version: 66.07
glider: 543
mission: 14
dive: 30
start: 8 2 115 14 45 49
data:
$ID,543
$MISSION,14
$DIVE,30
$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,-24212.541
$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,60
$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
$GPS1,020815,143336,-4316.382,808.034,26,1.9,26,-24.9
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,2
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-76.9
$GPS2,020815,144527,-4316.474,808.124,37,0.8,37,-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,238.7,230808,-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,-56.90,0.000,2,0.000,0.000,63,3244,2026,0,0,0,0,0,0
$GC,75,-0.47,-146.1,3.5,-3.2,7,93,7.03,0.00,-2.78,0.000,6,0.245,0.000,1754,3244,2146,0,0,0,0,0,0
$GC,141,-0.47,-146.1,20.4,-17.7,17,150,0.00,1.35,0.00,0.000,4,0.000,0.032,1754,2342,2151,0,0,0,0,0,0
$GC,175,-0.47,-146.1,25.4,-14.4,22,185,0.00,1.45,0.00,0.000,6,0.000,0.055,1750,3220,2152,0,0,0,0,0,0
$GC,324,-0.47,-146.1,46.6,-14.6,47,331,0.00,1.17,0.00,0.000,4,0.000,0.060,1744,3951,2152,0,0,0,0,0,0
$GC,390,-0.47,-146.1,56.3,-15.2,58,396,0.00,1.08,0.00,0.000,6,0.000,0.035,1744,3236,2152,0,0,0,0,0,0
$GC,732,-0.47,-146.1,108.4,-15.0,114,736,0.00,1.15,0.00,0.000,4,0.000,0.060,1738,3954,2152,0,0,0,0,0,0
$GC,770,-0.47,-146.1,114.8,-16.8,117,777,0.00,1.10,0.00,0.000,6,0.000,0.035,1739,3228,2152,0,0,0,0,0,0
$GC,1095,-0.47,-146.1,163.7,-13.3,148,1098,0.00,1.15,0.00,0.000,4,0.000,0.059,1733,3953,2151,0,0,0,0,0,0
$GC,1199,-0.47,-146.1,178.2,-14.7,157,1202,0.00,1.08,0.00,0.000,6,0.000,0.034,1733,3229,2152,0,0,0,0,0,0
$GC,1528,-0.47,-146.1,221.8,-12.7,188,1529,0.00,0.00,0.00,0.000,6,0.000,0.000,1734,3229,2152,0,0,0,0,0,0
$GC,1847,-0.47,-146.1,262.3,-12.6,218,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,3229,2151,0,0,0,0,0,0
$GC,2166,-0.47,-146.1,301.4,-12.0,248,2170,0.00,1.15,0.00,0.000,4,0.000,0.059,1728,3958,2151,0,0,0,0,0,0
$GC,2234,-0.47,-146.1,310.4,-13.2,254,2239,0.10,1.08,0.00,0.000,6,0.155,0.035,1759,3237,2152,0,0,0,0,0,0
$GC,2568,-0.47,-146.1,343.6,-9.9,285,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,3236,2152,0,0,0,0,0,0
$GC,2893,-0.47,-146.1,376.4,-9.7,316,2894,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,3236,2152,0,0,0,0,0,0
$GC,3220,-0.47,-146.1,405.8,-8.3,344,3224,0.00,1.33,0.00,0.000,4,0.000,0.032,1759,2332,2151,0,0,0,0,0,0
$GC,3247,-0.47,-146.1,408.5,-8.9,345,3251,0.00,1.45,0.00,0.000,6,0.000,0.055,1753,3234,2152,0,0,0,0,0,0
$GC,3574,-0.47,-146.1,438.5,-9.4,361,3578,0.00,1.12,0.00,0.000,4,0.000,0.061,1748,3952,2151,0,0,0,0,0,0
$GC,3606,-0.47,-146.1,442.0,-10.3,362,3611,0.00,1.10,0.00,0.000,6,0.000,0.035,1748,3220,2152,0,0,0,0,0,0
$GC,3927,-0.47,-146.1,475.0,-10.5,378,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,3220,2152,0,0,0,0,0,0
$GC,4236,-0.47,-146.1,509.2,-11.1,393,4238,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,3220,2151,0,0,0,0,0,0
$GC,4546,-0.47,-146.1,543.2,-11.1,408,4549,0.00,1.15,0.00,0.000,4,0.000,0.062,1742,3946,2152,0,0,0,0,0,0
$GC,4583,-0.47,-146.1,548.0,-12.0,409,4590,0.00,1.08,0.00,0.000,6,0.000,0.036,1743,3230,2151,0,0,0,0,0,0
$GC,4899,-0.47,-146.1,584.7,-12.0,425,4902,0.00,1.15,0.00,0.000,4,0.000,0.063,1737,3946,2152,0,0,0,0,0,0
$GC,4930,-0.47,-146.1,588.9,-13.2,426,4935,0.00,1.08,0.00,0.000,6,0.000,0.036,1737,3230,2151,0,0,0,0,0,0
$GC,5252,-0.47,-146.1,629.3,-12.5,442,5253,0.00,0.00,0.00,0.000,6,0.000,0.000,1737,3229,2152,0,0,0,0,0,0
$GC,5561,-0.47,-146.1,667.0,-12.0,457,5563,0.00,0.00,0.00,0.000,6,0.000,0.000,1737,3230,2151,0,0,0,0,0,0
$GC,5871,-0.47,-146.1,702.6,-11.4,472,5874,0.00,1.35,0.00,0.000,4,0.000,0.035,1737,2334,2152,0,0,0,0,0,0
$GC,5908,-0.47,-146.1,706.9,-10.3,473,5917,0.12,1.48,0.00,0.000,6,0.170,0.056,1763,3243,2151,0,0,0,0,0,0
$GC,6225,-0.47,-146.1,731.6,-7.5,489,6226,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,3243,2151,0,0,0,0,0,0
$GC,6534,-0.47,-146.1,753.9,-7.3,504,6537,0.00,1.33,0.00,0.000,4,0.000,0.034,1763,2340,2152,0,0,0,0,0,0
$GC,6571,-0.47,-146.1,756.6,-6.8,505,6579,0.00,1.42,0.00,0.000,6,0.000,0.057,1758,3230,2151,0,0,0,0,0,0
$GC,6888,-0.47,-146.1,782.3,-8.6,521,6890,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,3230,2151,0,0,0,0,0,0
$GC,7197,-0.47,-146.1,811.0,-9.7,536,7201,0.00,1.35,0.00,0.000,4,0.000,0.035,1758,2334,2151,0,0,0,0,0,0
$GC,7242,-0.47,-146.1,815.3,-9.1,538,7246,0.00,1.45,0.00,0.000,6,0.000,0.057,1752,3237,2151,0,0,0,0,0,0
$GC,7574,-0.47,-146.1,848.1,-10.0,554,7575,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,3237,2151,0,0,0,0,0,0
$GC,7884,-0.47,-146.1,877.7,-9.5,569,7888,0.00,1.33,0.00,0.000,4,0.000,0.034,1752,2340,2151,0,0,0,0,0,0
$GC,7916,-0.47,-146.1,880.7,-8.7,570,7920,0.00,1.42,0.00,0.000,6,0.000,0.057,1746,3226,2151,0,0,0,0,0,0
$GC,8237,-0.47,-146.1,912.0,-9.9,586,8239,0.00,0.00,0.00,0.000,6,0.000,0.000,1746,3225,2151,0,0,0,0,0,0
$GC,8547,-0.47,-146.1,942.0,-9.3,601,8548,0.00,0.00,0.00,0.000,6,0.000,0.000,1746,3225,2151,0,0,0,0,0,0
$GC,8856,-0.47,-146.1,971.5,-9.4,616,8857,0.00,0.00,0.00,0.000,6,0.000,0.000,1746,3225,2151,0,0,0,0,0,0
$STATE,9164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9164,begin apogee
$GC,9168,-0.11,0.0,1000.3,9.2,631,9327,0.43,0.00,152.25,1.921,6,0.145,0.000,1875,3080,1549,0,0,0,0,0,0
$STATE,9328,end apogee,CONTROL_FINISHED_OK
$STATE,9328,begin climb
$GC,9329,0.47,146.1,1005.2,0.0,639,9481,0.57,1.58,145.05,1.867,4,0.073,0.038,2074,2196,953,0,0,0,0,0,0
$GC,9532,0.47,146.1,985.5,14.3,649,9536,0.00,1.55,0.00,0.000,6,0.000,0.054,2074,3071,950,0,0,0,0,0,0
$GC,9864,0.47,146.1,934.4,15.5,665,9865,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,3071,947,0,0,0,0,0,0
$GC,10173,0.47,146.1,889.8,14.1,680,10174,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,3071,946,0,0,0,0,0,0
$GC,10483,0.47,146.1,846.8,14.1,695,10486,0.00,1.38,0.00,0.000,4,0.000,0.038,2080,2197,945,0,0,0,0,0,0
$GC,10527,0.47,146.1,840.8,13.2,697,10531,0.00,1.45,0.00,0.000,6,0.000,0.054,2080,3081,946,0,0,0,0,0,0
$GC,10859,0.47,146.1,791.8,14.7,713,10860,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,3080,945,0,0,0,0,0,0
$GC,11168,0.47,146.1,746.1,15.1,728,11172,0.00,1.40,0.00,0.000,4,0.000,0.038,2087,2187,944,0,0,0,0,0,0
$GC,11213,0.47,146.1,739.8,14.1,730,11217,0.00,1.45,0.00,0.000,6,0.000,0.056,2088,3080,945,0,0,0,0,0,0
$GC,11545,0.47,146.1,689.9,15.3,746,11546,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,3079,944,0,0,0,0,0,0
$GC,11854,0.47,146.1,642.3,15.8,761,11855,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,3079,944,0,0,0,0,0,0
$GC,12163,0.47,146.1,593.5,15.8,776,12167,0.00,1.38,0.00,0.000,4,0.000,0.039,2094,2194,944,0,0,0,0,0,0
$GC,12212,0.47,146.1,586.0,14.6,778,12217,0.00,1.48,0.00,0.000,6,0.000,0.054,2094,3092,944,0,0,0,0,0,0
$GC,12539,0.47,146.1,532.1,16.8,794,12543,0.00,1.40,0.00,0.000,4,0.000,0.039,2101,2190,944,0,0,0,0,0,0
$GC,12565,0.47,146.1,527.7,15.4,795,12571,0.12,1.45,0.00,0.000,6,0.203,0.055,2072,3080,944,0,0,0,0,0,0
$GC,12892,0.47,146.1,481.3,13.8,811,12893,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,3080,944,0,0,0,0,0,0
$GC,13201,0.47,146.1,437.8,14.3,826,13205,0.00,1.35,0.00,0.000,4,0.000,0.037,2078,2194,944,0,0,0,0,0,0
$GC,13239,0.47,146.1,432.6,12.6,827,13247,0.00,1.45,0.00,0.000,6,0.000,0.056,2078,3080,944,0,0,0,0,0,0
$GC,13558,0.47,146.1,385.2,15.4,847,13561,0.00,1.35,0.00,0.000,4,0.000,0.037,2084,2189,944,0,0,0,0,0,0
$GC,13603,0.47,146.1,378.8,13.8,851,13606,0.00,1.42,0.00,0.000,6,0.000,0.057,2084,3074,944,0,0,0,0,0,0
$GC,13932,0.47,146.1,329.0,15.3,882,13936,0.00,1.40,0.00,0.000,4,0.000,0.063,2084,3947,944,0,0,0,0,0,0
$GC,13969,0.47,146.1,323.4,17.4,885,13973,0.00,1.33,0.00,0.000,6,0.000,0.034,2091,3061,944,0,0,0,0,0,0
$GC,14299,0.47,146.1,272.3,15.0,916,14300,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,3061,943,0,0,0,0,0,0
$GC,14618,0.47,146.1,224.1,14.9,946,14619,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,3060,944,0,0,0,0,0,0
$GC,14937,0.47,146.1,177.7,14.4,976,14940,0.00,1.30,0.00,0.000,4,0.000,0.038,2097,2208,943,0,0,0,0,0,0
$GC,14960,0.47,146.1,174.3,14.4,978,14964,0.08,1.40,0.00,0.000,6,0.175,0.056,2075,3081,943,0,0,0,0,0,0
$GC,15291,0.47,146.1,129.0,12.7,1009,15295,0.00,1.33,0.00,0.000,4,0.000,0.035,2080,2211,943,0,0,0,0,0,0
$GC,15340,0.47,146.1,123.3,10.9,1013,15343,0.00,1.40,0.00,0.000,6,0.000,0.056,2080,3081,943,0,0,0,0,0,0
$GC,15676,0.47,146.1,77.6,13.4,1057,15683,0.00,1.38,0.00,0.000,4,0.000,0.061,2080,3947,943,0,0,0,0,0,0
$GC,15717,0.47,146.1,71.2,15.5,1064,15724,0.00,1.30,0.00,0.000,6,0.000,0.034,2086,3076,944,0,0,0,0,0,0
$GC,16070,0.47,146.1,26.3,13.6,1125,16078,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,3076,944,0,0,0,0,0,0
$GC,16221,0.47,146.1,5.8,12.4,1150,16229,0.00,1.33,0.00,0.000,4,0.000,0.037,2093,2203,943,0,0,0,0,0,0
$STATE,16248,end climb,SURFACE_DEPTH_REACHED
$STATE,16248,begin surface coast
$FINISH,2.0,1.026496
$STATE,16256,end surface coast,CONTROL_FINISHED_OK
$STATE,16256,begin surface
$SM_CCo,16269,40.53,0.516,1,0,710,205.07
$SM_GC,2.46,0.00,0.00,40.53,0.000,0.000,0.516,74,3248,710,-5.75,0.51,205.07
$IRIDIUM_FIX,-4256.74,806.55,280508,232345
$TT8_MAMPS,0.027713
$HUMID,62.12
$INTERNAL_PRESSURE,11.3786
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,22.2,9.881
$10V_AH,10.3,4.552
$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,13.950,66.425,297.300,40.525,0.000,27.806,23.240,538.255,0.000,0.000,39.877,2796.734,10640.376,456.783,2993.611,140.843,0.000,1477.285,0.000,2376.092,0.000,0.544,0.000
$DEVICE_MAMPS,244.800,62.730,1920.915,516.375,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,800.966,823.316,797.902,74.401,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354696
$DATA_FILE_SIZE,66810,1155
$CAP_FILE_SIZE,142335,0
$CFSIZE,259252224,256303104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020815,191857,-4317.911,806.846,39,1.0,40,-24.9