version: 66.07
glider: 543
mission: 14
dive: 186
start: 9 3 115 18 3 10
data:
$ID,543
$MISSION,14
$DIVE,186
$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,390
$T_MISSION,420
$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,120
$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,-24708.43
$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,55
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,394
$ROLL_MAX,3944
$ROLL_DEG,25
$C_ROLL_DIVE,3209
$C_ROLL_CLIMB,2924
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,66
$R_STBD_OVSHOOT,31
$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,0.001
$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
$GPS1,030915,175352,-4300.125,838.382,72,0.9,72,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-69.9
$GPS2,030915,180247,-4300.123,838.515,14,0.8,16,-25.1
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAZ_BUT4
$TGT_LATLONG,-4304.000,836.000
$TGT_RADIUS,1000.000
$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,230.4,7946,-17.1,-8.547
$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,15,-0.43,-116.8,0.0,0.0,0,58,0.00,0.00,-41.00,0.000,2,0.000,0.000,62,3222,1539,0,0,0,0,0,0
$GC,60,-0.43,-116.8,3.0,-2.1,5,87,6.95,1.23,-15.05,0.000,4,0.228,0.081,1759,3959,1979,0,0,0,0,0,0
$GC,249,-0.34,-116.8,24.5,-12.2,35,259,0.10,1.10,0.00,0.000,6,0.146,0.032,1790,3225,1983,0,0,0,0,0,0
$GC,400,-0.34,-116.8,40.7,-9.9,60,409,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,3225,1982,0,0,0,0,0,0
$GC,752,-0.32,-116.8,73.5,-8.9,121,758,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,3225,1982,0,0,0,0,0,0
$GC,1095,-0.32,-116.8,105.9,-8.4,176,1099,0.00,1.35,0.00,0.000,4,0.000,0.028,1790,2285,1982,0,0,0,0,0,0
$GC,1141,-0.34,-116.8,109.5,-7.6,180,1145,0.00,1.50,0.00,0.000,6,0.000,0.052,1785,3207,1983,0,0,0,0,0,0
$GC,1472,-0.33,-116.8,140.2,-8.8,211,1475,0.00,1.17,0.00,0.000,4,0.000,0.058,1779,3951,1982,0,0,0,0,0,0
$GC,1528,-0.30,-116.8,145.3,-9.1,216,1532,0.00,1.10,0.00,0.000,6,0.000,0.032,1779,3197,1982,0,0,0,0,0,0
$GC,1859,-0.27,-116.8,176.9,-9.5,247,1863,0.12,1.23,0.00,0.000,4,0.161,0.058,1809,3957,1982,0,0,0,0,0,0
$GC,1904,-0.33,-116.8,180.9,-8.2,251,1908,0.00,1.10,0.00,0.000,6,0.000,0.032,1808,3206,1982,0,0,0,0,0,0
$GC,2235,-0.38,-116.8,207.5,-7.6,282,2239,0.00,1.30,0.00,0.000,4,0.000,0.028,1809,2291,1982,0,0,0,0,0,0
$GC,2293,-0.46,-116.8,212.1,-8.1,287,2297,0.10,1.48,0.00,0.000,6,0.050,0.052,1738,3205,1982,0,0,0,0,0,0
$GC,2623,-0.35,-116.8,255.3,-13.1,318,2627,0.17,1.20,0.00,0.000,4,0.164,0.057,1780,3958,1982,0,0,0,0,0,0
$GC,2704,-0.35,-116.8,263.3,-10.1,325,2707,0.00,1.10,0.00,0.000,6,0.000,0.031,1781,3202,1982,0,0,0,0,0,0
$GC,3034,-0.35,-116.8,290.6,-8.3,356,3038,0.00,1.20,0.00,0.000,4,0.000,0.057,1775,3958,1982,0,0,0,0,0,0
$GC,3080,-0.33,-116.8,294.5,-9.2,360,3083,0.00,1.10,0.00,0.000,6,0.000,0.032,1775,3206,1982,0,0,0,0,0,0
$GC,3411,-0.31,-116.8,320.9,-7.7,391,3412,0.12,0.00,0.00,0.000,6,0.162,0.000,1808,3206,1982,0,0,0,0,0,0
$GC,3731,-0.37,-116.8,339.1,-5.6,421,3735,0.00,1.30,0.00,0.000,4,0.000,0.028,1808,2296,1982,0,0,0,0,0,0
$GC,3792,-0.46,-116.8,342.8,-5.6,426,3800,0.10,1.48,0.00,0.000,6,0.050,0.051,1740,3208,1982,0,0,0,0,0,0
$GC,4120,-0.36,-116.8,376.3,-10.3,457,4124,0.17,1.20,0.00,0.000,4,0.164,0.057,1782,3958,1982,0,0,0,0,0,0
$GC,4186,-0.36,-116.8,382.2,-7.9,463,4190,0.00,1.10,0.00,0.000,6,0.000,0.033,1782,3206,1982,0,0,0,0,0,0
$GC,4515,-0.36,-116.8,406.6,-7.5,490,4516,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,3206,1982,0,0,0,0,0,0
$GC,4823,-0.36,-116.8,430.5,-7.6,505,4825,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,3206,1982,0,0,0,0,0,0
$GC,5133,-0.36,-116.8,455.1,-8.2,520,5134,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,3206,1982,0,0,0,0,0,0
$GC,5442,-0.36,-116.8,481.2,-8.6,535,5446,0.00,1.17,0.00,0.000,4,0.000,0.060,1777,3944,1982,0,0,0,0,0,0
$GC,5491,-0.36,-116.8,485.7,-8.8,537,5496,0.00,1.10,0.00,0.000,6,0.000,0.033,1777,3210,1982,0,0,0,0,0,0
$GC,5819,-0.36,-116.8,513.5,-8.2,553,5822,0.00,1.30,0.00,0.000,4,0.000,0.028,1777,2302,1982,0,0,0,0,0,0
$GC,5846,-0.36,-116.8,515.7,-7.6,554,5850,0.00,1.48,0.00,0.000,6,0.000,0.053,1770,3211,1982,0,0,0,0,0,0
$GC,6173,-0.34,-116.8,542.3,-7.9,570,6177,0.00,1.17,0.00,0.000,4,0.000,0.059,1765,3954,1982,0,0,0,0,0,0
$GC,6234,-0.31,-116.8,547.6,-8.3,572,6242,0.10,1.10,0.00,0.000,6,0.141,0.033,1797,3210,1982,0,0,0,0,0,0
$GC,6551,-0.35,-116.8,565.1,-5.4,588,6552,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3210,1982,0,0,0,0,0,0
$GC,6860,-0.40,-116.8,581.7,-5.2,603,6861,0.00,0.00,0.00,0.000,6,0.000,0.000,1797,3210,1982,0,0,0,0,0,0
$GC,7169,-0.45,-116.8,598.4,-5.4,618,7173,0.12,1.20,0.00,0.000,4,0.092,0.061,1731,3948,1982,0,0,0,0,0,0
$GC,7229,-0.34,-116.8,604.4,-10.9,620,7237,0.17,1.10,0.00,0.000,6,0.145,0.033,1786,3206,1982,0,0,0,0,0,0
$GC,7546,-0.36,-116.8,625.7,-6.8,636,7547,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,3206,1982,0,0,0,0,0,0
$GC,7855,-0.38,-116.8,647.6,-7.2,651,7858,0.00,1.30,0.00,0.000,4,0.000,0.030,1785,2306,1982,0,0,0,0,0,0
$GC,7888,-0.43,-116.8,650.1,-6.8,652,7891,0.00,1.48,0.00,0.000,6,0.000,0.054,1781,3212,1982,0,0,0,0,0,0
$GC,8209,-0.43,-116.8,674.4,-7.7,668,8212,0.00,1.17,0.00,0.000,4,0.000,0.060,1776,3953,1982,0,0,0,0,0,0
$GC,8258,-0.43,-116.8,678.4,-7.8,670,8262,0.00,1.12,0.00,0.000,6,0.000,0.033,1776,3197,1982,0,0,0,0,0,0
$GC,8586,-0.43,-116.8,704.3,-7.8,686,8587,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,3198,1982,0,0,0,0,0,0
$GC,8895,-0.43,-116.8,727.3,-7.2,701,8899,0.00,1.20,0.00,0.000,4,0.000,0.060,1770,3945,1982,0,0,0,0,0,0
$GC,8978,-0.43,-116.8,734.1,-7.8,704,8985,0.00,1.10,0.00,0.000,6,0.000,0.034,1771,3211,1982,0,0,0,0,0,0
$GC,9294,-0.43,-116.8,757.1,-7.3,720,9297,0.00,1.33,0.00,0.000,4,0.000,0.030,1770,2295,1982,0,0,0,0,0,0
$GC,9325,-0.43,-116.8,759.4,-6.6,721,9329,0.00,1.50,0.00,0.000,6,0.000,0.054,1764,3214,1982,0,0,0,0,0,0
$GC,9648,-0.40,-116.8,782.9,-7.1,737,9649,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,3214,1982,0,0,0,0,0,0
$GC,9957,-0.38,-116.8,805.5,-7.6,752,9958,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,3214,1982,0,0,0,0,0,0
$GC,10266,-0.37,-116.8,829.1,-7.5,767,10270,0.00,1.33,0.00,0.000,4,0.000,0.030,1764,2303,1982,0,0,0,0,0,0
$GC,10299,-0.37,-116.8,832.0,-8.0,768,10303,0.00,1.48,0.00,0.000,6,0.000,0.054,1758,3201,1982,0,0,0,0,0,0
$GC,10621,-0.34,-116.8,859.6,-8.7,784,10625,0.12,1.23,0.00,0.000,4,0.173,0.061,1786,3956,1982,0,0,0,0,0,0
$GC,10727,-0.39,-116.8,867.3,-7.0,788,10734,0.00,1.10,0.00,0.000,6,0.000,0.034,1786,3215,1982,0,0,0,0,0,0
$GC,11043,-0.43,-116.8,887.5,-6.2,804,11044,0.00,0.00,0.00,0.000,6,0.000,0.000,1786,3215,1982,0,0,0,0,0,0
$GC,11353,-0.47,-116.8,905.4,-5.2,819,11356,0.00,1.33,0.00,0.000,4,0.000,0.031,1786,2304,1982,0,0,0,0,0,0
$GC,11385,-0.53,-116.8,907.3,-5.2,820,11390,0.10,1.48,0.00,0.000,6,0.057,0.054,1722,3205,1982,0,0,0,0,0,0
$GC,11707,-0.44,-116.8,938.0,-10.1,836,11711,0.15,1.20,0.00,0.000,4,0.168,0.060,1758,3948,1982,0,0,0,0,0,0
$GC,11831,-0.42,-116.8,948.4,-8.4,841,11835,0.00,1.10,0.00,0.000,6,0.000,0.034,1758,3206,1982,0,0,0,0,0,0
$GC,12153,-0.40,-116.8,972.5,-7.7,857,12154,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,3206,1982,0,0,0,0,0,0
$GC,12462,-0.38,-116.8,994.2,-7.0,872,12466,0.00,1.20,0.00,0.000,4,0.000,0.061,1752,3955,1982,0,0,0,0,0,0
$GC,12508,-0.35,-116.8,997.7,-7.2,874,12512,0.10,1.10,0.00,0.000,6,0.144,0.034,1784,3219,1982,0,0,0,0,0,0
$STATE,12549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12549,begin apogee
$GC,12554,-0.09,0.0,1000.4,5.8,876,12683,0.28,0.00,125.80,1.926,6,0.125,0.000,1871,2918,1499,0,0,0,0,0,0
$STATE,12684,end apogee,CONTROL_FINISHED_OK
$STATE,12684,begin climb
$GC,12685,0.43,116.8,1002.5,0.0,882,12815,0.52,1.52,120.15,1.864,4,0.090,0.033,2046,2047,1022,0,0,0,0,0,0
$GC,12870,0.39,116.8,986.2,10.8,890,12875,0.00,1.52,0.00,0.000,6,0.000,0.048,2046,2922,1020,0,0,0,0,0,0
$GC,13192,0.32,116.8,946.3,12.6,906,13196,0.12,1.48,0.00,0.000,4,0.177,0.059,2016,3806,1017,0,0,0,0,0,0
$GC,13291,0.26,116.8,934.2,12.3,910,13296,0.10,1.35,0.00,0.000,6,0.171,0.031,1992,2920,1015,0,0,0,0,0,0
$GC,13613,0.28,117.2,906.7,8.5,926,13617,0.00,1.45,0.00,0.000,4,0.000,0.059,1992,3805,1015,0,0,0,0,0,0
$GC,13696,0.28,117.2,898.2,10.2,929,13704,0.00,1.35,0.00,0.000,6,0.000,0.031,1997,2918,1014,0,0,0,0,0,0
$GC,14012,0.28,117.2,867.5,10.2,945,14013,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,2918,1014,0,0,0,0,0,0
$GC,14322,0.28,117.2,836.7,9.9,960,14326,0.00,1.45,0.00,0.000,4,0.000,0.060,1997,3804,1014,0,0,0,0,0,0
$GC,14461,0.26,117.2,820.8,11.1,966,14465,0.00,1.30,0.00,0.000,6,0.000,0.031,2004,2930,1013,0,0,0,0,0,0
$GC,14788,0.26,117.2,788.6,9.8,982,14789,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2929,1013,0,0,0,0,0,0
$GC,15097,0.26,117.2,760.3,9.1,997,15098,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2929,1013,0,0,0,0,0,0
$GC,15407,0.26,119.0,733.1,8.5,1012,15408,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2929,1013,0,0,0,0,0,0
$GC,15716,0.26,124.9,707.5,8.3,1027,15727,0.00,1.48,7.15,1.567,4,0.000,0.060,2004,3815,987,0,0,0,0,0,0
$GC,15840,0.23,124.9,695.3,9.9,1032,15846,0.00,1.35,0.00,0.000,6,0.000,0.031,2011,2916,988,0,0,0,0,0,0
$GC,16155,0.23,124.9,666.9,8.9,1048,16156,0.00,0.00,0.00,0.000,6,0.000,0.000,2011,2915,987,0,0,0,0,0,0
$GC,16464,0.24,131.4,640.7,8.2,1063,16478,0.00,1.50,7.47,1.541,4,0.000,0.059,2011,3815,963,0,0,0,0,0,0
$GC,16523,0.19,131.4,635.0,9.3,1065,16531,0.15,1.35,0.00,0.000,6,0.155,0.031,1973,2919,963,0,0,0,0,0,0
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$STATE,22216,end climb,SURFACE_DEPTH_REACHED
$STATE,22216,begin surface coast
$FINISH,1.3,1.015444
$STATE,22224,end surface coast,CONTROL_FINISHED_OK
$STATE,22224,begin surface
$SM_CCo,22297,0.00,0.000,0,0,505,244.31
$SM_GC,2.61,5.38,0.00,0.00,0.047,0.000,0.000,65,3217,505,-5.66,0.23,244.31
$IRIDIUM_FIX,-4242.04,831.12,300608,000047
$TT8_MAMPS,0.027713
$HUMID,62.83
$INTERNAL_PRESSURE,11.3688
$TCM_TEMP,13.00
$XPDR_PINGS,0
$24V_AH,22.1,36.286
$10V_AH,10.1,21.931
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,15.900,98.700,368.925,0.000,0.000,25.758,39.190,335.115,0.000,0.000,18.415,3826.182,14535.005,510.312,3701.472,246.500,0.000,1929.864,0.000,3278.249,0.000,0.544,0.000
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$SENSOR_SECS,1074.147,1106.161,1012.855,93.147,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353968
$DATA_FILE_SIZE,86903,1545
$CAP_FILE_SIZE,206399,0
$CFSIZE,259252224,243777536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,040915,001633,-4301.902,838.411,73,1.1,74,-25.1