version: 66.07
glider: 543
mission: 14
dive: 25
start: 8 1 115 15 29 12
data:
$ID,543
$MISSION,14
$DIVE,25
$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,-24198.555
$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,50
$R_STBD_OVSHOOT,23
$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
$GPS1,010815,151944,-4308.447,812.546,42,51.2,62,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-69.6
$GPS2,010815,152850,-4308.500,812.711,61,2.6,80,-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,238.1,246442,-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,14,-0.47,-146.1,0.0,0.0,0,72,0.00,0.00,-55.97,0.000,2,0.000,0.000,63,3245,2037,0,0,0,0,0,0
$GC,74,-0.47,-146.1,3.8,-3.9,7,92,6.68,1.15,-2.42,0.000,4,0.228,0.073,1754,3964,2146,0,0,0,0,0,0
$GC,314,-0.47,-146.1,42.4,-12.5,47,321,0.00,1.12,0.00,0.000,6,0.000,0.033,1754,3219,2152,0,0,0,0,0,0
$GC,661,-0.47,-146.1,90.5,-13.5,108,670,0.00,1.17,0.00,0.000,4,0.000,0.059,1750,3954,2151,0,0,0,0,0,0
$GC,716,-0.47,-146.1,98.0,-14.5,117,724,0.00,1.08,0.00,0.000,6,0.000,0.034,1750,3233,2151,0,0,0,0,0,0
$GC,1051,-0.47,-146.1,146.1,-13.3,149,1054,0.00,1.33,0.00,0.000,4,0.000,0.032,1750,2330,2152,0,0,0,0,0,0
$GC,1118,-0.47,-146.1,155.0,-12.5,155,1122,0.00,1.45,0.00,0.000,6,0.000,0.055,1743,3229,2152,0,0,0,0,0,0
$GC,1448,-0.47,-146.1,204.1,-14.5,186,1451,0.00,1.15,0.00,0.000,4,0.000,0.060,1738,3957,2151,0,0,0,0,0,0
$GC,1519,-0.47,-146.1,215.3,-14.7,192,1529,0.00,1.10,0.00,0.000,6,0.000,0.034,1737,3222,2151,0,0,0,0,0,0
$GC,1846,-0.47,-146.1,262.2,-14.6,223,1849,0.00,1.17,0.00,0.000,4,0.000,0.059,1732,3962,2151,0,0,0,0,0,0
$GC,1883,-0.47,-146.1,268.4,-15.3,226,1892,0.10,1.10,0.00,0.000,6,0.178,0.034,1756,3233,2151,0,0,0,0,0,0
$GC,2212,-0.47,-146.1,305.0,-10.8,257,2216,0.00,1.15,0.00,0.000,4,0.000,0.060,1752,3959,2151,0,0,0,0,0,0
$GC,2259,-0.47,-146.1,310.4,-11.0,261,2262,0.00,1.08,0.00,0.000,6,0.000,0.034,1752,3233,2152,0,0,0,0,0,0
$GC,2588,-0.47,-146.1,346.0,-11.2,292,2590,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,3233,2152,0,0,0,0,0,0
$GC,2908,-0.47,-146.1,380.4,-11.1,322,2909,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,3233,2152,0,0,0,0,0,0
$GC,3223,-0.47,-146.1,412.4,-9.4,346,3224,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,3233,2151,0,0,0,0,0,0
$GC,3532,-0.47,-146.1,441.0,-9.1,361,3535,0.00,1.15,0.00,0.000,4,0.000,0.060,1747,3960,2151,0,0,0,0,0,0
$GC,3563,-0.47,-146.1,444.4,-10.2,362,3569,0.00,1.10,0.00,0.000,6,0.000,0.034,1747,3228,2151,0,0,0,0,0,0
$GC,3885,-0.47,-146.1,478.5,-11.3,378,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,1746,3227,2152,0,0,0,0,0,0
$GC,4194,-0.47,-146.1,515.5,-11.8,393,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3227,2151,0,0,0,0,0,0
$GC,4504,-0.47,-146.1,549.4,-10.5,408,4507,0.00,1.15,0.00,0.000,4,0.000,0.061,1742,3957,2151,0,0,0,0,0,0
$GC,4549,-0.47,-146.1,554.1,-10.2,410,4552,0.00,1.08,0.00,0.000,6,0.000,0.036,1742,3234,2151,0,0,0,0,0,0
$GC,4880,-0.47,-146.1,588.9,-10.4,426,4884,0.00,1.12,0.00,0.000,4,0.000,0.061,1736,3950,2151,0,0,0,0,0,0
$GC,4929,-0.47,-146.1,594.6,-11.4,428,4933,0.00,1.10,0.00,0.000,6,0.000,0.035,1736,3219,2151,0,0,0,0,0,0
$GC,5256,-0.47,-146.1,631.4,-11.4,444,5257,0.00,0.00,0.00,0.000,6,0.000,0.000,1736,3219,2151,0,0,0,0,0,0
$GC,5565,-0.47,-146.1,669.8,-13.1,459,5569,0.00,1.15,0.00,0.000,4,0.000,0.061,1731,3951,2151,0,0,0,0,0,0
$GC,5597,-0.47,-146.1,674.3,-13.2,460,5603,0.12,1.10,0.00,0.000,6,0.176,0.036,1762,3221,2151,0,0,0,0,0,0
$GC,5919,-0.47,-146.1,707.7,-10.0,476,5922,0.00,1.30,0.00,0.000,4,0.000,0.034,1762,2334,2151,0,0,0,0,0,0
$GC,5945,-0.47,-146.1,710.3,-9.9,477,5950,0.00,1.45,0.00,0.000,6,0.000,0.057,1758,3236,2151,0,0,0,0,0,0
$GC,6273,-0.47,-146.1,741.7,-9.6,493,6276,0.00,1.12,0.00,0.000,4,0.000,0.063,1752,3953,2151,0,0,0,0,0,0
$GC,6317,-0.47,-146.1,746.1,-10.3,495,6321,0.00,1.08,0.00,0.000,6,0.000,0.037,1752,3229,2151,0,0,0,0,0,0
$GC,6650,-0.47,-146.1,776.1,-8.9,511,6651,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,3229,2151,0,0,0,0,0,0
$GC,6959,-0.47,-146.1,803.6,-8.8,526,6960,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,3229,2151,0,0,0,0,0,0
$GC,7268,-0.47,-146.1,832.0,-9.4,541,7269,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,3229,2151,0,0,0,0,0,0
$GC,7577,-0.47,-146.1,860.2,-9.2,556,7579,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,3229,2151,0,0,0,0,0,0
$GC,7887,-0.47,-146.1,888.4,-9.0,571,7890,0.00,1.17,0.00,0.000,4,0.000,0.064,1747,3953,2151,0,0,0,0,0,0
$GC,7932,-0.47,-146.1,892.5,-9.8,573,7935,0.00,1.08,0.00,0.000,6,0.000,0.039,1747,3235,2151,0,0,0,0,0,0
$GC,8264,-0.47,-146.1,921.3,-8.7,589,8265,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3235,2151,0,0,0,0,0,0
$GC,8573,-0.47,-146.1,948.1,-9.3,604,8574,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3235,2151,0,0,0,0,0,0
$GC,8882,-0.47,-146.1,975.1,-8.3,619,8884,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3235,2151,0,0,0,0,0,0
$GC,9192,-0.47,-146.1,999.9,-7.7,634,9195,0.00,1.15,0.00,0.000,4,0.000,0.065,1742,3957,2151,0,0,0,0,0,0
$STATE,9200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9200,begin apogee
$GC,9205,-0.11,0.0,1000.9,7.8,634,9360,0.40,0.00,151.18,1.913,6,0.143,0.000,1869,3068,1549,0,0,0,0,0,0
$STATE,9360,end apogee,CONTROL_FINISHED_OK
$STATE,9360,begin climb
$GC,9362,0.47,146.1,1002.7,0.0,642,9513,0.60,1.48,144.20,1.867,4,0.099,0.037,2068,2205,953,0,0,0,0,0,0
$GC,9562,0.47,146.1,980.7,14.5,651,9570,0.00,1.58,0.00,0.000,6,0.000,0.053,2067,3085,950,0,0,0,0,0,0
$GC,9878,0.47,146.1,932.0,15.5,667,9879,0.00,0.00,0.00,0.000,6,0.000,0.000,2067,3085,948,0,0,0,0,0,0
$GC,10187,0.47,146.1,886.4,14.4,682,10191,0.00,1.40,0.00,0.000,4,0.000,0.041,2074,2205,946,0,0,0,0,0,0
$GC,10270,0.47,146.1,875.4,13.3,685,10278,0.00,1.48,0.00,0.000,6,0.000,0.054,2075,3086,946,0,0,0,0,0,0
$GC,10586,0.47,146.1,829.6,14.8,701,10590,0.00,1.40,0.00,0.000,4,0.000,0.040,2081,2201,946,0,0,0,0,0,0
$GC,10645,0.47,146.1,821.2,13.1,703,10653,0.00,1.45,0.00,0.000,6,0.000,0.053,2081,3081,946,0,0,0,0,0,0
$GC,10961,0.47,146.1,770.8,16.7,719,10965,0.00,1.38,0.00,0.000,4,0.000,0.039,2087,2204,945,0,0,0,0,0,0
$GC,11077,0.47,146.1,753.7,14.1,724,11082,0.00,1.45,0.00,0.000,6,0.000,0.054,2087,3083,945,0,0,0,0,0,0
$GC,11405,0.47,146.1,702.5,15.4,740,11408,0.00,1.38,0.00,0.000,4,0.000,0.038,2094,2199,945,0,0,0,0,0,0
$GC,11449,0.47,146.1,696.0,14.4,742,11453,0.00,1.42,0.00,0.000,6,0.000,0.055,2094,3078,945,0,0,0,0,0,0
$GC,11781,0.47,146.1,645.7,14.8,758,11785,0.00,1.35,0.00,0.000,4,0.000,0.037,2100,2204,945,0,0,0,0,0,0
$GC,11841,0.47,146.1,637.3,13.7,760,11850,0.12,1.45,0.00,0.000,6,0.203,0.054,2072,3091,945,0,0,0,0,0,0
$GC,12157,0.47,146.1,595.6,13.2,776,12158,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,3091,945,0,0,0,0,0,0
$GC,12466,0.47,146.1,554.3,13.4,791,12468,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,3091,945,0,0,0,0,0,0
$GC,12776,0.47,146.1,510.7,14.4,806,12777,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,3091,944,0,0,0,0,0,0
$GC,13085,0.47,146.1,466.2,14.2,821,13089,0.00,1.38,0.00,0.000,4,0.000,0.038,2077,2201,944,0,0,0,0,0,0
$GC,13156,0.47,146.1,456.7,13.1,824,13162,0.00,1.42,0.00,0.000,6,0.000,0.055,2077,3077,945,0,0,0,0,0,0
$GC,13484,0.47,146.1,409.2,14.8,840,13485,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3077,944,0,0,0,0,0,0
$GC,13801,0.47,146.1,362.3,14.7,867,13804,0.00,1.35,0.00,0.000,4,0.000,0.037,2084,2192,944,0,0,0,0,0,0
$GC,13846,0.47,146.1,356.1,13.0,871,13849,0.00,1.42,0.00,0.000,6,0.000,0.055,2084,3078,944,0,0,0,0,0,0
$GC,14175,0.47,146.1,306.7,14.8,902,14179,0.00,1.35,0.00,0.000,4,0.000,0.037,2090,2194,944,0,0,0,0,0,0
$GC,14224,0.47,146.1,299.8,14.2,906,14232,0.00,1.45,0.00,0.000,6,0.000,0.054,2091,3087,944,0,0,0,0,0,0
$GC,14553,0.47,146.1,250.1,16.0,937,14554,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,3087,944,0,0,0,0,0,0
$GC,14868,0.47,146.1,201.7,15.1,967,14871,0.00,1.35,0.00,0.000,4,0.000,0.037,2097,2198,944,0,0,0,0,0,0
$GC,14892,0.47,146.1,198.7,13.5,969,14896,0.08,1.40,0.00,0.000,6,0.180,0.054,2075,3077,944,0,0,0,0,0,0
$GC,15222,0.47,146.1,153.1,13.5,1000,15223,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,3077,944,0,0,0,0,0,0
$GC,15541,0.47,146.1,111.8,11.9,1030,15545,0.00,1.40,0.00,0.000,4,0.000,0.060,2076,3957,944,0,0,0,0,0,0
$GC,15577,0.47,146.1,107.0,15.2,1033,15580,0.00,1.30,0.00,0.000,6,0.000,0.034,2080,3079,944,0,0,0,0,0,0
$GC,15920,0.47,146.1,62.7,11.7,1089,15929,0.00,1.33,0.00,0.000,4,0.000,0.035,2087,2197,944,0,0,0,0,0,0
$GC,15974,0.47,146.1,56.9,11.1,1098,15983,0.00,1.40,0.00,0.000,6,0.000,0.055,2087,3077,945,0,0,0,0,0,0
$GC,16334,0.47,146.1,9.5,16.1,1159,16342,0.00,1.33,0.00,0.000,4,0.000,0.035,2094,2195,944,0,0,0,0,0,0
$GC,16350,0.47,146.1,7.2,15.0,1161,16359,0.00,1.40,0.00,0.000,6,0.000,0.053,2094,3079,944,0,0,0,0,0,0
$STATE,16389,end climb,SURFACE_DEPTH_REACHED
$STATE,16389,begin surface coast
$FINISH,0.9,1.025712
$STATE,16420,end surface coast,CONTROL_FINISHED_OK
$STATE,16420,begin surface
$SM_CCo,16432,36.28,0.497,1,0,713,205.07
$SM_GC,2.17,0.00,0.00,36.28,0.000,0.000,0.497,75,3248,713,-5.74,0.51,205.07
$IRIDIUM_FIX,-4247.91,814.06,280508,000042
$TT8_MAMPS,0.027713
$HUMID,61.77
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.3,8.923
$10V_AH,10.3,4.038
$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,13.525,69.425,295.375,36.275,0.000,24.637,51.781,300.477,0.000,0.000,83.421,2847.426,10658.998,440.052,2954.477,121.771,0.000,1507.547,0.000,2478.865,0.000,0.545,0.000
$DEVICE_MAMPS,227.970,78.795,1913.265,497.250,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,812.476,825.873,834.328,82.035,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354524
$DATA_FILE_SIZE,66968,1172
$CAP_FILE_SIZE,142486,0
$CFSIZE,259252224,256667648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010815,200620,-4310.392,811.628,106,1.1,121,-25.0