version: 66.07
glider: 543
mission: 14
dive: 32
start: 8 3 115 0 3 45
data:
$ID,543
$MISSION,14
$DIVE,32
$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,-24218.123
$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,53
$R_STBD_OVSHOOT,45
$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
$GPS1,020815,235621,-4319.216,805.877,41,1.2,42,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-74.9
$GPS2,030815,000323,-4319.156,805.852,19,1.7,19,-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,238.8,225026,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.47,-146.1,0.0,0.0,0,74,0.00,0.00,-56.08,0.000,2,0.000,0.000,63,3259,1978,0,0,0,0,0,0
$GC,76,-0.47,-146.1,3.1,-2.6,7,93,6.70,1.35,-4.28,0.000,4,0.230,0.052,1764,2330,2146,0,0,0,0,0,0
$GC,259,-0.47,-146.1,30.1,-9.3,37,268,0.00,1.45,0.00,0.000,6,0.000,0.055,1759,3214,2152,0,0,0,0,0,0
$GC,407,-0.47,-146.1,47.2,-13.3,62,413,0.00,1.17,0.00,0.000,4,0.000,0.062,1754,3950,2152,0,0,0,0,0,0
$GC,476,-0.47,-146.1,56.0,-12.6,74,483,0.00,1.08,0.00,0.000,6,0.000,0.036,1754,3235,2152,0,0,0,0,0,0
$GC,820,-0.47,-146.1,106.3,-14.6,131,822,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,3235,2152,0,0,0,0,0,0
$GC,1143,-0.47,-146.1,149.8,-12.5,161,1147,0.00,1.33,0.00,0.000,4,0.000,0.033,1754,2338,2152,0,0,0,0,0,0
$GC,1212,-0.47,-146.1,158.1,-10.7,167,1215,0.00,1.45,0.00,0.000,6,0.000,0.055,1747,3233,2152,0,0,0,0,0,0
$GC,1541,-0.47,-146.1,198.3,-12.1,198,1545,0.00,1.12,0.00,0.000,4,0.000,0.060,1742,3946,2152,0,0,0,0,0,0
$GC,1613,-0.47,-146.1,207.9,-13.3,204,1623,0.00,1.10,0.00,0.000,6,0.000,0.034,1742,3214,2152,0,0,0,0,0,0
$GC,1939,-0.47,-146.1,249.8,-12.9,235,1943,0.00,1.27,0.00,0.000,4,0.000,0.033,1742,2337,2152,0,0,0,0,0,0
$GC,1973,-0.47,-146.1,254.3,-12.8,238,1977,0.00,1.42,0.00,0.000,6,0.000,0.055,1735,3226,2152,0,0,0,0,0,0
$GC,2306,-0.47,-146.1,299.8,-14.0,269,2310,0.00,1.15,0.00,0.000,4,0.000,0.060,1730,3956,2152,0,0,0,0,0,0
$GC,2388,-0.47,-146.1,312.8,-14.4,276,2399,0.12,1.10,0.00,0.000,6,0.170,0.034,1762,3226,2152,0,0,0,0,0,0
$GC,2713,-0.47,-146.1,349.5,-10.8,307,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,3226,2152,0,0,0,0,0,0
$GC,3036,-0.47,-146.1,383.8,-10.4,337,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,3227,2152,0,0,0,0,0,0
$GC,3355,-0.47,-146.1,419.0,-11.0,360,3358,0.00,1.15,0.00,0.000,4,0.000,0.061,1758,3954,2152,0,0,0,0,0,0
$GC,3400,-0.47,-146.1,424.1,-11.7,362,3403,0.00,1.08,0.00,0.000,6,0.000,0.037,1758,3233,2152,0,0,0,0,0,0
$GC,3731,-0.47,-146.1,461.2,-11.4,378,3732,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,3233,2152,0,0,0,0,0,0
$GC,4041,-0.47,-146.1,495.0,-10.7,393,4044,0.00,1.12,0.00,0.000,4,0.000,0.062,1753,3947,2152,0,0,0,0,0,0
$GC,4078,-0.47,-146.1,499.4,-11.5,394,4086,0.00,1.10,0.00,0.000,6,0.000,0.036,1753,3218,2152,0,0,0,0,0,0
$GC,4394,-0.47,-146.1,532.8,-10.7,410,4397,0.00,1.17,0.00,0.000,4,0.000,0.063,1747,3960,2152,0,0,0,0,0,0
$GC,4431,-0.47,-146.1,537.1,-11.4,411,4439,0.00,1.10,0.00,0.000,6,0.000,0.036,1747,3229,2152,0,0,0,0,0,0
$GC,4747,-0.47,-146.1,570.5,-10.6,427,4748,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3229,2152,0,0,0,0,0,0
$GC,5056,-0.47,-146.1,602.3,-10.0,442,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3229,2152,0,0,0,0,0,0
$GC,5365,-0.47,-146.1,634.5,-10.8,457,5367,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3229,2152,0,0,0,0,0,0
$GC,5675,-0.47,-146.1,667.9,-10.8,472,5678,0.00,1.15,0.00,0.000,4,0.000,0.063,1741,3954,2152,0,0,0,0,0,0
$GC,5751,-0.47,-146.1,676.7,-11.2,475,5756,0.00,1.10,0.00,0.000,6,0.000,0.037,1742,3227,2152,0,0,0,0,0,0
$GC,6073,-0.47,-146.1,710.5,-10.3,491,6076,0.00,1.30,0.00,0.000,4,0.000,0.034,1742,2332,2152,0,0,0,0,0,0
$GC,6118,-0.47,-146.1,714.7,-8.7,493,6122,0.00,1.45,0.00,0.000,6,0.000,0.057,1735,3239,2152,0,0,0,0,0,0
$GC,6450,-0.47,-146.1,750.5,-10.9,509,6451,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3239,2152,0,0,0,0,0,0
$GC,6759,-0.47,-146.1,783.2,-10.5,524,6760,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3239,2152,0,0,0,0,0,0
$GC,7068,-0.47,-146.1,814.7,-10.2,539,7072,0.00,1.12,0.00,0.000,4,0.000,0.063,1730,3952,2152,0,0,0,0,0,0
$GC,7139,-0.47,-146.1,822.9,-11.0,542,7145,0.12,1.10,0.00,0.000,6,0.173,0.038,1761,3229,2152,0,0,0,0,0,0
$GC,7467,-0.47,-146.1,848.8,-7.8,558,7468,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,3229,2152,0,0,0,0,0,0
$GC,7776,-0.47,-146.1,874.5,-8.4,573,7779,0.00,1.15,0.00,0.000,4,0.000,0.065,1757,3953,2152,0,0,0,0,0,0
$GC,7808,-0.47,-146.1,877.5,-9.1,574,7812,0.00,1.10,0.00,0.000,6,0.000,0.038,1758,3228,2152,0,0,0,0,0,0
$GC,8130,-0.47,-146.1,905.3,-8.6,590,8131,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,3228,2152,0,0,0,0,0,0
$GC,8439,-0.47,-146.1,931.7,-8.8,605,8440,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,3228,2152,0,0,0,0,0,0
$GC,8748,-0.47,-146.1,958.4,-8.5,620,8749,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,3228,2152,0,0,0,0,0,0
$GC,9057,-0.47,-146.1,984.6,-8.6,635,9061,0.00,1.33,0.00,0.000,4,0.000,0.037,1758,2330,2152,0,0,0,0,0,0
$GC,9089,-0.47,-146.1,987.5,-8.7,636,9094,0.00,1.45,0.00,0.000,6,0.000,0.057,1751,3232,2152,0,0,0,0,0,0
$STATE,9224,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9224,begin apogee
$GC,9228,-0.11,0.0,1000.1,9.6,643,9387,0.40,0.00,150.88,1.914,6,0.141,0.000,1874,3076,1549,0,0,0,0,0,0
$STATE,9388,end apogee,CONTROL_FINISHED_OK
$STATE,9388,begin climb
$GC,9389,0.47,146.1,1006.4,0.0,651,9541,0.55,1.55,144.70,1.872,4,0.075,0.038,2070,2200,953,0,0,0,0,0,0
$GC,9629,0.47,146.1,983.9,12.8,662,9634,0.00,1.52,0.00,0.000,6,0.000,0.053,2070,3074,950,0,0,0,0,0,0
$GC,9951,0.47,146.1,938.9,13.3,678,9955,0.00,1.40,0.00,0.000,4,0.000,0.039,2077,2197,948,0,0,0,0,0,0
$GC,9983,0.47,146.1,934.7,12.6,679,9988,0.00,1.50,0.00,0.000,6,0.000,0.053,2077,3082,948,0,0,0,0,0,0
$GC,10304,0.47,146.1,889.4,14.3,695,10306,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3082,947,0,0,0,0,0,0
$GC,10614,0.47,146.1,843.6,15.3,710,10615,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3082,946,0,0,0,0,0,0
$GC,10923,0.47,146.1,798.7,14.5,725,10924,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3082,946,0,0,0,0,0,0
$GC,11232,0.47,146.1,753.0,15.2,740,11236,0.00,1.38,0.00,0.000,4,0.000,0.038,2084,2195,946,0,0,0,0,0,0
$GC,11309,0.47,146.1,742.3,12.9,743,11314,0.00,1.48,0.00,0.000,6,0.000,0.054,2084,3088,946,0,0,0,0,0,0
$GC,11631,0.47,146.1,692.9,15.3,759,11634,0.00,1.40,0.00,0.000,4,0.000,0.040,2090,2189,946,0,0,0,0,0,0
$GC,11662,0.47,146.1,688.2,13.0,760,11668,0.00,1.48,0.00,0.000,6,0.000,0.055,2090,3087,946,0,0,0,0,0,0
$GC,11984,0.47,146.1,639.0,15.1,776,11986,0.00,0.00,0.00,0.000,6,0.000,0.000,2090,3087,945,0,0,0,0,0,0
$GC,12294,0.47,146.1,593.7,14.6,791,12298,0.00,1.38,0.00,0.000,4,0.000,0.039,2097,2191,945,0,0,0,0,0,0
$GC,12320,0.47,146.1,589.9,12.6,792,12325,0.00,1.45,0.00,0.000,6,0.000,0.055,2097,3080,945,0,0,0,0,0,0
$GC,12647,0.47,146.1,539.7,15.4,808,12651,0.00,1.35,0.00,0.000,4,0.000,0.037,2103,2188,945,0,0,0,0,0,0
$GC,12673,0.47,146.1,535.7,13.9,809,12679,0.15,1.48,0.00,0.000,6,0.203,0.055,2068,3089,945,0,0,0,0,0,0
$GC,13000,0.47,146.1,490.6,14.0,825,13001,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,3089,945,0,0,0,0,0,0
$GC,13309,0.47,146.1,447.6,14.0,840,13311,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,3089,945,0,0,0,0,0,0
$GC,13619,0.47,146.1,403.0,14.4,855,13620,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,3089,945,0,0,0,0,0,0
$GC,13937,0.47,146.1,359.1,13.4,883,13938,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,3089,945,0,0,0,0,0,0
$GC,14259,0.47,146.1,315.3,13.7,913,14262,0.00,1.38,0.00,0.000,4,0.000,0.038,2074,2188,945,0,0,0,0,0,0
$GC,14306,0.47,146.1,308.9,13.3,917,14309,0.00,1.45,0.00,0.000,6,0.000,0.057,2074,3085,945,0,0,0,0,0,0
$GC,14635,0.47,146.1,261.7,13.9,948,14636,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,3085,945,0,0,0,0,0,0
$GC,14954,0.47,146.1,216.8,14.0,978,14958,0.00,1.40,0.00,0.000,4,0.000,0.063,2074,3961,944,0,0,0,0,0,0
$GC,15003,0.47,146.1,208.9,16.7,982,15011,0.00,1.35,0.00,0.000,6,0.000,0.034,2080,3066,944,0,0,0,0,0,0
$GC,15330,0.47,146.1,164.1,13.9,1013,15334,0.00,1.30,0.00,0.000,4,0.000,0.034,2087,2199,944,0,0,0,0,0,0
$GC,15379,0.47,146.1,157.2,13.2,1017,15387,0.00,1.42,0.00,0.000,6,0.000,0.053,2087,3083,944,0,0,0,0,0,0
$GC,15705,0.47,146.1,113.2,12.8,1048,15708,0.00,1.38,0.00,0.000,4,0.000,0.062,2087,3949,944,0,0,0,0,0,0
$GC,15807,0.47,146.1,97.8,15.0,1058,15813,0.00,1.30,0.00,0.000,6,0.000,0.034,2093,3074,944,0,0,0,0,0,0
$GC,16154,0.47,146.1,52.6,12.9,1119,16162,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,3075,945,0,0,0,0,0,0
$GC,16512,0.47,146.1,7.8,13.5,1180,16520,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,3075,945,0,0,0,0,0,0
$GC,16569,0.48,170.7,3.1,8.8,1189,16579,0.00,0.00,7.93,0.160,2,0.000,0.000,2093,3074,872,0,0,0,0,0,0
$STATE,16580,end climb,SURFACE_DEPTH_REACHED
$STATE,16580,begin surface coast
$FINISH,1.0,1.026495
$STATE,16617,end surface coast,CONTROL_FINISHED_OK
$STATE,16617,begin surface
$SM_CCo,16629,29.23,0.166,1,0,711,205.07
$SM_GC,1.63,0.00,0.00,29.23,0.000,0.000,0.166,81,3248,711,-5.73,0.51,205.07
$IRIDIUM_FIX,-4302.64,806.97,290508,080847
$TT8_MAMPS,0.027713
$HUMID,62.16
$INTERNAL_PRESSURE,11.3786
$TCM_TEMP,13.20
$XPDR_PINGS,0
$24V_AH,22.3,10.236
$10V_AH,10.3,4.759
$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,13.600,62.800,303.500,29.225,0.000,25.146,18.587,272.054,0.000,0.000,22.134,2898.826,10740.543,443.493,2890.727,114.178,0.000,1516.610,0.000,2534.350,0.000,0.543,0.000
$DEVICE_MAMPS,230.265,76.500,1914.030,166.005,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,831.375,840.922,890.289,92.194,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354536
$DATA_FILE_SIZE,66887,1196
$CAP_FILE_SIZE,141685,0
$CFSIZE,259252224,256155648
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030815,044307,-4320.206,805.004,64,1.2,64,-24.9