version: 66.07
glider: 543
mission: 14
dive: 520
start: 11 20 115 21 35 23
data:
$ID,543
$MISSION,14
$DIVE,520
$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,-25827.529
$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,87
$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
$GPS1,201115,212452,-4301.127,840.693,40,1.0,41,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-69.4
$GPS2,201115,213459,-4301.078,840.947,15,1.8,16,-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,256.1,8608,-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,-48.30,0.000,2,0.000,0.000,62,3221,1674,0,0,0,0,0,0
$GC,69,-0.43,-116.8,3.1,-1.6,6,94,7.12,0.00,-9.73,0.000,6,0.230,0.000,1762,3221,1977,0,0,0,0,0,0
$GC,143,-0.43,-116.8,11.7,-10.9,17,152,0.00,1.27,0.00,0.000,4,0.000,0.026,1762,2309,1978,0,0,0,0,0,0
$GC,173,-0.43,-116.8,15.4,-13.0,21,182,0.00,1.45,0.00,0.000,6,0.000,0.050,1757,3203,1978,0,0,0,0,0,0
$GC,233,-0.40,-116.8,22.4,-12.0,30,241,0.00,1.17,0.00,0.000,4,0.000,0.054,1752,3955,1978,0,0,0,0,0,0
$GC,309,-0.36,-116.8,32.1,-12.3,42,319,0.08,1.02,0.00,0.000,6,0.140,0.029,1776,3235,1978,0,0,0,0,0,0
$GC,462,-0.38,-116.8,47.2,-9.0,67,468,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,3234,1978,0,0,0,0,0,0
$GC,813,-0.40,-116.8,77.5,-7.5,128,820,0.00,1.33,0.00,0.000,4,0.000,0.025,1776,2291,1978,0,0,0,0,0,0
$GC,872,-0.45,-116.8,82.3,-7.8,138,881,0.00,1.48,0.00,0.000,6,0.000,0.048,1771,3203,1978,0,0,0,0,0,0
$GC,1220,-0.45,-116.8,111.5,-8.3,187,1224,0.00,1.17,0.00,0.000,4,0.000,0.055,1766,3955,1978,0,0,0,0,0,0
$GC,1278,-0.45,-116.8,116.6,-9.5,192,1281,0.00,1.08,0.00,0.000,6,0.000,0.029,1766,3202,1978,0,0,0,0,0,0
$GC,1608,-0.45,-116.8,144.7,-8.9,223,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,3203,1978,0,0,0,0,0,0
$GC,1931,-0.45,-116.8,171.6,-8.5,253,1934,0.00,1.27,0.00,0.000,4,0.000,0.025,1766,2295,1978,0,0,0,0,0,0
$GC,1982,-0.48,-116.8,176.2,-8.0,257,1989,0.00,1.48,0.00,0.000,6,0.000,0.048,1759,3203,1978,0,0,0,0,0,0
$GC,2308,-0.48,-116.8,202.6,-8.2,288,2312,0.00,1.27,0.00,0.000,4,0.000,0.025,1759,2288,1978,0,0,0,0,0,0
$GC,2343,-0.50,-116.8,205.3,-7.8,291,2346,0.00,1.50,0.00,0.000,6,0.000,0.048,1753,3210,1978,0,0,0,0,0,0
$GC,2674,-0.50,-116.8,233.1,-8.4,322,2677,0.00,1.17,0.00,0.000,4,0.000,0.054,1748,3958,1978,0,0,0,0,0,0
$GC,2778,-0.47,-116.8,242.4,-8.4,331,2782,0.00,1.08,0.00,0.000,6,0.000,0.029,1748,3206,1978,0,0,0,0,0,0
$GC,3109,-0.45,-116.8,268.5,-7.7,362,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,3206,1978,0,0,0,0,0,0
$GC,3430,-0.43,-116.8,294.6,-8.9,392,3433,0.00,1.27,0.00,0.000,4,0.000,0.025,1748,2297,1978,0,0,0,0,0,0
$GC,3510,-0.43,-116.8,301.4,-8.1,399,3514,0.00,1.48,0.00,0.000,6,0.000,0.047,1741,3207,1978,0,0,0,0,0,0
$GC,3841,-0.40,-116.8,334.5,-9.7,430,3846,0.12,1.30,0.00,0.000,4,0.163,0.026,1774,2299,1978,0,0,0,0,0,0
$GC,3878,-0.46,-116.8,337.2,-7.2,433,3882,0.00,1.48,0.00,0.000,6,0.000,0.047,1769,3212,1978,0,0,0,0,0,0
$GC,4210,-0.49,-116.8,359.7,-6.3,464,4211,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,3212,1978,0,0,0,0,0,0
$GC,4531,-0.52,-116.8,379.2,-5.4,494,4534,0.00,1.30,0.00,0.000,4,0.000,0.026,1769,2295,1978,0,0,0,0,0,0
$GC,4558,-0.57,-116.8,381.1,-6.1,496,4568,0.10,1.48,0.00,0.000,6,0.050,0.048,1699,3207,1978,0,0,0,0,0,0
$GC,4882,-0.46,-116.8,413.9,-10.9,521,4884,0.20,0.00,0.00,0.000,6,0.158,0.000,1754,3208,1978,0,0,0,0,0,0
$GC,5189,-0.46,-116.8,435.9,-6.7,536,5190,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,3208,1978,0,0,0,0,0,0
$GC,5499,-0.46,-116.8,455.2,-6.0,551,5500,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,3208,1978,0,0,0,0,0,0
$GC,5809,-0.46,-116.8,472.8,-5.5,566,5812,0.00,1.30,0.00,0.000,4,0.000,0.026,1754,2290,1977,0,0,0,0,0,0
$GC,5849,-0.49,-116.8,475.1,-5.0,567,5856,0.00,1.50,0.00,0.000,6,0.000,0.048,1749,3209,1978,0,0,0,0,0,0
$GC,6167,-0.49,-116.8,493.5,-6.0,583,6168,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,3209,1978,0,0,0,0,0,0
$GC,6475,-0.49,-116.8,513.0,-6.4,598,6479,0.00,1.33,0.00,0.000,4,0.000,0.027,1748,2295,1978,0,0,0,0,0,0
$GC,6526,-0.51,-116.8,516.3,-5.8,600,6529,0.00,1.50,0.00,0.000,6,0.000,0.049,1742,3211,1978,0,0,0,0,0,0
$GC,6854,-0.49,-116.8,540.1,-7.7,616,6855,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3211,1978,0,0,0,0,0,0
$GC,7163,-0.48,-116.8,564.2,-7.9,631,7164,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3211,1978,0,0,0,0,0,0
$GC,7472,-0.46,-116.8,587.5,-7.3,646,7476,0.00,1.17,0.00,0.000,4,0.000,0.056,1737,3954,1978,0,0,0,0,0,0
$GC,7523,-0.43,-116.8,591.7,-8.2,648,7527,0.00,1.08,0.00,0.000,6,0.000,0.031,1737,3212,1978,0,0,0,0,0,0
$GC,7851,-0.40,-116.8,616.3,-7.6,664,7855,0.12,1.33,0.00,0.000,4,0.161,0.026,1770,2292,1978,0,0,0,0,0,0
$GC,7907,-0.47,-116.8,619.8,-5.7,666,7910,0.00,1.50,0.00,0.000,6,0.000,0.049,1764,3209,1978,0,0,0,0,0,0
$GC,8229,-0.50,-116.8,637.6,-5.6,682,8232,0.00,1.20,0.00,0.000,4,0.000,0.058,1759,3953,1978,0,0,0,0,0,0
$GC,8268,-0.52,-116.8,640.1,-6.1,683,8275,0.00,1.08,0.00,0.000,6,0.000,0.031,1759,3210,1978,0,0,0,0,0,0
$GC,8585,-0.55,-116.8,659.2,-6.2,699,8589,0.00,1.30,0.00,0.000,4,0.000,0.027,1759,2296,1978,0,0,0,0,0,0
$GC,8646,-0.59,-116.8,663.4,-6.8,701,8654,0.10,1.50,0.00,0.000,6,0.055,0.050,1690,3212,1978,0,0,0,0,0,0
$GC,8963,-0.48,-116.8,698.3,-11.4,717,8967,0.20,1.17,0.00,0.000,4,0.163,0.054,1741,3950,1978,0,0,0,0,0,0
$GC,9009,-0.48,-116.8,702.7,-8.6,719,9013,0.00,1.08,0.00,0.000,6,0.000,0.031,1741,3202,1978,0,0,0,0,0,0
$GC,9343,-0.48,-116.8,727.1,-7.0,735,9346,0.00,1.20,0.00,0.000,4,0.000,0.055,1735,3958,1978,0,0,0,0,0,0
$GC,9370,-0.45,-116.8,729.4,-8.1,736,9374,0.00,1.08,0.00,0.000,6,0.000,0.030,1735,3212,1978,0,0,0,0,0,0
$GC,9698,-0.43,-116.8,752.8,-7.1,752,9702,0.00,1.30,0.00,0.000,4,0.000,0.027,1736,2296,1978,0,0,0,0,0,0
$GC,9732,-0.43,-116.8,755.0,-6.4,753,9736,0.10,1.50,0.00,0.000,6,0.126,0.050,1760,3212,1978,0,0,0,0,0,0
$GC,10055,-0.47,-116.8,772.9,-5.7,769,10056,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,3212,1978,0,0,0,0,0,0
$GC,10364,-0.51,-116.8,790.9,-5.9,784,10368,0.00,1.30,0.00,0.000,4,0.000,0.028,1760,2301,1978,0,0,0,0,0,0
$GC,10403,-0.57,-116.8,793.5,-6.7,785,10410,0.08,1.48,0.00,0.000,6,0.057,0.050,1705,3205,1978,0,0,0,0,0,0
$GC,10719,-0.49,-116.8,824.4,-10.1,801,10721,0.15,0.00,0.00,0.000,6,0.165,0.000,1745,3205,1978,0,0,0,0,0,0
$GC,11028,-0.49,-116.8,848.7,-7.8,816,11029,0.00,0.00,0.00,0.000,6,0.000,0.000,1745,3205,1978,0,0,0,0,0,0
$GC,11337,-0.49,-116.8,873.2,-8.0,831,11341,0.00,1.30,0.00,0.000,4,0.000,0.028,1745,2297,1978,0,0,0,0,0,0
$GC,11377,-0.52,-116.8,876.2,-7.6,832,11384,0.00,1.50,0.00,0.000,6,0.000,0.049,1739,3212,1978,0,0,0,0,0,0
$GC,11693,-0.52,-116.8,902.2,-8.4,848,11697,0.00,1.17,0.00,0.000,4,0.000,0.057,1734,3956,1978,0,0,0,0,0,0
$GC,11732,-0.51,-116.8,905.6,-9.0,849,11738,0.00,1.08,0.00,0.000,6,0.000,0.031,1734,3214,1978,0,0,0,0,0,0
$GC,12049,-0.51,-116.8,931.7,-7.9,865,12052,0.00,1.33,0.00,0.000,4,0.000,0.027,1734,2292,1978,0,0,0,0,0,0
$GC,12077,-0.51,-116.8,934.1,-8.6,866,12081,0.00,1.50,0.00,0.000,6,0.000,0.050,1727,3205,1978,0,0,0,0,0,0
$GC,12406,-0.48,-116.8,960.2,-8.1,882,12407,0.00,0.00,0.00,0.000,6,0.000,0.000,1727,3205,1978,0,0,0,0,0,0
$STATE,12608,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12608,begin apogee
$GC,12614,-0.09,0.0,976.1,7.6,892,12776,0.47,0.00,138.52,1.789,6,0.132,0.000,1870,2922,1499,0,0,0,0,4,0
$STATE,12776,end apogee,CONTROL_FINISHED_OK
$STATE,12777,begin climb
$GC,12779,0.43,116.8,980.4,0.0,900,12929,0.52,1.52,132.62,1.756,4,0.086,0.028,2048,2049,1023,0,0,0,0,2,0
$GC,12962,0.43,120.3,968.6,8.4,908,12972,0.00,1.58,4.47,1.264,6,0.000,0.045,2048,2921,1010,0,0,0,0,0,0
$GC,13303,0.39,120.3,934.2,10.5,925,13306,0.00,1.42,0.00,0.000,4,0.000,0.056,2048,3809,1006,0,0,0,0,0,0
$GC,13397,0.30,120.3,922.3,12.0,929,13402,0.15,1.33,0.00,0.000,6,0.162,0.029,2010,2908,1005,0,0,0,0,0,0
$GC,13727,0.34,143.7,897.3,7.4,945,13756,0.00,1.55,23.48,1.765,4,0.000,0.056,2010,3816,913,0,0,0,0,0,0
$GC,13816,0.34,143.7,889.3,9.4,949,13819,0.00,1.33,0.00,0.000,6,0.000,0.030,2015,2927,912,0,0,0,0,0,0
$GC,14150,0.38,153.5,861.8,8.1,965,14164,0.00,1.42,10.32,1.645,4,0.000,0.054,2015,3815,873,0,0,0,0,0,0
$GC,14220,0.38,153.5,854.8,10.1,968,14224,0.00,1.33,0.00,0.000,6,0.000,0.029,2022,2921,873,0,0,0,0,0,0
$GC,14549,0.40,153.5,824.9,9.3,984,14552,0.00,1.45,0.00,0.000,4,0.000,0.055,2022,3814,872,0,0,0,0,0,0
$GC,14576,0.40,153.5,822.0,9.9,985,14580,0.00,1.30,0.00,0.000,6,0.000,0.028,2029,2920,872,0,0,0,0,0,0
$GC,14905,0.40,153.5,790.6,9.4,1001,14908,0.00,1.42,0.00,0.000,4,0.000,0.055,2029,3805,872,0,0,0,0,0,0
$GC,14938,0.38,153.5,786.7,10.6,1002,14942,0.00,1.27,0.00,0.000,6,0.000,0.028,2035,2926,872,0,0,0,0,0,0
$GC,15259,0.38,153.5,756.1,9.2,1018,15260,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2925,872,0,0,0,0,0,0
$GC,15569,0.38,153.5,728.1,8.9,1033,15570,0.00,0.00,0.00,0.000,6,0.000,0.000,2035,2925,872,0,0,0,0,0,0
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$STATE,22513,end climb,SURFACE_DEPTH_REACHED
$STATE,22513,begin surface coast
$FINISH,1.5,1.012993
$STATE,22550,end surface coast,CONTROL_FINISHED_OK
$STATE,22551,begin surface
$SM_CCo,22626,0.00,0.000,0,0,503,244.56
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$IRIDIUM_FIX,-4244.98,843.20,160908,040401
$TT8_MAMPS,0.027713
$HUMID,64.68
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,20.6,96.674
$10V_AH,9.7,64.349
$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
$DEVICE_SECS,15.750,112.800,389.225,0.000,0.000,28.480,46.549,358.513,0.000,0.000,19.497,3942.452,14481.624,529.725,3826.182,435.418,0.000,2025.748,0.000,3382.080,0.000,0.544,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1112.326,1138.538,1098.793,99.492,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353940
$DATA_FILE_SIZE,90182,1602
$CAP_FILE_SIZE,216342,0
$CFSIZE,259252224,213975040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,1
$GPS,211115,035352,-4301.766,840.731,47,1.6,48,-25.1