version: 66.07
glider: 543
mission: 14
dive: 521
start: 11 21 115 4 4 10
data:
$ID,543
$MISSION,14
$DIVE,521
$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,-25832.424
$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,71
$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
$GPS1,211115,035352,-4301.766,840.731,47,1.6,48,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-63.7
$GPS2,211115,040346,-4301.706,840.904,19,1.1,20,-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,262.5,7879,-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,-116.8,0.0,0.0,0,74,0.00,0.00,-55.95,0.000,2,0.000,0.000,62,3221,1823,0,0,0,0,0,0
$GC,77,-0.43,-116.8,3.3,-2.2,7,95,6.97,1.15,-4.53,0.000,4,0.226,0.069,1755,3959,1977,0,0,0,0,0,0
$GC,188,-0.39,-116.8,16.7,-11.6,24,197,0.00,1.08,0.00,0.000,6,0.000,0.030,1755,3218,1979,0,0,0,0,0,0
$GC,247,-0.35,-116.8,23.3,-10.7,33,256,0.12,1.33,0.00,0.000,4,0.164,0.025,1788,2289,1978,0,0,0,0,0,0
$GC,278,-0.35,-116.8,26.7,-10.8,37,287,0.00,1.50,0.00,0.000,6,0.000,0.050,1784,3210,1979,0,0,0,0,0,0
$GC,434,-0.40,-116.8,36.5,-7.2,62,442,0.00,0.00,0.00,0.000,6,0.000,0.000,1784,3211,1979,0,0,0,0,0,0
$GC,582,-0.43,-116.8,43.7,-5.6,87,590,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,3210,1979,0,0,0,0,0,0
$GC,934,-0.46,-116.8,66.5,-7.8,148,941,0.00,1.30,0.00,0.000,4,0.000,0.027,1784,2293,1978,0,0,0,0,0,0
$GC,990,-0.51,-116.8,71.0,-8.1,157,997,0.08,1.48,0.00,0.000,6,0.056,0.049,1723,3204,1978,0,0,0,0,0,0
$GC,1342,-0.42,-116.8,111.1,-13.3,211,1346,0.15,1.33,0.00,0.000,4,0.164,0.026,1762,2286,1979,0,0,0,0,0,0
$GC,1404,-0.45,-116.8,118.2,-9.6,216,1412,0.00,1.50,0.00,0.000,6,0.000,0.048,1757,3208,1978,0,0,0,0,0,0
$GC,1729,-0.43,-116.8,148.2,-8.4,247,1733,0.00,1.17,0.00,0.000,4,0.000,0.055,1752,3957,1979,0,0,0,0,0,0
$GC,1837,-0.41,-116.8,158.1,-8.8,256,1846,0.00,1.08,0.00,0.000,6,0.000,0.030,1752,3209,1978,0,0,0,0,0,0
$GC,2164,-0.38,-116.8,185.6,-8.6,287,2168,0.00,1.33,0.00,0.000,4,0.000,0.026,1752,2287,1978,0,0,0,0,0,0
$GC,2235,-0.38,-116.8,191.5,-7.7,293,2240,0.10,1.50,0.00,0.000,6,0.125,0.048,1777,3212,1978,0,0,0,0,0,0
$GC,2568,-0.42,-116.8,215.0,-6.8,324,2571,0.00,1.15,0.00,0.000,4,0.000,0.055,1773,3947,1978,0,0,0,0,0,0
$GC,2628,-0.45,-116.8,218.9,-6.7,329,2632,0.00,1.05,0.00,0.000,6,0.000,0.030,1774,3211,1978,0,0,0,0,0,0
$GC,2960,-0.48,-116.8,239.5,-5.7,360,2964,0.00,1.30,0.00,0.000,4,0.000,0.025,1773,2286,1978,0,0,0,0,0,0
$GC,3066,-0.53,-116.8,246.1,-6.5,369,3070,0.08,1.50,0.00,0.000,6,0.054,0.047,1713,3212,1978,0,0,0,0,0,0
$GC,3397,-0.44,-116.8,282.1,-11.3,400,3402,0.17,1.17,0.00,0.000,4,0.156,0.054,1756,3949,1979,0,0,0,0,0,0
$GC,3433,-0.44,-116.8,285.6,-9.0,403,3437,0.00,1.05,0.00,0.000,6,0.000,0.030,1756,3214,1978,0,0,0,0,0,0
$GC,3764,-0.44,-116.8,315.3,-9.2,434,3765,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,3214,1979,0,0,0,0,0,0
$GC,4085,-0.44,-116.8,343.0,-8.0,464,4088,0.00,1.17,0.00,0.000,4,0.000,0.055,1751,3955,1978,0,0,0,0,0,0
$GC,4145,-0.44,-116.8,348.1,-9.0,469,4149,0.00,1.08,0.00,0.000,6,0.000,0.030,1751,3208,1978,0,0,0,0,0,0
$GC,4476,-0.44,-116.8,372.5,-6.7,500,4480,0.00,1.30,0.00,0.000,4,0.000,0.026,1751,2287,1978,0,0,0,0,0,0
$GC,4539,-0.46,-116.8,376.7,-6.4,505,4546,0.00,1.50,0.00,0.000,6,0.000,0.048,1744,3208,1978,0,0,0,0,0,0
$GC,4865,-0.44,-116.8,398.8,-6.8,536,4868,0.00,1.17,0.00,0.000,4,0.000,0.056,1738,3956,1978,0,0,0,0,0,0
$GC,4898,-0.40,-116.8,401.6,-8.9,538,4902,0.10,1.08,0.00,0.000,6,0.134,0.029,1770,3210,1978,0,0,0,0,0,0
$GC,5222,-0.44,-116.8,417.0,-4.7,554,5223,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,3210,1979,0,0,0,0,0,0
$GC,5529,-0.47,-116.8,431.7,-4.8,569,5533,0.00,1.17,0.00,0.000,4,0.000,0.056,1766,3950,1978,0,0,0,0,0,0
$GC,5563,-0.50,-116.8,433.7,-5.5,570,5566,0.00,1.08,0.00,0.000,6,0.000,0.030,1766,3206,1978,0,0,0,0,0,0
$GC,5885,-0.53,-116.8,450.6,-5.5,586,5888,0.00,1.30,0.00,0.000,4,0.000,0.026,1766,2283,1978,0,0,0,0,0,0
$GC,5941,-0.57,-116.8,453.9,-5.6,588,5945,0.08,1.50,0.00,0.000,6,0.055,0.048,1704,3202,1978,0,0,0,0,0,0
$GC,6262,-0.47,-116.8,486.3,-10.7,604,6266,0.17,1.20,0.00,0.000,4,0.160,0.055,1748,3954,1978,0,0,0,0,0,0
$GC,6300,-0.47,-116.8,490.2,-8.8,605,6308,0.00,1.08,0.00,0.000,6,0.000,0.029,1748,3208,1978,0,0,0,0,0,0
$GC,6618,-0.47,-116.8,515.8,-8.3,621,6619,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3206,1978,0,0,0,0,0,0
$GC,6926,-0.47,-116.8,541.1,-8.1,636,6930,0.00,1.30,0.00,0.000,4,0.000,0.026,1748,2292,1978,0,0,0,0,0,0
$GC,6987,-0.49,-116.8,546.0,-7.9,638,6994,0.00,1.50,0.00,0.000,6,0.000,0.049,1741,3210,1978,0,0,0,0,0,0
$GC,7304,-0.47,-116.8,571.8,-8.2,654,7305,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,3210,1978,0,0,0,0,0,0
$GC,7613,-0.45,-116.8,597.3,-8.4,669,7614,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,3209,1978,0,0,0,0,0,0
$GC,7923,-0.44,-116.8,623.4,-8.4,684,7924,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,3209,1978,0,0,0,0,0,0
$GC,8232,-0.42,-116.8,649.7,-8.2,699,8236,0.00,1.17,0.00,0.000,4,0.000,0.057,1735,3955,1978,0,0,0,0,0,0
$GC,8272,-0.39,-116.8,653.7,-9.4,700,8279,0.12,1.10,0.00,0.000,6,0.134,0.030,1775,3202,1978,0,0,0,0,0,0
$GC,8590,-0.44,-116.8,672.8,-5.5,716,8591,0.00,0.00,0.00,0.000,6,0.000,0.000,1775,3203,1978,0,0,0,0,0,0
$GC,8898,-0.50,-116.8,689.2,-5.3,731,8901,0.00,1.30,0.00,0.000,4,0.000,0.027,1774,2292,1978,0,0,0,0,0,0
$GC,8937,-0.58,-116.8,691.4,-5.2,732,8945,0.12,1.50,0.00,0.000,6,0.050,0.049,1697,3208,1978,0,0,0,0,0,0
$GC,9254,-0.48,-116.8,722.6,-10.4,748,9256,0.17,0.00,0.00,0.000,6,0.164,0.000,1744,3208,1978,0,0,0,0,0,0
$GC,9565,-0.48,-116.8,745.4,-7.1,763,9567,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,3209,1978,0,0,0,0,0,0
$GC,9872,-0.48,-116.8,768.0,-7.5,778,9873,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,3208,1978,0,0,0,0,0,0
$GC,10182,-0.48,-116.8,791.0,-7.5,793,10185,0.00,1.33,0.00,0.000,4,0.000,0.028,1744,2283,1978,0,0,0,0,0,0
$GC,10229,-0.51,-116.8,794.0,-6.9,795,10232,0.00,1.52,0.00,0.000,6,0.000,0.050,1738,3211,1978,0,0,0,0,0,0
$GC,10562,-0.51,-116.8,819.3,-7.6,811,10566,0.00,1.17,0.00,0.000,4,0.000,0.057,1733,3958,1978,0,0,0,0,0,0
$GC,10626,-0.48,-116.8,824.5,-9.0,813,10632,0.00,1.10,0.00,0.000,6,0.000,0.031,1733,3200,1978,0,0,0,0,0,0
$GC,10942,-0.46,-116.8,849.0,-7.6,829,10943,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,3199,1978,0,0,0,0,0,0
$GC,11251,-0.44,-116.8,871.7,-7.1,844,11255,0.00,1.30,0.00,0.000,4,0.000,0.027,1734,2287,1978,0,0,0,0,0,0
$GC,11285,-0.44,-116.8,874.2,-6.9,845,11289,0.10,1.52,0.00,0.000,6,0.127,0.049,1758,3215,1978,0,0,0,0,0,0
$GC,11608,-0.48,-116.8,891.4,-5.3,861,11612,0.00,1.33,0.00,0.000,4,0.000,0.027,1758,2291,1978,0,0,0,0,0,0
$GC,11642,-0.54,-116.8,893.2,-5.1,862,11646,0.00,1.50,0.00,0.000,6,0.000,0.049,1754,3207,1978,0,0,0,0,0,0
$GC,11964,-0.57,-116.8,910.9,-5.4,878,11966,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3207,1978,0,0,0,0,0,0
$GC,12275,-0.60,-116.8,927.6,-5.4,893,12279,0.12,1.20,0.00,0.000,4,0.093,0.057,1690,3954,1978,0,0,0,0,0,0
$GC,12307,-0.50,-116.8,930.3,-9.4,894,12311,0.15,1.08,0.00,0.000,6,0.145,0.030,1737,3215,1977,0,0,0,0,0,0
$STATE,12606,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12606,begin apogee
$GC,12613,-0.09,0.0,950.0,6.4,909,12749,0.45,0.00,128.85,1.841,6,0.128,0.000,1875,2908,1499,0,0,0,0,0,0
$STATE,12750,end apogee,CONTROL_FINISHED_OK
$STATE,12750,begin climb
$GC,12752,0.43,116.8,952.4,0.0,916,12887,0.50,1.45,128.38,1.778,4,0.081,0.026,2048,2050,1023,0,0,0,0,0,0
$GC,12920,0.43,116.8,940.7,8.6,924,12924,0.00,1.58,0.00,0.000,6,0.000,0.045,2048,2922,1022,0,0,0,0,0,0
$GC,13248,0.38,116.8,907.9,10.2,940,13252,0.00,1.42,0.00,0.000,4,0.000,0.056,2048,3810,1017,0,0,0,0,0,0
$GC,13321,0.28,116.8,899.3,11.3,943,13325,0.17,1.33,0.00,0.000,6,0.163,0.028,2003,2906,1016,0,0,0,0,0,0
$GC,13649,0.35,149.3,875.5,6.9,959,13685,0.00,1.50,31.17,1.769,4,0.000,0.053,2003,3812,890,0,0,0,0,0,0
$GC,13735,0.35,149.3,868.4,9.8,962,13739,0.00,1.33,0.00,0.000,6,0.000,0.029,2008,2923,889,0,0,0,0,0,0
$GC,14063,0.42,179.3,844.4,7.1,978,14096,0.10,0.00,30.35,1.760,6,0.109,0.000,2054,2923,768,0,0,0,0,0,0
$GC,14396,0.39,179.3,809.6,10.7,994,14400,0.00,1.42,0.00,0.000,4,0.000,0.055,2054,3805,765,0,0,0,0,0,0
$GC,14420,0.34,179.3,806.7,11.4,995,14424,0.12,1.30,0.00,0.000,6,0.157,0.028,2022,2910,765,0,0,0,0,0,0
$GC,14754,0.39,191.9,779.1,7.9,1011,14773,0.00,1.52,13.25,1.662,4,0.000,0.055,2022,3814,716,0,0,0,0,0,0
$GC,14790,0.42,195.3,775.8,8.4,1012,14800,0.00,1.30,4.97,1.344,6,0.000,0.029,2028,2938,703,0,0,0,0,0,0
$GC,15131,0.45,196.7,747.3,8.5,1029,15135,0.00,1.30,0.00,0.000,4,0.000,0.031,2034,2055,702,0,0,0,0,0,0
$GC,15158,0.50,196.7,744.7,8.7,1030,15162,0.00,1.42,0.00,0.000,6,0.000,0.046,2034,2937,701,0,0,0,0,0,0
$GC,15486,0.52,196.7,715.2,9.1,1046,15487,0.10,0.00,0.00,0.000,6,0.109,0.000,2081,2937,701,0,0,0,0,0,0
$GC,15796,0.43,196.7,672.8,14.4,1061,15800,0.15,1.35,0.00,0.000,4,0.174,0.031,2048,2048,701,0,0,0,0,0,0
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$GC,18678,0.51,206.0,370.6,8.6,1211,18684,0.00,1.42,0.00,0.000,6,0.000,0.046,2054,2930,658,0,0,0,0,0,0
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$STATE,22112,end climb,SURFACE_DEPTH_REACHED
$STATE,22112,begin surface coast
$FINISH,1.7,1.026457
$STATE,22125,end surface coast,CONTROL_FINISHED_OK
$STATE,22125,begin surface
$SM_CCo,22202,0.00,0.000,0,0,564,229.60
$SM_GC,2.69,5.32,0.00,0.00,0.043,0.000,0.000,60,3222,564,-5.65,0.37,229.60
$IRIDIUM_FIX,-4244.98,843.20,160908,101046
$TT8_MAMPS,0.027713
$HUMID,65.08
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,20.5,96.876
$10V_AH,9.7,64.492
$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
$DEVICE_SECS,16.300,113.900,359.925,0.000,0.000,25.418,19.125,370.839,0.000,0.000,23.938,3943.115,14064.237,493.558,3838.027,440.011,0.000,1968.576,0.000,3410.677,0.000,0.544,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1112.109,1130.504,1167.936,112.538,0.000,0.000,0.000,0.000,0.000,0.000
$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,90229,1600
$CAP_FILE_SIZE,215993,0
$CFSIZE,259252224,213876736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,211115,101549,-4301.956,840.922,41,4.3,61,-25.1