version: 66.07
glider: 543
mission: 14
dive: 487
start: 11 12 115 2 13 3
data:
$ID,543
$MISSION,14
$DIVE,487
$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,-25683.371
$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,80
$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
$GPS1,121115,020144,-4301.191,841.862,36,1.1,37,-25.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-71.4
$GPS2,121115,021240,-4301.160,842.172,25,1.4,26,-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,262.9,9869,-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,15,-0.43,-116.8,0.0,0.0,0,73,0.00,0.00,-55.62,0.000,2,0.000,0.000,61,3221,1791,0,0,0,0,0,0
$GC,76,-0.43,-116.8,3.1,-1.4,7,94,6.88,1.20,-5.60,0.000,4,0.221,0.077,1755,3958,1977,0,0,0,0,0,0
$GC,144,-0.39,-116.8,13.2,-11.0,17,153,0.00,1.05,0.00,0.000,6,0.000,0.030,1755,3223,1979,0,0,0,0,0,0
$GC,203,-0.35,-116.8,18.5,-9.3,26,212,0.12,0.00,0.00,0.000,6,0.163,0.000,1788,3222,1979,0,0,0,0,0,0
$GC,264,-0.38,-116.8,22.3,-6.2,35,272,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3222,1979,0,0,0,0,0,0
$GC,416,-0.43,-116.8,33.7,-7.2,60,425,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3222,1979,0,0,0,0,0,0
$GC,567,-0.48,-116.8,43.4,-5.8,85,574,0.12,1.17,0.00,0.000,4,0.089,0.056,1718,3958,1979,0,0,0,0,0,0
$GC,616,-0.37,-116.8,48.6,-11.6,93,625,0.17,1.08,0.00,0.000,6,0.140,0.029,1773,3210,1979,0,0,0,0,0,0
$GC,970,-0.39,-116.8,76.2,-7.7,154,976,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,3211,1979,0,0,0,0,0,0
$GC,1325,-0.41,-116.8,102.6,-7.2,213,1328,0.00,1.15,0.00,0.000,4,0.000,0.056,1769,3941,1979,0,0,0,0,0,0
$GC,1352,-0.41,-116.8,105.1,-7.5,215,1359,0.00,1.05,0.00,0.000,6,0.000,0.029,1769,3201,1979,0,0,0,0,0,0
$GC,1678,-0.41,-116.8,129.1,-7.5,246,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,3201,1979,0,0,0,0,0,0
$GC,1998,-0.43,-116.8,153.5,-7.8,276,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,3201,1979,0,0,0,0,0,0
$GC,2317,-0.45,-116.8,178.4,-7.7,306,2321,0.00,1.17,0.00,0.000,4,0.000,0.054,1764,3949,1979,0,0,0,0,0,0
$GC,2367,-0.45,-116.8,183.0,-8.6,310,2374,0.00,1.05,0.00,0.000,6,0.000,0.028,1764,3204,1979,0,0,0,0,0,0
$GC,2696,-0.45,-116.8,208.2,-7.5,341,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,3204,1979,0,0,0,0,0,0
$GC,3023,-0.45,-116.8,232.6,-7.0,372,3027,0.00,1.17,0.00,0.000,4,0.000,0.054,1758,3953,1979,0,0,0,0,0,0
$GC,3051,-0.45,-116.8,235.2,-7.9,374,3058,0.00,1.05,0.00,0.000,6,0.000,0.030,1758,3214,1979,0,0,0,0,0,0
$GC,3378,-0.45,-116.8,258.8,-7.1,405,3379,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,3213,1979,0,0,0,0,0,0
$GC,3696,-0.45,-116.8,281.6,-7.2,435,3698,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,3214,1979,0,0,0,0,0,0
$GC,4018,-0.45,-116.8,305.8,-7.6,465,4021,0.00,1.15,0.00,0.000,4,0.000,0.056,1753,3945,1979,0,0,0,0,0,0
$GC,4056,-0.45,-116.8,309.7,-8.5,468,4064,0.00,1.05,0.00,0.000,6,0.000,0.029,1753,3210,1979,0,0,0,0,0,0
$GC,4381,-0.45,-116.8,336.2,-8.2,499,4382,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3211,1979,0,0,0,0,0,0
$GC,4706,-0.45,-116.8,362.5,-8.4,529,4709,0.00,1.30,0.00,0.000,4,0.000,0.026,1753,2276,1979,0,0,0,0,0,0
$GC,4733,-0.47,-116.8,365.4,-7.9,531,4740,0.00,1.50,0.00,0.000,6,0.000,0.047,1746,3208,1979,0,0,0,0,0,0
$GC,5059,-0.47,-116.8,393.7,-8.9,562,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,1746,3208,1979,0,0,0,0,0,0
$GC,5380,-0.47,-116.8,422.0,-8.7,581,5381,0.00,0.00,0.00,0.000,6,0.000,0.000,1746,3208,1979,0,0,0,0,0,0
$GC,5690,-0.47,-116.8,448.1,-8.4,596,5693,0.00,1.30,0.00,0.000,4,0.000,0.026,1746,2294,1979,0,0,0,0,0,0
$GC,5730,-0.48,-116.8,451.4,-8.4,597,5736,0.00,1.48,0.00,0.000,6,0.000,0.047,1739,3208,1979,0,0,0,0,0,0
$GC,6046,-0.46,-116.8,478.3,-8.5,613,6047,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,3207,1979,0,0,0,0,0,0
$GC,6355,-0.44,-116.8,504.9,-8.7,628,6356,0.00,0.00,0.00,0.000,6,0.000,0.000,1739,3208,1979,0,0,0,0,0,0
$GC,6665,-0.42,-116.8,530.3,-8.1,643,6670,0.10,1.17,0.00,0.000,4,0.177,0.057,1760,3945,1979,0,0,0,0,0,0
$GC,6711,-0.44,-116.8,533.5,-7.1,645,6714,0.00,1.05,0.00,0.000,6,0.000,0.031,1760,3214,1979,0,0,0,0,0,0
$GC,7045,-0.46,-116.8,553.4,-5.7,661,7046,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,3214,1979,0,0,0,0,0,0
$GC,7353,-0.49,-116.8,571.1,-5.5,676,7357,0.00,1.15,0.00,0.000,4,0.000,0.055,1755,3944,1979,0,0,0,0,0,0
$GC,7392,-0.49,-116.8,573.6,-5.9,677,7399,0.00,1.08,0.00,0.000,6,0.000,0.031,1755,3202,1979,0,0,0,0,0,0
$GC,7709,-0.49,-116.8,593.8,-6.5,693,7712,0.00,1.27,0.00,0.000,4,0.000,0.027,1755,2295,1979,0,0,0,0,0,0
$GC,7742,-0.52,-116.8,596.1,-6.3,694,7746,0.00,1.48,0.00,0.000,6,0.000,0.047,1748,3209,1979,0,0,0,0,0,0
$GC,8065,-0.52,-116.8,618.5,-7.4,710,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,3209,1979,0,0,0,0,0,0
$GC,8373,-0.52,-116.8,641.5,-7.6,725,8377,0.00,1.17,0.00,0.000,4,0.000,0.057,1742,3947,1979,0,0,0,0,0,0
$GC,8400,-0.52,-116.8,644.0,-8.7,726,8404,0.00,1.05,0.00,0.000,6,0.000,0.031,1742,3214,1979,0,0,0,0,0,0
$GC,8729,-0.52,-116.8,669.9,-8.1,742,8732,0.00,1.30,0.00,0.000,4,0.000,0.028,1743,2301,1979,0,0,0,0,0,0
$GC,8762,-0.52,-116.8,672.9,-7.9,743,8766,0.00,1.48,0.00,0.000,6,0.000,0.048,1736,3213,1978,0,0,0,0,0,0
$GC,9084,-0.50,-116.8,699.7,-8.0,759,9088,0.00,1.15,0.00,0.000,4,0.000,0.055,1730,3952,1978,0,0,0,0,0,0
$GC,9117,-0.47,-116.8,702.9,-9.1,760,9120,0.00,1.08,0.00,0.000,6,0.000,0.031,1730,3204,1978,0,0,0,0,0,0
$GC,9439,-0.44,-116.8,730.0,-8.4,776,9441,0.12,0.00,0.00,0.000,6,0.162,0.000,1763,3203,1978,0,0,0,0,0,0
$GC,9749,-0.48,-116.8,748.6,-5.8,791,9750,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,3203,1978,0,0,0,0,0,0
$GC,10058,-0.52,-116.8,766.3,-5.5,806,10062,0.00,1.30,0.00,0.000,4,0.000,0.028,1763,2299,1978,0,0,0,0,0,0
$GC,10091,-0.58,-116.8,768.3,-5.6,807,10095,0.08,1.48,0.00,0.000,6,0.057,0.049,1704,3210,1978,0,0,0,0,0,0
$GC,10413,-0.50,-116.8,797.1,-9.2,823,10417,0.12,1.17,0.00,0.000,4,0.168,0.056,1733,3952,1978,0,0,0,0,0,0
$GC,10484,-0.48,-116.8,803.1,-7.8,826,10488,0.00,1.08,0.00,0.000,6,0.000,0.032,1733,3210,1978,0,0,0,0,0,0
$GC,10813,-0.46,-116.8,825.5,-6.7,842,10814,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,3210,1978,0,0,0,0,0,0
$GC,11121,-0.44,-116.8,847.8,-7.2,857,11125,0.00,1.30,0.00,0.000,4,0.000,0.028,1733,2300,1978,0,0,0,0,0,0
$GC,11149,-0.44,-116.8,849.9,-7.0,858,11153,0.10,1.48,0.00,0.000,6,0.126,0.047,1758,3210,1978,0,0,0,0,0,0
$GC,11478,-0.48,-116.8,869.6,-6.3,874,11482,0.00,1.15,0.00,0.000,4,0.000,0.057,1755,3944,1978,0,0,0,0,0,0
$GC,11528,-0.51,-116.8,873.4,-6.9,876,11532,0.00,1.08,0.00,0.000,6,0.000,0.031,1755,3203,1978,0,0,0,0,0,0
$GC,11857,-0.54,-116.8,896.4,-7.0,892,11858,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,3202,1978,0,0,0,0,0,0
$GC,12166,-0.57,-116.8,918.6,-7.0,907,12170,0.10,1.20,0.00,0.000,4,0.108,0.058,1693,3946,1978,0,0,0,0,0,0
$GC,12199,-0.48,-116.8,922.2,-10.6,908,12203,0.15,1.08,0.00,0.000,6,0.144,0.031,1741,3209,1978,0,0,0,0,0,0
$GC,12520,-0.48,-116.8,948.2,-8.2,924,12521,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,3209,1978,0,0,0,0,0,0
$STATE,12620,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12621,begin apogee
$GC,12627,-0.09,0.0,956.6,8.4,929,12764,0.43,0.00,130.32,1.853,6,0.125,0.000,1873,2919,1500,0,0,0,0,0,0
$STATE,12764,end apogee,CONTROL_FINISHED_OK
$STATE,12764,begin climb
$GC,12767,0.43,116.8,961.5,0.0,936,12901,0.50,1.48,127.85,1.783,4,0.082,0.026,2045,2044,1024,0,0,0,0,0,0
$GC,12923,0.44,129.5,953.1,7.9,943,12945,0.00,1.58,14.60,1.643,6,0.000,0.045,2045,2918,972,0,0,0,0,0,0
$GC,13268,0.40,129.5,918.5,10.7,960,13272,0.00,1.42,0.00,0.000,4,0.000,0.055,2045,3810,968,0,0,0,0,0,0
$GC,13329,0.31,129.5,910.9,12.6,962,13336,0.12,1.33,0.00,0.000,6,0.162,0.028,2014,2899,967,0,0,0,0,0,0
$GC,13647,0.34,136.4,884.6,8.2,978,13660,0.00,1.52,7.65,1.556,4,0.000,0.056,2014,3812,943,0,0,0,0,0,0
$GC,13706,0.33,136.4,878.6,10.2,980,13713,0.00,1.30,0.00,0.000,6,0.000,0.028,2019,2925,943,0,0,0,0,0,0
$GC,14022,0.33,136.4,850.7,8.8,996,14025,0.00,1.42,0.00,0.000,4,0.000,0.057,2019,3808,941,0,0,0,0,0,0
$GC,14048,0.33,136.4,848.0,9.3,997,14053,0.00,1.27,0.00,0.000,6,0.000,0.028,2026,2922,941,0,0,0,0,0,0
$GC,14377,0.33,140.9,820.2,8.3,1013,14387,0.00,1.27,5.75,1.452,4,0.000,0.029,2033,2058,924,0,0,0,0,0,0
$GC,14409,0.38,167.1,817.5,7.3,1014,14441,0.00,1.40,27.48,1.730,6,0.000,0.047,2033,2931,817,0,0,0,0,0,0
$GC,14762,0.38,167.1,785.1,9.4,1032,14766,0.00,1.40,0.00,0.000,4,0.000,0.057,2033,3809,816,0,0,0,0,0,0
$GC,14823,0.35,167.1,778.3,10.6,1034,14830,0.00,1.27,0.00,0.000,6,0.000,0.028,2039,2927,816,0,0,0,0,0,0
$GC,15140,0.35,167.1,746.1,10.0,1050,15144,0.00,1.27,0.00,0.000,4,0.000,0.031,2046,2063,815,0,0,0,0,0,0
$GC,15163,0.35,167.1,743.7,9.4,1051,15166,0.00,1.38,0.00,0.000,6,0.000,0.047,2046,2923,815,0,0,0,0,0,0
$GC,15495,0.32,167.1,707.8,10.9,1067,15500,0.12,1.42,0.00,0.000,4,0.167,0.056,2013,3805,815,0,0,0,0,0,0
$GC,15546,0.34,167.1,702.6,9.9,1069,15550,0.00,1.27,0.00,0.000,6,0.000,0.030,2018,2926,814,0,0,0,0,0,0
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$STATE,22359,end climb,SURFACE_DEPTH_REACHED
$STATE,22359,begin surface coast
$FINISH,1.3,1.026425
$STATE,22385,end surface coast,CONTROL_FINISHED_OK
$STATE,22385,begin surface
$SM_CCo,22460,0.00,0.000,0,0,554,232.05
$SM_GC,2.38,5.35,0.00,0.00,0.041,0.000,0.000,63,3225,554,-5.65,0.45,232.05
$IRIDIUM_FIX,-4244.98,840.29,070908,080851
$TT8_MAMPS,0.026964
$HUMID,64.88
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,20.7,89.537
$10V_AH,9.7,59.592
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,15.600,98.225,382.625,0.000,0.000,26.189,19.036,422.686,0.000,0.000,28.039,3991.058,14217.439,503.084,3947.448,437.795,0.000,1985.818,0.000,3461.338,0.000,0.544,0.000
$DEVICE_MAMPS,221.085,77.265,1852.830,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1130.831,1166.061,1195.763,113.175,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353900
$DATA_FILE_SIZE,93576,1630
$CAP_FILE_SIZE,214252,0
$CFSIZE,259252224,217231360
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,121115,082834,-4301.361,842.364,36,1.0,37,-25.1