version: 66.07
glider: 543
mission: 14
dive: 476
start: 11 9 115 3 33 16
data:
$ID,543
$MISSION,14
$DIVE,476
$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,-25637.307
$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,74
$R_STBD_OVSHOOT,25
$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
$GPS1,091115,031255,-4302.863,838.452,25,29.4,44,-25.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-67.3
$GPS2,091115,033253,-4302.702,838.994,74,0.9,75,-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,264.4,4710,-19.4,-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,15,-0.45,-93.3,0.0,0.0,0,65,0.00,0.00,-47.97,0.000,2,0.000,0.000,61,3215,1796,0,0,0,0,0,0
$GC,68,-0.47,-116.8,3.3,-2.0,6,86,6.85,1.23,-5.35,0.000,4,0.219,0.073,1744,3966,1978,0,0,0,0,0,0
$GC,159,-0.43,-116.8,17.1,-11.6,20,168,0.00,1.08,0.00,0.000,6,0.000,0.031,1743,3220,1980,0,0,0,0,0,0
$GC,218,-0.40,-116.8,23.8,-9.4,29,227,0.12,0.00,0.00,0.000,6,0.174,0.000,1775,3220,1979,0,0,0,0,0,0
$GC,373,-0.45,-116.8,37.0,-7.8,54,381,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,3220,1979,0,0,0,0,0,0
$GC,523,-0.50,-116.8,47.9,-7.3,79,529,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,3220,1979,0,0,0,0,0,0
$GC,874,-0.56,-116.8,79.6,-8.5,140,880,0.15,0.00,0.00,0.000,6,0.082,0.000,1705,3219,1979,0,0,0,0,0,0
$GC,1214,-0.46,-116.8,127.7,-14.3,184,1219,0.17,1.17,0.00,0.000,4,0.164,0.054,1748,3953,1979,0,0,0,0,0,0
$GC,1261,-0.46,-116.8,133.6,-11.6,188,1265,0.00,1.08,0.00,0.000,6,0.000,0.030,1748,3204,1979,0,0,0,0,0,0
$GC,1592,-0.46,-116.8,168.8,-10.6,219,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,3204,1979,0,0,0,0,0,0
$GC,1916,-0.46,-116.8,200.4,-9.7,249,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,3205,1979,0,0,0,0,0,0
$GC,2243,-0.48,-116.8,229.2,-8.1,280,2247,0.00,1.17,0.00,0.000,4,0.000,0.056,1742,3951,1979,0,0,0,0,0,0
$GC,2304,-0.48,-116.8,234.4,-8.9,285,2307,0.00,1.08,0.00,0.000,6,0.000,0.030,1742,3201,1979,0,0,0,0,0,0
$GC,2635,-0.48,-116.8,261.7,-8.1,316,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3201,1979,0,0,0,0,0,0
$GC,2956,-0.48,-116.8,286.8,-7.3,346,2959,0.00,1.20,0.00,0.000,4,0.000,0.054,1737,3958,1980,0,0,0,0,0,0
$GC,3002,-0.48,-116.8,290.8,-8.5,350,3005,0.00,1.08,0.00,0.000,6,0.000,0.029,1737,3205,1979,0,0,0,0,0,0
$GC,3336,-0.48,-116.8,318.4,-8.5,381,3342,0.00,0.00,0.00,0.000,6,0.000,0.000,1737,3205,1979,0,0,0,0,0,0
$GC,3662,-0.48,-116.8,348.3,-9.2,412,3666,0.00,1.17,0.00,0.000,4,0.000,0.055,1731,3949,1979,0,0,0,0,0,0
$GC,3698,-0.46,-116.8,351.9,-10.4,415,3702,0.00,1.05,0.00,0.000,6,0.000,0.030,1732,3213,1979,0,0,0,0,0,0
$GC,4029,-0.46,-116.8,383.3,-9.3,446,4032,0.00,1.17,0.00,0.000,4,0.000,0.055,1726,3954,1979,0,0,0,0,0,0
$GC,4076,-0.43,-116.8,387.8,-9.9,450,4080,0.10,1.08,0.00,0.000,6,0.138,0.031,1758,3215,1979,0,0,0,0,0,0
$GC,4413,-0.48,-116.8,411.8,-7.0,474,4417,0.00,1.17,0.00,0.000,4,0.000,0.056,1754,3959,1979,0,0,0,0,0,0
$GC,4470,-0.51,-116.8,416.5,-8.0,476,4473,0.00,1.10,0.00,0.000,6,0.000,0.031,1754,3198,1979,0,0,0,0,0,0
$GC,4792,-0.55,-116.8,440.4,-7.5,492,4795,0.00,1.20,0.00,0.000,4,0.000,0.055,1748,3956,1979,0,0,0,0,0,0
$GC,4861,-0.57,-116.8,445.9,-7.8,495,4864,0.00,1.08,0.00,0.000,6,0.000,0.031,1748,3212,1979,0,0,0,0,0,0
$GC,5195,-0.60,-116.8,471.3,-7.5,511,5199,0.10,1.20,0.00,0.000,4,0.106,0.057,1691,3956,1979,0,0,0,0,0,0
$GC,5250,-0.49,-116.8,477.6,-12.1,513,5254,0.15,1.08,0.00,0.000,6,0.148,0.030,1737,3214,1979,0,0,0,0,0,0
$GC,5572,-0.49,-116.8,503.9,-8.1,529,5575,0.00,1.17,0.00,0.000,4,0.000,0.056,1733,3957,1979,0,0,0,0,0,0
$GC,5633,-0.49,-116.8,509.4,-8.2,531,5640,0.00,1.10,0.00,0.000,6,0.000,0.030,1733,3198,1979,0,0,0,0,0,0
$GC,5949,-0.49,-116.8,536.5,-8.8,547,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,3198,1979,0,0,0,0,0,0
$GC,6258,-0.49,-116.8,564.1,-8.9,562,6261,0.00,1.20,0.00,0.000,4,0.000,0.056,1728,3954,1979,0,0,0,0,0,0
$GC,6336,-0.48,-116.8,571.8,-9.7,565,6339,0.00,1.08,0.00,0.000,6,0.000,0.030,1728,3209,1979,0,0,0,0,0,0
$GC,6658,-0.48,-116.8,602.6,-9.6,581,6659,0.00,0.00,0.00,0.000,6,0.000,0.000,1727,3209,1979,0,0,0,0,0,0
$GC,6967,-0.48,-116.8,633.7,-10.4,596,6968,0.00,0.00,0.00,0.000,6,0.000,0.000,1728,3209,1979,0,0,0,0,0,0
$GC,7276,-0.48,-116.8,665.7,-10.4,611,7280,0.00,1.33,0.00,0.000,4,0.000,0.028,1728,2298,1979,0,0,0,0,0,0
$GC,7309,-0.49,-116.8,669.1,-10.2,612,7313,0.00,1.48,0.00,0.000,6,0.000,0.049,1721,3208,1979,0,0,0,0,0,0
$GC,7631,-0.47,-116.8,703.3,-10.0,628,7635,0.12,1.17,0.00,0.000,4,0.173,0.056,1749,3948,1979,0,0,0,0,0,0
$GC,7669,-0.51,-116.8,707.1,-8.9,629,7675,0.00,1.05,0.00,0.000,6,0.000,0.031,1749,3215,1980,0,0,0,0,0,0
$GC,7985,-0.55,-116.8,730.2,-7.2,645,7986,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,3214,1979,0,0,0,0,0,0
$GC,8295,-0.59,-116.8,752.3,-7.1,660,8299,0.10,1.20,0.00,0.000,4,0.108,0.057,1691,3956,1979,0,0,0,0,0,0
$GC,8373,-0.51,-116.8,761.1,-12.1,663,8377,0.15,1.08,0.00,0.000,6,0.146,0.032,1737,3222,1980,0,0,0,0,0,0
$GC,8695,-0.53,-116.8,786.7,-7.8,679,8699,0.00,1.33,0.00,0.000,4,0.000,0.028,1737,2292,1979,0,0,0,0,0,0
$GC,8757,-0.57,-116.8,791.7,-7.2,681,8764,0.00,1.50,0.00,0.000,6,0.000,0.048,1732,3212,1980,0,0,0,0,0,0
$GC,9073,-0.57,-116.8,818.6,-8.5,697,9077,0.00,1.15,0.00,0.000,4,0.000,0.056,1726,3947,1979,0,0,0,0,0,0
$GC,9156,-0.57,-116.8,826.6,-9.5,700,9164,0.00,1.08,0.00,0.000,6,0.000,0.031,1726,3207,1979,0,0,0,0,0,0
$GC,9474,-0.57,-116.8,853.4,-8.5,716,9475,0.00,0.00,0.00,0.000,6,0.000,0.000,1726,3207,1980,0,0,0,0,0,0
$GC,9782,-0.57,-116.8,880.2,-8.8,731,9786,0.00,1.30,0.00,0.000,4,0.000,0.028,1726,2304,1979,0,0,0,0,0,0
$GC,9809,-0.57,-116.8,882.8,-9.7,732,9813,0.00,1.48,0.00,0.000,6,0.000,0.050,1719,3209,1979,0,0,0,0,0,0
$GC,10136,-0.57,-116.8,912.6,-9.3,748,10139,0.00,1.20,0.00,0.000,4,0.000,0.057,1714,3957,1979,0,0,0,0,0,0
$GC,10214,-0.53,-116.8,920.3,-9.9,751,10218,0.00,1.08,0.00,0.000,6,0.000,0.032,1714,3212,1979,0,0,0,0,0,0
$GC,10537,-0.51,-116.8,950.4,-9.2,767,10538,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,3212,1979,0,0,0,0,0,0
$GC,10845,-0.48,-116.8,977.4,-8.6,782,10847,0.12,0.00,0.00,0.000,6,0.172,0.000,1745,3212,1979,0,0,0,0,0,0
$GC,11156,-0.53,-116.8,997.6,-6.3,797,11157,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,3213,1979,0,0,0,0,0,0
$STATE,11193,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11193,begin apogee
$GC,11199,-0.09,0.0,1000.3,6.5,799,11339,0.40,0.00,132.50,1.851,6,0.127,0.000,1869,2910,1499,0,0,0,0,1,0
$STATE,11340,end apogee,CONTROL_FINISHED_OK
$STATE,11340,begin climb
$GC,11342,0.47,116.8,1004.1,0.0,806,11481,0.57,1.52,130.25,1.805,4,0.083,0.028,2062,2042,1023,0,0,0,0,0,0
$GC,11503,0.47,116.8,992.6,9.5,813,11510,0.00,1.58,0.00,0.000,6,0.000,0.045,2061,2919,1023,0,0,0,0,0,0
$GC,11820,0.43,116.8,957.1,10.9,829,11824,0.00,1.42,0.00,0.000,4,0.000,0.055,2062,3809,1020,0,0,0,0,0,0
$GC,11926,0.34,116.8,943.2,13.5,833,11933,0.15,1.33,0.00,0.000,6,0.170,0.028,2024,2905,1019,0,0,0,0,0,0
$GC,12244,0.39,125.2,916.7,8.0,849,12258,0.00,1.52,8.15,1.582,4,0.000,0.056,2024,3815,990,0,0,0,0,0,0
$GC,12333,0.39,125.2,908.1,9.4,853,12337,0.00,1.33,0.00,0.000,6,0.000,0.031,2029,2930,989,0,0,0,0,0,0
$GC,12667,0.42,131.2,879.9,8.2,869,12678,0.00,1.48,7.12,1.542,4,0.000,0.057,2029,3811,966,0,0,0,0,0,0
$GC,12734,0.40,131.2,873.4,10.0,872,12738,0.00,1.33,0.00,0.000,6,0.000,0.030,2036,2922,966,0,0,0,0,0,0
$GC,13062,0.40,131.2,844.8,8.8,888,13066,0.00,1.30,0.00,0.000,4,0.000,0.031,2043,2037,966,0,0,0,0,0,0
$GC,13086,0.43,131.2,842.7,8.6,889,13089,0.00,1.42,0.00,0.000,6,0.000,0.047,2042,2929,966,0,0,0,0,0,0
$GC,13418,0.43,131.2,811.0,9.8,905,13422,0.00,1.40,0.00,0.000,4,0.000,0.056,2042,3808,965,0,0,0,0,0,0
$GC,13502,0.39,131.2,801.0,12.2,908,13509,0.00,1.33,0.00,0.000,6,0.000,0.029,2049,2906,965,0,0,0,0,0,0
$GC,13818,0.39,131.2,766.3,11.0,924,13819,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2907,965,0,0,0,0,0,0
$GC,14129,0.39,131.2,731.8,11.0,939,14132,0.00,1.45,0.00,0.000,4,0.000,0.055,2049,3802,965,0,0,0,0,0,0
$GC,14220,0.34,131.2,720.2,12.2,943,14225,0.12,1.30,0.00,0.000,6,0.158,0.029,2018,2917,964,0,0,0,0,0,0
$GC,14555,0.40,134.3,691.6,8.4,959,14561,0.00,0.00,4.70,1.317,6,0.000,0.000,2018,2916,951,0,0,0,0,0,0
$GC,14863,0.48,152.1,668.0,7.4,974,14889,0.12,1.50,19.42,1.652,4,0.099,0.056,2072,3808,879,0,0,0,0,0,0
$GC,14954,0.39,152.1,657.0,12.8,978,14958,0.12,1.33,0.00,0.000,6,0.167,0.028,2041,2918,880,0,0,0,0,0,0
$GC,15288,0.42,152.1,624.7,9.3,994,15289,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2917,878,0,0,0,0,0,0
$GC,15595,0.44,152.1,595.0,9.8,1009,15596,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2917,878,0,0,0,0,0,0
$GC,15905,0.46,152.1,565.9,9.2,1024,15909,0.00,1.45,0.00,0.000,4,0.000,0.055,2041,3811,878,0,0,0,0,0,0
$GC,15932,0.46,152.1,562.8,11.2,1025,15937,0.00,1.30,0.00,0.000,6,0.000,0.028,2046,2922,878,0,0,0,0,0,0
$GC,16260,0.46,152.1,530.9,10.1,1041,16263,0.00,1.42,0.00,0.000,4,0.000,0.055,2046,3801,878,0,0,0,0,0,0
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$STATE,21475,end climb,SURFACE_DEPTH_REACHED
$STATE,21475,begin surface coast
$FINISH,1.5,1.026475
$STATE,21501,end surface coast,CONTROL_FINISHED_OK
$STATE,21501,begin surface
$SM_CCo,21516,8.77,0.148,0,0,679,200.16
$SM_GC,3.06,0.00,0.00,8.77,0.000,0.000,0.148,69,3220,679,-5.74,0.31,200.16
$IRIDIUM_FIX,-4244.98,834.47,040908,161631
$TT8_MAMPS,0.026964
$HUMID,63.62
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,20.7,87.188
$10V_AH,9.7,58.007
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,15.300,109.100,320.175,8.775,0.000,114.798,211.558,438.577,0.000,0.000,78.055,3826.428,13761.896,472.080,4254.404,399.871,0.000,1936.967,0.000,3385.786,0.000,0.545,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1071.990,1091.323,1121.735,108.101,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353936
$DATA_FILE_SIZE,90256,1545
$CAP_FILE_SIZE,212304,0
$CFSIZE,259252224,218333184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,091115,093304,-4302.535,838.837,25,0.9,26,-25.1