version: 66.07
glider: 543
mission: 14
dive: 340
start: 10 9 115 18 36 53
data:
$ID,543
$MISSION,14
$DIVE,340
$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,-25191.422
$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,79
$R_STBD_OVSHOOT,29
$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
$GPS1,091015,182257,-4301.737,837.313,36,1.2,36,-25.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-74.3
$GPS2,091015,183631,-4301.707,837.359,18,1.9,18,-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,228.5,4628,-19.8,-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,16,-0.45,-89.9,0.0,0.0,0,73,0.00,0.00,-52.72,0.000,6,0.000,0.000,63,3223,1868,0,0,0,0,0,0
$GC,76,-0.48,-116.8,3.5,-2.1,7,93,6.95,1.17,-2.92,0.000,4,0.228,0.070,1742,3959,1977,0,0,0,0,0,0
$GC,126,-0.18,-116.8,14.8,-21.7,14,135,0.32,1.08,0.00,0.000,6,0.137,0.031,1841,3229,1980,0,0,0,0,0,0
$GC,186,-0.36,-116.8,20.1,-5.6,23,195,0.15,1.35,0.00,0.000,4,0.077,0.027,1757,2288,1981,0,0,0,0,0,0
$GC,223,-0.44,-116.8,23.3,-8.3,28,231,0.00,1.48,0.00,0.000,6,0.000,0.049,1750,3201,1981,0,0,0,0,0,0
$GC,376,-0.41,-116.8,40.3,-11.6,53,382,0.00,1.17,0.00,0.000,4,0.000,0.057,1744,3946,1981,0,0,0,0,0,0
$GC,408,-0.38,-116.8,44.1,-11.6,58,416,0.10,1.08,0.00,0.000,6,0.138,0.031,1776,3208,1981,0,0,0,0,0,0
$GC,758,-0.42,-116.8,73.9,-8.3,119,764,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,3208,1981,0,0,0,0,0,0
$GC,1110,-0.47,-116.8,105.2,-8.9,176,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,3208,1981,0,0,0,0,0,0
$GC,1427,-0.51,-116.8,132.5,-8.2,206,1429,0.12,0.00,0.00,0.000,6,0.093,0.000,1717,3207,1981,0,0,0,0,0,0
$GC,1744,-0.44,-116.8,175.1,-13.5,236,1749,0.15,1.20,0.00,0.000,4,0.161,0.054,1753,3955,1981,0,0,0,0,0,0
$GC,1805,-0.44,-116.8,182.7,-11.0,241,1813,0.00,1.10,0.00,0.000,6,0.000,0.030,1753,3198,1981,0,0,0,0,0,0
$GC,2131,-0.44,-116.8,215.1,-9.7,272,2135,0.00,1.25,0.00,0.000,4,0.000,0.027,1753,2299,1981,0,0,0,0,0,0
$GC,2170,-0.47,-116.8,218.9,-8.8,275,2177,0.00,1.45,0.00,0.000,6,0.000,0.048,1747,3204,1981,0,0,0,0,0,0
$GC,2495,-0.47,-116.8,252.5,-10.4,306,2496,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3204,1980,0,0,0,0,0,0
$GC,2814,-0.47,-116.8,285.5,-9.8,336,2816,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3203,1981,0,0,0,0,0,0
$GC,3135,-0.47,-116.8,317.3,-9.9,366,3141,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3203,1981,0,0,0,0,0,0
$GC,3465,-0.47,-116.8,348.7,-9.7,397,3468,0.00,1.17,0.00,0.000,4,0.000,0.056,1741,3955,1981,0,0,0,0,0,0
$GC,3512,-0.47,-116.8,353.7,-10.0,401,3516,0.00,1.05,0.00,0.000,6,0.000,0.031,1741,3219,1981,0,0,0,0,0,0
$GC,3843,-0.47,-116.8,386.2,-9.9,432,3846,0.00,1.15,0.00,0.000,4,0.000,0.056,1735,3950,1981,0,0,0,0,0,0
$GC,3902,-0.45,-116.8,391.9,-10.5,437,3905,0.00,1.08,0.00,0.000,6,0.000,0.031,1735,3201,1981,0,0,0,0,0,0
$GC,4236,-0.43,-116.8,424.5,-9.5,457,4240,0.10,1.20,0.00,0.000,4,0.177,0.055,1756,3953,1981,0,0,0,0,0,0
$GC,4275,-0.45,-116.8,428.2,-8.8,458,4282,0.00,1.05,0.00,0.000,6,0.000,0.030,1756,3212,1981,0,0,0,0,0,0
$GC,4592,-0.48,-116.8,453.8,-8.2,474,4595,0.00,1.27,0.00,0.000,4,0.000,0.027,1756,2299,1980,0,0,0,0,0,0
$GC,4630,-0.53,-116.8,457.0,-7.5,475,4637,0.00,1.45,0.00,0.000,6,0.000,0.050,1750,3206,1981,0,0,0,0,0,0
$GC,4947,-0.53,-116.8,483.9,-8.5,491,4948,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,3206,1980,0,0,0,0,0,0
$GC,5255,-0.53,-116.8,510.1,-8.7,506,5256,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,3206,1981,0,0,0,0,0,0
$GC,5565,-0.53,-116.8,537.2,-9.0,521,5566,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,3206,1981,0,0,0,0,0,0
$GC,5875,-0.55,-116.8,566.9,-9.8,536,5878,0.00,1.17,0.00,0.000,4,0.000,0.057,1743,3953,1981,0,0,0,0,0,0
$GC,5920,-0.55,-116.8,571.6,-10.6,538,5923,0.00,1.08,0.00,0.000,6,0.000,0.031,1744,3210,1981,0,0,0,0,0,0
$GC,6252,-0.55,-116.8,604.3,-9.7,554,6256,0.00,1.17,0.00,0.000,4,0.000,0.057,1738,3954,1981,0,0,0,0,0,0
$GC,6285,-0.55,-116.8,607.8,-10.5,555,6289,0.00,1.08,0.00,0.000,6,0.000,0.031,1738,3204,1981,0,0,0,0,0,0
$GC,6606,-0.55,-116.8,638.1,-9.1,571,6610,0.00,1.27,0.00,0.000,4,0.000,0.027,1738,2295,1980,0,0,0,0,0,0
$GC,6639,-0.57,-116.8,641.0,-8.7,572,6643,0.00,1.48,0.00,0.000,6,0.000,0.050,1731,3213,1981,0,0,0,0,0,0
$GC,6961,-0.57,-116.8,671.3,-9.6,588,6964,0.00,1.15,0.00,0.000,4,0.000,0.057,1725,3951,1981,0,0,0,0,0,0
$GC,7051,-0.54,-116.8,680.8,-11.0,592,7055,0.00,1.05,0.00,0.000,6,0.000,0.031,1725,3217,1981,0,0,0,0,0,0
$GC,7384,-0.51,-116.8,713.9,-10.0,608,7385,0.00,0.00,0.00,0.000,6,0.000,0.000,1725,3217,1981,0,0,0,0,0,0
$GC,7693,-0.49,-116.8,745.2,-10.6,623,7697,0.00,1.30,0.00,0.000,4,0.000,0.027,1725,2302,1980,0,0,0,0,0,0
$GC,7725,-0.49,-116.8,748.7,-9.8,624,7730,0.00,1.45,0.00,0.000,6,0.000,0.050,1719,3206,1980,0,0,0,0,0,0
$GC,8048,-0.45,-116.8,783.1,-10.5,640,8052,0.15,1.20,0.00,0.000,4,0.163,0.057,1754,3956,1981,0,0,0,0,0,0
$GC,8120,-0.50,-116.8,789.4,-8.1,643,8124,0.00,1.08,0.00,0.000,6,0.000,0.031,1755,3215,1981,0,0,0,0,0,0
$GC,8448,-0.54,-116.8,814.2,-7.7,659,8449,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,3215,1981,0,0,0,0,0,0
$GC,8757,-0.58,-116.8,837.7,-7.4,674,8759,0.12,0.00,0.00,0.000,6,0.099,0.000,1699,3214,1981,0,0,0,0,0,0
$GC,9066,-0.51,-116.8,872.1,-11.4,689,9068,0.15,0.00,0.00,0.000,6,0.166,0.000,1739,3214,1980,0,0,0,0,0,0
$GC,9375,-0.51,-116.8,898.9,-8.3,704,9376,0.00,0.00,0.00,0.000,6,0.000,0.000,1739,3215,1980,0,0,0,0,0,0
$GC,9684,-0.51,-116.8,924.7,-8.3,719,9686,0.00,0.00,0.00,0.000,6,0.000,0.000,1739,3214,1980,0,0,0,0,0,0
$GC,9995,-0.53,-116.8,949.3,-7.8,734,9996,0.00,0.00,0.00,0.000,6,0.000,0.000,1739,3214,1980,0,0,0,0,0,0
$GC,10303,-0.55,-116.8,973.4,-7.8,749,10307,0.00,1.17,0.00,0.000,4,0.000,0.059,1735,3951,1980,0,0,0,0,0,0
$GC,10359,-0.55,-116.8,978.1,-8.4,751,10363,0.00,1.08,0.00,0.000,6,0.000,0.031,1735,3211,1980,0,0,0,0,0,0
$STATE,10636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10637,begin apogee
$GC,10641,-0.09,0.0,1001.2,8.4,765,10781,0.45,0.00,130.93,1.828,6,0.129,0.000,1872,2919,1499,0,0,0,0,1,0
$STATE,10781,end apogee,CONTROL_FINISHED_OK
$STATE,10782,begin climb
$GC,10783,0.48,116.8,1004.9,0.0,772,10915,0.55,1.42,124.45,1.775,4,0.083,0.027,2060,2049,1023,0,0,0,0,0,0
$GC,11023,0.48,116.8,984.8,10.0,783,11027,0.00,1.48,0.00,0.000,6,0.000,0.047,2059,2921,1019,0,0,0,0,0,0
$GC,11356,0.44,116.8,945.7,11.7,799,11360,0.00,1.40,0.00,0.000,4,0.000,0.056,2059,3800,1017,0,0,0,0,0,0
$GC,11447,0.36,116.8,933.4,13.8,803,11451,0.12,1.30,0.00,0.000,6,0.172,0.028,2029,2903,1016,0,0,0,0,0,0
$GC,11780,0.38,116.8,901.0,9.4,819,11784,0.00,1.48,0.00,0.000,4,0.000,0.056,2029,3812,1015,0,0,0,0,0,0
$GC,11841,0.36,116.8,894.0,11.4,821,11848,0.00,1.30,0.00,0.000,6,0.000,0.030,2034,2928,1015,0,0,0,0,0,0
$GC,12157,0.36,116.8,861.3,10.3,837,12161,0.00,1.42,0.00,0.000,4,0.000,0.056,2035,3808,1014,0,0,0,0,0,0
$GC,12190,0.33,116.8,857.3,11.7,838,12195,0.00,1.30,0.00,0.000,6,0.000,0.029,2041,2922,1014,0,0,0,0,0,0
$GC,12512,0.33,116.8,824.8,9.4,854,12515,0.00,1.42,0.00,0.000,4,0.000,0.056,2041,3803,1015,0,0,0,0,0,0
$GC,12567,0.28,116.8,818.9,11.7,856,12572,0.15,1.30,0.00,0.000,6,0.164,0.030,2003,2919,1014,0,0,0,0,0,0
$GC,12890,0.39,159.1,799.1,5.8,872,12936,0.00,1.50,40.20,1.736,4,0.000,0.058,2002,3799,850,0,0,0,0,0,0
$GC,13002,0.46,169.1,791.4,7.9,877,13018,0.10,1.33,10.95,1.583,6,0.065,0.029,2057,2925,809,0,0,0,0,0,0
$GC,13327,0.46,169.1,756.1,11.1,892,13331,0.00,1.30,0.00,0.000,4,0.000,0.033,2063,2059,807,0,0,0,0,0,0
$GC,13374,0.48,169.1,751.4,10.7,894,13377,0.00,1.38,0.00,0.000,6,0.000,0.047,2064,2922,807,0,0,0,0,0,0
$GC,13706,0.48,169.1,711.8,12.1,910,13709,0.00,1.40,0.00,0.000,4,0.000,0.056,2063,3807,806,0,0,0,0,0,0
$GC,13733,0.44,169.1,708.0,13.4,911,13737,0.00,1.30,0.00,0.000,6,0.000,0.029,2070,2913,806,0,0,0,0,0,0
$GC,14061,0.42,169.1,667.5,12.4,927,14064,0.00,1.42,0.00,0.000,4,0.000,0.054,2070,3802,806,0,0,0,0,0,0
$GC,14144,0.36,169.1,655.2,13.8,930,14152,0.17,1.27,0.00,0.000,6,0.156,0.029,2022,2929,806,0,0,0,0,0,0
$GC,14461,0.42,169.1,625.2,9.6,946,14462,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2928,805,0,0,0,0,0,0
$GC,14770,0.48,169.1,595.5,9.6,961,14774,0.10,1.42,0.00,0.000,4,0.108,0.056,2072,3804,805,0,0,0,0,0,0
$GC,14842,0.41,169.1,585.4,15.1,964,14846,0.12,1.30,0.00,0.000,6,0.164,0.030,2041,2920,805,0,0,0,0,0,0
$GC,15169,0.44,169.1,552.4,9.6,980,15173,0.00,1.42,0.00,0.000,4,0.000,0.055,2041,3807,805,0,0,0,0,0,0
$GC,15215,0.44,169.1,547.2,11.0,982,15218,0.00,1.30,0.00,0.000,6,0.000,0.030,2046,2923,805,0,0,0,0,0,0
$GC,15547,0.46,169.1,512.1,10.7,998,15548,0.00,0.00,0.00,0.000,6,0.000,0.000,2045,2922,805,0,0,0,0,0,0
$GC,15857,0.49,169.1,477.4,11.4,1013,15861,0.00,1.40,0.00,0.000,4,0.000,0.054,2046,3795,805,0,0,0,0,0,0
$GC,15884,0.49,169.1,473.7,13.3,1014,15888,0.00,1.27,0.00,0.000,6,0.000,0.029,2052,2925,805,0,0,0,0,0,0
$GC,16211,0.50,169.1,435.2,11.8,1030,16212,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,2925,805,0,0,0,0,0,0
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$GC,16977,0.47,169.1,346.3,13.3,1086,16981,0.00,1.27,0.00,0.000,6,0.000,0.029,2066,2924,805,0,0,0,0,0,0
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$STATE,20094,end climb,SURFACE_DEPTH_REACHED
$STATE,20094,begin surface coast
$FINISH,1.6,1.026531
$STATE,20120,end surface coast,CONTROL_FINISHED_OK
$STATE,20120,begin surface
$SM_CCo,20134,11.15,0.145,0,0,681,200.16
$SM_GC,3.10,0.00,0.00,11.15,0.000,0.000,0.145,70,3236,681,-5.74,0.76,200.16
$IRIDIUM_FIX,-4242.04,834.47,050808,010127
$TT8_MAMPS,0.026964
$HUMID,63.30
$INTERNAL_PRESSURE,11.4176
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,21.4,63.838
$10V_AH,10.0,41.335
$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,15.975,98.175,314.400,11.150,0.000,60.656,80.745,437.793,0.000,0.000,20.447,3558.032,12909.134,450.088,3722.076,304.757,0.000,1798.287,0.000,3107.044,0.000,0.545,0.000
$DEVICE_MAMPS,227.970,70.380,1827.585,144.585,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1001.135,1013.904,1016.392,96.336,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353932
$DATA_FILE_SIZE,83567,1442
$CAP_FILE_SIZE,195367,0
$CFSIZE,259252224,230113280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101015,001352,-4302.966,837.263,37,0.8,37,-25.1