version: 66.07
glider: 543
mission: 14
dive: 39
start: 8 4 115 8 19 45
data:
$ID,543
$MISSION,14
$DIVE,39
$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,-24237.609
$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,44
$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
$GPS1,040815,080452,-4313.383,810.826,203,1.4,204,-25.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-69.4
$GPS2,040815,081922,-4313.209,811.001,15,1.3,15,-25.0
$SPEED_LIMITS,0.172,0.259
$TGT_NAME,HEADING
$TGT_LATLONG,-4303.061,816.056
$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,45.0,20000,-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,-146.1,0.0,0.0,0,73,0.00,0.00,-56.62,0.000,2,0.000,0.000,60,3255,2063,0,0,0,0,0,0
$GC,75,-0.47,-146.1,4.0,-4.5,7,92,6.93,1.40,-1.85,0.000,4,0.238,0.052,1760,2337,2146,0,0,0,0,0,0
$GC,259,-0.47,-146.1,37.9,-15.3,37,267,0.00,1.42,0.00,0.000,6,0.000,0.056,1755,3204,2151,0,0,0,0,0,0
$GC,403,-0.47,-146.1,61.8,-11.3,62,410,0.00,1.20,0.00,0.000,4,0.000,0.060,1750,3953,2151,0,0,0,0,0,0
$GC,421,-0.47,-146.1,64.4,-13.2,65,428,0.00,1.08,0.00,0.000,6,0.000,0.036,1750,3241,2151,0,0,0,0,0,0
$GC,767,-0.47,-146.1,118.8,-12.2,115,771,0.00,1.12,0.00,0.000,4,0.000,0.060,1744,3946,2151,0,0,0,0,0,0
$GC,869,-0.47,-146.1,134.4,-14.2,124,872,0.00,1.08,0.00,0.000,6,0.000,0.034,1745,3225,2151,0,0,0,0,0,0
$GC,1198,-0.47,-146.1,187.3,-14.8,155,1202,0.00,1.15,0.00,0.000,4,0.000,0.060,1739,3950,2151,0,0,0,0,0,0
$GC,1270,-0.47,-146.1,198.0,-14.5,161,1277,0.00,1.10,0.00,0.000,6,0.000,0.034,1739,3219,2151,0,0,0,0,0,0
$GC,1595,-0.47,-146.1,242.2,-12.8,192,1598,0.00,1.15,0.00,0.000,4,0.000,0.060,1733,3945,2151,0,0,0,0,0,0
$GC,1633,-0.47,-146.1,247.7,-13.6,195,1640,0.00,1.08,0.00,0.000,6,0.000,0.034,1734,3228,2151,0,0,0,0,0,0
$GC,1958,-0.47,-146.1,293.5,-14.0,226,1961,0.00,1.15,0.00,0.000,4,0.000,0.059,1728,3957,2151,0,0,0,0,0,0
$GC,1995,-0.47,-146.1,298.6,-15.4,229,1999,0.08,1.08,0.00,0.000,6,0.158,0.034,1752,3234,2151,0,0,0,0,0,0
$GC,2324,-0.47,-146.1,339.1,-12.3,260,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,3234,2151,0,0,0,0,0,0
$GC,2643,-0.47,-146.1,379.9,-12.9,290,2646,0.00,1.12,0.00,0.000,4,0.000,0.060,1749,3948,2151,0,0,0,0,0,0
$GC,2669,-0.47,-146.1,383.8,-14.1,292,2679,0.00,1.10,0.00,0.000,6,0.000,0.035,1749,3217,2151,0,0,0,0,0,0
$GC,2998,-0.47,-146.1,427.7,-13.2,314,3001,0.00,1.15,0.00,0.000,4,0.000,0.061,1743,3945,2151,0,0,0,0,0,0
$GC,3074,-0.47,-146.1,438.1,-12.5,317,3079,0.00,1.08,0.00,0.000,6,0.000,0.035,1743,3229,2151,0,0,0,0,0,0
$GC,3396,-0.47,-146.1,478.6,-12.6,333,3399,0.00,1.15,0.00,0.000,4,0.000,0.062,1737,3957,2151,0,0,0,0,0,0
$GC,3441,-0.47,-146.1,484.4,-13.4,335,3445,0.00,1.08,0.00,0.000,6,0.000,0.037,1738,3233,2151,0,0,0,0,0,0
$GC,3772,-0.47,-146.1,529.9,-13.8,351,3776,0.00,1.12,0.00,0.000,4,0.000,0.063,1733,3946,2151,0,0,0,0,0,0
$GC,3817,-0.47,-146.1,536.3,-13.6,353,3821,0.08,1.08,0.00,0.000,6,0.158,0.037,1756,3228,2151,0,0,0,0,0,0
$GC,4148,-0.47,-146.1,574.5,-11.2,369,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,3228,2151,0,0,0,0,0,0
$GC,4457,-0.47,-146.1,608.3,-10.6,384,4461,0.00,1.15,0.00,0.000,4,0.000,0.063,1752,3954,2151,0,0,0,0,0,0
$GC,4489,-0.47,-146.1,612.2,-11.6,385,4494,0.00,1.10,0.00,0.000,6,0.000,0.037,1752,3226,2151,0,0,0,0,0,0
$GC,4811,-0.47,-146.1,648.9,-11.2,401,4814,0.00,1.15,0.00,0.000,4,0.000,0.063,1746,3954,2151,0,0,0,0,0,0
$GC,4870,-0.47,-146.1,656.1,-11.5,403,4878,0.00,1.10,0.00,0.000,6,0.000,0.037,1747,3224,2151,0,0,0,0,0,0
$GC,5186,-0.47,-146.1,690.4,-10.4,419,5187,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3224,2151,0,0,0,0,0,0
$GC,5496,-0.47,-146.1,724.4,-11.2,434,5497,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3224,2151,0,0,0,0,0,0
$GC,5805,-0.47,-146.1,758.9,-11.0,449,5808,0.00,1.15,0.00,0.000,4,0.000,0.065,1741,3951,2151,0,0,0,0,0,0
$GC,5831,-0.47,-146.1,762.2,-12.5,450,5836,0.00,1.10,0.00,0.000,6,0.000,0.038,1741,3225,2151,0,0,0,0,0,0
$GC,6158,-0.47,-146.1,799.3,-11.0,466,6162,0.00,1.15,0.00,0.000,4,0.000,0.065,1736,3951,2151,0,0,0,0,0,0
$GC,6184,-0.47,-146.1,802.4,-11.2,467,6189,0.00,1.10,0.00,0.000,6,0.000,0.037,1736,3226,2151,0,0,0,0,0,0
$GC,6511,-0.47,-146.1,837.6,-11.0,483,6515,0.00,1.15,0.00,0.000,4,0.000,0.064,1730,3953,2150,0,0,0,0,0,0
$GC,6543,-0.47,-146.1,841.6,-11.6,484,6548,0.12,1.10,0.00,0.000,6,0.180,0.037,1762,3228,2151,0,0,0,0,0,0
$GC,6865,-0.47,-146.1,869.3,-8.1,500,6866,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,3227,2151,0,0,0,0,0,0
$GC,7175,-0.47,-146.1,892.5,-7.2,515,7178,0.00,1.15,0.00,0.000,4,0.000,0.066,1758,3953,2151,0,0,0,0,0,0
$GC,7206,-0.47,-146.1,895.3,-8.2,516,7211,0.00,1.10,0.00,0.000,6,0.000,0.038,1758,3227,2151,0,0,0,0,0,0
$GC,7528,-0.47,-146.1,921.4,-8.8,532,7529,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,3227,2150,0,0,0,0,0,0
$GC,7838,-0.47,-146.1,950.0,-9.4,547,7841,0.00,1.15,0.00,0.000,4,0.000,0.066,1753,3953,2151,0,0,0,0,0,0
$GC,7860,-0.47,-146.1,952.3,-10.2,548,7863,0.00,1.08,0.00,0.000,6,0.000,0.040,1753,3233,2150,0,0,0,0,0,0
$GC,8191,-0.47,-146.1,986.6,-10.3,564,8193,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3233,2151,0,0,0,0,0,0
$STATE,8335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8335,begin apogee
$GC,8339,-0.11,0.0,1001.6,10.3,571,8487,0.40,0.00,145.02,1.893,6,0.146,0.000,1874,3082,1549,0,0,0,0,0,0
$STATE,8488,end apogee,CONTROL_FINISHED_OK
$STATE,8488,begin climb
$GC,8489,0.47,146.1,1006.9,0.0,578,8640,0.57,1.50,144.25,1.845,4,0.079,0.036,2072,2202,957,0,0,0,0,0,0
$GC,8729,0.47,146.1,984.6,13.3,589,8733,0.00,1.52,0.00,0.000,6,0.000,0.054,2072,3080,958,0,0,0,0,0,0
$GC,9050,0.47,146.1,937.3,15.0,605,9052,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,3080,956,0,0,0,0,0,0
$GC,9359,0.47,146.1,893.2,14.0,620,9363,0.00,1.40,0.00,0.000,4,0.000,0.038,2079,2205,955,0,0,0,0,0,0
$GC,9408,0.47,146.1,886.7,13.2,622,9413,0.00,1.48,0.00,0.000,6,0.000,0.054,2079,3088,955,0,0,0,0,0,0
$GC,9736,0.47,146.1,838.2,15.1,638,9739,0.00,1.38,0.00,0.000,4,0.000,0.038,2085,2201,955,0,0,0,0,0,0
$GC,9803,0.47,146.1,828.6,14.7,641,9806,0.00,1.42,0.00,0.000,6,0.000,0.055,2085,3074,955,0,0,0,0,0,0
$GC,10134,0.47,146.1,775.4,16.3,657,10138,0.00,1.35,0.00,0.000,4,0.000,0.038,2092,2193,955,0,0,0,0,0,0
$GC,10161,0.47,146.1,771.2,14.7,658,10166,0.00,1.48,0.00,0.000,6,0.000,0.054,2092,3090,955,0,0,0,0,0,0
$GC,10488,0.47,146.1,721.1,14.9,674,10492,0.00,1.38,0.00,0.000,4,0.000,0.037,2098,2191,954,0,0,0,0,0,0
$GC,10533,0.47,146.1,715.0,13.0,676,10537,0.08,1.45,0.00,0.000,6,0.185,0.055,2077,3086,955,0,0,0,0,0,0
$GC,10864,0.47,146.1,670.1,13.7,692,10867,0.00,1.35,0.00,0.000,4,0.000,0.037,2083,2197,954,0,0,0,0,0,0
$GC,10890,0.47,146.1,666.6,11.8,693,10895,0.00,1.42,0.00,0.000,6,0.000,0.055,2082,3079,954,0,0,0,0,0,0
$GC,11218,0.47,146.1,619.0,14.6,709,11221,0.00,1.40,0.00,0.000,4,0.000,0.063,2082,3956,954,0,0,0,0,0,0
$GC,11262,0.47,146.1,611.7,17.4,711,11266,0.00,1.33,0.00,0.000,6,0.000,0.036,2089,3073,954,0,0,0,0,0,0
$GC,11593,0.47,146.1,561.5,14.8,727,11594,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,3073,954,0,0,0,0,0,0
$GC,11903,0.47,146.1,516.1,14.9,742,11906,0.00,1.33,0.00,0.000,4,0.000,0.039,2096,2199,954,0,0,0,0,0,0
$GC,11951,0.47,146.1,508.9,14.1,744,11956,0.00,1.45,0.00,0.000,6,0.000,0.055,2096,3089,954,0,0,0,0,0,0
$GC,12279,0.47,146.1,457.1,16.4,760,12280,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,3089,954,0,0,0,0,0,0
$GC,12588,0.47,146.1,405.6,16.5,775,12589,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,3089,954,0,0,0,0,0,0
$GC,12906,0.47,146.1,355.0,15.7,803,12907,0.00,0.00,0.00,0.000,6,0.000,0.000,2096,3089,954,0,0,0,0,0,0
$GC,13228,0.47,146.1,308.5,13.4,833,13232,0.00,1.35,0.00,0.000,4,0.000,0.039,2102,2198,954,0,0,0,0,0,0
$GC,13299,0.47,146.1,299.2,11.4,839,13308,0.10,1.45,0.00,0.000,6,0.179,0.055,2074,3089,954,0,0,0,0,0,0
$GC,13625,0.47,146.1,260.7,12.9,870,13628,0.00,1.35,0.00,0.000,4,0.000,0.062,2074,3941,953,0,0,0,0,0,0
$GC,13647,0.47,146.1,257.8,12.9,872,13650,0.00,1.30,0.00,0.000,6,0.000,0.036,2079,3073,953,0,0,0,0,0,0
$GC,13976,0.47,146.1,211.4,15.7,903,13980,0.00,1.30,0.00,0.000,4,0.000,0.037,2085,2207,953,0,0,0,0,0,0
$GC,14047,0.47,146.1,201.8,14.5,909,14051,0.00,1.40,0.00,0.000,6,0.000,0.055,2085,3083,953,0,0,0,0,0,0
$GC,14377,0.47,146.1,149.9,14.9,940,14380,0.00,1.38,0.00,0.000,4,0.000,0.061,2085,3953,953,0,0,0,0,0,0
$GC,14481,0.47,146.1,132.1,18.7,949,14485,0.00,1.30,0.00,0.000,6,0.000,0.034,2092,3075,953,0,0,0,0,0,0
$GC,14814,0.47,146.1,82.7,13.5,990,14822,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,3075,953,0,0,0,0,0,0
$GC,15166,0.47,146.1,32.6,15.6,1051,15175,0.00,1.30,0.00,0.000,4,0.000,0.034,2099,2203,954,0,0,0,0,0,0
$GC,15201,0.47,146.1,27.7,14.3,1056,15210,0.10,1.40,0.00,0.000,6,0.168,0.054,2069,3085,953,0,0,0,0,0,0
$GC,15354,0.47,146.1,9.0,11.1,1081,15362,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,3085,954,0,0,0,0,0,0
$STATE,15404,end climb,SURFACE_DEPTH_REACHED
$STATE,15404,begin surface coast
$FINISH,0.8,1.013344
$STATE,15429,end surface coast,CONTROL_FINISHED_OK
$STATE,15429,begin surface
$SM_CCo,15441,39.92,0.687,1,0,710,205.07
$SM_GC,2.48,0.00,0.00,39.92,0.000,0.000,0.687,81,3246,710,-5.73,0.42,205.07
$IRIDIUM_FIX,-4256.74,812.40,300508,212121
$TT8_MAMPS,0.027713
$HUMID,61.81
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,13.30
$XPDR_PINGS,0
$24V_AH,22.3,11.509
$10V_AH,10.3,5.471
$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,13.875,75.175,289.275,39.925,0.000,81.111,136.699,403.445,0.000,0.000,18.035,2688.390,10061.687,438.222,3049.345,122.093,0.000,1482.733,0.000,2371.015,0.000,0.545,0.000
$DEVICE_MAMPS,237.915,74.205,1893.375,686.970,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,759.998,773.649,771.490,74.098,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354548
$DATA_FILE_SIZE,63619,1093
$CAP_FILE_SIZE,142608,0
$CFSIZE,259252224,255643648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040815,123922,-4311.267,812.854,56,1.0,57,-25.0