version: 66.07
glider: 543
mission: 14
dive: 33
start: 8 3 115 4 58 51
data:
$ID,543
$MISSION,14
$DIVE,33
$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,-24221.154
$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,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
$GPS1,030815,044307,-4320.206,805.004,64,1.2,64,-24.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-70.4
$GPS2,030815,045828,-4320.287,805.028,18,1.2,18,-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,238.9,222686,-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,-146.1,0.0,0.0,0,72,0.00,0.00,-56.65,0.000,2,0.000,0.000,63,3248,2000,0,0,0,0,0,0
$GC,74,-0.47,-146.1,3.1,-2.4,7,92,6.90,1.35,-3.67,0.000,4,0.238,0.054,1764,2338,2147,0,0,0,0,0,0
$GC,334,-0.47,-146.1,37.1,-9.5,50,343,0.00,1.48,0.00,0.000,6,0.000,0.054,1759,3238,2153,0,0,0,0,0,0
$GC,480,-0.47,-146.1,56.1,-16.0,75,489,0.00,1.15,0.00,0.000,4,0.000,0.060,1754,3956,2153,0,0,0,0,0,0
$GC,542,-0.47,-146.1,65.2,-16.1,85,548,0.00,1.10,0.00,0.000,6,0.000,0.035,1753,3225,2153,0,0,0,0,0,0
$GC,882,-0.47,-146.1,112.1,-12.8,138,884,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3225,2153,0,0,0,0,0,0
$GC,1201,-0.47,-146.1,153.7,-12.9,168,1205,0.00,1.15,0.00,0.000,4,0.000,0.060,1749,3947,2153,0,0,0,0,0,0
$GC,1330,-0.47,-146.1,171.7,-13.4,179,1337,0.00,1.10,0.00,0.000,6,0.000,0.034,1748,3220,2152,0,0,0,0,0,0
$GC,1655,-0.47,-146.1,216.7,-14.2,210,1658,0.00,1.30,0.00,0.000,4,0.000,0.033,1748,2334,2153,0,0,0,0,0,0
$GC,1703,-0.47,-146.1,223.4,-12.3,214,1711,0.00,1.48,0.00,0.000,6,0.000,0.054,1740,3239,2152,0,0,0,0,0,0
$GC,2032,-0.47,-146.1,270.2,-14.7,245,2036,0.00,1.12,0.00,0.000,4,0.000,0.060,1736,3953,2153,0,0,0,0,0,0
$GC,2126,-0.47,-146.1,285.4,-15.9,253,2134,0.00,1.10,0.00,0.000,6,0.000,0.034,1736,3220,2152,0,0,0,0,0,0
$GC,2451,-0.47,-146.1,334.2,-14.8,284,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,1736,3220,2153,0,0,0,0,0,0
$GC,2770,-0.47,-146.1,379.2,-13.9,314,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,1736,3220,2153,0,0,0,0,0,0
$GC,3094,-0.47,-146.1,421.8,-12.5,337,3098,0.00,1.15,0.00,0.000,4,0.000,0.061,1730,3949,2153,0,0,0,0,0,0
$GC,3165,-0.47,-146.1,431.5,-13.3,340,3171,0.12,1.08,0.00,0.000,6,0.171,0.036,1762,3236,2153,0,0,0,0,0,0
$GC,3493,-0.47,-146.1,463.4,-9.7,356,3494,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,3235,2153,0,0,0,0,0,0
$GC,3802,-0.47,-146.1,493.5,-10.1,371,3803,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,3235,2153,0,0,0,0,0,0
$GC,4111,-0.47,-146.1,522.7,-9.2,386,4113,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,3235,2152,0,0,0,0,0,0
$GC,4421,-0.47,-146.1,550.9,-9.2,401,4424,0.00,1.12,0.00,0.000,4,0.000,0.063,1759,3945,2153,0,0,0,0,0,0
$GC,4447,-0.47,-146.1,553.8,-10.3,402,4452,0.00,1.10,0.00,0.000,6,0.000,0.037,1759,3217,2153,0,0,0,0,0,0
$GC,4774,-0.47,-146.1,585.5,-9.9,418,4775,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,3217,2153,0,0,0,0,0,0
$GC,5084,-0.47,-146.1,615.3,-9.5,433,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,3217,2152,0,0,0,0,0,0
$GC,5393,-0.47,-146.1,644.6,-9.4,448,5397,0.00,1.17,0.00,0.000,4,0.000,0.063,1753,3956,2152,0,0,0,0,0,0
$GC,5447,-0.47,-146.1,650.2,-9.7,450,5452,0.00,1.10,0.00,0.000,6,0.000,0.037,1753,3228,2152,0,0,0,0,0,0
$GC,5769,-0.47,-146.1,680.8,-9.6,466,5771,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3228,2153,0,0,0,0,0,0
$GC,6079,-0.47,-146.1,710.6,-9.8,481,6082,0.00,1.15,0.00,0.000,4,0.000,0.064,1748,3955,2153,0,0,0,0,0,0
$GC,6124,-0.47,-146.1,715.2,-9.7,483,6127,0.00,1.08,0.00,0.000,6,0.000,0.038,1748,3234,2152,0,0,0,0,0,0
$GC,6455,-0.47,-146.1,748.6,-10.3,499,6457,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,3233,2153,0,0,0,0,0,0
$GC,6765,-0.47,-146.1,778.2,-9.1,514,6769,0.00,1.12,0.00,0.000,4,0.000,0.063,1742,3946,2153,0,0,0,0,0,0
$GC,6814,-0.47,-146.1,783.3,-10.0,516,6818,0.00,1.08,0.00,0.000,6,0.000,0.038,1742,3227,2152,0,0,0,0,0,0
$GC,7142,-0.47,-146.1,814.6,-9.9,532,7143,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3227,2153,0,0,0,0,0,0
$GC,7450,-0.47,-146.1,845.3,-10.2,547,7451,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3227,2152,0,0,0,0,0,0
$GC,7759,-0.47,-146.1,876.3,-10.0,562,7760,0.00,0.00,0.00,0.000,6,0.000,0.000,1743,3227,2153,0,0,0,0,0,0
$GC,8069,-0.47,-146.1,907.2,-9.8,577,8070,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3227,2153,0,0,0,0,0,0
$GC,8378,-0.47,-146.1,937.3,-9.8,592,8379,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3227,2153,0,0,0,0,0,0
$GC,8687,-0.47,-146.1,967.4,-9.9,607,8691,0.00,1.15,0.00,0.000,4,0.000,0.064,1737,3953,2153,0,0,0,0,0,0
$GC,8755,-0.47,-146.1,974.1,-10.3,610,8758,0.00,1.08,0.00,0.000,6,0.000,0.039,1737,3233,2152,0,0,0,0,0,0
$STATE,9023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9023,begin apogee
$GC,9027,-0.11,0.0,1000.7,9.9,623,9179,0.45,0.00,148.65,1.893,6,0.148,0.000,1874,3081,1549,0,0,0,0,0,0
$STATE,9180,end apogee,CONTROL_FINISHED_OK
$STATE,9180,begin climb
$GC,9181,0.47,146.1,1004.6,0.0,630,9333,0.57,1.58,144.82,1.853,4,0.094,0.038,2066,2199,954,0,0,0,0,0,0
$GC,9379,0.47,146.1,986.8,13.5,640,9382,0.00,1.55,0.00,0.000,6,0.000,0.053,2067,3075,953,0,0,0,0,0,0
$GC,9710,0.47,146.1,939.3,14.6,656,9711,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,3076,950,0,0,0,0,0,0
$GC,10019,0.47,146.1,896.6,13.6,671,10023,0.00,1.38,0.00,0.000,4,0.000,0.037,2073,2199,949,0,0,0,0,0,0
$GC,10057,0.47,146.1,891.8,12.4,672,10065,0.00,1.50,0.00,0.000,6,0.000,0.054,2073,3093,949,0,0,0,0,0,0
$GC,10373,0.47,146.1,849.1,13.9,688,10374,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,3093,948,0,0,0,0,0,0
$GC,10682,0.47,146.1,805.1,14.1,703,10686,0.00,1.40,0.00,0.000,4,0.000,0.040,2080,2192,948,0,0,0,0,0,0
$GC,10781,0.47,146.1,792.2,13.1,707,10787,0.00,1.48,0.00,0.000,6,0.000,0.055,2080,3087,949,0,0,0,0,0,0
$GC,11103,0.47,146.1,745.0,14.9,723,11104,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,3086,948,0,0,0,0,0,0
$GC,11413,0.47,146.1,701.0,13.9,738,11416,0.00,1.38,0.00,0.000,4,0.000,0.063,2080,3947,948,0,0,0,0,0,0
$GC,11445,0.47,146.1,695.8,16.6,739,11450,0.00,1.35,0.00,0.000,6,0.000,0.034,2087,3065,948,0,0,0,0,0,0
$GC,11766,0.47,146.1,648.8,14.6,755,11767,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,3065,948,0,0,0,0,0,0
$GC,12076,0.47,146.1,603.4,14.8,770,12079,0.00,1.30,0.00,0.000,4,0.000,0.040,2093,2212,948,0,0,0,0,0,0
$GC,12099,0.47,146.1,600.4,13.8,771,12103,0.00,1.40,0.00,0.000,6,0.000,0.054,2093,3081,948,0,0,0,0,0,0
$GC,12431,0.47,146.1,550.0,15.5,787,12434,0.00,1.35,0.00,0.000,4,0.000,0.039,2100,2199,947,0,0,0,0,0,0
$GC,12479,0.47,146.1,542.7,14.0,789,12485,0.12,1.45,0.00,0.000,6,0.205,0.054,2072,3088,947,0,0,0,0,0,0
$GC,12806,0.47,146.1,498.8,13.4,805,12810,0.00,1.35,0.00,0.000,4,0.000,0.040,2077,2210,947,0,0,0,0,0,0
$GC,12838,0.47,146.1,494.6,12.1,806,12843,0.00,1.40,0.00,0.000,6,0.000,0.053,2077,3085,947,0,0,0,0,0,0
$GC,13162,0.47,146.1,448.7,14.6,822,13165,0.00,1.35,0.00,0.000,4,0.000,0.040,2084,2205,947,0,0,0,0,0,0
$GC,13251,0.47,146.1,436.3,12.6,826,13255,0.00,1.40,0.00,0.000,6,0.000,0.054,2084,3078,947,0,0,0,0,0,0
$GC,13578,0.47,146.1,388.8,14.5,845,13582,0.00,1.33,0.00,0.000,4,0.000,0.038,2090,2208,947,0,0,0,0,0,0
$GC,13617,0.47,146.1,383.0,13.5,848,13626,0.00,1.40,0.00,0.000,6,0.000,0.055,2090,3079,947,0,0,0,0,0,0
$GC,13941,0.47,146.1,334.2,15.1,879,13945,0.00,1.35,0.00,0.000,4,0.000,0.041,2097,2199,947,0,0,0,0,0,0
$GC,13967,0.47,146.1,330.1,14.4,881,13975,0.00,1.42,0.00,0.000,6,0.000,0.054,2097,3081,947,0,0,0,0,0,0
$GC,14293,0.47,146.1,279.6,16.3,912,14297,0.00,1.35,0.00,0.000,4,0.000,0.040,2103,2197,947,0,0,0,0,0,0
$GC,14397,0.47,146.1,264.3,14.3,921,14402,0.10,1.42,0.00,0.000,6,0.181,0.056,2074,3085,947,0,0,0,0,0,0
$GC,14727,0.47,146.1,217.7,13.2,952,14731,0.00,1.33,0.00,0.000,4,0.000,0.036,2079,2209,947,0,0,0,0,0,0
$GC,14765,0.47,146.1,212.9,12.1,955,14773,0.00,1.42,0.00,0.000,6,0.000,0.054,2079,3086,947,0,0,0,0,0,0
$GC,15090,0.47,146.1,168.7,13.7,986,15094,0.00,1.38,0.00,0.000,4,0.000,0.062,2079,3957,947,0,0,0,0,0,0
$GC,15116,0.47,146.1,164.5,15.4,988,15126,0.00,1.33,0.00,0.000,6,0.000,0.034,2086,3079,947,0,0,0,0,0,0
$GC,15442,0.47,146.1,118.7,13.3,1019,15445,0.00,1.38,0.00,0.000,4,0.000,0.061,2085,3942,947,0,0,0,0,0,0
$GC,15479,0.47,146.1,112.6,15.5,1022,15488,0.00,1.33,0.00,0.000,6,0.000,0.033,2092,3063,947,0,0,0,0,0,0
$GC,15824,0.47,146.1,63.5,14.2,1075,15830,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,3063,947,0,0,0,0,0,0
$GC,16179,0.47,146.1,11.1,14.3,1136,16188,0.00,1.42,0.00,0.000,4,0.000,0.064,2092,3950,947,0,0,0,0,0,0
$GC,16196,0.47,146.1,8.6,14.6,1138,16205,0.10,1.27,0.00,0.000,6,0.203,0.033,2072,3082,947,0,0,0,0,0,0
$STATE,16235,end climb,SURFACE_DEPTH_REACHED
$STATE,16235,begin surface coast
$FINISH,1.0,1.026491
$STATE,16261,end surface coast,CONTROL_FINISHED_OK
$STATE,16261,begin surface
$SM_CCo,16273,26.62,0.147,0,0,710,205.07
$SM_GC,1.66,0.00,0.00,26.62,0.000,0.000,0.147,70,3257,710,-5.76,0.76,205.07
$IRIDIUM_FIX,-4302.64,801.11,290508,181807
$TT8_MAMPS,0.027713
$HUMID,62.56
$INTERNAL_PRESSURE,11.3688
$TCM_TEMP,13.30
$XPDR_PINGS,0
$24V_AH,22.3,10.427
$10V_AH,10.3,4.865
$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,13.825,67.875,293.475,26.625,0.000,83.869,150.505,426.373,0.000,0.000,21.096,2799.444,10697.388,442.712,3165.886,118.070,0.000,1485.222,0.000,2437.996,0.000,0.544,0.000
$DEVICE_MAMPS,237.915,68.085,1893.375,146.880,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,796.705,809.577,814.217,82.660,0.000,0.000,0.000,0.000,0.000,0.000
$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,63512,1148
$CAP_FILE_SIZE,143776,0
$CFSIZE,259252224,256081920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030815,093151,-4321.554,803.420,46,1.5,47,-24.9