version: 66.07
glider: 543
mission: 14
dive: 514
start: 11 19 115 6 32 41
data:
$ID,543
$MISSION,14
$DIVE,514
$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,-25802.938
$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,91
$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
$GPS1,191115,061833,-4301.947,839.971,73,0.8,73,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-65.9
$GPS2,191115,063218,-4302.126,841.287,32,1.7,33,-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,269.2,7950,-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,-55.65,0.000,2,0.000,0.000,54,3225,1797,0,0,0,0,0,0
$GC,75,-0.43,-116.8,3.2,-1.7,7,94,7.00,1.20,-5.68,0.000,4,0.226,0.074,1755,3956,1978,0,0,0,0,0,0
$GC,221,-0.38,-116.8,17.3,-6.2,30,230,0.00,1.02,0.00,0.000,6,0.000,0.030,1755,3235,1979,0,0,0,0,0,0
$GC,281,-0.34,-116.8,22.7,-10.1,39,289,0.12,0.00,0.00,0.000,6,0.171,0.000,1788,3234,1979,0,0,0,0,0,0
$GC,436,-0.40,-116.8,35.8,-10.2,64,444,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3234,1979,0,0,0,0,0,0
$GC,584,-0.45,-116.8,47.3,-7.8,89,590,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3235,1979,0,0,0,0,0,0
$GC,932,-0.50,-116.8,67.6,-4.7,150,941,0.15,1.35,0.00,0.000,4,0.080,0.027,1717,2294,1979,0,0,0,0,0,0
$GC,979,-0.44,-116.8,71.3,-8.4,157,986,0.12,1.48,0.00,0.000,6,0.131,0.047,1751,3209,1979,0,0,0,0,0,0
$GC,1323,-0.42,-116.8,106.7,-9.5,212,1326,0.00,1.20,0.00,0.000,4,0.000,0.056,1747,3958,1979,0,0,0,0,0,0
$GC,1370,-0.37,-116.8,111.3,-10.5,216,1374,0.10,1.08,0.00,0.000,6,0.134,0.030,1780,3213,1979,0,0,0,0,0,0
$GC,1700,-0.41,-116.8,135.9,-7.0,247,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,1779,3214,1979,0,0,0,0,0,0
$GC,2023,-0.45,-116.8,159.1,-7.3,277,2029,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,3214,1979,0,0,0,0,0,0
$GC,2351,-0.49,-116.8,181.6,-6.6,308,2359,0.00,0.00,0.00,0.000,6,0.000,0.000,1780,3214,1979,0,0,0,0,0,0
$GC,2678,-0.54,-116.8,204.0,-7.2,339,2682,0.15,1.33,0.00,0.000,4,0.080,0.027,1708,2288,1979,0,0,0,0,0,0
$GC,2726,-0.47,-116.8,208.7,-10.2,343,2730,0.15,1.48,0.00,0.000,6,0.127,0.047,1753,3204,1979,0,0,0,0,0,0
$GC,3056,-0.47,-116.8,235.4,-7.3,374,3060,0.00,1.17,0.00,0.000,4,0.000,0.055,1749,3955,1979,0,0,0,0,0,0
$GC,3079,-0.47,-116.8,237.1,-7.6,376,3083,0.00,1.08,0.00,0.000,6,0.000,0.028,1749,3199,1979,0,0,0,0,0,0
$GC,3410,-0.47,-116.8,262.2,-7.8,407,3411,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,3199,1979,0,0,0,0,0,0
$GC,3734,-0.47,-116.8,285.2,-7.3,437,3740,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,3199,1980,0,0,0,0,0,0
$GC,4061,-0.47,-116.8,311.6,-8.1,468,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,3199,1979,0,0,0,0,0,0
$GC,4380,-0.47,-116.8,338.3,-8.5,498,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,3199,1979,0,0,0,0,0,0
$GC,4697,-0.47,-116.8,365.6,-8.2,528,4701,0.00,1.27,0.00,0.000,4,0.000,0.027,1749,2302,1979,0,0,0,0,0,0
$GC,4725,-0.47,-116.8,368.2,-8.8,530,4732,0.00,1.48,0.00,0.000,6,0.000,0.047,1743,3215,1979,0,0,0,0,0,0
$GC,5053,-0.45,-116.8,396.6,-8.5,561,5057,0.00,1.15,0.00,0.000,4,0.000,0.054,1737,3951,1979,0,0,0,0,0,0
$GC,5088,-0.41,-116.8,399.9,-9.2,564,5093,0.08,1.05,0.00,0.000,6,0.135,0.030,1762,3219,1979,0,0,0,0,0,0
$GC,5412,-0.43,-116.8,423.1,-7.2,580,5415,0.00,1.33,0.00,0.000,4,0.000,0.026,1762,2283,1979,0,0,0,0,0,0
$GC,5445,-0.47,-116.8,425.7,-6.9,581,5449,0.00,1.50,0.00,0.000,6,0.000,0.049,1757,3207,1979,0,0,0,0,0,0
$GC,5767,-0.47,-116.8,450.4,-7.6,597,5771,0.00,1.17,0.00,0.000,4,0.000,0.057,1752,3953,1979,0,0,0,0,0,0
$GC,5806,-0.47,-116.8,454.0,-8.7,598,5813,0.00,1.08,0.00,0.000,6,0.000,0.029,1752,3206,1980,0,0,0,0,0,0
$GC,6123,-0.47,-116.8,478.7,-7.7,614,6124,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,3206,1979,0,0,0,0,0,0
$GC,6432,-0.47,-116.8,500.9,-7.0,629,6433,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,3206,1979,0,0,0,0,0,0
$GC,6741,-0.47,-116.8,522.1,-6.7,644,6745,0.00,1.30,0.00,0.000,4,0.000,0.027,1752,2292,1979,0,0,0,0,0,0
$GC,6775,-0.50,-116.8,524.4,-6.4,645,6779,0.00,1.50,0.00,0.000,6,0.000,0.048,1745,3215,1979,0,0,0,0,0,0
$GC,7097,-0.50,-116.8,548.3,-7.8,661,7098,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,3215,1979,0,0,0,0,0,0
$GC,7406,-0.50,-116.8,574.0,-8.4,676,7407,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,3216,1979,0,0,0,0,0,0
$GC,7716,-0.50,-116.8,599.9,-8.4,691,7717,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,3216,1979,0,0,0,0,0,0
$GC,8025,-0.50,-116.8,624.1,-7.2,706,8028,0.00,1.30,0.00,0.000,4,0.000,0.027,1745,2302,1979,0,0,0,0,0,0
$GC,8081,-0.52,-116.8,628.2,-7.4,708,8084,0.00,1.48,0.00,0.000,6,0.000,0.049,1738,3209,1979,0,0,0,0,0,0
$GC,8403,-0.50,-116.8,651.6,-7.3,724,8407,0.00,1.20,0.00,0.000,4,0.000,0.057,1732,3956,1978,0,0,0,0,0,0
$GC,8450,-0.46,-116.8,655.4,-8.1,726,8454,0.00,1.08,0.00,0.000,6,0.000,0.031,1732,3212,1979,0,0,0,0,0,0
$GC,8784,-0.43,-116.8,681.3,-8.0,742,8788,0.12,1.33,0.00,0.000,4,0.163,0.027,1765,2292,1979,0,0,0,0,0,0
$GC,8822,-0.50,-116.8,683.9,-5.8,743,8829,0.00,1.50,0.00,0.000,6,0.000,0.050,1760,3211,1979,0,0,0,0,0,0
$GC,9139,-0.53,-116.8,703.9,-6.4,759,9143,0.00,1.17,0.00,0.000,4,0.000,0.057,1755,3955,1979,0,0,0,0,0,0
$GC,9190,-0.55,-116.8,707.7,-6.9,761,9193,0.00,1.08,0.00,0.000,6,0.000,0.031,1755,3212,1979,0,0,0,0,0,0
$GC,9517,-0.57,-116.8,730.6,-7.1,777,9521,0.10,1.33,0.00,0.000,4,0.107,0.027,1705,2294,1979,0,0,0,0,0,0
$GC,9573,-0.53,-116.8,736.0,-9.9,779,9578,0.10,1.50,0.00,0.000,6,0.136,0.049,1729,3214,1979,0,0,0,0,0,0
$GC,9895,-0.50,-116.8,764.8,-8.9,795,9896,0.00,0.00,0.00,0.000,6,0.000,0.000,1729,3215,1979,0,0,0,0,0,0
$GC,10206,-0.47,-116.8,790.5,-8.1,810,10209,0.00,1.17,0.00,0.000,4,0.000,0.057,1725,3956,1979,0,0,0,0,0,0
$GC,10239,-0.43,-116.8,793.6,-8.7,811,10243,0.10,1.08,0.00,0.000,6,0.133,0.031,1758,3216,1979,0,0,0,0,0,0
$GC,10562,-0.46,-116.8,814.0,-6.2,827,10564,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,3216,1979,0,0,0,0,0,0
$GC,10870,-0.50,-116.8,833.0,-6.0,842,10873,0.00,1.33,0.00,0.000,4,0.000,0.027,1758,2289,1979,0,0,0,0,0,0
$GC,10903,-0.55,-116.8,835.1,-6.0,843,10906,0.00,1.50,0.00,0.000,6,0.000,0.049,1753,3207,1978,0,0,0,0,0,0
$GC,11226,-0.57,-116.8,853.5,-5.4,859,11229,0.00,1.17,0.00,0.000,4,0.000,0.057,1747,3948,1979,0,0,0,0,0,0
$GC,11259,-0.57,-116.8,855.5,-5.6,860,11263,0.00,1.08,0.00,0.000,6,0.000,0.031,1748,3207,1978,0,0,0,0,0,0
$GC,11581,-0.57,-116.8,873.7,-5.8,876,11585,0.00,1.30,0.00,0.000,4,0.000,0.027,1747,2294,1979,0,0,0,0,0,0
$GC,11610,-0.60,-116.8,875.3,-5.7,877,11613,0.00,1.50,0.00,0.000,6,0.000,0.049,1741,3210,1979,0,0,0,0,0,0
$GC,11937,-0.60,-116.8,896.8,-6.8,893,11938,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,3209,1979,0,0,0,0,0,0
$GC,12247,-0.60,-116.8,919.0,-7.5,908,12251,0.00,1.20,0.00,0.000,4,0.000,0.058,1735,3951,1979,0,0,0,0,0,0
$GC,12292,-0.60,-116.8,922.7,-8.3,910,12296,0.00,1.08,0.00,0.000,6,0.000,0.031,1736,3211,1979,0,0,0,0,0,0
$STATE,12623,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12623,begin apogee
$GC,12629,-0.09,0.0,948.6,7.8,926,12769,0.45,0.00,131.85,1.839,6,0.129,0.000,1871,2923,1499,0,0,0,0,1,0
$STATE,12770,end apogee,CONTROL_FINISHED_OK
$STATE,12770,begin climb
$GC,12773,0.43,116.8,952.5,0.0,933,12915,0.50,1.55,130.95,1.779,4,0.087,0.027,2042,2045,1023,0,0,0,0,1,0
$GC,12954,0.43,121.5,941.5,8.3,940,12965,0.00,1.58,6.20,1.425,6,0.000,0.045,2042,2922,1003,0,0,0,0,0,0
$GC,13294,0.40,121.5,910.0,8.9,957,13298,0.00,1.42,0.00,0.000,4,0.000,0.056,2042,3810,1000,0,0,0,0,0,0
$GC,13372,0.32,121.5,901.1,10.9,960,13377,0.12,1.33,0.00,0.000,6,0.161,0.029,2012,2908,999,0,0,0,0,0,0
$GC,13695,0.37,150.7,878.2,7.1,976,13730,0.00,1.55,28.95,1.769,4,0.000,0.056,2012,3814,883,0,0,0,0,0,0
$GC,13776,0.37,150.9,871.7,8.5,979,13783,0.00,1.33,0.00,0.000,6,0.000,0.028,2017,2924,882,0,0,0,0,0,0
$GC,14092,0.43,170.9,847.5,7.6,995,14115,0.00,0.00,20.40,1.731,6,0.000,0.000,2017,2924,801,0,0,0,0,0,0
$GC,14422,0.47,177.3,821.6,8.2,1011,14436,0.12,1.50,7.47,1.532,4,0.099,0.056,2070,3819,777,0,0,0,0,0,0
$GC,14459,0.38,177.3,817.0,13.4,1012,14466,0.15,1.33,0.00,0.000,6,0.160,0.028,2033,2913,777,0,0,0,0,0,0
$GC,14775,0.38,177.3,784.3,10.1,1028,14776,0.00,0.00,0.00,0.000,6,0.000,0.000,2033,2912,776,0,0,0,0,0,0
$GC,15084,0.38,177.3,753.7,9.9,1043,15088,0.00,1.45,0.00,0.000,4,0.000,0.054,2032,3807,775,0,0,0,0,0,0
$GC,15122,0.36,177.3,749.3,12.4,1044,15129,0.00,1.30,0.00,0.000,6,0.000,0.029,2038,2922,775,0,0,0,0,0,0
$GC,15439,0.36,177.3,717.4,9.7,1060,15443,0.00,1.27,0.00,0.000,4,0.000,0.029,2044,2044,775,0,0,0,0,0,0
$GC,15472,0.39,177.3,714.2,8.8,1061,15476,0.00,1.42,0.00,0.000,6,0.000,0.046,2044,2937,775,0,0,0,0,0,0
$GC,15794,0.39,177.3,681.1,10.2,1077,15795,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,2936,774,0,0,0,0,0,0
$GC,16103,0.39,177.3,648.4,10.8,1092,16104,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,2937,774,0,0,0,0,0,0
$GC,16412,0.39,177.3,615.4,10.3,1107,16413,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,2937,774,0,0,0,0,0,0
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$STATE,22088,end climb,SURFACE_DEPTH_REACHED
$STATE,22088,begin surface coast
$FINISH,1.4,1.025867
$STATE,22107,end surface coast,CONTROL_FINISHED_OK
$STATE,22107,begin surface
$SM_CCo,22183,0.00,0.000,0,0,506,243.82
$SM_GC,2.45,5.57,0.00,0.00,0.050,0.000,0.000,75,3216,506,-5.65,0.17,243.82
$IRIDIUM_FIX,-4242.04,837.38,140908,191925
$TT8_MAMPS,0.026964
$HUMID,65.67
$INTERNAL_PRESSURE,11.3786
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,20.6,95.382
$10V_AH,9.7,63.460
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.650,100.775,394.050,0.000,0.000,53.872,131.172,386.830,0.000,0.000,35.183,3884.437,14258.958,515.811,3910.912,419.782,0.000,1956.967,0.000,3312.600,0.000,0.544,0.000
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$SENSOR_SECS,1097.185,1128.192,1105.332,99.831,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353948
$DATA_FILE_SIZE,90162,1582
$CAP_FILE_SIZE,210696,0
$CFSIZE,259252224,214589440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,191115,124504,-4302.036,840.935,126,0.8,126,-25.1