version: 66.07
glider: 543
mission: 14
dive: 44
start: 8 5 115 6 39 4
data:
$ID,543
$MISSION,14
$DIVE,44
$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,-24251.904
$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,53
$R_STBD_OVSHOOT,27
$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
$GPS1,050815,063033,-4309.506,814.723,78,1.2,78,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-63.0
$GPS2,050815,063841,-4309.489,814.805,22,1.4,22,-25.0
$SPEED_LIMITS,0.172,0.259
$TGT_NAME,HEADING
$TGT_LATLONG,-4259.341,819.854
$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,-146.1,0.0,0.0,0,72,0.00,0.00,-56.70,0.000,2,0.000,0.000,62,3242,1901,0,0,0,0,0,0
$GC,74,-0.47,-146.1,3.1,-2.8,7,92,6.80,1.20,-4.90,0.000,4,0.235,0.087,1741,3956,2097,0,0,0,0,0,0
$GC,129,-0.47,-146.1,15.6,-17.2,15,138,0.00,1.10,0.00,0.000,6,0.000,0.036,1741,3232,2102,0,0,0,0,0,0
$GC,187,-0.47,-146.1,22.8,-12.1,24,196,0.00,1.17,0.00,0.000,4,0.000,0.060,1736,3957,2102,0,0,0,0,0,0
$GC,227,-0.47,-146.1,29.8,-17.6,30,236,0.00,1.10,0.00,0.000,6,0.000,0.036,1736,3230,2103,0,0,0,0,0,0
$GC,376,-0.47,-146.1,56.5,-16.0,55,382,0.00,0.00,0.00,0.000,6,0.000,0.000,1736,3230,2103,0,0,0,0,0,0
$GC,716,-0.47,-146.1,114.0,-15.2,108,720,0.00,1.17,0.00,0.000,4,0.000,0.062,1730,3947,2103,0,0,0,0,0,0
$GC,775,-0.47,-146.1,124.0,-17.8,113,778,0.00,1.08,0.00,0.000,6,0.000,0.036,1730,3233,2103,0,0,0,0,0,0
$GC,1104,-0.47,-146.1,175.9,-15.1,144,1108,0.00,1.15,0.00,0.000,4,0.000,0.060,1725,3955,2103,0,0,0,0,0,0
$GC,1183,-0.47,-146.1,188.3,-16.2,151,1187,0.00,1.10,0.00,0.000,6,0.000,0.036,1725,3221,2103,0,0,0,0,0,0
$GC,1513,-0.47,-146.1,238.5,-15.1,182,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,1725,3220,2103,0,0,0,0,0,0
$GC,1832,-0.47,-146.1,286.8,-15.1,212,1833,0.00,0.00,0.00,0.000,6,0.000,0.000,1725,3220,2103,0,0,0,0,0,0
$GC,2152,-0.47,-146.1,330.5,-12.9,242,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,1725,3220,2103,0,0,0,0,0,0
$GC,2469,-0.47,-146.1,371.4,-12.3,272,2473,0.00,1.15,0.00,0.000,4,0.000,0.061,1720,3946,2103,0,0,0,0,0,0
$GC,2518,-0.47,-146.1,378.5,-14.4,276,2529,0.12,1.08,0.00,0.000,6,0.181,0.036,1750,3234,2103,0,0,0,0,0,0
$GC,2850,-0.47,-146.1,415.1,-11.8,302,2851,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,3234,2103,0,0,0,0,0,0
$GC,3160,-0.47,-146.1,452.4,-12.3,317,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,3234,2103,0,0,0,0,0,0
$GC,3469,-0.47,-146.1,490.0,-12.1,332,3472,0.00,1.12,0.00,0.000,4,0.000,0.064,1747,3940,2103,0,0,0,0,0,0
$GC,3545,-0.47,-146.1,500.1,-12.7,335,3551,0.00,1.10,0.00,0.000,6,0.000,0.037,1747,3217,2103,0,0,0,0,0,0
$GC,3867,-0.47,-146.1,539.5,-12.1,351,3871,0.00,1.15,0.00,0.000,4,0.000,0.064,1742,3940,2103,0,0,0,0,0,0
$GC,3889,-0.47,-146.1,542.5,-13.4,352,3893,0.00,1.08,0.00,0.000,6,0.000,0.038,1741,3225,2103,0,0,0,0,0,0
$GC,4221,-0.47,-146.1,584.0,-12.6,368,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,3224,2103,0,0,0,0,0,0
$GC,4530,-0.47,-146.1,620.5,-11.3,383,4534,0.00,1.15,0.00,0.000,4,0.000,0.065,1736,3949,2103,0,0,0,0,0,0
$GC,4575,-0.47,-146.1,626.1,-12.2,385,4579,0.00,1.08,0.00,0.000,6,0.000,0.038,1736,3234,2103,0,0,0,0,0,0
$GC,4908,-0.47,-146.1,666.0,-12.0,401,4909,0.00,0.00,0.00,0.000,6,0.000,0.000,1736,3234,2103,0,0,0,0,0,0
$GC,5215,-0.47,-146.1,703.9,-12.4,416,5219,0.00,1.12,0.00,0.000,4,0.000,0.066,1731,3940,2103,0,0,0,0,0,0
$GC,5247,-0.47,-146.1,708.4,-13.2,417,5252,0.00,1.10,0.00,0.000,6,0.000,0.038,1731,3221,2103,0,0,0,0,0,0
$GC,5568,-0.47,-146.1,746.6,-11.8,433,5572,0.00,1.15,0.00,0.000,4,0.000,0.065,1725,3943,2102,0,0,0,0,0,0
$GC,5636,-0.47,-146.1,755.1,-12.7,436,5639,0.00,1.08,0.00,0.000,6,0.000,0.038,1725,3225,2103,0,0,0,0,0,0
$GC,5967,-0.47,-146.1,794.2,-11.4,452,5968,0.00,0.00,0.00,0.000,6,0.000,0.000,1725,3224,2103,0,0,0,0,0,0
$GC,6277,-0.47,-146.1,830.0,-11.6,467,6278,0.00,0.00,0.00,0.000,6,0.000,0.000,1725,3224,2103,0,0,0,0,0,0
$GC,6586,-0.47,-146.1,866.5,-12.0,482,6589,0.00,1.15,0.00,0.000,4,0.000,0.066,1720,3949,2103,0,0,0,0,0,0
$GC,6646,-0.47,-146.1,874.6,-13.8,484,6654,0.12,1.10,0.00,0.000,6,0.184,0.039,1751,3228,2103,0,0,0,0,0,0
$GC,6962,-0.47,-146.1,903.5,-8.8,500,6966,0.00,1.12,0.00,0.000,4,0.000,0.067,1747,3931,2102,0,0,0,0,0,0
$GC,7011,-0.47,-146.1,908.3,-9.5,502,7015,0.00,1.08,0.00,0.000,6,0.000,0.039,1747,3230,2102,0,0,0,0,0,0
$GC,7338,-0.47,-146.1,937.6,-8.8,518,7342,0.00,1.15,0.00,0.000,4,0.000,0.067,1741,3954,2102,0,0,0,0,0,0
$GC,7371,-0.47,-146.1,940.8,-10.2,519,7375,0.00,1.10,0.00,0.000,6,0.000,0.038,1741,3230,2102,0,0,0,0,0,0
$GC,7692,-0.47,-146.1,969.8,-9.4,535,7696,0.00,1.15,0.00,0.000,4,0.000,0.067,1736,3954,2102,0,0,0,0,0,0
$GC,7718,-0.47,-146.1,972.8,-10.5,536,7723,0.00,1.10,0.00,0.000,6,0.000,0.038,1737,3229,2103,0,0,0,0,0,0
$STATE,8003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8003,begin apogee
$GC,8007,-0.11,0.0,1001.2,10.0,550,8166,0.43,0.00,151.23,1.892,6,0.150,0.000,1864,3062,1499,0,0,0,0,0,0
$STATE,8167,end apogee,CONTROL_FINISHED_OK
$STATE,8167,begin climb
$GC,8168,0.47,146.1,1005.1,0.0,558,8319,0.57,1.52,143.98,1.825,4,0.103,0.035,2054,2178,903,0,0,0,0,0,0
$GC,8469,0.47,146.1,973.6,11.9,572,8474,0.00,1.52,0.00,0.000,6,0.000,0.054,2054,3056,899,0,0,0,0,0,0
$GC,8797,0.47,146.1,929.4,13.7,588,8800,0.00,1.40,0.00,0.000,4,0.000,0.038,2061,2172,897,0,0,0,0,0,0
$GC,8845,0.47,146.1,923.3,12.5,590,8850,0.00,1.50,0.00,0.000,6,0.000,0.054,2061,3065,898,0,0,0,0,0,0
$GC,9173,0.47,146.1,878.2,14.0,606,9176,0.00,1.40,0.00,0.000,4,0.000,0.039,2068,2173,896,0,0,0,0,0,0
$GC,9204,0.47,146.1,873.8,13.3,607,9209,0.00,1.48,0.00,0.000,6,0.000,0.054,2067,3062,896,0,0,0,0,0,0
$GC,9526,0.47,146.1,828.8,13.9,623,9530,0.00,1.38,0.00,0.000,4,0.000,0.039,2074,2185,896,0,0,0,0,0,0
$GC,9558,0.47,146.1,824.6,12.8,624,9563,0.00,1.45,0.00,0.000,6,0.000,0.054,2074,3063,896,0,0,0,0,0,0
$GC,9880,0.47,146.1,778.7,14.4,640,9883,0.00,1.38,0.00,0.000,4,0.000,0.038,2080,2180,896,0,0,0,0,0,0
$GC,9928,0.47,146.1,772.2,12.6,642,9933,0.00,1.45,0.00,0.000,6,0.000,0.054,2081,3066,896,0,0,0,0,0,0
$GC,10256,0.47,146.1,721.7,15.9,658,10259,0.00,1.38,0.00,0.000,4,0.000,0.038,2087,2180,895,0,0,0,0,0,0
$GC,10300,0.47,146.1,715.2,14.6,660,10304,0.00,1.42,0.00,0.000,6,0.000,0.054,2087,3058,896,0,0,0,0,0,0
$GC,10632,0.47,146.1,662.6,16.0,676,10633,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,3058,895,0,0,0,0,0,0
$GC,10941,0.47,146.1,614.6,15.4,691,10945,0.00,1.35,0.00,0.000,4,0.000,0.038,2094,2181,895,0,0,0,0,0,0
$GC,10990,0.47,146.1,607.6,13.8,693,10996,0.15,1.45,0.00,0.000,6,0.191,0.054,2057,3071,895,0,0,0,0,0,0
$GC,11317,0.47,146.1,563.7,13.8,709,11321,0.00,1.38,0.00,0.000,4,0.000,0.037,2063,2172,895,0,0,0,0,0,0
$GC,11384,0.47,146.1,555.3,12.0,712,11387,0.00,1.42,0.00,0.000,6,0.000,0.055,2063,3057,895,0,0,0,0,0,0
$GC,11715,0.47,146.1,511.1,13.1,728,11719,0.00,1.35,0.00,0.000,4,0.000,0.037,2069,2173,895,0,0,0,0,0,0
$GC,11769,0.47,146.1,504.4,11.7,730,11774,0.00,1.45,0.00,0.000,6,0.000,0.055,2069,3063,895,0,0,0,0,0,0
$GC,12091,0.47,146.1,462.0,13.7,746,12095,0.00,1.38,0.00,0.000,4,0.000,0.038,2076,2167,895,0,0,0,0,0,0
$GC,12158,0.47,146.1,453.6,12.5,749,12162,0.00,1.42,0.00,0.000,6,0.000,0.056,2076,3053,895,0,0,0,0,0,0
$GC,12490,0.47,146.1,407.5,13.7,765,12491,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,3053,895,0,0,0,0,0,0
$GC,12807,0.47,146.1,364.0,13.0,792,12810,0.00,1.35,0.00,0.000,4,0.000,0.039,2083,2167,895,0,0,0,0,0,0
$GC,12845,0.47,146.1,359.4,11.4,795,12853,0.00,1.45,0.00,0.000,6,0.000,0.055,2083,3059,895,0,0,0,0,0,0
$GC,13170,0.47,146.1,318.4,12.7,826,13174,0.00,1.35,0.00,0.000,4,0.000,0.038,2090,2174,895,0,0,0,0,0,0
$GC,13230,0.47,146.1,311.2,12.0,831,13239,0.12,1.45,0.00,0.000,6,0.190,0.055,2059,3070,895,0,0,0,0,0,0
$GC,13556,0.47,146.1,274.6,11.4,862,13560,0.00,1.40,0.00,0.000,4,0.000,0.063,2059,3949,895,0,0,0,0,0,0
$GC,13578,0.47,146.1,271.5,12.9,864,13582,0.00,1.35,0.00,0.000,6,0.000,0.034,2065,3048,895,0,0,0,0,0,0
$GC,13907,0.47,146.1,230.9,12.2,895,13908,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,3048,895,0,0,0,0,0,0
$GC,14230,0.47,146.1,191.9,12.4,925,14233,0.00,1.30,0.00,0.000,4,0.000,0.037,2071,2189,895,0,0,0,0,0,0
$GC,14301,0.47,146.1,182.7,11.8,931,14309,0.00,1.40,0.00,0.000,6,0.000,0.054,2071,3062,895,0,0,0,0,0,0
$GC,14627,0.47,146.1,139.7,13.0,962,14630,0.00,1.33,0.00,0.000,4,0.000,0.035,2078,2184,895,0,0,0,0,0,0
$GC,14739,0.47,146.1,126.4,11.2,972,14742,0.00,1.40,0.00,0.000,6,0.000,0.054,2078,3060,895,0,0,0,0,0,0
$GC,15073,0.47,146.1,85.4,12.8,1012,15079,0.00,1.40,0.00,0.000,4,0.000,0.060,2078,3951,896,0,0,0,0,0,0
$GC,15093,0.47,146.1,82.7,13.2,1015,15099,0.00,1.33,0.00,0.000,6,0.000,0.033,2085,3049,895,0,0,0,0,0,0
$GC,15443,0.47,146.1,35.5,12.0,1076,15452,0.00,1.30,0.00,0.000,4,0.000,0.034,2091,2173,896,0,0,0,0,0,0
$GC,15542,0.47,146.1,22.9,12.4,1092,15552,0.10,1.40,0.00,0.000,6,0.164,0.055,2061,3056,896,0,0,0,0,0,0
$STATE,15675,end climb,SURFACE_DEPTH_REACHED
$STATE,15675,begin surface coast
$FINISH,1.0,1.026469
$STATE,15695,end surface coast,CONTROL_FINISHED_OK
$STATE,15695,begin surface
$SM_CCo,15706,43.12,0.392,1,0,680,200.16
$SM_GC,2.17,0.00,0.00,43.12,0.000,0.000,0.392,66,3258,680,-5.73,0.82,200.16
$IRIDIUM_FIX,-4256.74,809.06,310508,151517
$TT8_MAMPS,0.027713
$HUMID,61.93
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.3,12.432
$10V_AH,10.2,5.974
$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,13.750,79.550,295.200,43.125,0.000,42.793,30.929,297.615,0.000,0.000,24.906,2746.391,10052.107,458.582,2861.401,126.873,0.000,1537.610,0.000,2447.855,0.000,0.545,0.000
$DEVICE_MAMPS,234.855,87.210,1891.845,392.445,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,774.505,796.134,788.112,72.179,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354568
$DATA_FILE_SIZE,63539,1117
$CAP_FILE_SIZE,143061,0
$CFSIZE,259252224,255279104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,050815,110551,-4307.469,816.532,219,1.0,219,-25.0