version: 66.07
glider: 543
mission: 14
dive: 529
start: 11 23 115 7 40 22
data:
$ID,543
$MISSION,14
$DIVE,529
$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,-25865.719
$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,82
$R_STBD_OVSHOOT,30
$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
$GPS1,231115,072502,-4302.118,839.880,37,1.1,41,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-68.2
$GPS2,231115,073958,-4302.015,840.035,19,1.0,20,-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,261.1,6581,-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,-48.00,0.000,2,0.000,0.000,62,3224,1654,0,0,0,0,0,0
$GC,69,-0.43,-116.8,3.0,-1.6,6,94,6.78,0.00,-11.15,0.000,6,0.216,0.000,1760,3225,1975,0,0,0,0,0,0
$GC,144,-0.43,-116.8,9.1,-7.5,17,152,0.00,1.15,0.00,0.000,4,0.000,0.056,1756,3950,1975,0,0,0,0,0,0
$GC,221,-0.40,-116.8,15.0,-8.5,29,230,0.00,1.02,0.00,0.000,6,0.000,0.031,1756,3230,1976,0,0,0,0,0,0
$GC,281,-0.38,-116.8,19.9,-8.8,38,289,0.00,0.00,0.00,0.000,6,0.000,0.000,1756,3230,1976,0,0,0,0,0,0
$GC,339,-0.34,-116.8,25.3,-9.8,47,349,0.15,1.35,0.00,0.000,4,0.154,0.026,1798,2285,1976,0,0,0,0,0,0
$GC,365,-0.34,-116.8,27.1,-8.1,50,374,0.00,1.50,0.00,0.000,6,0.000,0.049,1794,3206,1976,0,0,0,0,0,0
$GC,519,-0.39,-116.8,35.6,-4.9,75,527,0.00,0.00,0.00,0.000,6,0.000,0.000,1794,3206,1976,0,0,0,0,0,0
$GC,669,-0.46,-116.8,44.8,-6.0,100,676,0.10,0.00,0.00,0.000,6,0.101,0.000,1738,3206,1976,0,0,0,0,0,0
$GC,1018,-0.39,-116.8,80.3,-10.1,161,1025,0.15,0.00,0.00,0.000,6,0.161,0.000,1777,3207,1976,0,0,0,0,0,0
$GC,1364,-0.42,-116.8,106.9,-8.1,214,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,1777,3207,1976,0,0,0,0,0,0
$GC,1694,-0.45,-116.8,133.1,-7.6,245,1698,0.00,1.17,0.00,0.000,4,0.000,0.056,1773,3957,1976,0,0,0,0,0,0
$GC,1723,-0.48,-116.8,135.8,-8.0,247,1730,0.00,1.08,0.00,0.000,6,0.000,0.031,1773,3207,1976,0,0,0,0,0,0
$GC,2049,-0.50,-116.8,159.0,-7.5,278,2053,0.00,1.17,0.00,0.000,4,0.000,0.056,1768,3953,1976,0,0,0,0,0,0
$GC,2086,-0.50,-116.8,161.9,-8.5,281,2090,0.00,1.05,0.00,0.000,6,0.000,0.029,1768,3216,1976,0,0,0,0,0,0
$GC,2417,-0.51,-116.8,186.5,-6.6,312,2419,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,3216,1976,0,0,0,0,0,0
$GC,2738,-0.53,-116.8,210.2,-7.8,342,2743,0.10,1.33,0.00,0.000,4,0.103,0.026,1713,2293,1976,0,0,0,0,0,0
$GC,2811,-0.48,-116.8,217.8,-10.4,348,2820,0.12,1.50,0.00,0.000,6,0.124,0.048,1747,3214,1976,0,0,0,0,0,0
$GC,3136,-0.45,-116.8,244.9,-7.3,379,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3214,1976,0,0,0,0,0,0
$GC,3460,-0.44,-116.8,269.6,-8.1,409,3463,0.00,1.15,0.00,0.000,4,0.000,0.055,1742,3952,1976,0,0,0,0,0,0
$GC,3522,-0.40,-116.8,275.4,-8.8,414,3529,0.08,1.08,0.00,0.000,6,0.135,0.029,1768,3205,1977,0,0,0,0,0,0
$GC,3851,-0.43,-116.8,296.2,-6.1,445,3855,0.00,1.17,0.00,0.000,4,0.000,0.056,1764,3950,1976,0,0,0,0,0,0
$GC,3900,-0.43,-116.8,299.5,-6.8,449,3904,0.00,1.08,0.00,0.000,6,0.000,0.030,1764,3198,1976,0,0,0,0,0,0
$GC,4231,-0.45,-116.8,320.8,-6.3,480,4235,0.00,1.17,0.00,0.000,4,0.000,0.055,1758,3945,1976,0,0,0,0,0,0
$GC,4260,-0.45,-116.8,322.7,-6.8,482,4266,0.00,1.05,0.00,0.000,6,0.000,0.028,1759,3206,1976,0,0,0,0,0,0
$GC,4587,-0.45,-116.8,345.7,-7.4,513,4591,0.00,1.27,0.00,0.000,4,0.000,0.025,1759,2292,1976,0,0,0,0,0,0
$GC,4616,-0.48,-116.8,348.1,-7.6,515,4622,0.00,1.50,0.00,0.000,6,0.000,0.047,1753,3212,1976,0,0,0,0,0,0
$GC,4940,-0.48,-116.8,374.7,-8.7,546,4944,0.00,1.15,0.00,0.000,4,0.000,0.056,1747,3951,1976,0,0,0,0,0,0
$GC,4988,-0.46,-116.8,378.9,-9.4,550,4991,0.00,1.05,0.00,0.000,6,0.000,0.030,1747,3208,1976,0,0,0,0,0,0
$GC,5317,-0.46,-116.8,408.3,-8.9,577,5318,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3208,1976,0,0,0,0,0,0
$GC,5625,-0.46,-116.8,436.3,-8.9,592,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3208,1976,0,0,0,0,0,0
$GC,5936,-0.46,-116.8,462.1,-8.1,607,5939,0.00,1.17,0.00,0.000,4,0.000,0.055,1741,3957,1976,0,0,0,0,0,0
$GC,6014,-0.43,-116.8,469.2,-9.0,610,6017,0.00,1.05,0.00,0.000,6,0.000,0.030,1742,3210,1976,0,0,0,0,0,0
$GC,6337,-0.41,-116.8,493.7,-7.5,626,6341,0.12,1.20,0.00,0.000,4,0.159,0.055,1770,3957,1976,0,0,0,0,0,0
$GC,6375,-0.45,-116.8,496.5,-6.2,627,6382,0.00,1.08,0.00,0.000,6,0.000,0.030,1770,3208,1976,0,0,0,0,0,0
$GC,6693,-0.49,-116.8,515.1,-6.0,643,6697,0.00,1.30,0.00,0.000,4,0.000,0.025,1770,2286,1976,0,0,0,0,0,0
$GC,6720,-0.55,-116.8,517.1,-6.7,644,6724,0.08,1.50,0.00,0.000,6,0.055,0.048,1708,3207,1976,0,0,0,0,0,0
$GC,7048,-0.47,-116.8,549.2,-10.2,660,7052,0.17,1.17,0.00,0.000,4,0.156,0.054,1752,3949,1976,0,0,0,0,0,0
$GC,7148,-0.47,-116.8,557.2,-7.5,664,7152,0.00,1.05,0.00,0.000,6,0.000,0.031,1752,3213,1976,0,0,0,0,0,0
$GC,7470,-0.47,-116.8,580.1,-7.2,680,7474,0.00,1.17,0.00,0.000,4,0.000,0.056,1746,3956,1976,0,0,0,0,0,0
$GC,7517,-0.47,-116.8,583.5,-7.5,682,7520,0.00,1.08,0.00,0.000,6,0.000,0.031,1747,3207,1976,0,0,0,0,0,0
$GC,7850,-0.47,-116.8,607.4,-7.3,698,7851,0.00,0.00,0.00,0.000,6,0.000,0.000,1746,3207,1976,0,0,0,0,0,0
$GC,8159,-0.47,-116.8,629.3,-7.1,713,8160,0.00,0.00,0.00,0.000,6,0.000,0.000,1746,3207,1976,0,0,0,0,0,0
$GC,8469,-0.47,-116.8,653.1,-7.8,728,8473,0.00,1.17,0.00,0.000,4,0.000,0.056,1741,3953,1976,0,0,0,0,0,0
$GC,8520,-0.45,-116.8,657.6,-8.5,730,8523,0.00,1.08,0.00,0.000,6,0.000,0.030,1741,3206,1976,0,0,0,0,0,0
$GC,8848,-0.45,-116.8,683.9,-7.9,746,8851,0.00,1.17,0.00,0.000,4,0.000,0.056,1736,3951,1976,0,0,0,0,0,0
$GC,8881,-0.42,-116.8,686.8,-8.8,747,8885,0.08,1.05,0.00,0.000,6,0.132,0.030,1761,3218,1976,0,0,0,0,0,0
$GC,9204,-0.45,-116.8,706.3,-6.1,763,9205,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,3218,1976,0,0,0,0,0,0
$GC,9513,-0.49,-116.8,725.8,-6.6,778,9517,0.00,1.33,0.00,0.000,4,0.000,0.026,1761,2284,1976,0,0,0,0,0,0
$GC,9540,-0.54,-116.8,727.8,-6.8,779,9544,0.00,1.52,0.00,0.000,6,0.000,0.049,1756,3214,1976,0,0,0,0,0,0
$GC,9869,-0.56,-116.8,751.0,-7.5,795,9873,0.00,1.15,0.00,0.000,4,0.000,0.057,1751,3946,1976,0,0,0,0,0,0
$GC,9907,-0.56,-116.8,754.3,-8.9,796,9914,0.00,1.08,0.00,0.000,6,0.000,0.031,1751,3205,1976,0,0,0,0,0,0
$GC,10224,-0.56,-116.8,778.8,-8.1,812,10228,0.00,1.17,0.00,0.000,4,0.000,0.057,1745,3944,1976,0,0,0,0,0,0
$GC,10252,-0.56,-116.8,781.2,-8.6,813,10255,0.00,1.08,0.00,0.000,6,0.000,0.031,1745,3202,1976,0,0,0,0,0,0
$GC,10579,-0.56,-116.8,807.8,-8.2,829,10583,0.00,1.20,0.00,0.000,4,0.000,0.057,1740,3956,1976,0,0,0,0,0,0
$GC,10612,-0.56,-116.8,810.8,-9.4,830,10616,0.00,1.08,0.00,0.000,6,0.000,0.031,1740,3210,1976,0,0,0,0,0,0
$GC,10935,-0.56,-116.8,836.4,-7.9,846,10936,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,3210,1976,0,0,0,0,0,0
$GC,11243,-0.56,-116.8,858.2,-6.7,861,11244,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,3210,1976,0,0,0,0,0,0
$GC,11553,-0.56,-116.8,878.9,-6.7,876,11556,0.00,1.17,0.00,0.000,4,0.000,0.058,1734,3947,1976,0,0,0,0,0,0
$GC,11609,-0.54,-116.8,883.1,-7.0,878,11613,0.00,1.08,0.00,0.000,6,0.000,0.031,1734,3209,1976,0,0,0,0,0,0
$GC,11931,-0.54,-116.8,904.4,-6.6,894,11935,0.00,1.30,0.00,0.000,4,0.000,0.026,1734,2295,1976,0,0,0,0,0,0
$GC,11961,-0.54,-116.8,906.4,-6.6,895,11964,0.00,1.50,0.00,0.000,6,0.000,0.050,1727,3208,1976,0,0,0,0,0,0
$GC,12288,-0.52,-116.8,929.2,-7.2,911,12292,0.00,1.17,0.00,0.000,4,0.000,0.057,1722,3953,1975,0,0,0,0,0,0
$GC,12368,-0.47,-116.8,935.7,-8.0,914,12371,0.00,1.08,0.00,0.000,6,0.000,0.031,1722,3210,1976,0,0,0,0,0,0
$STATE,12625,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12625,begin apogee
$GC,12631,-0.09,0.0,957.5,8.5,927,12778,0.50,0.00,134.10,1.836,6,0.132,0.000,1872,2920,1499,0,0,0,0,2,0
$STATE,12779,end apogee,CONTROL_FINISHED_OK
$STATE,12779,begin climb
$GC,12781,0.43,116.8,961.6,0.0,934,12919,0.50,1.48,129.90,1.810,4,0.083,0.026,2043,2051,1023,0,0,0,0,0,0
$GC,12981,0.45,138.4,950.1,7.5,943,13011,0.00,1.52,23.67,1.737,6,0.000,0.046,2044,2914,934,0,0,0,0,0,0
$GC,13327,0.42,138.4,915.5,10.3,960,13331,0.00,1.42,0.00,0.000,4,0.000,0.056,2043,3805,930,0,0,0,0,0,0
$GC,13428,0.35,138.4,903.7,12.5,964,13432,0.10,1.30,0.00,0.000,6,0.162,0.028,2020,2913,930,0,0,0,0,0,0
$GC,13752,0.38,145.5,876.5,8.2,980,13765,0.00,1.33,7.50,1.574,4,0.000,0.029,2026,2040,905,0,0,0,0,0,0
$GC,13788,0.46,181.6,873.4,6.8,981,13829,0.00,1.42,37.05,1.777,6,0.000,0.046,2025,2923,758,0,0,0,0,0,0
$GC,14140,0.49,181.6,842.6,8.8,998,14144,0.10,1.42,0.00,0.000,4,0.111,0.055,2071,3808,755,0,0,0,0,0,0
$GC,14173,0.41,181.6,838.4,13.6,999,14178,0.12,1.30,0.00,0.000,6,0.161,0.028,2040,2912,755,0,0,0,0,0,0
$GC,14496,0.41,181.6,805.7,9.9,1015,14499,0.00,1.42,0.00,0.000,4,0.000,0.054,2040,3798,755,0,0,0,0,0,0
$GC,14523,0.38,181.6,802.6,10.4,1016,14527,0.00,1.27,0.00,0.000,6,0.000,0.029,2045,2929,755,0,0,0,0,0,0
$GC,14851,0.38,181.6,769.7,9.7,1032,14852,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,2929,754,0,0,0,0,0,0
$GC,15159,0.38,181.6,739.4,9.8,1047,15163,0.00,1.27,0.00,0.000,4,0.000,0.031,2051,2058,754,0,0,0,0,0,0
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$STATE,21617,end climb,SURFACE_DEPTH_REACHED
$STATE,21617,begin surface coast
$FINISH,1.6,1.026463
$STATE,21638,end surface coast,CONTROL_FINISHED_OK
$STATE,21638,begin surface
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$IRIDIUM_FIX,-4244.98,837.82,180908,202056
$TT8_MAMPS,0.026964
$HUMID,65.08
$INTERNAL_PRESSURE,11.3786
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,20.5,98.644
$10V_AH,9.7,65.651
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,15.550,111.975,395.425,0.000,0.000,52.747,67.052,513.440,0.000,0.000,23.883,3871.325,13697.813,532.544,4039.016,452.228,0.000,2007.293,0.000,3380.783,0.000,0.544,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1087.772,1109.185,1151.501,109.051,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353872
$DATA_FILE_SIZE,90065,1568
$CAP_FILE_SIZE,218509,0
$CFSIZE,259252224,213094400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,231115,134330,-4302.127,839.483,38,1.0,39,-25.1