version: 66.07
glider: 543
mission: 14
dive: 338
start: 10 9 115 5 30 15
data:
$ID,543
$MISSION,14
$DIVE,338
$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,-25185.916
$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,83
$R_STBD_OVSHOOT,30
$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
$GPS1,091015,052033,-4257.985,837.100,39,0.9,39,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-74.1
$GPS2,091015,052952,-4257.915,837.144,15,1.5,15,-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,212.9,11375,-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,-116.8,0.0,0.0,0,66,0.00,0.00,-48.30,0.000,2,0.000,0.000,64,3229,1710,0,0,0,0,0,0
$GC,68,-0.43,-116.8,3.2,-1.8,6,94,7.15,1.17,-8.05,0.000,4,0.236,0.081,1754,3950,1977,0,0,0,0,0,0
$GC,121,-0.17,-116.8,10.4,-13.5,13,130,0.28,1.05,0.00,0.000,6,0.129,0.031,1842,3240,1978,0,0,0,0,0,0
$GC,181,-0.31,-116.8,13.6,-3.5,22,189,0.12,0.00,0.00,0.000,6,0.087,0.000,1774,3239,1979,0,0,0,0,0,0
$GC,240,-0.31,-116.8,17.5,-7.6,31,248,0.00,1.38,0.00,0.000,4,0.000,0.026,1774,2279,1979,0,0,0,0,0,0
$GC,274,-0.31,-116.8,20.5,-8.2,36,284,0.08,1.50,0.00,0.000,6,0.125,0.049,1793,3210,1979,0,0,0,0,0,0
$GC,429,-0.35,-116.8,31.6,-8.8,61,438,0.00,1.20,0.00,0.000,4,0.000,0.057,1789,3955,1979,0,0,0,0,0,0
$GC,482,-0.39,-116.8,36.6,-9.5,69,491,0.00,1.10,0.00,0.000,6,0.000,0.031,1789,3198,1979,0,0,0,0,0,0
$GC,633,-0.42,-116.8,48.0,-7.6,94,639,0.00,0.00,0.00,0.000,6,0.000,0.000,1789,3199,1979,0,0,0,0,0,0
$GC,982,-0.45,-116.8,73.7,-7.3,155,988,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,3199,1979,0,0,0,0,0,0
$GC,1331,-0.48,-116.8,100.3,-8.4,216,1332,0.12,0.00,0.00,0.000,6,0.093,0.000,1727,3198,1978,0,0,0,0,0,0
$GC,1648,-0.38,-116.8,141.5,-12.9,246,1650,0.20,0.00,0.00,0.000,6,0.156,0.000,1782,3198,1979,0,0,0,0,0,0
$GC,1967,-0.40,-116.8,167.1,-7.5,276,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,1782,3198,1979,0,0,0,0,0,0
$GC,2288,-0.43,-116.8,190.5,-7.6,306,2291,0.00,1.17,0.00,0.000,4,0.000,0.057,1778,3944,1979,0,0,0,0,0,0
$GC,2333,-0.43,-116.8,194.4,-8.3,310,2337,0.00,1.08,0.00,0.000,6,0.000,0.031,1778,3199,1979,0,0,0,0,0,0
$GC,2666,-0.45,-116.8,221.9,-8.7,341,2669,0.00,1.27,0.00,0.000,4,0.000,0.027,1778,2295,1979,0,0,0,0,0,0
$GC,2701,-0.49,-116.8,225.0,-8.4,344,2705,0.00,1.48,0.00,0.000,6,0.000,0.050,1772,3214,1979,0,0,0,0,0,0
$GC,3031,-0.49,-116.8,255.1,-9.5,375,3035,0.00,1.15,0.00,0.000,4,0.000,0.057,1767,3950,1979,0,0,0,0,0,0
$GC,3123,-0.49,-116.8,263.8,-9.7,383,3126,0.00,1.08,0.00,0.000,6,0.000,0.031,1766,3203,1979,0,0,0,0,0,0
$GC,3453,-0.49,-116.8,293.4,-8.6,414,3454,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,3203,1979,0,0,0,0,0,0
$GC,3773,-0.49,-116.8,321.3,-8.4,444,3777,0.00,1.27,0.00,0.000,4,0.000,0.026,1767,2294,1979,0,0,0,0,0,0
$GC,3808,-0.51,-116.8,324.1,-7.5,447,3812,0.00,1.48,0.00,0.000,6,0.000,0.050,1760,3210,1979,0,0,0,0,0,0
$GC,4139,-0.51,-116.8,350.3,-7.0,478,4142,0.00,1.15,0.00,0.000,4,0.000,0.057,1755,3949,1979,0,0,0,0,0,0
$GC,4277,-0.49,-116.8,361.5,-8.1,490,4281,0.00,1.05,0.00,0.000,6,0.000,0.031,1755,3217,1978,0,0,0,0,0,0
$GC,4610,-0.48,-116.8,387.4,-8.0,521,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,3217,1979,0,0,0,0,0,0
$GC,4932,-0.46,-116.8,414.1,-8.2,544,4933,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,3217,1979,0,0,0,0,0,0
$GC,5241,-0.46,-116.8,437.6,-7.7,559,5244,0.00,1.15,0.00,0.000,4,0.000,0.056,1749,3951,1978,0,0,0,0,0,0
$GC,5354,-0.44,-116.8,447.1,-8.5,564,5358,0.00,1.08,0.00,0.000,6,0.000,0.031,1749,3204,1979,0,0,0,0,0,0
$GC,5687,-0.41,-116.8,475.2,-8.7,580,5690,0.00,1.17,0.00,0.000,4,0.000,0.057,1744,3950,1979,0,0,0,0,0,0
$GC,5770,-0.36,-116.8,483.3,-9.3,583,5778,0.10,1.08,0.00,0.000,6,0.133,0.031,1777,3210,1979,0,0,0,0,0,0
$GC,6088,-0.40,-116.8,506.0,-7.5,599,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,3210,1979,0,0,0,0,0,0
$GC,6396,-0.44,-116.8,529.8,-7.6,614,6397,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,3210,1979,0,0,0,0,0,0
$GC,6706,-0.48,-116.8,553.2,-7.5,629,6707,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,3210,1980,0,0,0,0,0,0
$GC,7015,-0.52,-116.8,576.7,-7.2,644,7016,0.12,0.00,0.00,0.000,6,0.096,0.000,1719,3209,1979,0,0,0,0,0,0
$GC,7324,-0.42,-116.8,612.2,-11.8,659,7328,0.17,1.20,0.00,0.000,4,0.157,0.057,1763,3950,1979,0,0,0,0,0,0
$GC,7392,-0.42,-116.8,618.4,-8.4,662,7395,0.00,1.08,0.00,0.000,6,0.000,0.032,1762,3212,1979,0,0,0,0,0,0
$GC,7724,-0.42,-116.8,645.7,-8.2,678,7725,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,3212,1979,0,0,0,0,0,0
$GC,8034,-0.42,-116.8,669.2,-7.4,693,8035,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,3212,1979,0,0,0,0,0,0
$GC,8343,-0.42,-116.8,691.1,-6.8,708,8346,0.00,1.30,0.00,0.000,4,0.000,0.028,1763,2301,1979,0,0,0,0,0,0
$GC,8381,-0.46,-116.8,693.9,-6.7,709,8388,0.00,1.48,0.00,0.000,6,0.000,0.050,1757,3210,1979,0,0,0,0,0,0
$GC,8698,-0.46,-116.8,716.4,-7.3,725,8699,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,3210,1979,0,0,0,0,0,0
$GC,9007,-0.46,-116.8,740.0,-7.6,740,9008,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,3210,1979,0,0,0,0,0,0
$GC,9316,-0.46,-116.8,763.3,-7.7,755,9318,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,3210,1979,0,0,0,0,0,0
$GC,9625,-0.46,-116.8,788.0,-8.0,770,9626,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,3210,1979,0,0,0,0,0,0
$GC,9935,-0.46,-116.8,812.5,-8.0,785,9936,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,3210,1979,0,0,0,0,0,0
$GC,10244,-0.46,-116.8,837.6,-8.0,800,10246,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,3210,1979,0,0,0,0,0,0
$GC,10553,-0.46,-116.8,862.6,-8.0,815,10554,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,3210,1979,0,0,0,0,0,0
$GC,10863,-0.46,-116.8,885.6,-7.3,830,10864,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,3210,1979,0,0,0,0,0,0
$GC,11172,-0.46,-116.8,907.5,-7.0,845,11174,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,3210,1979,0,0,0,0,0,0
$GC,11481,-0.46,-116.8,929.3,-7.1,860,11485,0.00,1.33,0.00,0.000,4,0.000,0.028,1757,2299,1979,0,0,0,0,0,0
$GC,11528,-0.50,-116.8,932.3,-6.7,862,11532,0.00,1.48,0.00,0.000,6,0.000,0.052,1752,3209,1979,0,0,0,0,0,0
$GC,11861,-0.50,-116.8,956.0,-7.2,878,11864,0.00,1.17,0.00,0.000,4,0.000,0.060,1746,3948,1979,0,0,0,0,0,0
$GC,11910,-0.50,-116.8,960.2,-7.9,880,11914,0.00,1.10,0.00,0.000,6,0.000,0.033,1746,3202,1979,0,0,0,0,0,0
$GC,12238,-0.50,-116.8,985.6,-8.2,896,12239,0.00,0.00,0.00,0.000,6,0.000,0.000,1746,3202,1979,0,0,0,0,0,0
$STATE,12421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12421,begin apogee
$GC,12426,-0.09,0.0,1000.2,7.7,905,12557,0.40,0.00,127.93,1.844,6,0.127,0.000,1868,2915,1499,0,0,0,0,0,0
$STATE,12558,end apogee,CONTROL_FINISHED_OK
$STATE,12558,begin climb
$GC,12560,0.43,116.8,1003.8,0.0,911,12699,0.52,1.48,126.60,1.770,4,0.086,0.029,2046,2046,1024,0,0,0,0,1,0
$GC,12775,0.41,116.8,989.8,9.0,921,12779,0.00,1.50,0.00,0.000,6,0.000,0.047,2046,2917,1021,0,0,0,0,0,0
$GC,13108,0.36,116.8,956.8,9.8,937,13112,0.00,1.42,0.00,0.000,4,0.000,0.056,2046,3807,1018,0,0,0,0,0,0
$GC,13225,0.26,116.8,942.5,13.0,942,13230,0.20,1.33,0.00,0.000,6,0.163,0.030,1994,2912,1018,0,0,0,0,0,0
$GC,13554,0.34,153.4,919.5,6.7,958,13597,0.00,1.50,34.72,1.776,4,0.000,0.057,1994,3800,874,0,0,0,0,0,0
$GC,13637,0.37,162.5,913.3,8.1,961,13652,0.00,1.33,10.57,1.610,6,0.000,0.031,1999,2927,835,0,0,0,0,0,0
$GC,13976,0.46,188.8,888.5,7.2,978,14005,0.15,0.00,26.67,1.748,6,0.089,0.000,2064,2926,728,0,0,0,0,0,0
$GC,14304,0.41,188.8,847.9,12.6,994,14305,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2926,728,0,0,0,0,0,0
$GC,14613,0.36,188.8,808.8,12.2,1009,14617,0.15,1.42,0.00,0.000,4,0.163,0.056,2023,3805,728,0,0,0,0,0,0
$GC,14651,0.36,188.8,804.3,10.2,1010,14658,0.00,1.30,0.00,0.000,6,0.000,0.030,2029,2923,727,0,0,0,0,0,0
$GC,14967,0.38,188.8,772.7,10.2,1026,14969,0.00,0.00,0.00,0.000,6,0.000,0.000,2028,2923,727,0,0,0,0,0,0
$GC,15276,0.40,188.8,741.0,10.3,1041,15280,0.00,1.42,0.00,0.000,4,0.000,0.057,2029,3813,727,0,0,0,0,0,0
$GC,15322,0.38,188.8,735.7,11.9,1043,15326,0.00,1.33,0.00,0.000,6,0.000,0.030,2036,2910,727,0,0,0,0,0,0
$GC,15655,0.38,188.8,698.4,10.8,1059,15658,0.00,1.42,0.00,0.000,4,0.000,0.056,2036,3800,727,0,0,0,0,0,0
$GC,15681,0.38,188.8,695.2,11.7,1060,15686,0.00,1.27,0.00,0.000,6,0.000,0.029,2042,2921,726,0,0,0,0,0,0
$GC,16009,0.38,188.8,661.1,10.1,1076,16010,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2920,727,0,0,0,0,0,0
$GC,16318,0.38,188.8,630.2,9.9,1091,16322,0.00,1.42,0.00,0.000,4,0.000,0.056,2042,3811,726,0,0,0,0,0,0
$GC,16379,0.34,188.8,623.0,12.2,1093,16386,0.10,1.30,0.00,0.000,6,0.152,0.029,2017,2924,726,0,0,0,0,0,0
$GC,16696,0.40,197.0,596.9,8.1,1109,16706,0.00,0.00,8.43,1.483,6,0.000,0.000,2017,2923,695,0,0,0,0,0,0
$GC,17004,0.46,197.4,571.0,8.5,1124,17008,0.10,1.42,0.00,0.000,4,0.107,0.057,2066,3802,698,0,0,0,0,0,0
$GC,17059,0.37,197.4,563.5,15.2,1126,17063,0.15,1.27,0.00,0.000,6,0.155,0.029,2027,2928,698,0,0,0,0,0,0
$GC,17380,0.40,197.4,533.1,9.0,1142,17381,0.00,0.00,0.00,0.000,6,0.000,0.000,2027,2928,698,0,0,0,0,0,0
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$STATE,22571,end climb,SURFACE_DEPTH_REACHED
$STATE,22571,begin surface coast
$FINISH,1.5,1.010283
$STATE,22603,end surface coast,CONTROL_FINISHED_OK
$STATE,22603,begin surface
$SM_CCo,22617,1.08,0.246,0,0,682,200.16
$SM_GC,2.54,0.00,0.00,1.08,0.000,0.000,0.246,66,3214,682,-5.75,0.14,200.16
$IRIDIUM_FIX,-4242.04,430.92,040808,121208
$TT8_MAMPS,0.027713
$HUMID,62.95
$INTERNAL_PRESSURE,11.4079
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,21.4,63.449
$10V_AH,10.0,41.060
$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,15.625,89.550,338.525,1.075,0.000,25.192,44.774,339.683,0.000,0.000,18.714,3992.838,14493.514,467.430,3890.093,321.187,0.000,1921.005,0.000,3463.515,0.000,0.545,0.000
$DEVICE_MAMPS,235.620,81.090,1844.415,246.330,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1135.638,1153.123,1187.898,118.901,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353952
$DATA_FILE_SIZE,93443,1635
$CAP_FILE_SIZE,205792,0
$CFSIZE,259252224,230289408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,091015,114953,-4259.453,837.271,123,1.0,123,-25.1