version: 66.07
glider: 543
mission: 14
dive: 29
start: 8 2 115 10 12 56
data:
$ID,543
$MISSION,14
$DIVE,29
$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,-24209.871
$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,40
$R_STBD_OVSHOOT,25
$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
$GPS1,020815,100051,-4315.106,808.885,40,1.5,41,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-74.4
$GPS2,020815,101233,-4315.121,808.845,28,1.1,28,-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,238.6,233417,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.47,-146.1,0.0,0.0,0,73,0.00,0.00,-56.67,0.000,2,0.000,0.000,67,3252,2007,0,0,0,0,0,0
$GC,75,-0.47,-146.1,3.2,-2.6,7,92,6.95,1.40,-3.38,0.000,4,0.242,0.054,1754,2306,2146,0,0,0,0,0,0
$GC,248,-0.47,-146.1,32.0,-10.6,35,256,0.00,1.52,0.00,0.000,6,0.000,0.054,1748,3232,2151,0,0,0,0,0,0
$GC,393,-0.47,-146.1,53.5,-15.0,60,402,0.00,1.15,0.00,0.000,4,0.000,0.059,1743,3950,2151,0,0,0,0,0,0
$GC,447,-0.47,-146.1,62.5,-16.5,69,456,0.00,1.10,0.00,0.000,6,0.000,0.034,1743,3216,2151,0,0,0,0,0,0
$GC,790,-0.47,-146.1,118.2,-16.7,120,791,0.00,0.00,0.00,0.000,6,0.000,0.000,1743,3216,2151,0,0,0,0,0,0
$GC,1109,-0.47,-146.1,169.5,-15.8,150,1112,0.00,1.17,0.00,0.000,4,0.000,0.059,1738,3953,2151,0,0,0,0,0,0
$GC,1135,-0.47,-146.1,174.0,-16.4,152,1145,0.00,1.10,0.00,0.000,6,0.000,0.033,1738,3222,2151,0,0,0,0,0,0
$GC,1459,-0.47,-146.1,223.3,-14.3,183,1460,0.00,0.00,0.00,0.000,6,0.000,0.000,1738,3222,2152,0,0,0,0,0,0
$GC,1782,-0.47,-146.1,268.9,-14.0,213,1786,0.00,1.15,0.00,0.000,4,0.000,0.058,1732,3949,2152,0,0,0,0,0,0
$GC,1830,-0.47,-146.1,276.9,-14.9,217,1838,0.00,1.08,0.00,0.000,6,0.000,0.034,1733,3230,2151,0,0,0,0,0,0
$GC,2156,-0.47,-146.1,323.4,-14.1,248,2158,0.10,0.00,0.00,0.000,6,0.187,0.000,1756,3230,2151,0,0,0,0,0,0
$GC,2474,-0.47,-146.1,360.7,-11.5,278,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,3230,2151,0,0,0,0,0,0
$GC,2794,-0.47,-146.1,398.0,-11.4,308,2797,0.00,1.15,0.00,0.000,4,0.000,0.060,1752,3958,2151,0,0,0,0,0,0
$GC,2848,-0.47,-146.1,404.8,-12.2,311,2853,0.00,1.10,0.00,0.000,6,0.000,0.034,1752,3223,2151,0,0,0,0,0,0
$GC,3170,-0.47,-146.1,442.8,-11.7,327,3171,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3223,2151,0,0,0,0,0,0
$GC,3479,-0.47,-146.1,477.4,-11.4,342,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,3223,2151,0,0,0,0,0,0
$GC,3788,-0.47,-146.1,511.6,-11.1,357,3792,0.00,1.15,0.00,0.000,4,0.000,0.061,1747,3952,2151,0,0,0,0,0,0
$GC,3820,-0.47,-146.1,515.4,-11.5,358,3825,0.00,1.08,0.00,0.000,6,0.000,0.035,1747,3235,2151,0,0,0,0,0,0
$GC,4141,-0.47,-146.1,552.6,-11.7,374,4145,0.00,1.33,0.00,0.000,4,0.000,0.034,1747,2334,2151,0,0,0,0,0,0
$GC,4172,-0.47,-146.1,556.3,-10.2,375,4178,0.00,1.48,0.00,0.000,6,0.000,0.055,1740,3242,2151,0,0,0,0,0,0
$GC,4494,-0.47,-146.1,594.5,-12.2,391,4498,0.00,1.10,0.00,0.000,4,0.000,0.061,1735,3946,2151,0,0,0,0,0,0
$GC,4532,-0.47,-146.1,599.6,-13.6,392,4540,0.00,1.08,0.00,0.000,6,0.000,0.035,1735,3225,2151,0,0,0,0,0,0
$GC,4848,-0.47,-146.1,638.4,-12.3,408,4849,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3225,2151,0,0,0,0,0,0
$GC,5157,-0.47,-146.1,677.6,-13.0,423,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3225,2151,0,0,0,0,0,0
$GC,5466,-0.47,-146.1,717.0,-12.5,438,5470,0.00,1.15,0.00,0.000,4,0.000,0.062,1730,3954,2151,0,0,0,0,0,0
$GC,5515,-0.47,-146.1,723.6,-12.6,440,5520,0.12,1.10,0.00,0.000,6,0.174,0.035,1761,3225,2151,0,0,0,0,0,0
$GC,5843,-0.47,-146.1,756.3,-9.9,456,5844,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,3226,2151,0,0,0,0,0,0
$GC,6152,-0.47,-146.1,785.1,-9.3,471,6153,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,3226,2151,0,0,0,0,0,0
$GC,6461,-0.47,-146.1,812.2,-8.6,486,6465,0.00,1.33,0.00,0.000,4,0.000,0.035,1761,2326,2151,0,0,0,0,0,0
$GC,6488,-0.47,-146.1,814.7,-9.3,487,6492,0.00,1.45,0.00,0.000,6,0.000,0.057,1756,3228,2151,0,0,0,0,0,0
$GC,6815,-0.47,-146.1,843.2,-9.0,503,6818,0.00,1.15,0.00,0.000,4,0.000,0.063,1751,3957,2151,0,0,0,0,0,0
$GC,6875,-0.47,-146.1,849.0,-9.0,505,6883,0.00,1.10,0.00,0.000,6,0.000,0.036,1751,3227,2151,0,0,0,0,0,0
$GC,7191,-0.47,-146.1,877.9,-8.8,521,7195,0.00,1.30,0.00,0.000,4,0.000,0.034,1751,2335,2151,0,0,0,0,0,0
$GC,7218,-0.47,-146.1,880.4,-9.3,522,7222,0.00,1.48,0.00,0.000,6,0.000,0.057,1744,3247,2151,0,0,0,0,0,0
$GC,7545,-0.47,-146.1,911.6,-9.8,538,7547,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,3247,2150,0,0,0,0,0,0
$GC,7854,-0.47,-146.1,943.5,-10.2,553,7858,0.00,1.10,0.00,0.000,4,0.000,0.063,1739,3946,2151,0,0,0,0,0,0
$GC,7908,-0.47,-146.1,949.5,-10.5,555,7913,0.00,1.08,0.00,0.000,6,0.000,0.037,1739,3232,2151,0,0,0,0,0,0
$GC,8230,-0.47,-146.1,982.1,-10.0,571,8234,0.00,1.33,0.00,0.000,4,0.000,0.034,1739,2337,2151,0,0,0,0,0,0
$GC,8268,-0.47,-146.1,985.7,-8.6,572,8275,0.00,1.45,0.00,0.000,6,0.000,0.057,1732,3231,2151,0,0,0,0,0,0
$STATE,8417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8417,begin apogee
$GC,8421,-0.11,0.0,1000.9,10.2,580,8581,0.47,0.00,152.10,1.926,6,0.151,0.000,1876,3084,1548,0,0,0,0,0,0
$STATE,8581,end apogee,CONTROL_FINISHED_OK
$STATE,8581,begin climb
$GC,8583,0.47,146.1,1005.9,0.0,588,8734,0.55,1.58,144.98,1.867,4,0.076,0.037,2070,2198,953,0,0,0,0,0,0
$GC,8890,0.47,146.1,973.4,13.4,602,8895,0.00,1.55,0.00,0.000,6,0.000,0.054,2070,3085,949,0,0,0,0,0,0
$GC,9212,0.47,146.1,925.9,14.8,618,9216,0.00,1.40,0.00,0.000,4,0.000,0.037,2077,2208,947,0,0,0,0,0,0
$GC,9238,0.47,146.1,922.0,14.2,619,9243,0.00,1.48,0.00,0.000,6,0.000,0.054,2076,3080,947,0,0,0,0,0,0
$GC,9566,0.47,146.1,869.7,16.3,635,9569,0.00,1.40,0.00,0.000,4,0.000,0.037,2083,2201,947,0,0,0,0,0,0
$GC,9648,0.47,146.1,857.3,14.6,638,9656,0.00,1.48,0.00,0.000,6,0.000,0.054,2083,3084,947,0,0,0,0,0,0
$GC,9964,0.47,146.1,805.1,16.6,654,9968,0.00,1.40,0.00,0.000,4,0.000,0.039,2090,2197,946,0,0,0,0,0,0
$GC,10009,0.47,146.1,798.1,15.5,656,10013,0.00,1.45,0.00,0.000,6,0.000,0.055,2090,3082,946,0,0,0,0,0,0
$GC,10340,0.47,146.1,740.9,17.0,672,10344,0.00,1.38,0.00,0.000,4,0.000,0.037,2096,2199,946,0,0,0,0,0,0
$GC,10372,0.47,146.1,735.6,15.9,673,10377,0.00,1.45,0.00,0.000,6,0.000,0.054,2096,3082,946,0,0,0,0,0,0
$GC,10694,0.47,146.1,681.9,16.8,689,10695,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,3082,946,0,0,0,0,0,0
$GC,11003,0.47,146.1,632.4,15.8,704,11005,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,3082,946,0,0,0,0,0,0
$GC,11313,0.47,146.1,584.2,16.0,719,11316,0.00,1.38,0.00,0.000,4,0.000,0.037,2103,2195,945,0,0,0,0,0,0
$GC,11383,0.47,146.1,574.1,14.2,722,11389,0.15,1.45,0.00,0.000,6,0.206,0.054,2068,3081,945,0,0,0,0,0,0
$GC,11711,0.47,146.1,531.1,12.8,738,11712,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,3080,945,0,0,0,0,0,0
$GC,12020,0.47,146.1,490.8,13.1,753,12024,0.00,1.35,0.00,0.000,4,0.000,0.037,2073,2198,945,0,0,0,0,0,0
$GC,12065,0.47,146.1,485.5,11.1,755,12068,0.00,1.42,0.00,0.000,6,0.000,0.057,2073,3079,945,0,0,0,0,0,0
$GC,12396,0.47,146.1,440.4,13.8,771,12400,0.00,1.40,0.00,0.000,4,0.000,0.063,2074,3954,945,0,0,0,0,0,0
$GC,12450,0.47,146.1,431.3,16.2,773,12456,0.00,1.35,0.00,0.000,6,0.000,0.034,2080,3068,945,0,0,0,0,0,0
$GC,12778,0.47,146.1,385.7,14.6,793,12782,0.00,1.33,0.00,0.000,4,0.000,0.038,2087,2203,945,0,0,0,0,0,0
$GC,12834,0.47,146.1,377.8,13.0,798,12838,0.00,1.40,0.00,0.000,6,0.000,0.056,2087,3073,945,0,0,0,0,0,0
$GC,13166,0.47,146.1,329.1,14.4,829,13167,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,3073,945,0,0,0,0,0,0
$GC,13483,0.47,146.1,282.3,14.5,859,13484,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,3073,944,0,0,0,0,0,0
$GC,13805,0.47,146.1,234.2,15.0,889,13809,0.00,1.33,0.00,0.000,4,0.000,0.037,2093,2205,944,0,0,0,0,0,0
$GC,13831,0.47,146.1,229.8,13.6,891,13839,0.00,1.42,0.00,0.000,6,0.000,0.055,2093,3084,945,0,0,0,0,0,0
$GC,14157,0.47,146.1,180.1,15.5,922,14158,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,3083,944,0,0,0,0,0,0
$GC,14476,0.47,146.1,133.7,13.6,952,14479,0.00,1.38,0.00,0.000,4,0.000,0.061,2093,3948,944,0,0,0,0,0,0
$GC,14509,0.47,146.1,128.6,15.5,955,14514,0.10,1.30,0.00,0.000,6,0.203,0.034,2073,3071,945,0,0,0,0,0,0
$GC,14842,0.47,146.1,87.5,11.5,994,14848,0.00,1.30,0.00,0.000,4,0.000,0.035,2078,2206,945,0,0,0,0,0,0
$GC,14888,0.47,146.1,82.0,10.3,1002,14897,0.00,1.40,0.00,0.000,6,0.000,0.054,2078,3083,944,0,0,0,0,0,0
$GC,15240,0.47,146.1,38.6,12.6,1063,15248,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,3082,944,0,0,0,0,0,0
$GC,15391,0.47,146.1,19.8,11.9,1088,15400,0.00,1.38,0.00,0.000,4,0.000,0.060,2077,3954,945,0,0,0,0,0,0
$GC,15426,0.47,146.1,15.1,13.9,1093,15434,0.00,1.30,0.00,0.000,6,0.000,0.034,2084,3073,945,0,0,0,0,0,0
$GC,15483,0.47,146.1,7.4,12.1,1102,15492,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,3072,945,0,0,0,0,0,0
$STATE,15516,end climb,SURFACE_DEPTH_REACHED
$STATE,15516,begin surface coast
$FINISH,0.9,1.013955
$STATE,15541,end surface coast,CONTROL_FINISHED_OK
$STATE,15541,begin surface
$SM_CCo,15553,26.15,0.146,0,0,711,205.07
$SM_GC,1.67,0.00,0.00,26.15,0.000,0.000,0.146,73,3244,711,-5.75,0.40,205.07
$IRIDIUM_FIX,-4256.74,812.40,280508,181856
$TT8_MAMPS,0.027713
$HUMID,62.01
$INTERNAL_PRESSURE,11.3786
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,22.3,9.682
$10V_AH,10.3,4.450
$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,13.925,71.000,297.075,26.150,0.000,25.863,51.863,506.478,0.000,0.000,31.603,2710.568,10006.493,445.960,2986.162,136.153,0.000,1488.969,0.000,2375.627,0.000,0.544,0.000
$DEVICE_MAMPS,241.740,67.320,1925.505,146.115,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,770.522,783.506,797.869,78.527,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354596
$DATA_FILE_SIZE,63507,1111
$CAP_FILE_SIZE,142463,0
$CFSIZE,259252224,256380928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020815,143336,-4316.382,808.034,26,1.9,26,-24.9