version: 66.07
glider: 543
mission: 14
dive: 484
start: 11 11 115 6 51 34
data:
$ID,543
$MISSION,14
$DIVE,484
$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,-25670.785
$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,32
$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
$GPS1,111115,064057,-4301.721,840.062,39,0.8,40,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.42
$_SM_ANGLEo,-71.9
$GPS2,111115,065110,-4301.652,840.244,25,1.0,25,-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,258.0,7202,-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,-116.8,0.0,0.0,0,65,0.00,0.00,-47.30,0.000,2,0.000,0.000,61,3222,1625,0,0,0,0,0,0
$GC,68,-0.43,-116.8,3.2,-1.8,6,93,6.97,1.15,-11.62,0.000,4,0.226,0.080,1754,3955,1976,0,0,0,0,0,0
$GC,132,-0.40,-116.8,9.7,-10.1,15,140,0.00,1.05,0.00,0.000,6,0.000,0.031,1753,3223,1978,0,0,0,0,0,0
$GC,191,-0.35,-116.8,15.3,-9.6,24,200,0.12,1.35,0.00,0.000,4,0.168,0.025,1786,2287,1978,0,0,0,0,0,0
$GC,228,-0.37,-116.8,18.7,-9.3,29,236,0.00,1.50,0.00,0.000,6,0.000,0.049,1781,3209,1978,0,0,0,0,0,0
$GC,287,-0.40,-116.8,23.2,-7.6,38,296,0.00,1.20,0.00,0.000,4,0.000,0.055,1776,3958,1978,0,0,0,0,0,0
$GC,329,-0.42,-116.8,26.4,-7.6,44,338,0.00,1.08,0.00,0.000,6,0.000,0.030,1776,3208,1977,0,0,0,0,0,0
$GC,484,-0.44,-116.8,38.5,-7.5,69,492,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,3208,1978,0,0,0,0,0,0
$GC,632,-0.46,-116.8,50.0,-7.2,94,638,0.00,0.00,0.00,0.000,6,0.000,0.000,1776,3209,1978,0,0,0,0,0,0
$GC,983,-0.49,-116.8,76.4,-7.0,155,989,0.00,1.17,0.00,0.000,4,0.000,0.056,1771,3954,1977,0,0,0,0,0,0
$GC,1036,-0.49,-116.8,80.5,-7.6,164,1042,0.00,1.08,0.00,0.000,6,0.000,0.030,1770,3201,1977,0,0,0,0,0,0
$GC,1384,-0.49,-116.8,105.4,-7.3,219,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,3202,1978,0,0,0,0,0,0
$GC,1708,-0.49,-116.8,129.1,-7.6,249,1711,0.00,1.17,0.00,0.000,4,0.000,0.056,1765,3948,1978,0,0,0,0,0,0
$GC,1765,-0.49,-116.8,134.3,-8.6,254,1769,0.00,1.05,0.00,0.000,6,0.000,0.031,1765,3208,1977,0,0,0,0,0,0
$GC,2099,-0.49,-116.8,162.7,-8.3,285,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,3208,1977,0,0,0,0,0,0
$GC,2426,-0.49,-116.8,188.5,-7.5,316,2427,0.00,0.00,0.00,0.000,6,0.000,0.000,1765,3209,1977,0,0,0,0,0,0
$GC,2744,-0.49,-116.8,212.1,-7.5,346,2748,0.00,1.33,0.00,0.000,4,0.000,0.026,1765,2291,1977,0,0,0,0,0,0
$GC,2781,-0.52,-116.8,214.6,-6.4,349,2785,0.00,1.50,0.00,0.000,6,0.000,0.049,1758,3214,1977,0,0,0,0,0,0
$GC,3112,-0.52,-116.8,240.1,-8.0,380,3116,0.00,1.15,0.00,0.000,4,0.000,0.055,1753,3951,1977,0,0,0,0,0,0
$GC,3243,-0.50,-116.8,251.6,-9.0,391,3249,0.00,1.08,0.00,0.000,6,0.000,0.031,1753,3202,1978,0,0,0,0,0,0
$GC,3568,-0.50,-116.8,279.2,-8.7,422,3569,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3202,1978,0,0,0,0,0,0
$GC,3888,-0.50,-116.8,306.5,-8.5,452,3892,0.00,1.27,0.00,0.000,4,0.000,0.025,1753,2290,1977,0,0,0,0,0,0
$GC,3935,-0.53,-116.8,310.5,-8.0,456,3938,0.00,1.50,0.00,0.000,6,0.000,0.048,1746,3215,1977,0,0,0,0,0,0
$GC,4266,-0.51,-116.8,338.9,-8.2,487,4270,0.00,1.15,0.00,0.000,4,0.000,0.055,1741,3955,1977,0,0,0,0,0,0
$GC,4351,-0.48,-116.8,346.6,-9.0,494,4358,0.00,1.08,0.00,0.000,6,0.000,0.029,1740,3200,1977,0,0,0,0,0,0
$GC,4679,-0.45,-116.8,373.0,-8.0,525,4685,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,3200,1977,0,0,0,0,0,0
$GC,5007,-0.43,-116.8,399.6,-8.5,556,5011,0.00,1.17,0.00,0.000,4,0.000,0.055,1736,3948,1977,0,0,0,0,0,0
$GC,5035,-0.39,-116.8,402.4,-8.8,558,5039,0.12,1.05,0.00,0.000,6,0.126,0.030,1775,3214,1978,0,0,0,0,0,0
$GC,5364,-0.44,-116.8,422.9,-6.4,574,5368,0.00,1.30,0.00,0.000,4,0.000,0.026,1776,2289,1977,0,0,0,0,0,0
$GC,5392,-0.50,-116.8,425.1,-7.0,575,5395,0.00,1.50,0.00,0.000,6,0.000,0.048,1771,3211,1977,0,0,0,0,0,0
$GC,5719,-0.54,-116.8,447.9,-6.9,591,5724,0.12,1.17,0.00,0.000,4,0.089,0.056,1702,3952,1978,0,0,0,0,0,0
$GC,5781,-0.43,-116.8,454.9,-12.0,593,5789,0.17,1.08,0.00,0.000,6,0.138,0.030,1757,3208,1977,0,0,0,0,0,0
$GC,6099,-0.45,-116.8,478.9,-7.3,609,6103,0.00,1.17,0.00,0.000,4,0.000,0.056,1753,3954,1977,0,0,0,0,0,0
$GC,6155,-0.45,-116.8,483.6,-8.8,611,6158,0.00,1.08,0.00,0.000,6,0.000,0.030,1753,3204,1977,0,0,0,0,0,0
$GC,6476,-0.45,-116.8,508.7,-7.8,627,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,3204,1977,0,0,0,0,0,0
$GC,6786,-0.45,-116.8,532.0,-7.6,642,6787,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3205,1977,0,0,0,0,0,0
$GC,7096,-0.45,-116.8,554.3,-7.1,657,7100,0.00,1.17,0.00,0.000,4,0.000,0.057,1748,3945,1978,0,0,0,0,0,0
$GC,7123,-0.45,-116.8,556.6,-7.8,658,7127,0.00,1.08,0.00,0.000,6,0.000,0.030,1748,3200,1977,0,0,0,0,0,0
$GC,7451,-0.45,-116.8,580.6,-7.3,674,7452,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,3200,1977,0,0,0,0,0,0
$GC,7760,-0.45,-116.8,602.9,-7.2,689,7763,0.00,1.20,0.00,0.000,4,0.000,0.057,1742,3955,1977,0,0,0,0,0,0
$GC,7806,-0.43,-116.8,606.5,-8.2,691,7810,0.00,1.08,0.00,0.000,6,0.000,0.031,1742,3209,1977,0,0,0,0,0,0
$GC,8140,-0.43,-116.8,630.7,-7.1,707,8143,0.00,1.17,0.00,0.000,4,0.000,0.057,1737,3951,1977,0,0,0,0,0,0
$GC,8173,-0.40,-116.8,633.6,-8.3,708,8177,0.10,1.08,0.00,0.000,6,0.130,0.031,1770,3211,1977,0,0,0,0,0,0
$GC,8496,-0.45,-116.8,651.9,-5.8,724,8500,0.00,1.17,0.00,0.000,4,0.000,0.057,1766,3954,1977,0,0,0,0,0,0
$GC,8524,-0.49,-116.8,653.8,-5.7,725,8528,0.00,1.08,0.00,0.000,6,0.000,0.031,1766,3208,1977,0,0,0,0,0,0
$GC,8851,-0.53,-116.8,673.5,-6.3,741,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,1766,3209,1977,0,0,0,0,0,0
$GC,9161,-0.57,-116.8,692.1,-6.4,756,9165,0.12,1.20,0.00,0.000,4,0.092,0.057,1698,3952,1977,0,0,0,0,0,0
$GC,9229,-0.47,-116.8,699.0,-11.4,759,9234,0.17,1.08,0.00,0.000,6,0.138,0.031,1752,3213,1977,0,0,0,0,0,0
$GC,9564,-0.48,-116.8,723.9,-7.3,775,9565,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3212,1977,0,0,0,0,0,0
$GC,9871,-0.50,-116.8,746.9,-7.7,790,9872,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3212,1977,0,0,0,0,0,0
$GC,10181,-0.52,-116.8,769.4,-6.8,805,10182,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3212,1977,0,0,0,0,0,0
$GC,10490,-0.54,-116.8,790.6,-6.9,820,10491,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3213,1977,0,0,0,0,0,0
$GC,10799,-0.56,-116.8,812.0,-7.0,835,10800,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3212,1977,0,0,0,0,0,0
$GC,11109,-0.59,-116.8,833.5,-7.0,850,11113,0.12,1.20,0.00,0.000,4,0.093,0.057,1688,3948,1977,0,0,0,0,0,0
$GC,11143,-0.48,-116.8,837.0,-11.1,851,11147,0.17,1.08,0.00,0.000,6,0.145,0.031,1742,3212,1977,0,0,0,0,0,0
$GC,11465,-0.48,-116.8,859.9,-6.4,867,11469,0.00,1.17,0.00,0.000,4,0.000,0.057,1738,3950,1977,0,0,0,0,0,0
$GC,11526,-0.48,-116.8,864.3,-7.0,869,11533,0.00,1.08,0.00,0.000,6,0.000,0.031,1738,3209,1977,0,0,0,0,0,0
$GC,11844,-0.48,-116.8,885.5,-6.8,885,11847,0.00,1.20,0.00,0.000,4,0.000,0.058,1733,3950,1977,0,0,0,0,0,0
$GC,11878,-0.46,-116.8,888.2,-6.9,886,11882,0.00,1.08,0.00,0.000,6,0.000,0.031,1733,3206,1977,0,0,0,0,0,0
$GC,12199,-0.46,-116.8,910.9,-7.1,902,12200,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,3206,1977,0,0,0,0,0,0
$GC,12509,-0.46,-116.8,932.7,-6.8,917,12510,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,3206,1977,0,0,0,0,0,0
$STATE,12609,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12609,begin apogee
$GC,12615,-0.09,0.0,940.2,7.0,922,12745,0.45,0.00,126.80,1.802,6,0.127,0.000,1870,2921,1498,0,0,0,0,0,0
$STATE,12746,end apogee,CONTROL_FINISHED_OK
$STATE,12746,begin climb
$GC,12748,0.43,116.8,942.2,0.0,928,12882,0.52,1.52,127.50,1.758,4,0.085,0.028,2048,2037,1023,0,0,0,0,0,0
$GC,12949,0.43,116.8,927.0,9.2,937,12953,0.00,1.52,0.00,0.000,6,0.000,0.045,2048,2916,1020,0,0,0,0,0,0
$GC,13272,0.38,116.8,892.4,10.7,953,13275,0.00,1.42,0.00,0.000,4,0.000,0.056,2049,3806,1017,0,0,0,0,0,0
$GC,13305,0.29,116.8,888.5,12.9,954,13309,0.17,1.33,0.00,0.000,6,0.159,0.029,2003,2904,1017,0,0,0,0,0,0
$GC,13628,0.36,154.9,865.1,6.7,970,13671,0.00,1.50,36.30,1.743,4,0.000,0.054,2003,3816,868,0,0,0,0,0,0
$GC,13742,0.39,162.0,856.0,8.2,975,13756,0.00,1.33,8.35,1.524,6,0.000,0.030,2008,2933,840,0,0,0,0,0,0
$GC,14075,0.47,194.1,831.7,7.0,991,14112,0.15,1.50,32.55,1.721,4,0.088,0.057,2072,3806,708,0,0,0,0,0,0
$GC,14147,0.38,194.1,823.2,14.0,993,14151,0.15,1.33,0.00,0.000,6,0.157,0.028,2034,2924,708,0,0,0,0,0,0
$GC,14468,0.38,194.1,792.0,9.1,1009,14472,0.00,1.27,0.00,0.000,4,0.000,0.031,2039,2057,706,0,0,0,0,0,0
$GC,14492,0.40,194.1,789.7,9.1,1010,14496,0.00,1.40,0.00,0.000,6,0.000,0.047,2039,2932,706,0,0,0,0,0,0
$GC,14824,0.40,194.1,757.7,9.5,1026,14828,0.00,1.38,0.00,0.000,4,0.000,0.055,2040,3799,705,0,0,0,0,0,0
$GC,14858,0.38,194.1,754.1,10.9,1027,14862,0.00,1.27,0.00,0.000,6,0.000,0.029,2046,2925,705,0,0,0,0,0,0
$GC,15180,0.38,194.1,720.7,10.1,1043,15183,0.00,1.27,0.00,0.000,4,0.000,0.030,2053,2051,704,0,0,0,0,0,0
$GC,15213,0.38,194.1,717.6,9.5,1044,15216,0.00,1.40,0.00,0.000,6,0.000,0.046,2053,2926,705,0,0,0,0,0,0
$GC,15534,0.36,194.1,684.0,10.4,1060,15539,0.12,1.40,0.00,0.000,4,0.165,0.056,2020,3798,705,0,0,0,0,0,0
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$STATE,21644,end climb,SURFACE_DEPTH_REACHED
$STATE,21644,begin surface coast
$FINISH,1.6,1.017730
$STATE,21675,end surface coast,CONTROL_FINISHED_OK
$STATE,21675,begin surface
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$HUMID,64.41
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$TCM_TEMP,13.90
$XPDR_PINGS,0
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$10V_AH,9.8,59.146
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.425,105.150,379.900,0.000,0.000,32.741,42.690,356.420,0.000,0.000,29.500,3872.023,13728.152,501.768,3834.257,411.891,0.000,1969.657,0.000,3374.678,0.000,0.544,0.000
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$MEM,353924
$DATA_FILE_SIZE,90063,1568
$CAP_FILE_SIZE,213475,0
$CFSIZE,259252224,217534464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,111115,125520,-4301.465,840.414,25,1.3,41,-25.1