version: 66.07
glider: 543
mission: 14
dive: 84
start: 8 12 115 6 3 1
data:
$ID,543
$MISSION,14
$DIVE,84
$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,-24369.035
$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,59
$R_STBD_OVSHOOT,33
$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
$GPS1,120815,055557,-4255.944,823.076,67,1.2,67,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-71.3
$GPS2,120815,060238,-4255.934,823.126,26,1.8,26,-25.0
$SPEED_LIMITS,0.172,0.243
$TGT_NAME,SAZ_BUT2
$TGT_LATLONG,-4256.000,824.000
$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,120.9,1192,-27.2,-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,-0.56,-62.5,0.0,0.0,0,64,0.00,0.00,-47.08,0.000,6,0.000,0.000,53,3259,1758,0,0,0,0,0,0
$GC,66,-0.62,-125.3,3.3,-3.3,6,85,6.47,1.42,-7.43,0.000,4,0.223,0.055,1698,2331,2015,0,0,0,0,0,0
$GC,345,-0.62,-125.3,51.8,-14.5,53,352,0.00,1.45,0.00,0.000,6,0.000,0.053,1692,3222,2021,0,0,0,0,0,0
$GC,687,-0.62,-125.3,114.3,-18.6,107,688,0.00,0.00,0.00,0.000,6,0.000,0.000,1693,3222,2021,0,0,0,0,0,0
$GC,1010,-0.62,-125.3,173.9,-19.3,137,1013,0.00,1.15,0.00,0.000,4,0.000,0.057,1687,3951,2021,0,0,0,0,0,0
$GC,1056,-0.62,-125.3,183.8,-20.8,141,1060,0.00,1.05,0.00,0.000,6,0.000,0.034,1687,3239,2022,0,0,0,0,0,0
$GC,1386,-0.62,-125.3,248.1,-18.9,172,1390,0.00,1.12,0.00,0.000,4,0.000,0.057,1683,3953,2021,0,0,0,0,0,0
$GC,1465,-0.62,-125.3,264.1,-20.0,179,1469,0.00,1.08,0.00,0.000,6,0.000,0.034,1682,3222,2022,0,0,0,0,0,0
$GC,1795,-0.62,-125.3,325.5,-18.6,210,1798,0.00,1.15,0.00,0.000,4,0.000,0.057,1676,3956,2022,0,0,0,0,0,0
$GC,1896,-0.62,-125.3,345.3,-19.8,219,1900,0.00,1.05,0.00,0.000,6,0.000,0.034,1676,3236,2023,0,0,0,0,0,0
$GC,2235,-0.62,-125.3,408.1,-18.2,249,2239,0.00,1.12,0.00,0.000,4,0.000,0.057,1671,3955,2023,0,0,0,0,0,0
$GC,2289,-0.62,-125.3,418.9,-18.9,251,2295,0.12,1.08,0.00,0.000,6,0.197,0.032,1700,3233,2023,0,0,0,0,0,0
$GC,2611,-0.62,-125.3,469.1,-15.4,267,2612,0.00,0.00,0.00,0.000,6,0.000,0.000,1700,3233,2023,0,0,0,0,0,0
$GC,2920,-0.62,-125.3,517.9,-15.9,282,2924,0.00,1.12,0.00,0.000,4,0.000,0.059,1696,3951,2023,0,0,0,0,0,0
$GC,2969,-0.62,-125.3,526.4,-17.3,284,2973,0.00,1.05,0.00,0.000,6,0.000,0.034,1696,3232,2023,0,0,0,0,0,0
$GC,3296,-0.62,-125.3,578.1,-16.2,300,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,1696,3232,2023,0,0,0,0,0,0
$GC,3605,-0.62,-125.3,627.2,-16.5,315,3609,0.00,1.12,0.00,0.000,4,0.000,0.059,1691,3950,2023,0,0,0,0,0,0
$GC,3654,-0.62,-125.3,635.7,-17.2,317,3658,0.00,1.08,0.00,0.000,6,0.000,0.034,1691,3228,2023,0,0,0,0,0,0
$GC,3981,-0.62,-125.3,687.5,-15.8,333,3984,0.00,1.12,0.00,0.000,4,0.000,0.059,1685,3945,2023,0,0,0,0,0,0
$GC,4048,-0.62,-125.3,698.9,-17.0,336,4052,0.00,1.05,0.00,0.000,6,0.000,0.034,1686,3230,2023,0,0,0,0,0,0
$GC,4380,-0.62,-125.3,750.3,-15.5,352,4383,0.00,1.12,0.00,0.000,4,0.000,0.059,1681,3948,2022,0,0,0,0,0,0
$GC,4440,-0.62,-125.3,761.1,-17.5,354,4447,0.00,1.08,0.00,0.000,6,0.000,0.034,1681,3228,2023,0,0,0,0,0,0
$GC,4756,-0.62,-125.3,811.1,-15.9,370,4757,0.00,0.00,0.00,0.000,6,0.000,0.000,1681,3228,2022,0,0,0,0,0,0
$GC,5065,-0.62,-125.3,861.1,-16.3,385,5066,0.00,0.00,0.00,0.000,6,0.000,0.000,1680,3228,2023,0,0,0,0,0,0
$GC,5374,-0.62,-125.3,911.6,-16.0,400,5378,0.00,1.15,0.00,0.000,4,0.000,0.060,1675,3957,2023,0,0,0,0,0,0
$GC,5468,-0.62,-125.3,927.8,-16.9,404,5473,0.00,1.10,0.00,0.000,6,0.000,0.034,1675,3223,2023,0,0,0,0,0,0
$GC,5795,-0.62,-125.3,980.5,-16.0,420,5799,0.00,1.15,0.00,0.000,4,0.000,0.060,1669,3953,2023,0,0,0,0,0,0
$GC,5863,-0.62,-125.3,992.1,-16.8,423,5867,0.10,1.08,0.00,0.000,6,0.179,0.035,1698,3234,2023,0,0,0,0,0,0
$STATE,5924,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5924,begin apogee
$GC,5928,-0.09,0.0,1001.6,14.3,426,6066,0.57,0.00,130.15,1.858,6,0.158,0.000,1869,3048,1499,0,0,0,0,0,0
$STATE,6067,end apogee,CONTROL_FINISHED_OK
$STATE,6067,begin climb
$GC,6069,0.62,125.3,1005.8,0.0,433,6200,0.70,1.52,124.45,1.847,4,0.096,0.033,2102,2180,989,0,0,0,0,0,0
$GC,6272,0.62,125.3,982.9,14.9,442,6280,0.00,1.55,0.00,0.000,6,0.000,0.049,2103,3074,986,0,0,0,0,0,0
$GC,6588,0.62,125.3,929.3,17.3,458,6592,0.00,1.45,0.00,0.000,4,0.000,0.059,2102,3955,984,0,0,0,0,0,0
$GC,6642,0.62,125.3,918.5,19.5,460,6647,0.00,1.42,0.00,0.000,6,0.000,0.031,2109,3038,983,0,0,0,0,0,0
$GC,6964,0.62,125.3,862.8,17.0,476,6966,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,3037,983,0,0,0,0,0,0
$GC,7274,0.62,125.3,810.3,17.0,491,7278,0.00,1.48,0.00,0.000,4,0.000,0.059,2110,3948,983,0,0,0,0,0,0
$GC,7311,0.62,125.3,803.1,19.2,492,7319,0.00,1.35,0.00,0.000,6,0.000,0.032,2116,3057,982,0,0,0,0,0,0
$GC,7627,0.62,125.3,747.7,17.4,508,7629,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,3057,982,0,0,0,0,0,0
$GC,7937,0.62,125.3,694.3,17.1,523,7940,0.00,1.42,0.00,0.000,4,0.000,0.057,2116,3947,981,0,0,0,0,0,0
$GC,7963,0.62,125.3,689.1,18.5,524,7967,0.00,1.35,0.00,0.000,6,0.000,0.032,2123,3053,982,0,0,0,0,0,0
$GC,8290,0.62,125.3,632.0,17.6,540,8291,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,3053,981,0,0,0,0,0,0
$GC,8599,0.62,125.3,577.3,17.8,555,8601,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,3053,981,0,0,0,0,0,0
$GC,8909,0.62,125.3,522.6,17.6,570,8912,0.00,1.45,0.00,0.000,4,0.000,0.059,2123,3958,981,0,0,0,0,0,0
$GC,8969,0.62,125.3,510.7,19.5,572,8977,0.00,1.35,0.00,0.000,6,0.000,0.032,2130,3058,981,0,0,0,0,0,0
$GC,9285,0.62,125.3,455.9,17.3,588,9288,0.00,1.42,0.00,0.000,4,0.000,0.059,2130,3955,981,0,0,0,0,0,0
$GC,9317,0.62,125.3,449.6,18.8,589,9322,0.10,1.35,0.00,0.000,6,0.209,0.032,2110,3056,981,0,0,0,0,0,0
$GC,9638,0.62,125.3,399.4,15.5,605,9639,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,3056,981,0,0,0,0,0,0
$GC,9957,0.62,125.3,350.4,15.3,635,9960,0.00,1.42,0.00,0.000,4,0.000,0.059,2110,3953,981,0,0,0,0,0,0
$GC,10027,0.62,125.3,338.3,18.6,641,10030,0.00,1.33,0.00,0.000,6,0.000,0.033,2115,3057,981,0,0,0,0,0,0
$GC,10357,0.62,125.3,284.0,15.6,672,10360,0.00,1.42,0.00,0.000,4,0.000,0.059,2115,3954,981,0,0,0,0,0,0
$GC,10447,0.62,125.3,267.7,17.9,680,10451,0.00,1.33,0.00,0.000,6,0.000,0.032,2122,3055,981,0,0,0,0,0,0
$GC,10777,0.62,125.3,216.4,15.6,711,10781,0.00,1.42,0.00,0.000,4,0.000,0.059,2122,3954,981,0,0,0,0,0,0
$GC,10871,0.62,125.3,199.3,18.8,719,10879,0.00,1.35,0.00,0.000,6,0.000,0.031,2129,3048,981,0,0,0,0,0,0
$GC,11196,0.62,125.3,146.3,15.4,750,11198,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,3047,981,0,0,0,0,0,0
$GC,11517,0.62,125.3,95.6,16.2,782,11524,0.00,1.42,0.00,0.000,4,0.000,0.057,2129,3950,981,0,0,0,0,0,0
$GC,11565,0.62,125.3,87.3,18.3,790,11572,0.08,1.30,0.00,0.000,6,0.207,0.032,2114,3058,981,0,0,0,0,0,0
$GC,11916,0.62,125.3,37.4,14.3,851,11925,0.00,1.40,0.00,0.000,4,0.000,0.056,2114,3951,981,0,0,0,0,0,0
$GC,11980,0.62,125.3,27.1,16.4,861,11989,0.00,1.30,0.00,0.000,6,0.000,0.032,2120,3056,981,0,0,0,0,0,0
$GC,12133,0.62,125.3,3.5,18.0,886,12141,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,3056,981,0,0,0,0,0,0
$STATE,12148,end climb,SURFACE_DEPTH_REACHED
$STATE,12148,begin surface coast
$FINISH,0.8,1.026490
$STATE,12167,end surface coast,CONTROL_FINISHED_OK
$STATE,12167,begin surface
$SM_CCo,12179,55.58,0.519,2,0,682,200.16
$SM_GC,1.96,0.00,0.00,55.58,0.000,0.000,0.519,62,3262,682,-5.74,0.90,200.16
$IRIDIUM_FIX,-4239.11,824.86,070608,151530
$TT8_MAMPS,0.027713
$HUMID,62.08
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.4,18.840
$10V_AH,10.3,9.735
$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,13.550,56.275,254.600,55.575,0.000,33.275,20.117,238.062,0.000,0.000,29.158,2187.903,7644.458,409.988,2306.730,105.818,0.000,1259.646,0.000,1975.177,0.000,0.544,0.000
$DEVICE_MAMPS,223.380,61.200,1858.185,518.670,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,617.545,619.753,679.382,68.992,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353952
$DATA_FILE_SIZE,50378,891
$CAP_FILE_SIZE,112298,0
$CFSIZE,259252224,252600320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,120815,092951,-4256.040,826.030,131,0.9,131,-25.0