version: 66.07
glider: 543
mission: 14
dive: 230
start: 9 14 115 5 33 10
data:
$ID,543
$MISSION,14
$DIVE,230
$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,-24870.666
$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,59
$R_STBD_OVSHOOT,26
$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
$GPS1,140915,052151,-4255.260,823.957,35,1.0,35,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-74.4
$GPS2,140915,053246,-4255.193,824.085,18,1.4,19,-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,209.4,1499,-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,12,begin dive
$GC,14,-0.54,-49.8,0.0,0.0,0,64,0.00,0.00,-44.65,0.000,6,0.000,0.000,60,3230,1704,0,0,0,0,0,0
$GC,66,-0.60,-107.0,3.0,-2.0,6,85,6.75,1.20,-7.72,0.000,4,0.226,0.080,1699,3956,1937,0,0,0,0,0,0
$GC,296,-0.52,-107.0,44.8,-17.7,44,304,0.10,1.10,0.00,0.000,6,0.163,0.030,1728,3213,1940,0,0,0,0,0,0
$GC,644,-0.52,-107.0,94.7,-14.2,105,652,0.00,0.00,0.00,0.000,6,0.000,0.000,1728,3213,1940,0,0,0,0,0,0
$GC,974,-0.52,-107.0,141.3,-14.3,139,978,0.00,1.17,0.00,0.000,4,0.000,0.055,1725,3954,1940,0,0,0,0,0,0
$GC,1058,-0.50,-107.0,154.5,-15.0,146,1065,0.00,1.10,0.00,0.000,6,0.000,0.029,1725,3198,1940,0,0,0,0,0,0
$GC,1385,-0.50,-107.0,197.9,-12.9,177,1389,0.00,1.20,0.00,0.000,4,0.000,0.054,1719,3958,1940,0,0,0,0,0,0
$GC,1465,-0.48,-107.0,209.3,-14.3,184,1469,0.08,1.08,0.00,0.000,6,0.158,0.029,1742,3218,1940,0,0,0,0,0,0
$GC,1795,-0.53,-107.0,244.7,-10.4,215,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3218,1940,0,0,0,0,0,0
$GC,2118,-0.58,-107.0,277.1,-10.2,245,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3218,1940,0,0,0,0,0,0
$GC,2443,-0.64,-107.0,309.1,-9.3,276,2448,0.12,1.17,0.00,0.000,4,0.096,0.054,1679,3952,1940,0,0,0,0,0,0
$GC,2516,-0.55,-107.0,319.9,-16.3,282,2524,0.12,1.08,0.00,0.000,6,0.157,0.029,1717,3214,1940,0,0,0,0,0,0
$GC,2843,-0.55,-107.0,358.7,-11.4,313,2847,0.00,1.30,0.00,0.000,4,0.000,0.027,1717,2288,1940,0,0,0,0,0,0
$GC,2881,-0.60,-107.0,363.1,-10.0,316,2890,0.00,1.48,0.00,0.000,6,0.000,0.049,1711,3211,1940,0,0,0,0,0,0
$GC,3206,-0.60,-107.0,402.7,-12.4,346,3209,0.00,1.15,0.00,0.000,4,0.000,0.054,1706,3950,1940,0,0,0,0,0,0
$GC,3289,-0.57,-107.0,413.9,-13.6,349,3296,0.00,1.08,0.00,0.000,6,0.000,0.030,1706,3201,1940,0,0,0,0,0,0
$GC,3604,-0.57,-107.0,453.7,-12.9,365,3608,0.00,1.17,0.00,0.000,4,0.000,0.054,1700,3948,1941,0,0,0,0,0,0
$GC,3688,-0.54,-107.0,465.5,-14.7,368,3695,0.08,1.08,0.00,0.000,6,0.165,0.030,1723,3206,1941,0,0,0,0,0,0
$GC,4004,-0.56,-107.0,500.8,-11.2,384,4005,0.00,0.00,0.00,0.000,6,0.000,0.000,1723,3207,1941,0,0,0,0,0,0
$GC,4313,-0.59,-107.0,534.3,-10.6,399,4317,0.00,1.17,0.00,0.000,4,0.000,0.055,1719,3949,1941,0,0,0,0,0,0
$GC,4358,-0.59,-107.0,539.4,-11.6,401,4362,0.00,1.08,0.00,0.000,6,0.000,0.030,1719,3209,1941,0,0,0,0,0,0
$GC,4691,-0.61,-107.0,575.3,-10.8,417,4694,0.00,1.17,0.00,0.000,4,0.000,0.055,1714,3950,1941,0,0,0,0,0,0
$GC,4740,-0.61,-107.0,581.5,-11.9,419,4745,0.00,1.08,0.00,0.000,6,0.000,0.030,1714,3211,1941,0,0,0,0,0,0
$GC,5067,-0.61,-107.0,618.0,-11.4,435,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,3212,1941,0,0,0,0,0,0
$GC,5377,-0.63,-107.0,653.6,-11.9,450,5378,0.00,0.00,0.00,0.000,6,0.000,0.000,1714,3212,1941,0,0,0,0,0,0
$GC,5687,-0.65,-107.0,690.0,-11.8,465,5690,0.00,1.30,0.00,0.000,4,0.000,0.028,1714,2305,1941,0,0,0,0,0,0
$GC,5727,-0.70,-107.0,694.3,-10.9,466,5733,0.00,1.48,0.00,0.000,6,0.000,0.050,1707,3213,1941,0,0,0,0,0,0
$GC,6042,-0.70,-107.0,732.0,-12.3,482,6046,0.00,1.15,0.00,0.000,4,0.000,0.057,1702,3941,1941,0,0,0,0,0,0
$GC,6170,-0.68,-107.0,749.2,-13.7,487,6177,0.00,1.08,0.00,0.000,6,0.000,0.031,1702,3210,1941,0,0,0,0,0,0
$GC,6486,-0.68,-107.0,787.3,-12.2,503,6487,0.00,0.00,0.00,0.000,6,0.000,0.000,1702,3210,1941,0,0,0,0,0,0
$GC,6795,-0.68,-107.0,823.9,-12.2,518,6799,0.00,1.20,0.00,0.000,4,0.000,0.057,1696,3949,1941,0,0,0,0,0,0
$GC,6841,-0.65,-107.0,829.8,-13.5,520,6845,0.00,1.08,0.00,0.000,6,0.000,0.031,1696,3213,1941,0,0,0,0,0,0
$GC,7172,-0.65,-107.0,869.9,-11.9,536,7176,0.00,1.30,0.00,0.000,4,0.000,0.028,1696,2303,1941,0,0,0,0,0,0
$GC,7199,-0.67,-107.0,873.2,-11.4,537,7203,0.00,1.48,0.00,0.000,6,0.000,0.050,1689,3210,1941,0,0,0,0,0,0
$GC,7527,-0.65,-107.0,912.2,-12.1,553,7530,0.00,1.17,0.00,0.000,4,0.000,0.057,1683,3956,1940,0,0,0,0,0,0
$GC,7651,-0.60,-107.0,928.8,-14.6,558,7655,0.00,1.10,0.00,0.000,6,0.000,0.032,1683,3206,1940,0,0,0,0,0,0
$GC,7972,-0.58,-107.0,968.3,-12.5,574,7977,0.12,1.20,0.00,0.000,4,0.190,0.057,1710,3949,1941,0,0,0,0,0,0
$GC,8003,-0.58,-107.0,972.3,-12.6,575,8008,0.00,1.10,0.00,0.000,6,0.000,0.031,1709,3209,1940,0,0,0,0,0,0
$STATE,8262,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8262,begin apogee
$GC,8267,-0.09,0.0,1000.4,11.0,588,8387,0.55,0.00,116.38,1.917,6,0.150,0.000,1869,2921,1499,0,0,0,0,0,0
$STATE,8388,end apogee,CONTROL_FINISHED_OK
$STATE,8388,begin climb
$GC,8389,0.60,107.0,1003.8,0.0,594,8506,0.73,0.00,113.57,1.848,6,0.088,0.000,2095,2922,1062,0,0,0,0,0,0
$GC,8815,0.58,107.0,948.0,15.2,615,8818,0.00,1.48,0.00,0.000,4,0.000,0.056,2095,3808,1055,0,0,0,0,0,0
$GC,8883,0.51,107.0,936.2,17.0,618,8887,0.10,1.35,0.00,0.000,6,0.196,0.029,2076,2909,1055,0,0,0,0,0,0
$GC,9216,0.52,107.0,888.4,14.1,634,9220,0.00,1.45,0.00,0.000,4,0.000,0.055,2076,3798,1054,0,0,0,0,0,0
$GC,9322,0.49,107.0,870.7,16.6,638,9329,0.00,1.30,0.00,0.000,6,0.000,0.029,2081,2923,1054,0,0,0,0,0,0
$GC,9638,0.49,107.0,823.5,15.0,654,9642,0.00,1.42,0.00,0.000,4,0.000,0.055,2081,3802,1053,0,0,0,0,0,0
$GC,9699,0.45,107.0,813.1,17.1,656,9707,0.12,1.30,0.00,0.000,6,0.186,0.028,2053,2917,1053,0,0,0,0,0,0
$GC,10015,0.50,107.0,772.5,12.4,672,10019,0.00,1.42,0.00,0.000,4,0.000,0.056,2053,3797,1052,0,0,0,0,0,0
$GC,10128,0.50,107.0,755.9,14.7,677,10132,0.00,1.30,0.00,0.000,6,0.000,0.030,2058,2917,1052,0,0,0,0,0,0
$GC,10460,0.55,107.0,713.9,12.4,693,10464,0.00,1.42,0.00,0.000,4,0.000,0.056,2058,3798,1051,0,0,0,0,0,0
$GC,10588,0.55,107.0,695.4,14.4,698,10595,0.00,1.27,0.00,0.000,6,0.000,0.030,2065,2926,1051,0,0,0,0,0,0
$GC,10904,0.58,107.0,656.4,12.2,714,10908,0.00,1.42,0.00,0.000,4,0.000,0.055,2065,3808,1051,0,0,0,0,0,0
$GC,10954,0.58,107.0,649.2,15.0,716,10958,0.00,1.30,0.00,0.000,6,0.000,0.030,2071,2930,1051,0,0,0,0,0,0
$GC,11281,0.61,107.0,607.4,12.6,732,11285,0.00,1.42,0.00,0.000,4,0.000,0.057,2071,3807,1051,0,0,0,0,0,0
$GC,11354,0.59,107.0,596.3,14.8,735,11357,0.00,1.30,0.00,0.000,6,0.000,0.030,2078,2925,1051,0,0,0,0,0,0
$GC,11680,0.59,107.0,553.9,12.9,751,11684,0.00,1.40,0.00,0.000,4,0.000,0.056,2078,3802,1050,0,0,0,0,0,0
$GC,11809,0.55,107.0,534.3,14.6,756,11816,0.00,1.30,0.00,0.000,6,0.000,0.030,2084,2919,1050,0,0,0,0,0,0
$GC,12124,0.55,107.0,492.8,13.0,772,12128,0.00,1.42,0.00,0.000,4,0.000,0.055,2085,3804,1050,0,0,0,0,0,0
$GC,12241,0.51,107.0,474.3,15.8,777,12246,0.00,1.30,0.00,0.000,6,0.000,0.029,2091,2913,1050,0,0,0,0,0,0
$GC,12568,0.51,107.0,427.6,14.4,793,12572,0.00,1.45,0.00,0.000,4,0.000,0.057,2091,3808,1050,0,0,0,0,0,0
$GC,12714,0.45,107.0,402.6,18.0,799,12718,0.15,1.30,0.00,0.000,6,0.177,0.030,2055,2926,1050,0,0,0,0,0,0
$GC,13047,0.52,107.0,360.9,12.3,829,13050,0.00,1.42,0.00,0.000,4,0.000,0.056,2055,3807,1050,0,0,0,0,0,0
$GC,13130,0.54,107.0,348.6,15.0,836,13139,0.00,1.30,0.00,0.000,6,0.000,0.030,2060,2921,1050,0,0,0,0,0,0
$GC,13455,0.59,107.0,307.9,12.5,867,13457,0.10,0.00,0.00,0.000,6,0.112,0.000,2109,2921,1050,0,0,0,0,0,0
$GC,13778,0.55,107.0,257.9,15.6,897,13781,0.00,1.42,0.00,0.000,4,0.000,0.056,2109,3802,1050,0,0,0,0,0,0
$GC,13982,0.47,107.0,222.1,17.9,915,13986,0.17,1.30,0.00,0.000,6,0.184,0.029,2067,2917,1050,0,0,0,0,0,0
$GC,14313,0.52,107.0,182.7,11.1,946,14316,0.00,1.42,0.00,0.000,4,0.000,0.055,2067,3797,1050,0,0,0,0,0,0
$GC,14381,0.52,107.0,173.4,14.0,952,14384,0.00,1.27,0.00,0.000,6,0.000,0.029,2073,2923,1050,0,0,0,0,0,0
$GC,14711,0.56,107.0,133.0,12.3,983,14715,0.00,1.42,0.00,0.000,4,0.000,0.056,2072,3810,1050,0,0,0,0,0,0
$GC,14893,0.56,107.0,107.4,13.3,999,14897,0.00,1.30,0.00,0.000,6,0.000,0.029,2079,2923,1050,0,0,0,0,0,0
$GC,15239,0.58,107.0,65.1,12.3,1054,15245,0.00,1.42,0.00,0.000,4,0.000,0.054,2079,3804,1050,0,0,0,0,0,0
$GC,15372,0.57,107.0,46.2,14.1,1077,15381,0.00,1.27,0.00,0.000,6,0.000,0.028,2086,2919,1050,0,0,0,0,0,0
$STATE,15722,end climb,SURFACE_DEPTH_REACHED
$STATE,15722,begin surface coast
$FINISH,1.3,1.026427
$STATE,15755,end surface coast,CONTROL_FINISHED_OK
$STATE,15755,begin surface
$SM_CCo,15768,41.50,0.138,0,0,680,200.16
$SM_GC,3.13,0.00,0.00,41.50,0.000,0.000,0.138,63,3209,680,-5.76,0.00,200.16
$IRIDIUM_FIX,-4236.17,848.12,100708,181808
$TT8_MAMPS,0.027713
$HUMID,63.30
$INTERNAL_PRESSURE,11.4079
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,21.9,44.215
$10V_AH,10.1,27.501
$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,14.725,77.275,229.950,41.500,0.000,53.288,137.186,274.548,0.000,0.000,21.328,2854.346,9855.230,409.595,3131.582,214.675,0.000,1517.784,0.000,2640.408,0.000,0.545,0.000
$DEVICE_MAMPS,225.675,79.560,1917.090,138.465,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,791.438,811.905,847.604,82.365,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353984
$DATA_FILE_SIZE,66929,1141
$CAP_FILE_SIZE,152363,0
$CFSIZE,259252224,239882240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,140915,095757,-4256.042,824.630,42,0.9,42,-25.0