version: 66.07
glider: 543
mission: 14
dive: 17
start: 7 31 115 2 24 43
data:
$ID,543
$MISSION,14
$DIVE,17
$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,-24176.789
$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,58
$R_STBD_OVSHOOT,22
$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
$GPS1,310715,021205,-4255.855,822.088,78,0.9,79,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-73.7
$GPS2,310715,022421,-4255.902,822.265,124,1.0,124,-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,237.6,272828,-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,15,-0.47,-146.1,0.0,0.0,0,66,0.00,0.00,-48.85,0.000,2,0.000,0.000,62,3206,1863,0,0,0,0,0,0
$GC,68,-0.47,-146.1,3.6,-4.8,6,86,6.72,1.25,-7.00,0.000,4,0.232,0.083,1749,3962,2168,0,0,0,0,0,0
$GC,267,-0.47,-146.1,40.8,-14.0,39,276,0.00,1.15,0.00,0.000,6,0.000,0.035,1749,3204,2176,0,0,0,0,0,0
$GC,618,-0.47,-146.1,90.4,-11.7,100,625,0.00,1.20,0.00,0.000,4,0.000,0.060,1743,3955,2176,0,0,0,0,0,0
$GC,700,-0.47,-146.1,102.7,-14.9,113,704,0.00,1.15,0.00,0.000,6,0.000,0.035,1743,3189,2176,0,0,0,0,0,0
$GC,1030,-0.47,-146.1,152.8,-16.0,144,1033,0.00,1.23,0.00,0.000,4,0.000,0.059,1737,3955,2176,0,0,0,0,0,0
$GC,1088,-0.47,-146.1,162.3,-16.6,149,1092,0.00,1.12,0.00,0.000,6,0.000,0.034,1738,3195,2176,0,0,0,0,0,0
$GC,1418,-0.47,-146.1,215.6,-15.3,180,1421,0.00,1.20,0.00,0.000,4,0.000,0.059,1732,3954,2176,0,0,0,0,0,0
$GC,1524,-0.47,-146.1,232.9,-15.7,189,1532,0.10,1.15,0.00,0.000,6,0.181,0.034,1756,3192,2175,0,0,0,0,0,0
$GC,1849,-0.47,-146.1,272.4,-12.1,220,1853,0.00,1.20,0.00,0.000,4,0.000,0.060,1752,3953,2175,0,0,0,0,0,0
$GC,1932,-0.47,-146.1,283.4,-12.3,227,1940,0.00,1.15,0.00,0.000,6,0.000,0.034,1752,3186,2175,0,0,0,0,0,0
$GC,2257,-0.47,-146.1,322.1,-11.9,258,2261,0.00,1.23,0.00,0.000,4,0.000,0.060,1746,3961,2176,0,0,0,0,0,0
$GC,2338,-0.47,-146.1,331.4,-11.9,265,2342,0.00,1.12,0.00,0.000,6,0.000,0.034,1746,3200,2176,0,0,0,0,0,0
$GC,2668,-0.47,-146.1,371.0,-11.3,296,2671,0.00,1.17,0.00,0.000,4,0.000,0.060,1740,3949,2176,0,0,0,0,0,0
$GC,2716,-0.47,-146.1,377.4,-12.9,300,2726,0.00,1.12,0.00,0.000,6,0.000,0.034,1741,3194,2175,0,0,0,0,0,0
$GC,3050,-0.47,-146.1,419.0,-12.9,325,3051,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,3194,2175,0,0,0,0,0,0
$GC,3358,-0.47,-146.1,458.4,-12.7,340,3361,0.00,1.20,0.00,0.000,4,0.000,0.060,1735,3957,2175,0,0,0,0,0,0
$GC,3412,-0.47,-146.1,466.0,-12.6,342,3417,0.00,1.15,0.00,0.000,6,0.000,0.034,1735,3188,2175,0,0,0,0,0,0
$GC,3734,-0.47,-146.1,506.5,-12.8,358,3737,0.00,1.20,0.00,0.000,4,0.000,0.061,1729,3951,2176,0,0,0,0,0,0
$GC,3802,-0.47,-146.1,515.5,-12.9,361,3806,0.08,1.10,0.00,0.000,6,0.155,0.035,1753,3210,2175,0,0,0,0,0,0
$GC,4133,-0.47,-146.1,550.7,-10.3,377,4137,0.00,1.17,0.00,0.000,4,0.000,0.062,1749,3956,2175,0,0,0,0,0,0
$GC,4170,-0.47,-146.1,555.0,-11.3,378,4178,0.00,1.15,0.00,0.000,6,0.000,0.035,1749,3190,2175,0,0,0,0,0,0
$GC,4486,-0.47,-146.1,589.1,-10.6,394,4490,0.00,1.20,0.00,0.000,4,0.000,0.062,1744,3953,2175,0,0,0,0,0,0
$GC,4518,-0.47,-146.1,592.8,-11.2,395,4523,0.00,1.15,0.00,0.000,6,0.000,0.035,1744,3189,2176,0,0,0,0,0,0
$GC,4839,-0.47,-146.1,629.1,-11.6,411,4843,0.00,1.20,0.00,0.000,4,0.000,0.062,1738,3952,2175,0,0,0,0,0,0
$GC,4876,-0.47,-146.1,634.0,-12.8,412,4884,0.00,1.15,0.00,0.000,6,0.000,0.035,1738,3189,2175,0,0,0,0,0,0
$GC,5192,-0.47,-146.1,672.4,-12.3,428,5196,0.00,1.20,0.00,0.000,4,0.000,0.063,1732,3951,2175,0,0,0,0,0,0
$GC,5252,-0.47,-146.1,680.5,-13.0,430,5260,0.10,1.15,0.00,0.000,6,0.183,0.035,1756,3191,2175,0,0,0,0,0,0
$GC,5569,-0.47,-146.1,712.4,-9.7,446,5573,0.00,1.20,0.00,0.000,4,0.000,0.063,1752,3953,2175,0,0,0,0,0,0
$GC,5619,-0.47,-146.1,717.4,-9.5,448,5623,0.00,1.12,0.00,0.000,6,0.000,0.037,1752,3199,2175,0,0,0,0,0,0
$GC,5945,-0.47,-146.1,749.1,-9.8,464,5949,0.00,1.20,0.00,0.000,4,0.000,0.063,1746,3958,2175,0,0,0,0,0,0
$GC,6005,-0.47,-146.1,755.5,-10.4,466,6013,0.00,1.15,0.00,0.000,6,0.000,0.036,1746,3194,2175,0,0,0,0,0,0
$GC,6321,-0.47,-146.1,788.6,-10.7,482,6322,0.00,0.00,0.00,0.000,6,0.000,0.000,1746,3194,2175,0,0,0,0,0,0
$GC,6630,-0.47,-146.1,823.0,-11.4,497,6634,0.00,1.20,0.00,0.000,4,0.000,0.063,1740,3952,2175,0,0,0,0,0,0
$GC,6684,-0.47,-146.1,829.9,-12.1,499,6689,0.00,1.15,0.00,0.000,6,0.000,0.037,1741,3193,2175,0,0,0,0,0,0
$GC,7006,-0.47,-146.1,867.6,-11.1,515,7009,0.00,1.20,0.00,0.000,4,0.000,0.063,1735,3952,2175,0,0,0,0,0,0
$GC,7043,-0.47,-146.1,872.2,-11.2,516,7051,0.00,1.15,0.00,0.000,6,0.000,0.036,1735,3191,2175,0,0,0,0,0,0
$GC,7359,-0.47,-146.1,905.3,-10.3,532,7363,0.00,1.20,0.00,0.000,4,0.000,0.063,1729,3952,2175,0,0,0,0,0,0
$GC,7481,-0.47,-146.1,918.6,-10.9,537,7486,0.12,1.15,0.00,0.000,6,0.183,0.037,1761,3195,2175,0,0,0,0,0,0
$GC,7803,-0.47,-146.1,942.8,-7.8,553,7804,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,3194,2175,0,0,0,0,0,0
$GC,8112,-0.47,-146.1,967.6,-8.1,568,8116,0.00,1.20,0.00,0.000,4,0.000,0.065,1756,3952,2175,0,0,0,0,0,0
$GC,8167,-0.47,-146.1,972.5,-8.5,570,8171,0.00,1.15,0.00,0.000,6,0.000,0.037,1756,3193,2175,0,0,0,0,0,0
$GC,8488,-0.47,-146.1,998.9,-8.5,586,8490,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,3193,2175,0,0,0,0,0,0
$STATE,8508,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8508,begin apogee
$GC,8512,-0.11,0.0,1000.6,8.5,587,8665,0.40,0.00,149.85,1.888,6,0.142,0.000,1879,3107,1570,0,0,0,0,0,0
$STATE,8665,end apogee,CONTROL_FINISHED_OK
$STATE,8666,begin climb
$GC,8667,0.47,146.1,1005.2,0.0,594,8817,0.52,1.55,141.65,1.840,4,0.076,0.038,2066,2238,975,0,0,0,0,0,0
$GC,8905,0.47,146.1,982.8,14.1,605,8910,0.00,1.52,0.00,0.000,6,0.000,0.054,2066,3108,972,0,0,0,0,0,0
$GC,9233,0.47,146.1,934.5,14.6,621,9236,0.00,1.40,0.00,0.000,4,0.000,0.040,2073,2240,971,0,0,0,0,0,0
$GC,9270,0.47,146.1,929.0,13.0,622,9278,0.00,1.50,0.00,0.000,6,0.000,0.054,2073,3121,970,0,0,0,0,0,0
$GC,9586,0.47,146.1,882.9,14.7,638,9590,0.00,1.40,0.00,0.000,4,0.000,0.038,2079,2238,969,0,0,0,0,0,0
$GC,9623,0.47,146.1,877.7,13.3,639,9631,0.00,1.48,0.00,0.000,6,0.000,0.054,2080,3119,969,0,0,0,0,0,0
$GC,9940,0.47,146.1,832.2,14.3,655,9943,0.00,1.38,0.00,0.000,4,0.000,0.038,2086,2240,969,0,0,0,0,0,0
$GC,9971,0.47,146.1,827.7,12.6,656,9976,0.00,1.45,0.00,0.000,6,0.000,0.054,2086,3112,969,0,0,0,0,0,0
$GC,10293,0.47,146.1,780.5,14.8,672,10296,0.00,1.40,0.00,0.000,4,0.000,0.041,2092,2235,969,0,0,0,0,0,0
$GC,10347,0.47,146.1,772.5,14.1,674,10352,0.00,1.45,0.00,0.000,6,0.000,0.055,2093,3111,969,0,0,0,0,0,0
$GC,10669,0.47,146.1,720.7,16.2,690,10670,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,3111,969,0,0,0,0,0,0
$GC,10978,0.47,146.1,669.7,16.7,705,10982,0.00,1.35,0.00,0.000,4,0.000,0.040,2099,2242,968,0,0,0,0,0,0
$GC,11049,0.47,146.1,658.4,15.1,708,11055,0.12,1.45,0.00,0.000,6,0.210,0.055,2072,3120,968,0,0,0,0,0,0
$GC,11377,0.47,146.1,611.1,14.3,724,11380,0.00,1.38,0.00,0.000,4,0.000,0.037,2077,2237,968,0,0,0,0,0,0
$GC,11436,0.47,146.1,603.2,12.8,726,11444,0.00,1.45,0.00,0.000,6,0.000,0.056,2077,3117,968,0,0,0,0,0,0
$GC,11752,0.47,146.1,558.3,14.3,742,11754,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3117,968,0,0,0,0,0,0
$GC,12062,0.47,146.1,512.7,14.5,757,12065,0.00,1.38,0.00,0.000,4,0.000,0.037,2084,2229,968,0,0,0,0,0,0
$GC,12110,0.47,146.1,505.8,13.3,759,12115,0.00,1.45,0.00,0.000,6,0.000,0.055,2083,3111,968,0,0,0,0,0,0
$GC,12438,0.47,146.1,456.9,14.9,775,12439,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,3111,968,0,0,0,0,0,0
$GC,12747,0.47,146.1,411.0,14.7,790,12751,0.00,1.35,0.00,0.000,4,0.000,0.037,2090,2237,968,0,0,0,0,0,0
$GC,12773,0.47,146.1,407.1,13.3,791,12778,0.00,1.42,0.00,0.000,6,0.000,0.055,2090,3111,968,0,0,0,0,0,0
$GC,13098,0.47,146.1,357.5,15.0,819,13101,0.00,1.33,0.00,0.000,4,0.000,0.063,2090,3951,968,0,0,0,0,0,0
$GC,13135,0.47,146.1,350.7,17.1,822,13143,0.00,1.27,0.00,0.000,6,0.000,0.034,2097,3103,968,0,0,0,0,0,0
$GC,13463,0.47,146.1,299.0,15.7,853,13466,0.00,1.30,0.00,0.000,4,0.000,0.038,2103,2244,967,0,0,0,0,0,0
$GC,13587,0.47,146.1,280.7,14.5,864,13591,0.10,1.40,0.00,0.000,6,0.187,0.056,2074,3112,968,0,0,0,0,0,0
$GC,13916,0.47,146.1,235.0,13.3,895,13917,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,3112,968,0,0,0,0,0,0
$GC,14237,0.47,146.1,193.3,13.5,925,14241,0.00,1.33,0.00,0.000,4,0.000,0.061,2074,3958,968,0,0,0,0,0,0
$GC,14274,0.47,146.1,186.9,16.1,928,14285,0.00,1.27,0.00,0.000,6,0.000,0.034,2079,3109,968,0,0,0,0,0,0
$GC,14599,0.47,146.1,143.3,12.7,959,14601,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,3109,968,0,0,0,0,0,0
$GC,14922,0.47,146.1,102.3,12.9,989,14926,0.00,1.30,0.00,0.000,4,0.000,0.036,2085,2247,968,0,0,0,0,0,0
$GC,15040,0.47,146.1,87.1,12.4,1008,15049,0.00,1.38,0.00,0.000,6,0.000,0.054,2086,3104,968,0,0,0,0,0,0
$GC,15392,0.47,146.1,40.3,12.8,1069,15398,0.00,1.30,0.00,0.000,4,0.000,0.033,2092,2228,968,0,0,0,0,0,0
$GC,15465,0.47,146.1,31.9,12.7,1081,15473,0.00,1.40,0.00,0.000,6,0.000,0.053,2092,3107,968,0,0,0,0,0,0
$GC,15616,0.47,146.1,9.6,19.6,1106,15623,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,3107,968,0,0,0,0,0,0
$STATE,15654,end climb,SURFACE_DEPTH_REACHED
$STATE,15654,begin surface coast
$FINISH,0.8,1.026458
$STATE,15673,end surface coast,CONTROL_FINISHED_OK
$STATE,15673,begin surface
$SM_CCo,15685,46.83,0.426,1,0,671,220.03
$SM_GC,1.63,0.00,0.00,46.83,0.000,0.000,0.426,72,3217,671,-5.75,0.57,220.03
$IRIDIUM_FIX,-4236.17,824.43,260508,111145
$TT8_MAMPS,0.027713
$HUMID,61.18
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.4,7.407
$10V_AH,10.3,3.206
$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,13.700,83.825,291.500,46.825,0.000,54.170,106.966,301.903,0.000,0.000,126.823,2751.237,10057.817,482.576,3072.900,111.222,0.000,1571.252,0.000,2461.750,0.000,0.545,0.000
$DEVICE_MAMPS,231.795,94.860,1888.020,426.105,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,773.392,781.864,771.538,73.152,0.000,0.000,0.000,0.000,0.000,0.000
$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,63700,1115
$CAP_FILE_SIZE,147321,0
$CFSIZE,259252224,257257472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,310715,064833,-4257.292,820.328,58,1.5,59,-25.0