version: 66.07
glider: 543
mission: 14
dive: 191
start: 9 4 115 22 22 5
data:
$ID,543
$MISSION,14
$DIVE,191
$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,-24726.877
$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,79
$R_STBD_OVSHOOT,33
$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
$GPS1,040915,221251,-4302.456,834.938,42,0.8,42,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-72.4
$GPS2,040915,222141,-4302.408,835.040,13,0.8,15,-25.1
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAZ_BUT1
$TGT_LATLONG,-4304.000,824.000
$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,283.9,15226,-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,-56.30,0.000,2,0.000,0.000,63,3230,1825,0,0,0,0,0,0
$GC,76,-0.43,-116.8,3.3,-2.0,7,94,6.97,1.12,-4.43,0.000,4,0.230,0.073,1757,3952,1977,0,0,0,0,0,0
$GC,179,-0.33,-116.8,19.8,-12.4,23,188,0.10,1.08,0.00,0.000,6,0.147,0.031,1788,3236,1980,0,0,0,0,0,0
$GC,239,-0.31,-116.8,26.3,-10.2,32,246,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3236,1980,0,0,0,0,0,0
$GC,388,-0.29,-116.8,40.7,-9.4,57,397,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3236,1980,0,0,0,0,0,0
$GC,739,-0.27,-116.8,72.6,-9.4,118,745,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3237,1980,0,0,0,0,0,0
$GC,1090,-0.27,-116.8,105.7,-9.8,175,1094,0.00,1.12,0.00,0.000,4,0.000,0.057,1785,3940,1981,0,0,0,0,0,0
$GC,1128,-0.24,-116.8,109.9,-10.4,178,1136,0.10,1.10,0.00,0.000,6,0.133,0.031,1818,3196,1980,0,0,0,0,0,0
$GC,1458,-0.31,-116.8,133.3,-7.1,209,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,3196,1980,0,0,0,0,0,0
$GC,1784,-0.37,-116.8,154.3,-6.5,240,1785,0.00,0.00,0.00,0.000,6,0.000,0.000,1818,3196,1981,0,0,0,0,0,0
$GC,2102,-0.45,-116.8,172.7,-5.6,270,2104,0.17,0.00,0.00,0.000,6,0.072,0.000,1735,3195,1980,0,0,0,0,0,0
$GC,2419,-0.33,-116.8,210.3,-12.5,300,2423,0.22,1.20,0.00,0.000,4,0.160,0.053,1793,3939,1980,0,0,0,0,0,0
$GC,2499,-0.35,-116.8,217.3,-7.6,307,2503,0.00,1.08,0.00,0.000,6,0.000,0.032,1793,3210,1981,0,0,0,0,0,0
$GC,2830,-0.37,-116.8,242.7,-7.7,338,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,3210,1980,0,0,0,0,0,0
$GC,3150,-0.39,-116.8,267.6,-8.1,368,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,1793,3210,1980,0,0,0,0,0,0
$GC,3470,-0.42,-116.8,292.1,-7.6,398,3473,0.00,1.15,0.00,0.000,4,0.000,0.057,1788,3925,1980,0,0,0,0,0,0
$GC,3506,-0.42,-116.8,295.0,-8.1,401,3510,0.00,1.08,0.00,0.000,6,0.000,0.032,1788,3197,1980,0,0,0,0,0,0
$GC,3837,-0.42,-116.8,322.8,-8.5,432,3840,0.00,1.17,0.00,0.000,4,0.000,0.057,1783,3935,1980,0,0,0,0,0,0
$GC,3874,-0.42,-116.8,326.5,-8.8,435,3882,0.00,1.10,0.00,0.000,6,0.000,0.031,1783,3196,1980,0,0,0,0,0,0
$GC,4200,-0.42,-116.8,355.5,-9.3,466,4201,0.00,0.00,0.00,0.000,6,0.000,0.000,1783,3196,1980,0,0,0,0,0,0
$GC,4519,-0.42,-116.8,384.9,-9.0,496,4523,0.00,1.17,0.00,0.000,4,0.000,0.058,1777,3933,1980,0,0,0,0,0,0
$GC,4553,-0.42,-116.8,388.2,-10.3,499,4557,0.00,1.08,0.00,0.000,6,0.000,0.032,1777,3202,1980,0,0,0,0,0,0
$GC,4888,-0.42,-116.8,421.1,-9.9,521,4892,0.00,1.17,0.00,0.000,4,0.000,0.057,1772,3942,1980,0,0,0,0,0,0
$GC,4938,-0.40,-116.8,426.3,-10.8,523,4942,0.00,1.08,0.00,0.000,6,0.000,0.032,1772,3211,1980,0,0,0,0,0,0
$GC,5265,-0.38,-116.8,459.0,-9.8,539,5268,0.00,1.15,0.00,0.000,4,0.000,0.057,1766,3929,1980,0,0,0,0,0,0
$GC,5304,-0.35,-116.8,463.2,-10.4,540,5311,0.00,1.08,0.00,0.000,6,0.000,0.031,1766,3203,1980,0,0,0,0,0,0
$GC,5620,-0.31,-116.8,494.0,-9.6,556,5625,0.12,1.20,0.00,0.000,4,0.165,0.059,1795,3944,1980,0,0,0,0,0,0
$GC,5646,-0.31,-116.8,496.4,-8.2,557,5650,0.00,1.10,0.00,0.000,6,0.000,0.031,1795,3202,1980,0,0,0,0,0,0
$GC,5974,-0.35,-116.8,517.8,-6.0,573,5978,0.00,1.17,0.00,0.000,4,0.000,0.059,1791,3937,1980,0,0,0,0,0,0
$GC,6013,-0.39,-116.8,520.6,-7.0,574,6020,0.00,1.08,0.00,0.000,6,0.000,0.032,1791,3213,1980,0,0,0,0,0,0
$GC,6329,-0.42,-116.8,540.7,-6.3,590,6330,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3212,1981,0,0,0,0,0,0
$GC,6639,-0.45,-116.8,560.0,-6.2,605,6642,0.00,1.15,0.00,0.000,4,0.000,0.060,1786,3928,1980,0,0,0,0,0,0
$GC,6677,-0.47,-116.8,562.7,-7.0,606,6685,0.08,1.08,0.00,0.000,6,0.059,0.032,1735,3204,1980,0,0,0,0,0,0
$GC,6993,-0.38,-116.8,595.3,-10.9,622,6995,0.17,0.00,0.00,0.000,6,0.166,0.000,1781,3203,1980,0,0,0,0,0,0
$GC,7302,-0.38,-116.8,618.9,-7.6,637,7306,0.00,1.17,0.00,0.000,4,0.000,0.059,1777,3936,1980,0,0,0,0,0,0
$GC,7379,-0.38,-116.8,625.4,-8.1,640,7384,0.00,1.10,0.00,0.000,6,0.000,0.032,1777,3203,1980,0,0,0,0,0,0
$GC,7701,-0.38,-116.8,650.8,-7.7,656,7705,0.00,1.17,0.00,0.000,4,0.000,0.060,1772,3937,1980,0,0,0,0,0,0
$GC,7733,-0.38,-116.8,653.8,-9.3,657,7738,0.00,1.10,0.00,0.000,6,0.000,0.032,1772,3202,1980,0,0,0,0,0,0
$GC,8056,-0.38,-116.8,678.3,-7.5,673,8059,0.00,1.17,0.00,0.000,4,0.000,0.059,1766,3936,1980,0,0,0,0,0,0
$GC,8105,-0.36,-116.8,682.5,-8.1,675,8109,0.00,1.08,0.00,0.000,6,0.000,0.032,1766,3212,1980,0,0,0,0,0,0
$GC,8433,-0.34,-116.8,707.7,-7.6,691,8436,0.00,1.30,0.00,0.000,4,0.000,0.029,1767,2308,1980,0,0,0,0,0,0
$GC,8456,-0.34,-116.8,709.5,-7.7,692,8461,0.08,1.45,0.00,0.000,6,0.135,0.054,1785,3201,1980,0,0,0,0,0,0
$GC,8790,-0.38,-116.8,729.4,-5.9,708,8794,0.00,1.20,0.00,0.000,4,0.000,0.059,1781,3957,1980,0,0,0,0,0,0
$GC,8851,-0.40,-116.8,733.7,-6.7,710,8858,0.00,1.10,0.00,0.000,6,0.000,0.033,1781,3213,1980,0,0,0,0,0,0
$GC,9167,-0.42,-116.8,754.3,-6.9,726,9171,0.00,1.17,0.00,0.000,4,0.000,0.060,1776,3949,1980,0,0,0,0,0,0
$GC,9245,-0.42,-116.8,760.3,-7.9,729,9250,0.00,1.10,0.00,0.000,6,0.000,0.033,1776,3204,1980,0,0,0,0,0,0
$GC,9567,-0.42,-116.8,782.6,-7.1,745,9570,0.00,1.20,0.00,0.000,4,0.000,0.060,1770,3955,1980,0,0,0,0,0,0
$GC,9599,-0.42,-116.8,785.3,-7.9,746,9604,0.00,1.10,0.00,0.000,6,0.000,0.033,1770,3212,1980,0,0,0,0,0,0
$GC,9921,-0.42,-116.8,808.2,-7.2,762,9923,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,3212,1980,0,0,0,0,0,0
$GC,10230,-0.42,-116.8,830.3,-7.0,777,10234,0.00,1.20,0.00,0.000,4,0.000,0.060,1765,3960,1980,0,0,0,0,0,0
$GC,10268,-0.42,-116.8,833.3,-8.3,778,10276,0.00,1.15,0.00,0.000,6,0.000,0.033,1764,3197,1980,0,0,0,0,0,0
$GC,10585,-0.42,-116.8,855.3,-7.1,794,10588,0.00,1.20,0.00,0.000,4,0.000,0.060,1759,3948,1980,0,0,0,0,0,0
$GC,10634,-0.39,-116.8,859.3,-7.9,796,10638,0.00,1.10,0.00,0.000,6,0.000,0.033,1759,3205,1980,0,0,0,0,0,0
$GC,10962,-0.37,-116.8,883.4,-7.6,812,10963,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,3205,1980,0,0,0,0,0,0
$GC,11271,-0.35,-116.8,906.8,-7.8,827,11275,0.12,1.23,0.00,0.000,4,0.168,0.060,1788,3956,1980,0,0,0,0,0,0
$GC,11295,-0.37,-116.8,908.4,-7.1,828,11299,0.00,1.10,0.00,0.000,6,0.000,0.034,1787,3213,1980,0,0,0,0,0,0
$GC,11628,-0.42,-116.8,928.1,-5.7,844,11630,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3212,1980,0,0,0,0,0,0
$GC,11937,-0.47,-116.8,945.9,-5.4,859,11941,0.10,1.20,0.00,0.000,4,0.109,0.063,1732,3948,1980,0,0,0,0,0,0
$GC,11969,-0.40,-116.8,948.8,-9.1,860,11973,0.10,1.10,0.00,0.000,6,0.150,0.034,1763,3213,1980,0,0,0,0,0,0
$GC,12290,-0.40,-116.8,972.3,-7.0,876,12291,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,3213,1980,0,0,0,0,0,0
$GC,12600,-0.40,-116.8,993.4,-6.6,891,12604,0.00,1.20,0.00,0.000,4,0.000,0.061,1759,3959,1980,0,0,0,0,0,0
$STATE,12608,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12608,begin apogee
$GC,12614,-0.09,0.0,994.1,6.6,891,12740,0.35,0.00,123.25,1.909,6,0.135,0.000,1869,2900,1499,0,0,0,0,0,0
$STATE,12741,end apogee,CONTROL_FINISHED_OK
$STATE,12741,begin climb
$GC,12742,0.43,116.8,996.0,0.0,897,12871,0.52,1.45,120.12,1.846,4,0.090,0.031,2045,2057,1022,0,0,0,0,0,0
$GC,12917,0.39,116.8,981.1,11.7,905,12920,0.00,1.52,0.00,0.000,6,0.000,0.049,2044,2930,1021,0,0,0,0,0,0
$GC,13249,0.32,116.8,940.0,12.4,921,13254,0.12,1.45,0.00,0.000,4,0.176,0.057,2015,3805,1017,0,0,0,0,0,0
$GC,13298,0.25,116.8,933.6,14.0,923,13303,0.00,1.33,0.00,0.000,6,0.000,0.031,2020,2931,1017,0,0,0,0,0,0
$GC,13626,0.22,116.8,897.5,11.1,939,13631,0.15,1.45,0.00,0.000,4,0.183,0.059,1983,3808,1016,0,0,0,0,0,0
$GC,13675,0.22,116.8,892.2,9.7,941,13680,0.00,1.35,0.00,0.000,6,0.000,0.030,1988,2921,1015,0,0,0,0,0,0
$GC,14003,0.25,116.8,863.2,9.0,957,14007,0.00,1.45,0.00,0.000,4,0.000,0.059,1988,3807,1015,0,0,0,0,0,0
$GC,14052,0.25,116.8,858.1,10.6,959,14057,0.00,1.33,0.00,0.000,6,0.000,0.031,1995,2921,1014,0,0,0,0,0,0
$GC,14380,0.27,116.8,829.4,8.6,975,14383,0.00,1.45,0.00,0.000,4,0.000,0.059,1995,3808,1014,0,0,0,0,0,0
$GC,14429,0.25,116.8,824.5,9.8,977,14433,0.00,1.33,0.00,0.000,6,0.000,0.031,2001,2921,1014,0,0,0,0,0,0
$GC,14756,0.25,116.8,796.5,8.6,993,14760,0.00,1.45,0.00,0.000,4,0.000,0.059,2001,3806,1014,0,0,0,0,0,0
$GC,14817,0.21,116.8,790.4,10.1,995,14825,0.10,1.33,0.00,0.000,6,0.167,0.031,1979,2920,1014,0,0,0,0,0,0
$GC,15135,0.30,149.9,768.3,6.9,1011,15170,0.00,1.50,30.42,1.782,4,0.000,0.060,1978,3801,888,0,0,0,0,0,0
$GC,15209,0.33,149.9,762.3,8.9,1014,15213,0.00,1.35,0.00,0.000,6,0.000,0.030,1983,2921,887,0,0,0,0,0,0
$GC,15532,0.43,182.0,738.6,7.0,1030,15568,0.17,1.48,31.15,1.749,4,0.080,0.057,2057,3808,757,0,0,0,0,0,0
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$STATE,22213,end climb,SURFACE_DEPTH_REACHED
$STATE,22213,begin surface coast
$FINISH,1.4,1.026490
$STATE,22239,end surface coast,CONTROL_FINISHED_OK
$STATE,22239,begin surface
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$TT8_MAMPS,0.026964
$HUMID,62.52
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.1,37.210
$10V_AH,10.1,22.556
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,15.975,108.925,366.625,0.000,0.000,27.235,39.351,326.576,0.000,0.000,17.661,3910.022,14374.146,506.137,3783.673,255.317,0.000,1979.905,0.000,3357.496,0.000,0.545,0.000
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$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353964
$DATA_FILE_SIZE,90166,1578
$CAP_FILE_SIZE,215428,0
$CFSIZE,259252224,243314688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050915,043503,-4301.328,832.925,35,0.9,35,-25.1