version: 66.07
glider: 543
mission: 14
dive: 36
start: 8 3 115 18 39 3
data:
$ID,543
$MISSION,14
$DIVE,36
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,20
$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,-24229.508
$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,55
$R_STBD_OVSHOOT,28
$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
$GPS1,030815,183051,-4320.013,804.825,36,0.9,37,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-72.6
$GPS2,030815,183841,-4320.039,804.859,15,2.0,15,-24.9
$SPEED_LIMITS,0.172,0.259
$TGT_NAME,HEADING
$TGT_LATLONG,-4309.891,809.923
$TGT_RADIUS,1852.000
$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,44.9,20000,-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,-56.83,0.000,2,0.000,0.000,63,3248,1991,0,0,0,0,0,0
$GC,75,-0.47,-146.1,3.3,-3.0,7,93,6.80,1.10,-3.78,0.000,4,0.235,0.079,1750,3956,2147,0,0,0,0,0,0
$GC,142,-0.47,-146.1,20.3,-17.6,17,151,0.00,1.08,0.00,0.000,6,0.000,0.035,1750,3234,2152,0,0,0,0,0,0
$GC,290,-0.47,-146.1,42.1,-14.2,42,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,3233,2152,0,0,0,0,0,0
$GC,641,-0.47,-146.1,92.2,-14.1,103,647,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,3233,2153,0,0,0,0,0,0
$GC,975,-0.47,-146.1,139.6,-13.6,139,979,0.00,1.12,0.00,0.000,4,0.000,0.060,1745,3945,2153,0,0,0,0,0,0
$GC,1013,-0.47,-146.1,145.4,-14.7,142,1020,0.00,1.08,0.00,0.000,6,0.000,0.034,1745,3225,2152,0,0,0,0,0,0
$GC,1340,-0.47,-146.1,192.9,-15.6,173,1344,0.00,1.12,0.00,0.000,4,0.000,0.060,1740,3940,2153,0,0,0,0,0,0
$GC,1419,-0.47,-146.1,205.2,-14.9,180,1422,0.00,1.05,0.00,0.000,6,0.000,0.035,1740,3227,2153,0,0,0,0,0,0
$GC,1748,-0.47,-146.1,248.6,-12.6,211,1752,0.00,1.12,0.00,0.000,4,0.000,0.059,1734,3944,2153,0,0,0,0,0,0
$GC,1808,-0.47,-146.1,256.5,-12.4,216,1818,0.00,1.08,0.00,0.000,6,0.000,0.034,1734,3221,2153,0,0,0,0,0,0
$GC,2135,-0.47,-146.1,296.0,-13.0,247,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,1734,3221,2153,0,0,0,0,0,0
$GC,2454,-0.47,-146.1,338.4,-13.0,277,2458,0.00,1.15,0.00,0.000,4,0.000,0.060,1729,3955,2153,0,0,0,0,0,0
$GC,2578,-0.47,-146.1,356.8,-14.4,288,2583,0.08,1.05,0.00,0.000,6,0.157,0.035,1753,3240,2153,0,0,0,0,0,0
$GC,2908,-0.47,-146.1,394.3,-11.2,319,2912,0.00,1.10,0.00,0.000,4,0.000,0.061,1750,3941,2153,0,0,0,0,0,0
$GC,2953,-0.47,-146.1,399.8,-12.9,323,2956,0.00,1.05,0.00,0.000,6,0.000,0.035,1749,3226,2153,0,0,0,0,0,0
$GC,3273,-0.47,-146.1,437.7,-12.0,339,3277,0.00,1.12,0.00,0.000,4,0.000,0.061,1744,3944,2153,0,0,0,0,0,0
$GC,3350,-0.47,-146.1,447.7,-13.1,342,3354,0.00,1.08,0.00,0.000,6,0.000,0.035,1744,3222,2153,0,0,0,0,0,0
$GC,3671,-0.47,-146.1,488.7,-12.9,358,3675,0.00,1.15,0.00,0.000,4,0.000,0.062,1739,3954,2153,0,0,0,0,0,0
$GC,3697,-0.47,-146.1,492.5,-13.6,359,3702,0.00,1.08,0.00,0.000,6,0.000,0.035,1739,3230,2153,0,0,0,0,0,0
$GC,4024,-0.47,-146.1,534.2,-12.4,375,4025,0.00,0.00,0.00,0.000,6,0.000,0.000,1739,3229,2153,0,0,0,0,0,0
$GC,4334,-0.47,-146.1,571.4,-11.8,390,4337,0.00,1.12,0.00,0.000,4,0.000,0.061,1733,3949,2153,0,0,0,0,0,0
$GC,4365,-0.47,-146.1,575.5,-12.7,391,4370,0.00,1.08,0.00,0.000,6,0.000,0.036,1733,3229,2153,0,0,0,0,0,0
$GC,4687,-0.47,-146.1,614.7,-12.3,407,4688,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,3227,2153,0,0,0,0,0,0
$GC,4996,-0.47,-146.1,653.5,-12.7,422,4997,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,3228,2153,0,0,0,0,0,0
$GC,5305,-0.47,-146.1,692.6,-12.5,437,5309,0.00,1.12,0.00,0.000,4,0.000,0.063,1728,3944,2153,0,0,0,0,0,0
$GC,5337,-0.47,-146.1,697.2,-13.7,438,5342,0.12,1.08,0.00,0.000,6,0.180,0.037,1759,3230,2152,0,0,0,0,0,0
$GC,5659,-0.47,-146.1,730.1,-10.1,454,5662,0.00,1.15,0.00,0.000,4,0.000,0.064,1755,3947,2153,0,0,0,0,0,0
$GC,5703,-0.47,-146.1,735.0,-11.3,456,5707,0.00,1.05,0.00,0.000,6,0.000,0.037,1755,3235,2152,0,0,0,0,0,0
$GC,6035,-0.47,-146.1,770.2,-10.4,472,6038,0.00,1.12,0.00,0.000,4,0.000,0.063,1751,3951,2153,0,0,0,0,0,0
$GC,6066,-0.47,-146.1,773.9,-11.8,473,6071,0.00,1.10,0.00,0.000,6,0.000,0.037,1750,3217,2153,0,0,0,0,0,0
$GC,6388,-0.47,-146.1,806.4,-9.8,489,6389,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,3216,2152,0,0,0,0,0,0
$GC,6698,-0.47,-146.1,833.6,-8.3,504,6701,0.00,1.15,0.00,0.000,4,0.000,0.063,1745,3946,2153,0,0,0,0,0,0
$GC,6758,-0.47,-146.1,839.3,-8.6,506,6765,0.00,1.08,0.00,0.000,6,0.000,0.037,1745,3230,2153,0,0,0,0,0,0
$GC,7074,-0.47,-146.1,868.1,-9.5,522,7077,0.00,1.15,0.00,0.000,4,0.000,0.064,1739,3947,2152,0,0,0,0,0,0
$GC,7100,-0.47,-146.1,870.9,-11.3,523,7104,0.00,1.08,0.00,0.000,6,0.000,0.037,1739,3230,2153,0,0,0,0,0,0
$GC,7427,-0.47,-146.1,904.2,-10.4,539,7431,0.00,1.12,0.00,0.000,4,0.000,0.063,1734,3947,2153,0,0,0,0,0,0
$GC,7472,-0.47,-146.1,909.3,-11.4,541,7475,0.00,1.05,0.00,0.000,6,0.000,0.037,1734,3235,2153,0,0,0,0,0,0
$GC,7803,-0.47,-146.1,944.9,-10.6,557,7807,0.00,1.33,0.00,0.000,4,0.000,0.035,1734,2325,2152,0,0,0,0,0,0
$GC,7829,-0.47,-146.1,947.9,-10.8,558,7835,0.12,1.48,0.00,0.000,6,0.174,0.057,1759,3240,2152,0,0,0,0,0,0
$GC,8157,-0.47,-146.1,974.4,-8.5,574,8161,0.00,1.10,0.00,0.000,4,0.000,0.064,1756,3942,2153,0,0,0,0,0,0
$GC,8183,-0.47,-146.1,977.1,-9.5,575,8188,0.00,1.08,0.00,0.000,6,0.000,0.037,1756,3225,2153,0,0,0,0,0,0
$STATE,8447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8447,begin apogee
$GC,8451,-0.11,0.0,1001.5,9.6,588,8601,0.40,0.00,147.38,1.893,6,0.143,0.000,1878,3086,1549,0,0,0,0,0,0
$STATE,8602,end apogee,CONTROL_FINISHED_OK
$STATE,8602,begin climb
$GC,8604,0.47,146.1,1007.7,0.0,595,8754,0.55,1.50,143.85,1.830,4,0.071,0.036,2076,2202,955,0,0,0,0,0,0
$GC,8859,0.47,146.1,984.0,12.9,607,8865,0.00,1.52,0.00,0.000,6,0.000,0.052,2075,3077,955,0,0,0,0,0,0
$GC,9187,0.47,146.1,932.8,16.1,623,9191,0.00,1.38,0.00,0.000,4,0.000,0.037,2082,2207,953,0,0,0,0,0,0
$GC,9258,0.47,146.1,921.8,15.3,626,9263,0.00,1.48,0.00,0.000,6,0.000,0.053,2082,3087,953,0,0,0,0,0,0
$GC,9585,0.47,146.1,868.4,16.3,642,9589,0.00,1.38,0.00,0.000,4,0.000,0.038,2089,2199,952,0,0,0,0,0,0
$GC,9622,0.47,146.1,862.2,14.9,643,9630,0.00,1.45,0.00,0.000,6,0.000,0.053,2089,3079,952,0,0,0,0,0,0
$GC,9939,0.47,146.1,809.1,16.8,659,9942,0.00,1.42,0.00,0.000,4,0.000,0.061,2089,3953,952,0,0,0,0,0,0
$GC,9964,0.47,146.1,803.9,18.3,660,9969,0.00,1.35,0.00,0.000,6,0.000,0.033,2095,3063,952,0,0,0,0,0,0
$GC,10292,0.47,146.1,747.3,17.4,676,10295,0.00,1.30,0.00,0.000,4,0.000,0.041,2102,2214,951,0,0,0,0,0,0
$GC,10352,0.47,146.1,737.5,15.3,678,10360,0.12,1.42,0.00,0.000,6,0.207,0.053,2075,3086,952,0,0,0,0,0,0
$GC,10668,0.47,146.1,689.3,15.4,694,10669,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,3086,951,0,0,0,0,0,0
$GC,10977,0.47,146.1,642.9,14.6,709,10978,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,3086,951,0,0,0,0,0,0
$GC,11286,0.47,146.1,598.5,14.4,724,11288,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,3086,951,0,0,0,0,0,0
$GC,11596,0.47,146.1,551.9,15.7,739,11597,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,3086,951,0,0,0,0,0,0
$GC,11905,0.47,146.1,504.0,15.4,754,11909,0.00,1.33,0.00,0.000,4,0.000,0.037,2080,2207,951,0,0,0,0,0,0
$GC,11937,0.47,146.1,499.2,14.0,755,11942,0.00,1.42,0.00,0.000,6,0.000,0.054,2080,3085,951,0,0,0,0,0,0
$GC,12259,0.47,146.1,448.7,15.8,771,12262,0.00,1.33,0.00,0.000,4,0.000,0.037,2086,2207,951,0,0,0,0,0,0
$GC,12296,0.47,146.1,442.9,14.5,772,12304,0.00,1.42,0.00,0.000,6,0.000,0.054,2086,3085,951,0,0,0,0,0,0
$GC,12615,0.47,146.1,394.4,14.7,789,12618,0.00,1.33,0.00,0.000,4,0.000,0.037,2093,2208,951,0,0,0,0,0,0
$GC,12641,0.47,146.1,390.4,13.6,791,12649,0.00,1.42,0.00,0.000,6,0.000,0.054,2093,3087,951,0,0,0,0,0,0
$GC,12966,0.47,146.1,341.9,15.2,822,12967,0.00,0.00,0.00,0.000,6,0.000,0.000,2093,3087,951,0,0,0,0,0,0
$GC,13285,0.47,146.1,293.8,15.2,852,13289,0.00,1.33,0.00,0.000,4,0.000,0.037,2100,2208,951,0,0,0,0,0,0
$GC,13323,0.47,146.1,288.1,15.0,855,13331,0.12,1.42,0.00,0.000,6,0.197,0.054,2070,3089,951,0,0,0,0,0,0
$GC,13648,0.47,146.1,243.3,13.9,886,13649,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,3089,951,0,0,0,0,0,0
$GC,13967,0.47,146.1,202.0,13.0,916,13971,0.00,1.33,0.00,0.000,4,0.000,0.037,2075,2207,951,0,0,0,0,0,0
$GC,14012,0.47,146.1,196.7,11.7,920,14016,0.00,1.40,0.00,0.000,6,0.000,0.054,2075,3085,951,0,0,0,0,0,0
$GC,14342,0.47,146.1,154.0,12.6,951,14345,0.00,1.35,0.00,0.000,4,0.000,0.061,2075,3946,951,0,0,0,0,0,0
$GC,14386,0.47,146.1,147.6,15.0,955,14390,0.00,1.27,0.00,0.000,6,0.000,0.034,2082,3078,951,0,0,0,0,0,0
$GC,14716,0.47,146.1,108.0,12.9,986,14719,0.00,1.30,0.00,0.000,4,0.000,0.036,2089,2207,950,0,0,0,0,0,0
$GC,14840,0.47,146.1,93.2,11.4,1002,14849,0.00,1.38,0.00,0.000,6,0.000,0.054,2089,3074,951,0,0,0,0,0,0
$GC,15190,0.47,146.1,47.7,13.3,1063,15197,0.00,1.38,0.00,0.000,4,0.000,0.060,2089,3953,951,0,0,0,0,0,0
$GC,15227,0.47,146.1,42.3,14.9,1069,15233,0.00,1.27,0.00,0.000,6,0.000,0.034,2095,3080,951,0,0,0,0,0,0
$STATE,15515,end climb,SURFACE_DEPTH_REACHED
$STATE,15515,begin surface coast
$FINISH,0.8,1.019097
$STATE,15541,end surface coast,CONTROL_FINISHED_OK
$STATE,15541,begin surface
$SM_CCo,15553,27.15,0.145,0,0,712,205.07
$SM_GC,1.73,0.00,0.00,27.15,0.000,0.000,0.145,74,3249,712,-5.75,0.54,205.07
$IRIDIUM_FIX,-4308.55,804.87,300508,030350
$TT8_MAMPS,0.027713
$HUMID,62.56
$INTERNAL_PRESSURE,11.3688
$TCM_TEMP,13.30
$XPDR_PINGS,0
$24V_AH,22.3,10.956
$10V_AH,10.3,5.164
$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,13.700,74.250,291.225,27.150,0.000,26.967,47.393,289.406,0.000,0.000,17.759,2740.937,9936.910,435.990,2832.370,107.620,0.000,1490.531,0.000,2426.550,0.000,0.543,0.000
$DEVICE_MAMPS,234.855,78.795,1892.610,145.350,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,777.845,786.967,804.527,78.840,0.000,0.000,0.000,0.000,0.000,0.000
$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,63517,1122
$CAP_FILE_SIZE,140153,0
$CFSIZE,259252224,255864832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030815,225957,-4317.821,806.673,40,0.9,41,-24.9