version: 66.07
glider: 543
mission: 14
dive: 5
start: 7 28 115 17 48 57
data:
$ID,543
$MISSION,14
$DIVE,5
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,800
$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,200
$T_MISSION,215
$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,150
$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,250
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-23951.777
$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,1915
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$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,3251
$C_ROLL_CLIMB,3028
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,1571
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.00056000001
$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
$GPS1,280715,174228,-4241.754,844.869,15,0.9,15,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-69.2
$GPS2,280715,174834,-4241.754,844.904,19,1.1,19,-25.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SAZ_1
$TGT_LATLONG,-4300.000,834.000
$TGT_RADIUS,800.000
$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,228.7,36877,-17.5,-10.000
$D_GRID,600
$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,-146.1,0.0,0.0,0,80,0.00,0.00,-64.05,0.000,2,0.000,0.000,76,3258,2080,0,0,0,0,0,0
$GC,82,-0.47,-146.1,3.3,-6.5,8,100,6.68,1.15,-1.88,0.000,4,0.230,0.080,1750,3966,2167,0,0,0,0,0,0
$GC,208,-0.47,-146.1,30.5,-13.9,28,216,0.00,1.10,0.00,0.000,6,0.000,0.040,1750,3261,2173,0,0,0,0,0,0
$GC,354,-0.47,-146.1,52.4,-13.3,53,360,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,3262,2173,0,0,0,0,0,0
$GC,700,-0.47,-146.1,100.0,-13.1,114,708,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,3261,2173,0,0,0,0,0,0
$GC,1026,-0.47,-146.1,144.9,-13.4,145,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,3261,2173,0,0,0,0,0,0
$GC,1343,-0.47,-146.1,187.0,-12.7,175,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,3261,2173,0,0,0,0,0,0
$GC,1665,-0.47,-146.1,226.3,-12.5,205,1669,0.00,1.10,0.00,0.000,4,0.000,0.067,1745,3951,2172,0,0,0,0,0,0
$GC,1736,-0.47,-146.1,236.2,-13.1,211,1744,0.00,1.08,0.00,0.000,6,0.000,0.037,1744,3252,2173,0,0,0,0,0,0
$GC,2061,-0.47,-146.1,278.2,-12.8,242,2065,0.00,1.12,0.00,0.000,4,0.000,0.067,1739,3957,2173,0,0,0,0,0,0
$GC,2110,-0.47,-146.1,284.9,-13.5,246,2118,0.00,1.10,0.00,0.000,6,0.000,0.037,1739,3240,2172,0,0,0,0,0,0
$GC,2437,-0.47,-146.1,328.1,-13.2,277,2441,0.00,1.12,0.00,0.000,4,0.000,0.067,1734,3943,2173,0,0,0,0,0,0
$GC,2471,-0.47,-146.1,333.1,-15.0,280,2474,0.00,1.05,0.00,0.000,6,0.000,0.039,1734,3251,2173,0,0,0,0,0,0
$GC,2800,-0.47,-146.1,377.4,-13.1,311,2802,0.00,0.00,0.00,0.000,6,0.000,0.000,1734,3250,2172,0,0,0,0,0,0
$GC,3115,-0.47,-146.1,421.7,-14.1,334,3118,0.00,1.33,0.00,0.000,4,0.000,0.038,1733,2345,2173,0,0,0,0,0,0
$GC,3146,-0.47,-146.1,426.3,-13.8,335,3152,0.12,1.48,0.00,0.000,6,0.171,0.060,1760,3252,2173,0,0,0,0,0,0
$GC,3468,-0.47,-146.1,461.2,-10.6,351,3471,0.00,1.10,0.00,0.000,4,0.000,0.067,1756,3949,2173,0,0,0,0,0,0
$GC,3505,-0.47,-146.1,465.6,-11.3,352,3512,0.00,1.08,0.00,0.000,6,0.000,0.041,1756,3249,2172,0,0,0,0,0,0
$GC,3821,-0.47,-146.1,500.1,-10.8,368,3822,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,3248,2172,0,0,0,0,0,0
$GC,4130,-0.47,-146.1,533.3,-10.9,383,4131,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,3249,2172,0,0,0,0,0,0
$GC,4439,-0.47,-146.1,566.2,-10.5,398,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,3249,2172,0,0,0,0,0,0
$GC,4749,-0.47,-146.1,597.9,-9.9,413,4752,0.00,1.12,0.00,0.000,4,0.000,0.070,1751,3953,2171,0,0,0,0,0,0
$STATE,4770,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4770,begin apogee
$GC,4775,-0.11,0.0,600.0,10.0,414,4919,0.40,0.00,140.40,1.621,6,0.142,0.000,1874,3012,1570,0,0,0,0,0,0
$STATE,4919,end apogee,CONTROL_FINISHED_OK
$STATE,4919,begin climb
$GC,4921,0.47,146.1,605.2,0.0,421,5061,0.55,1.48,134.02,1.580,4,0.089,0.044,2065,2157,972,0,0,0,0,0,0
$GC,5110,0.47,146.1,593.2,11.6,429,5115,0.00,1.52,0.00,0.000,6,0.000,0.056,2065,3034,974,0,0,0,0,0,0
$GC,5437,0.47,146.1,551.6,13.1,445,5441,0.00,1.48,0.00,0.000,4,0.000,0.067,2065,3909,971,0,0,0,0,0,0
$GC,5514,0.47,146.1,539.8,15.3,448,5519,0.00,1.40,0.00,0.000,6,0.000,0.037,2072,3032,971,0,0,0,0,0,0
$GC,5836,0.47,146.1,498.8,12.6,464,5837,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,3032,970,0,0,0,0,0,0
$GC,6145,0.47,146.1,460.9,11.9,479,6146,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,3032,970,0,0,0,0,0,0
$GC,6454,0.47,146.1,422.4,12.8,494,6455,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,3032,970,0,0,0,0,0,0
$GC,6767,0.47,146.1,380.8,13.5,515,6769,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,3031,969,0,0,0,0,0,0
$GC,7090,0.47,146.1,337.9,13.4,545,7096,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,3032,969,0,0,0,0,0,0
$GC,7414,0.47,146.1,294.8,13.0,576,7416,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,3032,969,0,0,0,0,0,0
$GC,7733,0.47,146.1,254.2,13.0,606,7734,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,3032,969,0,0,0,0,0,0
$GC,8052,0.47,146.1,214.8,13.1,636,8055,0.00,1.45,0.00,0.000,4,0.000,0.069,2072,3910,969,0,0,0,0,0,0
$GC,8165,0.47,146.1,197.7,15.7,646,8168,0.00,1.35,0.00,0.000,6,0.000,0.037,2078,3029,968,0,0,0,0,0,0
$GC,8498,0.47,146.1,151.8,13.0,677,8499,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,3029,968,0,0,0,0,0,0
$GC,8813,0.47,146.1,109.0,13.8,707,8817,0.00,1.45,0.00,0.000,4,0.000,0.067,2078,3914,968,0,0,0,0,0,0
$GC,8858,0.47,146.1,101.9,17.0,711,8862,0.00,1.35,0.00,0.000,6,0.000,0.036,2085,3026,968,0,0,0,0,0,0
$GC,9204,0.47,146.1,53.9,13.7,770,9209,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,3024,968,0,0,0,0,0,0
$GC,9559,0.47,146.1,4.2,15.5,831,9568,0.00,1.42,0.00,0.000,4,0.000,0.064,2085,3905,968,0,0,0,0,0,0
$STATE,9575,end climb,SURFACE_DEPTH_REACHED
$STATE,9575,begin surface coast
$FINISH,0.3,1.022328
$STATE,9594,end surface coast,CONTROL_FINISHED_OK
$STATE,9594,begin surface
$SM_CCo,9607,58.42,0.405,1,0,549,250.20
$SM_GC,1.42,0.00,0.00,58.42,0.000,0.000,0.405,67,3246,549,-5.77,-0.17,250.20
$IRIDIUM_FIX,-4224.47,840.54,240508,070730
$TT8_MAMPS,0.027713
$HUMID,62.67
$INTERNAL_PRESSURE,11.4079
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,23.1,4.987
$10V_AH,10.4,1.895
$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,13.175,30.275,274.425,58.425,0.000,0.000,0.000,0.000,0.000,0.000,21.753,1981.468,5453.332,404.104,1846.851,62.356,0.000,1126.011,0.000,1833.179,0.000,0.545,0.000
$DEVICE_MAMPS,230.265,79.560,1621.035,404.685,0.000,0.000,0.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,578.086,568.408,804.504,75.063,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354596
$DATA_FILE_SIZE,46963,836
$CAP_FILE_SIZE,110202,0
$CFSIZE,259252224,258195456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,280715,203121,-4242.795,844.515,41,0.9,41,-25.1