version: 66.07
glider: 543
mission: 14
dive: 10
start: 7 29 115 17 32 25
data:
$ID,543
$MISSION,14
$DIVE,10
$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,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,220
$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,-24157.688
$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,3200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,25
$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
$GPS1,290715,165213,-4248.896,838.768,56,6.0,75,-25.1
$_CALLS,5
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-76.4
$GPS2,290715,173202,-4248.640,838.904,78,1.6,78,-25.1
$SPEED_LIMITS,0.172,0.259
$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,222.6,22062,-17.4,-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,-146.1,0.0,0.0,0,65,0.00,0.00,-48.90,0.000,2,0.000,0.000,59,3264,1846,0,0,0,0,0,0
$GC,67,-0.47,-146.1,3.4,-4.7,6,85,6.90,1.17,-7.40,0.000,4,0.236,0.087,1750,3959,2168,0,0,0,0,0,0
$GC,205,-0.47,-146.1,35.7,-20.7,28,214,0.00,1.08,0.00,0.000,6,0.000,0.037,1750,3264,2177,0,0,0,0,0,0
$GC,350,-0.47,-146.1,61.8,-16.2,53,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,3265,2178,0,0,0,0,0,0
$GC,699,-0.47,-146.1,110.1,-17.6,110,700,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,3264,2177,0,0,0,0,0,0
$GC,1018,-0.47,-146.1,155.7,-13.9,140,1021,0.00,1.38,0.00,0.000,4,0.000,0.037,1750,2362,2178,0,0,0,0,0,0
$GC,1063,-0.47,-146.1,161.3,-12.3,144,1067,0.00,1.45,0.00,0.000,6,0.000,0.057,1744,3255,2177,0,0,0,0,0,0
$GC,1392,-0.47,-146.1,204.7,-13.1,175,1396,0.00,1.10,0.00,0.000,4,0.000,0.062,1738,3950,2177,0,0,0,0,0,0
$GC,1471,-0.47,-146.1,215.3,-13.0,182,1475,0.00,1.05,0.00,0.000,6,0.000,0.037,1738,3249,2177,0,0,0,0,0,0
$GC,1804,-0.47,-146.1,258.8,-13.7,213,1807,0.00,1.33,0.00,0.000,4,0.000,0.037,1738,2368,2178,0,0,0,0,0,0
$GC,1830,-0.47,-146.1,262.9,-12.6,215,1839,0.10,1.45,0.00,0.000,6,0.173,0.055,1757,3257,2177,0,0,0,0,0,0
$GC,2155,-0.47,-146.1,298.3,-10.7,246,2157,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,3258,2178,0,0,0,0,0,0
$GC,2474,-0.47,-146.1,331.7,-10.1,276,2478,0.00,1.10,0.00,0.000,4,0.000,0.063,1753,3955,2177,0,0,0,0,0,0
$GC,2500,-0.47,-146.1,334.8,-11.0,278,2508,0.00,1.08,0.00,0.000,6,0.000,0.036,1753,3248,2177,0,0,0,0,0,0
$GC,2829,-0.47,-146.1,367.3,-9.7,309,2835,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3248,2177,0,0,0,0,0,0
$GC,3154,-0.47,-146.1,399.8,-10.1,340,3155,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3248,2177,0,0,0,0,0,0
$GC,3474,-0.47,-146.1,432.4,-10.4,356,3475,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,3248,2177,0,0,0,0,0,0
$GC,3783,-0.47,-146.1,466.2,-10.9,371,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3248,2178,0,0,0,0,0,0
$GC,4092,-0.47,-146.1,501.4,-11.4,386,4096,0.00,1.33,0.00,0.000,4,0.000,0.037,1753,2365,2178,0,0,0,0,0,0
$GC,4124,-0.47,-146.1,505.1,-11.3,387,4129,0.00,1.45,0.00,0.000,6,0.000,0.057,1747,3257,2178,0,0,0,0,0,0
$GC,4446,-0.47,-146.1,541.9,-11.4,403,4447,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3257,2177,0,0,0,0,0,0
$GC,4755,-0.47,-146.1,577.9,-12.0,418,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3257,2177,0,0,0,0,0,0
$GC,5064,-0.47,-146.1,616.6,-12.7,433,5068,0.00,1.10,0.00,0.000,4,0.000,0.066,1742,3954,2177,0,0,0,0,0,0
$GC,5124,-0.47,-146.1,624.9,-13.4,435,5132,0.00,1.08,0.00,0.000,6,0.000,0.038,1742,3250,2177,0,0,0,0,0,0
$GC,5440,-0.47,-146.1,666.5,-13.3,451,5441,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3250,2177,0,0,0,0,0,0
$GC,5749,-0.47,-146.1,705.1,-12.2,466,5753,0.00,1.33,0.00,0.000,4,0.000,0.038,1742,2365,2177,0,0,0,0,0,0
$GC,5773,-0.47,-146.1,707.5,-11.6,467,5776,0.00,1.42,0.00,0.000,6,0.000,0.059,1736,3251,2177,0,0,0,0,0,0
$GC,6104,-0.47,-146.1,747.1,-11.8,483,6108,0.00,1.12,0.00,0.000,4,0.000,0.066,1730,3948,2177,0,0,0,0,0,0
$GC,6143,-0.47,-146.1,751.7,-12.7,484,6150,0.08,1.05,0.00,0.000,6,0.161,0.040,1754,3255,2177,0,0,0,0,0,0
$GC,6458,-0.47,-146.1,780.8,-8.8,500,6462,0.00,1.35,0.00,0.000,4,0.000,0.038,1754,2350,2177,0,0,0,0,0,0
$GC,6490,-0.47,-146.1,783.5,-8.0,501,6495,0.00,1.45,0.00,0.000,6,0.000,0.059,1749,3253,2177,0,0,0,0,0,0
$GC,6812,-0.47,-146.1,812.5,-9.4,517,6816,0.00,1.10,0.00,0.000,4,0.000,0.065,1744,3953,2176,0,0,0,0,0,0
$GC,6884,-0.47,-146.1,819.8,-9.6,520,6888,0.00,1.08,0.00,0.000,6,0.000,0.039,1744,3241,2177,0,0,0,0,0,0
$GC,7211,-0.47,-146.1,852.4,-10.1,536,7212,0.00,0.00,0.00,0.000,6,0.000,0.000,1743,3241,2177,0,0,0,0,0,0
$GC,7520,-0.47,-146.1,884.1,-10.6,551,7521,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,3241,2176,0,0,0,0,0,0
$GC,7829,-0.47,-146.1,915.5,-10.0,566,7830,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,3241,2176,0,0,0,0,0,0
$GC,8138,-0.47,-146.1,946.8,-10.1,581,8140,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,3241,2176,0,0,0,0,0,0
$GC,8448,-0.47,-146.1,978.1,-10.1,596,8449,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,3241,2176,0,0,0,0,0,0
$STATE,8673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8674,begin apogee
$GC,8677,-0.11,0.0,1000.0,9.6,607,8837,0.43,0.00,152.43,1.914,6,0.151,0.000,1872,3240,1569,0,0,0,0,0,0
$STATE,8838,end apogee,CONTROL_FINISHED_OK
$STATE,8838,begin climb
$GC,8839,0.47,146.1,1004.7,0.0,615,8986,0.60,0.00,143.45,1.863,6,0.080,0.000,2067,3240,973,0,0,0,0,0,0
$GC,9284,0.47,146.1,949.7,14.5,637,9288,0.00,1.50,0.00,0.000,4,0.000,0.045,2074,2315,969,0,0,0,0,0,0
$GC,9428,0.47,146.1,931.0,13.0,643,9434,0.00,1.52,0.00,0.000,6,0.000,0.056,2074,3209,968,0,0,0,0,0,0
$GC,9750,0.47,146.1,886.7,13.5,659,9754,0.00,1.40,0.00,0.000,4,0.000,0.044,2081,2315,968,0,0,0,0,0,0
$GC,9872,0.47,146.1,871.5,12.4,664,9877,0.00,1.50,0.00,0.000,6,0.000,0.056,2081,3211,968,0,0,0,0,0,0
$GC,10194,0.47,146.1,826.6,14.4,680,10197,0.00,1.40,0.00,0.000,4,0.000,0.043,2087,2315,968,0,0,0,0,0,0
$GC,10315,0.47,146.1,810.2,13.4,685,10321,0.00,1.48,0.00,0.000,6,0.000,0.057,2088,3203,968,0,0,0,0,0,0
$GC,10637,0.47,146.1,760.7,15.7,701,10641,0.00,1.40,0.00,0.000,4,0.000,0.043,2094,2305,967,0,0,0,0,0,0
$GC,10731,0.47,146.1,746.6,14.6,705,10736,0.00,1.50,0.00,0.000,6,0.000,0.057,2094,3212,967,0,0,0,0,0,0
$GC,11058,0.47,146.1,693.4,16.4,721,11062,0.00,1.40,0.00,0.000,4,0.000,0.041,2100,2305,967,0,0,0,0,0,0
$GC,11185,0.47,146.1,674.6,13.1,726,11194,0.10,1.48,0.00,0.000,6,0.215,0.057,2075,3207,967,0,0,0,0,0,0
$GC,11501,0.47,146.1,631.1,13.7,742,11505,0.00,1.38,0.00,0.000,4,0.000,0.041,2080,2308,967,0,0,0,0,0,0
$GC,11546,0.47,146.1,625.3,11.7,744,11550,0.00,1.45,0.00,0.000,6,0.000,0.058,2080,3199,967,0,0,0,0,0,0
$GC,11878,0.47,146.1,579.6,13.7,760,11881,0.00,1.35,0.00,0.000,4,0.000,0.041,2087,2310,967,0,0,0,0,0,0
$GC,11977,0.47,146.1,567.5,11.1,764,11982,0.00,1.48,0.00,0.000,6,0.000,0.057,2087,3212,967,0,0,0,0,0,0
$GC,12299,0.47,146.1,523.1,13.6,780,12302,0.00,1.38,0.00,0.000,4,0.000,0.041,2093,2311,967,0,0,0,0,0,0
$GC,12343,0.47,146.1,517.5,11.4,782,12347,0.00,1.45,0.00,0.000,6,0.000,0.058,2093,3207,967,0,0,0,0,0,0
$GC,12675,0.47,146.1,469.3,15.2,798,12678,0.00,1.38,0.00,0.000,4,0.000,0.040,2100,2306,967,0,0,0,0,0,0
$GC,12796,0.47,146.1,451.8,14.0,803,12802,0.12,1.48,0.00,0.000,6,0.230,0.058,2074,3210,967,0,0,0,0,0,0
$GC,13118,0.47,146.1,407.2,13.8,819,13121,0.00,1.38,0.00,0.000,4,0.000,0.041,2079,2307,967,0,0,0,0,0,0
$GC,13177,0.47,146.1,399.4,12.1,821,13186,0.00,1.48,0.00,0.000,6,0.000,0.058,2079,3210,967,0,0,0,0,0,0
$GC,13503,0.47,146.1,353.9,13.8,852,13507,0.00,1.38,0.00,0.000,4,0.000,0.040,2086,2305,966,0,0,0,0,0,0
$GC,13652,0.47,146.1,334.8,12.3,865,13656,0.00,1.45,0.00,0.000,6,0.000,0.058,2086,3205,967,0,0,0,0,0,0
$GC,13982,0.47,146.1,287.7,14.7,896,13985,0.00,1.35,0.00,0.000,4,0.000,0.040,2093,2310,967,0,0,0,0,0,0
$GC,14061,0.47,146.1,277.2,12.9,903,14065,0.00,1.42,0.00,0.000,6,0.000,0.058,2093,3196,967,0,0,0,0,0,0
$GC,14391,0.47,146.1,228.1,14.8,934,14394,0.00,1.35,0.00,0.000,4,0.000,0.039,2099,2307,967,0,0,0,0,0,0
$GC,14492,0.47,146.1,214.1,13.9,943,14496,0.10,1.42,0.00,0.000,6,0.200,0.058,2072,3195,967,0,0,0,0,0,0
$GC,14821,0.47,146.1,167.5,13.4,974,14823,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,3195,966,0,0,0,0,0,0
$GC,15140,0.47,146.1,126.2,11.9,1004,15144,0.00,1.33,0.00,0.000,4,0.000,0.036,2078,2311,967,0,0,0,0,0,0
$GC,15234,0.47,146.1,115.6,12.1,1012,15244,0.00,1.45,0.00,0.000,6,0.000,0.056,2077,3205,967,0,0,0,0,0,0
$GC,15573,0.47,146.1,73.6,11.0,1061,15580,0.00,1.35,0.00,0.000,4,0.000,0.037,2084,2303,967,0,0,0,0,0,0
$GC,15672,0.47,146.1,63.8,10.5,1078,15679,0.00,1.42,0.00,0.000,6,0.000,0.055,2084,3197,967,0,0,0,0,0,0
$GC,16027,0.50,201.5,24.5,7.4,1139,16060,0.00,1.38,25.12,0.922,4,0.000,0.034,2091,2298,745,0,0,0,0,0,0
$GC,16109,0.50,201.5,16.7,10.3,1151,16117,0.00,1.48,0.00,0.000,6,0.000,0.055,2091,3208,744,0,0,0,0,0,0
$GC,16166,0.50,201.5,8.2,14.2,1160,16174,0.00,1.35,0.00,0.000,4,0.000,0.033,2098,2292,743,0,0,0,0,0,0
$GC,16188,0.50,201.5,4.9,14.4,1163,16197,0.00,1.48,0.00,0.000,6,0.000,0.052,2098,3207,743,0,0,0,0,0,0
$STATE,16204,end climb,SURFACE_DEPTH_REACHED
$STATE,16204,begin surface coast
$FINISH,0.8,1.026557
$STATE,16229,end surface coast,CONTROL_FINISHED_OK
$STATE,16229,begin surface
$SM_CCo,16241,8.02,0.154,0,0,673,220.03
$SM_GC,2.23,0.00,0.00,8.02,0.000,0.000,0.154,67,3255,673,-5.78,0.11,220.03
$IRIDIUM_FIX,-4233.25,841.87,250508,060621
$TT8_MAMPS,0.027713
$HUMID,61.06
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.5,6.105
$10V_AH,10.3,2.472
$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,14.025,75.450,321.000,8.025,0.000,176.820,195.976,1467.739,0.000,0.000,81.194,2861.992,10565.093,465.649,4573.319,157.006,0.000,1555.972,0.000,2552.682,0.000,0.545,0.000
$DEVICE_MAMPS,235.620,131.580,1914.030,153.765,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,809.865,819.098,824.252,75.696,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354816
$DATA_FILE_SIZE,66926,1169
$CAP_FILE_SIZE,167648,0
$CFSIZE,259252224,257753088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,290715,220524,-4249.833,836.497,95,0.9,96,-25.1