version: 66.07
glider: 543
mission: 14
dive: 14
start: 7 30 115 12 33 9
data:
$ID,543
$MISSION,14
$DIVE,14
$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,-24169.023
$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,3197
$C_ROLL_CLIMB,3112
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,25
$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
$GPS1,300715,122333,-4252.090,828.209,88,1.1,88,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-75.6
$GPS2,300715,123246,-4252.076,828.215,42,1.0,42,-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,238.2,283010,-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,13,begin dive
$GC,14,-0.47,-146.1,0.0,0.0,0,72,0.00,0.00,-56.20,0.000,2,0.000,0.000,62,3252,2005,0,0,0,0,0,0
$GC,74,-0.47,-146.1,3.5,-3.4,7,92,6.57,1.12,-3.80,0.000,4,0.220,0.079,1753,3964,2166,0,0,0,0,0,0
$GC,129,-0.47,-146.1,18.4,-21.7,15,138,0.00,1.17,0.00,0.000,6,0.000,0.035,1753,3199,2172,0,0,0,0,0,0
$GC,186,-0.47,-146.1,26.8,-15.0,24,194,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,3199,2172,0,0,0,0,0,0
$GC,335,-0.47,-146.1,49.8,-16.2,49,341,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3199,2172,0,0,0,0,0,0
$GC,687,-0.47,-146.1,102.2,-14.7,110,690,0.00,1.20,0.00,0.000,4,0.000,0.061,1748,3947,2172,0,0,0,0,0,0
$GC,747,-0.47,-146.1,112.3,-15.3,115,755,0.00,1.15,0.00,0.000,6,0.000,0.034,1748,3190,2172,0,0,0,0,0,0
$GC,1073,-0.47,-146.1,158.2,-13.3,146,1076,0.00,1.23,0.00,0.000,4,0.000,0.061,1742,3956,2172,0,0,0,0,0,0
$GC,1166,-0.47,-146.1,171.6,-13.5,154,1174,0.00,1.15,0.00,0.000,6,0.000,0.034,1741,3191,2172,0,0,0,0,0,0
$GC,1494,-0.47,-146.1,213.8,-13.8,185,1497,0.00,1.20,0.00,0.000,4,0.000,0.061,1736,3945,2172,0,0,0,0,0,0
$GC,1606,-0.47,-146.1,230.5,-14.6,195,1610,0.00,1.10,0.00,0.000,6,0.000,0.035,1736,3202,2172,0,0,0,0,0,0
$GC,1936,-0.47,-146.1,274.0,-12.6,226,1939,0.00,1.17,0.00,0.000,4,0.000,0.060,1731,3945,2172,0,0,0,0,0,0
$GC,1973,-0.47,-146.1,279.4,-14.0,229,1981,0.12,1.12,0.00,0.000,6,0.174,0.034,1762,3197,2172,0,0,0,0,0,0
$GC,2299,-0.47,-146.1,311.3,-9.9,260,2300,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,3198,2172,0,0,0,0,0,0
$GC,2617,-0.47,-146.1,346.0,-12.1,290,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,3198,2172,0,0,0,0,0,0
$GC,2936,-0.47,-146.1,382.7,-11.4,320,2937,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,3198,2172,0,0,0,0,0,0
$GC,3250,-0.47,-146.1,416.7,-11.1,343,3251,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,3198,2172,0,0,0,0,0,0
$GC,3559,-0.47,-146.1,450.1,-11.1,358,3563,0.00,1.20,0.00,0.000,4,0.000,0.063,1758,3956,2172,0,0,0,0,0,0
$GC,3619,-0.47,-146.1,457.5,-11.3,360,3627,0.00,1.15,0.00,0.000,6,0.000,0.036,1758,3189,2172,0,0,0,0,0,0
$GC,3935,-0.47,-146.1,493.1,-10.8,376,3939,0.00,1.20,0.00,0.000,4,0.000,0.063,1753,3947,2172,0,0,0,0,0,0
$GC,3980,-0.47,-146.1,498.2,-11.8,378,3983,0.00,1.10,0.00,0.000,6,0.000,0.037,1753,3203,2172,0,0,0,0,0,0
$GC,4311,-0.47,-146.1,534.2,-10.4,394,4315,0.00,1.17,0.00,0.000,4,0.000,0.063,1747,3947,2172,0,0,0,0,0,0
$GC,4371,-0.47,-146.1,540.9,-10.6,396,4379,0.00,1.12,0.00,0.000,6,0.000,0.037,1747,3194,2172,0,0,0,0,0,0
$GC,4687,-0.47,-146.1,574.8,-11.0,412,4691,0.00,1.20,0.00,0.000,4,0.000,0.063,1742,3955,2172,0,0,0,0,0,0
$GC,4719,-0.47,-146.1,578.8,-12.7,413,4723,0.00,1.15,0.00,0.000,6,0.000,0.036,1741,3188,2172,0,0,0,0,0,0
$GC,5040,-0.47,-146.1,616.6,-12.3,429,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3187,2172,0,0,0,0,0,0
$GC,5350,-0.47,-146.1,652.7,-11.4,444,5353,0.00,1.20,0.00,0.000,4,0.000,0.063,1736,3950,2172,0,0,0,0,0,0
$GC,5417,-0.47,-146.1,660.8,-12.1,447,5420,0.00,1.12,0.00,0.000,6,0.000,0.037,1736,3194,2172,0,0,0,0,0,0
$GC,5748,-0.47,-146.1,700.0,-11.7,463,5749,0.00,0.00,0.00,0.000,6,0.000,0.000,1736,3194,2172,0,0,0,0,0,0
$GC,6058,-0.47,-146.1,736.7,-11.9,478,6059,0.00,0.00,0.00,0.000,6,0.000,0.000,1736,3194,2172,0,0,0,0,0,0
$GC,6367,-0.47,-146.1,773.6,-11.8,493,6370,0.00,1.20,0.00,0.000,4,0.000,0.064,1730,3952,2172,0,0,0,0,0,0
$GC,6456,-0.47,-146.1,784.8,-13.3,497,6461,0.08,1.12,0.00,0.000,6,0.155,0.038,1754,3203,2172,0,0,0,0,0,0
$GC,6788,-0.47,-146.1,817.8,-10.2,513,6792,0.00,1.17,0.00,0.000,4,0.000,0.064,1750,3947,2172,0,0,0,0,0,0
$GC,6825,-0.47,-146.1,822.0,-10.6,514,6833,0.00,1.15,0.00,0.000,6,0.000,0.037,1750,3184,2172,0,0,0,0,0,0
$GC,7141,-0.47,-146.1,852.8,-9.6,530,7143,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,3185,2171,0,0,0,0,0,0
$GC,7451,-0.47,-146.1,879.8,-8.5,545,7454,0.00,1.20,0.00,0.000,4,0.000,0.064,1745,3944,2172,0,0,0,0,0,0
$GC,7523,-0.47,-146.1,886.4,-8.6,548,7527,0.00,1.10,0.00,0.000,6,0.000,0.038,1745,3206,2172,0,0,0,0,0,0
$GC,7850,-0.47,-146.1,914.6,-8.8,564,7851,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,3206,2172,0,0,0,0,0,0
$GC,8159,-0.47,-146.1,944.1,-10.0,579,8162,0.00,1.17,0.00,0.000,4,0.000,0.065,1739,3950,2172,0,0,0,0,0,0
$GC,8226,-0.47,-146.1,951.2,-10.7,582,8230,0.00,1.12,0.00,0.000,6,0.000,0.038,1739,3196,2172,0,0,0,0,0,0
$GC,8558,-0.47,-146.1,985.5,-9.9,598,8561,0.00,1.20,0.00,0.000,4,0.000,0.065,1733,3956,2172,0,0,0,0,0,0
$GC,8606,-0.47,-146.1,990.8,-10.8,600,8611,0.00,1.15,0.00,0.000,6,0.000,0.037,1733,3195,2172,0,0,0,0,0,0
$STATE,8705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8706,begin apogee
$GC,8709,-0.11,0.0,1000.8,10.0,605,8868,0.47,0.00,151.05,1.900,6,0.148,0.000,1877,3109,1570,0,0,0,0,0,0
$STATE,8869,end apogee,CONTROL_FINISHED_OK
$STATE,8869,begin climb
$GC,8871,0.47,146.1,1005.5,0.0,613,9020,0.55,1.52,142.62,1.856,4,0.074,0.039,2074,2246,973,0,0,0,0,0,0
$GC,9097,0.47,146.1,984.1,14.0,623,9106,0.00,1.52,0.00,0.000,6,0.000,0.054,2074,3106,971,0,0,0,0,0,0
$GC,9414,0.47,146.1,936.2,15.2,639,9415,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,3106,970,0,0,0,0,0,0
$GC,9723,0.47,146.1,889.5,15.1,654,9724,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,3106,968,0,0,0,0,0,0
$GC,10032,0.47,146.1,842.0,15.3,669,10036,0.00,1.38,0.00,0.000,4,0.000,0.039,2081,2239,968,0,0,0,0,0,0
$GC,10081,0.47,146.1,834.9,13.5,671,10086,0.00,1.48,0.00,0.000,6,0.000,0.055,2081,3119,968,0,0,0,0,0,0
$GC,10408,0.47,146.1,783.0,16.0,687,10412,0.00,1.38,0.00,0.000,4,0.000,0.038,2087,2239,967,0,0,0,0,0,0
$GC,10463,0.47,146.1,774.8,14.7,689,10468,0.00,1.45,0.00,0.000,6,0.000,0.055,2087,3113,967,0,0,0,0,0,0
$GC,10784,0.47,146.1,724.9,14.9,705,10786,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,3112,967,0,0,0,0,0,0
$GC,11094,0.47,146.1,678.6,15.3,720,11097,0.00,1.38,0.00,0.000,4,0.000,0.039,2094,2234,967,0,0,0,0,0,0
$GC,11183,0.47,146.1,665.8,13.7,724,11187,0.00,1.42,0.00,0.000,6,0.000,0.056,2094,3109,967,0,0,0,0,0,0
$GC,11515,0.47,146.1,614.2,15.8,740,11519,0.00,1.38,0.00,0.000,4,0.000,0.040,2101,2229,967,0,0,0,0,0,0
$GC,11563,0.47,146.1,606.9,14.6,742,11569,0.12,1.48,0.00,0.000,6,0.209,0.055,2073,3126,967,0,0,0,0,0,0
$GC,11891,0.47,146.1,561.0,14.1,758,11895,0.00,1.40,0.00,0.000,4,0.000,0.038,2078,2232,967,0,0,0,0,0,0
$GC,11940,0.47,146.1,554.2,12.6,760,11945,0.00,1.45,0.00,0.000,6,0.000,0.055,2078,3114,967,0,0,0,0,0,0
$GC,12267,0.47,146.1,507.4,14.5,776,12271,0.00,1.38,0.00,0.000,4,0.000,0.037,2085,2235,967,0,0,0,0,0,0
$GC,12327,0.47,146.1,499.4,12.3,778,12335,0.00,1.45,0.00,0.000,6,0.000,0.056,2085,3117,967,0,0,0,0,0,0
$GC,12643,0.47,146.1,452.4,15.5,794,12647,0.00,1.33,0.00,0.000,4,0.000,0.064,2085,3949,967,0,0,0,0,0,0
$GC,12670,0.47,146.1,447.8,17.0,795,12674,0.00,1.27,0.00,0.000,6,0.000,0.035,2091,3100,967,0,0,0,0,0,0
$GC,12986,0.47,146.1,398.0,15.8,811,12990,0.00,1.38,0.00,0.000,4,0.000,0.063,2091,3956,967,0,0,0,0,0,0
$GC,13013,0.47,146.1,393.2,17.4,813,13021,0.00,1.27,0.00,0.000,6,0.000,0.034,2098,3109,967,0,0,0,0,0,0
$GC,13338,0.47,146.1,342.7,15.3,844,13342,0.12,1.33,0.00,0.000,4,0.230,0.035,2076,2231,967,0,0,0,0,0,0
$GC,13386,0.47,146.1,336.2,12.8,848,13396,0.00,1.42,0.00,0.000,6,0.000,0.054,2076,3111,967,0,0,0,0,0,0
$GC,13713,0.47,146.1,293.9,12.7,879,13717,0.00,1.35,0.00,0.000,4,0.000,0.037,2082,2229,967,0,0,0,0,0,0
$GC,13818,0.47,146.1,281.4,12.0,888,13828,0.00,1.42,0.00,0.000,6,0.000,0.054,2082,3111,967,0,0,0,0,0,0
$GC,14145,0.47,146.1,237.6,13.6,919,14149,0.00,1.33,0.00,0.000,4,0.000,0.037,2089,2239,967,0,0,0,0,0,0
$GC,14182,0.47,146.1,232.3,11.9,922,14190,0.00,1.42,0.00,0.000,6,0.000,0.054,2089,3117,967,0,0,0,0,0,0
$GC,14511,0.47,146.1,187.5,13.8,953,14515,0.00,1.35,0.00,0.000,4,0.000,0.037,2095,2238,967,0,0,0,0,0,0
$GC,14603,0.47,146.1,176.0,12.1,961,14607,0.00,1.40,0.00,0.000,6,0.000,0.054,2095,3109,967,0,0,0,0,0,0
$GC,14932,0.47,146.1,131.0,12.9,992,14936,0.00,1.33,0.00,0.000,4,0.000,0.060,2096,3953,967,0,0,0,0,0,0
$GC,15036,0.47,146.1,116.0,15.5,1001,15041,0.10,1.25,0.00,0.000,6,0.213,0.034,2075,3107,967,0,0,0,0,0,0
$GC,15374,0.47,146.1,72.8,12.5,1050,15383,0.00,1.30,0.00,0.000,4,0.000,0.035,2080,2238,967,0,0,0,0,0,0
$GC,15462,0.47,147.3,63.1,9.9,1065,15471,0.00,1.40,0.00,0.000,6,0.000,0.053,2080,3119,967,0,0,0,0,0,0
$GC,15818,0.47,147.3,17.7,13.8,1126,15827,0.00,1.33,0.00,0.000,4,0.000,0.034,2087,2233,967,0,0,0,0,0,0
$GC,15852,0.47,147.3,13.1,13.8,1131,15861,0.00,1.40,0.00,0.000,6,0.000,0.053,2087,3112,968,0,0,0,0,0,0
$GC,15909,0.47,147.3,5.2,12.4,1140,15918,0.00,1.33,0.00,0.000,4,0.000,0.061,2087,3945,967,0,0,0,0,0,0
$STATE,15925,end climb,SURFACE_DEPTH_REACHED
$STATE,15925,begin surface coast
$FINISH,0.9,1.018434
$STATE,15950,end surface coast,CONTROL_FINISHED_OK
$STATE,15951,begin surface
$SM_CCo,15963,33.12,0.142,0,0,670,220.03
$SM_GC,2.15,0.00,0.00,33.12,0.000,0.000,0.142,73,3206,670,-5.76,0.25,220.03
$IRIDIUM_FIX,-4236.17,833.15,250508,212139
$TT8_MAMPS,0.027713
$HUMID,61.34
$INTERNAL_PRESSURE,11.4079
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,22.4,6.868
$10V_AH,10.3,2.899
$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,13.600,81.725,293.675,33.125,0.000,34.164,42.883,347.426,0.000,0.000,44.383,2816.772,10139.916,468.366,3020.877,106.901,0.000,1585.609,0.000,2530.553,0.000,0.545,0.000
$DEVICE_MAMPS,229.500,93.330,1900.260,142.290,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,794.064,799.122,810.993,75.694,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354752
$DATA_FILE_SIZE,66885,1146
$CAP_FILE_SIZE,149279,0
$CFSIZE,259252224,257470464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,300715,170102,-4253.391,825.772,39,1.1,42,-25.0