version: 66.07
glider: 543
mission: 14
dive: 40
start: 8 4 115 12 48 19
data:
$ID,543
$MISSION,14
$DIVE,40
$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,200
$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,-24240.486
$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,1905
$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,3060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$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,1500
$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
$GPS1,040815,123922,-4311.267,812.854,56,1.0,57,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-73.7
$GPS2,040815,124757,-4311.249,812.878,19,1.6,19,-25.0
$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,238.8,242313,-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,-146.1,0.0,0.0,0,74,0.00,0.00,-56.92,0.000,2,0.000,0.000,62,3246,2066,0,0,0,0,0,0
$GC,76,-0.47,-146.1,4.0,-3.8,7,93,6.82,1.12,-0.65,0.000,4,0.236,0.075,1743,3956,2099,0,0,0,0,0,0
$GC,183,-0.47,-146.1,31.3,-17.6,24,192,0.00,1.10,0.00,0.000,6,0.000,0.035,1743,3232,2103,0,0,0,0,0,0
$GC,332,-0.47,-146.1,55.0,-15.8,49,338,0.00,0.00,0.00,0.000,6,0.000,0.000,1743,3232,2103,0,0,0,0,0,0
$GC,682,-0.47,-146.1,110.5,-15.0,105,683,0.00,0.00,0.00,0.000,6,0.000,0.000,1743,3232,2104,0,0,0,0,0,0
$GC,998,-0.47,-146.1,162.2,-17.1,135,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,1743,3232,2103,0,0,0,0,0,0
$GC,1321,-0.47,-146.1,204.0,-14.3,165,1327,0.00,0.00,0.00,0.000,6,0.000,0.000,1743,3232,2103,0,0,0,0,0,0
$GC,1645,-0.47,-146.1,247.1,-12.7,196,1649,0.00,1.12,0.00,0.000,4,0.000,0.060,1738,3940,2103,0,0,0,0,0,0
$GC,1704,-0.47,-146.1,255.1,-14.6,201,1707,0.00,1.05,0.00,0.000,6,0.000,0.035,1738,3231,2103,0,0,0,0,0,0
$GC,2033,-0.47,-146.1,304.5,-14.8,232,2037,0.00,1.12,0.00,0.000,4,0.000,0.060,1733,3922,2103,0,0,0,0,0,0
$GC,2067,-0.47,-146.1,309.5,-14.5,235,2071,0.00,1.02,0.00,0.000,6,0.000,0.035,1733,3233,2103,0,0,0,0,0,0
$GC,2397,-0.47,-146.1,354.9,-14.1,266,2400,0.00,1.12,0.00,0.000,4,0.000,0.060,1727,3945,2103,0,0,0,0,0,0
$GC,2456,-0.47,-146.1,364.0,-14.7,271,2464,0.00,1.08,0.00,0.000,6,0.000,0.034,1727,3226,2103,0,0,0,0,0,0
$GC,2780,-0.47,-146.1,409.7,-14.4,299,2784,0.00,1.12,0.00,0.000,4,0.000,0.060,1722,3940,2103,0,0,0,0,0,0
$GC,2830,-0.47,-146.1,417.4,-15.2,301,2834,0.08,1.05,0.00,0.000,6,0.161,0.035,1745,3235,2103,0,0,0,0,0,0
$GC,3156,-0.47,-146.1,456.9,-12.2,317,3160,0.00,1.10,0.00,0.000,4,0.000,0.060,1741,3929,2103,0,0,0,0,0,0
$GC,3201,-0.47,-146.1,462.4,-12.6,319,3205,0.00,1.05,0.00,0.000,6,0.000,0.036,1741,3224,2103,0,0,0,0,0,0
$GC,3532,-0.47,-146.1,505.8,-13.5,335,3536,0.00,1.12,0.00,0.000,4,0.000,0.061,1736,3935,2103,0,0,0,0,0,0
$GC,3626,-0.47,-146.1,519.3,-14.5,339,3631,0.00,1.08,0.00,0.000,6,0.000,0.035,1736,3222,2103,0,0,0,0,0,0
$GC,3953,-0.47,-146.1,563.6,-13.2,355,3954,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3222,2103,0,0,0,0,0,0
$GC,4262,-0.47,-146.1,603.8,-13.1,370,4266,0.00,1.12,0.00,0.000,4,0.000,0.061,1731,3932,2103,0,0,0,0,0,0
$GC,4356,-0.47,-146.1,616.9,-14.0,374,4361,0.00,1.08,0.00,0.000,6,0.000,0.036,1731,3222,2103,0,0,0,0,0,0
$GC,4683,-0.47,-146.1,659.3,-12.8,390,4687,0.00,1.12,0.00,0.000,4,0.000,0.062,1726,3930,2103,0,0,0,0,0,0
$GC,4743,-0.47,-146.1,667.6,-13.4,392,4751,0.00,1.08,0.00,0.000,6,0.000,0.036,1725,3222,2103,0,0,0,0,0,0
$GC,5059,-0.47,-146.1,707.5,-12.5,408,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,1726,3222,2103,0,0,0,0,0,0
$GC,5368,-0.47,-146.1,746.6,-12.7,423,5372,0.00,1.12,0.00,0.000,4,0.000,0.062,1720,3931,2103,0,0,0,0,0,0
$GC,5418,-0.47,-146.1,753.1,-12.9,425,5422,0.08,1.05,0.00,0.000,6,0.167,0.037,1743,3236,2103,0,0,0,0,0,0
$GC,5744,-0.47,-146.1,787.2,-10.4,441,5745,0.00,0.00,0.00,0.000,6,0.000,0.000,1743,3235,2103,0,0,0,0,0,0
$GC,6054,-0.47,-146.1,820.4,-10.5,456,6057,0.00,1.12,0.00,0.000,4,0.000,0.063,1740,3948,2103,0,0,0,0,0,0
$GC,6113,-0.47,-146.1,827.2,-11.1,458,6121,0.00,1.10,0.00,0.000,6,0.000,0.037,1740,3221,2103,0,0,0,0,0,0
$GC,6430,-0.47,-146.1,858.5,-9.6,474,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,3220,2103,0,0,0,0,0,0
$GC,6739,-0.47,-146.1,889.8,-10.4,489,6742,0.00,1.15,0.00,0.000,4,0.000,0.063,1734,3942,2103,0,0,0,0,0,0
$GC,6798,-0.47,-146.1,896.7,-11.4,491,6806,0.00,1.10,0.00,0.000,6,0.000,0.037,1734,3220,2103,0,0,0,0,0,0
$GC,7114,-0.47,-146.1,932.3,-11.7,507,7115,0.00,0.00,0.00,0.000,6,0.000,0.000,1734,3219,2103,0,0,0,0,0,0
$GC,7424,-0.47,-146.1,968.1,-11.3,522,7427,0.00,1.15,0.00,0.000,4,0.000,0.063,1729,3946,2103,0,0,0,0,0,0
$GC,7462,-0.47,-146.1,972.8,-11.8,523,7469,0.00,1.08,0.00,0.000,6,0.000,0.038,1729,3225,2103,0,0,0,0,0,0
$STATE,7714,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7714,begin apogee
$GC,7718,-0.11,0.0,1001.5,11.5,536,7868,0.45,0.00,146.75,1.895,6,0.154,0.000,1863,3056,1499,0,0,0,0,0,0
$STATE,7869,end apogee,CONTROL_FINISHED_OK
$STATE,7869,begin climb
$GC,7870,0.47,146.1,1005.7,0.0,543,8021,0.60,1.48,144.18,1.849,4,0.102,0.036,2060,2189,904,0,0,0,0,0,0
$GC,8149,0.47,146.1,976.6,13.7,556,8154,0.00,1.50,0.00,0.000,6,0.000,0.054,2060,3049,905,0,0,0,0,0,0
$GC,8476,0.47,146.1,930.9,13.9,572,8480,0.00,1.38,0.00,0.000,4,0.000,0.039,2066,2185,903,0,0,0,0,0,0
$GC,8514,0.47,146.1,925.7,13.3,573,8522,0.00,1.48,0.00,0.000,6,0.000,0.053,2066,3061,903,0,0,0,0,0,0
$GC,8830,0.47,146.1,876.9,15.7,589,8833,0.00,1.38,0.00,0.000,4,0.000,0.037,2072,2182,902,0,0,0,0,0,0
$GC,8878,0.47,146.1,869.5,14.1,591,8883,0.00,1.48,0.00,0.000,6,0.000,0.054,2073,3071,902,0,0,0,0,0,0
$GC,9206,0.47,146.1,819.0,15.2,607,9209,0.00,1.38,0.00,0.000,4,0.000,0.039,2079,2184,902,0,0,0,0,0,0
$GC,9260,0.47,146.1,811.3,13.6,609,9265,0.00,1.45,0.00,0.000,6,0.000,0.054,2080,3066,901,0,0,0,0,0,0
$GC,9582,0.47,146.1,763.6,14.7,625,9583,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,3067,901,0,0,0,0,0,0
$GC,9891,0.47,146.1,718.5,14.1,640,9895,0.00,1.38,0.00,0.000,4,0.000,0.040,2086,2175,901,0,0,0,0,0,0
$GC,9962,0.47,146.1,709.0,13.2,643,9967,0.00,1.45,0.00,0.000,6,0.000,0.054,2087,3063,901,0,0,0,0,0,0
$GC,10290,0.47,146.1,661.7,14.5,659,10291,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,3062,901,0,0,0,0,0,0
$GC,10599,0.47,146.1,614.2,15.4,674,10603,0.00,1.35,0.00,0.000,4,0.000,0.037,2093,2174,901,0,0,0,0,0,0
$GC,10636,0.47,146.1,608.6,13.5,675,10645,0.12,1.45,0.00,0.000,6,0.194,0.054,2064,3066,901,0,0,0,0,0,0
$GC,10953,0.47,146.1,567.1,12.9,691,10956,0.00,1.40,0.00,0.000,4,0.000,0.063,2064,3943,901,0,0,0,0,0,0
$GC,10985,0.47,146.1,562.1,15.8,692,10990,0.00,1.35,0.00,0.000,6,0.000,0.034,2069,3053,901,0,0,0,0,0,0
$GC,11306,0.47,146.1,518.8,13.3,708,11309,0.00,1.30,0.00,0.000,4,0.000,0.038,2076,2190,900,0,0,0,0,0,0
$GC,11360,0.47,146.1,511.8,12.7,710,11365,0.00,1.42,0.00,0.000,6,0.000,0.054,2076,3066,901,0,0,0,0,0,0
$GC,11682,0.47,146.1,466.4,14.4,726,11683,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,3066,900,0,0,0,0,0,0
$GC,11991,0.47,146.1,423.9,13.5,741,11995,0.00,1.40,0.00,0.000,4,0.000,0.063,2076,3948,901,0,0,0,0,0,0
$GC,12028,0.47,146.1,418.0,15.1,742,12036,0.00,1.35,0.00,0.000,6,0.000,0.034,2082,3057,901,0,0,0,0,0,0
$GC,12352,0.47,146.1,372.9,13.6,767,12355,0.00,1.33,0.00,0.000,4,0.000,0.037,2089,2170,900,0,0,0,0,0,0
$GC,12378,0.47,146.1,369.7,12.5,769,12382,0.10,1.42,0.00,0.000,6,0.168,0.054,2059,3064,900,0,0,0,0,0,0
$GC,12707,0.47,146.1,329.7,11.8,800,12711,0.00,1.33,0.00,0.000,4,0.000,0.036,2064,2184,900,0,0,0,0,0,0
$GC,12741,0.47,146.1,326.0,10.8,803,12745,0.00,1.40,0.00,0.000,6,0.000,0.056,2064,3057,900,0,0,0,0,0,0
$GC,13071,0.47,146.1,283.5,13.6,834,13074,0.00,1.42,0.00,0.000,4,0.000,0.063,2065,3954,900,0,0,0,0,0,0
$GC,13130,0.47,146.1,274.2,16.5,839,13138,0.00,1.35,0.00,0.000,6,0.000,0.034,2071,3058,900,0,0,0,0,0,0
$GC,13456,0.47,146.1,229.9,12.9,870,13460,0.00,1.33,0.00,0.000,4,0.000,0.039,2078,2180,900,0,0,0,0,0,0
$GC,13537,0.47,146.1,220.7,11.7,877,13541,0.00,1.40,0.00,0.000,6,0.000,0.055,2078,3058,900,0,0,0,0,0,0
$GC,13867,0.47,146.1,178.0,14.0,908,13868,0.00,0.00,0.00,0.000,6,0.000,0.000,2078,3057,900,0,0,0,0,0,0
$GC,14186,0.47,146.1,136.1,13.0,938,14190,0.00,1.42,0.00,0.000,4,0.000,0.061,2078,3957,900,0,0,0,0,0,0
$GC,14253,0.47,146.1,126.0,15.3,944,14257,0.00,1.33,0.00,0.000,6,0.000,0.035,2085,3062,900,0,0,0,0,0,0
$GC,14587,0.47,146.1,81.0,13.1,987,14595,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,3061,900,0,0,0,0,0,0
$GC,14939,0.47,146.1,33.8,13.5,1048,14947,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,3061,901,0,0,0,0,0,0
$GC,15089,0.47,146.1,13.7,14.8,1073,15098,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,3061,901,0,0,0,0,0,0
$GC,15147,0.47,146.1,5.4,14.1,1082,15155,0.00,1.40,0.00,0.000,4,0.000,0.058,2085,3952,902,0,0,0,0,0,0
$STATE,15162,end climb,SURFACE_DEPTH_REACHED
$STATE,15163,begin surface coast
$FINISH,1.6,1.026502
$STATE,15170,end surface coast,CONTROL_FINISHED_OK
$STATE,15170,begin surface
$SM_CCo,15182,25.20,0.145,0,0,681,200.16
$SM_GC,1.80,0.00,0.00,25.20,0.000,0.000,0.145,64,3234,681,-5.75,0.11,200.16
$IRIDIUM_FIX,-4253.80,811.98,300508,212112
$TT8_MAMPS,0.027713
$HUMID,61.65
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.3,11.686
$10V_AH,10.3,5.569
$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,13.550,70.325,290.925,25.200,0.000,26.656,48.015,334.380,0.000,0.000,22.259,2662.517,9698.838,433.987,2806.333,124.389,0.000,1473.711,0.000,2363.774,0.000,0.544,0.000
$DEVICE_MAMPS,235.620,74.970,1894.905,145.350,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,751.477,766.627,748.464,67.721,0.000,0.000,0.000,0.000,0.000,0.000
$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,63659,1085
$CAP_FILE_SIZE,137383,0
$CFSIZE,259252224,255574016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040815,170319,-4312.365,811.569,38,3.2,58,-25.0