version: 66.07
glider: 543
mission: 14
dive: 26
start: 8 1 115 20 19 44
data:
$ID,543
$MISSION,14
$DIVE,26
$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,-24201.354
$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,55
$R_STBD_OVSHOOT,29
$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
$GPS1,010815,200620,-4310.392,811.628,106,1.1,121,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-69.7
$GPS2,010815,201922,-4310.461,811.785,17,0.9,17,-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,238.3,242738,-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,-48.45,0.000,2,0.000,0.000,62,3249,1831,0,0,0,0,0,0
$GC,68,-0.47,-146.1,3.0,-2.8,6,93,7.00,1.15,-8.10,0.000,4,0.242,0.086,1752,3939,2149,0,0,0,0,0,0
$GC,230,-0.47,-146.1,35.1,-16.3,32,240,0.00,1.08,0.00,0.000,6,0.000,0.034,1753,3231,2155,0,0,0,0,0,0
$GC,376,-0.47,-146.1,56.5,-14.6,57,384,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3231,2154,0,0,0,0,0,0
$GC,723,-0.47,-146.1,103.2,-14.4,116,727,0.00,1.15,0.00,0.000,4,0.000,0.059,1747,3953,2154,0,0,0,0,0,0
$GC,749,-0.47,-146.1,107.7,-15.9,118,757,0.00,1.10,0.00,0.000,6,0.000,0.033,1748,3225,2154,0,0,0,0,0,0
$GC,1078,-0.47,-146.1,156.0,-13.6,149,1081,0.00,1.15,0.00,0.000,4,0.000,0.060,1742,3941,2154,0,0,0,0,0,0
$GC,1126,-0.47,-146.1,163.8,-14.4,153,1134,0.00,1.08,0.00,0.000,6,0.000,0.034,1742,3225,2154,0,0,0,0,0,0
$GC,1451,-0.47,-146.1,208.8,-14.0,184,1455,0.00,1.15,0.00,0.000,4,0.000,0.059,1737,3953,2155,0,0,0,0,0,0
$GC,1510,-0.47,-146.1,216.9,-14.2,189,1513,0.00,1.08,0.00,0.000,6,0.000,0.034,1736,3225,2154,0,0,0,0,0,0
$GC,1839,-0.47,-146.1,263.1,-13.4,220,1843,0.00,1.15,0.00,0.000,4,0.000,0.058,1731,3954,2154,0,0,0,0,0,0
$GC,1884,-0.47,-146.1,269.5,-14.1,224,1888,0.08,1.08,0.00,0.000,6,0.155,0.034,1754,3233,2154,0,0,0,0,0,0
$GC,2213,-0.47,-146.1,308.3,-11.7,255,2214,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,3232,2154,0,0,0,0,0,0
$GC,2534,-0.47,-146.1,346.0,-11.9,285,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,3232,2154,0,0,0,0,0,0
$GC,2851,-0.47,-146.1,383.2,-11.3,315,2852,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,3232,2154,0,0,0,0,0,0
$GC,3175,-0.47,-146.1,417.4,-10.3,338,3178,0.00,1.33,0.00,0.000,4,0.000,0.033,1754,2326,2154,0,0,0,0,0,0
$GC,3207,-0.47,-146.1,420.7,-9.2,339,3212,0.00,1.45,0.00,0.000,6,0.000,0.054,1749,3229,2154,0,0,0,0,0,0
$GC,3528,-0.47,-146.1,455.4,-11.4,355,3532,0.00,1.12,0.00,0.000,4,0.000,0.060,1744,3948,2154,0,0,0,0,0,0
$GC,3599,-0.47,-146.1,464.0,-11.6,358,3604,0.00,1.10,0.00,0.000,6,0.000,0.034,1744,3213,2154,0,0,0,0,0,0
$GC,3927,-0.47,-146.1,502.1,-11.9,374,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,3212,2154,0,0,0,0,0,0
$GC,4236,-0.47,-146.1,537.1,-11.3,389,4240,0.00,1.17,0.00,0.000,4,0.000,0.061,1738,3957,2154,0,0,0,0,0,0
$GC,4284,-0.47,-146.1,543.0,-11.8,391,4289,0.00,1.10,0.00,0.000,6,0.000,0.035,1738,3225,2154,0,0,0,0,0,0
$GC,4612,-0.47,-146.1,581.4,-11.8,407,4613,0.00,0.00,0.00,0.000,6,0.000,0.000,1738,3225,2154,0,0,0,0,0,0
$GC,4921,-0.47,-146.1,617.4,-11.6,422,4922,0.00,0.00,0.00,0.000,6,0.000,0.000,1738,3225,2154,0,0,0,0,0,0
$GC,5230,-0.47,-146.1,653.7,-11.7,437,5234,0.00,1.15,0.00,0.000,4,0.000,0.062,1733,3953,2154,0,0,0,0,0,0
$GC,5268,-0.47,-146.1,658.4,-12.0,438,5275,0.00,1.10,0.00,0.000,6,0.000,0.036,1733,3222,2154,0,0,0,0,0,0
$GC,5584,-0.47,-146.1,693.5,-11.0,454,5587,0.00,1.15,0.00,0.000,4,0.000,0.062,1727,3951,2154,0,0,0,0,0,0
$GC,5622,-0.47,-146.1,698.3,-12.3,455,5630,0.08,1.08,0.00,0.000,6,0.158,0.037,1752,3230,2154,0,0,0,0,0,0
$GC,5938,-0.47,-146.1,727.6,-9.3,471,5942,0.00,1.35,0.00,0.000,4,0.000,0.034,1751,2325,2154,0,0,0,0,0,0
$GC,5983,-0.47,-146.1,731.8,-8.6,473,5986,0.00,1.45,0.00,0.000,6,0.000,0.057,1746,3230,2154,0,0,0,0,0,0
$GC,6314,-0.47,-146.1,766.6,-10.4,489,6318,0.00,1.12,0.00,0.000,4,0.000,0.063,1741,3950,2154,0,0,0,0,0,0
$GC,6419,-0.47,-146.1,778.6,-11.6,493,6427,0.00,1.10,0.00,0.000,6,0.000,0.036,1741,3217,2154,0,0,0,0,0,0
$GC,6735,-0.47,-146.1,812.7,-11.1,509,6736,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3217,2154,0,0,0,0,0,0
$GC,7044,-0.47,-146.1,844.7,-10.0,524,7045,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,3217,2154,0,0,0,0,0,0
$GC,7354,-0.47,-146.1,876.3,-10.5,539,7357,0.00,1.17,0.00,0.000,4,0.000,0.063,1736,3959,2154,0,0,0,0,0,0
$GC,7391,-0.47,-146.1,880.7,-11.7,540,7398,0.00,1.10,0.00,0.000,6,0.000,0.036,1736,3227,2154,0,0,0,0,0,0
$GC,7707,-0.47,-146.1,914.2,-10.6,556,7708,0.00,0.00,0.00,0.000,6,0.000,0.000,1736,3227,2154,0,0,0,0,0,0
$GC,8016,-0.47,-146.1,946.9,-10.4,571,8020,0.00,1.15,0.00,0.000,4,0.000,0.064,1730,3955,2154,0,0,0,0,0,0
$GC,8055,-0.47,-146.1,951.1,-10.7,572,8062,0.10,1.08,0.00,0.000,6,0.155,0.037,1762,3236,2154,0,0,0,0,0,0
$GC,8372,-0.47,-146.1,975.2,-7.1,588,8375,0.00,1.35,0.00,0.000,4,0.000,0.035,1761,2317,2154,0,0,0,0,0,0
$GC,8418,-0.47,-146.1,978.4,-6.0,590,8422,0.00,1.48,0.00,0.000,6,0.000,0.058,1758,3234,2154,0,0,0,0,0,0
$STATE,8707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8708,begin apogee
$GC,8711,-0.11,0.0,1000.1,7.5,604,8871,0.38,0.00,151.93,1.932,6,0.141,0.000,1872,3073,1548,0,0,0,0,0,0
$STATE,8871,end apogee,CONTROL_FINISHED_OK
$STATE,8871,begin climb
$GC,8873,0.47,146.1,1003.4,0.0,612,9024,0.57,1.48,143.95,1.875,4,0.080,0.035,2072,2199,955,0,0,0,0,0,0
$GC,9140,0.47,146.1,972.2,14.7,624,9148,0.00,1.55,0.00,0.000,6,0.000,0.053,2072,3084,951,0,0,0,0,0,0
$GC,9456,0.47,146.1,922.0,16.1,640,9460,0.00,1.40,0.00,0.000,4,0.000,0.038,2078,2204,948,0,0,0,0,0,0
$GC,9482,0.47,146.1,917.9,14.8,641,9487,0.00,1.48,0.00,0.000,6,0.000,0.053,2078,3079,949,0,0,0,0,0,0
$GC,9810,0.47,146.1,864.7,16.5,657,9813,0.00,1.38,0.00,0.000,4,0.000,0.037,2084,2199,948,0,0,0,0,0,0
$GC,9832,0.47,146.1,861.3,15.0,658,9835,0.00,1.45,0.00,0.000,6,0.000,0.054,2085,3080,948,0,0,0,0,0,0
$GC,10164,0.47,146.1,808.9,15.8,674,10167,0.00,1.40,0.00,0.000,4,0.000,0.038,2092,2192,948,0,0,0,0,0,0
$GC,10231,0.47,146.1,799.0,14.8,677,10234,0.00,1.45,0.00,0.000,6,0.000,0.055,2092,3080,947,0,0,0,0,0,0
$GC,10562,0.47,146.1,746.8,15.6,693,10566,0.00,1.42,0.00,0.000,4,0.000,0.063,2092,3951,947,0,0,0,0,0,0
$GC,10594,0.47,146.1,740.8,19.0,694,10600,0.12,1.38,0.00,0.000,6,0.230,0.033,2072,3060,947,0,0,0,0,0,0
$GC,10916,0.47,146.1,695.7,13.7,710,10919,0.00,1.33,0.00,0.000,4,0.000,0.038,2077,2199,947,0,0,0,0,0,0
$GC,10964,0.47,146.1,689.4,12.5,712,10969,0.00,1.45,0.00,0.000,6,0.000,0.054,2077,3081,946,0,0,0,0,0,0
$GC,11292,0.47,146.1,644.9,13.5,728,11296,0.00,1.35,0.00,0.000,4,0.000,0.037,2084,2209,946,0,0,0,0,0,0
$GC,11340,0.47,146.1,638.5,12.6,730,11346,0.00,1.42,0.00,0.000,6,0.000,0.054,2084,3082,946,0,0,0,0,0,0
$GC,11668,0.47,146.1,593.6,13.7,746,11669,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,3081,946,0,0,0,0,0,0
$GC,11977,0.47,146.1,552.9,13.4,761,11979,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,3081,946,0,0,0,0,0,0
$GC,12287,0.47,146.1,512.3,13.4,776,12290,0.00,1.35,0.00,0.000,4,0.000,0.037,2090,2207,946,0,0,0,0,0,0
$GC,12354,0.47,146.1,503.9,12.4,779,12357,0.00,1.40,0.00,0.000,6,0.000,0.056,2090,3074,945,0,0,0,0,0,0
$GC,12685,0.47,146.1,457.1,14.6,795,12687,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,3074,945,0,0,0,0,0,0
$GC,12995,0.47,146.1,411.7,14.4,810,12996,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,3074,946,0,0,0,0,0,0
$GC,13312,0.47,146.1,363.6,15.8,836,13316,0.00,1.40,0.00,0.000,4,0.000,0.063,2090,3948,946,0,0,0,0,0,0
$GC,13338,0.47,146.1,358.4,17.9,838,13347,0.00,1.33,0.00,0.000,6,0.000,0.034,2097,3077,945,0,0,0,0,0,0
$GC,13667,0.47,146.1,304.6,16.5,869,13671,0.00,1.33,0.00,0.000,4,0.000,0.037,2103,2207,945,0,0,0,0,0,0
$GC,13736,0.47,146.1,293.4,16.1,875,13740,0.10,1.40,0.00,0.000,6,0.185,0.055,2074,3081,945,0,0,0,0,0,0
$GC,14066,0.47,146.1,244.7,13.7,906,14069,0.00,1.33,0.00,0.000,4,0.000,0.036,2080,2205,945,0,0,0,0,0,0
$GC,14102,0.47,146.1,240.5,11.7,909,14105,0.00,1.40,0.00,0.000,6,0.000,0.055,2080,3078,945,0,0,0,0,0,0
$GC,14431,0.47,146.1,194.6,13.9,940,14435,0.00,1.40,0.00,0.000,4,0.000,0.061,2079,3958,945,0,0,0,0,0,0
$GC,14480,0.47,146.1,186.6,16.4,944,14490,0.00,1.33,0.00,0.000,6,0.000,0.033,2086,3075,945,0,0,0,0,0,0
$GC,14807,0.47,146.1,140.3,14.8,975,14808,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,3076,945,0,0,0,0,0,0
$GC,15127,0.47,146.1,99.5,13.4,1005,15136,0.00,1.30,0.00,0.000,4,0.000,0.036,2093,2208,945,0,0,0,0,0,0
$GC,15147,0.47,146.1,96.5,13.3,1008,15156,0.00,1.40,0.00,0.000,6,0.000,0.054,2093,3087,945,0,0,0,0,0,0
$GC,15499,0.47,146.1,48.1,15.7,1069,15505,0.00,1.33,0.00,0.000,4,0.000,0.034,2099,2207,945,0,0,0,0,0,0
$GC,15536,0.47,146.1,43.1,12.7,1075,15543,0.10,1.38,0.00,0.000,6,0.170,0.054,2069,3076,945,0,0,0,0,0,0
$GC,15898,0.47,146.1,4.3,10.6,1136,15906,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,3076,946,0,0,0,0,0,0
$STATE,15913,end climb,SURFACE_DEPTH_REACHED
$STATE,15913,begin surface coast
$FINISH,0.8,1.026480
$STATE,15938,end surface coast,CONTROL_FINISHED_OK
$STATE,15938,begin surface
$SM_CCo,15950,37.97,0.343,1,0,708,205.07
$SM_GC,2.18,0.00,0.00,37.97,0.000,0.000,0.343,74,3251,708,-5.75,0.57,205.07
$IRIDIUM_FIX,-4253.80,809.06,280508,090901
$TT8_MAMPS,0.027713
$HUMID,61.69
$INTERNAL_PRESSURE,11.3786
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,22.3,9.118
$10V_AH,10.3,4.144
$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,13.975,74.700,295.875,37.975,0.000,53.556,45.426,493.176,0.000,0.000,19.708,2795.943,10277.021,462.024,3115.909,127.045,0.000,1533.552,0.000,2469.870,0.000,0.546,0.000
$DEVICE_MAMPS,241.740,86.445,1931.625,343.485,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,791.668,807.527,828.074,82.679,0.000,0.000,0.000,0.000,0.000,0.000
$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,63558,1142
$CAP_FILE_SIZE,146686,0
$CFSIZE,259252224,256593920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020815,004734,-4311.979,810.958,42,1.0,43,-25.0