version: 66.07
glider: 543
mission: 14
dive: 15
start: 7 30 115 17 9 14
data:
$ID,543
$MISSION,14
$DIVE,15
$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,-24171.428
$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,44
$R_STBD_OVSHOOT,24
$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
$GPS1,300715,170102,-4253.391,825.772,39,1.1,42,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-70.5
$GPS2,300715,170852,-4253.375,825.844,18,1.0,18,-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,237.9,279301,-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,-62.38,0.000,6,0.000,0.000,63,3205,2168,0,0,0,0,0,0
$GC,82,-0.47,-146.1,4.2,-4.5,8,99,6.75,1.23,0.00,0.000,4,0.233,0.042,1752,3969,2173,0,0,0,0,0,0
$GC,310,-0.47,-146.1,46.6,-13.1,46,316,0.00,1.20,0.00,0.000,6,0.000,0.035,1752,3183,2177,0,0,0,0,0,0
$GC,656,-0.47,-146.1,97.1,-17.0,107,663,0.00,1.23,0.00,0.000,4,0.000,0.060,1747,3947,2177,0,0,0,0,0,0
$GC,706,-0.47,-146.1,105.3,-14.9,113,715,0.00,1.15,0.00,0.000,6,0.000,0.034,1747,3185,2177,0,0,0,0,0,0
$GC,1031,-0.47,-146.1,153.3,-15.0,144,1035,0.00,1.23,0.00,0.000,4,0.000,0.060,1741,3952,2177,0,0,0,0,0,0
$GC,1099,-0.47,-146.1,163.8,-15.2,150,1103,0.00,1.12,0.00,0.000,6,0.000,0.034,1741,3195,2177,0,0,0,0,0,0
$GC,1432,-0.47,-146.1,210.0,-13.5,181,1433,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,3195,2177,0,0,0,0,0,0
$GC,1747,-0.47,-146.1,252.9,-13.3,211,1751,0.00,1.20,0.00,0.000,4,0.000,0.059,1735,3953,2177,0,0,0,0,0,0
$GC,1803,-0.47,-146.1,260.6,-13.8,216,1807,0.00,1.12,0.00,0.000,6,0.000,0.034,1735,3191,2177,0,0,0,0,0,0
$GC,2133,-0.47,-146.1,305.1,-13.8,247,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,1736,3190,2177,0,0,0,0,0,0
$GC,2454,-0.47,-146.1,348.6,-13.9,277,2458,0.00,1.30,0.00,0.000,4,0.000,0.034,1735,2303,2177,0,0,0,0,0,0
$GC,2503,-0.47,-146.1,355.6,-12.0,281,2512,0.12,1.45,0.00,0.000,6,0.167,0.054,1761,3199,2177,0,0,0,0,0,0
$GC,2830,-0.47,-146.1,390.7,-10.5,312,2833,0.00,1.17,0.00,0.000,4,0.000,0.060,1757,3955,2177,0,0,0,0,0,0
$GC,2957,-0.47,-146.1,405.3,-11.0,321,2965,0.00,1.12,0.00,0.000,6,0.000,0.034,1757,3199,2177,0,0,0,0,0,0
$GC,3273,-0.47,-146.1,438.9,-10.5,337,3277,0.00,1.17,0.00,0.000,4,0.000,0.060,1752,3948,2177,0,0,0,0,0,0
$GC,3311,-0.47,-146.1,443.0,-11.3,338,3318,0.00,1.12,0.00,0.000,6,0.000,0.034,1752,3193,2177,0,0,0,0,0,0
$GC,3627,-0.47,-146.1,476.3,-10.7,354,3628,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,3193,2177,0,0,0,0,0,0
$GC,3936,-0.47,-146.1,509.8,-11.1,369,3939,0.00,1.20,0.00,0.000,4,0.000,0.061,1746,3954,2177,0,0,0,0,0,0
$GC,3967,-0.47,-146.1,513.8,-12.2,370,3972,0.00,1.12,0.00,0.000,6,0.000,0.035,1746,3198,2177,0,0,0,0,0,0
$GC,4289,-0.47,-146.1,549.4,-10.8,386,4290,0.00,0.00,0.00,0.000,6,0.000,0.000,1746,3198,2176,0,0,0,0,0,0
$GC,4598,-0.47,-146.1,585.4,-12.0,401,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,1746,3198,2177,0,0,0,0,0,0
$GC,4908,-0.47,-146.1,624.1,-12.6,416,4911,0.00,1.17,0.00,0.000,4,0.000,0.063,1740,3941,2177,0,0,0,0,0,0
$GC,5012,-0.47,-146.1,637.7,-13.0,420,5020,0.00,1.12,0.00,0.000,6,0.000,0.036,1741,3196,2177,0,0,0,0,0,0
$GC,5328,-0.47,-146.1,674.6,-11.3,436,5332,0.00,1.17,0.00,0.000,4,0.000,0.062,1735,3941,2177,0,0,0,0,0,0
$GC,5373,-0.47,-146.1,680.1,-12.0,438,5376,0.00,1.10,0.00,0.000,6,0.000,0.037,1734,3201,2176,0,0,0,0,0,0
$GC,5705,-0.47,-146.1,715.2,-10.2,454,5706,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3201,2176,0,0,0,0,0,0
$GC,6014,-0.47,-146.1,749.0,-11.2,469,6017,0.00,1.17,0.00,0.000,4,0.000,0.062,1729,3949,2176,0,0,0,0,0,0
$GC,6068,-0.47,-146.1,755.7,-11.3,471,6074,0.12,1.15,0.00,0.000,6,0.178,0.036,1760,3189,2175,0,0,0,0,0,0
$GC,6389,-0.47,-146.1,783.8,-8.5,487,6391,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,3189,2175,0,0,0,0,0,0
$GC,6699,-0.47,-146.1,810.5,-8.5,502,6702,0.00,1.20,0.00,0.000,4,0.000,0.064,1757,3949,2176,0,0,0,0,0,0
$GC,6759,-0.47,-146.1,816.2,-9.5,504,6767,0.00,1.15,0.00,0.000,6,0.000,0.037,1756,3191,2175,0,0,0,0,0,0
$GC,7075,-0.47,-146.1,844.0,-8.5,520,7076,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,3191,2176,0,0,0,0,0,0
$GC,7385,-0.47,-146.1,869.9,-8.5,535,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,3190,2175,0,0,0,0,0,0
$GC,7694,-0.47,-146.1,897.3,-9.2,550,7697,0.00,1.20,0.00,0.000,4,0.000,0.065,1751,3950,2175,0,0,0,0,0,0
$GC,7738,-0.47,-146.1,901.6,-10.5,552,7742,0.00,1.12,0.00,0.000,6,0.000,0.038,1751,3199,2174,0,0,0,0,0,0
$GC,8071,-0.47,-146.1,934.1,-9.9,568,8074,0.00,1.20,0.00,0.000,4,0.000,0.065,1745,3956,2175,0,0,0,0,0,0
$GC,8108,-0.47,-146.1,938.2,-10.5,569,8115,0.00,1.15,0.00,0.000,6,0.000,0.037,1745,3195,2175,0,0,0,0,0,0
$GC,8425,-0.47,-146.1,966.6,-8.6,585,8426,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,3195,2175,0,0,0,0,0,0
$GC,8734,-0.47,-146.1,994.6,-9.1,600,8737,0.00,1.20,0.00,0.000,4,0.000,0.065,1740,3953,2175,0,0,0,0,0,0
$GC,8778,-0.47,-146.1,998.9,-10.4,602,8782,0.00,1.12,0.00,0.000,6,0.000,0.038,1740,3199,2175,0,0,0,0,0,0
$STATE,8792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8792,begin apogee
$GC,8796,-0.11,0.0,1000.4,9.6,602,8951,0.43,0.00,152.23,1.901,6,0.146,0.000,1875,3112,1570,0,0,0,0,0,0
$STATE,8952,end apogee,CONTROL_FINISHED_OK
$STATE,8952,begin climb
$GC,8953,0.47,146.1,1004.3,0.0,610,9103,0.55,1.55,142.43,1.838,4,0.078,0.040,2068,2240,974,0,0,0,0,0,0
$GC,9203,0.47,146.1,979.0,13.5,621,9211,0.00,1.50,0.00,0.000,6,0.000,0.053,2068,3101,971,0,0,0,0,0,0
$GC,9519,0.47,146.1,930.1,15.6,637,9523,0.00,1.40,0.00,0.000,4,0.000,0.039,2074,2238,969,0,0,0,0,0,0
$GC,9586,0.47,146.1,920.5,14.1,640,9590,0.00,1.48,0.00,0.000,6,0.000,0.055,2074,3113,969,0,0,0,0,0,0
$GC,9918,0.47,146.1,866.5,16.2,656,9921,0.00,1.40,0.00,0.000,4,0.000,0.040,2081,2233,968,0,0,0,0,0,0
$GC,9963,0.47,146.1,859.6,14.4,658,9966,0.00,1.45,0.00,0.000,6,0.000,0.055,2081,3112,968,0,0,0,0,0,0
$GC,10294,0.47,146.1,806.7,15.7,674,10298,0.00,1.40,0.00,0.000,4,0.000,0.041,2088,2237,968,0,0,0,0,0,0
$GC,10376,0.47,146.1,794.9,13.9,677,10384,0.00,1.45,0.00,0.000,6,0.000,0.055,2087,3112,967,0,0,0,0,0,0
$GC,10693,0.47,146.1,746.9,15.6,693,10694,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,3111,968,0,0,0,0,0,0
$GC,11002,0.47,146.1,700.1,15.3,708,11006,0.00,1.38,0.00,0.000,4,0.000,0.040,2094,2234,967,0,0,0,0,0,0
$GC,11061,0.47,146.1,691.5,13.7,710,11069,0.00,1.45,0.00,0.000,6,0.000,0.055,2094,3113,968,0,0,0,0,0,0
$GC,11377,0.47,146.1,641.8,15.9,726,11381,0.00,1.38,0.00,0.000,4,0.000,0.039,2101,2237,967,0,0,0,0,0,0
$GC,11422,0.47,146.1,635.2,15.0,728,11426,0.10,1.42,0.00,0.000,6,0.189,0.057,2073,3113,967,0,0,0,0,0,0
$GC,11753,0.47,146.1,587.9,14.3,744,11756,0.00,1.33,0.00,0.000,4,0.000,0.063,2074,3951,967,0,0,0,0,0,0
$GC,11779,0.47,146.1,583.6,15.4,745,11784,0.00,1.30,0.00,0.000,6,0.000,0.035,2078,3101,967,0,0,0,0,0,0
$GC,12106,0.47,146.1,534.8,15.0,761,12110,0.00,1.33,0.00,0.000,4,0.000,0.038,2084,2239,967,0,0,0,0,0,0
$GC,12160,0.47,146.1,527.0,13.7,763,12165,0.00,1.45,0.00,0.000,6,0.000,0.055,2084,3122,967,0,0,0,0,0,0
$GC,12482,0.47,146.1,478.7,15.0,779,12486,0.00,1.38,0.00,0.000,4,0.000,0.037,2091,2240,967,0,0,0,0,0,0
$GC,12581,0.47,146.1,465.2,13.8,783,12586,0.00,1.42,0.00,0.000,6,0.000,0.055,2091,3109,967,0,0,0,0,0,0
$GC,12903,0.47,146.1,419.0,14.7,799,12907,0.00,1.35,0.00,0.000,4,0.000,0.038,2098,2239,967,0,0,0,0,0,0
$GC,12925,0.47,146.1,415.8,14.2,800,12930,0.08,1.42,0.00,0.000,6,0.193,0.057,2076,3119,967,0,0,0,0,0,0
$GC,13256,0.47,146.1,368.9,14.9,825,13259,0.00,1.38,0.00,0.000,4,0.000,0.037,2082,2234,967,0,0,0,0,0,0
$GC,13289,0.47,146.1,363.6,13.6,828,13293,0.00,1.42,0.00,0.000,6,0.000,0.057,2082,3115,967,0,0,0,0,0,0
$GC,13619,0.47,146.1,313.4,14.4,859,13622,0.00,1.33,0.00,0.000,4,0.000,0.063,2082,3953,967,0,0,0,0,0,0
$GC,13656,0.47,146.1,307.2,16.6,862,13664,0.00,1.27,0.00,0.000,6,0.000,0.034,2088,3108,967,0,0,0,0,0,0
$GC,13985,0.47,146.1,259.3,13.9,893,13989,0.00,1.33,0.00,0.000,4,0.000,0.040,2095,2242,966,0,0,0,0,0,0
$GC,14077,0.47,146.1,246.8,12.8,901,14080,0.00,1.40,0.00,0.000,6,0.000,0.055,2094,3112,967,0,0,0,0,0,0
$GC,14406,0.47,146.1,200.5,14.2,932,14408,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,3112,967,0,0,0,0,0,0
$GC,14726,0.47,146.1,155.1,14.4,962,14729,0.00,1.33,0.00,0.000,4,0.000,0.037,2101,2241,967,0,0,0,0,0,0
$GC,14929,0.47,146.1,126.9,14.7,980,14933,0.10,1.40,0.00,0.000,6,0.184,0.054,2073,3113,967,0,0,0,0,0,0
$GC,15260,0.47,146.1,90.0,12.6,1018,15266,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,3113,966,0,0,0,0,0,0
$GC,15607,0.47,146.1,44.6,12.3,1079,15614,0.00,1.33,0.00,0.000,4,0.000,0.034,2078,2236,967,0,0,0,0,0,0
$GC,15650,0.47,146.1,39.1,12.7,1086,15659,0.00,1.40,0.00,0.000,6,0.000,0.050,2078,3119,967,0,0,0,0,0,0
$GC,15803,0.47,146.1,23.9,15.5,1111,15811,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,3119,966,0,0,0,0,0,0
$GC,15953,0.47,146.1,7.3,14.7,1136,15961,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,3119,967,0,0,0,0,0,0
$STATE,15979,end climb,SURFACE_DEPTH_REACHED
$STATE,15979,begin surface coast
$FINISH,1.3,1.026467
$STATE,15999,end surface coast,CONTROL_FINISHED_OK
$STATE,15999,begin surface
$SM_CCo,16011,53.22,0.430,1,0,670,220.03
$SM_GC,1.78,0.00,0.00,53.22,0.000,0.000,0.430,72,3230,670,-5.75,0.96,220.03
$IRIDIUM_FIX,-4233.25,824.00,260508,010123
$TT8_MAMPS,0.026964
$HUMID,61.10
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.4,7.049
$10V_AH,10.3,3.002
$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,13.675,77.425,294.650,53.225,0.000,25.875,55.548,273.885,0.000,0.000,21.095,2806.800,10199.196,481.337,2934.609,118.600,0.000,1587.056,0.000,2537.756,0.000,0.545,0.000
$DEVICE_MAMPS,232.560,94.095,1901.025,429.930,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,792.169,805.797,817.542,81.725,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354520
$DATA_FILE_SIZE,63619,1143
$CAP_FILE_SIZE,146861,0
$CFSIZE,259252224,257404928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,300715,213804,-4254.592,823.716,25,0.8,26,-25.0