version: 66.07
glider: 543
mission: 14
dive: 523
start: 11 21 115 16 53 16
data:
$ID,543
$MISSION,14
$DIVE,523
$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,-25839.209
$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,77
$R_STBD_OVSHOOT,26
$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
$GPS1,211115,164203,-4302.188,840.951,34,0.9,34,-25.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-64.6
$GPS2,211115,165253,-4302.118,841.186,17,2.0,18,-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,268.7,7835,-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,-116.8,0.0,0.0,0,72,0.00,0.00,-55.17,0.000,2,0.000,0.000,61,3214,1794,0,0,0,0,0,0
$GC,75,-0.43,-116.8,3.2,-1.7,7,94,7.05,1.35,-5.78,0.000,4,0.230,0.050,1764,2300,1978,0,0,0,0,0,0
$GC,139,-0.45,-116.8,10.6,-11.0,16,148,0.00,1.48,0.00,0.000,6,0.000,0.050,1759,3206,1980,0,0,0,0,0,0
$GC,198,-0.42,-116.8,17.9,-12.7,25,207,0.00,1.27,0.00,0.000,4,0.000,0.025,1759,2311,1980,0,0,0,0,0,0
$GC,245,-0.42,-116.8,25.3,-14.8,32,254,0.00,1.45,0.00,0.000,6,0.000,0.048,1752,3206,1980,0,0,0,0,0,0
$GC,398,-0.38,-116.8,42.2,-10.4,57,408,0.12,1.20,0.00,0.000,4,0.171,0.056,1780,3955,1979,0,0,0,0,0,0
$GC,455,-0.40,-116.8,47.1,-7.7,66,463,0.00,1.05,0.00,0.000,6,0.000,0.031,1780,3227,1979,0,0,0,0,0,0
$GC,809,-0.43,-116.8,76.6,-5.5,127,816,0.00,1.33,0.00,0.000,4,0.000,0.027,1780,2295,1979,0,0,0,0,0,0
$GC,865,-0.47,-116.8,79.9,-6.7,136,872,0.00,1.48,0.00,0.000,6,0.000,0.048,1774,3207,1979,0,0,0,0,0,0
$GC,1216,-0.49,-116.8,103.4,-7.2,193,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,3207,1979,0,0,0,0,0,0
$GC,1544,-0.51,-116.8,125.9,-6.6,224,1553,0.10,0.00,0.00,0.000,6,0.103,0.000,1721,3207,1979,0,0,0,0,0,0
$GC,1870,-0.42,-116.8,157.9,-10.4,255,1874,0.17,1.20,0.00,0.000,4,0.158,0.054,1764,3958,1979,0,0,0,0,0,0
$GC,1906,-0.42,-116.8,161.1,-8.0,258,1909,0.00,1.08,0.00,0.000,6,0.000,0.031,1764,3213,1979,0,0,0,0,0,0
$GC,2239,-0.42,-116.8,183.3,-7.1,289,2243,0.00,1.30,0.00,0.000,4,0.000,0.027,1764,2295,1979,0,0,0,0,0,0
$GC,2275,-0.45,-116.8,186.0,-6.8,292,2278,0.00,1.48,0.00,0.000,6,0.000,0.048,1758,3204,1979,0,0,0,0,0,0
$GC,2606,-0.45,-116.8,211.6,-7.9,323,2607,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,3204,1980,0,0,0,0,0,0
$GC,2930,-0.45,-116.8,235.8,-7.6,353,2934,0.00,1.17,0.00,0.000,4,0.000,0.054,1752,3955,1979,0,0,0,0,0,0
$GC,2999,-0.43,-116.8,242.0,-8.5,359,3003,0.00,1.08,0.00,0.000,6,0.000,0.031,1753,3209,1979,0,0,0,0,0,0
$GC,3330,-0.43,-116.8,269.8,-8.4,390,3331,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3210,1979,0,0,0,0,0,0
$GC,3651,-0.43,-116.8,296.7,-8.4,420,3655,0.00,1.30,0.00,0.000,4,0.000,0.027,1753,2287,1979,0,0,0,0,0,0
$GC,3721,-0.45,-116.8,302.8,-8.2,426,3724,0.00,1.50,0.00,0.000,6,0.000,0.047,1746,3213,1979,0,0,0,0,0,0
$GC,4054,-0.43,-116.8,331.5,-8.4,457,4060,0.00,0.00,0.00,0.000,6,0.000,0.000,1746,3213,1979,0,0,0,0,0,0
$GC,4381,-0.43,-116.8,360.2,-8.6,488,4384,0.00,1.15,0.00,0.000,4,0.000,0.054,1740,3949,1979,0,0,0,0,0,0
$GC,4416,-0.39,-116.8,363.3,-9.4,491,4420,0.10,1.08,0.00,0.000,6,0.135,0.031,1772,3209,1979,0,0,0,0,0,0
$GC,4747,-0.43,-116.8,385.9,-7.1,522,4748,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,3209,1980,0,0,0,0,0,0
$GC,5065,-0.48,-116.8,407.0,-6.4,547,5066,0.00,0.00,0.00,0.000,6,0.000,0.000,1772,3209,1979,0,0,0,0,0,0
$GC,5372,-0.51,-116.8,426.6,-6.2,562,5375,0.00,1.33,0.00,0.000,4,0.000,0.027,1771,2293,1979,0,0,0,0,0,0
$GC,5400,-0.57,-116.8,428.4,-6.1,563,5404,0.10,1.48,0.00,0.000,6,0.050,0.047,1703,3204,1979,0,0,0,0,0,0
$GC,5727,-0.47,-116.8,462.6,-10.8,579,5731,0.17,1.20,0.00,0.000,4,0.159,0.054,1746,3955,1979,0,0,0,0,0,0
$GC,5856,-0.45,-116.8,473.5,-7.6,584,5863,0.00,1.10,0.00,0.000,6,0.000,0.030,1746,3194,1979,0,0,0,0,0,0
$GC,6173,-0.45,-116.8,496.7,-7.1,600,6174,0.00,0.00,0.00,0.000,6,0.000,0.000,1746,3195,1979,0,0,0,0,0,0
$GC,6482,-0.45,-116.8,519.4,-7.6,615,6485,0.00,1.20,0.00,0.000,4,0.000,0.057,1741,3946,1979,0,0,0,0,0,0
$GC,6533,-0.43,-116.8,523.7,-8.5,617,6536,0.00,1.08,0.00,0.000,6,0.000,0.030,1741,3204,1979,0,0,0,0,0,0
$GC,6860,-0.40,-116.8,549.0,-7.7,633,6865,0.12,1.20,0.00,0.000,4,0.161,0.056,1770,3947,1979,0,0,0,0,0,0
$GC,6911,-0.45,-116.8,552.6,-6.3,635,6915,0.00,1.08,0.00,0.000,6,0.000,0.030,1770,3204,1979,0,0,0,0,0,0
$GC,7239,-0.48,-116.8,572.9,-6.4,651,7240,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,3204,1979,0,0,0,0,0,0
$GC,7549,-0.52,-116.8,593.1,-6.8,666,7553,0.10,1.33,0.00,0.000,4,0.106,0.027,1710,2285,1979,0,0,0,0,0,0
$GC,7582,-0.48,-116.8,596.1,-9.9,667,7586,0.12,1.50,0.00,0.000,6,0.127,0.047,1743,3207,1979,0,0,0,0,0,0
$GC,7902,-0.48,-116.8,624.5,-8.7,683,7904,0.00,0.00,0.00,0.000,6,0.000,0.000,1743,3206,1979,0,0,0,0,0,0
$GC,8213,-0.48,-116.8,651.2,-8.4,698,8217,0.00,1.17,0.00,0.000,4,0.000,0.056,1739,3952,1979,0,0,0,0,0,0
$GC,8268,-0.45,-116.8,656.1,-8.7,700,8272,0.00,1.08,0.00,0.000,6,0.000,0.031,1739,3211,1979,0,0,0,0,0,0
$GC,8590,-0.44,-116.8,682.4,-8.2,716,8594,0.00,1.17,0.00,0.000,4,0.000,0.057,1734,3951,1979,0,0,0,0,0,0
$GC,8643,-0.40,-116.8,687.1,-9.3,718,8647,0.10,1.08,0.00,0.000,6,0.135,0.030,1766,3214,1979,0,0,0,0,0,0
$GC,8971,-0.44,-116.8,708.5,-6.5,734,8975,0.00,1.33,0.00,0.000,4,0.000,0.026,1766,2283,1979,0,0,0,0,0,0
$GC,9007,-0.51,-116.8,710.9,-6.7,735,9011,0.00,1.52,0.00,0.000,6,0.000,0.048,1762,3213,1979,0,0,0,0,0,0
$GC,9329,-0.54,-116.8,731.7,-6.3,751,9333,0.00,1.17,0.00,0.000,4,0.000,0.057,1757,3958,1979,0,0,0,0,0,0
$GC,9385,-0.56,-116.8,735.8,-7.0,753,9389,0.00,1.10,0.00,0.000,6,0.000,0.031,1757,3202,1979,0,0,0,0,0,0
$GC,9708,-0.58,-116.8,756.3,-6.1,769,9710,0.12,0.00,0.00,0.000,6,0.091,0.000,1696,3201,1979,0,0,0,0,0,0
$GC,10016,-0.48,-116.8,786.5,-9.9,784,10021,0.17,1.33,0.00,0.000,4,0.161,0.028,1745,2293,1979,0,0,0,0,0,0
$GC,10055,-0.51,-116.8,789.6,-7.0,785,10062,0.00,1.50,0.00,0.000,6,0.000,0.049,1739,3207,1979,0,0,0,0,0,0
$GC,10372,-0.51,-116.8,811.3,-6.9,801,10373,0.00,0.00,0.00,0.000,6,0.000,0.000,1739,3207,1979,0,0,0,0,0,0
$GC,10682,-0.51,-116.8,832.4,-6.8,816,10683,0.00,0.00,0.00,0.000,6,0.000,0.000,1739,3207,1979,0,0,0,0,0,0
$GC,10990,-0.51,-116.8,853.7,-6.8,831,10994,0.00,1.33,0.00,0.000,4,0.000,0.028,1739,2291,1979,0,0,0,0,0,0
$GC,11018,-0.51,-116.8,855.7,-7.4,832,11021,0.00,1.50,0.00,0.000,6,0.000,0.050,1733,3209,1979,0,0,0,0,0,0
$GC,11346,-0.49,-116.8,879.4,-7.7,848,11350,0.00,1.20,0.00,0.000,4,0.000,0.057,1727,3954,1978,0,0,0,0,0,0
$GC,11397,-0.46,-116.8,883.8,-8.3,850,11400,0.00,1.08,0.00,0.000,6,0.000,0.031,1727,3212,1978,0,0,0,0,0,0
$GC,11725,-0.43,-116.8,911.6,-8.6,866,11729,0.12,1.33,0.00,0.000,4,0.163,0.028,1760,2298,1978,0,0,0,0,0,0
$GC,11758,-0.49,-116.8,914.3,-6.2,867,11761,0.00,1.50,0.00,0.000,6,0.000,0.050,1755,3212,1978,0,0,0,0,0,0
$GC,12080,-0.52,-116.8,936.0,-6.7,883,12083,0.00,1.17,0.00,0.000,4,0.000,0.057,1750,3954,1978,0,0,0,0,0,0
$GC,12131,-0.54,-116.8,939.8,-7.1,885,12134,0.00,1.08,0.00,0.000,6,0.000,0.032,1750,3215,1978,0,0,0,0,0,0
$GC,12458,-0.56,-116.8,961.6,-6.4,901,12462,0.00,1.33,0.00,0.000,4,0.000,0.027,1750,2294,1978,0,0,0,0,0,0
$GC,12487,-0.59,-116.8,963.4,-6.3,902,12491,0.00,1.50,0.00,0.000,6,0.000,0.050,1743,3206,1978,0,0,0,0,0,0
$STATE,12606,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12606,begin apogee
$GC,12611,-0.09,0.0,970.8,6.3,908,12757,0.43,0.00,132.73,1.831,6,0.128,0.000,1873,2922,1499,0,0,0,0,2,0
$STATE,12758,end apogee,CONTROL_FINISHED_OK
$STATE,12758,begin climb
$GC,12761,0.43,116.8,973.5,0.0,915,12908,0.50,1.55,130.95,1.775,4,0.084,0.028,2044,2045,1022,0,0,0,0,1,0
$GC,12954,0.43,116.8,959.9,9.6,924,12957,0.00,1.55,0.00,0.000,6,0.000,0.046,2044,2920,1020,0,0,0,0,0,0
$GC,13287,0.38,116.8,925.9,10.1,940,13291,0.00,1.42,0.00,0.000,4,0.000,0.055,2044,3810,1017,0,0,0,0,0,0
$GC,13387,0.29,116.8,914.0,12.5,944,13392,0.15,1.33,0.00,0.000,6,0.163,0.028,2006,2905,1016,0,0,0,0,0,0
$GC,13711,0.34,140.6,889.4,7.4,960,13740,0.00,1.55,22.98,1.764,4,0.000,0.056,2006,3815,925,0,0,0,0,0,0
$GC,13775,0.34,140.6,884.0,9.2,963,13779,0.00,1.33,0.00,0.000,6,0.000,0.029,2012,2927,925,0,0,0,0,0,0
$GC,14109,0.39,160.2,858.3,7.6,979,14134,0.00,1.48,20.02,1.737,4,0.000,0.055,2011,3808,845,0,0,0,0,0,0
$GC,14153,0.43,178.0,854.6,7.7,981,14178,0.00,1.33,19.10,1.709,6,0.000,0.028,2018,2920,773,0,0,0,0,0,0
$GC,14506,0.47,178.0,824.6,8.6,998,14511,0.12,1.45,0.00,0.000,4,0.098,0.055,2071,3805,770,0,0,0,0,0,0
$GC,14529,0.45,178.0,822.0,10.9,999,14533,0.00,1.30,0.00,0.000,6,0.000,0.028,2078,2913,770,0,0,0,0,0,0
$GC,14863,0.36,178.0,776.5,13.7,1015,14865,0.20,0.00,0.00,0.000,6,0.171,0.000,2024,2910,770,0,0,0,0,0,0
$GC,15172,0.40,191.9,750.4,7.9,1030,15194,0.00,1.50,14.48,1.665,4,0.000,0.057,2024,3805,715,0,0,0,0,0,0
$GC,15222,0.40,191.9,745.8,9.3,1032,15226,0.00,1.30,0.00,0.000,6,0.000,0.028,2030,2929,716,0,0,0,0,0,0
$GC,15551,0.43,191.9,715.9,9.3,1048,15552,0.00,0.00,0.00,0.000,6,0.000,0.000,2030,2929,715,0,0,0,0,0,0
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$STATE,22333,end climb,SURFACE_DEPTH_REACHED
$STATE,22333,begin surface coast
$FINISH,1.6,1.026525
$STATE,22359,end surface coast,CONTROL_FINISHED_OK
$STATE,22359,begin surface
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$HUMID,64.64
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$TCM_TEMP,13.90
$XPDR_PINGS,0
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$10V_AH,9.8,64.786
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,353948
$DATA_FILE_SIZE,93479,1623
$CAP_FILE_SIZE,222510,0
$CFSIZE,259252224,213671936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1
$GPS,211115,230821,-4302.123,840.953,36,0.9,36,-25.1