version: 66.07
glider: 543
mission: 14
dive: 478
start: 11 9 115 16 16 57
data:
$ID,543
$MISSION,14
$DIVE,478
$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,-25645.705
$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,85
$R_STBD_OVSHOOT,27
$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
$GPS1,091115,155921,-4302.639,838.823,111,1.1,112,-25.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-72.1
$GPS2,091115,161634,-4302.575,839.072,22,1.1,23,-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,262.7,4923,-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,14,begin dive
$GC,16,-0.44,-102.8,0.0,0.0,0,49,0.00,0.00,-31.27,0.000,2,0.000,0.000,61,3216,1418,0,0,0,0,0,0
$GC,52,-0.45,-116.8,3.1,-1.9,4,86,6.95,1.23,-21.85,0.000,4,0.226,0.083,1748,3952,1977,0,0,0,0,0,0
$GC,161,-0.40,-116.8,10.8,-9.5,20,169,0.00,1.02,0.00,0.000,6,0.000,0.031,1748,3235,1979,0,0,0,0,0,0
$GC,220,-0.38,-116.8,17.0,-10.5,29,229,0.12,1.38,0.00,0.000,4,0.164,0.026,1781,2284,1979,0,0,0,0,0,0
$GC,251,-0.40,-116.8,19.8,-9.1,33,260,0.00,1.50,0.00,0.000,6,0.000,0.050,1776,3209,1979,0,0,0,0,0,0
$GC,311,-0.43,-116.8,24.3,-8.4,42,318,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,3209,1979,0,0,0,0,0,0
$GC,463,-0.47,-116.8,36.6,-7.3,67,472,0.00,1.33,0.00,0.000,4,0.000,0.027,1776,2286,1979,0,0,0,0,0,0
$GC,511,-0.53,-116.8,40.3,-7.6,74,518,0.08,1.50,0.00,0.000,6,0.053,0.050,1716,3213,1979,0,0,0,0,0,0
$GC,860,-0.45,-116.8,85.6,-13.3,135,869,0.15,1.17,0.00,0.000,4,0.168,0.055,1751,3955,1979,0,0,0,0,0,0
$GC,958,-0.45,-116.8,96.2,-10.8,151,964,0.00,1.08,0.00,0.000,6,0.000,0.031,1751,3205,1979,0,0,0,0,0,0
$GC,1293,-0.45,-116.8,129.4,-9.5,185,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,3205,1979,0,0,0,0,0,0
$GC,1611,-0.45,-116.8,160.7,-9.6,215,1614,0.00,1.17,0.00,0.000,4,0.000,0.056,1745,3950,1979,0,0,0,0,0,0
$GC,1672,-0.43,-116.8,167.5,-10.1,220,1681,0.00,1.08,0.00,0.000,6,0.000,0.031,1745,3205,1979,0,0,0,0,0,0
$GC,1997,-0.43,-116.8,200.5,-10.5,251,2001,0.00,1.27,0.00,0.000,4,0.000,0.026,1745,2301,1979,0,0,0,0,0,0
$GC,2082,-0.45,-116.8,208.9,-9.5,258,2088,0.00,1.48,0.00,0.000,6,0.000,0.049,1739,3216,1980,0,0,0,0,0,0
$GC,2409,-0.43,-116.8,241.2,-10.2,289,2413,0.00,1.15,0.00,0.000,4,0.000,0.056,1733,3952,1979,0,0,0,0,0,0
$GC,2448,-0.39,-116.8,245.6,-10.2,292,2458,0.12,1.08,0.00,0.000,6,0.132,0.030,1773,3207,1979,0,0,0,0,0,0
$GC,2774,-0.45,-116.8,268.5,-6.7,323,2777,0.00,1.17,0.00,0.000,4,0.000,0.057,1769,3952,1979,0,0,0,0,0,0
$GC,2802,-0.51,-116.8,270.8,-7.2,325,2808,0.00,1.08,0.00,0.000,6,0.000,0.031,1769,3203,1979,0,0,0,0,0,0
$GC,3127,-0.55,-116.8,292.9,-6.5,356,3129,0.12,0.00,0.00,0.000,6,0.089,0.000,1705,3203,1980,0,0,0,0,0,0
$GC,3446,-0.47,-116.8,327.7,-10.8,386,3450,0.17,1.20,0.00,0.000,4,0.157,0.054,1748,3953,1979,0,0,0,0,0,0
$GC,3482,-0.47,-116.8,331.1,-9.9,389,3486,0.00,1.08,0.00,0.000,6,0.000,0.031,1748,3203,1979,0,0,0,0,0,0
$GC,3813,-0.47,-116.8,358.1,-8.2,420,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,3204,1979,0,0,0,0,0,0
$GC,4133,-0.47,-116.8,385.2,-8.5,450,4137,0.00,1.27,0.00,0.000,4,0.000,0.026,1748,2298,1979,0,0,0,0,0,0
$GC,4161,-0.50,-116.8,387.7,-8.1,452,4170,0.00,1.48,0.00,0.000,6,0.000,0.049,1742,3209,1979,0,0,0,0,0,0
$GC,4492,-0.50,-116.8,417.0,-9.0,475,4495,0.00,1.17,0.00,0.000,4,0.000,0.056,1736,3956,1979,0,0,0,0,0,0
$GC,4525,-0.48,-116.8,420.3,-9.6,476,4528,0.00,1.08,0.00,0.000,6,0.000,0.031,1736,3209,1979,0,0,0,0,0,0
$GC,4846,-0.48,-116.8,450.7,-9.8,492,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,1736,3209,1979,0,0,0,0,0,0
$GC,5156,-0.48,-116.8,480.4,-9.5,507,5159,0.00,1.20,0.00,0.000,4,0.000,0.057,1730,3953,1979,0,0,0,0,0,0
$GC,5228,-0.45,-116.8,488.1,-10.3,510,5232,0.00,1.08,0.00,0.000,6,0.000,0.031,1730,3206,1979,0,0,0,0,0,0
$GC,5556,-0.43,-116.8,519.1,-9.4,526,5558,0.12,0.00,0.00,0.000,6,0.164,0.000,1763,3206,1979,0,0,0,0,0,0
$GC,5866,-0.47,-116.8,542.5,-7.4,541,5870,0.00,1.17,0.00,0.000,4,0.000,0.057,1759,3950,1979,0,0,0,0,0,0
$GC,5899,-0.51,-116.8,545.3,-7.7,542,5902,0.00,1.08,0.00,0.000,6,0.000,0.031,1759,3208,1979,0,0,0,0,0,0
$GC,6221,-0.55,-116.8,568.8,-7.3,558,6223,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,3207,1980,0,0,0,0,0,0
$GC,6530,-0.59,-116.8,591.2,-7.1,573,6532,0.12,0.00,0.00,0.000,6,0.092,0.000,1695,3206,1979,0,0,0,0,0,0
$GC,6839,-0.51,-116.8,624.2,-10.6,588,6841,0.15,0.00,0.00,0.000,6,0.168,0.000,1735,3206,1979,0,0,0,0,0,0
$GC,7149,-0.51,-116.8,646.8,-7.1,603,7150,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3206,1979,0,0,0,0,0,0
$GC,7458,-0.51,-116.8,668.7,-6.8,618,7461,0.00,1.17,0.00,0.000,4,0.000,0.057,1731,3948,1979,0,0,0,0,0,0
$GC,7499,-0.48,-116.8,671.8,-7.7,619,7505,0.00,1.08,0.00,0.000,6,0.000,0.031,1731,3206,1979,0,0,0,0,0,0
$GC,7815,-0.48,-116.8,695.1,-7.5,635,7819,0.00,1.30,0.00,0.000,4,0.000,0.027,1731,2297,1979,0,0,0,0,0,0
$GC,7866,-0.48,-116.8,698.9,-7.1,637,7869,0.00,1.48,0.00,0.000,6,0.000,0.049,1724,3203,1979,0,0,0,0,0,0
$GC,8194,-0.46,-116.8,724.8,-8.1,653,8196,0.12,0.00,0.00,0.000,6,0.167,0.000,1757,3202,1979,0,0,0,0,0,0
$GC,8503,-0.51,-116.8,744.2,-6.3,668,8506,0.00,1.17,0.00,0.000,4,0.000,0.057,1753,3947,1980,0,0,0,0,0,0
$GC,8554,-0.54,-116.8,748.0,-7.5,670,8557,0.00,1.08,0.00,0.000,6,0.000,0.032,1753,3208,1979,0,0,0,0,0,0
$GC,8881,-0.58,-116.8,770.9,-7.3,686,8885,0.10,1.33,0.00,0.000,4,0.106,0.028,1699,2297,1979,0,0,0,0,0,0
$GC,8907,-0.56,-116.8,773.6,-10.0,687,8912,0.08,1.48,0.00,0.000,6,0.145,0.050,1716,3204,1979,0,0,0,0,0,0
$GC,9236,-0.52,-116.8,805.5,-9.7,703,9239,0.00,1.17,0.00,0.000,4,0.000,0.057,1712,3950,1979,0,0,0,0,0,0
$GC,9274,-0.47,-116.8,809.8,-10.7,704,9282,0.12,1.08,0.00,0.000,6,0.139,0.032,1751,3215,1979,0,0,0,0,0,0
$GC,9593,-0.52,-116.8,831.6,-6.7,720,9594,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,3215,1979,0,0,0,0,0,0
$GC,9900,-0.56,-116.8,851.9,-6.6,735,9901,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,3216,1979,0,0,0,0,0,0
$GC,10210,-0.61,-116.8,872.0,-6.5,750,10212,0.12,0.00,0.00,0.000,6,0.093,0.000,1691,3214,1979,0,0,0,0,0,0
$GC,10518,-0.53,-116.8,904.7,-10.8,765,10520,0.15,0.00,0.00,0.000,6,0.168,0.000,1730,3214,1979,0,0,0,0,0,0
$GC,10828,-0.53,-116.8,930.0,-8.1,780,10831,0.00,1.33,0.00,0.000,4,0.000,0.028,1730,2295,1979,0,0,0,0,0,0
$GC,10852,-0.54,-116.8,931.9,-8.8,781,10855,0.00,1.50,0.00,0.000,6,0.000,0.050,1725,3209,1979,0,0,0,0,0,0
$GC,11185,-0.54,-116.8,959.1,-8.2,797,11188,0.00,1.17,0.00,0.000,4,0.000,0.057,1719,3956,1979,0,0,0,0,0,0
$GC,11292,-0.52,-116.8,968.8,-8.3,801,11299,0.00,1.10,0.00,0.000,6,0.000,0.032,1719,3198,1980,0,0,0,0,0,0
$GC,11609,-0.50,-116.8,995.8,-8.6,817,11610,0.00,0.00,0.00,0.000,6,0.000,0.000,1719,3198,1979,0,0,0,0,0,0
$STATE,11667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11667,begin apogee
$GC,11673,-0.09,0.0,1001.1,8.4,820,11815,0.50,0.00,134.02,1.858,6,0.135,0.000,1869,2925,1499,0,0,0,0,1,0
$STATE,11816,end apogee,CONTROL_FINISHED_OK
$STATE,11816,begin climb
$GC,11819,0.45,116.8,1004.5,0.0,827,11969,0.55,1.48,133.55,1.779,4,0.085,0.026,2053,2047,1022,0,0,0,0,2,0
$GC,12032,0.45,116.8,988.7,10.4,837,12036,0.00,1.52,0.00,0.000,6,0.000,0.045,2054,2920,1019,0,0,0,0,0,0
$GC,12365,0.41,116.8,950.1,11.8,853,12369,0.00,1.42,0.00,0.000,4,0.000,0.056,2054,3806,1015,0,0,0,0,0,0
$GC,12434,0.32,116.8,940.8,15.0,856,12439,0.15,1.33,0.00,0.000,6,0.165,0.029,2016,2905,1015,0,0,0,0,0,0
$GC,12769,0.36,119.3,911.1,8.4,872,12773,0.00,1.45,0.00,0.000,4,0.000,0.056,2016,3805,1014,0,0,0,0,0,0
$GC,12815,0.35,119.3,906.6,9.6,874,12819,0.00,1.30,0.00,0.000,6,0.000,0.030,2021,2926,1014,0,0,0,0,0,0
$GC,13148,0.37,121.3,877.2,8.4,890,13149,0.00,0.00,0.00,0.000,6,0.000,0.000,2021,2926,1013,0,0,0,0,0,0
$GC,13457,0.39,121.3,850.6,8.6,905,13461,0.00,1.40,0.00,0.000,4,0.000,0.055,2021,3794,1013,0,0,0,0,0,0
$GC,13496,0.38,121.3,846.6,10.8,906,13503,0.00,1.30,0.00,0.000,6,0.000,0.029,2028,2919,1013,0,0,0,0,0,0
$GC,13812,0.38,121.3,819.2,8.6,922,13815,0.00,1.27,0.00,0.000,4,0.000,0.031,2034,2045,1013,0,0,0,0,0,0
$GC,13851,0.42,125.4,816.2,8.3,923,13863,0.00,1.42,7.78,1.573,6,0.000,0.047,2035,2933,987,0,0,0,0,0,0
$GC,14186,0.42,125.4,786.9,8.7,940,14190,0.00,1.40,0.00,0.000,4,0.000,0.057,2035,3810,987,0,0,0,0,0,0
$GC,14281,0.37,125.4,776.8,10.1,944,14285,0.00,1.30,0.00,0.000,6,0.000,0.031,2041,2930,986,0,0,0,0,0,0
$GC,14608,0.37,125.4,746.1,9.4,960,14609,0.00,0.00,0.00,0.000,6,0.000,0.000,2041,2930,987,0,0,0,0,0,0
$GC,14917,0.37,125.4,716.8,9.4,975,14921,0.00,1.40,0.00,0.000,4,0.000,0.055,2041,3800,986,0,0,0,0,0,0
$GC,14973,0.32,125.4,710.6,10.8,977,14978,0.10,1.30,0.00,0.000,6,0.161,0.030,2017,2919,986,0,0,0,0,0,0
$GC,15296,0.38,135.8,684.5,8.0,993,15315,0.00,0.00,11.70,1.613,6,0.000,0.000,2017,2918,944,0,0,0,0,0,0
$GC,15625,0.44,137.6,656.7,8.4,1009,15629,0.00,1.42,0.00,0.000,4,0.000,0.056,2016,3800,943,0,0,0,0,0,0
$GC,15649,0.47,137.6,654.4,9.0,1010,15653,0.08,1.30,0.00,0.000,6,0.071,0.030,2065,2929,943,0,0,0,0,0,0
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$GC,17823,0.41,169.4,448.7,6.9,1114,17858,0.00,1.33,30.05,1.543,4,0.000,0.031,2016,2056,809,0,0,0,0,0,0
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$STATE,21592,end climb,SURFACE_DEPTH_REACHED
$STATE,21592,begin surface coast
$FINISH,1.5,1.026468
$STATE,21617,end surface coast,CONTROL_FINISHED_OK
$STATE,21617,begin surface
$SM_CCo,21693,0.00,0.000,0,0,639,210.95
$SM_GC,2.73,5.40,0.00,0.00,0.047,0.000,0.000,70,3222,639,-5.64,0.37,210.95
$IRIDIUM_FIX,-4244.98,840.74,050908,050559
$TT8_MAMPS,0.026964
$HUMID,64.33
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,20.7,87.607
$10V_AH,9.7,58.288
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.625,104.575,362.875,0.000,0.000,78.676,120.579,516.531,0.000,0.000,25.549,3749.772,14065.900,492.936,4000.654,397.429,0.000,1920.196,0.000,3255.168,0.000,0.544,0.000
$DEVICE_MAMPS,225.675,83.385,1858.185,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
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$SENSOR_SECS,1054.300,1084.090,1072.782,105.558,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353908
$DATA_FILE_SIZE,86745,1517
$CAP_FILE_SIZE,211026,0
$CFSIZE,259252224,218140672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,2
$GPS,091115,221950,-4302.335,839.103,46,1.3,46,-25.1