version: 66.07
glider: 543
mission: 14
dive: 12
start: 7 30 115 3 13 3
data:
$ID,543
$MISSION,14
$DIVE,12
$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,260.99493
$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,-24164.131
$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,46
$R_STBD_OVSHOOT,21
$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
$GPS1,300715,024906,-4250.790,833.836,132,1.0,132,-25.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-69.1
$GPS2,300715,031240,-4250.517,833.771,30,1.1,30,-25.1
$SPEED_LIMITS,0.172,0.259
$TGT_NAME,SAF_1
$TGT_LATLONG,-4500.000,630.000
$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,239.2,289442,-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,-146.1,0.0,0.0,0,73,0.00,0.00,-56.72,0.000,2,0.000,0.000,60,3260,2000,0,0,0,0,0,0
$GC,74,-0.47,-146.1,3.0,-2.9,7,92,6.70,0.00,-4.03,0.000,6,0.227,0.000,1753,3259,2167,0,0,0,0,0,0
$GC,140,-0.47,-146.1,19.7,-20.7,17,148,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3259,2172,0,0,0,0,0,0
$GC,197,-0.47,-146.1,31.4,-22.7,26,206,0.00,1.15,0.00,0.000,4,0.000,0.062,1749,3960,2172,0,0,0,0,0,0
$GC,220,-0.47,-146.1,35.5,-20.8,29,228,0.00,1.10,0.00,0.000,6,0.000,0.037,1749,3253,2172,0,0,0,0,0,0
$GC,365,-0.47,-146.1,57.3,-14.6,54,373,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,3252,2172,0,0,0,0,0,0
$GC,709,-0.47,-146.1,109.2,-16.8,110,713,0.00,1.12,0.00,0.000,4,0.000,0.063,1744,3951,2172,0,0,0,0,0,0
$GC,770,-0.47,-146.1,118.2,-12.7,115,778,0.00,1.10,0.00,0.000,6,0.000,0.036,1744,3239,2173,0,0,0,0,0,0
$GC,1095,-0.47,-146.1,164.8,-14.5,146,1098,0.00,1.15,0.00,0.000,4,0.000,0.062,1738,3958,2172,0,0,0,0,0,0
$GC,1132,-0.47,-146.1,171.1,-16.9,149,1140,0.00,1.08,0.00,0.000,6,0.000,0.036,1738,3252,2172,0,0,0,0,0,0
$GC,1458,-0.47,-146.1,218.2,-14.0,180,1461,0.00,1.33,0.00,0.000,4,0.000,0.036,1738,2364,2172,0,0,0,0,0,0
$GC,1502,-0.47,-146.1,224.5,-13.1,184,1506,0.00,1.42,0.00,0.000,6,0.000,0.057,1732,3247,2172,0,0,0,0,0,0
$GC,1832,-0.47,-146.1,273.0,-13.9,215,1834,0.12,0.00,0.00,0.000,6,0.186,0.000,1762,3247,2172,0,0,0,0,0,0
$GC,2153,-0.47,-146.1,308.5,-10.8,245,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,3247,2172,0,0,0,0,0,0
$GC,2470,-0.47,-146.1,344.1,-11.5,275,2471,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,3247,2172,0,0,0,0,0,0
$GC,2792,-0.47,-146.1,381.1,-11.2,305,2798,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,3247,2172,0,0,0,0,0,0
$GC,3112,-0.47,-146.1,416.4,-10.9,329,3115,0.00,1.12,0.00,0.000,4,0.000,0.064,1758,3959,2172,0,0,0,0,0,0
$GC,3138,-0.47,-146.1,419.6,-11.5,330,3143,0.00,1.08,0.00,0.000,6,0.000,0.037,1759,3252,2172,0,0,0,0,0,0
$GC,3466,-0.47,-146.1,455.5,-10.7,346,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,3252,2172,0,0,0,0,0,0
$GC,3774,-0.47,-146.1,486.7,-9.8,361,3778,0.00,1.33,0.00,0.000,4,0.000,0.036,1759,2367,2172,0,0,0,0,0,0
$GC,3812,-0.47,-146.1,490.4,-8.7,362,3820,0.00,1.45,0.00,0.000,6,0.000,0.057,1753,3257,2172,0,0,0,0,0,0
$GC,4128,-0.47,-146.1,523.8,-11.0,378,4131,0.00,1.10,0.00,0.000,4,0.000,0.064,1747,3955,2172,0,0,0,0,0,0
$GC,4182,-0.47,-146.1,530.1,-11.5,380,4186,0.00,1.08,0.00,0.000,6,0.000,0.038,1747,3249,2172,0,0,0,0,0,0
$GC,4503,-0.47,-146.1,565.1,-11.0,396,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3249,2172,0,0,0,0,0,0
$GC,4813,-0.47,-146.1,598.9,-10.8,411,4814,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3249,2172,0,0,0,0,0,0
$GC,5122,-0.47,-146.1,631.0,-10.3,426,5123,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3249,2172,0,0,0,0,0,0
$GC,5432,-0.47,-146.1,661.4,-9.6,441,5433,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3249,2172,0,0,0,0,0,0
$GC,5741,-0.47,-146.1,691.5,-9.7,456,5742,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3249,2172,0,0,0,0,0,0
$GC,6050,-0.47,-146.1,722.3,-10.2,471,6051,0.00,0.00,0.00,0.000,6,0.000,0.000,1746,3249,2172,0,0,0,0,0,0
$GC,6359,-0.47,-146.1,754.1,-10.1,486,6363,0.00,1.12,0.00,0.000,4,0.000,0.066,1742,3956,2172,0,0,0,0,0,0
$GC,6408,-0.47,-146.1,759.7,-10.6,488,6413,0.00,1.08,0.00,0.000,6,0.000,0.040,1742,3256,2172,0,0,0,0,0,0
$GC,6735,-0.47,-146.1,795.5,-11.2,504,6736,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3255,2172,0,0,0,0,0,0
$GC,7044,-0.47,-146.1,831.1,-11.5,519,7048,0.00,1.35,0.00,0.000,4,0.000,0.037,1742,2351,2171,0,0,0,0,0,0
$GC,7076,-0.47,-146.1,835.0,-10.9,520,7081,0.00,1.48,0.00,0.000,6,0.000,0.059,1735,3255,2171,0,0,0,0,0,0
$GC,7398,-0.47,-146.1,872.4,-11.8,536,7401,0.00,1.10,0.00,0.000,4,0.000,0.067,1730,3951,2171,0,0,0,0,0,0
$GC,7465,-0.47,-146.1,880.4,-12.4,539,7470,0.08,1.05,0.00,0.000,6,0.165,0.041,1754,3256,2171,0,0,0,0,0,0
$GC,7797,-0.47,-146.1,912.6,-9.6,555,7800,0.00,1.35,0.00,0.000,4,0.000,0.036,1753,2339,2171,0,0,0,0,0,0
$GC,7828,-0.47,-146.1,915.7,-9.1,556,7833,0.00,1.45,0.00,0.000,6,0.000,0.060,1749,3242,2171,0,0,0,0,0,0
$GC,8150,-0.47,-146.1,947.4,-10.1,572,8154,0.00,1.12,0.00,0.000,4,0.000,0.067,1744,3955,2171,0,0,0,0,0,0
$GC,8210,-0.47,-146.1,953.8,-10.3,574,8218,0.00,1.10,0.00,0.000,6,0.000,0.040,1744,3232,2171,0,0,0,0,0,0
$GC,8526,-0.47,-146.1,986.6,-10.7,590,8527,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,3233,2172,0,0,0,0,0,0
$STATE,8669,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8669,begin apogee
$GC,8672,-0.11,0.0,1001.7,10.3,597,8824,0.43,0.00,148.23,1.900,6,0.151,0.000,1872,3232,1569,0,0,0,0,0,0
$STATE,8824,end apogee,CONTROL_FINISHED_OK
$STATE,8825,begin climb
$GC,8826,0.47,146.1,1006.4,0.0,604,8978,0.57,0.00,142.52,1.857,6,0.080,0.000,2064,3232,974,0,0,0,0,0,0
$GC,9285,0.47,146.1,951.5,14.7,627,9288,0.00,1.48,0.00,0.000,4,0.000,0.041,2071,2308,969,0,0,0,0,0,0
$GC,9401,0.47,146.1,936.2,13.2,632,9406,0.00,1.52,0.00,0.000,6,0.000,0.057,2071,3201,968,0,0,0,0,0,0
$GC,9728,0.47,146.1,890.8,13.9,648,9732,0.00,1.38,0.00,0.000,4,0.000,0.041,2077,2315,968,0,0,0,0,0,0
$GC,9805,0.47,146.1,881.0,13.1,651,9810,0.00,1.50,0.00,0.000,6,0.000,0.056,2077,3211,968,0,0,0,0,0,0
$GC,10127,0.47,146.1,833.4,15.3,667,10130,0.00,1.40,0.00,0.000,4,0.000,0.041,2084,2310,968,0,0,0,0,0,0
$GC,10220,0.47,146.1,819.9,14.3,671,10225,0.00,1.48,0.00,0.000,6,0.000,0.056,2084,3199,968,0,0,0,0,0,0
$GC,10548,0.47,146.1,767.8,16.1,687,10551,0.00,1.38,0.00,0.000,4,0.000,0.040,2091,2310,967,0,0,0,0,0,0
$GC,10675,0.47,146.1,749.0,15.0,692,10683,0.00,1.48,0.00,0.000,6,0.000,0.057,2091,3201,967,0,0,0,0,0,0
$GC,10991,0.47,146.1,699.9,15.2,708,10995,0.00,1.35,0.00,0.000,4,0.000,0.040,2097,2315,967,0,0,0,0,0,0
$GC,11068,0.47,146.1,689.0,14.1,711,11073,0.00,1.48,0.00,0.000,6,0.000,0.057,2097,3210,967,0,0,0,0,0,0
$GC,11390,0.47,146.1,636.9,16.6,727,11393,0.00,1.38,0.00,0.000,4,0.000,0.040,2104,2313,967,0,0,0,0,0,0
$GC,11489,0.47,146.1,621.6,14.9,731,11494,0.15,1.48,0.00,0.000,6,0.213,0.057,2070,3210,967,0,0,0,0,0,0
$GC,11811,0.47,146.1,577.0,13.8,747,11814,0.00,1.38,0.00,0.000,4,0.000,0.039,2075,2310,967,0,0,0,0,0,0
$GC,11887,0.47,146.1,567.0,13.6,750,11892,0.00,1.48,0.00,0.000,6,0.000,0.057,2075,3208,967,0,0,0,0,0,0
$GC,12209,0.47,146.1,520.6,15.1,766,12212,0.00,1.38,0.00,0.000,4,0.000,0.038,2082,2309,967,0,0,0,0,0,0
$GC,12313,0.47,146.1,505.8,14.1,770,12322,0.00,1.48,0.00,0.000,6,0.000,0.057,2082,3208,967,0,0,0,0,0,0
$GC,12630,0.47,146.1,456.7,15.6,786,12633,0.00,1.38,0.00,0.000,4,0.000,0.038,2089,2308,967,0,0,0,0,0,0
$GC,12701,0.47,146.1,446.5,13.8,789,12706,0.00,1.48,0.00,0.000,6,0.000,0.057,2089,3210,967,0,0,0,0,0,0
$GC,13028,0.47,146.1,399.5,14.0,805,13032,0.00,1.38,0.00,0.000,4,0.000,0.039,2095,2307,967,0,0,0,0,0,0
$GC,13099,0.47,146.1,389.7,12.8,811,13108,0.00,1.48,0.00,0.000,6,0.000,0.057,2095,3208,967,0,0,0,0,0,0
$GC,13425,0.47,146.1,343.1,14.5,842,13429,0.00,1.35,0.00,0.000,4,0.000,0.037,2102,2313,967,0,0,0,0,0,0
$GC,13493,0.47,146.1,334.0,12.9,848,13497,0.10,1.42,0.00,0.000,6,0.199,0.058,2074,3195,967,0,0,0,0,0,0
$GC,13822,0.47,146.1,291.7,12.2,879,13823,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,3195,967,0,0,0,0,0,0
$GC,14143,0.47,146.1,253.1,11.8,909,14145,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,3195,967,0,0,0,0,0,0
$GC,14460,0.47,146.1,213.6,13.0,939,14464,0.00,1.35,0.00,0.000,4,0.000,0.037,2080,2307,967,0,0,0,0,0,0
$GC,14516,0.47,146.1,206.9,11.7,944,14520,0.00,1.45,0.00,0.000,6,0.000,0.057,2080,3206,967,0,0,0,0,0,0
$GC,14846,0.47,146.1,165.5,10.8,975,14849,0.00,1.35,0.00,0.000,4,0.000,0.037,2086,2310,967,0,0,0,0,0,0
$GC,14895,0.48,168.5,160.5,8.9,979,14919,0.00,1.45,19.25,1.356,6,0.000,0.056,2086,3202,882,0,0,0,0,0,0
$GC,15244,0.48,168.5,115.6,14.6,1012,15247,0.00,1.35,0.00,0.000,4,0.000,0.036,2093,2308,882,0,0,0,0,0,0
$GC,15403,0.48,168.5,94.0,13.3,1029,15412,0.00,1.45,0.00,0.000,6,0.000,0.056,2093,3198,882,0,0,0,0,0,0
$GC,15755,0.48,168.5,36.6,16.5,1090,15764,0.00,1.33,0.00,0.000,4,0.000,0.033,2100,2307,882,0,0,0,0,0,0
$GC,15848,0.48,173.0,26.3,9.7,1105,15858,0.00,1.45,2.08,0.289,6,0.000,0.056,2099,3205,862,0,0,0,0,0,0
$STATE,16000,end climb,SURFACE_DEPTH_REACHED
$STATE,16000,begin surface coast
$FINISH,0.8,1.015947
$STATE,16013,end surface coast,CONTROL_FINISHED_OK
$STATE,16014,begin surface
$SM_CCo,16025,60.45,0.500,1,0,503,260.99
$SM_GC,1.86,0.00,0.00,60.45,0.000,0.000,0.500,76,3269,503,-5.74,0.51,260.99
$IRIDIUM_FIX,-4233.25,835.62,250508,161600
$TT8_MAMPS,0.026964
$HUMID,60.78
$INTERNAL_PRESSURE,11.3786
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.5,6.509
$10V_AH,10.3,2.690
$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,13.750,71.500,312.075,60.450,0.000,164.735,294.482,507.635,0.000,0.000,33.242,2773.005,10543.914,497.937,3568.555,124.691,0.000,1589.185,0.000,2475.541,0.000,0.544,0.000
$DEVICE_MAMPS,227.205,125.460,1900.260,499.545,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,784.298,803.990,764.901,66.791,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354568
$DATA_FILE_SIZE,63604,1132
$CAP_FILE_SIZE,148433,0
$CFSIZE,259252224,257617920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,300715,074255,-4251.276,831.006,46,3.2,65,-25.0