version: 66.07
glider: 543
mission: 14
dive: 509
start: 11 17 115 22 15 58
data:
$ID,543
$MISSION,14
$DIVE,509
$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,-25781.594
$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,78
$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
$GPS1,171115,220603,-4301.492,841.491,37,1.0,38,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-73.8
$GPS2,171115,221534,-4301.479,841.603,19,1.1,20,-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,263.5,8902,-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,-48.28,0.000,2,0.000,0.000,63,3226,1679,0,0,0,0,0,0
$GC,69,-0.43,-116.8,3.2,-1.7,6,94,7.12,1.17,-9.75,0.000,4,0.231,0.076,1755,3948,1977,0,0,0,0,0,0
$GC,240,-0.38,-116.8,19.5,-10.4,33,249,0.00,1.05,0.00,0.000,6,0.000,0.031,1755,3221,1978,0,0,0,0,0,0
$GC,299,-0.35,-116.8,26.0,-10.5,42,307,0.12,0.00,0.00,0.000,6,0.162,0.000,1788,3221,1978,0,0,0,0,0,0
$GC,455,-0.39,-116.8,36.7,-6.2,67,463,0.00,0.00,0.00,0.000,6,0.000,0.000,1788,3221,1978,0,0,0,0,0,0
$GC,602,-0.44,-116.8,46.8,-6.0,92,608,0.00,0.00,0.00,0.000,6,0.000,0.000,1787,3221,1978,0,0,0,0,0,0
$GC,950,-0.49,-116.8,69.7,-6.4,153,959,0.12,0.00,0.00,0.000,6,0.090,0.000,1726,3221,1978,0,0,0,0,0,0
$GC,1297,-0.40,-116.8,110.9,-12.4,206,1301,0.17,1.17,0.00,0.000,4,0.156,0.054,1769,3951,1978,0,0,0,0,0,0
$GC,1378,-0.40,-116.8,118.7,-8.7,213,1382,0.00,1.08,0.00,0.000,6,0.000,0.030,1769,3210,1978,0,0,0,0,0,0
$GC,1708,-0.40,-116.8,147.5,-9.0,244,1712,0.00,1.17,0.00,0.000,4,0.000,0.054,1764,3953,1978,0,0,0,0,0,0
$GC,1788,-0.40,-116.8,155.4,-10.1,251,1792,0.00,1.08,0.00,0.000,6,0.000,0.030,1764,3206,1978,0,0,0,0,0,0
$GC,2119,-0.40,-116.8,187.9,-9.6,282,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,1764,3207,1978,0,0,0,0,0,0
$GC,2439,-0.40,-116.8,215.0,-7.7,312,2443,0.00,1.17,0.00,0.000,4,0.000,0.054,1759,3947,1978,0,0,0,0,0,0
$GC,2479,-0.40,-116.8,218.5,-8.5,315,2486,0.00,1.05,0.00,0.000,6,0.000,0.028,1758,3211,1978,0,0,0,0,0,0
$GC,2804,-0.40,-116.8,242.6,-7.1,346,2805,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,3211,1978,0,0,0,0,0,0
$GC,3125,-0.40,-116.8,265.6,-7.5,376,3129,0.00,1.17,0.00,0.000,4,0.000,0.054,1753,3953,1978,0,0,0,0,0,0
$GC,3185,-0.40,-116.8,270.5,-8.4,381,3189,0.00,1.08,0.00,0.000,6,0.000,0.029,1753,3199,1978,0,0,0,0,0,0
$GC,3516,-0.40,-116.8,296.3,-7.2,412,3519,0.00,1.20,0.00,0.000,4,0.000,0.054,1748,3955,1978,0,0,0,0,0,0
$GC,3590,-0.38,-116.8,302.4,-8.1,418,3597,0.08,1.08,0.00,0.000,6,0.132,0.029,1773,3211,1978,0,0,0,0,0,0
$GC,3917,-0.42,-116.8,322.2,-5.8,449,3921,0.00,1.17,0.00,0.000,4,0.000,0.055,1769,3955,1978,0,0,0,0,0,0
$GC,3952,-0.45,-116.8,324.4,-6.2,452,3956,0.00,1.08,0.00,0.000,6,0.000,0.028,1769,3199,1978,0,0,0,0,0,0
$GC,4284,-0.49,-116.8,344.4,-5.9,483,4287,0.00,1.20,0.00,0.000,4,0.000,0.055,1764,3953,1978,0,0,0,0,0,0
$GC,4323,-0.51,-116.8,347.0,-6.6,486,4330,0.00,1.08,0.00,0.000,6,0.000,0.028,1764,3204,1978,0,0,0,0,0,0
$GC,4651,-0.53,-116.8,367.0,-6.4,517,4654,0.00,1.17,0.00,0.000,4,0.000,0.054,1758,3945,1978,0,0,0,0,0,0
$GC,4712,-0.53,-116.8,371.6,-7.2,522,4719,0.00,1.05,0.00,0.000,6,0.000,0.029,1758,3211,1978,0,0,0,0,0,0
$GC,5040,-0.53,-116.8,393.9,-7.0,553,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,3211,1978,0,0,0,0,0,0
$GC,5349,-0.53,-116.8,416.1,-7.1,572,5350,0.00,0.00,0.00,0.000,6,0.000,0.000,1759,3211,1978,0,0,0,0,0,0
$GC,5659,-0.53,-116.8,438.4,-7.2,587,5660,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,3211,1978,0,0,0,0,0,0
$GC,5968,-0.53,-116.8,461.7,-7.4,602,5972,0.00,1.17,0.00,0.000,4,0.000,0.056,1753,3946,1978,0,0,0,0,0,0
$GC,6013,-0.53,-116.8,465.4,-8.6,604,6017,0.00,1.05,0.00,0.000,6,0.000,0.030,1753,3214,1978,0,0,0,0,0,0
$GC,6346,-0.53,-116.8,492.5,-8.4,620,6347,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3213,1978,0,0,0,0,0,0
$GC,6655,-0.53,-116.8,518.3,-8.2,635,6656,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3213,1978,0,0,0,0,0,0
$GC,6964,-0.53,-116.8,543.1,-7.8,650,6967,0.00,1.17,0.00,0.000,4,0.000,0.056,1748,3948,1978,0,0,0,0,0,0
$GC,7025,-0.53,-116.8,548.4,-9.3,652,7032,0.00,1.08,0.00,0.000,6,0.000,0.030,1747,3205,1978,0,0,0,0,0,0
$GC,7341,-0.53,-116.8,573.1,-8.0,668,7345,0.00,1.17,0.00,0.000,4,0.000,0.056,1742,3942,1978,0,0,0,0,0,0
$GC,7376,-0.51,-116.8,576.0,-8.5,669,7379,0.00,1.05,0.00,0.000,6,0.000,0.029,1742,3213,1978,0,0,0,0,0,0
$GC,7698,-0.49,-116.8,601.3,-7.8,685,7699,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3213,1978,0,0,0,0,0,0
$GC,8007,-0.49,-116.8,626.1,-8.2,700,8008,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3213,1978,0,0,0,0,0,0
$GC,8317,-0.49,-116.8,651.7,-8.4,715,8320,0.00,1.17,0.00,0.000,4,0.000,0.057,1737,3948,1978,0,0,0,0,0,0
$GC,8409,-0.47,-116.8,660.0,-9.4,719,8413,0.00,1.08,0.00,0.000,6,0.000,0.030,1737,3204,1978,0,0,0,0,0,0
$GC,8743,-0.45,-116.8,689.5,-8.8,735,8744,0.00,0.00,0.00,0.000,6,0.000,0.000,1737,3205,1978,0,0,0,0,0,0
$GC,9052,-0.43,-116.8,715.9,-8.5,750,9056,0.00,1.20,0.00,0.000,4,0.000,0.056,1731,3953,1978,0,0,0,0,0,0
$GC,9170,-0.40,-116.8,726.7,-8.4,755,9174,0.12,1.08,0.00,0.000,6,0.133,0.031,1770,3217,1978,0,0,0,0,0,0
$GC,9499,-0.46,-116.8,746.0,-5.6,771,9500,0.00,0.00,0.00,0.000,6,0.000,0.000,1771,3217,1978,0,0,0,0,0,0
$GC,9807,-0.52,-116.8,763.2,-5.3,786,9811,0.00,1.17,0.00,0.000,4,0.000,0.057,1767,3950,1978,0,0,0,0,0,0
$GC,9846,-0.57,-116.8,765.6,-6.0,787,9853,0.10,1.08,0.00,0.000,6,0.057,0.031,1708,3213,1978,0,0,0,0,0,0
$GC,10162,-0.50,-116.8,794.5,-9.5,803,10167,0.12,1.35,0.00,0.000,4,0.166,0.026,1741,2283,1978,0,0,0,0,0,0
$GC,10197,-0.52,-116.8,797.2,-6.8,804,10200,0.00,1.50,0.00,0.000,6,0.000,0.049,1736,3203,1978,0,0,0,0,0,0
$GC,10518,-0.52,-116.8,820.8,-7.4,820,10522,0.00,1.17,0.00,0.000,4,0.000,0.055,1731,3951,1978,0,0,0,0,0,0
$GC,10580,-0.49,-116.8,826.1,-8.3,822,10586,0.00,1.08,0.00,0.000,6,0.000,0.031,1731,3208,1978,0,0,0,0,0,0
$GC,10897,-0.47,-116.8,850.5,-8.0,838,10901,0.00,1.17,0.00,0.000,4,0.000,0.057,1725,3945,1978,0,0,0,0,0,0
$GC,10943,-0.44,-116.8,854.6,-8.5,840,10948,0.10,1.08,0.00,0.000,6,0.132,0.031,1757,3212,1978,0,0,0,0,0,0
$GC,11278,-0.47,-116.8,875.3,-6.1,856,11282,0.00,1.33,0.00,0.000,4,0.000,0.025,1757,2277,1978,0,0,0,0,0,0
$GC,11312,-0.53,-116.8,877.6,-5.3,857,11315,0.00,1.52,0.00,0.000,6,0.000,0.049,1752,3210,1978,0,0,0,0,0,0
$GC,11635,-0.56,-116.8,900.2,-7.5,873,11638,0.00,1.17,0.00,0.000,4,0.000,0.057,1747,3955,1978,0,0,0,0,0,0
$GC,11667,-0.56,-116.8,903.2,-8.9,874,11671,0.00,1.08,0.00,0.000,6,0.000,0.030,1747,3209,1978,0,0,0,0,0,0
$GC,11990,-0.58,-116.8,928.4,-7.8,890,11991,0.00,0.00,0.00,0.000,6,0.000,0.000,1746,3209,1978,0,0,0,0,0,0
$GC,12300,-0.59,-116.8,951.1,-7.2,905,12302,0.10,0.00,0.00,0.000,6,0.106,0.000,1697,3208,1978,0,0,0,0,0,0
$STATE,12606,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12606,begin apogee
$GC,12611,-0.09,0.0,981.2,9.7,920,12759,0.57,0.00,134.27,1.848,6,0.137,0.000,1867,2920,1498,0,0,0,0,2,0
$STATE,12760,end apogee,CONTROL_FINISHED_OK
$STATE,12760,begin climb
$GC,12763,0.43,116.8,985.1,0.0,927,12910,0.52,1.55,130.98,1.799,4,0.086,0.026,2045,2041,1023,0,0,0,0,1,0
$GC,12961,0.43,116.8,971.8,8.9,936,12965,0.00,1.55,0.00,0.000,6,0.000,0.046,2045,2921,1021,0,0,0,0,0,0
$GC,13288,0.39,116.8,938.8,10.2,952,13292,0.00,1.42,0.00,0.000,4,0.000,0.055,2045,3811,1017,0,0,0,0,0,0
$GC,13372,0.29,116.8,928.9,11.9,955,13379,0.15,1.33,0.00,0.000,6,0.160,0.028,2006,2905,1016,0,0,0,0,0,0
$GC,13689,0.33,127.6,903.2,8.0,971,13704,0.00,1.48,10.55,1.667,4,0.000,0.054,2006,3815,978,0,0,0,0,0,0
$GC,13757,0.33,127.6,897.1,9.1,974,13761,0.00,1.33,0.00,0.000,6,0.000,0.029,2012,2922,978,0,0,0,0,0,0
$GC,14090,0.36,136.5,870.1,8.1,990,14101,0.00,0.00,9.75,1.646,6,0.000,0.000,2012,2922,942,0,0,0,0,0,0
$GC,14400,0.42,161.2,846.7,7.3,1005,14430,0.00,1.45,25.73,1.762,4,0.000,0.054,2012,3813,842,0,0,0,0,0,0
$GC,14469,0.42,161.2,840.8,9.7,1008,14473,0.00,1.33,0.00,0.000,6,0.000,0.028,2018,2922,842,0,0,0,0,0,0
$GC,14797,0.46,174.2,815.3,7.9,1024,14820,0.10,1.48,14.05,1.683,4,0.111,0.055,2062,3814,789,0,0,0,0,0,0
$GC,14854,0.37,174.2,808.6,13.1,1026,14859,0.12,1.33,0.00,0.000,6,0.161,0.027,2032,2910,789,0,0,0,0,0,0
$GC,15176,0.37,174.2,777.7,9.2,1042,15179,0.00,1.25,0.00,0.000,4,0.000,0.030,2037,2054,787,0,0,0,0,0,0
$GC,15204,0.41,175.2,775.1,8.5,1043,15208,0.00,1.40,0.00,0.000,6,0.000,0.046,2037,2929,787,0,0,0,0,0,0
$GC,15531,0.41,175.2,744.6,9.5,1059,15534,0.00,1.38,0.00,0.000,4,0.000,0.054,2037,3795,787,0,0,0,0,0,0
$GC,15592,0.37,175.2,738.0,10.5,1061,15599,0.00,1.25,0.00,0.000,6,0.000,0.028,2043,2934,787,0,0,0,0,0,0
$GC,15908,0.37,175.2,707.1,9.5,1077,15909,0.00,0.00,0.00,0.000,6,0.000,0.000,2043,2934,786,0,0,0,0,0,0
$GC,16217,0.37,175.2,678.5,9.3,1092,16221,0.00,1.40,0.00,0.000,4,0.000,0.054,2043,3800,786,0,0,0,0,0,0
$GC,16245,0.34,175.2,675.4,9.8,1093,16250,0.10,1.27,0.00,0.000,6,0.158,0.028,2019,2926,786,0,0,0,0,0,0
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$GC,18715,0.54,253.9,405.4,7.9,1211,18724,0.08,1.40,3.03,0.880,6,0.058,0.046,2101,2929,503,0,0,0,0,0,0
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$STATE,22053,end climb,SURFACE_DEPTH_REACHED
$STATE,22053,begin surface coast
$FINISH,1.8,1.026483
$STATE,22079,end surface coast,CONTROL_FINISHED_OK
$STATE,22079,begin surface
$SM_CCo,22154,0.00,0.000,0,0,509,243.09
$SM_GC,2.70,5.40,0.00,0.00,0.044,0.000,0.000,65,3211,509,-5.65,0.06,243.09
$IRIDIUM_FIX,-4244.98,840.29,130908,050543
$TT8_MAMPS,0.026964
$HUMID,65.43
$INTERNAL_PRESSURE,11.3786
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,20.6,94.280
$10V_AH,9.7,62.730
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,15.875,101.200,404.850,0.000,0.000,26.517,22.521,346.365,0.000,0.000,23.383,3910.633,14022.506,535.822,3811.752,427.623,0.000,2002.667,0.000,3401.536,0.000,0.544,0.000
$DEVICE_MAMPS,231.030,76.500,1848.240,0.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1100.782,1122.616,1138.355,109.044,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353948
$DATA_FILE_SIZE,90256,1584
$CAP_FILE_SIZE,214340,0
$CFSIZE,259252224,215076864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,2
$GPS,181115,042657,-4301.742,841.143,71,1.2,71,-25.1