version: 66.07
glider: 543
mission: 14
dive: 376
start: 10 17 115 18 15 33
data:
$ID,543
$MISSION,14
$DIVE,376
$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,-25298
$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,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
$GPS1,171015,180433,-4300.896,838.144,94,0.9,94,-25.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-69.4
$GPS2,171015,181510,-4300.923,838.352,14,1.5,14,-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,234.3,6527,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.43,-116.8,0.0,0.0,0,65,0.00,0.00,-48.10,0.000,2,0.000,0.000,60,3232,1655,0,0,0,0,0,0
$GC,67,-0.43,-116.8,3.2,-2.1,6,93,7.18,1.17,-10.20,0.000,4,0.235,0.077,1753,3953,1976,0,0,0,0,0,0
$GC,174,-0.39,-116.8,18.6,-14.4,22,183,0.00,1.05,0.00,0.000,6,0.000,0.031,1754,3231,1977,0,0,0,0,0,0
$GC,233,-0.34,-116.8,25.0,-9.2,31,242,0.15,0.00,0.00,0.000,6,0.167,0.000,1793,3231,1977,0,0,0,0,0,0
$GC,388,-0.38,-116.8,35.9,-7.0,56,396,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,3231,1977,0,0,0,0,0,0
$GC,535,-0.43,-116.8,45.0,-6.6,81,543,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,3231,1977,0,0,0,0,0,0
$GC,887,-0.48,-116.8,68.0,-7.5,142,894,0.12,1.35,0.00,0.000,4,0.089,0.027,1732,2291,1977,0,0,0,0,0,0
$GC,929,-0.45,-116.8,71.9,-9.5,149,936,0.10,1.48,0.00,0.000,6,0.130,0.048,1757,3212,1977,0,0,0,0,0,0
$GC,1278,-0.41,-116.8,105.2,-10.0,205,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,3212,1977,0,0,0,0,0,0
$GC,1598,-0.39,-116.8,136.5,-9.8,235,1601,0.00,1.30,0.00,0.000,4,0.000,0.027,1757,2289,1978,0,0,0,0,0,0
$GC,1625,-0.39,-116.8,139.7,-9.7,237,1632,0.00,1.48,0.00,0.000,6,0.000,0.048,1751,3208,1977,0,0,0,0,0,0
$GC,1950,-0.35,-116.8,173.2,-10.3,268,1954,0.15,1.17,0.00,0.000,4,0.161,0.056,1788,3949,1977,0,0,0,0,0,0
$GC,2000,-0.41,-116.8,177.6,-7.1,272,2009,0.00,1.08,0.00,0.000,6,0.000,0.030,1789,3198,1977,0,0,0,0,0,0
$GC,2326,-0.46,-116.8,200.2,-6.6,303,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3198,1977,0,0,0,0,0,0
$GC,2649,-0.51,-116.8,218.6,-5.8,333,2656,0.15,0.00,0.00,0.000,6,0.080,0.000,1715,3196,1977,0,0,0,0,0,0
$GC,2974,-0.41,-116.8,257.3,-12.0,364,2979,0.20,1.27,0.00,0.000,4,0.158,0.024,1770,2298,1977,0,0,0,0,0,0
$GC,3021,-0.45,-116.8,261.4,-7.3,368,3024,0.00,1.48,0.00,0.000,6,0.000,0.049,1764,3215,1977,0,0,0,0,0,0
$GC,3352,-0.45,-116.8,287.0,-7.7,399,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,3214,1977,0,0,0,0,0,0
$GC,3673,-0.45,-116.8,310.2,-7.1,429,3679,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,3215,1977,0,0,0,0,0,0
$GC,4000,-0.45,-116.8,333.8,-7.1,460,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,3214,1977,0,0,0,0,0,0
$GC,4319,-0.47,-116.8,357.1,-7.4,490,4322,0.00,1.30,0.00,0.000,4,0.000,0.027,1765,2293,1977,0,0,0,0,0,0
$GC,4365,-0.51,-116.8,360.3,-6.6,494,4369,0.00,1.48,0.00,0.000,6,0.000,0.049,1758,3209,1977,0,0,0,0,0,0
$GC,4698,-0.51,-116.8,386.2,-8.0,525,4704,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,3209,1977,0,0,0,0,0,0
$GC,5019,-0.51,-116.8,412.3,-7.9,549,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,3209,1977,0,0,0,0,0,0
$GC,5328,-0.51,-116.8,435.8,-7.5,564,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,3209,1977,0,0,0,0,0,0
$GC,5638,-0.51,-116.8,459.6,-7.9,579,5642,0.00,1.33,0.00,0.000,4,0.000,0.028,1759,2290,1977,0,0,0,0,0,0
$GC,5666,-0.53,-116.8,461.8,-7.8,580,5669,0.00,1.48,0.00,0.000,6,0.000,0.050,1752,3204,1977,0,0,0,0,0,0
$GC,5993,-0.53,-116.8,488.4,-8.3,596,5997,0.00,1.17,0.00,0.000,4,0.000,0.057,1747,3953,1977,0,0,0,0,0,0
$GC,6032,-0.51,-116.8,492.1,-9.2,597,6039,0.00,1.08,0.00,0.000,6,0.000,0.030,1747,3207,1977,0,0,0,0,0,0
$GC,6348,-0.49,-116.8,520.1,-8.5,613,6352,0.00,1.27,0.00,0.000,4,0.000,0.027,1747,2297,1977,0,0,0,0,0,0
$GC,6387,-0.49,-116.8,523.6,-8.8,614,6394,0.00,1.48,0.00,0.000,6,0.000,0.049,1740,3216,1977,0,0,0,0,0,0
$GC,6703,-0.46,-116.8,552.0,-9.3,630,6707,0.00,1.30,0.00,0.000,4,0.000,0.027,1740,2300,1977,0,0,0,0,0,0
$GC,6741,-0.46,-116.8,555.6,-8.4,631,6748,0.00,1.48,0.00,0.000,6,0.000,0.049,1732,3213,1978,0,0,0,0,0,0
$GC,7058,-0.41,-116.8,587.5,-10.5,647,7060,0.15,0.00,0.00,0.000,6,0.166,0.000,1772,3215,1977,0,0,0,0,0,0
$GC,7367,-0.45,-116.8,610.6,-7.3,662,7371,0.00,1.30,0.00,0.000,4,0.000,0.027,1772,2290,1977,0,0,0,0,0,0
$GC,7407,-0.52,-116.8,613.5,-7.6,663,7413,0.00,1.48,0.00,0.000,6,0.000,0.050,1767,3204,1977,0,0,0,0,0,0
$GC,7723,-0.55,-116.8,636.8,-7.2,679,7727,0.12,1.20,0.00,0.000,4,0.096,0.057,1704,3955,1977,0,0,0,0,0,0
$GC,7783,-0.44,-116.8,643.7,-12.0,681,7791,0.15,1.08,0.00,0.000,6,0.144,0.031,1751,3215,1977,0,0,0,0,0,0
$GC,8100,-0.44,-116.8,667.9,-6.9,697,8103,0.00,1.30,0.00,0.000,4,0.000,0.027,1751,2290,1977,0,0,0,0,0,0
$GC,8138,-0.47,-116.8,670.7,-6.5,698,8145,0.00,1.48,0.00,0.000,6,0.000,0.050,1746,3202,1977,0,0,0,0,0,0
$GC,8455,-0.47,-116.8,693.3,-7.0,714,8458,0.00,1.17,0.00,0.000,4,0.000,0.057,1740,3951,1977,0,0,0,0,0,0
$GC,8484,-0.45,-116.8,695.5,-8.1,715,8488,0.00,1.08,0.00,0.000,6,0.000,0.031,1740,3206,1977,0,0,0,0,0,0
$GC,8811,-0.43,-116.8,722.5,-8.6,731,8812,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,3206,1977,0,0,0,0,0,0
$GC,9121,-0.41,-116.8,747.9,-8.2,746,9125,0.12,1.33,0.00,0.000,4,0.161,0.028,1774,2294,1977,0,0,0,0,0,0
$GC,9159,-0.49,-116.8,750.5,-6.1,747,9166,0.00,1.48,0.00,0.000,6,0.000,0.050,1769,3205,1977,0,0,0,0,0,0
$GC,9476,-0.53,-116.8,768.4,-5.7,763,9480,0.10,1.20,0.00,0.000,4,0.108,0.059,1714,3952,1977,0,0,0,0,0,0
$GC,9593,-0.46,-116.8,779.6,-9.8,768,9598,0.12,1.08,0.00,0.000,6,0.141,0.032,1753,3219,1977,0,0,0,0,0,0
$GC,9920,-0.46,-116.8,801.4,-6.4,784,9921,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3219,1977,0,0,0,0,0,0
$GC,10229,-0.47,-116.8,823.0,-7.3,799,10233,0.00,1.33,0.00,0.000,4,0.000,0.028,1753,2293,1977,0,0,0,0,0,0
$GC,10279,-0.51,-116.8,826.6,-7.1,801,10283,0.00,1.50,0.00,0.000,6,0.000,0.051,1748,3215,1977,0,0,0,0,0,0
$GC,10607,-0.51,-116.8,853.4,-8.3,817,10608,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,3215,1977,0,0,0,0,0,0
$GC,10916,-0.51,-116.8,879.0,-7.9,832,10917,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,3215,1977,0,0,0,0,0,0
$GC,11225,-0.51,-116.8,903.8,-8.2,847,11229,0.00,1.17,0.00,0.000,4,0.000,0.057,1743,3958,1977,0,0,0,0,0,0
$GC,11271,-0.51,-116.8,907.9,-9.0,849,11275,0.00,1.10,0.00,0.000,6,0.000,0.033,1742,3204,1977,0,0,0,0,0,0
$GC,11603,-0.51,-116.8,936.8,-8.9,865,11604,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3203,1977,0,0,0,0,0,0
$GC,11913,-0.51,-116.8,965.9,-9.5,880,11916,0.00,1.30,0.00,0.000,4,0.000,0.028,1742,2295,1977,0,0,0,0,0,0
$GC,11946,-0.53,-116.8,969.2,-8.9,881,11950,0.00,1.48,0.00,0.000,6,0.000,0.051,1735,3207,1977,0,0,0,0,0,0
$GC,12268,-0.52,-116.8,998.9,-9.1,897,12271,0.00,1.17,0.00,0.000,4,0.000,0.057,1730,3951,1977,0,0,0,0,0,0
$STATE,12276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12276,begin apogee
$GC,12282,-0.09,0.0,1000.1,9.1,897,12421,0.45,0.00,130.45,1.828,6,0.130,0.000,1871,2907,1498,0,0,0,0,1,0
$STATE,12422,end apogee,CONTROL_FINISHED_OK
$STATE,12422,begin climb
$GC,12424,0.43,116.8,1004.7,0.0,904,12563,0.50,1.40,127.75,1.775,4,0.083,0.027,2042,2052,1023,0,0,0,0,1,0
$GC,12619,0.43,116.8,994.3,8.7,913,12623,0.00,1.50,0.00,0.000,6,0.000,0.046,2042,2916,1021,0,0,0,0,0,0
$GC,12947,0.38,116.8,963.5,9.8,929,12950,0.00,1.42,0.00,0.000,4,0.000,0.057,2042,3805,1018,0,0,0,0,0,0
$GC,13099,0.29,116.8,945.0,11.8,935,13106,0.15,1.30,0.00,0.000,6,0.164,0.029,2005,2921,1017,0,0,0,0,0,0
$GC,13416,0.34,142.0,920.7,7.3,951,13446,0.00,1.48,24.27,1.760,4,0.000,0.057,2005,3803,920,0,0,0,0,0,0
$GC,13536,0.34,142.0,910.2,9.7,956,13540,0.00,1.30,0.00,0.000,6,0.000,0.029,2010,2927,919,0,0,0,0,0,0
$GC,13859,0.38,157.9,885.2,7.8,972,13881,0.00,1.42,16.20,1.707,4,0.000,0.054,2010,3816,857,0,0,0,0,0,0
$GC,13927,0.38,157.9,879.0,10.1,975,13931,0.00,1.33,0.00,0.000,6,0.000,0.029,2016,2920,856,0,0,0,0,0,0
$GC,14261,0.41,164.3,851.7,8.2,991,14274,0.00,1.50,7.72,1.557,4,0.000,0.057,2016,3818,829,0,0,0,0,0,0
$GC,14296,0.41,164.3,848.3,9.1,992,14304,0.00,1.33,0.00,0.000,6,0.000,0.028,2023,2921,830,0,0,0,0,0,0
$GC,14613,0.41,164.3,820.1,9.0,1008,14614,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2921,829,0,0,0,0,0,0
$GC,14922,0.43,164.3,793.0,8.6,1023,14926,0.00,1.42,0.00,0.000,4,0.000,0.056,2023,3810,829,0,0,0,0,0,0
$GC,14961,0.41,164.3,788.9,10.6,1024,14967,0.00,1.27,0.00,0.000,6,0.000,0.028,2030,2928,829,0,0,0,0,0,0
$GC,15277,0.41,164.3,759.7,9.1,1040,15280,0.00,1.42,0.00,0.000,4,0.000,0.056,2030,3814,828,0,0,0,0,0,0
$GC,15338,0.38,164.3,753.3,10.7,1042,15345,0.00,1.30,0.00,0.000,6,0.000,0.029,2037,2920,828,0,0,0,0,0,0
$GC,15653,0.38,164.3,722.8,9.8,1058,15657,0.00,1.42,0.00,0.000,4,0.000,0.056,2036,3804,829,0,0,0,0,0,0
$GC,15687,0.33,164.3,719.0,11.2,1059,15691,0.08,1.27,0.00,0.000,6,0.158,0.030,2019,2929,829,0,0,0,0,0,0
$GC,16009,0.37,169.2,691.9,8.3,1075,16019,0.00,1.40,6.07,1.437,4,0.000,0.054,2019,3818,809,0,0,0,0,0,0
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$STATE,22559,end climb,SURFACE_DEPTH_REACHED
$STATE,22559,begin surface coast
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$STATE,22595,end surface coast,CONTROL_FINISHED_OK
$STATE,22596,begin surface
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$10V_AH,9.9,45.705
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$FG_AHR_10Vo,0.000
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$MEM,353956
$DATA_FILE_SIZE,90236,1611
$CAP_FILE_SIZE,217247,0
$CFSIZE,259252224,226992128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,181015,003503,-4302.637,838.457,66,0.9,66,-25.1