version: 66.07
glider: 543
mission: 14
dive: 507
start: 11 17 115 9 30 50
data:
$ID,543
$MISSION,14
$DIVE,507
$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,-25771.396
$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,86
$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
$GPS1,171115,092004,-4301.162,842.391,61,1.0,62,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-69.6
$GPS2,171115,093026,-4301.084,842.510,18,1.5,19,-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,263.6,10332,-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,-48.30,0.000,2,0.000,0.000,61,3222,1647,0,0,0,0,0,0
$GC,69,-0.43,-116.8,3.1,-1.3,6,94,7.05,1.30,-10.88,0.000,4,0.230,0.049,1759,2329,1976,0,0,0,0,0,0
$GC,110,0.04,-116.8,7.6,-9.4,11,119,0.47,1.42,0.00,0.000,6,0.113,0.050,1909,3206,1977,0,0,0,0,0,0
$GC,170,-0.35,-116.8,12.3,-6.9,20,179,0.32,0.00,0.00,0.000,6,0.092,0.000,1790,3206,1978,0,0,0,0,0,0
$GC,230,-0.45,-116.8,18.5,-10.2,29,239,0.00,1.27,0.00,0.000,4,0.000,0.026,1790,2292,1978,0,0,0,0,0,0
$GC,259,-0.52,-116.8,21.5,-10.0,33,269,0.10,1.48,0.00,0.000,6,0.049,0.048,1718,3209,1978,0,0,0,0,0,0
$GC,414,-0.41,-116.8,40.4,-13.1,58,422,0.17,1.17,0.00,0.000,4,0.162,0.053,1761,3949,1978,0,0,0,0,0,0
$GC,474,-0.39,-116.8,47.5,-10.8,68,481,0.00,1.02,0.00,0.000,6,0.000,0.030,1761,3232,1978,0,0,0,0,0,0
$GC,822,-0.38,-116.8,75.4,-8.1,129,831,0.00,1.33,0.00,0.000,4,0.000,0.026,1761,2290,1978,0,0,0,0,0,0
$GC,856,-0.38,-116.8,77.8,-7.4,134,862,0.00,1.48,0.00,0.000,6,0.000,0.048,1755,3201,1978,0,0,0,0,0,0
$GC,1198,-0.35,-116.8,108.2,-9.4,187,1203,0.12,1.20,0.00,0.000,4,0.161,0.055,1784,3947,1978,0,0,0,0,0,0
$GC,1261,-0.39,-116.8,113.2,-7.3,192,1270,0.00,1.08,0.00,0.000,6,0.000,0.031,1784,3206,1978,0,0,0,0,0,0
$GC,1588,-0.43,-116.8,135.3,-6.9,223,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,3207,1978,0,0,0,0,0,0
$GC,1910,-0.47,-116.8,157.2,-6.4,253,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,3206,1978,0,0,0,0,0,0
$GC,2238,-0.51,-116.8,177.1,-5.7,284,2247,0.12,0.00,0.00,0.000,6,0.090,0.000,1720,3205,1978,0,0,0,0,0,0
$GC,2563,-0.43,-116.8,209.2,-10.4,315,2567,0.15,1.30,0.00,0.000,4,0.158,0.028,1761,2296,1978,0,0,0,0,0,0
$GC,2644,-0.46,-116.8,215.1,-7.0,322,2648,0.00,1.48,0.00,0.000,6,0.000,0.047,1756,3211,1978,0,0,0,0,0,0
$GC,2977,-0.46,-116.8,240.0,-7.1,353,2980,0.00,1.15,0.00,0.000,4,0.000,0.054,1750,3946,1979,0,0,0,0,0,0
$GC,3072,-0.44,-116.8,247.2,-8.0,361,3075,0.00,1.08,0.00,0.000,6,0.000,0.030,1751,3197,1979,0,0,0,0,0,0
$GC,3403,-0.44,-116.8,272.4,-7.6,392,3407,0.00,1.27,0.00,0.000,4,0.000,0.025,1751,2283,1978,0,0,0,0,0,0
$GC,3439,-0.46,-116.8,275.2,-7.5,395,3442,0.00,1.50,0.00,0.000,6,0.000,0.048,1744,3208,1978,0,0,0,0,0,0
$GC,3770,-0.43,-116.8,300.9,-7.7,426,3774,0.00,1.17,0.00,0.000,4,0.000,0.056,1738,3957,1978,0,0,0,0,0,0
$GC,3955,-0.39,-116.8,317.3,-8.7,442,3959,0.10,1.08,0.00,0.000,6,0.130,0.030,1772,3213,1978,0,0,0,0,0,0
$GC,4289,-0.43,-116.8,338.2,-6.3,473,4295,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,3213,1978,0,0,0,0,0,0
$GC,4616,-0.46,-116.8,360.3,-6.7,504,4617,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,3213,1978,0,0,0,0,0,0
$GC,4935,-0.50,-116.8,382.1,-6.7,534,4941,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,3213,1978,0,0,0,0,0,0
$GC,5261,-0.54,-116.8,404.4,-6.7,562,5263,0.12,0.00,0.00,0.000,6,0.090,0.000,1711,3212,1978,0,0,0,0,0,0
$GC,5568,-0.45,-116.8,437.5,-10.8,577,5569,0.17,0.00,0.00,0.000,6,0.152,0.000,1759,3212,1978,0,0,0,0,0,0
$GC,5877,-0.45,-116.8,459.9,-7.0,592,5878,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,3213,1978,0,0,0,0,0,0
$GC,6187,-0.47,-116.8,480.8,-6.6,607,6188,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,3213,1978,0,0,0,0,0,0
$GC,6496,-0.48,-116.8,500.6,-6.4,622,6500,0.00,1.15,0.00,0.000,4,0.000,0.056,1755,3941,1978,0,0,0,0,0,0
$GC,6565,-0.48,-116.8,505.5,-7.5,625,6569,0.00,1.05,0.00,0.000,6,0.000,0.031,1755,3213,1978,0,0,0,0,0,0
$GC,6900,-0.48,-116.8,527.3,-6.4,641,6903,0.00,1.15,0.00,0.000,4,0.000,0.055,1750,3944,1978,0,0,0,0,0,0
$GC,6950,-0.48,-116.8,531.2,-7.0,643,6953,0.00,1.05,0.00,0.000,6,0.000,0.030,1750,3207,1978,0,0,0,0,0,0
$GC,7278,-0.48,-116.8,553.6,-6.7,659,7281,0.00,1.17,0.00,0.000,4,0.000,0.054,1744,3946,1978,0,0,0,0,0,0
$GC,7356,-0.46,-116.8,559.9,-7.5,662,7360,0.00,1.08,0.00,0.000,6,0.000,0.030,1744,3199,1978,0,0,0,0,0,0
$GC,7679,-0.44,-116.8,585.4,-8.3,678,7683,0.00,1.27,0.00,0.000,4,0.000,0.025,1744,2290,1978,0,0,0,0,0,0
$GC,7705,-0.44,-116.8,587.9,-9.1,679,7710,0.00,1.48,0.00,0.000,6,0.000,0.047,1737,3204,1978,0,0,0,0,0,0
$GC,8033,-0.42,-116.8,617.1,-9.2,695,8035,0.12,0.00,0.00,0.000,6,0.164,0.000,1770,3204,1978,0,0,0,0,0,0
$GC,8344,-0.47,-116.8,638.6,-6.8,710,8347,0.00,1.17,0.00,0.000,4,0.000,0.056,1766,3950,1978,0,0,0,0,0,0
$GC,8405,-0.50,-116.8,643.3,-7.3,712,8412,0.00,1.08,0.00,0.000,6,0.000,0.031,1766,3209,1978,0,0,0,0,0,0
$GC,8722,-0.54,-116.8,664.6,-6.6,728,8724,0.10,0.00,0.00,0.000,6,0.107,0.000,1712,3208,1978,0,0,0,0,0,0
$GC,9031,-0.47,-116.8,694.6,-9.7,743,9035,0.15,1.20,0.00,0.000,4,0.158,0.055,1749,3948,1978,0,0,0,0,0,0
$GC,9085,-0.47,-116.8,699.4,-8.0,745,9089,0.00,1.05,0.00,0.000,6,0.000,0.031,1749,3217,1978,0,0,0,0,0,0
$GC,9407,-0.47,-116.8,722.4,-7.1,761,9410,0.00,1.15,0.00,0.000,4,0.000,0.057,1745,3936,1978,0,0,0,0,0,0
$GC,9440,-0.45,-116.8,725.2,-8.1,762,9444,0.00,1.05,0.00,0.000,6,0.000,0.031,1744,3215,1978,0,0,0,0,0,0
$GC,9763,-0.45,-116.8,749.0,-7.5,778,9766,0.00,1.17,0.00,0.000,4,0.000,0.057,1739,3949,1978,0,0,0,0,0,0
$GC,9818,-0.43,-116.8,753.7,-7.7,780,9822,0.00,1.08,0.00,0.000,6,0.000,0.030,1738,3207,1978,0,0,0,0,0,0
$GC,10140,-0.43,-116.8,778.1,-7.7,796,10144,0.00,1.17,0.00,0.000,4,0.000,0.057,1733,3945,1978,0,0,0,0,0,0
$GC,10210,-0.40,-116.8,783.9,-8.4,799,10214,0.10,1.08,0.00,0.000,6,0.133,0.031,1766,3213,1978,0,0,0,0,0,0
$GC,10544,-0.45,-116.8,804.2,-5.9,815,10545,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,3212,1978,0,0,0,0,0,0
$GC,10853,-0.49,-116.8,822.7,-6.0,830,10854,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,3212,1978,0,0,0,0,0,0
$GC,11161,-0.54,-116.8,841.6,-6.0,845,11163,0.12,0.00,0.00,0.000,6,0.092,0.000,1706,3211,1978,0,0,0,0,0,0
$GC,11471,-0.47,-116.8,872.3,-10.3,860,11476,0.15,1.20,0.00,0.000,4,0.158,0.057,1743,3951,1976,0,0,0,0,0,0
$GC,11565,-0.47,-116.8,880.9,-8.4,864,11569,0.00,1.08,0.00,0.000,6,0.000,0.031,1743,3208,1976,0,0,0,0,0,0
$GC,11894,-0.47,-116.8,906.6,-7.8,880,11898,0.00,1.17,0.00,0.000,4,0.000,0.057,1738,3942,1976,0,0,0,0,0,0
$GC,11925,-0.47,-116.8,909.6,-9.1,881,11930,0.00,1.08,0.00,0.000,6,0.000,0.031,1738,3208,1976,0,0,0,0,0,0
$GC,12248,-0.47,-116.8,935.8,-8.2,897,12249,0.00,0.00,0.00,0.000,6,0.000,0.000,1738,3208,1976,0,0,0,0,0,0
$GC,12558,-0.47,-116.8,960.9,-8.0,912,12559,0.00,0.00,0.00,0.000,6,0.000,0.000,1738,3208,1976,0,0,0,0,0,0
$STATE,12616,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12617,begin apogee
$GC,12622,-0.09,0.0,965.8,7.8,915,12760,0.45,0.00,127.00,1.782,6,0.128,0.000,1874,2920,1502,0,0,0,0,1,0
$STATE,12761,end apogee,CONTROL_FINISHED_OK
$STATE,12761,begin climb
$GC,12763,0.43,116.8,970.6,0.0,922,12897,0.50,1.48,128.02,1.797,4,0.085,0.025,2047,2043,1027,0,0,0,0,0,0
$GC,12942,0.45,138.6,961.0,7.5,930,12975,0.00,1.55,24.12,1.717,6,0.000,0.044,2047,2919,935,0,0,0,0,0,0
$GC,13284,0.41,138.6,929.8,9.6,947,13287,0.00,1.42,0.00,0.000,4,0.000,0.054,2047,3810,936,0,0,0,0,0,0
$GC,13354,0.33,138.6,922.1,11.6,950,13358,0.12,1.33,0.00,0.000,6,0.164,0.028,2016,2903,936,0,0,0,0,0,0
$GC,13688,0.38,161.9,897.4,7.4,966,13717,0.00,1.55,22.98,1.756,4,0.000,0.055,2016,3811,840,0,0,0,0,0,0
$GC,13763,0.38,161.9,890.7,9.6,969,13767,0.00,1.33,0.00,0.000,6,0.000,0.028,2022,2922,844,0,0,0,0,0,0
$GC,14086,0.40,161.9,861.7,9.4,985,14089,0.00,1.42,0.00,0.000,4,0.000,0.054,2022,3804,843,0,0,0,0,0,0
$GC,14131,0.40,161.9,856.6,11.3,987,14135,0.00,1.30,0.00,0.000,6,0.000,0.028,2029,2910,843,0,0,0,0,0,0
$GC,14464,0.40,161.9,822.0,10.3,1003,14468,0.00,1.45,0.00,0.000,4,0.000,0.055,2029,3806,843,0,0,0,0,0,0
$GC,14503,0.37,161.9,817.5,11.0,1004,14510,0.00,1.27,0.00,0.000,6,0.000,0.028,2035,2924,843,0,0,0,0,0,0
$GC,14819,0.37,161.9,785.1,9.8,1020,14822,0.00,1.25,0.00,0.000,4,0.000,0.030,2042,2067,842,0,0,0,0,0,0
$GC,14843,0.37,162.2,782.9,8.5,1021,14847,0.00,1.38,0.00,0.000,6,0.000,0.047,2042,2923,842,0,0,0,0,0,0
$GC,15176,0.37,162.2,750.6,9.3,1037,15179,0.00,1.40,0.00,0.000,4,0.000,0.055,2042,3795,842,0,0,0,0,0,0
$GC,15248,0.32,162.2,742.7,11.0,1040,15252,0.10,1.27,0.00,0.000,6,0.158,0.028,2017,2921,842,0,0,0,0,0,0
$GC,15577,0.37,175.1,717.4,7.9,1056,15600,0.00,1.48,13.62,1.630,4,0.000,0.056,2017,3806,790,0,0,0,0,0,0
$GC,15616,0.41,184.3,713.8,8.1,1057,15632,0.00,1.30,11.00,1.561,6,0.000,0.029,2022,2930,747,0,0,0,0,0,0
$GC,15957,0.44,184.3,683.8,8.7,1074,15960,0.00,1.27,0.00,0.000,4,0.000,0.029,2029,2054,752,0,0,0,0,0,0
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$STATE,22079,end climb,SURFACE_DEPTH_REACHED
$STATE,22079,begin surface coast
$FINISH,1.6,1.003146
$STATE,22104,end surface coast,CONTROL_FINISHED_OK
$STATE,22104,begin surface
$SM_CCo,22179,0.00,0.000,0,0,566,229.11
$SM_GC,2.71,5.30,0.00,0.00,0.043,0.000,0.000,71,3216,566,-5.66,0.20,229.11
$IRIDIUM_FIX,-4244.98,837.82,120908,161646
$TT8_MAMPS,0.026964
$HUMID,64.41
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,20.7,93.849
$10V_AH,9.7,62.445
$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,17.525,103.025,377.150,0.000,0.000,31.799,44.144,373.701,0.000,0.000,22.151,3918.782,14080.517,496.062,3862.577,426.277,0.000,1982.537,0.000,3397.314,0.000,0.545,0.000
$DEVICE_MAMPS,229.500,57.375,1796.985,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1098.945,1127.125,1095.352,95.691,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353952
$DATA_FILE_SIZE,90207,1583
$CAP_FILE_SIZE,216137,0
$CFSIZE,259252224,215273472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,171115,154152,-4301.150,841.866,31,1.5,49,-25.1