version: 66.07
glider: 543
mission: 14
dive: 140
start: 8 24 115 16 15 45
data:
$ID,543
$MISSION,14
$DIVE,140
$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,-24549.068
$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,70
$R_STBD_OVSHOOT,30
$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
$GPS1,240815,160803,-4255.306,823.939,40,0.9,40,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.29
$_SM_ANGLEo,-75.8
$GPS2,240815,161523,-4255.396,823.947,15,1.7,16,-25.0
$SPEED_LIMITS,0.148,0.223
$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,201.3,1120,-27.0,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.54,-49.8,0.0,0.0,0,65,0.00,0.00,-44.67,0.000,6,0.000,0.000,64,3223,1704,0,0,0,0,0,0
$GC,67,-0.60,-108.7,3.1,-1.8,6,86,6.62,1.23,-7.57,0.000,4,0.226,0.080,1703,3957,1945,0,0,0,0,0,0
$GC,258,-0.53,-108.7,36.4,-17.9,37,268,0.08,1.10,0.00,0.000,6,0.168,0.031,1725,3225,1947,0,0,0,0,0,0
$GC,407,-0.53,-108.7,59.3,-14.8,62,413,0.00,0.00,0.00,0.000,6,0.000,0.000,1725,3225,1947,0,0,0,0,0,0
$GC,751,-0.53,-108.7,109.9,-14.4,117,752,0.00,0.00,0.00,0.000,6,0.000,0.000,1725,3225,1947,0,0,0,0,0,0
$GC,1069,-0.53,-108.7,154.1,-12.9,147,1072,0.00,1.15,0.00,0.000,4,0.000,0.056,1721,3948,1947,0,0,0,0,0,0
$GC,1260,-0.53,-108.7,181.8,-14.6,164,1264,0.00,1.10,0.00,0.000,6,0.000,0.031,1721,3198,1947,0,0,0,0,0,0
$GC,1590,-0.53,-108.7,225.7,-12.5,195,1594,0.00,1.27,0.00,0.000,4,0.000,0.028,1721,2309,1947,0,0,0,0,0,0
$GC,1651,-0.58,-108.7,233.1,-11.2,200,1661,0.00,1.45,0.00,0.000,6,0.000,0.050,1714,3209,1947,0,0,0,0,0,0
$GC,1976,-0.58,-108.7,274.5,-12.8,231,1979,0.00,1.17,0.00,0.000,4,0.000,0.057,1709,3947,1947,0,0,0,0,0,0
$GC,2033,-0.54,-108.7,282.3,-13.8,236,2036,0.00,1.08,0.00,0.000,6,0.000,0.031,1709,3208,1947,0,0,0,0,0,0
$GC,2363,-0.54,-108.7,326.6,-13.9,267,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,3208,1947,0,0,0,0,0,0
$GC,2684,-0.54,-108.7,371.1,-13.9,297,2688,0.00,1.17,0.00,0.000,4,0.000,0.056,1703,3952,1947,0,0,0,0,0,0
$GC,2741,-0.50,-108.7,380.0,-14.7,302,2746,0.10,1.08,0.00,0.000,6,0.158,0.032,1734,3221,1947,0,0,0,0,0,0
$GC,3078,-0.54,-108.7,419.9,-11.8,326,3079,0.00,0.00,0.00,0.000,6,0.000,0.000,1734,3221,1947,0,0,0,0,0,0
$GC,3387,-0.58,-108.7,456.3,-11.8,341,3390,0.00,1.15,0.00,0.000,4,0.000,0.057,1730,3948,1947,0,0,0,0,0,0
$GC,3436,-0.60,-108.7,462.9,-12.6,343,3441,0.00,1.10,0.00,0.000,6,0.000,0.031,1730,3197,1947,0,0,0,0,0,0
$GC,3763,-0.64,-108.7,502.8,-11.9,359,3767,0.00,1.20,0.00,0.000,4,0.000,0.057,1724,3954,1947,0,0,0,0,0,0
$GC,3847,-0.64,-108.7,513.9,-12.8,362,3854,0.00,1.08,0.00,0.000,6,0.000,0.032,1724,3221,1947,0,0,0,0,0,0
$GC,4163,-0.66,-108.7,551.8,-11.6,378,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,1725,3220,1947,0,0,0,0,0,0
$GC,4472,-0.68,-108.7,587.2,-11.4,393,4474,0.12,0.00,0.00,0.000,6,0.104,0.000,1670,3220,1947,0,0,0,0,0,0
$GC,4782,-0.60,-108.7,634.2,-15.3,408,4786,0.15,1.17,0.00,0.000,4,0.184,0.057,1703,3948,1947,0,0,0,0,0,0
$GC,4917,-0.57,-108.7,653.0,-13.4,414,4921,0.00,1.10,0.00,0.000,6,0.000,0.033,1703,3202,1947,0,0,0,0,0,0
$GC,5249,-0.57,-108.7,695.2,-12.5,430,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,1703,3202,1947,0,0,0,0,0,0
$GC,5558,-0.57,-108.7,733.8,-12.4,445,5562,0.00,1.17,0.00,0.000,4,0.000,0.059,1698,3944,1947,0,0,0,0,0,0
$GC,5636,-0.53,-108.7,744.5,-14.3,448,5641,0.10,1.08,0.00,0.000,6,0.167,0.033,1727,3219,1947,0,0,0,0,0,0
$GC,5959,-0.58,-108.7,778.8,-10.5,464,5960,0.00,0.00,0.00,0.000,6,0.000,0.000,1727,3219,1947,0,0,0,0,0,0
$GC,6267,-0.63,-108.7,810.2,-10.2,479,6270,0.00,1.15,0.00,0.000,4,0.000,0.059,1723,3945,1947,0,0,0,0,0,0
$GC,6316,-0.66,-108.7,816.0,-11.3,481,6320,0.00,1.10,0.00,0.000,6,0.000,0.033,1723,3196,1947,0,0,0,0,0,0
$GC,6643,-0.70,-108.7,849.8,-10.2,497,6645,0.12,0.00,0.00,0.000,6,0.103,0.000,1668,3195,1947,0,0,0,0,0,0
$GC,6953,-0.64,-108.7,892.5,-13.9,512,6957,0.12,1.23,0.00,0.000,4,0.187,0.059,1693,3955,1947,0,0,0,0,0,0
$GC,7088,-0.61,-108.7,909.5,-11.7,518,7092,0.00,1.10,0.00,0.000,6,0.000,0.034,1694,3211,1947,0,0,0,0,0,0
$GC,7420,-0.61,-108.7,947.0,-11.1,534,7424,0.00,1.17,0.00,0.000,4,0.000,0.059,1689,3952,1947,0,0,0,0,0,0
$GC,7497,-0.58,-108.7,956.5,-12.6,537,7502,0.00,1.12,0.00,0.000,6,0.000,0.032,1688,3198,1947,0,0,0,0,0,0
$GC,7819,-0.56,-108.7,994.4,-12.1,553,7821,0.12,0.00,0.00,0.000,6,0.194,0.000,1719,3198,1948,0,0,0,0,0,0
$STATE,7879,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7879,begin apogee
$GC,7884,-0.09,0.0,1000.7,10.7,556,8022,0.50,0.00,120.70,1.864,6,0.148,0.000,1868,2933,1499,0,0,0,0,2,0
$STATE,8023,end apogee,CONTROL_FINISHED_OK
$STATE,8023,begin climb
$GC,8025,0.60,108.7,1003.4,0.0,563,8144,0.68,1.52,111.62,1.843,4,0.092,0.034,2095,2054,1055,0,0,0,0,0,0
$GC,8200,0.62,108.7,984.1,14.0,571,8204,0.00,1.50,0.00,0.000,6,0.000,0.048,2095,2915,1052,0,0,0,0,0,0
$GC,8527,0.60,108.7,931.5,16.0,587,8528,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2914,1049,0,0,0,0,0,0
$GC,8836,0.57,108.7,881.9,16.2,602,8840,0.00,1.48,0.00,0.000,4,0.000,0.057,2095,3818,1048,0,0,0,0,0,0
$GC,8987,0.50,108.7,854.1,17.9,608,8995,0.12,1.38,0.00,0.000,6,0.201,0.031,2068,2906,1047,0,0,0,0,0,0
$GC,9303,0.52,108.7,808.0,14.4,624,9307,0.00,1.48,0.00,0.000,4,0.000,0.057,2069,3812,1047,0,0,0,0,0,0
$GC,9363,0.50,108.7,798.2,15.9,626,9371,0.00,1.33,0.00,0.000,6,0.000,0.031,2074,2930,1047,0,0,0,0,0,0
$GC,9680,0.50,108.7,753.4,14.0,642,9683,0.00,1.45,0.00,0.000,4,0.000,0.057,2074,3819,1047,0,0,0,0,0,0
$GC,9706,0.47,108.7,749.3,15.1,643,9711,0.00,1.35,0.00,0.000,6,0.000,0.030,2080,2920,1046,0,0,0,0,0,0
$GC,10033,0.47,108.7,704.4,13.5,659,10037,0.00,1.45,0.00,0.000,4,0.000,0.057,2080,3812,1046,0,0,0,0,0,0
$GC,10105,0.43,108.7,693.2,15.3,662,10110,0.12,1.33,0.00,0.000,6,0.189,0.031,2052,2926,1046,0,0,0,0,0,0
$GC,10432,0.48,108.7,656.4,10.9,678,10436,0.00,1.45,0.00,0.000,4,0.000,0.058,2052,3815,1045,0,0,0,0,0,0
$GC,10523,0.48,108.7,644.9,12.5,682,10526,0.00,1.33,0.00,0.000,6,0.000,0.032,2057,2926,1045,0,0,0,0,0,0
$GC,10855,0.52,108.7,609.5,10.5,698,10858,0.00,1.45,0.00,0.000,4,0.000,0.058,2057,3818,1045,0,0,0,0,0,0
$GC,10960,0.52,108.7,596.1,13.1,702,10968,0.00,1.33,0.00,0.000,6,0.000,0.031,2064,2920,1045,0,0,0,0,0,0
$GC,11276,0.55,108.7,559.7,12.3,718,11280,0.00,1.45,0.00,0.000,4,0.000,0.057,2064,3813,1045,0,0,0,0,0,0
$GC,11337,0.53,108.7,551.2,14.5,720,11344,0.00,1.33,0.00,0.000,6,0.000,0.031,2071,2921,1045,0,0,0,0,0,0
$GC,11653,0.55,108.7,508.8,13.6,736,11657,0.00,1.45,0.00,0.000,4,0.000,0.058,2070,3815,1045,0,0,0,0,0,0
$GC,11686,0.53,108.7,503.7,15.9,737,11690,0.00,1.33,0.00,0.000,6,0.000,0.031,2077,2923,1045,0,0,0,0,0,0
$GC,12007,0.53,108.7,458.2,14.0,753,12011,0.00,1.42,0.00,0.000,4,0.000,0.057,2077,3810,1045,0,0,0,0,0,0
$GC,12079,0.49,108.7,446.7,15.3,756,12083,0.00,1.30,0.00,0.000,6,0.000,0.031,2084,2927,1045,0,0,0,0,0,0
$GC,12406,0.49,108.7,401.0,13.7,772,12410,0.00,1.42,0.00,0.000,4,0.000,0.059,2084,3807,1044,0,0,0,0,0,0
$GC,12440,0.45,108.7,396.0,17.0,774,12444,0.12,1.30,0.00,0.000,6,0.192,0.031,2056,2932,1044,0,0,0,0,0,0
$GC,12773,0.49,108.7,358.0,10.9,805,12777,0.00,1.42,0.00,0.000,4,0.000,0.059,2056,3814,1045,0,0,0,0,0,0
$GC,12934,0.49,108.7,337.3,12.0,819,12943,0.00,1.35,0.00,0.000,6,0.000,0.031,2061,2914,1044,0,0,0,0,0,0
$GC,13261,0.54,108.7,302.7,10.7,850,13264,0.00,1.45,0.00,0.000,4,0.000,0.059,2061,3810,1044,0,0,0,0,0,0
$GC,13351,0.54,108.7,291.4,12.6,858,13355,0.00,1.30,0.00,0.000,6,0.000,0.031,2068,2933,1044,0,0,0,0,0,0
$GC,13685,0.57,108.7,255.0,11.0,889,13688,0.00,1.42,0.00,0.000,4,0.000,0.058,2068,3815,1044,0,0,0,0,0,0
$GC,13790,0.57,108.7,240.4,13.3,898,13798,0.00,1.35,0.00,0.000,6,0.000,0.030,2075,2912,1044,0,0,0,0,0,0
$GC,14119,0.59,108.7,201.1,12.7,929,14125,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,2912,1044,0,0,0,0,0,0
$GC,14445,0.61,108.7,159.8,12.6,960,14448,0.00,1.45,0.00,0.000,4,0.000,0.057,2074,3811,1044,0,0,0,0,0,0
$GC,14586,0.59,108.7,139.1,14.6,972,14594,0.00,1.30,0.00,0.000,6,0.000,0.030,2081,2927,1044,0,0,0,0,0,0
$GC,14911,0.60,108.7,98.3,12.3,1004,14918,0.00,1.42,0.00,0.000,4,0.000,0.057,2082,3811,1044,0,0,0,0,0,0
$GC,14953,0.58,108.7,92.5,13.9,1011,14962,0.00,1.33,0.00,0.000,6,0.000,0.031,2088,2910,1044,0,0,0,0,0,0
$GC,15305,0.58,108.7,48.8,12.1,1072,15312,0.00,1.45,0.00,0.000,4,0.000,0.057,2088,3812,1045,0,0,0,0,0,0
$GC,15429,0.54,108.7,31.4,14.1,1093,15438,0.00,1.30,0.00,0.000,6,0.000,0.030,2095,2925,1045,0,0,0,0,0,0
$GC,15581,0.54,108.7,11.7,12.9,1118,15590,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2925,1045,0,0,0,0,0,0
$GC,15639,0.54,108.7,3.9,13.6,1127,15647,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2925,1045,0,0,0,0,0,0
$STATE,15654,end climb,SURFACE_DEPTH_REACHED
$STATE,15654,begin surface coast
$FINISH,1.3,1.010415
$STATE,15679,end surface coast,CONTROL_FINISHED_OK
$STATE,15679,begin surface
$SM_CCo,15692,39.97,0.142,0,0,680,200.16
$SM_GC,2.80,0.00,0.00,39.97,0.000,0.000,0.142,73,3228,680,-5.72,0.54,200.16
$IRIDIUM_FIX,-4239.11,821.95,200608,010150
$TT8_MAMPS,0.027713
$HUMID,62.36
$INTERNAL_PRESSURE,11.3786
$TCM_TEMP,13.20
$XPDR_PINGS,0
$24V_AH,22.3,28.484
$10V_AH,10.2,16.439
$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,14.550,75.925,232.325,39.975,0.000,26.292,21.621,276.343,0.000,0.000,18.516,2830.013,9824.137,409.608,2940.138,167.694,0.000,1524.776,0.000,2588.735,0.000,0.544,0.000
$DEVICE_MAMPS,226.440,80.325,1863.540,142.290,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,786.214,801.278,821.376,76.942,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353964
$DATA_FILE_SIZE,63648,1133
$CAP_FILE_SIZE,152921,0
$CFSIZE,259252224,247758848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,240815,203950,-4257.126,824.516,58,4.0,77,-25.0