version: 66.07
glider: 543
mission: 14
dive: 37
start: 8 3 115 23 7 27
data:
$ID,543
$MISSION,14
$DIVE,37
$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,-24232.328
$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,58
$R_STBD_OVSHOOT,33
$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
$GPS1,030815,225957,-4317.821,806.673,40,0.9,41,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-75.6
$GPS2,030815,230704,-4317.810,806.713,19,1.0,19,-24.9
$SPEED_LIMITS,0.172,0.259
$TGT_NAME,HEADING
$TGT_LATLONG,-4307.662,811.774
$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,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,-56.72,0.000,2,0.000,0.000,65,3249,1983,0,0,0,0,0,0
$GC,75,-0.47,-146.1,3.4,-3.4,7,92,6.88,1.33,-3.88,0.000,4,0.241,0.054,1760,2336,2144,0,0,0,0,0,0
$GC,100,-0.47,-146.1,12.1,-22.0,10,109,0.00,1.45,0.00,0.000,6,0.000,0.053,1755,3225,2148,0,0,0,0,0,0
$GC,158,-0.47,-146.1,21.8,-15.0,19,166,0.00,1.15,0.00,0.000,4,0.000,0.060,1750,3940,2149,0,0,0,0,0,0
$GC,210,-0.47,-146.1,29.6,-15.6,27,218,0.00,1.08,0.00,0.000,6,0.000,0.035,1750,3229,2150,0,0,0,0,0,0
$GC,359,-0.47,-146.1,52.0,-15.2,52,365,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,3229,2150,0,0,0,0,0,0
$GC,709,-0.47,-146.1,105.2,-15.1,111,712,0.00,1.15,0.00,0.000,4,0.000,0.059,1744,3953,2150,0,0,0,0,0,0
$GC,765,-0.47,-146.1,113.9,-15.5,116,768,0.00,1.08,0.00,0.000,6,0.000,0.034,1744,3228,2150,0,0,0,0,0,0
$GC,1094,-0.47,-146.1,162.1,-14.0,147,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,3227,2150,0,0,0,0,0,0
$GC,1415,-0.47,-146.1,201.8,-12.3,177,1419,0.00,1.15,0.00,0.000,4,0.000,0.060,1738,3956,2150,0,0,0,0,0,0
$GC,1483,-0.47,-146.1,210.8,-13.4,183,1486,0.00,1.08,0.00,0.000,6,0.000,0.035,1739,3229,2150,0,0,0,0,0,0
$GC,1812,-0.47,-146.1,256.2,-14.1,214,1816,0.00,1.30,0.00,0.000,4,0.000,0.032,1739,2332,2150,0,0,0,0,0,0
$GC,1827,-0.47,-146.1,258.5,-13.6,215,1836,0.10,1.45,0.00,0.000,6,0.177,0.054,1757,3232,2150,0,0,0,0,0,0
$GC,2153,-0.47,-146.1,297.8,-12.0,246,2156,0.00,1.12,0.00,0.000,4,0.000,0.060,1753,3950,2150,0,0,0,0,0,0
$GC,2234,-0.47,-146.1,307.4,-12.4,253,2237,0.00,1.05,0.00,0.000,6,0.000,0.037,1753,3238,2150,0,0,0,0,0,0
$GC,2563,-0.47,-146.1,346.2,-10.9,284,2564,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3238,2150,0,0,0,0,0,0
$GC,2882,-0.47,-146.1,380.3,-10.7,314,2884,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3238,2150,0,0,0,0,0,0
$GC,3197,-0.47,-146.1,414.6,-11.4,338,3200,0.00,1.12,0.00,0.000,4,0.000,0.062,1748,3953,2150,0,0,0,0,0,0
$GC,3251,-0.47,-146.1,421.3,-11.6,340,3256,0.00,1.10,0.00,0.000,6,0.000,0.036,1748,3221,2150,0,0,0,0,0,0
$GC,3572,-0.47,-146.1,456.9,-10.9,356,3576,0.00,1.15,0.00,0.000,4,0.000,0.062,1742,3951,2150,0,0,0,0,0,0
$GC,3595,-0.47,-146.1,459.6,-12.0,357,3599,0.00,1.08,0.00,0.000,6,0.000,0.037,1742,3223,2150,0,0,0,0,0,0
$GC,3927,-0.47,-146.1,499.4,-12.2,373,3928,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3223,2150,0,0,0,0,0,0
$GC,4236,-0.47,-146.1,536.9,-12.6,388,4240,0.00,1.30,0.00,0.000,4,0.000,0.034,1742,2332,2150,0,0,0,0,0,0
$GC,4262,-0.47,-146.1,540.2,-11.9,389,4267,0.00,1.45,0.00,0.000,6,0.000,0.056,1735,3231,2150,0,0,0,0,0,0
$GC,4590,-0.47,-146.1,582.3,-13.1,405,4593,0.00,1.12,0.00,0.000,4,0.000,0.062,1730,3950,2150,0,0,0,0,0,0
$GC,4634,-0.47,-146.1,588.2,-13.2,407,4639,0.08,1.05,0.00,0.000,6,0.159,0.037,1754,3241,2150,0,0,0,0,0,0
$GC,4966,-0.47,-146.1,623.7,-10.4,423,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,3241,2150,0,0,0,0,0,0
$GC,5275,-0.47,-146.1,655.1,-10.3,438,5279,0.00,1.12,0.00,0.000,4,0.000,0.064,1750,3954,2150,0,0,0,0,0,0
$GC,5307,-0.47,-146.1,659.0,-11.7,439,5312,0.00,1.10,0.00,0.000,6,0.000,0.037,1750,3223,2150,0,0,0,0,0,0
$GC,5629,-0.47,-146.1,693.4,-11.0,455,5630,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,3223,2150,0,0,0,0,0,0
$GC,5938,-0.47,-146.1,727.4,-10.7,470,5939,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,3223,2150,0,0,0,0,0,0
$GC,6248,-0.47,-146.1,760.9,-10.8,485,6251,0.00,1.15,0.00,0.000,4,0.000,0.063,1745,3950,2150,0,0,0,0,0,0
$GC,6270,-0.47,-146.1,763.4,-12.0,486,6273,0.00,1.08,0.00,0.000,6,0.000,0.038,1745,3227,2150,0,0,0,0,0,0
$GC,6601,-0.47,-146.1,800.1,-10.8,502,6603,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,3226,2150,0,0,0,0,0,0
$GC,6911,-0.47,-146.1,832.4,-10.2,517,6914,0.00,1.15,0.00,0.000,4,0.000,0.064,1739,3954,2150,0,0,0,0,0,0
$GC,6970,-0.47,-146.1,839.0,-10.4,519,6978,0.00,1.10,0.00,0.000,6,0.000,0.038,1739,3225,2150,0,0,0,0,0,0
$GC,7287,-0.47,-146.1,870.6,-9.7,535,7290,0.00,1.15,0.00,0.000,4,0.000,0.064,1734,3954,2150,0,0,0,0,0,0
$GC,7335,-0.47,-146.1,876.0,-10.4,537,7340,0.00,1.10,0.00,0.000,6,0.000,0.038,1734,3226,2150,0,0,0,0,0,0
$GC,7662,-0.47,-146.1,908.5,-10.2,553,7663,0.00,0.00,0.00,0.000,6,0.000,0.000,1734,3225,2150,0,0,0,0,0,0
$GC,7972,-0.47,-146.1,941.3,-10.6,568,7973,0.00,0.00,0.00,0.000,6,0.000,0.000,1734,3226,2150,0,0,0,0,0,0
$GC,8281,-0.47,-146.1,972.8,-10.5,583,8285,0.00,1.15,0.00,0.000,4,0.000,0.064,1729,3954,2150,0,0,0,0,0,0
$GC,8318,-0.47,-146.1,977.0,-11.9,584,8326,0.12,1.10,0.00,0.000,6,0.180,0.037,1759,3226,2150,0,0,0,0,0,0
$STATE,8591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8591,begin apogee
$GC,8595,-0.11,0.0,1000.2,8.4,598,8754,0.38,0.00,151.00,1.891,6,0.139,0.000,1877,3076,1549,0,0,0,0,0,0
$STATE,8755,end apogee,CONTROL_FINISHED_OK
$STATE,8755,begin climb
$GC,8756,0.47,146.1,1005.7,0.0,606,8907,0.55,1.48,143.95,1.831,4,0.069,0.036,2076,2202,953,0,0,0,0,0,0
$GC,9031,0.47,146.1,976.5,13.0,619,9035,0.00,1.50,0.00,0.000,6,0.000,0.053,2076,3073,950,0,0,0,0,0,0
$GC,9363,0.47,146.1,924.4,16.2,635,9366,0.00,1.38,0.00,0.000,4,0.000,0.038,2083,2201,948,0,0,0,0,0,0
$GC,9400,0.47,146.1,918.6,14.5,636,9408,0.00,1.50,0.00,0.000,6,0.000,0.053,2083,3093,947,0,0,0,0,0,0
$GC,9716,0.47,146.1,867.2,16.1,652,9720,0.00,1.40,0.00,0.000,4,0.000,0.040,2090,2199,947,0,0,0,0,0,0
$GC,9787,0.47,146.1,856.3,14.2,655,9792,0.00,1.48,0.00,0.000,6,0.000,0.053,2089,3089,947,0,0,0,0,0,0
$GC,10115,0.47,146.1,806.0,15.1,671,10118,0.00,1.38,0.00,0.000,4,0.000,0.062,2089,3946,947,0,0,0,0,0,0
$GC,10137,0.47,146.1,802.4,15.6,672,10141,0.00,1.33,0.00,0.000,6,0.000,0.035,2096,3073,946,0,0,0,0,0,0
$GC,10469,0.47,146.1,749.3,16.3,688,10472,0.00,1.35,0.00,0.000,4,0.000,0.041,2102,2206,946,0,0,0,0,0,0
$GC,10568,0.47,146.1,733.7,15.6,692,10574,0.12,1.45,0.00,0.000,6,0.207,0.054,2074,3090,946,0,0,0,0,0,0
$GC,10890,0.47,146.1,684.9,15.1,708,10893,0.00,1.38,0.00,0.000,4,0.000,0.038,2079,2199,946,0,0,0,0,0,0
$GC,10950,0.47,146.1,676.3,14.1,710,10958,0.00,1.45,0.00,0.000,6,0.000,0.054,2079,3086,946,0,0,0,0,0,0
$GC,11266,0.47,146.1,629.2,15.2,726,11267,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,3087,945,0,0,0,0,0,0
$GC,11575,0.47,146.1,582.6,15.1,741,11579,0.00,1.35,0.00,0.000,4,0.000,0.038,2086,2206,946,0,0,0,0,0,0
$GC,11597,0.47,146.1,579.4,14.5,742,11601,0.00,1.40,0.00,0.000,6,0.000,0.055,2086,3076,945,0,0,0,0,0,0
$GC,11929,0.47,146.1,530.2,14.9,758,11933,0.00,1.33,0.00,0.000,4,0.000,0.037,2092,2207,945,0,0,0,0,0,0
$GC,11961,0.47,146.1,525.4,13.8,759,11966,0.00,1.42,0.00,0.000,6,0.000,0.054,2092,3085,945,0,0,0,0,0,0
$GC,12283,0.47,146.1,475.0,16.1,775,12286,0.00,1.35,0.00,0.000,4,0.000,0.038,2099,2202,945,0,0,0,0,0,0
$GC,12327,0.47,146.1,468.2,14.3,777,12331,0.08,1.40,0.00,0.000,6,0.181,0.055,2077,3078,945,0,0,0,0,0,0
$GC,12659,0.47,146.1,419.5,15.0,793,12660,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3078,945,0,0,0,0,0,0
$GC,12973,0.47,146.1,372.2,14.8,816,12974,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3078,945,0,0,0,0,0,0
$GC,13292,0.47,146.1,325.8,14.0,846,13293,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3078,945,0,0,0,0,0,0
$GC,13611,0.47,146.1,281.2,14.0,876,13615,0.00,1.33,0.00,0.000,4,0.000,0.037,2082,2208,945,0,0,0,0,0,0
$GC,13717,0.47,146.1,268.1,11.8,885,13725,0.00,1.42,0.00,0.000,6,0.000,0.054,2082,3087,945,0,0,0,0,0,0
$GC,14042,0.47,146.1,224.5,13.8,916,14046,0.00,1.38,0.00,0.000,4,0.000,0.061,2082,3955,945,0,0,0,0,0,0
$GC,14080,0.47,146.1,218.3,15.9,919,14088,0.00,1.33,0.00,0.000,6,0.000,0.034,2089,3071,945,0,0,0,0,0,0
$GC,14406,0.47,146.1,167.9,15.8,950,14409,0.00,1.30,0.00,0.000,4,0.000,0.037,2095,2205,945,0,0,0,0,0,0
$GC,14553,0.47,146.1,147.4,12.5,963,14557,0.00,1.40,0.00,0.000,6,0.000,0.054,2096,3082,945,0,0,0,0,0,0
$GC,14882,0.47,146.1,100.6,14.9,994,14886,0.00,1.33,0.00,0.000,4,0.000,0.036,2102,2207,945,0,0,0,0,0,0
$GC,14923,0.47,146.1,95.4,13.5,1000,14930,0.10,1.40,0.00,0.000,6,0.172,0.053,2072,3088,945,0,0,0,0,0,0
$GC,15272,0.47,146.1,51.8,11.9,1061,15278,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,3088,945,0,0,0,0,0,0
$GC,15629,0.47,146.1,11.2,11.6,1122,15638,0.00,1.33,0.00,0.000,4,0.000,0.034,2078,2197,945,0,0,0,0,0,0
$STATE,15714,end climb,SURFACE_DEPTH_REACHED
$STATE,15714,begin surface coast
$FINISH,0.8,1.026498
$STATE,15781,end surface coast,CONTROL_FINISHED_OK
$STATE,15781,begin surface
$SM_CCo,15794,45.42,0.555,1,0,712,205.07
$SM_GC,1.99,0.00,0.00,45.42,0.000,0.000,0.555,66,3245,712,-5.76,0.42,205.07
$IRIDIUM_FIX,-4305.59,813.67,300508,070733
$TT8_MAMPS,0.027713
$HUMID,61.69
$INTERNAL_PRESSURE,11.3786
$TCM_TEMP,13.30
$XPDR_PINGS,0
$24V_AH,22.3,11.136
$10V_AH,10.3,5.267
$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,14.025,74.325,294.950,45.425,0.000,24.688,19.221,277.627,0.000,0.000,21.609,2793.238,10031.620,459.371,2866.574,124.384,0.000,1531.415,0.000,2514.346,0.000,0.544,0.000
$DEVICE_MAMPS,240.975,64.260,1891.080,554.625,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,795.797,811.717,870.577,88.705,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354576
$DATA_FILE_SIZE,63689,1147
$CAP_FILE_SIZE,141181,0
$CFSIZE,259252224,255791104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040815,033304,-4315.562,808.960,58,1.7,59,-24.9