version: 66.07
glider: 543
mission: 14
dive: 43
start: 8 5 115 2 9 28
data:
$ID,543
$MISSION,14
$DIVE,43
$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,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,-24249.049
$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,54
$R_STBD_OVSHOOT,35
$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
$GPS1,050815,015730,-4311.732,812.667,104,0.9,105,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-68.5
$GPS2,050815,020905,-4311.751,812.841,19,1.5,19,-25.0
$SPEED_LIMITS,0.172,0.259
$TGT_NAME,HEADING
$TGT_LATLONG,-4301.604,817.894
$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,-56.55,0.000,2,0.000,0.000,62,3250,1939,0,0,0,0,0,0
$GC,75,-0.47,-146.1,3.0,-3.3,7,92,6.85,1.10,-4.05,0.000,4,0.237,0.078,1742,3954,2098,0,0,0,0,0,0
$GC,100,-0.47,-146.1,10.6,-18.0,10,109,0.00,1.10,0.00,0.000,6,0.000,0.036,1742,3237,2101,0,0,0,0,0,0
$GC,158,-0.47,-146.1,19.1,-12.5,19,166,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3237,2102,0,0,0,0,0,0
$GC,215,-0.47,-146.1,26.3,-12.8,28,223,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3237,2102,0,0,0,0,0,0
$GC,362,-0.47,-146.1,50.0,-15.8,53,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3237,2102,0,0,0,0,0,0
$GC,706,-0.47,-146.1,103.7,-14.5,112,707,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3237,2102,0,0,0,0,0,0
$GC,1025,-0.47,-146.1,153.8,-15.5,142,1028,0.00,1.12,0.00,0.000,4,0.000,0.061,1736,3940,2102,0,0,0,0,0,0
$GC,1085,-0.47,-146.1,163.5,-14.9,147,1093,0.00,1.10,0.00,0.000,6,0.000,0.034,1737,3214,2102,0,0,0,0,0,0
$GC,1410,-0.47,-146.1,211.6,-14.3,178,1414,0.00,1.15,0.00,0.000,4,0.000,0.060,1731,3938,2102,0,0,0,0,0,0
$GC,1493,-0.47,-146.1,223.7,-14.2,185,1500,0.00,1.08,0.00,0.000,6,0.000,0.034,1731,3223,2102,0,0,0,0,0,0
$GC,1818,-0.47,-146.1,266.1,-12.4,216,1821,0.00,1.15,0.00,0.000,4,0.000,0.060,1726,3949,2102,0,0,0,0,0,0
$GC,1844,-0.47,-146.1,269.7,-12.8,218,1852,0.00,1.08,0.00,0.000,6,0.000,0.034,1726,3230,2102,0,0,0,0,0,0
$GC,2171,-0.47,-146.1,313.0,-14.1,249,2175,0.00,1.12,0.00,0.000,4,0.000,0.060,1721,3939,2102,0,0,0,0,0,0
$GC,2220,-0.47,-146.1,320.1,-15.1,253,2224,0.08,1.05,0.00,0.000,6,0.159,0.035,1744,3237,2102,0,0,0,0,0,0
$GC,2549,-0.47,-146.1,361.8,-12.3,284,2550,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,3236,2102,0,0,0,0,0,0
$GC,2868,-0.47,-146.1,399.9,-11.3,314,2869,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,3236,2102,0,0,0,0,0,0
$GC,3187,-0.47,-146.1,437.6,-12.0,330,3191,0.00,1.12,0.00,0.000,4,0.000,0.063,1740,3943,2103,0,0,0,0,0,0
$GC,3255,-0.47,-146.1,446.0,-12.1,333,3258,0.00,1.08,0.00,0.000,6,0.000,0.037,1741,3223,2102,0,0,0,0,0,0
$GC,3586,-0.47,-146.1,487.4,-12.7,349,3590,0.00,1.12,0.00,0.000,4,0.000,0.063,1736,3929,2102,0,0,0,0,0,0
$GC,3618,-0.47,-146.1,491.9,-13.4,350,3623,0.00,1.08,0.00,0.000,6,0.000,0.037,1735,3222,2102,0,0,0,0,0,0
$GC,3940,-0.47,-146.1,534.0,-13.1,366,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3221,2102,0,0,0,0,0,0
$GC,4249,-0.47,-146.1,574.0,-12.7,381,4252,0.00,1.12,0.00,0.000,4,0.000,0.063,1730,3930,2102,0,0,0,0,0,0
$GC,4286,-0.47,-146.1,579.2,-13.4,382,4294,0.00,1.08,0.00,0.000,6,0.000,0.037,1730,3222,2102,0,0,0,0,0,0
$GC,4602,-0.47,-146.1,618.3,-11.9,398,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,1730,3222,2102,0,0,0,0,0,0
$GC,4911,-0.47,-146.1,655.5,-11.7,413,4915,0.00,1.12,0.00,0.000,4,0.000,0.063,1725,3930,2102,0,0,0,0,0,0
$GC,4994,-0.47,-146.1,666.5,-13.0,416,5001,0.00,1.08,0.00,0.000,6,0.000,0.037,1725,3223,2102,0,0,0,0,0,0
$GC,5310,-0.47,-146.1,706.6,-12.7,432,5313,0.00,1.12,0.00,0.000,4,0.000,0.063,1719,3930,2102,0,0,0,0,0,0
$GC,5354,-0.47,-146.1,712.6,-13.6,434,5359,0.08,1.05,0.00,0.000,6,0.164,0.038,1743,3235,2102,0,0,0,0,0,0
$GC,5686,-0.47,-146.1,748.7,-10.6,450,5690,0.00,1.33,0.00,0.000,4,0.000,0.035,1743,2335,2102,0,0,0,0,0,0
$GC,5709,-0.47,-146.1,750.9,-9.8,451,5712,0.00,1.42,0.00,0.000,6,0.000,0.059,1738,3220,2102,0,0,0,0,0,0
$GC,6040,-0.47,-146.1,785.3,-10.2,467,6044,0.00,1.15,0.00,0.000,4,0.000,0.064,1732,3951,2102,0,0,0,0,0,0
$GC,6062,-0.47,-146.1,787.7,-10.6,468,6066,0.00,1.08,0.00,0.000,6,0.000,0.039,1731,3227,2103,0,0,0,0,0,0
$GC,6394,-0.47,-146.1,822.9,-10.5,484,6398,0.00,1.15,0.00,0.000,4,0.000,0.064,1727,3954,2102,0,0,0,0,0,0
$GC,6443,-0.47,-146.1,828.6,-11.5,486,6447,0.00,1.10,0.00,0.000,6,0.000,0.038,1727,3227,2102,0,0,0,0,0,0
$GC,6770,-0.47,-146.1,864.9,-11.2,502,6771,0.00,0.00,0.00,0.000,6,0.000,0.000,1726,3226,2102,0,0,0,0,0,0
$GC,7079,-0.47,-146.1,901.0,-11.9,517,7083,0.00,1.15,0.00,0.000,4,0.000,0.065,1721,3951,2102,0,0,0,0,0,0
$GC,7129,-0.47,-146.1,907.3,-12.8,519,7133,0.08,1.08,0.00,0.000,6,0.168,0.040,1744,3238,2102,0,0,0,0,0,0
$GC,7454,-0.47,-146.1,941.4,-10.7,535,7458,0.00,1.12,0.00,0.000,4,0.000,0.067,1740,3949,2102,0,0,0,0,0,0
$GC,7493,-0.47,-146.1,945.8,-11.5,536,7499,0.00,1.08,0.00,0.000,6,0.000,0.039,1740,3229,2102,0,0,0,0,0,0
$GC,7808,-0.47,-146.1,982.5,-11.5,552,7811,0.00,1.15,0.00,0.000,4,0.000,0.066,1734,3954,2102,0,0,0,0,0,0
$GC,7834,-0.47,-146.1,985.9,-12.5,553,7838,0.00,1.12,0.00,0.000,6,0.000,0.038,1734,3212,2102,0,0,0,0,0,0
$STATE,7953,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7953,begin apogee
$GC,7957,-0.11,0.0,1000.1,11.8,559,8117,0.43,0.00,151.57,1.898,6,0.151,0.000,1861,3060,1499,0,0,0,0,0,0
$STATE,8117,end apogee,CONTROL_FINISHED_OK
$STATE,8118,begin climb
$GC,8119,0.47,146.1,1005.6,0.0,567,8269,0.60,1.50,143.75,1.826,4,0.106,0.037,2058,2179,905,0,0,0,0,0,0
$GC,8425,0.47,146.1,973.5,13.1,581,8430,0.00,1.52,0.00,0.000,6,0.000,0.054,2058,3057,901,0,0,0,0,0,0
$GC,8747,0.47,146.1,927.7,14.4,597,8748,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,3058,899,0,0,0,0,0,0
$GC,9056,0.47,146.1,883.7,14.0,612,9060,0.00,1.38,0.00,0.000,4,0.000,0.041,2064,2184,899,0,0,0,0,0,0
$GC,9105,0.47,146.1,877.2,12.7,614,9110,0.00,1.48,0.00,0.000,6,0.000,0.054,2064,3072,898,0,0,0,0,0,0
$GC,9432,0.47,146.1,827.9,15.6,630,9436,0.00,1.38,0.00,0.000,4,0.000,0.039,2071,2187,898,0,0,0,0,0,0
$GC,9492,0.47,146.1,819.1,13.6,632,9500,0.00,1.45,0.00,0.000,6,0.000,0.054,2071,3066,898,0,0,0,0,0,0
$GC,9808,0.47,146.1,772.1,14.7,648,9812,0.00,1.38,0.00,0.000,4,0.000,0.040,2078,2176,898,0,0,0,0,0,0
$GC,9846,0.47,146.1,766.7,13.0,649,9854,0.00,1.45,0.00,0.000,6,0.000,0.054,2078,3061,898,0,0,0,0,0,0
$GC,10162,0.47,146.1,719.9,14.7,665,10166,0.00,1.38,0.00,0.000,4,0.000,0.039,2084,2166,897,0,0,0,0,0,0
$GC,10199,0.47,146.1,714.5,13.7,666,10207,0.00,1.48,0.00,0.000,6,0.000,0.054,2084,3069,897,0,0,0,0,0,0
$GC,10516,0.47,146.1,667.8,14.5,682,10519,0.00,1.38,0.00,0.000,4,0.000,0.038,2091,2171,897,0,0,0,0,0,0
$GC,10575,0.47,146.1,659.4,13.2,684,10584,0.12,1.45,0.00,0.000,6,0.195,0.055,2062,3060,897,0,0,0,0,0,0
$GC,10892,0.47,146.1,618.4,12.9,700,10895,0.00,1.45,0.00,0.000,4,0.000,0.063,2062,3953,897,0,0,0,0,0,0
$GC,10918,0.47,146.1,614.5,14.6,701,10923,0.00,1.38,0.00,0.000,6,0.000,0.035,2067,3048,897,0,0,0,0,0,0
$GC,11245,0.47,146.1,571.7,12.9,717,11249,0.00,1.30,0.00,0.000,4,0.000,0.038,2074,2189,897,0,0,0,0,0,0
$GC,11312,0.47,146.1,563.7,11.3,720,11316,0.00,1.40,0.00,0.000,6,0.000,0.056,2074,3057,897,0,0,0,0,0,0
$GC,11644,0.47,146.1,520.1,13.7,736,11648,0.00,1.33,0.00,0.000,4,0.000,0.039,2080,2190,897,0,0,0,0,0,0
$GC,11681,0.47,146.1,515.2,13.0,737,11689,0.00,1.42,0.00,0.000,6,0.000,0.055,2080,3067,896,0,0,0,0,0,0
$GC,11998,0.47,146.1,471.4,14.1,753,11999,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,3068,897,0,0,0,0,0,0
$GC,12307,0.47,146.1,427.5,14.5,768,12310,0.00,1.35,0.00,0.000,4,0.000,0.039,2087,2187,897,0,0,0,0,0,0
$GC,12338,0.47,146.1,423.3,12.3,769,12344,0.00,1.42,0.00,0.000,6,0.000,0.055,2087,3060,896,0,0,0,0,0,0
$GC,12666,0.47,146.1,376.9,14.0,792,12670,0.00,1.45,0.00,0.000,4,0.000,0.064,2087,3957,897,0,0,0,0,0,0
$GC,12700,0.47,146.1,371.4,15.9,795,12704,0.10,1.35,0.00,0.000,6,0.202,0.035,2066,3053,897,0,0,0,0,0,0
$GC,13029,0.47,146.1,330.0,12.4,826,13033,0.00,1.30,0.00,0.000,4,0.000,0.038,2071,2188,897,0,0,0,0,0,0
$GC,13131,0.47,146.1,318.2,11.5,835,13135,0.00,1.40,0.00,0.000,6,0.000,0.056,2071,3058,897,0,0,0,0,0,0
$GC,13461,0.47,146.1,274.6,13.4,866,13462,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,3058,897,0,0,0,0,0,0
$GC,13780,0.47,146.1,229.2,14.7,896,13784,0.00,1.33,0.00,0.000,4,0.000,0.037,2077,2182,897,0,0,0,0,0,0
$GC,13817,0.47,146.1,223.8,13.7,899,13825,0.00,1.42,0.00,0.000,6,0.000,0.054,2078,3063,897,0,0,0,0,0,0
$GC,14143,0.47,146.1,178.6,13.9,930,14146,0.00,1.33,0.00,0.000,4,0.000,0.036,2084,2184,897,0,0,0,0,0,0
$GC,14179,0.47,146.1,174.1,12.7,933,14182,0.00,1.40,0.00,0.000,6,0.000,0.055,2084,3061,897,0,0,0,0,0,0
$GC,14508,0.47,146.1,125.2,14.7,964,14512,0.00,1.40,0.00,0.000,4,0.000,0.063,2084,3949,897,0,0,0,0,0,0
$GC,14553,0.47,146.1,118.1,16.5,968,14558,0.10,1.33,0.00,0.000,6,0.197,0.034,2063,3061,897,0,0,0,0,0,0
$GC,14890,0.47,146.1,69.7,14.9,1016,14897,0.00,1.33,0.00,0.000,4,0.000,0.035,2068,2167,897,0,0,0,0,0,0
$GC,14948,0.51,222.0,64.5,6.5,1026,14989,0.00,1.42,35.10,1.046,6,0.000,0.054,2068,3067,592,0,0,0,0,0,0
$GC,15339,0.51,222.0,19.2,13.1,1092,15348,0.00,1.35,0.00,0.000,4,0.000,0.038,2074,2196,590,0,0,0,0,0,0
$GC,15449,0.51,222.0,4.8,14.4,1110,15458,0.00,1.40,0.00,0.000,6,0.000,0.052,2075,3058,590,0,0,0,0,0,0
$STATE,15464,end climb,SURFACE_DEPTH_REACHED
$STATE,15464,begin surface coast
$FINISH,0.7,1.011600
$STATE,15484,end surface coast,CONTROL_FINISHED_OK
$STATE,15484,begin surface
$SM_CCo,15556,0.00,0.000,0,0,588,223.71
$SM_GC,2.41,5.38,0.00,0.00,0.047,0.000,0.000,80,3236,588,-5.64,0.20,223.71
$IRIDIUM_FIX,-4253.80,809.06,310508,151514
$TT8_MAMPS,0.027713
$HUMID,62.32
$INTERNAL_PRESSURE,11.3786
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.3,12.252
$10V_AH,10.3,5.873
$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,13.800,83.875,330.425,0.000,0.000,53.513,70.084,380.821,0.000,0.000,21.707,2726.380,9916.572,455.755,3017.744,137.400,0.000,1549.345,0.000,2463.431,0.000,0.544,0.000
$DEVICE_MAMPS,237.150,78.030,1897.965,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,771.556,790.108,811.276,78.226,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354584
$DATA_FILE_SIZE,63452,1115
$CAP_FILE_SIZE,147864,0
$CFSIZE,259252224,255344640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050815,063033,-4309.506,814.723,78,1.2,78,-25.0