version: 66.07
glider: 543
mission: 14
dive: 20
start: 7 31 115 16 14 49
data:
$ID,543
$MISSION,14
$DIVE,20
$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,205
$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,-24184.75
$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,3230
$C_ROLL_CLIMB,3080
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,1550
$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
$GPS1,310715,155649,-4300.329,817.716,43,5.0,62,-25.0
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-69.8
$GPS2,310715,161427,-4300.310,817.836,43,0.9,44,-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,237.5,262828,-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,-146.1,0.0,0.0,0,73,0.00,0.00,-56.90,0.000,2,0.000,0.000,61,3206,2041,0,0,0,0,0,0
$GC,76,-0.47,-146.1,3.6,-3.7,7,93,6.90,1.20,-2.30,0.000,4,0.237,0.072,1752,3960,2147,0,0,0,0,0,0
$GC,201,-0.47,-146.1,27.7,-14.1,27,210,0.00,1.12,0.00,0.000,6,0.000,0.036,1752,3226,2152,0,0,0,0,0,0
$GC,350,-0.47,-146.1,51.2,-15.1,52,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,3226,2152,0,0,0,0,0,0
$GC,701,-0.47,-146.1,104.2,-12.1,111,702,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,3226,2152,0,0,0,0,0,0
$GC,1023,-0.47,-146.1,150.2,-14.1,141,1026,0.00,1.17,0.00,0.000,4,0.000,0.063,1746,3959,2152,0,0,0,0,0,0
$GC,1079,-0.47,-146.1,158.7,-13.7,146,1083,0.00,1.10,0.00,0.000,6,0.000,0.036,1746,3235,2152,0,0,0,0,0,0
$GC,1411,-0.47,-146.1,204.0,-14.4,177,1414,0.00,1.35,0.00,0.000,4,0.000,0.034,1746,2318,2152,0,0,0,0,0,0
$GC,1478,-0.47,-146.1,212.7,-11.7,183,1481,0.00,1.48,0.00,0.000,6,0.000,0.057,1739,3228,2152,0,0,0,0,0,0
$GC,1808,-0.47,-146.1,256.8,-13.8,214,1811,0.00,1.15,0.00,0.000,4,0.000,0.063,1734,3956,2152,0,0,0,0,0,0
$GC,1898,-0.47,-146.1,269.3,-13.4,222,1901,0.00,1.08,0.00,0.000,6,0.000,0.036,1734,3235,2152,0,0,0,0,0,0
$GC,2231,-0.47,-146.1,312.7,-12.9,253,2234,0.00,1.12,0.00,0.000,4,0.000,0.063,1729,3946,2152,0,0,0,0,0,0
$GC,2313,-0.47,-146.1,324.7,-13.1,260,2324,0.12,1.10,0.00,0.000,6,0.174,0.034,1760,3219,2152,0,0,0,0,0,0
$GC,2638,-0.47,-146.1,359.8,-11.0,291,2642,0.00,1.17,0.00,0.000,4,0.000,0.063,1756,3959,2152,0,0,0,0,0,0
$GC,2672,-0.47,-146.1,363.7,-12.2,294,2676,0.00,1.10,0.00,0.000,6,0.000,0.036,1756,3222,2152,0,0,0,0,0,0
$GC,3005,-0.47,-146.1,400.9,-11.2,325,3006,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,3221,2152,0,0,0,0,0,0
$GC,3312,-0.47,-146.1,435.6,-10.9,340,3313,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,3222,2152,0,0,0,0,0,0
$GC,3620,-0.47,-146.1,468.9,-10.8,355,3624,0.00,1.15,0.00,0.000,4,0.000,0.064,1751,3949,2152,0,0,0,0,0,0
$GC,3658,-0.47,-146.1,473.2,-11.3,356,3665,0.00,1.10,0.00,0.000,6,0.000,0.036,1751,3222,2152,0,0,0,0,0,0
$GC,3974,-0.47,-146.1,508.3,-11.4,372,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,3222,2152,0,0,0,0,0,0
$GC,4283,-0.47,-146.1,542.4,-11.0,387,4284,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,3222,2152,0,0,0,0,0,0
$GC,4592,-0.47,-146.1,577.1,-11.4,402,4596,0.00,1.15,0.00,0.000,4,0.000,0.064,1745,3947,2152,0,0,0,0,0,0
$GC,4631,-0.47,-146.1,582.0,-12.8,403,4638,0.00,1.08,0.00,0.000,6,0.000,0.037,1745,3233,2152,0,0,0,0,0,0
$GC,4946,-0.47,-146.1,620.4,-11.9,419,4950,0.00,1.12,0.00,0.000,4,0.000,0.065,1740,3943,2152,0,0,0,0,0,0
$GC,4983,-0.47,-146.1,625.5,-13.0,420,4991,0.00,1.10,0.00,0.000,6,0.000,0.037,1740,3220,2152,0,0,0,0,0,0
$GC,5299,-0.47,-146.1,663.9,-12.4,436,5302,0.00,1.15,0.00,0.000,4,0.000,0.065,1735,3946,2152,0,0,0,0,0,0
$GC,5344,-0.47,-146.1,669.8,-13.2,438,5347,0.00,1.08,0.00,0.000,6,0.000,0.037,1735,3227,2152,0,0,0,0,0,0
$GC,5675,-0.47,-146.1,713.0,-12.7,454,5676,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3227,2152,0,0,0,0,0,0
$GC,5985,-0.47,-146.1,749.5,-11.2,469,5988,0.00,1.15,0.00,0.000,4,0.000,0.065,1729,3952,2151,0,0,0,0,0,0
$GC,6039,-0.47,-146.1,756.3,-12.4,471,6044,0.12,1.10,0.00,0.000,6,0.175,0.037,1761,3232,2152,0,0,0,0,0,0
$GC,6360,-0.47,-146.1,782.3,-8.0,487,6361,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,3232,2152,0,0,0,0,0,0
$GC,6669,-0.47,-146.1,807.4,-8.0,502,6671,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,3232,2151,0,0,0,0,0,0
$GC,6979,-0.47,-146.1,831.7,-7.9,517,6982,0.00,1.33,0.00,0.000,4,0.000,0.037,1761,2343,2152,0,0,0,0,0,0
$GC,7006,-0.47,-146.1,833.9,-7.5,518,7010,0.00,1.42,0.00,0.000,6,0.000,0.060,1757,3228,2152,0,0,0,0,0,0
$GC,7333,-0.47,-146.1,862.0,-9.0,534,7336,0.00,1.15,0.00,0.000,4,0.000,0.067,1752,3956,2152,0,0,0,0,0,0
$GC,7365,-0.47,-146.1,865.3,-9.9,535,7370,0.00,1.12,0.00,0.000,6,0.000,0.038,1751,3219,2151,0,0,0,0,0,0
$GC,7687,-0.47,-146.1,895.1,-9.3,551,7688,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,3220,2151,0,0,0,0,0,0
$GC,7996,-0.47,-146.1,924.6,-9.7,566,7999,0.00,1.17,0.00,0.000,4,0.000,0.067,1746,3959,2151,0,0,0,0,0,0
$GC,8044,-0.47,-146.1,930.0,-10.5,568,8049,0.00,1.12,0.00,0.000,6,0.000,0.038,1746,3222,2151,0,0,0,0,0,0
$GC,8372,-0.47,-146.1,963.4,-10.3,584,8373,0.00,0.00,0.00,0.000,6,0.000,0.000,1746,3222,2151,0,0,0,0,0,0
$GC,8681,-0.47,-146.1,992.7,-8.9,599,8685,0.00,1.15,0.00,0.000,4,0.000,0.067,1740,3946,2151,0,0,0,0,0,0
$GC,8718,-0.47,-146.1,996.6,-10.5,600,8726,0.00,1.10,0.00,0.000,6,0.000,0.038,1741,3226,2151,0,0,0,0,0,0
$STATE,8765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8765,begin apogee
$GC,8769,-0.11,0.0,1000.9,9.6,603,8927,0.45,0.00,150.38,1.885,6,0.145,0.000,1877,3075,1549,0,0,0,0,0,0
$STATE,8928,end apogee,CONTROL_FINISHED_OK
$STATE,8928,begin climb
$GC,8929,0.47,146.1,1004.7,0.0,611,9080,0.55,1.52,142.52,1.831,4,0.074,0.039,2073,2205,953,0,0,0,0,0,0
$GC,9151,0.47,146.1,981.3,14.4,621,9156,0.00,1.55,0.00,0.000,6,0.000,0.053,2073,3083,951,0,0,0,0,0,0
$GC,9473,0.47,146.1,931.3,15.5,637,9474,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,3083,949,0,0,0,0,0,0
$GC,9782,0.47,146.1,883.2,15.8,652,9786,0.00,1.40,0.00,0.000,4,0.000,0.040,2080,2193,948,0,0,0,0,0,0
$GC,9808,0.47,146.1,879.2,14.7,653,9813,0.00,1.48,0.00,0.000,6,0.000,0.054,2080,3081,948,0,0,0,0,0,0
$GC,10136,0.47,146.1,826.9,16.1,669,10139,0.00,1.38,0.00,0.000,4,0.000,0.040,2086,2200,947,0,0,0,0,0,0
$GC,10195,0.47,146.1,818.0,14.4,671,10203,0.00,1.48,0.00,0.000,6,0.000,0.054,2086,3089,947,0,0,0,0,0,0
$GC,10512,0.47,146.1,768.2,15.8,687,10515,0.00,1.40,0.00,0.000,4,0.000,0.040,2093,2192,947,0,0,0,0,0,0
$GC,10594,0.47,146.1,756.4,13.6,690,10602,0.00,1.48,0.00,0.000,6,0.000,0.055,2093,3086,947,0,0,0,0,0,0
$GC,10910,0.47,146.1,707.0,15.5,706,10911,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,3085,947,0,0,0,0,0,0
$GC,11220,0.47,146.1,658.9,15.8,721,11221,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,3085,947,0,0,0,0,0,0
$GC,11529,0.47,146.1,612.1,15.7,736,11532,0.00,1.38,0.00,0.000,4,0.000,0.039,2099,2193,946,0,0,0,0,0,0
$GC,11566,0.47,146.1,606.5,13.8,737,11575,0.12,1.45,0.00,0.000,6,0.206,0.055,2071,3080,947,0,0,0,0,0,0
$GC,11882,0.47,146.1,562.1,14.1,753,11884,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,3079,947,0,0,0,0,0,0
$GC,12192,0.47,146.1,519.9,13.3,768,12195,0.00,1.38,0.00,0.000,4,0.000,0.039,2077,2194,946,0,0,0,0,0,0
$GC,12218,0.47,146.1,516.3,12.6,769,12223,0.00,1.45,0.00,0.000,6,0.000,0.056,2077,3081,946,0,0,0,0,0,0
$GC,12545,0.47,146.1,470.4,13.9,785,12549,0.00,1.40,0.00,0.000,4,0.000,0.065,2077,3954,946,0,0,0,0,0,0
$GC,12571,0.47,146.1,466.1,15.8,786,12576,0.00,1.35,0.00,0.000,6,0.000,0.035,2083,3073,946,0,0,0,0,0,0
$GC,12899,0.47,146.1,417.5,15.0,802,12902,0.00,1.33,0.00,0.000,4,0.000,0.039,2090,2200,947,0,0,0,0,0,0
$GC,12943,0.47,146.1,411.4,13.8,804,12947,0.00,1.42,0.00,0.000,6,0.000,0.057,2090,3086,947,0,0,0,0,0,0
$GC,13272,0.47,146.1,363.8,13.7,831,13275,0.00,1.35,0.00,0.000,4,0.000,0.038,2097,2202,946,0,0,0,0,0,0
$GC,13321,0.47,146.1,356.9,13.2,835,13329,0.00,1.42,0.00,0.000,6,0.000,0.054,2096,3081,947,0,0,0,0,0,0
$GC,13646,0.47,146.1,308.7,14.5,866,13650,0.00,1.38,0.00,0.000,4,0.000,0.038,2103,2190,946,0,0,0,0,0,0
$GC,13684,0.47,146.1,303.6,12.7,869,13692,0.10,1.42,0.00,0.000,6,0.184,0.055,2074,3079,947,0,0,0,0,0,0
$GC,14009,0.47,146.1,263.0,12.4,900,14012,0.00,1.40,0.00,0.000,4,0.000,0.064,2074,3957,946,0,0,0,0,0,0
$GC,14067,0.47,146.1,255.3,14.5,905,14071,0.00,1.33,0.00,0.000,6,0.000,0.034,2079,3073,946,0,0,0,0,0,0
$GC,14397,0.47,146.1,210.8,12.4,936,14401,0.00,1.40,0.00,0.000,4,0.000,0.062,2079,3954,946,0,0,0,0,0,0
$GC,14442,0.47,146.1,204.3,14.8,940,14446,0.00,1.30,0.00,0.000,6,0.000,0.034,2086,3078,947,0,0,0,0,0,0
$GC,14772,0.47,146.1,155.2,16.2,971,14775,0.00,1.40,0.00,0.000,4,0.000,0.063,2086,3954,947,0,0,0,0,0,0
$GC,14798,0.47,146.1,150.1,18.3,973,14806,0.00,1.33,0.00,0.000,6,0.000,0.032,2093,3072,947,0,0,0,0,0,0
$GC,15124,0.47,146.1,97.5,17.3,1005,15133,0.00,1.30,0.00,0.000,4,0.000,0.037,2099,2200,947,0,0,0,0,0,0
$GC,15271,0.47,146.1,73.8,15.6,1030,15278,0.10,1.40,0.00,0.000,6,0.174,0.054,2070,3086,946,0,0,0,0,0,0
$GC,15625,0.47,146.1,26.8,12.6,1091,15634,0.00,1.33,0.00,0.000,4,0.000,0.034,2075,2202,947,0,0,0,0,0,0
$GC,15672,0.47,146.1,21.5,10.7,1098,15680,0.00,1.38,0.00,0.000,6,0.000,0.052,2075,3074,947,0,0,0,0,0,0
$STATE,15803,end climb,SURFACE_DEPTH_REACHED
$STATE,15803,begin surface coast
$FINISH,0.8,1.020083
$STATE,15823,end surface coast,CONTROL_FINISHED_OK
$STATE,15823,begin surface
$SM_CCo,15835,26.58,0.144,0,0,710,205.07
$SM_GC,1.57,0.00,0.00,26.58,0.000,0.000,0.144,82,3244,710,-5.73,0.40,205.07
$IRIDIUM_FIX,-4242.04,816.13,270508,050556
$TT8_MAMPS,0.026964
$HUMID,61.77
$INTERNAL_PRESSURE,11.4079
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.4,7.958
$10V_AH,10.3,3.517
$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,13.825,77.300,292.900,26.575,0.000,97.728,75.216,576.698,0.000,0.000,46.369,2742.846,10348.236,448.073,3257.159,125.366,0.000,1498.400,0.000,2395.717,0.000,0.545,0.000
$DEVICE_MAMPS,237.150,71.910,1884.960,143.820,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,777.966,795.469,784.798,74.743,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354544
$DATA_FILE_SIZE,63596,1123
$CAP_FILE_SIZE,148562,0
$CFSIZE,259252224,257032192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310715,204157,-4301.803,816.427,132,0.9,133,-25.0