version: 66.07
glider: 543
mission: 14
dive: 229
start: 9 14 115 1 3 34
data:
$ID,543
$MISSION,14
$DIVE,229
$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,-24867.213
$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,81
$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
$GPS1,140915,004934,-4255.383,825.133,27,1.0,28,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-73.0
$GPS2,140915,010310,-4255.373,825.228,18,1.0,19,-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,260.1,2030,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.54,-49.8,0.0,0.0,0,64,0.00,0.00,-45.72,0.000,6,0.000,0.000,68,3225,1703,0,0,0,0,0,0
$GC,66,-0.60,-112.8,2.8,-1.3,6,92,6.72,1.20,-8.98,0.000,4,0.228,0.082,1700,3956,1962,0,0,0,0,0,0
$GC,112,-0.32,-112.8,9.0,-12.8,12,122,0.32,1.08,0.00,0.000,6,0.157,0.030,1794,3235,1963,0,0,0,0,0,0
$GC,172,-0.46,-116.4,15.5,-8.1,21,182,0.12,0.00,-0.17,0.000,6,0.090,0.000,1736,3234,1975,0,0,0,0,0,0
$GC,232,-0.48,-116.4,22.3,-12.8,30,240,0.00,0.00,0.00,0.000,6,0.000,0.000,1736,3234,1975,0,0,0,0,0,0
$GC,383,-0.48,-116.4,42.7,-13.9,55,389,0.00,0.00,0.00,0.000,6,0.000,0.000,1736,3235,1975,0,0,0,0,0,0
$GC,731,-0.50,-116.4,89.9,-13.7,116,738,0.00,0.00,0.00,0.000,6,0.000,0.000,1736,3235,1975,0,0,0,0,0,0
$GC,1063,-0.52,-116.4,134.4,-13.2,153,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,1736,3234,1976,0,0,0,0,0,0
$GC,1381,-0.55,-116.4,178.4,-13.3,183,1385,0.00,1.12,0.00,0.000,4,0.000,0.056,1731,3947,1975,0,0,0,0,0,0
$GC,1438,-0.55,-116.4,186.3,-13.8,188,1441,0.00,1.10,0.00,0.000,6,0.000,0.030,1731,3187,1975,0,0,0,0,0,0
$GC,1769,-0.58,-116.4,229.2,-12.9,219,1772,0.00,1.20,0.00,0.000,4,0.000,0.055,1725,3946,1975,0,0,0,0,0,0
$GC,1829,-0.58,-116.4,237.5,-13.1,224,1839,0.00,1.08,0.00,0.000,6,0.000,0.029,1725,3210,1975,0,0,0,0,0,0
$GC,2155,-0.60,-116.4,279.3,-13.6,255,2159,0.00,1.17,0.00,0.000,4,0.000,0.054,1720,3956,1975,0,0,0,0,0,0
$GC,2250,-0.60,-116.4,293.4,-14.6,263,2258,0.00,1.10,0.00,0.000,6,0.000,0.029,1720,3205,1975,0,0,0,0,0,0
$GC,2576,-0.60,-116.4,337.1,-13.2,294,2577,0.00,0.00,0.00,0.000,6,0.000,0.000,1720,3205,1975,0,0,0,0,0,0
$GC,2895,-0.61,-116.4,377.4,-12.3,324,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,1720,3205,1975,0,0,0,0,0,0
$GC,3211,-0.63,-116.4,414.5,-11.7,348,3215,0.00,1.17,0.00,0.000,4,0.000,0.055,1714,3949,1975,0,0,0,0,0,0
$GC,3271,-0.63,-116.4,422.5,-13.2,350,3279,0.00,1.10,0.00,0.000,6,0.000,0.030,1715,3199,1975,0,0,0,0,0,0
$GC,3588,-0.63,-116.4,459.9,-11.9,366,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,3197,1975,0,0,0,0,0,0
$GC,3897,-0.63,-116.4,497.6,-12.4,381,3901,0.00,1.20,0.00,0.000,4,0.000,0.055,1709,3956,1976,0,0,0,0,0,0
$GC,3953,-0.61,-116.4,505.0,-13.3,383,3957,0.00,1.08,0.00,0.000,6,0.000,0.031,1708,3214,1975,0,0,0,0,0,0
$GC,4274,-0.61,-116.4,544.4,-12.3,399,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,1709,3214,1975,0,0,0,0,0,0
$GC,4584,-0.61,-116.4,583.0,-12.3,414,4587,0.00,1.15,0.00,0.000,4,0.000,0.056,1703,3938,1975,0,0,0,0,0,0
$GC,4610,-0.60,-116.4,586.8,-13.2,415,4615,0.00,1.08,0.00,0.000,6,0.000,0.031,1703,3207,1976,0,0,0,0,0,0
$GC,4937,-0.60,-116.4,628.9,-12.8,431,4941,0.00,1.17,0.00,0.000,4,0.000,0.056,1697,3950,1976,0,0,0,0,0,0
$GC,5028,-0.57,-116.4,641.2,-14.4,435,5032,0.00,1.08,0.00,0.000,6,0.000,0.031,1697,3211,1975,0,0,0,0,0,0
$GC,5360,-0.57,-116.4,683.6,-12.8,451,5361,0.00,0.00,0.00,0.000,6,0.000,0.000,1698,3211,1976,0,0,0,0,0,0
$GC,5670,-0.57,-116.4,723.4,-13.2,466,5671,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,3210,1976,0,0,0,0,0,0
$GC,5979,-0.57,-116.4,762.9,-12.5,481,5980,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,3210,1976,0,0,0,0,0,0
$GC,6288,-0.57,-116.4,801.5,-12.4,496,6292,0.00,1.17,0.00,0.000,4,0.000,0.057,1692,3948,1976,0,0,0,0,0,0
$GC,6383,-0.54,-116.4,813.7,-12.3,500,6387,0.10,1.08,0.00,0.000,6,0.158,0.031,1722,3221,1975,0,0,0,0,0,0
$GC,6710,-0.59,-116.4,845.9,-9.7,516,6714,0.00,1.33,0.00,0.000,4,0.000,0.028,1722,2293,1976,0,0,0,0,0,0
$GC,6734,-0.65,-116.4,848.2,-9.7,517,6737,0.00,1.48,0.00,0.000,6,0.000,0.051,1717,3202,1976,0,0,0,0,0,0
$GC,7066,-0.69,-116.4,880.6,-9.5,533,7070,0.10,1.20,0.00,0.000,4,0.113,0.058,1665,3951,1976,0,0,0,0,0,0
$GC,7138,-0.61,-116.4,890.5,-14.6,536,7142,0.10,1.10,0.00,0.000,6,0.168,0.031,1695,3203,1976,0,0,0,0,0,0
$GC,7464,-0.61,-116.4,926.7,-10.8,552,7465,0.00,0.00,0.00,0.000,6,0.000,0.000,1695,3202,1976,0,0,0,0,0,0
$GC,7773,-0.61,-116.4,960.9,-11.1,567,7774,0.00,0.00,0.00,0.000,6,0.000,0.000,1695,3202,1976,0,0,0,0,0,0
$GC,8083,-0.61,-116.4,995.2,-11.0,582,8084,0.00,0.00,0.00,0.000,6,0.000,0.000,1695,3202,1975,0,0,0,0,0,0
$STATE,8143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8143,begin apogee
$GC,8147,-0.09,0.0,1002.0,11.1,585,8276,0.60,0.00,125.20,1.926,6,0.151,0.000,1870,2918,1499,0,0,0,0,0,0
$STATE,8277,end apogee,CONTROL_FINISHED_OK
$STATE,8277,begin climb
$GC,8278,0.61,116.4,1004.0,0.0,591,8405,0.70,0.00,121.57,1.860,6,0.088,0.000,2094,2918,1024,0,0,0,0,0,0
$GC,8712,0.61,116.4,941.1,16.3,612,8715,0.00,1.48,0.00,0.000,4,0.000,0.056,2094,3805,1019,0,0,0,0,0,0
$GC,8757,0.56,116.4,932.9,18.4,614,8761,0.00,1.35,0.00,0.000,6,0.000,0.028,2101,2907,1018,0,0,0,0,0,0
$GC,9090,0.54,116.4,875.5,17.0,630,9093,0.00,1.48,0.00,0.000,4,0.000,0.056,2101,3805,1017,0,0,0,0,0,0
$GC,9207,0.47,116.4,852.5,19.6,635,9211,0.15,1.30,0.00,0.000,6,0.190,0.029,2066,2926,1016,0,0,0,0,0,0
$GC,9535,0.51,116.4,805.7,14.1,651,9538,0.00,1.42,0.00,0.000,4,0.000,0.056,2066,3804,1016,0,0,0,0,0,0
$GC,9606,0.51,116.4,793.9,15.5,654,9611,0.00,1.33,0.00,0.000,6,0.000,0.029,2071,2917,1016,0,0,0,0,0,0
$GC,9934,0.54,116.4,748.2,13.7,670,9938,0.00,1.45,0.00,0.000,4,0.000,0.056,2071,3809,1015,0,0,0,0,0,0
$GC,10062,0.52,116.4,727.6,15.5,675,10069,0.00,1.30,0.00,0.000,6,0.000,0.030,2078,2925,1015,0,0,0,0,0,0
$GC,10379,0.54,116.4,684.3,13.3,691,10382,0.00,1.42,0.00,0.000,4,0.000,0.056,2078,3807,1015,0,0,0,0,0,0
$GC,10496,0.51,116.4,665.3,16.7,696,10500,0.00,1.30,0.00,0.000,6,0.000,0.029,2085,2924,1014,0,0,0,0,0,0
$GC,10823,0.51,116.4,619.1,14.0,712,10827,0.00,1.42,0.00,0.000,4,0.000,0.056,2084,3806,1014,0,0,0,0,0,0
$GC,10917,0.47,116.4,603.7,16.2,716,10922,0.08,1.30,0.00,0.000,6,0.190,0.029,2070,2921,1014,0,0,0,0,0,0
$GC,11245,0.51,116.4,561.1,12.9,732,11248,0.00,1.42,0.00,0.000,4,0.000,0.056,2070,3805,1014,0,0,0,0,0,0
$GC,11390,0.51,116.4,539.4,15.1,738,11394,0.00,1.27,0.00,0.000,6,0.000,0.030,2075,2925,1013,0,0,0,0,0,0
$GC,11712,0.54,116.4,497.3,13.0,754,11715,0.00,1.42,0.00,0.000,4,0.000,0.056,2075,3806,1013,0,0,0,0,0,0
$GC,11802,0.52,116.4,484.0,14.6,758,11806,0.00,1.30,0.00,0.000,6,0.000,0.030,2082,2919,1013,0,0,0,0,0,0
$GC,12135,0.54,116.4,438.6,13.5,774,12136,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,2919,1014,0,0,0,0,0,0
$GC,12445,0.55,116.4,396.7,13.7,790,12448,0.00,1.42,0.00,0.000,4,0.000,0.056,2082,3798,1013,0,0,0,0,0,0
$GC,12682,0.52,116.4,358.5,16.3,811,12685,0.00,1.27,0.00,0.000,6,0.000,0.029,2088,2924,1013,0,0,0,0,0,0
$GC,13012,0.52,116.4,309.4,14.7,842,13016,0.00,1.42,0.00,0.000,4,0.000,0.056,2088,3810,1014,0,0,0,0,0,0
$GC,13051,0.49,116.4,302.8,17.1,845,13058,0.08,1.30,0.00,0.000,6,0.189,0.029,2073,2918,1013,0,0,0,0,0,0
$GC,13376,0.53,116.4,258.5,12.9,876,13380,0.00,1.42,0.00,0.000,4,0.000,0.056,2074,3800,1013,0,0,0,0,0,0
$GC,13527,0.53,116.4,236.3,14.3,889,13531,0.00,1.27,0.00,0.000,6,0.000,0.029,2078,2923,1014,0,0,0,0,0,0
$GC,13858,0.56,116.4,192.2,12.8,920,13861,0.00,1.42,0.00,0.000,4,0.000,0.054,2079,3804,1014,0,0,0,0,0,0
$GC,13927,0.54,116.4,182.3,14.8,926,13931,0.00,1.27,0.00,0.000,6,0.000,0.028,2085,2924,1013,0,0,0,0,0,0
$GC,14260,0.56,116.4,138.7,12.6,957,14263,0.00,1.42,0.00,0.000,4,0.000,0.054,2085,3809,1013,0,0,0,0,0,0
$GC,14399,0.53,116.4,118.7,15.0,969,14403,0.00,1.27,0.00,0.000,6,0.000,0.028,2091,2925,1013,0,0,0,0,0,0
$GC,14736,0.53,116.4,75.2,13.1,1016,14742,0.00,1.42,0.00,0.000,4,0.000,0.054,2092,3813,1013,0,0,0,0,0,0
$GC,14802,0.50,116.4,65.5,15.3,1027,14809,0.10,1.27,0.00,0.000,6,0.179,0.028,2070,2924,1013,0,0,0,0,0,0
$GC,15159,0.54,116.4,25.9,11.2,1088,15167,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,2923,1013,0,0,0,0,0,0
$GC,15311,0.59,116.4,9.5,9.7,1113,15319,0.00,1.42,0.00,0.000,4,0.000,0.055,2070,3811,1013,0,0,0,0,0,0
$STATE,15355,end climb,SURFACE_DEPTH_REACHED
$STATE,15356,begin surface coast
$FINISH,1.4,1.026526
$STATE,15375,end surface coast,CONTROL_FINISHED_OK
$STATE,15375,begin surface
$SM_CCo,15388,37.58,0.138,0,0,681,200.16
$SM_GC,2.70,0.00,0.00,37.58,0.000,0.000,0.138,60,3230,681,-5.77,0.59,200.16
$IRIDIUM_FIX,-4239.11,821.95,100708,141451
$TT8_MAMPS,0.026964
$HUMID,63.27
$INTERNAL_PRESSURE,11.4079
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,21.9,44.067
$10V_AH,10.1,27.394
$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,14.675,66.300,246.775,37.575,0.000,50.030,45.801,490.777,0.000,0.000,21.396,2788.583,9629.723,392.714,3199.266,221.396,0.000,1479.599,0.000,2576.952,0.000,0.545,0.000
$DEVICE_MAMPS,227.970,81.855,1926.270,137.700,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,778.332,794.282,867.580,89.699,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353948
$DATA_FILE_SIZE,63539,1123
$CAP_FILE_SIZE,151978,0
$CFSIZE,259252224,239964160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,140915,052151,-4255.260,823.957,35,1.0,35,-25.0