version: 66.07
glider: 543
mission: 14
dive: 508
start: 11 17 115 15 51 56
data:
$ID,543
$MISSION,14
$DIVE,508
$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,-25776.848
$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,83
$R_STBD_OVSHOOT,33
$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
$GPS1,171115,154152,-4301.150,841.866,31,1.5,49,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-72.3
$GPS2,171115,155131,-4301.111,841.959,19,0.9,21,-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,261.5,9676,-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,-116.8,0.0,0.0,0,65,0.00,0.00,-47.42,0.000,2,0.000,0.000,62,3221,1684,0,0,0,0,0,0
$GC,68,-0.43,-116.8,3.1,-1.3,6,93,7.05,0.00,-9.55,0.000,6,0.229,0.000,1760,3222,1977,0,0,0,0,0,0
$GC,143,-0.41,-116.8,11.8,-10.9,17,151,0.00,1.27,0.00,0.000,4,0.000,0.026,1760,2313,1978,0,0,0,0,0,0
$GC,167,-0.41,-116.8,14.2,-9.8,20,176,0.00,1.45,0.00,0.000,6,0.000,0.050,1755,3210,1979,0,0,0,0,0,0
$GC,227,-0.38,-116.8,20.5,-11.2,29,236,0.00,1.17,0.00,0.000,4,0.000,0.056,1749,3955,1979,0,0,0,0,0,0
$GC,263,-0.33,-116.8,24.3,-10.7,34,272,0.12,1.05,0.00,0.000,6,0.138,0.031,1788,3231,1979,0,0,0,0,0,0
$GC,418,-0.37,-116.8,34.9,-6.6,59,427,0.00,1.33,0.00,0.000,4,0.000,0.026,1789,2291,1979,0,0,0,0,0,0
$GC,448,-0.44,-116.8,37.2,-7.0,63,457,0.00,1.48,0.00,0.000,6,0.000,0.047,1784,3209,1979,0,0,0,0,0,0
$GC,600,-0.48,-116.8,47.4,-6.5,88,607,0.00,1.20,0.00,0.000,4,0.000,0.055,1778,3956,1979,0,0,0,0,0,0
$GC,631,-0.50,-116.8,49.7,-6.6,93,640,0.08,1.08,0.00,0.000,6,0.060,0.030,1724,3211,1979,0,0,0,0,0,0
$GC,985,-0.41,-116.8,89.5,-11.9,154,991,0.17,0.00,0.00,0.000,6,0.157,0.000,1771,3210,1979,0,0,0,0,0,0
$GC,1324,-0.43,-116.8,117.6,-8.8,196,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,3210,1979,0,0,0,0,0,0
$GC,1644,-0.45,-116.8,143.7,-7.9,226,1645,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,3210,1978,0,0,0,0,0,0
$GC,1963,-0.48,-116.8,166.8,-6.5,256,1966,0.00,1.17,0.00,0.000,4,0.000,0.056,1767,3954,1979,0,0,0,0,0,0
$GC,2088,-0.48,-116.8,176.3,-7.2,267,2092,0.00,1.08,0.00,0.000,6,0.000,0.031,1768,3211,1979,0,0,0,0,0,0
$GC,2420,-0.49,-116.8,200.1,-7.4,298,2424,0.00,1.30,0.00,0.000,4,0.000,0.026,1767,2288,1979,0,0,0,0,0,0
$GC,2457,-0.54,-116.8,202.7,-8.1,301,2461,0.00,1.50,0.00,0.000,6,0.000,0.048,1762,3218,1979,0,0,0,0,0,0
$GC,2788,-0.54,-116.8,229.5,-8.0,332,2791,0.00,1.15,0.00,0.000,4,0.000,0.054,1757,3957,1979,0,0,0,0,0,0
$GC,2902,-0.54,-116.8,239.9,-9.1,342,2906,0.00,1.08,0.00,0.000,6,0.000,0.029,1757,3206,1979,0,0,0,0,0,0
$GC,3235,-0.54,-116.8,270.1,-9.3,373,3238,0.00,1.27,0.00,0.000,4,0.000,0.026,1757,2291,1979,0,0,0,0,0,0
$GC,3297,-0.56,-116.8,275.7,-7.8,378,3303,0.00,1.48,0.00,0.000,6,0.000,0.047,1751,3208,1979,0,0,0,0,0,0
$GC,3624,-0.56,-116.8,304.6,-8.9,409,3627,0.00,1.17,0.00,0.000,4,0.000,0.054,1745,3957,1979,0,0,0,0,0,0
$GC,3685,-0.54,-116.8,310.5,-9.1,414,3692,0.00,1.08,0.00,0.000,6,0.000,0.030,1745,3211,1979,0,0,0,0,0,0
$GC,4013,-0.54,-116.8,337.6,-8.3,445,4014,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,3211,1979,0,0,0,0,0,0
$GC,4331,-0.52,-116.8,361.8,-7.2,475,4335,0.00,1.30,0.00,0.000,4,0.000,0.026,1745,2285,1979,0,0,0,0,0,0
$GC,4403,-0.52,-116.8,366.6,-6.5,481,4406,0.00,1.48,0.00,0.000,6,0.000,0.047,1739,3205,1979,0,0,0,0,0,0
$GC,4735,-0.49,-116.8,392.2,-7.6,512,4738,0.00,1.17,0.00,0.000,4,0.000,0.054,1733,3956,1979,0,0,0,0,0,0
$GC,4864,-0.45,-116.8,403.7,-8.6,521,4870,0.00,1.08,0.00,0.000,6,0.000,0.030,1733,3210,1979,0,0,0,0,0,0
$GC,5181,-0.41,-116.8,431.4,-9.0,537,5185,0.15,1.20,0.00,0.000,4,0.156,0.055,1770,3954,1979,0,0,0,0,0,0
$GC,5219,-0.45,-116.8,434.7,-6.9,538,5226,0.00,1.08,0.00,0.000,6,0.000,0.030,1770,3213,1979,0,0,0,0,0,0
$GC,5536,-0.48,-116.8,457.1,-7.4,554,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,3213,1979,0,0,0,0,0,0
$GC,5846,-0.52,-116.8,481.0,-7.9,569,5847,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,3213,1979,0,0,0,0,0,0
$GC,6154,-0.56,-116.8,505.7,-8.1,584,6158,0.12,1.20,0.00,0.000,4,0.090,0.056,1701,3953,1979,0,0,0,0,0,0
$GC,6201,-0.44,-116.8,510.9,-12.5,586,6205,0.17,1.08,0.00,0.000,6,0.138,0.029,1756,3213,1979,0,0,0,0,0,0
$GC,6533,-0.44,-116.8,539.4,-8.1,602,6535,0.00,0.00,0.00,0.000,6,0.000,0.000,1755,3213,1978,0,0,0,0,0,0
$GC,6843,-0.44,-116.8,563.4,-7.6,617,6844,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,3213,1978,0,0,0,0,0,0
$GC,7153,-0.46,-116.8,588.8,-8.4,632,7157,0.00,1.17,0.00,0.000,4,0.000,0.055,1752,3951,1978,0,0,0,0,0,0
$GC,7180,-0.46,-116.8,591.3,-8.6,633,7185,0.00,1.08,0.00,0.000,6,0.000,0.030,1752,3208,1979,0,0,0,0,0,0
$GC,7509,-0.46,-116.8,617.7,-7.9,649,7510,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,3209,1978,0,0,0,0,0,0
$GC,7818,-0.46,-116.8,639.5,-6.8,664,7821,0.00,1.20,0.00,0.000,4,0.000,0.057,1747,3948,1978,0,0,0,0,0,0
$GC,7867,-0.46,-116.8,643.3,-7.3,666,7871,0.00,1.08,0.00,0.000,6,0.000,0.031,1747,3208,1978,0,0,0,0,0,0
$GC,8196,-0.46,-116.8,665.3,-7.0,682,8199,0.00,1.17,0.00,0.000,4,0.000,0.055,1741,3947,1978,0,0,0,0,0,0
$GC,8235,-0.44,-116.8,668.6,-7.6,683,8241,0.00,1.08,0.00,0.000,6,0.000,0.031,1741,3209,1978,0,0,0,0,0,0
$GC,8551,-0.44,-116.8,693.0,-7.7,699,8552,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,3209,1978,0,0,0,0,0,0
$GC,8861,-0.44,-116.8,716.4,-7.5,714,8862,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,3209,1978,0,0,0,0,0,0
$GC,9169,-0.44,-116.8,740.6,-8.2,729,9173,0.00,1.20,0.00,0.000,4,0.000,0.056,1736,3949,1978,0,0,0,0,0,0
$GC,9197,-0.42,-116.8,743.1,-9.7,730,9201,0.08,1.08,0.00,0.000,6,0.135,0.031,1760,3215,1978,0,0,0,0,0,0
$GC,9526,-0.46,-116.8,766.6,-7.4,746,9530,0.00,1.33,0.00,0.000,4,0.000,0.027,1761,2282,1978,0,0,0,0,0,0
$GC,9554,-0.51,-116.8,769.0,-7.1,747,9557,0.00,1.50,0.00,0.000,6,0.000,0.048,1756,3208,1978,0,0,0,0,0,0
$GC,9882,-0.53,-116.8,792.7,-7.2,763,9886,0.00,1.17,0.00,0.000,4,0.000,0.056,1751,3952,1978,0,0,0,0,0,0
$GC,9943,-0.53,-116.8,797.7,-8.4,765,9950,0.00,1.10,0.00,0.000,6,0.000,0.031,1751,3200,1978,0,0,0,0,0,0
$GC,10261,-0.55,-116.8,820.7,-7.2,781,10262,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,3200,1978,0,0,0,0,0,0
$GC,10569,-0.57,-116.8,842.7,-7.0,796,10573,0.00,1.20,0.00,0.000,4,0.000,0.056,1745,3951,1978,0,0,0,0,0,0
$GC,10625,-0.57,-116.8,847.1,-7.4,798,10629,0.00,1.08,0.00,0.000,6,0.000,0.032,1745,3214,1978,0,0,0,0,0,0
$GC,10947,-0.57,-116.8,870.3,-7.2,814,10951,0.00,1.17,0.00,0.000,4,0.000,0.055,1740,3953,1978,0,0,0,0,0,0
$GC,11003,-0.57,-116.8,874.9,-8.0,816,11007,0.00,1.08,0.00,0.000,6,0.000,0.031,1740,3214,1978,0,0,0,0,0,0
$GC,11325,-0.57,-116.8,898.9,-7.5,832,11327,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,3214,1978,0,0,0,0,0,0
$GC,11634,-0.57,-116.8,921.9,-7.2,847,11638,0.00,1.17,0.00,0.000,4,0.000,0.055,1734,3952,1978,0,0,0,0,0,0
$GC,11718,-0.57,-116.8,928.9,-7.8,850,11724,0.00,1.08,0.00,0.000,6,0.000,0.032,1734,3214,1978,0,0,0,0,0,0
$GC,12035,-0.57,-116.8,953.5,-7.8,866,12036,0.00,0.00,0.00,0.000,6,0.000,0.000,1734,3215,1978,0,0,0,0,0,0
$GC,12343,-0.57,-116.8,977.1,-7.1,881,12347,0.00,1.17,0.00,0.000,4,0.000,0.055,1729,3952,1978,0,0,0,0,0,0
$GC,12377,-0.55,-116.8,979.8,-7.9,882,12381,0.00,1.10,0.00,0.000,6,0.000,0.031,1729,3202,1978,0,0,0,0,0,0
$STATE,12614,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12614,begin apogee
$GC,12620,-0.09,0.0,998.1,7.5,894,12767,0.47,0.00,133.62,1.833,6,0.130,0.000,1872,2915,1499,0,0,0,0,2,0
$STATE,12767,end apogee,CONTROL_FINISHED_OK
$STATE,12767,begin climb
$GC,12770,0.43,116.8,1001.1,0.0,901,12917,0.50,1.55,131.18,1.791,4,0.085,0.028,2043,2042,1023,0,0,0,0,1,0
$GC,12956,0.43,116.8,988.1,9.1,909,12963,0.00,1.55,0.00,0.000,6,0.000,0.046,2043,2912,1022,0,0,0,0,0,0
$GC,13273,0.39,116.8,955.5,10.6,925,13277,0.00,1.45,0.00,0.000,4,0.000,0.056,2043,3814,1019,0,0,0,0,0,0
$GC,13342,0.31,116.8,947.1,12.8,928,13346,0.12,1.33,0.00,0.000,6,0.164,0.028,2012,2909,1018,0,0,0,0,0,0
$GC,13678,0.34,127.6,919.3,8.0,944,13693,0.00,1.48,10.73,1.671,4,0.000,0.054,2012,3814,977,0,0,0,0,0,0
$GC,13739,0.32,127.6,913.6,9.6,946,13743,0.00,1.33,0.00,0.000,6,0.000,0.029,2018,2919,978,0,0,0,0,0,0
$GC,14073,0.35,140.5,887.0,7.9,962,14095,0.00,1.50,13.55,1.745,4,0.000,0.057,2017,3814,927,0,0,0,0,0,0
$GC,14129,0.33,140.5,882.1,9.0,964,14133,0.00,1.33,0.00,0.000,6,0.000,0.028,2024,2917,927,0,0,0,0,0,0
$GC,14451,0.34,154.7,856.4,7.8,980,14474,0.00,1.48,15.30,1.735,4,0.000,0.054,2024,3811,868,0,0,0,0,0,0
$GC,14513,0.32,154.7,850.8,9.2,982,14520,0.00,1.30,0.00,0.000,6,0.000,0.028,2031,2918,869,0,0,0,0,0,0
$GC,14829,0.32,155.9,824.1,8.5,998,14833,0.00,1.45,0.00,0.000,4,0.000,0.055,2031,3811,868,0,0,0,0,0,0
$GC,14863,0.29,155.9,820.7,10.1,999,14867,0.10,1.27,0.00,0.000,6,0.155,0.028,2007,2938,868,0,0,0,0,0,0
$GC,15186,0.38,190.3,798.4,6.9,1015,15224,0.00,0.00,36.28,1.763,6,0.000,0.000,2006,2937,721,0,0,0,0,0,0
$GC,15534,0.48,218.8,772.6,7.1,1032,15570,0.15,1.50,28.60,1.743,4,0.088,0.056,2069,3809,609,0,0,0,0,0,0
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$STATE,22261,end climb,SURFACE_DEPTH_REACHED
$STATE,22261,begin surface coast
$FINISH,1.5,1.026569
$STATE,22298,end surface coast,CONTROL_FINISHED_OK
$STATE,22300,begin surface
$SM_CCo,22374,0.00,0.000,0,0,532,237.45
$SM_GC,2.54,5.30,0.00,0.00,0.044,0.000,0.000,78,3220,532,-5.64,0.31,237.45
$IRIDIUM_FIX,-4244.98,840.29,120908,222259
$TT8_MAMPS,0.026964
$HUMID,64.72
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,20.6,94.060
$10V_AH,9.7,62.588
$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,15.000,110.575,378.100,0.000,0.000,26.826,22.700,353.342,0.000,0.000,25.564,3909.995,14221.018,528.413,3850.096,427.551,0.000,2022.079,0.000,3434.187,0.000,0.544,0.000
$DEVICE_MAMPS,228.735,61.200,1832.940,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1100.262,1130.273,1148.243,111.594,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353868
$DATA_FILE_SIZE,90170,1585
$CAP_FILE_SIZE,215305,0
$CFSIZE,259252224,215171072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,2
$GPS,171115,220603,-4301.492,841.491,37,1.0,38,-25.1