version: 66.07
glider: 543
mission: 14
dive: 516
start: 11 19 115 19 32 52
data:
$ID,543
$MISSION,14
$DIVE,516
$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,-25812.709
$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,91
$R_STBD_OVSHOOT,39
$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
$GPS1,191115,192202,-4301.861,840.936,105,1.3,109,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-65.0
$GPS2,191115,193228,-4301.775,841.109,15,1.8,16,-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,264.3,8046,-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,-47.92,0.000,2,0.000,0.000,61,3225,1633,0,0,0,0,0,0
$GC,69,-0.43,-116.8,3.2,-2.0,6,94,7.07,0.00,-10.85,0.000,6,0.230,0.000,1758,3225,1976,0,0,0,0,0,0
$GC,144,-0.40,-116.8,8.6,-4.5,17,152,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,3225,1978,0,0,0,0,0,0
$GC,203,-0.38,-116.8,13.8,-10.2,26,212,0.00,1.27,0.00,0.000,4,0.000,0.027,1758,2318,1978,0,0,0,0,0,0
$GC,240,-0.38,-116.8,16.5,-7.5,31,248,0.00,1.42,0.00,0.000,6,0.000,0.049,1753,3198,1977,0,0,0,0,0,0
$GC,299,-0.36,-116.8,19.5,-5.2,40,308,0.12,1.20,0.00,0.000,4,0.166,0.055,1781,3951,1977,0,0,0,0,0,0
$GC,324,-0.36,-116.8,20.7,-4.7,43,333,0.00,1.02,0.00,0.000,6,0.000,0.031,1781,3234,1977,0,0,0,0,0,0
$GC,479,-0.38,-116.8,27.7,-9.1,68,487,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,3234,1978,0,0,0,0,0,0
$GC,631,-0.41,-116.8,38.8,-6.0,93,639,0.00,0.00,0.00,0.000,6,0.000,0.000,1781,3234,1978,0,0,0,0,0,0
$GC,780,-0.44,-116.8,52.7,-8.7,118,787,0.00,1.33,0.00,0.000,4,0.000,0.026,1781,2297,1978,0,0,0,0,0,0
$GC,819,-0.50,-116.8,55.7,-7.8,124,825,0.00,1.48,0.00,0.000,6,0.000,0.048,1775,3210,1977,0,0,0,0,0,0
$GC,1169,-0.52,-116.8,78.3,-6.0,185,1176,0.12,1.17,0.00,0.000,4,0.089,0.057,1706,3947,1977,0,0,0,0,0,0
$GC,1237,-0.38,-116.8,84.6,-11.4,196,1244,0.22,1.05,0.00,0.000,6,0.143,0.030,1775,3211,1977,0,0,0,0,0,0
$GC,1576,-0.41,-116.8,112.5,-8.1,243,1580,0.00,1.30,0.00,0.000,4,0.000,0.025,1775,2286,1977,0,0,0,0,0,0
$GC,1627,-0.46,-116.8,116.7,-7.3,247,1633,0.00,1.50,0.00,0.000,6,0.000,0.048,1770,3212,1977,0,0,0,0,0,0
$GC,1952,-0.48,-116.8,145.5,-8.9,278,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,3212,1978,0,0,0,0,0,0
$GC,2272,-0.50,-116.8,174.7,-8.7,308,2273,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,3212,1977,0,0,0,0,0,0
$GC,2593,-0.52,-116.8,199.3,-6.8,338,2599,0.00,0.00,0.00,0.000,6,0.000,0.000,1770,3212,1977,0,0,0,0,0,0
$GC,2923,-0.54,-116.8,220.9,-7.0,369,2928,0.12,1.17,0.00,0.000,4,0.088,0.056,1702,3949,1977,0,0,0,0,0,0
$GC,3008,-0.41,-116.8,231.0,-11.7,376,3017,0.20,1.05,0.00,0.000,6,0.138,0.029,1763,3214,1977,0,0,0,0,0,0
$GC,3334,-0.43,-116.8,252.1,-5.6,407,3337,0.00,1.17,0.00,0.000,4,0.000,0.055,1759,3955,1977,0,0,0,0,0,0
$GC,3380,-0.43,-116.8,255.2,-6.2,411,3384,0.00,1.08,0.00,0.000,6,0.000,0.029,1759,3198,1977,0,0,0,0,0,0
$GC,3712,-0.43,-116.8,274.2,-6.0,442,3715,0.00,1.25,0.00,0.000,4,0.000,0.025,1759,2301,1977,0,0,0,0,0,0
$GC,3762,-0.47,-116.8,277.3,-6.3,446,3769,0.00,1.48,0.00,0.000,6,0.000,0.048,1753,3211,1977,0,0,0,0,0,0
$GC,4091,-0.47,-116.8,299.9,-7.5,477,4094,0.00,1.15,0.00,0.000,4,0.000,0.055,1748,3948,1977,0,0,0,0,0,0
$GC,4172,-0.45,-116.8,306.5,-8.5,484,4176,0.00,1.05,0.00,0.000,6,0.000,0.031,1748,3212,1977,0,0,0,0,0,0
$GC,4504,-0.45,-116.8,331.6,-7.6,515,4507,0.00,1.30,0.00,0.000,4,0.000,0.024,1748,2282,1977,0,0,0,0,0,0
$GC,4543,-0.47,-116.8,334.7,-7.3,518,4549,0.00,1.50,0.00,0.000,6,0.000,0.048,1741,3208,1977,0,0,0,0,0,0
$GC,4871,-0.45,-116.8,360.1,-8.0,549,4875,0.00,1.17,0.00,0.000,4,0.000,0.055,1735,3958,1977,0,0,0,0,0,0
$GC,4955,-0.41,-116.8,368.0,-9.0,556,4965,0.10,1.08,0.00,0.000,6,0.129,0.030,1768,3212,1977,0,0,0,0,0,0
$GC,5282,-0.44,-116.8,389.7,-6.8,587,5283,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,3212,1977,0,0,0,0,0,0
$GC,5595,-0.48,-116.8,411.8,-7.0,609,5596,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,3211,1977,0,0,0,0,0,0
$GC,5904,-0.51,-116.8,434.2,-7.2,624,5908,0.00,1.30,0.00,0.000,4,0.000,0.025,1768,2291,1977,0,0,0,0,0,0
$GC,5944,-0.57,-116.8,437.1,-7.4,625,5951,0.10,1.48,0.00,0.000,6,0.050,0.048,1698,3205,1977,0,0,0,0,0,0
$GC,6260,-0.46,-116.8,473.5,-11.8,641,6264,0.20,1.20,0.00,0.000,4,0.155,0.054,1750,3958,1977,0,0,0,0,0,0
$GC,6361,-0.46,-116.8,482.9,-8.5,645,6364,0.00,1.08,0.00,0.000,6,0.000,0.031,1750,3211,1977,0,0,0,0,0,0
$GC,6682,-0.46,-116.8,507.9,-7.6,661,6686,0.00,1.17,0.00,0.000,4,0.000,0.056,1745,3951,1977,0,0,0,0,0,0
$GC,6752,-0.45,-116.8,513.7,-8.5,664,6756,0.00,1.08,0.00,0.000,6,0.000,0.031,1745,3203,1977,0,0,0,0,0,0
$GC,7084,-0.45,-116.8,540.5,-8.0,680,7088,0.00,1.27,0.00,0.000,4,0.000,0.026,1745,2297,1977,0,0,0,0,0,0
$GC,7112,-0.45,-116.8,543.0,-8.4,681,7115,0.00,1.48,0.00,0.000,6,0.000,0.047,1738,3213,1977,0,0,0,0,0,0
$GC,7440,-0.43,-116.8,570.5,-8.6,697,7443,0.00,1.15,0.00,0.000,4,0.000,0.055,1733,3948,1977,0,0,0,0,0,0
$GC,7490,-0.39,-116.8,575.4,-10.5,699,7494,0.12,1.05,0.00,0.000,6,0.129,0.030,1773,3216,1977,0,0,0,0,0,0
$GC,7819,-0.44,-116.8,596.6,-6.4,715,7820,0.00,0.00,0.00,0.000,6,0.000,0.000,1773,3215,1977,0,0,0,0,0,0
$GC,8126,-0.49,-116.8,617.3,-6.9,730,8130,0.00,1.17,0.00,0.000,4,0.000,0.057,1769,3955,1977,0,0,0,0,0,0
$GC,8165,-0.53,-116.8,620.3,-7.8,731,8172,0.08,1.08,0.00,0.000,6,0.058,0.031,1718,3214,1977,0,0,0,0,0,0
$GC,8482,-0.47,-116.8,650.4,-9.4,747,8486,0.12,1.33,0.00,0.000,4,0.159,0.027,1752,2296,1977,0,0,0,0,0,0
$GC,8515,-0.49,-116.8,653.1,-6.7,748,8518,0.00,1.48,0.00,0.000,6,0.000,0.049,1747,3202,1977,0,0,0,0,0,0
$GC,8837,-0.49,-116.8,674.5,-6.6,764,8841,0.00,1.17,0.00,0.000,4,0.000,0.056,1741,3950,1977,0,0,0,0,0,0
$GC,8887,-0.49,-116.8,678.5,-7.3,766,8891,0.00,1.08,0.00,0.000,6,0.000,0.031,1741,3202,1977,0,0,0,0,0,0
$GC,9215,-0.49,-116.8,702.1,-7.2,782,9216,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,3202,1977,0,0,0,0,0,0
$GC,9525,-0.49,-116.8,726.1,-7.9,797,9529,0.00,1.20,0.00,0.000,4,0.000,0.056,1736,3955,1977,0,0,0,0,0,0
$GC,9571,-0.47,-116.8,730.1,-8.7,799,9575,0.00,1.08,0.00,0.000,6,0.000,0.031,1736,3213,1977,0,0,0,0,0,0
$GC,9904,-0.45,-116.8,759.6,-9.0,815,9908,0.00,1.17,0.00,0.000,4,0.000,0.057,1730,3951,1977,0,0,0,0,0,0
$GC,9942,-0.42,-116.8,763.5,-10.2,816,9949,0.10,1.08,0.00,0.000,6,0.132,0.031,1762,3212,1977,0,0,0,0,0,0
$GC,10260,-0.46,-116.8,787.3,-7.5,832,10261,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,3213,1977,0,0,0,0,0,0
$GC,10569,-0.51,-116.8,810.5,-7.5,847,10570,0.00,0.00,0.00,0.000,6,0.000,0.000,1763,3213,1977,0,0,0,0,0,0
$GC,10877,-0.55,-116.8,832.4,-7.2,862,10879,0.10,0.00,0.00,0.000,6,0.108,0.000,1711,3212,1977,0,0,0,0,0,0
$GC,11187,-0.49,-116.8,863.3,-9.8,877,11189,0.12,0.00,0.00,0.000,6,0.161,0.000,1743,3212,1977,0,0,0,0,0,0
$GC,11496,-0.49,-116.8,887.0,-7.3,892,11497,0.00,0.00,0.00,0.000,6,0.000,0.000,1743,3212,1977,0,0,0,0,0,0
$GC,11806,-0.49,-116.8,909.4,-7.4,907,11810,0.00,1.17,0.00,0.000,4,0.000,0.058,1739,3945,1977,0,0,0,0,0,0
$GC,11852,-0.49,-116.8,913.0,-7.5,909,11856,0.00,1.08,0.00,0.000,6,0.000,0.031,1739,3210,1977,0,0,0,0,0,0
$GC,12185,-0.49,-116.8,938.0,-7.5,925,12189,0.00,1.30,0.00,0.000,4,0.000,0.027,1739,2296,1977,0,0,0,0,0,0
$GC,12213,-0.52,-116.8,940.3,-7.9,926,12217,0.00,1.48,0.00,0.000,6,0.000,0.049,1732,3202,1977,0,0,0,0,0,0
$GC,12542,-0.52,-116.8,965.0,-7.5,942,12545,0.00,1.20,0.00,0.000,4,0.000,0.057,1727,3959,1977,0,0,0,0,0,0
$GC,12575,-0.49,-116.8,967.9,-8.2,943,12579,0.00,1.10,0.00,0.000,6,0.000,0.030,1727,3201,1977,0,0,0,0,0,0
$STATE,12606,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12606,begin apogee
$GC,12612,-0.09,0.0,970.4,8.1,945,12741,0.47,0.00,125.30,1.802,6,0.130,0.000,1870,2922,1499,0,0,0,0,0,0
$STATE,12741,end apogee,CONTROL_FINISHED_OK
$STATE,12742,begin climb
$GC,12744,0.43,116.8,974.0,0.0,951,12879,0.50,1.50,128.95,1.798,4,0.086,0.025,2042,2048,1022,0,0,0,0,0,0
$GC,12924,0.43,122.6,964.1,8.3,959,12935,0.00,1.58,6.88,1.434,6,0.000,0.045,2042,2929,999,0,0,0,0,0,0
$GC,13259,0.40,122.6,934.5,8.8,976,13263,0.00,1.40,0.00,0.000,4,0.000,0.056,2042,3805,1002,0,0,0,0,0,0
$GC,13354,0.31,122.6,924.0,10.8,980,13358,0.12,1.33,0.00,0.000,6,0.163,0.029,2011,2906,1001,0,0,0,0,0,0
$GC,13683,0.37,158.8,901.5,6.8,996,13726,0.00,1.50,36.20,1.778,4,0.000,0.054,2011,3818,854,0,0,0,0,0,0
$GC,13832,0.37,158.8,888.0,9.1,1002,13839,0.00,1.33,0.00,0.000,6,0.000,0.028,2016,2924,854,0,0,0,0,0,0
$GC,14149,0.40,160.4,861.8,8.5,1018,14153,0.00,1.42,0.00,0.000,4,0.000,0.056,2016,3806,852,0,0,0,0,0,0
$GC,14210,0.40,160.4,855.5,10.0,1020,14217,0.00,1.30,0.00,0.000,6,0.000,0.029,2023,2922,851,0,0,0,0,0,0
$GC,14528,0.43,160.4,827.7,8.9,1036,14531,0.00,1.42,0.00,0.000,4,0.000,0.055,2023,3803,851,0,0,0,0,0,0
$GC,14589,0.40,160.4,821.3,10.9,1038,14595,0.00,1.30,0.00,0.000,6,0.000,0.029,2030,2921,851,0,0,0,0,0,0
$GC,14905,0.40,160.4,792.4,9.1,1054,14908,0.00,1.45,0.00,0.000,4,0.000,0.055,2030,3816,851,0,0,0,0,0,0
$GC,14932,0.38,160.4,789.5,10.6,1055,14935,0.00,1.30,0.00,0.000,6,0.000,0.028,2036,2922,851,0,0,0,0,0,0
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$STATE,22423,end climb,SURFACE_DEPTH_REACHED
$STATE,22423,begin surface coast
$FINISH,1.6,1.026515
$STATE,22442,end surface coast,CONTROL_FINISHED_OK
$STATE,22442,begin surface
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$HUMID,65.19
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$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,20.6,95.798
$10V_AH,9.7,63.757
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,16.100,106.200,354.300,0.000,0.000,27.849,45.291,380.470,0.000,0.000,19.542,4056.624,14049.982,510.459,4080.451,427.125,0.000,2048.894,0.000,3611.559,0.000,0.544,0.000
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$SENSOR_SECS,1145.714,1162.516,1287.684,129.081,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353916
$DATA_FILE_SIZE,93640,1653
$CAP_FILE_SIZE,220622,0
$CFSIZE,259252224,214380544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,201115,015034,-4301.705,840.916,109,0.8,110,-25.1