version: 66.07
glider: 543
mission: 14
dive: 28
start: 8 2 115 5 29 45
data:
$ID,543
$MISSION,14
$DIVE,28
$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,-24206.822
$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,42
$R_STBD_OVSHOOT,31
$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
$GPS1,020815,052204,-4313.585,810.031,32,1.0,33,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-69.6
$GPS2,020815,052923,-4313.544,810.031,26,1.0,26,-24.9
$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,238.5,236708,-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,-146.1,0.0,0.0,0,74,0.00,0.00,-56.72,0.000,2,0.000,0.000,62,3243,2012,0,0,0,0,0,0
$GC,76,-0.47,-146.1,3.3,-2.7,7,93,6.82,1.38,-3.25,0.000,4,0.236,0.051,1760,2329,2145,0,0,0,0,0,0
$GC,253,-0.47,-146.1,30.8,-10.7,36,262,0.00,1.48,0.00,0.000,6,0.000,0.054,1755,3230,2151,0,0,0,0,0,0
$GC,402,-0.47,-146.1,51.1,-14.3,61,409,0.00,1.17,0.00,0.000,4,0.000,0.060,1750,3950,2151,0,0,0,0,0,0
$GC,431,-0.47,-146.1,55.8,-15.4,66,440,0.00,1.10,0.00,0.000,6,0.000,0.034,1750,3218,2151,0,0,0,0,0,0
$GC,784,-0.47,-146.1,108.8,-15.1,123,788,0.00,1.30,0.00,0.000,4,0.000,0.032,1750,2333,2151,0,0,0,0,0,0
$GC,818,-0.47,-146.1,113.9,-13.5,126,821,0.00,1.45,0.00,0.000,6,0.000,0.054,1743,3226,2151,0,0,0,0,0,0
$GC,1151,-0.47,-146.1,161.9,-14.7,157,1154,0.00,1.15,0.00,0.000,4,0.000,0.060,1738,3954,2151,0,0,0,0,0,0
$GC,1220,-0.47,-146.1,172.3,-13.5,163,1223,0.00,1.08,0.00,0.000,6,0.000,0.034,1738,3229,2151,0,0,0,0,0,0
$GC,1549,-0.47,-146.1,217.6,-13.2,194,1553,0.00,1.33,0.00,0.000,4,0.000,0.033,1738,2328,2151,0,0,0,0,0,0
$GC,1598,-0.47,-146.1,223.9,-11.7,198,1607,0.12,1.48,0.00,0.000,6,0.164,0.053,1763,3234,2151,0,0,0,0,0,0
$GC,1926,-0.47,-146.1,258.7,-10.7,229,1929,0.00,1.12,0.00,0.000,4,0.000,0.060,1759,3950,2151,0,0,0,0,0,0
$GC,2027,-0.47,-146.1,270.0,-10.8,238,2030,0.00,1.05,0.00,0.000,6,0.000,0.035,1760,3237,2151,0,0,0,0,0,0
$GC,2360,-0.47,-146.1,305.2,-10.9,269,2361,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,3237,2151,0,0,0,0,0,0
$GC,2675,-0.47,-146.1,339.4,-10.5,299,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,3237,2151,0,0,0,0,0,0
$GC,2998,-0.47,-146.1,371.9,-10.1,329,3001,0.00,1.33,0.00,0.000,4,0.000,0.033,1759,2336,2151,0,0,0,0,0,0
$GC,3045,-0.47,-146.1,376.1,-8.6,333,3048,0.00,1.42,0.00,0.000,6,0.000,0.055,1753,3224,2151,0,0,0,0,0,0
$GC,3374,-0.47,-146.1,408.9,-10.0,360,3377,0.00,1.12,0.00,0.000,4,0.000,0.060,1748,3944,2151,0,0,0,0,0,0
$GC,3428,-0.47,-146.1,415.0,-10.6,362,3432,0.00,1.08,0.00,0.000,6,0.000,0.034,1748,3225,2151,0,0,0,0,0,0
$GC,3749,-0.47,-146.1,449.8,-11.0,378,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,3225,2151,0,0,0,0,0,0
$GC,4059,-0.47,-146.1,484.7,-11.7,393,4062,0.00,1.15,0.00,0.000,4,0.000,0.061,1742,3954,2151,0,0,0,0,0,0
$GC,4090,-0.47,-146.1,489.0,-12.5,394,4095,0.00,1.10,0.00,0.000,6,0.000,0.035,1742,3223,2151,0,0,0,0,0,0
$GC,4412,-0.47,-146.1,528.1,-12.2,410,4413,0.00,0.00,0.00,0.000,6,0.000,0.000,1743,3223,2151,0,0,0,0,0,0
$GC,4721,-0.47,-146.1,564.7,-11.6,425,4725,0.00,1.15,0.00,0.000,4,0.000,0.061,1737,3954,2151,0,0,0,0,0,0
$GC,4798,-0.47,-146.1,574.0,-11.3,428,4803,0.00,1.10,0.00,0.000,6,0.000,0.035,1737,3220,2151,0,0,0,0,0,0
$GC,5119,-0.47,-146.1,611.2,-11.6,444,5123,0.00,1.15,0.00,0.000,4,0.000,0.061,1732,3950,2151,0,0,0,0,0,0
$GC,5213,-0.47,-146.1,623.9,-13.8,448,5218,0.12,1.10,0.00,0.000,6,0.174,0.035,1763,3222,2151,0,0,0,0,0,0
$GC,5540,-0.47,-146.1,656.4,-9.7,464,5543,0.00,1.15,0.00,0.000,4,0.000,0.063,1759,3950,2151,0,0,0,0,0,0
$GC,5566,-0.47,-146.1,659.3,-10.5,465,5571,0.00,1.10,0.00,0.000,6,0.000,0.035,1759,3222,2151,0,0,0,0,0,0
$GC,5893,-0.47,-146.1,691.8,-9.8,481,5897,0.00,1.30,0.00,0.000,4,0.000,0.033,1759,2338,2151,0,0,0,0,0,0
$GC,5926,-0.47,-146.1,695.0,-9.5,482,5930,0.00,1.45,0.00,0.000,6,0.000,0.056,1753,3239,2150,0,0,0,0,0,0
$GC,6247,-0.47,-146.1,728.5,-10.8,498,6248,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3239,2151,0,0,0,0,0,0
$GC,6556,-0.47,-146.1,761.1,-10.5,513,6560,0.00,1.12,0.00,0.000,4,0.000,0.062,1748,3955,2151,0,0,0,0,0,0
$GC,6628,-0.47,-146.1,769.2,-11.0,516,6632,0.00,1.08,0.00,0.000,6,0.000,0.037,1748,3232,2151,0,0,0,0,0,0
$GC,6955,-0.47,-146.1,804.2,-10.3,532,6956,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,3232,2151,0,0,0,0,0,0
$GC,7264,-0.47,-146.1,835.9,-9.9,547,7268,0.00,1.12,0.00,0.000,4,0.000,0.063,1743,3945,2151,0,0,0,0,0,0
$GC,7301,-0.47,-146.1,840.1,-10.6,548,7309,0.00,1.10,0.00,0.000,6,0.000,0.037,1743,3219,2151,0,0,0,0,0,0
$GC,7617,-0.47,-146.1,872.7,-10.4,564,7619,0.00,0.00,0.00,0.000,6,0.000,0.000,1743,3219,2150,0,0,0,0,0,0
$GC,7927,-0.47,-146.1,904.8,-10.4,579,7928,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3219,2151,0,0,0,0,0,0
$GC,8236,-0.47,-146.1,937.0,-10.3,594,8237,0.00,0.00,0.00,0.000,6,0.000,0.000,1743,3219,2151,0,0,0,0,0,0
$GC,8546,-0.47,-146.1,968.1,-9.7,609,8547,0.00,0.00,0.00,0.000,6,0.000,0.000,1743,3219,2151,0,0,0,0,0,0
$GC,8855,-0.47,-146.1,996.7,-9.0,624,8859,0.00,1.15,0.00,0.000,4,0.000,0.063,1737,3946,2151,0,0,0,0,0,0
$GC,8881,-0.47,-146.1,999.4,-9.6,625,8886,0.00,1.10,0.00,0.000,6,0.000,0.037,1737,3220,2151,0,0,0,0,0,0
$STATE,8891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8891,begin apogee
$GC,8894,-0.11,0.0,1000.2,9.4,625,9047,0.43,0.00,149.73,1.912,6,0.146,0.000,1871,3084,1549,0,0,0,0,0,0
$STATE,9048,end apogee,CONTROL_FINISHED_OK
$STATE,9048,begin climb
$GC,9049,0.47,146.1,1003.1,0.0,633,9204,0.62,1.55,145.27,1.872,4,0.097,0.038,2072,2204,953,0,0,0,0,0,0
$GC,9227,0.47,146.1,983.8,15.4,642,9231,0.00,1.55,0.00,0.000,6,0.000,0.053,2072,3073,952,0,0,0,0,0,0
$GC,9558,0.47,146.1,930.4,16.1,658,9560,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,3073,948,0,0,0,0,0,0
$GC,9868,0.47,146.1,882.3,15.3,673,9871,0.00,1.38,0.00,0.000,4,0.000,0.038,2078,2197,947,0,0,0,0,0,0
$GC,9972,0.47,146.1,867.7,13.7,677,9981,0.00,1.50,0.00,0.000,6,0.000,0.053,2078,3094,947,0,0,0,0,0,0
$GC,10289,0.47,146.1,818.8,15.5,693,10290,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,3094,947,0,0,0,0,0,0
$GC,10598,0.47,146.1,771.4,15.4,708,10602,0.00,1.40,0.00,0.000,4,0.000,0.037,2085,2189,946,0,0,0,0,0,0
$GC,10620,0.47,146.1,768.2,14.8,709,10624,0.00,1.45,0.00,0.000,6,0.000,0.054,2085,3079,946,0,0,0,0,0,0
$GC,10952,0.47,146.1,716.3,16.0,725,10953,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,3079,946,0,0,0,0,0,0
$GC,11261,0.47,146.1,667.1,15.7,740,11265,0.00,1.38,0.00,0.000,4,0.000,0.038,2092,2190,946,0,0,0,0,0,0
$GC,11350,0.47,146.1,654.1,14.0,744,11353,0.00,1.45,0.00,0.000,6,0.000,0.055,2091,3083,946,0,0,0,0,0,0
$GC,11682,0.47,146.1,600.3,15.9,760,11683,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,3083,945,0,0,0,0,0,0
$GC,11991,0.47,146.1,551.2,15.9,775,11994,0.00,1.38,0.00,0.000,4,0.000,0.038,2098,2189,945,0,0,0,0,0,0
$GC,12039,0.47,146.1,543.7,14.3,777,12045,0.12,1.48,0.00,0.000,6,0.204,0.054,2070,3090,945,0,0,0,0,0,0
$GC,12366,0.47,146.1,497.9,13.9,793,12367,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,3090,945,0,0,0,0,0,0
$GC,12676,0.47,146.1,455.0,13.9,808,12677,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,3090,945,0,0,0,0,0,0
$GC,12985,0.47,146.1,413.2,13.4,823,12989,0.00,1.38,0.00,0.000,4,0.000,0.038,2075,2187,945,0,0,0,0,0,0
$GC,13022,0.47,146.1,408.8,10.4,824,13030,0.00,1.48,0.00,0.000,6,0.000,0.054,2075,3091,945,0,0,0,0,0,0
$GC,13347,0.47,146.1,367.8,12.8,851,13348,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,3091,945,0,0,0,0,0,0
$GC,13666,0.47,146.1,325.7,12.5,881,13670,0.00,1.38,0.00,0.000,4,0.000,0.037,2082,2191,945,0,0,0,0,0,0
$GC,13703,0.47,146.1,320.6,11.9,884,13714,0.00,1.45,0.00,0.000,6,0.000,0.054,2082,3081,945,0,0,0,0,0,0
$GC,14028,0.47,146.1,276.5,14.2,915,14030,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,3081,945,0,0,0,0,0,0
$GC,14351,0.47,146.1,230.6,14.0,945,14357,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,3081,945,0,0,0,0,0,0
$GC,14676,0.47,146.1,185.4,13.1,976,14677,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,3081,945,0,0,0,0,0,0
$GC,14994,0.47,146.1,142.5,12.8,1006,14995,0.00,0.00,0.00,0.000,6,0.000,0.000,2082,3081,945,0,0,0,0,0,0
$GC,15313,0.47,146.1,104.6,11.7,1036,15316,0.00,1.35,0.00,0.000,4,0.000,0.035,2089,2185,945,0,0,0,0,0,0
$GC,15392,0.47,146.1,96.2,10.0,1046,15399,0.00,1.42,0.00,0.000,6,0.000,0.054,2089,3076,945,0,0,0,0,0,0
$GC,15739,0.47,146.1,52.2,13.5,1107,15747,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,3076,945,0,0,0,0,0,0
$GC,16097,0.47,146.1,6.7,12.4,1168,16106,0.00,1.35,0.00,0.000,4,0.000,0.034,2096,2173,945,0,0,0,0,0,0
$STATE,16125,end climb,SURFACE_DEPTH_REACHED
$STATE,16125,begin surface coast
$FINISH,1.0,1.026605
$STATE,16150,end surface coast,CONTROL_FINISHED_OK
$STATE,16150,begin surface
$SM_CCo,16164,27.62,0.145,0,0,710,205.07
$SM_GC,1.73,0.00,0.00,27.62,0.000,0.000,0.145,79,3252,710,-5.74,0.62,205.07
$IRIDIUM_FIX,-4242.04,1312.91,280508,141418
$TT8_MAMPS,0.027713
$HUMID,62.48
$INTERNAL_PRESSURE,11.3786
$TCM_TEMP,13.10
$XPDR_PINGS,0
$24V_AH,22.3,9.489
$10V_AH,10.3,4.348
$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,13.625,64.650,295.000,27.625,0.000,28.586,24.432,265.934,0.000,0.000,29.354,2856.338,10365.116,447.517,2854.048,111.470,0.000,1483.389,0.000,2482.360,0.000,0.543,0.000
$DEVICE_MAMPS,235.620,63.495,1911.735,145.350,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,817.169,827.217,867.211,84.885,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354568
$DATA_FILE_SIZE,66870,1176
$CAP_FILE_SIZE,137984,0
$CFSIZE,259252224,256454656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020815,100051,-4315.106,808.885,40,1.5,41,-24.9