version: 66.07
glider: 543
mission: 14
dive: 21
start: 7 31 115 20 55 20
data:
$ID,543
$MISSION,14
$DIVE,21
$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,335
$T_MISSION,350
$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,150
$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,205
$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,-24187.523
$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,1915
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,45
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,394
$ROLL_MAX,3944
$ROLL_DEG,25
$C_ROLL_DIVE,3230
$C_ROLL_CLIMB,3080
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$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,1550
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.00056000001
$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
$GPS1,310715,204157,-4301.803,816.427,132,0.9,133,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-75.3
$GPS2,310715,205458,-4301.821,816.590,30,1.3,30,-25.0
$SPEED_LIMITS,0.172,0.259
$TGT_NAME,SAF_1
$TGT_LATLONG,-4500.000,630.000
$TGT_RADIUS,800.000
$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,237.5,259590,-17.4,-9.950
$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,-0.47,-146.1,0.0,0.0,0,66,0.00,0.00,-48.83,0.000,2,0.000,0.000,62,3243,1873,0,0,0,0,0,0
$GC,68,-0.47,-146.1,3.3,-3.4,6,86,6.70,1.40,-6.70,0.000,4,0.226,0.057,1756,2326,2146,0,0,0,0,0,0
$GC,117,-0.47,-146.1,15.5,-22.1,13,126,0.00,1.50,0.00,0.000,6,0.000,0.055,1751,3234,2152,0,0,0,0,0,0
$GC,175,-0.47,-146.1,23.8,-13.8,22,184,0.00,1.15,0.00,0.000,4,0.000,0.061,1746,3949,2153,0,0,0,0,0,0
$GC,226,-0.47,-146.1,30.8,-14.6,30,235,0.00,1.08,0.00,0.000,6,0.000,0.034,1746,3240,2154,0,0,0,0,0,0
$GC,375,-0.47,-146.1,55.3,-16.9,55,381,0.00,0.00,0.00,0.000,6,0.000,0.000,1746,3240,2154,0,0,0,0,0,0
$GC,722,-0.47,-146.1,111.4,-14.8,110,723,0.00,0.00,0.00,0.000,6,0.000,0.000,1746,3240,2154,0,0,0,0,0,0
$GC,1041,-0.47,-146.1,160.5,-14.3,140,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,1746,3240,2154,0,0,0,0,0,0
$GC,1360,-0.47,-146.1,204.2,-13.4,170,1363,0.00,1.15,0.00,0.000,4,0.000,0.062,1741,3959,2154,0,0,0,0,0,0
$GC,1454,-0.47,-146.1,217.6,-13.7,178,1461,0.00,1.12,0.00,0.000,6,0.000,0.034,1741,3220,2154,0,0,0,0,0,0
$GC,1781,-0.47,-146.1,260.2,-13.7,209,1785,0.00,1.17,0.00,0.000,4,0.000,0.062,1735,3959,2154,0,0,0,0,0,0
$GC,1882,-0.47,-146.1,275.2,-14.8,218,1886,0.00,1.08,0.00,0.000,6,0.000,0.035,1736,3235,2154,0,0,0,0,0,0
$GC,2215,-0.47,-146.1,321.5,-13.9,249,2217,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3235,2154,0,0,0,0,0,0
$GC,2531,-0.47,-146.1,365.2,-13.4,279,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3235,2154,0,0,0,0,0,0
$GC,2847,-0.47,-146.1,408.5,-13.4,306,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3235,2154,0,0,0,0,0,0
$GC,3156,-0.47,-146.1,449.0,-12.7,321,3160,0.00,1.15,0.00,0.000,4,0.000,0.063,1730,3958,2154,0,0,0,0,0,0
$GC,3188,-0.47,-146.1,453.7,-13.7,322,3194,0.12,1.10,0.00,0.000,6,0.172,0.035,1761,3234,2154,0,0,0,0,0,0
$GC,3510,-0.47,-146.1,486.2,-9.8,338,3511,0.00,0.00,0.00,0.000,6,0.000,0.000,1762,3234,2154,0,0,0,0,0,0
$GC,3819,-0.47,-146.1,515.4,-9.3,353,3823,0.00,1.12,0.00,0.000,4,0.000,0.063,1758,3940,2153,0,0,0,0,0,0
$GC,3879,-0.47,-146.1,521.6,-9.6,355,3887,0.00,1.10,0.00,0.000,6,0.000,0.036,1758,3217,2154,0,0,0,0,0,0
$GC,4196,-0.47,-146.1,553.0,-9.9,371,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,3217,2154,0,0,0,0,0,0
$GC,4505,-0.47,-146.1,582.8,-9.7,386,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,1758,3217,2154,0,0,0,0,0,0
$GC,4814,-0.47,-146.1,613.0,-10.0,401,4818,0.00,1.17,0.00,0.000,4,0.000,0.064,1753,3956,2153,0,0,0,0,0,0
$GC,4859,-0.47,-146.1,617.9,-10.6,403,4863,0.00,1.08,0.00,0.000,6,0.000,0.037,1753,3237,2154,0,0,0,0,0,0
$GC,5191,-0.47,-146.1,653.7,-10.9,419,5192,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3237,2154,0,0,0,0,0,0
$GC,5500,-0.47,-146.1,687.3,-10.8,434,5501,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3237,2154,0,0,0,0,0,0
$GC,5809,-0.47,-146.1,722.3,-11.5,449,5811,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3237,2154,0,0,0,0,0,0
$GC,6119,-0.47,-146.1,756.5,-10.8,464,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,3237,2154,0,0,0,0,0,0
$GC,6428,-0.47,-146.1,789.3,-10.4,479,6429,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3237,2153,0,0,0,0,0,0
$GC,6737,-0.47,-146.1,823.9,-11.1,494,6739,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3237,2153,0,0,0,0,0,0
$GC,7047,-0.47,-146.1,856.0,-9.7,509,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3237,2153,0,0,0,0,0,0
$GC,7357,-0.47,-146.1,883.4,-8.6,524,7358,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3237,2153,0,0,0,0,0,0
$GC,7666,-0.47,-146.1,910.1,-8.6,539,7667,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3237,2153,0,0,0,0,0,0
$GC,7975,-0.47,-146.1,936.7,-8.7,554,7979,0.00,1.15,0.00,0.000,4,0.000,0.067,1747,3958,2153,0,0,0,0,0,0
$GC,8007,-0.47,-146.1,939.9,-9.6,555,8012,0.00,1.12,0.00,0.000,6,0.000,0.038,1747,3224,2154,0,0,0,0,0,0
$GC,8329,-0.47,-146.1,971.0,-10.0,571,8330,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,3224,2153,0,0,0,0,0,0
$STATE,8617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8617,begin apogee
$GC,8621,-0.11,0.0,1000.3,10.1,585,8779,0.43,0.00,151.32,1.887,6,0.142,0.000,1878,3072,1549,0,0,0,0,0,0
$STATE,8780,end apogee,CONTROL_FINISHED_OK
$STATE,8780,begin climb
$GC,8781,0.47,146.1,1006.4,0.0,593,8931,0.55,1.52,142.45,1.831,4,0.074,0.040,2073,2207,953,0,0,0,0,0,0
$GC,9131,0.47,146.1,966.9,14.8,609,9137,0.00,1.52,0.00,0.000,6,0.000,0.054,2073,3086,949,0,0,0,0,0,0
$GC,9459,0.47,146.1,914.2,16.2,625,9460,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,3086,948,0,0,0,0,0,0
$GC,9768,0.47,146.1,866.0,15.2,640,9772,0.00,1.40,0.00,0.000,4,0.000,0.040,2080,2198,947,0,0,0,0,0,0
$GC,9792,0.47,146.1,862.8,14.8,641,9795,0.00,1.45,0.00,0.000,6,0.000,0.054,2080,3080,947,0,0,0,0,0,0
$GC,10124,0.47,146.1,813.1,14.8,657,10125,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,3079,946,0,0,0,0,0,0
$GC,10433,0.47,146.1,766.1,15.1,672,10436,0.00,1.38,0.00,0.000,4,0.000,0.038,2087,2193,947,0,0,0,0,0,0
$GC,10515,0.47,146.1,754.3,13.1,675,10523,0.00,1.48,0.00,0.000,6,0.000,0.054,2087,3090,946,0,0,0,0,0,0
$GC,10831,0.47,146.1,704.2,16.0,691,10835,0.00,1.38,0.00,0.000,4,0.000,0.039,2093,2197,947,0,0,0,0,0,0
$GC,10876,0.47,146.1,697.8,14.6,693,10880,0.00,1.42,0.00,0.000,6,0.000,0.055,2093,3078,947,0,0,0,0,0,0
$GC,11208,0.47,146.1,646.3,15.4,709,11211,0.00,1.38,0.00,0.000,4,0.000,0.040,2100,2192,946,0,0,0,0,0,0
$GC,11245,0.47,146.1,640.6,14.5,710,11254,0.12,1.48,0.00,0.000,6,0.207,0.055,2072,3093,946,0,0,0,0,0,0
$GC,11561,0.47,146.1,597.6,13.9,726,11562,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,3093,946,0,0,0,0,0,0
$GC,11870,0.47,146.1,555.6,13.2,741,11874,0.00,1.40,0.00,0.000,4,0.000,0.040,2077,2192,946,0,0,0,0,0,0
$GC,11902,0.47,146.1,551.7,11.2,742,11907,0.00,1.45,0.00,0.000,6,0.000,0.056,2077,3080,946,0,0,0,0,0,0
$GC,12224,0.47,146.1,509.1,13.2,758,12225,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3079,946,0,0,0,0,0,0
$GC,12533,0.47,146.1,468.0,13.5,773,12537,0.00,1.38,0.00,0.000,4,0.000,0.064,2077,3943,946,0,0,0,0,0,0
$GC,12582,0.47,146.1,460.4,16.5,775,12587,0.00,1.33,0.00,0.000,6,0.000,0.035,2084,3067,946,0,0,0,0,0,0
$GC,12909,0.47,146.1,416.1,13.3,791,12913,0.00,1.30,0.00,0.000,4,0.000,0.040,2090,2216,945,0,0,0,0,0,0
$GC,12941,0.47,146.1,411.9,13.1,792,12946,0.00,1.40,0.00,0.000,6,0.000,0.054,2090,3080,946,0,0,0,0,0,0
$GC,13270,0.47,146.1,366.1,14.6,819,13273,0.00,1.33,0.00,0.000,4,0.000,0.038,2097,2212,946,0,0,0,0,0,0
$GC,13308,0.47,146.1,360.7,13.4,822,13316,0.00,1.42,0.00,0.000,6,0.000,0.054,2097,3087,946,0,0,0,0,0,0
$GC,13635,0.47,146.1,310.8,15.6,853,13639,0.00,1.35,0.00,0.000,4,0.000,0.038,2104,2211,946,0,0,0,0,0,0
$GC,13661,0.47,146.1,306.3,14.8,855,13670,0.15,1.42,0.00,0.000,6,0.200,0.054,2068,3090,946,0,0,0,0,0,0
$GC,13987,0.47,146.1,261.9,13.6,886,13988,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,3089,946,0,0,0,0,0,0
$GC,14306,0.47,146.1,217.4,13.8,916,14309,0.00,1.35,0.00,0.000,4,0.000,0.037,2073,2213,946,0,0,0,0,0,0
$GC,14343,0.47,146.1,212.2,12.7,919,14352,0.00,1.40,0.00,0.000,6,0.000,0.054,2073,3080,946,0,0,0,0,0,0
$GC,14669,0.47,146.1,168.2,12.7,950,14672,0.00,1.38,0.00,0.000,4,0.000,0.063,2073,3953,946,0,0,0,0,0,0
$GC,14750,0.47,146.1,156.5,14.7,957,14754,0.00,1.30,0.00,0.000,6,0.000,0.034,2080,3079,946,0,0,0,0,0,0
$GC,15079,0.47,146.1,113.2,12.5,988,15083,0.00,1.33,0.00,0.000,4,0.000,0.036,2086,2205,946,0,0,0,0,0,0
$GC,15138,0.47,146.1,106.6,11.6,993,15142,0.00,1.40,0.00,0.000,6,0.000,0.054,2086,3083,946,0,0,0,0,0,0
$GC,15480,0.47,146.1,59.6,13.9,1049,15486,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,3083,946,0,0,0,0,0,0
$GC,15836,0.47,146.1,11.9,10.6,1110,15845,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,3083,946,0,0,0,0,0,0
$GC,15894,0.47,146.1,4.1,17.3,1119,15902,0.00,0.00,0.00,0.000,6,0.000,0.000,2086,3083,947,0,0,0,0,0,0
$STATE,15908,end climb,SURFACE_DEPTH_REACHED
$STATE,15908,begin surface coast
$FINISH,1.1,1.026481
$STATE,15928,end surface coast,CONTROL_FINISHED_OK
$STATE,15928,begin surface
$SM_CCo,15940,36.33,0.498,1,0,713,205.07
$SM_GC,2.09,0.00,0.00,36.33,0.000,0.000,0.498,73,3258,713,-5.75,0.79,205.07
$IRIDIUM_FIX,-4244.98,814.06,270508,101042
$TT8_MAMPS,0.027713
$HUMID,62.08
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.4,8.148
$10V_AH,10.3,3.620
$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,13.700,55.425,293.775,36.325,0.000,54.147,72.183,447.396,0.000,0.000,32.614,2719.535,10489.396,437.442,2999.864,117.805,0.000,1447.142,0.000,2353.635,0.000,0.544,0.000
$DEVICE_MAMPS,226.440,73.440,1887.255,498.015,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,779.616,797.238,778.226,74.742,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354552
$DATA_FILE_SIZE,63626,1124
$CAP_FILE_SIZE,136453,0
$CFSIZE,259252224,256970752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010815,012351,-4303.437,815.208,95,0.9,96,-25.0