version: 66.07
glider: 543
mission: 14
dive: 13
start: 7 30 115 7 52 12
data:
$ID,543
$MISSION,14
$DIVE,13
$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,220
$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,-24166.449
$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,44
$R_STBD_OVSHOOT,31
$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
$GPS1,300715,074255,-4251.276,831.006,46,3.2,65,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-66.0
$GPS2,300715,075150,-4251.226,830.963,22,20.3,41,-25.0
$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,238.6,286304,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.47,-146.1,0.0,0.0,0,80,0.00,0.00,-63.42,0.000,2,0.000,0.000,62,3270,2038,0,0,0,0,0,0
$GC,82,-0.47,-146.1,3.8,-4.5,8,99,7.07,0.00,-2.85,0.000,6,0.247,0.000,1753,3270,2168,0,0,0,0,0,0
$GC,148,-0.47,-146.1,21.7,-20.6,18,156,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3270,2173,0,0,0,0,0,0
$GC,297,-0.47,-146.1,47.1,-14.7,43,303,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3270,2173,0,0,0,0,0,0
$GC,648,-0.47,-146.1,109.0,-20.9,101,650,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3270,2173,0,0,0,0,0,0
$GC,965,-0.47,-146.1,155.6,-14.1,131,969,0.00,1.38,0.00,0.000,4,0.000,0.037,1752,2362,2173,0,0,0,0,0,0
$GC,991,-0.47,-146.1,159.7,-14.1,133,1000,0.00,1.45,0.00,0.000,6,0.000,0.056,1748,3245,2172,0,0,0,0,0,0
$GC,1317,-0.47,-146.1,200.6,-11.8,164,1321,0.00,1.12,0.00,0.000,4,0.000,0.063,1743,3953,2173,0,0,0,0,0,0
$GC,1385,-0.47,-146.1,209.1,-12.5,170,1388,0.00,1.05,0.00,0.000,6,0.000,0.037,1742,3254,2173,0,0,0,0,0,0
$GC,1718,-0.47,-146.1,251.8,-13.1,201,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3255,2173,0,0,0,0,0,0
$GC,2033,-0.47,-146.1,292.6,-12.8,231,2034,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3254,2173,0,0,0,0,0,0
$GC,2355,-0.47,-146.1,332.5,-13.1,261,2359,0.00,1.10,0.00,0.000,4,0.000,0.063,1737,3949,2173,0,0,0,0,0,0
$GC,2447,-0.47,-146.1,344.6,-12.5,269,2450,0.00,1.05,0.00,0.000,6,0.000,0.037,1737,3247,2173,0,0,0,0,0,0
$GC,2776,-0.47,-146.1,386.5,-12.4,300,2780,0.00,1.33,0.00,0.000,4,0.000,0.034,1737,2359,2173,0,0,0,0,0,0
$GC,2821,-0.47,-146.1,391.7,-11.1,304,2825,0.08,1.42,0.00,0.000,6,0.142,0.057,1755,3247,2173,0,0,0,0,0,0
$GC,3154,-0.47,-146.1,426.6,-10.4,324,3155,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,3247,2173,0,0,0,0,0,0
$GC,3463,-0.47,-146.1,458.0,-10.4,339,3467,0.00,1.10,0.00,0.000,4,0.000,0.063,1751,3945,2173,0,0,0,0,0,0
$GC,3500,-0.47,-146.1,462.2,-11.5,340,3509,0.00,1.08,0.00,0.000,6,0.000,0.037,1751,3238,2173,0,0,0,0,0,0
$GC,3816,-0.47,-146.1,497.3,-11.6,356,3820,0.00,1.30,0.00,0.000,4,0.000,0.035,1751,2362,2173,0,0,0,0,0,0
$GC,3861,-0.47,-146.1,502.1,-10.0,358,3865,0.00,1.42,0.00,0.000,6,0.000,0.057,1745,3249,2173,0,0,0,0,0,0
$GC,4193,-0.47,-146.1,540.6,-11.5,374,4196,0.00,1.10,0.00,0.000,4,0.000,0.064,1740,3948,2173,0,0,0,0,0,0
$GC,4241,-0.47,-146.1,546.7,-11.7,376,4246,0.00,1.05,0.00,0.000,6,0.000,0.037,1739,3247,2173,0,0,0,0,0,0
$GC,4568,-0.47,-146.1,584.1,-11.3,392,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,3247,2172,0,0,0,0,0,0
$GC,4877,-0.47,-146.1,620.0,-11.9,407,4879,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,3248,2172,0,0,0,0,0,0
$GC,5187,-0.47,-146.1,658.2,-12.5,422,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,1739,3247,2172,0,0,0,0,0,0
$GC,5496,-0.47,-146.1,697.0,-12.6,437,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,3248,2172,0,0,0,0,0,0
$GC,5805,-0.47,-146.1,734.8,-12.0,452,5809,0.00,1.12,0.00,0.000,4,0.000,0.066,1734,3955,2172,0,0,0,0,0,0
$GC,5860,-0.47,-146.1,741.8,-12.8,454,5865,0.00,1.08,0.00,0.000,6,0.000,0.039,1734,3248,2171,0,0,0,0,0,0
$GC,6181,-0.47,-146.1,779.2,-11.7,470,6185,0.00,1.33,0.00,0.000,4,0.000,0.037,1734,2362,2171,0,0,0,0,0,0
$GC,6213,-0.47,-146.1,783.0,-10.7,471,6218,0.12,1.45,0.00,0.000,6,0.177,0.058,1760,3253,2171,0,0,0,0,0,0
$GC,6535,-0.47,-146.1,813.5,-10.0,487,6536,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,3253,2172,0,0,0,0,0,0
$GC,6844,-0.47,-146.1,843.4,-9.3,502,6848,0.00,1.10,0.00,0.000,4,0.000,0.066,1756,3953,2171,0,0,0,0,0,0
$GC,6916,-0.47,-146.1,850.3,-9.9,505,6920,0.00,1.08,0.00,0.000,6,0.000,0.039,1756,3245,2171,0,0,0,0,0,0
$GC,7243,-0.47,-146.1,878.7,-8.3,521,7247,0.00,1.33,0.00,0.000,4,0.000,0.037,1756,2358,2171,0,0,0,0,0,0
$GC,7288,-0.47,-146.1,882.3,-7.7,523,7291,0.00,1.45,0.00,0.000,6,0.000,0.060,1750,3258,2171,0,0,0,0,0,0
$GC,7620,-0.47,-146.1,912.0,-9.4,539,7623,0.00,1.10,0.00,0.000,4,0.000,0.065,1745,3955,2170,0,0,0,0,0,0
$GC,7664,-0.47,-146.1,916.5,-10.3,541,7668,0.00,1.05,0.00,0.000,6,0.000,0.040,1744,3254,2171,0,0,0,0,0,0
$GC,7996,-0.47,-146.1,949.4,-10.2,557,7997,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,3255,2171,0,0,0,0,0,0
$GC,8305,-0.47,-146.1,982.6,-11.0,572,8306,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,3255,2171,0,0,0,0,0,0
$STATE,8469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8469,begin apogee
$GC,8473,-0.11,0.0,1000.8,11.1,580,8625,0.43,0.00,148.55,1.900,6,0.148,0.000,1872,3193,1570,0,0,0,0,0,0
$STATE,8625,end apogee,CONTROL_FINISHED_OK
$STATE,8626,begin climb
$GC,8627,0.47,146.1,1008.2,0.0,587,8779,0.57,1.48,143.10,1.854,4,0.084,0.040,2070,2316,975,0,0,0,0,0,0
$GC,8839,0.47,146.1,993.9,11.6,597,8847,0.00,1.55,0.00,0.000,6,0.000,0.054,2070,3195,973,0,0,0,0,0,0
$GC,9155,0.47,146.1,949.7,14.1,613,9159,0.00,1.40,0.00,0.000,4,0.000,0.041,2077,2312,971,0,0,0,0,0,0
$GC,9260,0.47,146.1,935.8,13.2,617,9268,0.00,1.52,0.00,0.000,6,0.000,0.056,2077,3210,970,0,0,0,0,0,0
$GC,9576,0.47,146.1,890.2,14.5,633,9580,0.00,1.40,0.00,0.000,4,0.000,0.040,2084,2309,969,0,0,0,0,0,0
$GC,9666,0.47,146.1,878.2,11.6,637,9670,0.00,1.48,0.00,0.000,6,0.000,0.056,2084,3200,969,0,0,0,0,0,0
$GC,9998,0.47,146.1,828.6,15.1,653,10001,0.00,1.38,0.00,0.000,4,0.000,0.042,2090,2319,969,0,0,0,0,0,0
$GC,10074,0.47,146.1,817.4,13.7,656,10079,0.00,1.48,0.00,0.000,6,0.000,0.056,2090,3209,969,0,0,0,0,0,0
$GC,10396,0.47,146.1,767.7,15.2,672,10399,0.00,1.38,0.00,0.000,4,0.000,0.041,2097,2309,969,0,0,0,0,0,0
$GC,10531,0.47,146.1,749.4,12.3,678,10534,0.00,1.45,0.00,0.000,6,0.000,0.057,2097,3197,969,0,0,0,0,0,0
$GC,10862,0.47,146.1,697.9,15.5,694,10866,0.00,1.35,0.00,0.000,4,0.000,0.040,2104,2312,969,0,0,0,0,0,0
$GC,10911,0.47,146.1,691.0,13.7,696,10916,0.15,1.48,0.00,0.000,6,0.210,0.056,2069,3213,969,0,0,0,0,0,0
$GC,11237,0.47,146.1,648.6,13.0,712,11241,0.00,1.38,0.00,0.000,4,0.000,0.039,2075,2307,969,0,0,0,0,0,0
$GC,11297,0.47,146.1,641.2,12.0,714,11305,0.00,1.48,0.00,0.000,6,0.000,0.057,2074,3203,968,0,0,0,0,0,0
$GC,11613,0.47,146.1,598.0,14.1,730,11617,0.00,1.35,0.00,0.000,4,0.000,0.040,2081,2311,968,0,0,0,0,0,0
$GC,11712,0.47,146.1,584.9,13.2,734,11717,0.00,1.48,0.00,0.000,6,0.000,0.057,2081,3211,968,0,0,0,0,0,0
$GC,12034,0.47,146.1,539.7,13.8,750,12035,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,3212,968,0,0,0,0,0,0
$GC,12343,0.47,146.1,497.6,13.3,765,12347,0.00,1.35,0.00,0.000,4,0.000,0.038,2088,2315,968,0,0,0,0,0,0
$GC,12398,0.47,146.1,490.7,12.6,767,12403,0.00,1.45,0.00,0.000,6,0.000,0.057,2088,3201,968,0,0,0,0,0,0
$GC,12719,0.47,146.1,446.2,14.4,783,12723,0.00,1.35,0.00,0.000,4,0.000,0.039,2095,2308,968,0,0,0,0,0,0
$GC,12856,0.47,146.1,428.6,13.2,789,12859,0.00,1.45,0.00,0.000,6,0.000,0.057,2095,3205,968,0,0,0,0,0,0
$GC,13182,0.47,146.1,378.8,14.8,811,13185,0.00,1.35,0.00,0.000,4,0.000,0.038,2101,2309,968,0,0,0,0,0,0
$GC,13283,0.47,146.1,364.4,13.3,820,13287,0.10,1.45,0.00,0.000,6,0.190,0.057,2074,3209,968,0,0,0,0,0,0
$GC,13612,0.47,146.1,321.1,12.7,851,13616,0.00,1.35,0.00,0.000,4,0.000,0.038,2079,2310,968,0,0,0,0,0,0
$GC,13785,0.47,146.1,300.8,11.9,866,13793,0.00,1.45,0.00,0.000,6,0.000,0.057,2079,3201,968,0,0,0,0,0,0
$GC,14114,0.47,146.1,258.5,13.0,897,14117,0.00,1.33,0.00,0.000,4,0.000,0.038,2085,2315,968,0,0,0,0,0,0
$GC,14226,0.47,146.1,244.4,12.0,907,14229,0.00,1.42,0.00,0.000,6,0.000,0.058,2086,3199,968,0,0,0,0,0,0
$GC,14556,0.47,146.1,199.9,13.7,938,14557,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,3198,968,0,0,0,0,0,0
$GC,14875,0.47,146.1,156.6,12.2,968,14876,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,3198,968,0,0,0,0,0,0
$GC,15193,0.47,146.1,117.4,12.1,998,15197,0.00,1.33,0.00,0.000,4,0.000,0.037,2092,2305,968,0,0,0,0,0,0
$GC,15242,0.47,146.1,111.2,12.6,1002,15250,0.00,1.45,0.00,0.000,6,0.000,0.056,2092,3202,968,0,0,0,0,0,0
$GC,15584,0.47,146.1,65.6,14.4,1055,15591,0.00,1.33,0.00,0.000,4,0.000,0.037,2099,2303,968,0,0,0,0,0,0
$GC,15676,0.47,146.1,52.9,13.2,1071,15685,0.08,1.42,0.00,0.000,6,0.187,0.055,2077,3198,968,0,0,0,0,0,0
$GC,16035,0.47,146.1,8.5,12.7,1132,16044,0.00,1.33,0.00,0.000,4,0.000,0.035,2082,2299,968,0,0,0,0,0,0
$STATE,16080,end climb,SURFACE_DEPTH_REACHED
$STATE,16080,begin surface coast
$FINISH,0.8,1.013738
$STATE,16111,end surface coast,CONTROL_FINISHED_OK
$STATE,16112,begin surface
$SM_CCo,16125,33.62,0.143,0,0,670,220.03
$SM_GC,1.87,0.00,0.00,33.62,0.000,0.000,0.143,72,3254,670,-5.76,0.08,220.03
$IRIDIUM_FIX,-4233.25,835.62,250508,161600
$TT8_MAMPS,0.027713
$HUMID,61.81
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,22.4,6.688
$10V_AH,10.3,2.794
$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,14.100,74.400,291.650,33.625,0.000,27.215,40.723,335.074,0.000,0.000,44.654,2814.389,10308.666,446.047,3013.917,112.483,0.000,1540.958,0.000,2545.330,0.000,0.544,0.000
$DEVICE_MAMPS,247.095,136.935,1900.260,143.055,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,793.234,808.158,801.093,76.330,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354592
$DATA_FILE_SIZE,67041,1144
$CAP_FILE_SIZE,144173,0
$CFSIZE,259252224,257548288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300715,122333,-4252.090,828.209,88,1.1,88,-25.0