version: 66.07
glider: 543
mission: 14
dive: 477
start: 11 9 115 9 43 52
data:
$ID,543
$MISSION,14
$DIVE,477
$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,-25642.445
$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,69
$R_STBD_OVSHOOT,31
$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
$GPS1,091115,093304,-4302.535,838.837,25,0.9,26,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.50
$_SM_ANGLEo,-70.5
$GPS2,091115,094328,-4302.439,838.938,24,0.9,25,-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,259.1,4915,-18.4,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.44,-102.4,0.0,0.0,0,66,0.00,0.00,-47.75,0.000,2,0.000,0.000,61,3220,1787,0,0,0,0,0,0
$GC,69,-0.45,-116.8,3.2,-1.6,6,87,6.97,1.20,-5.70,0.000,4,0.227,0.076,1747,3955,1977,0,0,0,0,0,0
$GC,108,-0.01,-116.8,9.8,-14.4,11,117,0.47,1.08,0.00,0.000,6,0.135,0.030,1894,3212,1979,0,0,0,0,0,0
$GC,168,-0.39,-116.8,13.8,-3.4,20,177,0.32,0.00,0.00,0.000,6,0.102,0.000,1780,3211,1981,0,0,0,0,0,0
$GC,227,-0.49,-116.8,19.0,-9.6,29,237,0.10,1.33,0.00,0.000,4,0.099,0.028,1725,2293,1981,0,0,0,0,0,0
$GC,276,-0.45,-116.8,22.4,-7.5,36,286,0.10,1.48,0.00,0.000,6,0.132,0.050,1750,3206,1981,0,0,0,0,0,0
$GC,431,-0.43,-116.8,37.4,-9.2,61,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,3206,1981,0,0,0,0,0,0
$GC,577,-0.41,-116.8,52.0,-9.8,86,584,0.00,1.30,0.00,0.000,4,0.000,0.027,1750,2295,1981,0,0,0,0,0,0
$GC,653,-0.44,-116.8,59.2,-9.5,99,662,0.00,1.48,0.00,0.000,6,0.000,0.050,1745,3206,1981,0,0,0,0,0,0
$GC,1006,-0.41,-116.8,94.1,-10.2,160,1013,0.00,1.17,0.00,0.000,4,0.000,0.056,1739,3956,1981,0,0,0,0,0,0
$GC,1047,-0.38,-116.8,98.4,-10.5,166,1055,0.12,1.08,0.00,0.000,6,0.133,0.031,1779,3212,1981,0,0,0,0,0,0
$GC,1381,-0.44,-116.8,123.8,-7.1,198,1382,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,3211,1981,0,0,0,0,0,0
$GC,1701,-0.49,-116.8,148.8,-8.1,228,1705,0.10,1.17,0.00,0.000,4,0.105,0.056,1718,3949,1981,0,0,0,0,0,0
$GC,1763,-0.41,-116.8,156.4,-12.9,233,1770,0.15,1.08,0.00,0.000,6,0.141,0.030,1765,3204,1980,0,0,0,0,0,0
$GC,2089,-0.44,-116.8,183.7,-8.6,264,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,3204,1981,0,0,0,0,0,0
$GC,2408,-0.48,-116.8,210.2,-7.7,294,2412,0.00,1.17,0.00,0.000,4,0.000,0.057,1761,3950,1981,0,0,0,0,0,0
$GC,2455,-0.50,-116.8,214.4,-8.8,298,2458,0.00,1.08,0.00,0.000,6,0.000,0.030,1761,3197,1981,0,0,0,0,0,0
$GC,2790,-0.53,-116.8,241.1,-7.7,329,2793,0.00,1.27,0.00,0.000,4,0.000,0.026,1761,2282,1981,0,0,0,0,0,0
$GC,2830,-0.58,-116.8,244.8,-8.1,332,2839,0.08,1.50,0.00,0.000,6,0.054,0.047,1701,3210,1981,0,0,0,0,0,0
$GC,3155,-0.48,-116.8,284.2,-12.4,363,3159,0.17,1.17,0.00,0.000,4,0.164,0.054,1743,3952,1981,0,0,0,0,0,0
$GC,3200,-0.48,-116.8,288.7,-9.0,367,3204,0.00,1.05,0.00,0.000,6,0.000,0.030,1744,3213,1981,0,0,0,0,0,0
$GC,3531,-0.48,-116.8,314.6,-8.2,398,3534,0.00,1.15,0.00,0.000,4,0.000,0.055,1738,3947,1981,0,0,0,0,0,0
$GC,3569,-0.48,-116.8,317.5,-9.5,401,3572,0.00,1.05,0.00,0.000,6,0.000,0.031,1738,3211,1981,0,0,0,0,0,0
$GC,3900,-0.48,-116.8,345.4,-8.3,432,3901,0.00,0.00,0.00,0.000,6,0.000,0.000,1738,3211,1981,0,0,0,0,0,0
$GC,4220,-0.48,-116.8,371.6,-8.0,462,4223,0.00,1.17,0.00,0.000,4,0.000,0.056,1733,3954,1981,0,0,0,0,0,0
$GC,4279,-0.46,-116.8,377.0,-9.3,467,4283,0.00,1.08,0.00,0.000,6,0.000,0.029,1733,3204,1981,0,0,0,0,0,0
$GC,4609,-0.44,-116.8,408.3,-9.5,494,4613,0.00,1.17,0.00,0.000,4,0.000,0.056,1727,3949,1980,0,0,0,0,0,0
$GC,4665,-0.40,-116.8,414.4,-10.5,496,4669,0.12,1.05,0.00,0.000,6,0.133,0.030,1767,3218,1980,0,0,0,0,0,0
$GC,4989,-0.46,-116.8,437.4,-7.0,512,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,3218,1980,0,0,0,0,0,0
$GC,5296,-0.51,-116.8,459.1,-6.9,527,5297,0.00,0.00,0.00,0.000,6,0.000,0.000,1767,3218,1981,0,0,0,0,0,0
$GC,5605,-0.57,-116.8,480.8,-6.9,542,5609,0.15,1.17,0.00,0.000,4,0.083,0.056,1691,3951,1981,0,0,0,0,0,0
$GC,5637,-0.47,-116.8,484.3,-11.7,543,5642,0.17,1.08,0.00,0.000,6,0.145,0.030,1745,3205,1981,0,0,0,0,0,0
$GC,5960,-0.47,-116.8,509.8,-7.9,559,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,3205,1981,0,0,0,0,0,0
$GC,6270,-0.47,-116.8,533.0,-7.1,574,6273,0.00,1.17,0.00,0.000,4,0.000,0.057,1741,3950,1980,0,0,0,0,0,0
$GC,6303,-0.47,-116.8,535.8,-8.1,575,6307,0.00,1.08,0.00,0.000,6,0.000,0.030,1741,3205,1980,0,0,0,0,0,0
$GC,6625,-0.47,-116.8,561.7,-8.1,591,6626,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,3204,1981,0,0,0,0,0,0
$GC,6934,-0.47,-116.8,586.5,-7.8,606,6938,0.00,1.17,0.00,0.000,4,0.000,0.057,1736,3947,1981,0,0,0,0,0,0
$GC,7013,-0.47,-116.8,593.4,-9.0,609,7016,0.00,1.08,0.00,0.000,6,0.000,0.031,1736,3204,1980,0,0,0,0,0,0
$GC,7334,-0.47,-116.8,619.3,-8.1,625,7335,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3203,1981,0,0,0,0,0,0
$GC,7644,-0.47,-116.8,644.1,-8.1,640,7648,0.00,1.17,0.00,0.000,4,0.000,0.057,1730,3947,1981,0,0,0,0,0,0
$GC,7690,-0.45,-116.8,648.1,-9.1,642,7694,0.00,1.05,0.00,0.000,6,0.000,0.031,1730,3215,1980,0,0,0,0,0,0
$GC,8023,-0.45,-116.8,673.4,-7.1,658,8024,0.00,0.00,0.00,0.000,6,0.000,0.000,1730,3214,1980,0,0,0,0,0,0
$GC,8333,-0.45,-116.8,695.5,-7.1,673,8334,0.00,0.00,0.00,0.000,6,0.000,0.000,1730,3215,1981,0,0,0,0,0,0
$GC,8642,-0.45,-116.8,719.3,-8.4,688,8645,0.00,1.17,0.00,0.000,4,0.000,0.057,1724,3954,1981,0,0,0,0,0,0
$GC,8668,-0.43,-116.8,721.9,-9.9,689,8673,0.10,1.08,0.00,0.000,6,0.139,0.031,1757,3216,1980,0,0,0,0,0,0
$GC,8998,-0.48,-116.8,744.7,-7.2,705,9002,0.00,1.33,0.00,0.000,4,0.000,0.027,1757,2281,1980,0,0,0,0,0,0
$GC,9031,-0.54,-116.8,747.4,-6.6,706,9034,0.00,1.52,0.00,0.000,6,0.000,0.050,1752,3214,1980,0,0,0,0,0,0
$GC,9354,-0.58,-116.8,773.2,-8.1,722,9358,0.10,1.17,0.00,0.000,4,0.106,0.058,1696,3947,1980,0,0,0,0,0,0
$GC,9454,-0.50,-116.8,785.3,-11.9,726,9458,0.12,1.08,0.00,0.000,6,0.145,0.031,1735,3213,1981,0,0,0,0,0,0
$GC,9775,-0.50,-116.8,814.3,-8.8,742,9779,0.00,1.17,0.00,0.000,4,0.000,0.057,1732,3953,1980,0,0,0,0,0,0
$GC,9837,-0.50,-116.8,820.1,-9.8,744,9844,0.00,1.10,0.00,0.000,6,0.000,0.031,1732,3195,1980,0,0,0,0,0,0
$GC,10153,-0.50,-116.8,847.9,-8.6,760,10157,0.00,1.20,0.00,0.000,4,0.000,0.057,1726,3950,1980,0,0,0,0,0,0
$GC,10260,-0.50,-116.8,857.7,-9.7,764,10267,0.00,1.08,0.00,0.000,6,0.000,0.031,1726,3211,1980,0,0,0,0,0,0
$GC,10576,-0.50,-116.8,882.2,-7.5,780,10580,0.00,1.17,0.00,0.000,4,0.000,0.057,1721,3951,1980,0,0,0,0,0,0
$GC,10678,-0.47,-116.8,890.3,-7.8,784,10682,0.08,1.08,0.00,0.000,6,0.139,0.031,1746,3216,1981,0,0,0,0,0,0
$GC,11001,-0.51,-116.8,909.8,-6.1,800,11004,0.00,1.17,0.00,0.000,4,0.000,0.058,1741,3954,1980,0,0,0,0,0,0
$GC,11040,-0.53,-116.8,912.7,-7.4,801,11047,0.00,1.10,0.00,0.000,6,0.000,0.031,1741,3196,1980,0,0,0,0,0,0
$GC,11357,-0.56,-116.8,934.2,-7.1,817,11358,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,3197,1980,0,0,0,0,0,0
$GC,11666,-0.59,-116.8,956.1,-7.0,832,11667,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,3196,1980,0,0,0,0,0,0
$GC,11976,-0.62,-116.8,977.4,-7.2,847,11981,0.10,1.23,0.00,0.000,4,0.108,0.059,1684,3943,1980,0,0,0,0,0,0
$GC,12076,-0.52,-116.8,988.6,-11.9,851,12081,0.15,1.08,0.00,0.000,6,0.149,0.031,1730,3211,1979,0,0,0,0,0,0
$STATE,12230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12230,begin apogee
$GC,12236,-0.09,0.0,1001.2,7.9,859,12384,0.45,0.00,134.88,1.830,6,0.131,0.000,1868,2907,1499,0,0,0,0,2,0
$STATE,12385,end apogee,CONTROL_FINISHED_OK
$STATE,12385,begin climb
$GC,12387,0.45,116.8,1005.5,0.0,866,12538,0.55,1.48,133.12,1.776,4,0.086,0.028,2052,2051,1022,0,0,0,0,2,0
$GC,12603,0.47,131.6,992.3,7.7,876,12625,0.00,1.50,16.23,1.688,6,0.000,0.046,2052,2914,962,0,0,0,0,0,0
$GC,12936,0.43,131.6,959.2,9.8,892,12939,0.00,1.42,0.00,0.000,4,0.000,0.055,2052,3807,960,0,0,0,0,0,0
$GC,13014,0.35,131.6,949.6,11.2,895,13018,0.10,1.33,0.00,0.000,6,0.170,0.028,2029,2901,959,0,0,0,0,0,0
$GC,13335,0.37,144.7,924.1,7.8,911,13358,0.00,1.52,13.27,1.713,4,0.000,0.056,2029,3809,909,0,0,0,0,0,0
$GC,13408,0.35,144.7,917.2,10.0,914,13412,0.00,1.33,0.00,0.000,6,0.000,0.029,2034,2922,909,0,0,0,0,0,0
$GC,13737,0.35,144.7,888.3,9.0,930,13740,0.00,1.42,0.00,0.000,4,0.000,0.054,2034,3808,908,0,0,0,0,0,0
$GC,13805,0.32,144.7,881.0,10.6,933,13809,0.10,1.30,0.00,0.000,6,0.159,0.030,2010,2921,908,0,0,0,0,0,0
$GC,14140,0.39,158.0,855.2,7.8,949,14162,0.00,1.48,14.70,1.708,4,0.000,0.057,2010,3807,855,0,0,0,0,0,0
$GC,14231,0.42,158.0,846.8,9.4,953,14234,0.00,1.30,0.00,0.000,6,0.000,0.030,2015,2928,855,0,0,0,0,0,0
$GC,14565,0.48,167.6,819.3,8.0,969,14580,0.12,1.42,10.82,1.642,4,0.101,0.053,2069,3808,815,0,0,0,0,0,0
$GC,14627,0.39,167.6,811.5,14.3,971,14631,0.12,1.30,0.00,0.000,6,0.164,0.028,2039,2925,816,0,0,0,0,0,0
$GC,14959,0.39,167.6,777.8,9.5,987,14960,0.00,0.00,0.00,0.000,6,0.000,0.000,2039,2924,815,0,0,0,0,0,0
$GC,15268,0.41,167.6,748.3,9.7,1002,15272,0.00,1.45,0.00,0.000,4,0.000,0.056,2038,3808,814,0,0,0,0,0,0
$GC,15307,0.39,167.6,744.0,11.4,1003,15314,0.00,1.30,0.00,0.000,6,0.000,0.028,2044,2916,814,0,0,0,0,0,0
$GC,15623,0.39,167.6,711.0,10.7,1019,15627,0.00,1.42,0.00,0.000,4,0.000,0.054,2044,3802,815,0,0,0,0,0,0
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$STATE,22269,end climb,SURFACE_DEPTH_REACHED
$STATE,22270,begin surface coast
$FINISH,1.8,1.026482
$STATE,22307,end surface coast,CONTROL_FINISHED_OK
$STATE,22307,begin surface
$SM_CCo,22382,0.00,0.000,0,0,665,204.82
$SM_GC,2.86,5.35,0.00,0.00,0.045,0.000,0.000,71,3209,665,-5.64,0.00,204.82
$IRIDIUM_FIX,-4244.98,843.65,040908,161608
$TT8_MAMPS,0.026964
$HUMID,64.49
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,20.8,87.390
$10V_AH,9.8,58.148
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.600,120.775,356.400,0.000,0.000,27.677,33.512,381.796,0.000,0.000,28.838,3935.678,14208.710,509.105,3911.821,423.991,0.000,2028.638,0.000,3440.774,0.000,0.544,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1092.232,1126.973,1122.231,107.765,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353920
$DATA_FILE_SIZE,90111,1572
$CAP_FILE_SIZE,223945,0
$CFSIZE,259252224,218222592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,2
$GPS,091115,155921,-4302.639,838.823,111,1.1,112,-25.1