.000,4,0.088,0.026,1723,2292,1979,0,0,0,0,0,0
$GC,1252,-0.42,-116.8,104.4,-8.4,201,1256,0.15,1.50,0.00,0.000,6,0.121,0.047,1772,3211,1979,0,0,0,0,0,0
$GC,1583,-0.45,-116.8,126.1,-6.1,232,1586,0.00,1.15,0.00,0.000,4,0.000,0.054,1769,3951,1979,0,0,0,0,0,0
$GC,1643,-0.45,-116.8,129.9,-6.8,237,1646,0.00,1.05,0.00,0.000,6,0.000,0.029,1769,3206,1979,0,0,0,0,0,0
$GC,1974,-0.47,-116.8,152.0,-6.8,268,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,3207,1979,0,0,0,0,0,0
$GC,2295,-0.49,-116.8,173.2,-6.4,298,2299,0.00,1.30,0.00,0.000,4,0.000,0.024,1768,2280,1979,0,0,0,0,0,0
$GC,2319,-0.52,-116.8,175.0,-6.9,300,2323,0.00,1.52,0.00,0.000,6,0.000,0.047,1763,3211,1979,0,0,0,0,0,0
$GC,2650,-0.52,-116.8,196.1,-6.6,331,2653,0.00,1.15,0.00,0.000,4,0.000,0.054,1758,3951,1979,0,0,0,0,0,0
$GC,2679,-0.52,-116.8,198.0,-6.1,333,2685,0.00,1.05,0.00,0.000,6,0.000,0.028,1758,3202,1979,0,0,0,0,0,0
$GC,3004,-0.52,-116.8,219.4,-6.3,364,3008,0.00,1.27,0.00,0.000,4,0.000,0.024,1758,2293,1979,0,0,0,0,0,0
$GC,3056,-0.55,-116.8,222.6,-6.1,368,3064,0.00,1.50,0.00,0.000,6,0.000,0.047,1751,3208,1979,0,0,0,0,0,0
$GC,3383,-0.55,-116.8,244.2,-6.8,399,3384,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,3208,1979,0,0,0,0,0,0
$GC,3706,-0.55,-116.8,266.0,-6.9,429,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,3208,1979,0,0,0,0,0,0
$GC,4033,-0.55,-116.8,290.4,-7.9,460,4036,0.00,1.30,0.00,0.000,4,0.000,0.024,1750,2295,1979,0,0,0,0,0,0
$GC,4084,-0.56,-116.8,294.5,-6.9,464,4093,0.00,1.50,0.00,0.000,6,0.000,0.047,1745,3210,1979,0,0,0,0,0,0
$GC,4410,-0.55,-116.8,320.9,-8.3,495,4414,0.00,1.30,0.00,0.000,4,0.000,0.025,1745,2295,1979,0,0,0,0,0,0
$GC,4446,-0.55,-116.8,323.7,-7.8,498,4450,0.00,1.50,0.00,0.000,6,0.000,0.047,1738,3211,1979,0,0,0,0,0,0
$GC,4779,-0.52,-116.8,352.5,-8.6,529,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,1738,3210,1979,0,0,0,0,0,0
$GC,5108,-0.49,-116.8,381.1,-8.5,560,5111,0.00,1.30,0.00,0.000,4,0.000,0.024,1738,2291,1979,0,0,0,0,0,0
$GC,5178,-0.49,-116.8,386.8,-7.7,566,5181,0.00,1.50,0.00,0.000,6,0.000,0.047,1731,3208,1979,0,0,0,0,0,0
$GC,5507,-0.46,-116.8,414.2,-8.3,589,5508,0.00,0.00,0.00,0.000,6,0.000,0.000,1730,3208,1979,0,0,0,0,0,0
$GC,5814,-0.42,-116.8,440.6,-8.5,604,5815,0.12,0.00,0.00,0.000,6,0.158,0.000,1764,3208,1979,0,0,0,0,0,0
$GC,6124,-0.45,-116.8,461.3,-6.6,619,6127,0.00,1.30,0.00,0.000,4,0.000,0.025,1765,2293,1979,0,0,0,0,0,0
$GC,6163,-0.51,-116.8,464.1,-6.7,620,6170,0.00,1.50,0.00,0.000,6,0.000,0.047,1760,3208,1979,0,0,0,0,0,0
$GC,6481,-0.53,-116.8,485.4,-6.7,636,6482,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,3208,1979,0,0,0,0,0,0
$GC,6790,-0.56,-116.8,504.7,-5.9,651,6794,0.10,1.33,0.00,0.000,4,0.104,0.026,1705,2296,1978,0,0,0,0,0,0
$GC,6839,-0.51,-116.8,509.0,-8.9,653,6844,0.10,1.50,0.00,0.000,6,0.125,0.047,1732,3213,1979,0,0,0,0,0,0
$GC,7170,-0.47,-116.8,533.8,-7.5,669,7171,0.00,0.00,0.00,0.000,6,0.000,0.000,1732,3213,1979,0,0,0,0,0,0
$GC,7477,-0.45,-116.8,558.2,-8.0,684,7478,0.00,0.00,0.00,0.000,6,0.000,0.000,1732,3213,1979,0,0,0,0,0,0
$GC,7787,-0.42,-116.8,582.4,-7.8,699,7791,0.12,1.17,0.00,0.000,4,0.161,0.057,1763,3951,1979,0,0,0,0,0,0
$GC,7814,-0.44,-116.8,584.6,-6.8,700,7818,0.00,1.05,0.00,0.000,6,0.000,0.030,1763,3216,1978,0,0,0,0,0,0
$GC,8142,-0.47,-116.8,603.3,-5.8,716,8145,0.00,1.33,0.00,0.000,4,0.000,0.024,1763,2287,1979,0,0,0,0,0,0
$GC,8198,-0.53,-116.8,606.8,-6.1,718,8202,0.00,1.50,0.00,0.000,6,0.000,0.047,1757,3198,1979,0,0,0,0,0,0
$GC,8521,-0.54,-116.8,625.0,-5.0,734,8522,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,3198,1978,0,0,0,0,0,0
$GC,8831,-0.56,-116.8,643.8,-6.0,749,8834,0.00,1.30,0.00,0.000,4,0.000,0.025,1758,2289,1979,0,0,0,0,0,0
$GC,8856,-0.59,-116.8,645.4,-6.8,750,8860,0.08,1.52,0.00,0.000,6,0.055,0.048,1695,3214,1978,0,0,0,0,0,0
$GC,9189,-0.49,-116.8,680.4,-10.8,766,9193,0.17,1.17,0.00,0.000,4,0.159,0.054,1739,3953,1977,0,0,0,0,0,0
$GC,9217,-0.43,-116.8,683.6,-9.3,767,9221,0.00,1.08,0.00,0.000,6,0.000,0.030,1739,3204,1977,0,0,0,0,0,0
$GC,9545,-0.43,-116.8,709.2,-7.8,783,9548,0.00,1.30,0.00,0.000,4,0.000,0.026,1739,2295,1977,0,0,0,0,0,0
$GC,9578,-0.43,-116.8,711.9,-7.4,784,9582,0.08,1.50,0.00,0.000,6,0.120,0.047,1758,3207,1977,0,0,0,0,0,0
$GC,9902,-0.46,-116.8,733.7,-6.7,800,9903,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,3207,1977,0,0,0,0,0,0
$GC,10209,-0.49,-116.8,752.7,-5.8,815,10212,0.00,1.30,0.00,0.000,4,0.000,0.026,1758,2303,1977,0,0,0,0,0,0
$GC,10243,-0.54,-116.8,754.9,-6.2,816,10247,0.00,1.48,0.00,0.000,6,0.000,0.047,1753,3201,1977,0,0,0,0,0,0
$GC,10565,-0.56,-116.8,774.6,-6.2,832,10569,0.00,1.17,0.00,0.000,4,0.000,0.056,1748,3950,1977,0,0,0,0,0,0
$GC,10600,-0.56,-116.8,777.0,-7.6,833,10603,0.00,1.05,0.00,0.000,6,0.000,0.031,1748,3221,1977,0,0,0,0,0,0
$GC,10922,-0.56,-116.8,797.6,-6.4,849,10923,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,3221,1977,0,0,0,0,0,0
$GC,11231,-0.56,-116.8,817.2,-6.4,864,11235,0.00,1.35,0.00,0.000,4,0.000,0.028,1748,2293,1977,0,0,0,0,0,0
$GC,11271,-0.59,-116.8,820.0,-7.2,865,11278,0.00,1.50,0.00,0.000,6,0.000,0.047,1742,3204,1977,0,0,0,0,0,0
$GC,11587,-0.59,-116.8,839.8,-6.1,881,11588,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3204,1977,0,0,0,0,0,0
$GC,11897,-0.59,-116.8,857.2,-5.5,896,11898,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,3204,1977,0,0,0,0,0,0
$GC,12207,-0.59,-116.8,875.6,-6.3,911,12210,0.00,1.33,0.00,0.000,4,0.000,0.027,1741,2295,1977,0,0,0,0,0,0
$GC,12230,-0.59,-116.8,877.2,-6.2,912,12234,0.00,1.52,0.00,0.000,6,0.000,0.048,1734,3216,1977,0,0,0,0,0,0
$GC,12564,-0.59,-116.8,901.7,-7.9,928,12566,0.00,0.00,0.00,0.000,6,0.000,0.000,1734,3216,1976,0,0,0,0,0,0
$STATE,12626,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12626,begin apogee
$GC,12632,-0.09,0.0,906.6,8.1,931,12766,0.45,0.00,126.60,1.817,6,0.126,0.000,1871,2916,1498,0,0,0,0,0,0
$STATE,12767,end apogee,CONTROL_FINISHED_OK
$STATE,12767,begin climb
$GC,12769,0.43,116.8,911.3,0.0,938,12906,0.50,1.55,126.70,1.750,4,0.083,0.028,2044,2043,1022,0,0,0,0,0,0
$GC,12928,0.46,147.1,903.7,7.1,945,12966,0.00,1.60,33.30,1.686,6,0.000,0.045,2044,2920,899,0,0,0,0,0,0
$GC,13288,0.42,147.1,869.4,10.1,963,13292,0.00,1.42,0.00,0.000,4,0.000,0.055,2044,3813,895,0,0,0,0,0,0
$GC,13372,0.34,147.1,859.5,12.2,966,13379,0.10,1.33,0.00,0.000,6,0.164,0.028,2021,2900,895,0,0,0,0,0,0
$GC,13689,0.36,147.1,832.0,8.6,982,13693,0.00,1.48,0.00,0.000,4,0.000,0.054,2021,3813,893,0,0,0,0,0,0
$GC,13762,0.33,147.1,824.7,9.9,985,13766,0.00,1.30,0.00,0.000,6,0.000,0.028,2026,2926,892,0,0,0,0,0,0
$GC,14089,0.33,147.1,795.9,8.8,1001,14093,0.00,1.45,0.00,0.000,4,0.000,0.055,2026,3818,892,0,0,0,0,0,0
$GC,14151,0.28,147.1,789.4,10.6,1003,14158,0.10,1.30,0.00,0.000,6,0.155,0.028,2002,2930,892,0,0,0,0,0,0
$GC,14469,0.38,190.3,767.8,6.4,1019,14515,0.00,1.45,42.03,1.745,4,0.000,0.054,2002,3813,722,0,0,0,0,0,0
$GC,14570,0.42,194.0,760.5,8.4,1023,14579,0.00,1.33,5.28,1.352,6,0.000,0.029,2007,2925,708,0,0,0,0,0,0
$GC,14911,0.51,217.6,735.7,7.4,1040,14941,0.17,1.50,24.10,1.689,4,0.079,0.054,2086,3817,611,0,0,0,0,0,0
$GC,14969,0.40,217.6,727.9,16.3,1042,14977,0.17,1.33,0.00,0.000,6,0.163,0.027,2042,2909,611,0,0,0,0,0,0
$GC,15286,0.40,217.6,695.7,9.8,1058,15287,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2909,610,0,0,0,0,0,0
$GC,15595,0.40,217.6,663.9,10.3,1073,15598,0.00,1.45,0.00,0.000,4,0.000,0.054,2042,3807,609,0,0,0,0,0,0
$GC,15622,0.40,217.6,660.6,11.8,1074,15626,0.00,1.27,0.00,0.000,6,0.000,0.028,2047,2933,608,0,0,0,0,0,0
$GC,15950,0.40,217.6,623.2,11.3,1090,15953,0.00,1.30,0.00,0.000,4,0.000,0.030,2053,2061,609,0,0,0,0,0,0
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$STATE,22131,end climb,SURFACE_DEPTH_REACHED
$STATE,22131,begin surface coast
$FINISH,1.6,1.026186
$STATE,22163,end surface coast,CONTROL_FINISHED_OK
$STATE,22163,begin surface
$SM_CCo,22240,0.00,0.000,0,0,506,243.58
$SM_GC,2.40,5.53,0.00,0.00,0.047,0.000,0.000,73,3210,506,-5.65,0.06,243.58
$IRIDIUM_FIX,-4239.11,839.41,021008,101052
$TT8_MAMPS,0.026964
$HUMID,65.31
$INTERNAL_PRESSURE,11.4372
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,20.7,109.223
$10V_AH,9.8,73.200
$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
$DEVICE_SECS,15.725,117.225,376.500,0.000,0.000,80.262,210.034,350.563,0.000,0.000,20.650,4013.576,14049.600,496.790,4135.275,474.818,0.000,1993.417,0.000,3482.946,0.000,0.544,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1137.638,1148.469,1204.019,111.325,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354508
$DATA_FILE_SIZE,93539,1641
$CAP_FILE_SIZE,215959,0
$CFSIZE,259252224,207855616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,071215,032703,-4252.911,843.299,32,1.2,32,-25.1