version: 66.07
glider: 543
mission: 14
dive: 382
start: 10 19 115 4 41 25
data:
$ID,543
$MISSION,14
$DIVE,382
$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,-25317.633
$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,82
$R_STBD_OVSHOOT,28
$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
$GPS1,191015,043029,-4302.416,833.486,72,1.2,72,-25.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-64.8
$GPS2,191015,044103,-4302.467,833.656,22,1.2,22,-25.1
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAZ_BUT1
$TGT_LATLONG,-4304.000,824.000
$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,282.8,13370,-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,-48.10,0.000,2,0.000,0.000,61,3221,1657,0,0,0,0,0,0
$GC,68,-0.43,-116.8,3.3,-2.1,6,94,7.10,1.20,-9.15,0.000,4,0.233,0.079,1756,3956,1976,0,0,0,0,0,0
$GC,227,-0.38,-116.8,23.6,-12.4,31,236,0.00,1.05,0.00,0.000,6,0.000,0.031,1756,3233,1978,0,0,0,0,0,0
$GC,379,-0.33,-116.8,42.3,-11.7,56,385,0.15,0.00,0.00,0.000,6,0.159,0.000,1796,3233,1978,0,0,0,0,0,0
$GC,729,-0.39,-116.8,64.9,-4.3,117,737,0.00,0.00,0.00,0.000,6,0.000,0.000,1796,3234,1977,0,0,0,0,0,0
$GC,1082,-0.45,-116.8,80.4,-4.8,178,1088,0.12,0.00,0.00,0.000,6,0.089,0.000,1734,3234,1977,0,0,0,0,0,0
$GC,1430,-0.37,-116.8,119.8,-11.8,225,1434,0.17,1.35,0.00,0.000,4,0.164,0.028,1781,2290,1978,0,0,0,0,0,0
$GC,1468,-0.42,-116.8,124.0,-7.8,228,1478,0.00,1.48,0.00,0.000,6,0.000,0.050,1776,3204,1977,0,0,0,0,0,0
$GC,1793,-0.42,-116.8,151.0,-8.1,259,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,3204,1977,0,0,0,0,0,0
$GC,2117,-0.44,-116.8,176.5,-8.8,289,2120,0.00,1.27,0.00,0.000,4,0.000,0.027,1776,2297,1977,0,0,0,0,0,0
$GC,2174,-0.49,-116.8,181.5,-7.9,294,2178,0.00,1.45,0.00,0.000,6,0.000,0.049,1770,3202,1977,0,0,0,0,0,0
$GC,2507,-0.49,-116.8,208.2,-8.1,325,2508,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,3201,1978,0,0,0,0,0,0
$GC,2825,-0.51,-116.8,233.2,-7.8,355,2829,0.00,1.17,0.00,0.000,4,0.000,0.057,1765,3951,1977,0,0,0,0,0,0
$GC,2883,-0.51,-116.8,238.0,-8.5,360,2886,0.00,1.08,0.00,0.000,6,0.000,0.031,1765,3203,1977,0,0,0,0,0,0
$GC,3215,-0.51,-116.8,266.4,-9.1,391,3218,0.00,1.27,0.00,0.000,4,0.000,0.026,1765,2290,1977,0,0,0,0,0,0
$GC,3242,-0.52,-116.8,268.6,-8.4,393,3246,0.00,1.48,0.00,0.000,6,0.000,0.050,1758,3207,1977,0,0,0,0,0,0
$GC,3572,-0.52,-116.8,298.1,-8.6,424,3576,0.00,1.17,0.00,0.000,4,0.000,0.056,1753,3957,1977,0,0,0,0,0,0
$GC,3600,-0.50,-116.8,300.6,-9.0,426,3607,0.00,1.08,0.00,0.000,6,0.000,0.030,1753,3212,1978,0,0,0,0,0,0
$GC,3928,-0.49,-116.8,326.8,-7.6,457,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3212,1977,0,0,0,0,0,0
$GC,4245,-0.47,-116.8,353.2,-8.8,487,4248,0.00,1.17,0.00,0.000,4,0.000,0.055,1748,3956,1977,0,0,0,0,0,0
$GC,4281,-0.44,-116.8,356.6,-10.0,490,4284,0.00,1.08,0.00,0.000,6,0.000,0.030,1748,3208,1977,0,0,0,0,0,0
$GC,4613,-0.42,-116.8,387.0,-8.8,521,4617,0.00,1.27,0.00,0.000,4,0.000,0.026,1748,2294,1977,0,0,0,0,0,0
$GC,4662,-0.42,-116.8,390.9,-7.8,525,4666,0.00,1.48,0.00,0.000,6,0.000,0.049,1741,3210,1977,0,0,0,0,0,0
$GC,4998,-0.38,-116.8,419.3,-8.5,546,5003,0.15,1.30,0.00,0.000,4,0.159,0.028,1781,2301,1977,0,0,0,0,0,0
$GC,5027,-0.42,-116.8,421.2,-5.5,547,5030,0.00,1.45,0.00,0.000,6,0.000,0.049,1777,3204,1977,0,0,0,0,0,0
$GC,5354,-0.46,-116.8,440.7,-6.3,563,5358,0.00,1.17,0.00,0.000,4,0.000,0.057,1772,3951,1977,0,0,0,0,0,0
$GC,5382,-0.49,-116.8,442.6,-6.4,564,5385,0.00,1.08,0.00,0.000,6,0.000,0.031,1772,3207,1977,0,0,0,0,0,0
$GC,5709,-0.52,-116.8,464.3,-6.4,580,5714,0.10,1.30,0.00,0.000,4,0.105,0.028,1719,2288,1977,0,0,0,0,0,0
$GC,5747,-0.48,-116.8,467.7,-9.4,581,5755,0.10,1.48,0.00,0.000,6,0.127,0.048,1745,3210,1977,0,0,0,0,0,0
$GC,6064,-0.45,-116.8,494.2,-8.6,597,6065,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,3210,1977,0,0,0,0,0,0
$GC,6373,-0.43,-116.8,519.9,-8.4,612,6374,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,3210,1978,0,0,0,0,0,0
$GC,6683,-0.40,-116.8,545.8,-8.0,627,6684,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,3211,1978,0,0,0,0,0,0
$GC,6993,-0.39,-116.8,570.6,-8.0,642,6994,0.12,0.00,0.00,0.000,6,0.167,0.000,1779,3211,1978,0,0,0,0,0,0
$GC,7301,-0.44,-116.8,588.5,-5.9,657,7302,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,3211,1978,0,0,0,0,0,0
$GC,7611,-0.50,-116.8,608.6,-6.5,672,7613,0.12,0.00,0.00,0.000,6,0.092,0.000,1717,3211,1978,0,0,0,0,0,0
$GC,7919,-0.42,-116.8,640.9,-10.3,687,7924,0.17,1.33,0.00,0.000,4,0.158,0.028,1765,2292,1978,0,0,0,0,0,0
$GC,7953,-0.46,-116.8,643.6,-6.2,688,7957,0.00,1.50,0.00,0.000,6,0.000,0.050,1760,3213,1977,0,0,0,0,0,0
$GC,8274,-0.46,-116.8,665.4,-6.9,704,8278,0.00,1.17,0.00,0.000,4,0.000,0.058,1754,3956,1977,0,0,0,0,0,0
$GC,8307,-0.46,-116.8,667.9,-7.7,705,8311,0.00,1.08,0.00,0.000,6,0.000,0.031,1754,3215,1978,0,0,0,0,0,0
$GC,8629,-0.46,-116.8,692.3,-8.1,721,8633,0.00,1.30,0.00,0.000,4,0.000,0.028,1754,2299,1977,0,0,0,0,0,0
$GC,8698,-0.48,-116.8,697.2,-7.8,724,8701,0.00,1.48,0.00,0.000,6,0.000,0.050,1749,3211,1978,0,0,0,0,0,0
$GC,9031,-0.48,-116.8,725.6,-8.4,740,9032,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,3210,1977,0,0,0,0,0,0
$GC,9340,-0.48,-116.8,750.3,-7.9,755,9341,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,3210,1978,0,0,0,0,0,0
$GC,9649,-0.48,-116.8,773.8,-7.5,770,9653,0.00,1.17,0.00,0.000,4,0.000,0.058,1743,3954,1977,0,0,0,0,0,0
$GC,9677,-0.47,-116.8,776.1,-8.0,771,9681,0.00,1.08,0.00,0.000,6,0.000,0.031,1743,3210,1978,0,0,0,0,0,0
$GC,10004,-0.47,-116.8,802.2,-8.3,787,10008,0.00,1.30,0.00,0.000,4,0.000,0.028,1743,2292,1978,0,0,0,0,0,0
$GC,10037,-0.47,-116.8,804.9,-7.4,788,10041,0.00,1.48,0.00,0.000,6,0.000,0.050,1736,3204,1977,0,0,0,0,0,0
$GC,10360,-0.44,-116.8,832.9,-9.0,804,10363,0.00,1.17,0.00,0.000,4,0.000,0.058,1730,3950,1978,0,0,0,0,0,0
$GC,10398,-0.40,-116.8,836.9,-9.4,805,10406,0.12,1.08,0.00,0.000,6,0.135,0.031,1770,3213,1978,0,0,0,0,0,0
$GC,10718,-0.45,-116.8,856.8,-6.1,821,10719,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,3213,1977,0,0,0,0,0,0
$GC,11024,-0.51,-116.8,874.3,-5.6,836,11028,0.00,1.30,0.00,0.000,4,0.000,0.028,1769,2300,1977,0,0,0,0,0,0
$GC,11057,-0.58,-116.8,876.1,-4.5,837,11061,0.10,1.48,0.00,0.000,6,0.055,0.051,1703,3207,1977,0,0,0,0,0,0
$GC,11379,-0.49,-116.8,907.1,-10.1,853,11384,0.15,1.20,0.00,0.000,4,0.168,0.057,1738,3950,1977,0,0,0,0,0,0
$GC,11418,-0.47,-116.8,910.8,-8.9,854,11425,0.00,1.08,0.00,0.000,6,0.000,0.031,1739,3208,1978,0,0,0,0,0,0
$GC,11735,-0.47,-116.8,934.5,-7.6,870,11738,0.00,1.30,0.00,0.000,4,0.000,0.027,1739,2294,1978,0,0,0,0,0,0
$GC,11768,-0.47,-116.8,937.1,-6.9,871,11771,0.00,1.50,0.00,0.000,6,0.000,0.050,1732,3217,1978,0,0,0,0,0,0
$GC,12090,-0.44,-116.8,961.9,-7.8,887,12094,0.00,1.15,0.00,0.000,4,0.000,0.057,1726,3949,1978,0,0,0,0,0,0
$GC,12129,-0.40,-116.8,965.4,-9.3,888,12136,0.12,1.08,0.00,0.000,6,0.135,0.031,1766,3215,1977,0,0,0,0,0,0
$GC,12446,-0.46,-116.8,983.4,-5.6,904,12449,0.00,1.33,0.00,0.000,4,0.000,0.028,1766,2282,1977,0,0,0,0,0,0
$GC,12474,-0.52,-116.8,985.2,-6.2,905,12477,0.00,1.50,0.00,0.000,6,0.000,0.051,1762,3203,1977,0,0,0,0,0,0
$STATE,12613,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12613,begin apogee
$GC,12618,-0.09,0.0,993.9,6.3,912,12779,0.35,0.00,137.70,1.785,6,0.122,0.000,1871,2922,1498,0,0,0,0,4,0
$STATE,12780,end apogee,CONTROL_FINISHED_OK
$STATE,12780,begin climb
$GC,12782,0.43,116.8,998.0,0.0,920,12921,0.50,1.45,127.47,1.773,4,0.085,0.028,2041,2046,1022,0,0,0,0,1,0
$GC,12973,0.43,116.8,986.4,8.9,929,12977,0.00,1.52,0.00,0.000,6,0.000,0.047,2041,2918,1021,0,0,0,0,0,0
$GC,13306,0.39,116.8,953.7,10.0,945,13309,0.00,1.42,0.00,0.000,4,0.000,0.057,2041,3804,1017,0,0,0,0,0,0
$GC,13396,0.32,116.8,943.4,10.5,949,13401,0.10,1.33,0.00,0.000,6,0.165,0.030,2018,2909,1016,0,0,0,0,0,0
$GC,13730,0.33,128.2,916.2,8.0,965,13745,0.00,1.45,11.02,1.663,4,0.000,0.055,2018,3814,976,0,0,0,0,0,0
$GC,13814,0.30,128.2,908.6,9.1,968,13818,0.00,1.33,0.00,0.000,6,0.000,0.031,2023,2926,975,0,0,0,0,0,0
$GC,14147,0.30,128.2,880.6,8.6,984,14148,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2926,974,0,0,0,0,0,0
$GC,14458,0.30,134.1,854.3,8.3,999,14469,0.00,1.48,6.95,1.541,4,0.000,0.057,2023,3813,952,0,0,0,0,0,0
$GC,14525,0.27,134.1,847.5,10.3,1002,14529,0.10,1.33,0.00,0.000,6,0.158,0.030,1999,2922,952,0,0,0,0,0,0
$GC,14853,0.35,164.6,824.5,7.0,1018,14888,0.00,1.45,31.17,1.753,4,0.000,0.055,1999,3809,826,0,0,0,0,0,0
$GC,14916,0.39,164.6,819.5,8.9,1020,14920,0.00,1.35,0.00,0.000,6,0.000,0.030,2004,2922,826,0,0,0,0,0,0
$GC,15244,0.48,191.4,795.0,7.2,1036,15273,0.15,0.00,27.00,1.727,6,0.087,0.000,2071,2921,718,0,0,0,0,0,0
$GC,15576,0.43,191.4,753.3,12.8,1052,15580,0.00,1.45,0.00,0.000,4,0.000,0.057,2071,3815,717,0,0,0,0,0,0
$GC,15603,0.36,191.4,749.1,14.5,1053,15607,0.17,1.33,0.00,0.000,6,0.157,0.028,2025,2911,717,0,0,0,0,0,0
$GC,15932,0.40,196.5,720.8,8.3,1069,15940,0.00,0.00,6.07,1.437,6,0.000,0.000,2025,2911,697,0,0,0,0,0,0
$GC,16239,0.45,196.5,693.9,8.8,1084,16240,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2911,698,0,0,0,0,0,0
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$STATE,22869,end climb,SURFACE_DEPTH_REACHED
$STATE,22869,begin surface coast
$FINISH,1.9,1.026562
$STATE,22900,end surface coast,CONTROL_FINISHED_OK
$STATE,22901,begin surface
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$IRIDIUM_FIX,-4247.91,837.82,140808,111107
$TT8_MAMPS,0.027713
$HUMID,63.34
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,21.2,71.143
$10V_AH,9.9,46.485
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.325,113.225,351.900,0.325,0.000,25.538,41.780,402.809,0.000,0.000,25.199,4086.767,14557.725,490.714,4024.966,374.751,0.000,2007.269,0.000,3536.102,0.000,0.545,0.000
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$SENSOR_SECS,1144.685,1159.826,1161.639,114.114,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353948
$DATA_FILE_SIZE,93560,1649
$CAP_FILE_SIZE,221182,0
$CFSIZE,259252224,226447360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,1
$GPS,191015,110503,-4302.121,832.666,65,1.0,65,-25.1