version: 66.07
glider: 543
mission: 14
dive: 34
start: 8 3 115 9 40 8
data:
$ID,543
$MISSION,14
$DIVE,34
$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,-24223.945
$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,41
$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
$GPS1,030815,093151,-4321.554,803.420,46,1.5,47,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-68.2
$GPS2,030815,093946,-4321.547,803.476,17,1.1,17,-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,238.8,219614,-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,-56.92,0.000,2,0.000,0.000,62,3257,2038,0,0,0,0,0,0
$GC,76,-0.47,-146.1,4.0,-4.3,7,93,6.75,1.10,-2.40,0.000,4,0.231,0.076,1754,3946,2147,0,0,0,0,0,0
$GC,286,-0.47,-146.1,43.3,-13.6,42,295,0.00,1.08,0.00,0.000,6,0.000,0.035,1754,3237,2152,0,0,0,0,0,0
$GC,637,-0.47,-146.1,91.6,-13.1,103,644,0.00,1.10,0.00,0.000,4,0.000,0.060,1749,3917,2152,0,0,0,0,0,0
$GC,678,-0.47,-146.1,97.7,-14.4,110,684,0.00,1.05,0.00,0.000,6,0.000,0.035,1749,3224,2152,0,0,0,0,0,0
$GC,1004,-0.47,-146.1,142.0,-12.0,142,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,3224,2152,0,0,0,0,0,0
$GC,1323,-0.47,-146.1,181.6,-13.0,172,1327,0.00,1.12,0.00,0.000,4,0.000,0.060,1744,3927,2152,0,0,0,0,0,0
$GC,1417,-0.47,-146.1,195.0,-13.4,180,1427,0.00,1.08,0.00,0.000,6,0.000,0.035,1744,3216,2152,0,0,0,0,0,0
$GC,1744,-0.47,-146.1,239.1,-13.3,211,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,3216,2152,0,0,0,0,0,0
$GC,2063,-0.47,-146.1,278.7,-12.1,241,2067,0.00,1.15,0.00,0.000,4,0.000,0.060,1738,3938,2152,0,0,0,0,0,0
$GC,2101,-0.47,-146.1,284.1,-13.1,244,2111,0.00,1.08,0.00,0.000,6,0.000,0.034,1738,3223,2152,0,0,0,0,0,0
$GC,2426,-0.47,-146.1,324.5,-12.7,275,2427,0.00,0.00,0.00,0.000,6,0.000,0.000,1739,3224,2152,0,0,0,0,0,0
$GC,2749,-0.47,-146.1,365.1,-13.2,305,2752,0.00,1.12,0.00,0.000,4,0.000,0.060,1733,3931,2152,0,0,0,0,0,0
$GC,2808,-0.47,-146.1,374.3,-13.4,310,2816,0.00,1.05,0.00,0.000,6,0.000,0.035,1733,3231,2152,0,0,0,0,0,0
$GC,3130,-0.47,-146.1,418.0,-13.5,335,3134,0.00,1.10,0.00,0.000,4,0.000,0.060,1728,3925,2152,0,0,0,0,0,0
$GC,3167,-0.47,-146.1,423.5,-14.6,336,3175,0.12,1.05,0.00,0.000,6,0.175,0.035,1759,3233,2152,0,0,0,0,0,0
$GC,3483,-0.47,-146.1,457.9,-11.0,352,3486,0.00,1.33,0.00,0.000,4,0.000,0.034,1759,2323,2152,0,0,0,0,0,0
$GC,3509,-0.47,-146.1,460.9,-10.3,353,3514,0.00,1.45,0.00,0.000,6,0.000,0.055,1755,3217,2152,0,0,0,0,0,0
$GC,3836,-0.47,-146.1,498.0,-11.4,369,3840,0.00,1.15,0.00,0.000,4,0.000,0.061,1750,3949,2152,0,0,0,0,0,0
$GC,3890,-0.47,-146.1,504.9,-12.0,371,3895,0.00,1.10,0.00,0.000,6,0.000,0.036,1749,3216,2152,0,0,0,0,0,0
$GC,4212,-0.47,-146.1,543.7,-12.0,387,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,3216,2152,0,0,0,0,0,0
$GC,4521,-0.47,-146.1,580.0,-11.4,402,4525,0.00,1.15,0.00,0.000,4,0.000,0.062,1744,3942,2152,0,0,0,0,0,0
$GC,4592,-0.47,-146.1,588.8,-11.3,405,4597,0.00,1.08,0.00,0.000,6,0.000,0.037,1744,3229,2152,0,0,0,0,0,0
$GC,4919,-0.47,-146.1,626.6,-11.5,421,4920,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,3229,2152,0,0,0,0,0,0
$GC,5228,-0.47,-146.1,660.8,-10.6,436,5230,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,3229,2152,0,0,0,0,0,0
$GC,5538,-0.47,-146.1,694.0,-10.7,451,5541,0.00,1.12,0.00,0.000,4,0.000,0.063,1738,3940,2152,0,0,0,0,0,0
$GC,5609,-0.47,-146.1,701.8,-10.4,454,5614,0.00,1.08,0.00,0.000,6,0.000,0.037,1738,3230,2152,0,0,0,0,0,0
$GC,5936,-0.47,-146.1,736.7,-11.0,470,5940,0.00,1.15,0.00,0.000,4,0.000,0.063,1733,3940,2152,0,0,0,0,0,0
$GC,5985,-0.47,-146.1,742.5,-11.6,472,5989,0.00,1.08,0.00,0.000,6,0.000,0.037,1733,3223,2152,0,0,0,0,0,0
$GC,6311,-0.47,-146.1,778.9,-11.3,488,6315,0.00,1.15,0.00,0.000,4,0.000,0.063,1728,3951,2152,0,0,0,0,0,0
$GC,6366,-0.47,-146.1,786.0,-13.1,490,6371,0.12,1.10,0.00,0.000,6,0.178,0.037,1759,3226,2152,0,0,0,0,0,0
$GC,6687,-0.47,-146.1,815.0,-8.9,506,6688,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,3225,2151,0,0,0,0,0,0
$GC,6996,-0.47,-146.1,841.5,-8.5,521,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,3225,2152,0,0,0,0,0,0
$GC,7306,-0.47,-146.1,867.7,-8.5,536,7309,0.00,1.15,0.00,0.000,4,0.000,0.064,1755,3953,2152,0,0,0,0,0,0
$GC,7338,-0.47,-146.1,870.8,-9.2,537,7343,0.00,1.10,0.00,0.000,6,0.000,0.037,1755,3225,2152,0,0,0,0,0,0
$GC,7659,-0.47,-146.1,899.0,-8.8,553,7660,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,3226,2152,0,0,0,0,0,0
$GC,7969,-0.47,-146.1,926.2,-9.0,568,7970,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,3226,2152,0,0,0,0,0,0
$GC,8278,-0.47,-146.1,954.1,-9.2,583,8279,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,3226,2152,0,0,0,0,0,0
$GC,8587,-0.47,-146.1,981.0,-8.3,598,8591,0.00,1.15,0.00,0.000,4,0.000,0.065,1750,3953,2152,0,0,0,0,0,0
$GC,8625,-0.47,-146.1,984.6,-9.6,599,8633,0.00,1.08,0.00,0.000,6,0.000,0.038,1750,3232,2152,0,0,0,0,0,0
$STATE,8816,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8816,begin apogee
$GC,8820,-0.11,0.0,1001.7,8.8,609,8979,0.40,0.00,151.93,1.905,6,0.143,0.000,1872,3078,1548,0,0,0,0,0,0
$STATE,8980,end apogee,CONTROL_FINISHED_OK
$STATE,8980,begin climb
$GC,8981,0.47,146.1,1006.2,0.0,617,9132,0.57,1.48,144.40,1.845,4,0.076,0.035,2074,2204,953,0,0,0,0,0,0
$GC,9226,0.47,146.1,980.1,13.3,628,9234,0.00,1.52,0.00,0.000,6,0.000,0.053,2074,3081,950,0,0,0,0,0,0
$GC,9543,0.47,146.1,930.3,16.2,644,9544,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,3080,948,0,0,0,0,0,0
$GC,9852,0.47,146.1,879.8,16.2,659,9855,0.00,1.38,0.00,0.000,4,0.000,0.037,2081,2197,947,0,0,0,0,0,0
$GC,9923,0.47,146.1,869.1,14.1,662,9928,0.00,1.48,0.00,0.000,6,0.000,0.054,2081,3083,947,0,0,0,0,0,0
$GC,10250,0.47,146.1,816.4,16.0,678,10254,0.00,1.38,0.00,0.000,4,0.000,0.037,2087,2201,947,0,0,0,0,0,0
$GC,10276,0.47,146.1,812.3,15.1,679,10281,0.00,1.45,0.00,0.000,6,0.000,0.054,2087,3080,946,0,0,0,0,0,0
$GC,10604,0.47,146.1,758.6,16.8,695,10605,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,3080,946,0,0,0,0,0,0
$GC,10913,0.47,146.1,707.3,16.2,710,10917,0.00,1.35,0.00,0.000,4,0.000,0.037,2094,2199,945,0,0,0,0,0,0
$GC,10957,0.47,146.1,700.3,15.8,712,10961,0.00,1.42,0.00,0.000,6,0.000,0.055,2094,3080,946,0,0,0,0,0,0
$GC,11289,0.47,146.1,644.3,17.0,728,11290,0.00,0.00,0.00,0.000,6,0.000,0.000,2094,3080,945,0,0,0,0,0,0
$GC,11598,0.47,146.1,592.5,16.2,743,11601,0.00,1.35,0.00,0.000,4,0.000,0.039,2100,2190,945,0,0,0,0,0,0
$GC,11629,0.47,146.1,587.2,15.2,744,11635,0.12,1.45,0.00,0.000,6,0.205,0.054,2072,3081,945,0,0,0,0,0,0
$GC,11951,0.47,146.1,539.8,14.5,760,11952,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,3081,945,0,0,0,0,0,0
$GC,12260,0.47,146.1,496.8,13.4,775,12264,0.00,1.35,0.00,0.000,4,0.000,0.038,2078,2197,945,0,0,0,0,0,0
$GC,12305,0.47,146.1,491.0,11.6,777,12309,0.00,1.42,0.00,0.000,6,0.000,0.056,2078,3079,945,0,0,0,0,0,0
$GC,12636,0.47,146.1,444.1,14.1,793,12638,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,3079,945,0,0,0,0,0,0
$GC,12946,0.47,146.1,401.2,13.7,808,12950,0.00,1.35,0.00,0.000,4,0.000,0.037,2084,2193,945,0,0,0,0,0,0
$GC,12972,0.47,146.1,397.7,12.6,809,12980,0.00,1.42,0.00,0.000,6,0.000,0.055,2084,3081,945,0,0,0,0,0,0
$GC,13297,0.47,146.1,352.7,14.2,840,13299,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,3081,945,0,0,0,0,0,0
$GC,13617,0.47,146.1,307.4,14.1,870,13618,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,3081,945,0,0,0,0,0,0
$GC,13935,0.47,146.1,261.3,14.5,900,13939,0.00,1.35,0.00,0.000,4,0.000,0.037,2091,2185,945,0,0,0,0,0,0
$GC,13973,0.47,146.1,256.1,12.8,903,13981,0.00,1.45,0.00,0.000,6,0.000,0.054,2091,3079,945,0,0,0,0,0,0
$GC,14298,0.47,146.1,207.1,15.2,934,14300,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,3079,945,0,0,0,0,0,0
$GC,14618,0.47,146.1,157.4,15.1,964,14619,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,3080,945,0,0,0,0,0,0
$GC,14938,0.47,146.1,111.5,14.1,994,14941,0.00,1.33,0.00,0.000,4,0.000,0.037,2098,2190,945,0,0,0,0,0,0
$GC,14983,0.47,146.1,105.4,12.6,998,14987,0.08,1.42,0.00,0.000,6,0.179,0.055,2076,3081,945,0,0,0,0,0,0
$GC,15327,0.47,146.1,61.2,12.5,1055,15333,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,3081,945,0,0,0,0,0,0
$GC,15683,0.47,146.1,16.4,12.6,1116,15691,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,3081,945,0,0,0,0,0,0
$GC,15740,0.47,146.1,9.1,13.4,1125,15748,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,3081,945,0,0,0,0,0,0
$STATE,15789,end climb,SURFACE_DEPTH_REACHED
$STATE,15790,begin surface coast
$FINISH,0.9,1.025935
$STATE,15815,end surface coast,CONTROL_FINISHED_OK
$STATE,15815,begin surface
$SM_CCo,15827,26.27,0.146,0,0,711,205.07
$SM_GC,1.54,0.00,0.00,26.27,0.000,0.000,0.146,73,3244,711,-5.76,0.40,205.07
$IRIDIUM_FIX,-4259.69,812.83,290508,181857
$TT8_MAMPS,0.027713
$HUMID,62.52
$INTERNAL_PRESSURE,11.3786
$TCM_TEMP,13.20
$XPDR_PINGS,0
$24V_AH,22.3,10.604
$10V_AH,10.3,4.965
$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,13.575,57.250,296.325,26.275,0.000,38.765,49.884,281.143,0.000,0.000,19.866,2755.768,10226.071,431.553,2790.277,126.559,0.000,1459.826,0.000,2396.674,0.000,0.543,0.000
$DEVICE_MAMPS,231.030,76.500,1904.850,146.115,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,789.290,807.873,807.729,79.156,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354524
$DATA_FILE_SIZE,63596,1137
$CAP_FILE_SIZE,135381,0
$CFSIZE,259252224,256016384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030815,140603,-4322.707,802.733,67,0.9,68,-24.9