version: 66.07
glider: 543
mission: 14
dive: 583
start: 12 5 115 14 33 52
data:
$ID,543
$MISSION,14
$DIVE,583
$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,-26064.537
$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,85
$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
$GPS1,051215,142422,-4256.267,824.174,41,1.1,41,-25.0
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-75.0
$GPS2,051215,143328,-4256.299,824.323,20,1.0,20,-25.0
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAZ_BUT3
$TGT_LATLONG,-4256.000,836.000
$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,113.0,15842,-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,16,-0.43,-116.8,0.0,0.0,0,66,0.00,0.00,-47.60,0.000,2,0.000,0.000,58,3213,1778,0,0,0,0,0,0
$GC,69,-0.43,-116.8,3.1,-1.4,6,87,7.15,1.35,-5.95,0.000,4,0.229,0.048,1757,2309,1978,0,0,0,0,0,0
$GC,280,-0.43,-116.8,23.5,-8.3,40,289,0.00,1.50,0.00,0.000,6,0.000,0.048,1752,3215,1979,0,0,0,0,0,0
$GC,436,-0.39,-116.8,37.3,-8.7,65,444,0.00,0.00,0.00,0.000,6,0.000,0.000,1751,3215,1979,0,0,0,0,0,0
$GC,584,-0.36,-116.8,51.0,-8.2,90,593,0.12,1.33,0.00,0.000,4,0.161,0.026,1785,2304,1979,0,0,0,0,0,0
$GC,631,-0.42,-116.8,53.9,-5.9,97,638,0.00,1.50,0.00,0.000,6,0.000,0.049,1781,3212,1979,0,0,0,0,0,0
$GC,984,-0.45,-116.8,74.0,-5.3,158,989,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,3211,1979,0,0,0,0,0,0
$GC,1332,-0.49,-116.8,97.3,-6.9,219,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,3211,1979,0,0,0,0,0,0
$GC,1664,-0.53,-116.8,121.1,-7.8,253,1671,0.12,0.00,0.00,0.000,6,0.088,0.000,1718,3212,1979,0,0,0,0,0,0
$GC,1991,-0.44,-116.8,160.2,-12.7,284,1995,0.15,1.33,0.00,0.000,4,0.157,0.026,1759,2302,1979,0,0,0,0,0,0
$GC,2064,-0.46,-116.8,167.7,-9.2,290,2071,0.00,1.50,0.00,0.000,6,0.000,0.047,1754,3213,1980,0,0,0,0,0,0
$GC,2392,-0.46,-116.8,199.3,-9.4,321,2395,0.00,1.15,0.00,0.000,4,0.000,0.055,1748,3950,1979,0,0,0,0,0,0
$GC,2440,-0.43,-116.8,204.2,-10.4,325,2444,0.00,1.02,0.00,0.000,6,0.000,0.030,1749,3226,1979,0,0,0,0,0,0
$GC,2771,-0.41,-116.8,235.9,-9.4,356,2775,0.00,1.33,0.00,0.000,4,0.000,0.024,1749,2294,1979,0,0,0,0,0,0
$GC,2863,-0.41,-116.8,243.9,-8.4,364,2866,0.00,1.50,0.00,0.000,6,0.000,0.047,1742,3209,1979,0,0,0,0,0,0
$GC,3194,-0.39,-116.8,273.9,-8.7,395,3196,0.12,0.00,0.00,0.000,6,0.158,0.000,1775,3209,1979,0,0,0,0,0,0
$GC,3515,-0.43,-116.8,293.8,-5.9,425,3519,0.00,1.33,0.00,0.000,4,0.000,0.026,1775,2294,1979,0,0,0,0,0,0
$GC,3564,-0.50,-116.8,296.8,-6.7,429,3568,0.00,1.50,0.00,0.000,6,0.000,0.047,1770,3209,1979,0,0,0,0,0,0
$GC,3896,-0.60,-116.8,316.8,-6.0,460,3898,0.17,0.00,0.00,0.000,6,0.072,0.000,1676,3210,1979,0,0,0,0,0,0
$GC,4214,-0.44,-116.8,354.0,-12.6,490,4218,0.25,1.17,0.00,0.000,4,0.154,0.050,1750,3951,1979,0,0,0,0,0,0
$GC,4357,-0.44,-116.8,366.6,-8.5,502,4363,0.00,1.05,0.00,0.000,6,0.000,0.030,1750,3210,1979,0,0,0,0,0,0
$GC,4684,-0.44,-116.8,393.7,-9.1,533,4688,0.00,1.30,0.00,0.000,4,0.000,0.026,1750,2298,1979,0,0,0,0,0,0
$GC,4733,-0.47,-116.8,397.9,-9.3,537,4737,0.00,1.50,0.00,0.000,6,0.000,0.046,1743,3216,1979,0,0,0,0,0,0
$GC,5066,-0.45,-116.8,430.0,-9.6,554,5067,0.00,0.00,0.00,0.000,6,0.000,0.000,1743,3215,1979,0,0,0,0,0,0
$GC,5378,-0.45,-116.8,458.3,-8.9,569,5379,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3216,1979,0,0,0,0,0,0
$GC,5684,-0.45,-116.8,483.6,-7.9,584,5685,0.00,0.00,0.00,0.000,6,0.000,0.000,1743,3215,1980,0,0,0,0,0,0
$GC,5994,-0.43,-116.8,506.6,-7.3,599,5998,0.00,1.15,0.00,0.000,4,0.000,0.054,1737,3950,1980,0,0,0,0,0,0
$GC,6042,-0.40,-116.8,510.2,-7.8,601,6046,0.10,1.05,0.00,0.000,6,0.125,0.030,1770,3219,1980,0,0,0,0,0,0
$GC,6376,-0.45,-116.8,529.5,-5.5,617,6380,0.00,1.35,0.00,0.000,4,0.000,0.026,1770,2284,1980,0,0,0,0,0,0
$GC,6415,-0.52,-116.8,531.8,-5.5,618,6422,0.00,1.52,0.00,0.000,6,0.000,0.047,1766,3210,1980,0,0,0,0,0,0
$GC,6732,-0.62,-116.8,550.2,-6.0,634,6736,0.17,1.35,0.00,0.000,4,0.074,0.027,1671,2290,1980,0,0,0,0,0,0
$GC,6748,-0.64,-116.8,551.5,-6.3,634,6755,0.00,1.50,0.00,0.000,6,0.000,0.046,1663,3206,1979,0,0,0,0,0,0
$GC,7065,-0.47,-116.8,593.2,-13.6,650,7067,0.30,0.00,0.00,0.000,6,0.153,0.000,1749,3206,1979,0,0,0,0,0,0
$GC,7374,-0.47,-116.8,617.8,-7.5,665,7377,0.00,1.33,0.00,0.000,4,0.000,0.025,1749,2285,1980,0,0,0,0,0,0
$GC,7444,-0.50,-116.8,622.7,-7.0,668,7447,0.00,1.52,0.00,0.000,6,0.000,0.047,1743,3212,1980,0,0,0,0,0,0
$GC,7777,-0.50,-116.8,648.4,-7.5,684,7781,0.00,1.15,0.00,0.000,4,0.000,0.055,1738,3947,1980,0,0,0,0,0,0
$GC,7810,-0.48,-116.8,651.4,-8.6,685,7814,0.00,1.08,0.00,0.000,6,0.000,0.030,1738,3199,1980,0,0,0,0,0,0
$GC,8133,-0.48,-116.8,676.4,-7.7,701,8134,0.00,0.00,0.00,0.000,6,0.000,0.000,1739,3199,1980,0,0,0,0,0,0
$GC,8441,-0.46,-116.8,698.9,-7.2,716,8445,0.00,1.30,0.00,0.000,4,0.000,0.026,1738,2284,1980,0,0,0,0,0,0
$GC,8520,-0.46,-116.8,704.4,-7.1,719,8524,0.00,1.52,0.00,0.000,6,0.000,0.047,1731,3210,1980,0,0,0,0,0,0
$GC,8842,-0.44,-116.8,728.0,-7.5,735,8847,0.12,1.35,0.00,0.000,4,0.158,0.027,1765,2295,1980,0,0,0,0,0,0
$GC,8894,-0.51,-116.8,731.2,-5.5,737,8897,0.00,1.50,0.00,0.000,6,0.000,0.048,1761,3202,1980,0,0,0,0,0,0
$GC,9222,-0.60,-116.8,748.5,-5.2,753,9226,0.15,1.33,0.00,0.000,4,0.080,0.028,1683,2310,1980,0,0,0,0,0,0
$GC,9278,-0.50,-116.8,753.0,-8.2,755,9282,0.17,1.48,0.00,0.000,6,0.132,0.048,1739,3204,1980,0,0,0,0,0,0
$GC,9600,-0.50,-116.8,773.9,-6.5,771,9604,0.00,1.17,0.00,0.000,4,0.000,0.057,1735,3951,1980,0,0,0,0,0,0
$GC,9647,-0.48,-116.8,777.5,-8.1,773,9651,0.00,1.08,0.00,0.000,6,0.000,0.031,1735,3209,1980,0,0,0,0,0,0
$GC,9981,-0.48,-116.8,800.4,-6.8,789,9982,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3208,1980,0,0,0,0,0,0
$GC,10289,-0.48,-116.8,823.2,-7.7,804,10293,0.00,1.33,0.00,0.000,4,0.000,0.027,1735,2292,1980,0,0,0,0,0,0
$GC,10346,-0.49,-116.8,827.5,-6.9,806,10349,0.00,1.52,0.00,0.000,6,0.000,0.047,1728,3214,1980,0,0,0,0,0,0
$GC,10669,-0.47,-116.8,853.7,-8.3,822,10670,0.00,0.00,0.00,0.000,6,0.000,0.000,1728,3214,1980,0,0,0,0,0,0
$GC,10977,-0.44,-116.8,879.2,-8.3,837,10982,0.12,1.38,0.00,0.000,4,0.158,0.028,1762,2288,1980,0,0,0,0,0,0
$GC,11029,-0.52,-116.8,882.5,-5.4,839,11032,0.00,1.52,0.00,0.000,6,0.000,0.049,1757,3206,1980,0,0,0,0,0,0
$GC,11357,-0.62,-116.8,902.5,-6.2,855,11361,0.15,1.35,0.00,0.000,4,0.085,0.028,1678,2299,1980,0,0,0,0,0,0
$GC,11413,-0.52,-116.8,907.4,-9.4,857,11418,0.20,1.50,0.00,0.000,6,0.134,0.047,1733,3210,1980,0,0,0,0,0,0
$GC,11734,-0.52,-116.8,931.4,-7.3,873,11735,0.00,0.00,0.00,0.000,6,0.000,0.000,1734,3210,1980,0,0,0,0,0,0
$GC,12044,-0.52,-116.8,954.8,-7.9,888,12048,0.00,1.33,0.00,0.000,4,0.000,0.026,1734,2298,1980,0,0,0,0,0,0
$GC,12106,-0.54,-116.8,959.7,-7.9,890,12113,0.00,1.52,0.00,0.000,6,0.000,0.049,1728,3214,1980,0,0,0,0,0,0
$GC,12422,-0.54,-116.8,985.2,-8.2,906,12423,0.00,0.00,0.00,0.000,6,0.000,0.000,1728,3214,1979,0,0,0,0,0,0
$STATE,12605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12605,begin apogee
$GC,12612,-0.09,0.0,1000.5,8.1,915,12761,0.47,0.00,135.90,1.845,6,0.125,0.000,1873,2914,1499,0,0,0,0,2,0
$STATE,12762,end apogee,CONTROL_FINISHED_OK
$STATE,12762,begin climb
$GC,12765,0.43,116.8,1005.6,0.0,922,12943,0.50,0.00,143.43,1.715,6,0.078,0.000,2040,2914,1022,0,0,0,0,6,0
$GC,13240,0.39,116.8,969.2,9.2,945,13243,0.00,1.45,0.00,0.000,4,0.000,0.056,2040,3806,1018,0,0,0,0,0,0
$GC,13358,0.30,116.8,956.2,10.9,950,13363,0.12,1.33,0.00,0.000,6,0.166,0.029,2010,2912,1017,0,0,0,0,0,0
$GC,13687,0.34,127.4,930.9,8.0,966,13701,0.00,1.42,10.48,1.675,4,0.000,0.054,2010,3806,979,0,0,0,0,0,0
$GC,13786,0.31,127.4,921.5,10.0,970,13790,0.00,1.30,0.00,0.000,6,0.000,0.029,2015,2923,979,0,0,0,0,0,0
$GC,14108,0.33,128.3,894.1,8.5,986,14111,0.00,1.42,0.00,0.000,4,0.000,0.054,2015,3805,978,0,0,0,0,0,0
$GC,14158,0.30,128.3,889.2,10.3,988,14162,0.00,1.30,0.00,0.000,6,0.000,0.030,2022,2923,977,0,0,0,0,0,0
$GC,14485,0.30,128.3,860.7,8.6,1004,14489,0.00,1.42,0.00,0.000,4,0.000,0.056,2022,3804,976,0,0,0,0,0,0
$GC,14577,0.26,128.3,852.1,10.0,1008,14581,0.10,1.30,0.00,0.000,6,0.159,0.030,1998,2924,976,0,0,0,0,0,0
$GC,14912,0.37,182.2,831.8,5.9,1024,14975,0.00,1.52,55.08,1.785,4,0.000,0.057,1998,3806,757,0,0,0,0,0,0
$GC,15038,0.45,207.2,822.4,7.3,1029,15069,0.10,1.33,26.05,1.711,6,0.063,0.030,2055,2930,654,0,0,0,0,0,0
$GC,15397,0.42,207.2,780.4,11.9,1047,15401,0.00,1.33,0.00,0.000,4,0.000,0.032,2062,2050,651,0,0,0,0,0,0
$GC,15425,0.42,207.2,777.3,9.9,1048,15429,0.00,1.42,0.00,0.000,6,0.000,0.047,2062,2929,651,0,0,0,0,0,0
$GC,15753,0.39,207.2,736.8,12.4,1064,15757,0.12,1.42,0.00,0.000,4,0.172,0.057,2030,3803,650,0,0,0,0,0,0
$GC,15835,0.39,207.2,727.1,11.2,1067,15843,0.00,1.33,0.00,0.000,6,0.000,0.029,2035,2910,649,0,0,0,0,0,0
$GC,16153,0.42,207.2,696.6,9.5,1083,16156,0.00,1.45,0.00,0.000,4,0.000,0.055,2035,3804,649,0,0,0,0,0,0
$GC,16180,0.42,207.2,693.6,10.5,1084,16184,0.00,1.30,0.00,0.000,6,0.000,0.028,2042,2917,649,0,0,0,0,0,0
$GC,16508,0.42,207.2,660.8,9.8,1100,16512,0.00,1.45,0.00,0.000,4,0.000,0.055,2042,3810,648,0,0,0,0,0,0
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$STATE,22840,end climb,SURFACE_DEPTH_REACHED
$STATE,22841,begin surface coast
$FINISH,1.5,1.016462
$STATE,22879,end surface coast,CONTROL_FINISHED_OK
$STATE,22879,begin surface
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$TT8_MAMPS,0.026215
$HUMID,65.16
$INTERNAL_PRESSURE,11.4176
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,20.4,108.201
$10V_AH,9.8,72.497
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,17.350,117.525,406.775,0.000,0.000,25.145,19.189,334.763,0.000,0.000,22.617,4073.453,14345.173,567.998,4030.384,475.381,0.000,2141.490,0.000,3638.911,0.000,0.545,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1145.734,1155.467,1215.777,125.914,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353904
$DATA_FILE_SIZE,96742,1653
$CAP_FILE_SIZE,222693,0
$CFSIZE,259252224,208330752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,1
$GPS,051215,205734,-4256.147,829.294,31,1.2,31,-25.0