version: 66.07
glider: 543
mission: 14
dive: 23
start: 8 1 115 6 7 33
data:
$ID,543
$MISSION,14
$DIVE,23
$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,-24192.967
$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,43
$R_STBD_OVSHOOT,35
$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
$GPS1,010815,055403,-4305.147,814.238,94,0.9,95,-25.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-67.4
$GPS2,010815,060711,-4305.193,814.410,17,1.0,17,-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,237.7,252791,-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,-56.88,0.000,2,0.000,0.000,62,3255,2081,0,0,0,0,0,0
$GC,75,-0.47,-146.1,4.0,-4.6,7,93,6.82,1.10,-1.35,0.000,4,0.232,0.073,1753,3947,2147,0,0,0,0,0,0
$GC,241,-0.47,-146.1,37.6,-10.5,34,250,0.00,1.10,0.00,0.000,6,0.000,0.034,1753,3217,2152,0,0,0,0,0,0
$GC,387,-0.47,-146.1,59.6,-15.7,59,393,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3216,2152,0,0,0,0,0,0
$GC,730,-0.47,-146.1,111.3,-14.2,113,733,0.00,1.15,0.00,0.000,4,0.000,0.060,1747,3931,2152,0,0,0,0,0,0
$GC,778,-0.47,-146.1,118.4,-15.5,117,782,0.00,1.05,0.00,0.000,6,0.000,0.036,1748,3235,2152,0,0,0,0,0,0
$GC,1108,-0.47,-146.1,166.9,-14.2,148,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,3235,2152,0,0,0,0,0,0
$GC,1427,-0.47,-146.1,207.8,-12.4,178,1428,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,3235,2152,0,0,0,0,0,0
$GC,1745,-0.47,-146.1,249.0,-13.3,208,1749,0.00,1.12,0.00,0.000,4,0.000,0.061,1742,3943,2152,0,0,0,0,0,0
$GC,1804,-0.47,-146.1,256.6,-13.9,213,1807,0.00,1.05,0.00,0.000,6,0.000,0.036,1742,3236,2152,0,0,0,0,0,0
$GC,2133,-0.47,-146.1,298.7,-12.1,244,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3235,2152,0,0,0,0,0,0
$GC,2453,-0.47,-146.1,337.7,-12.5,274,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3236,2152,0,0,0,0,0,0
$GC,2771,-0.47,-146.1,379.7,-13.6,304,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3236,2152,0,0,0,0,0,0
$GC,3095,-0.47,-146.1,423.4,-13.5,327,3099,0.00,1.12,0.00,0.000,4,0.000,0.061,1737,3946,2152,0,0,0,0,0,0
$GC,3164,-0.47,-146.1,432.5,-13.6,330,3167,0.00,1.08,0.00,0.000,6,0.000,0.036,1737,3222,2152,0,0,0,0,0,0
$GC,3495,-0.47,-146.1,477.6,-13.6,346,3497,0.00,0.00,0.00,0.000,6,0.000,0.000,1737,3222,2152,0,0,0,0,0,0
$GC,3805,-0.47,-146.1,518.1,-13.1,361,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,1737,3222,2152,0,0,0,0,0,0
$GC,4114,-0.47,-146.1,558.0,-13.0,376,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,1737,3221,2152,0,0,0,0,0,0
$GC,4423,-0.47,-146.1,599.7,-13.3,391,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,1737,3221,2152,0,0,0,0,0,0
$GC,4733,-0.47,-146.1,638.8,-12.5,406,4736,0.00,1.12,0.00,0.000,4,0.000,0.062,1732,3930,2152,0,0,0,0,0,0
$GC,4764,-0.47,-146.1,643.3,-13.3,407,4770,0.12,1.08,0.00,0.000,6,0.172,0.037,1763,3225,2152,0,0,0,0,0,0
$GC,5086,-0.47,-146.1,675.7,-10.0,423,5087,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,3225,2152,0,0,0,0,0,0
$GC,5396,-0.47,-146.1,705.6,-9.4,438,5399,0.00,1.30,0.00,0.000,4,0.000,0.034,1763,2340,2152,0,0,0,0,0,0
$GC,5422,-0.47,-146.1,708.2,-9.6,439,5427,0.00,1.42,0.00,0.000,6,0.000,0.057,1759,3221,2152,0,0,0,0,0,0
$GC,5749,-0.47,-146.1,737.8,-9.0,455,5753,0.00,1.15,0.00,0.000,4,0.000,0.063,1753,3954,2152,0,0,0,0,0,0
$GC,5809,-0.47,-146.1,743.7,-9.5,457,5817,0.00,1.10,0.00,0.000,6,0.000,0.037,1753,3225,2152,0,0,0,0,0,0
$GC,6126,-0.47,-146.1,772.5,-8.7,473,6129,0.00,1.15,0.00,0.000,4,0.000,0.064,1748,3952,2152,0,0,0,0,0,0
$GC,6186,-0.47,-146.1,778.2,-9.6,475,6194,0.00,1.10,0.00,0.000,6,0.000,0.037,1748,3225,2152,0,0,0,0,0,0
$GC,6502,-0.47,-146.1,806.2,-8.9,491,6503,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,3225,2151,0,0,0,0,0,0
$GC,6811,-0.47,-146.1,833.8,-9.1,506,6813,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,3225,2151,0,0,0,0,0,0
$GC,7121,-0.47,-146.1,862.6,-9.4,521,7124,0.00,1.15,0.00,0.000,4,0.000,0.065,1743,3950,2152,0,0,0,0,0,0
$GC,7175,-0.47,-146.1,868.3,-10.3,523,7180,0.00,1.10,0.00,0.000,6,0.000,0.038,1743,3226,2151,0,0,0,0,0,0
$GC,7497,-0.47,-146.1,902.2,-11.2,539,7500,0.00,1.33,0.00,0.000,4,0.000,0.035,1743,2328,2151,0,0,0,0,0,0
$GC,7534,-0.47,-146.1,906.3,-10.0,540,7542,0.00,1.48,0.00,0.000,6,0.000,0.057,1736,3238,2151,0,0,0,0,0,0
$GC,7850,-0.47,-146.1,940.7,-11.1,556,7854,0.00,1.12,0.00,0.000,4,0.000,0.064,1730,3951,2151,0,0,0,0,0,0
$GC,7921,-0.47,-146.1,949.4,-12.1,559,7927,0.12,1.10,0.00,0.000,6,0.174,0.038,1762,3226,2150,0,0,0,0,0,0
$GC,8249,-0.47,-146.1,977.4,-8.5,575,8252,0.00,1.33,0.00,0.000,4,0.000,0.035,1762,2326,2150,0,0,0,0,0,0
$GC,8298,-0.47,-146.1,981.7,-8.0,577,8302,0.00,1.45,0.00,0.000,6,0.000,0.058,1758,3229,2151,0,0,0,0,0,0
$STATE,8521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8521,begin apogee
$GC,8524,-0.11,0.0,1000.8,8.8,588,8683,0.38,0.00,150.62,1.900,6,0.138,0.000,1873,3083,1548,0,0,0,0,0,0
$STATE,8684,end apogee,CONTROL_FINISHED_OK
$STATE,8684,begin climb
$GC,8685,0.47,146.1,1006.4,0.0,596,8835,0.57,1.55,142.75,1.840,4,0.083,0.041,2071,2202,953,0,0,0,0,0,0
$GC,8867,0.47,146.1,989.8,13.6,604,8875,0.00,1.58,0.00,0.000,6,0.000,0.052,2071,3079,951,0,0,0,0,0,0
$GC,9184,0.47,146.1,941.8,15.0,620,9187,0.00,1.42,0.00,0.000,4,0.000,0.038,2078,2195,948,0,0,0,0,0,0
$GC,9251,0.47,146.1,932.1,14.2,623,9254,0.00,1.48,0.00,0.000,6,0.000,0.054,2078,3077,947,0,0,0,0,0,0
$GC,9582,0.47,146.1,878.8,16.5,639,9583,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,3077,947,0,0,0,0,0,0
$GC,9892,0.47,146.1,828.2,16.2,654,9895,0.00,1.38,0.00,0.000,4,0.000,0.038,2085,2197,946,0,0,0,0,0,0
$GC,9974,0.47,146.1,815.5,14.5,657,9982,0.00,1.48,0.00,0.000,6,0.000,0.054,2085,3089,946,0,0,0,0,0,0
$GC,10290,0.47,146.1,763.7,16.1,673,10294,0.00,1.40,0.00,0.000,4,0.000,0.041,2091,2194,946,0,0,0,0,0,0
$GC,10321,0.47,146.1,758.8,14.7,674,10326,0.00,1.48,0.00,0.000,6,0.000,0.054,2091,3090,946,0,0,0,0,0,0
$GC,10643,0.47,146.1,708.5,14.8,690,10647,0.00,1.40,0.00,0.000,4,0.000,0.063,2091,3957,946,0,0,0,0,0,0
$GC,10675,0.47,146.1,703.0,16.2,691,10680,0.12,1.38,0.00,0.000,6,0.230,0.034,2072,3067,945,0,0,0,0,0,0
$GC,10996,0.47,146.1,658.5,13.4,707,10999,0.00,1.35,0.00,0.000,4,0.000,0.040,2077,2194,945,0,0,0,0,0,0
$GC,11041,0.47,146.1,652.9,11.5,709,11044,0.00,1.42,0.00,0.000,6,0.000,0.055,2077,3078,945,0,0,0,0,0,0
$GC,11372,0.47,146.1,607.5,13.7,725,11373,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3078,944,0,0,0,0,0,0
$GC,11681,0.47,146.1,563.9,14.3,740,11685,0.00,1.35,0.00,0.000,4,0.000,0.037,2084,2204,945,0,0,0,0,0,0
$GC,11719,0.47,146.1,558.7,13.2,741,11727,0.00,1.42,0.00,0.000,6,0.000,0.055,2083,3080,944,0,0,0,0,0,0
$GC,12035,0.47,146.1,515.0,13.6,757,12038,0.00,1.35,0.00,0.000,4,0.000,0.037,2090,2198,945,0,0,0,0,0,0
$GC,12083,0.47,146.1,508.6,13.2,759,12088,0.00,1.45,0.00,0.000,6,0.000,0.055,2090,3087,944,0,0,0,0,0,0
$GC,12411,0.47,146.1,460.6,15.0,775,12414,0.00,1.38,0.00,0.000,4,0.000,0.038,2097,2191,945,0,0,0,0,0,0
$GC,12437,0.47,146.1,456.7,13.9,776,12442,0.00,1.45,0.00,0.000,6,0.000,0.055,2097,3081,944,0,0,0,0,0,0
$GC,12764,0.47,146.1,405.7,16.1,792,12766,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,3080,944,0,0,0,0,0,0
$GC,13082,0.47,146.1,356.8,15.0,820,13083,0.00,0.00,0.00,0.000,6,0.000,0.000,2098,3081,945,0,0,0,0,0,0
$GC,13401,0.47,146.1,308.0,15.3,850,13404,0.00,1.35,0.00,0.000,4,0.000,0.038,2103,2203,944,0,0,0,0,0,0
$GC,13437,0.47,146.1,302.8,14.9,853,13441,0.10,1.40,0.00,0.000,6,0.186,0.056,2074,3078,945,0,0,0,0,0,0
$GC,13766,0.47,146.1,257.4,13.1,884,13767,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,3078,945,0,0,0,0,0,0
$GC,14085,0.47,146.1,215.0,14.2,914,14086,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,3078,944,0,0,0,0,0,0
$GC,14404,0.47,146.1,171.6,13.8,944,14405,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,3078,945,0,0,0,0,0,0
$GC,14723,0.47,146.1,127.9,13.4,974,14727,0.00,1.35,0.00,0.000,4,0.000,0.036,2080,2190,944,0,0,0,0,0,0
$GC,14794,0.47,146.1,118.9,11.9,980,14804,0.00,1.45,0.00,0.000,6,0.000,0.054,2080,3090,945,0,0,0,0,0,0
$GC,15133,0.47,146.1,77.4,11.4,1027,15140,0.00,1.35,0.00,0.000,4,0.000,0.036,2086,2196,945,0,0,0,0,0,0
$GC,15171,0.47,155.6,73.7,9.5,1033,15178,0.00,1.40,3.65,0.788,6,0.000,0.054,2087,3079,912,0,0,0,0,0,0
$GC,15522,0.47,155.6,34.4,10.6,1094,15531,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,3079,913,0,0,0,0,0,0
$GC,15673,0.47,155.6,14.9,12.8,1119,15681,0.00,1.33,0.00,0.000,4,0.000,0.037,2093,2201,913,0,0,0,0,0,0
$GC,15695,0.47,155.6,11.7,13.3,1122,15704,0.00,1.40,0.00,0.000,6,0.000,0.054,2093,3082,913,0,0,0,0,0,0
$STATE,15746,end climb,SURFACE_DEPTH_REACHED
$STATE,15746,begin surface coast
$FINISH,0.8,1.026479
$STATE,15765,end surface coast,CONTROL_FINISHED_OK
$STATE,15765,begin surface
$SM_CCo,15777,23.70,0.145,0,0,711,205.07
$SM_GC,2.29,0.00,0.00,23.70,0.000,0.000,0.145,64,3249,711,-5.78,0.54,205.07
$IRIDIUM_FIX,-4244.98,813.64,270508,141458
$TT8_MAMPS,0.026964
$HUMID,61.89
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.4,8.519
$10V_AH,10.3,3.824
$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,13.775,65.425,297.025,23.700,0.000,30.703,45.389,608.640,0.000,0.000,20.224,2751.761,10186.009,430.848,3100.160,122.967,0.000,1464.850,0.000,2391.455,0.000,0.544,0.000
$DEVICE_MAMPS,231.795,79.560,1900.260,145.350,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,784.979,793.979,791.373,74.738,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354704
$DATA_FILE_SIZE,63634,1133
$CAP_FILE_SIZE,141809,0
$CFSIZE,259252224,256819200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010815,103358,-4306.801,813.304,150,1.2,151,-25.0