version: 66.07
glider: 543
mission: 14
dive: 31
start: 8 2 115 19 26 31
data:
$ID,543
$MISSION,14
$DIVE,31
$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,-24215.281
$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,53
$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
$GPS1,020815,191857,-4317.911,806.846,39,1.0,40,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-74.6
$GPS2,020815,192609,-4317.877,806.878,21,1.0,21,-24.9
$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,238.8,227742,-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,-146.1,0.0,0.0,0,74,0.00,0.00,-56.95,0.000,2,0.000,0.000,64,3248,2024,0,0,0,0,0,0
$GC,76,-0.47,-146.1,3.4,-3.1,7,93,6.78,1.40,-2.90,0.000,4,0.233,0.060,1763,2339,2146,0,0,0,0,0,0
$GC,224,-0.47,-146.1,29.3,-10.0,31,232,0.00,1.48,0.00,0.000,6,0.000,0.054,1758,3236,2152,0,0,0,0,0,0
$GC,371,-0.47,-146.1,48.0,-13.3,56,378,0.00,1.15,0.00,0.000,4,0.000,0.060,1753,3955,2152,0,0,0,0,0,0
$GC,412,-0.47,-146.1,53.6,-13.7,63,421,0.00,1.10,0.00,0.000,6,0.000,0.035,1753,3227,2152,0,0,0,0,0,0
$GC,764,-0.47,-146.1,100.7,-13.5,124,765,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3227,2152,0,0,0,0,0,0
$GC,1081,-0.47,-146.1,141.9,-12.3,154,1084,0.00,1.33,0.00,0.000,4,0.000,0.032,1753,2324,2152,0,0,0,0,0,0
$GC,1126,-0.47,-146.1,147.1,-10.5,158,1130,0.00,1.48,0.00,0.000,6,0.000,0.055,1746,3236,2152,0,0,0,0,0,0
$GC,1457,-0.47,-146.1,188.9,-12.8,189,1461,0.00,1.12,0.00,0.000,4,0.000,0.060,1741,3950,2152,0,0,0,0,0,0
$GC,1528,-0.47,-146.1,198.7,-12.7,195,1536,0.00,1.10,0.00,0.000,6,0.000,0.034,1742,3219,2152,0,0,0,0,0,0
$GC,1854,-0.47,-146.1,239.1,-12.1,226,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,1741,3220,2152,0,0,0,0,0,0
$GC,2173,-0.47,-146.1,280.7,-13.1,256,2176,0.00,1.15,0.00,0.000,4,0.000,0.060,1736,3946,2152,0,0,0,0,0,0
$GC,2256,-0.47,-146.1,292.7,-14.0,263,2264,0.00,1.08,0.00,0.000,6,0.000,0.034,1736,3228,2152,0,0,0,0,0,0
$GC,2581,-0.47,-146.1,337.3,-13.6,294,2582,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3228,2152,0,0,0,0,0,0
$GC,2900,-0.47,-146.1,380.4,-13.6,324,2903,0.00,1.12,0.00,0.000,4,0.000,0.060,1730,3943,2152,0,0,0,0,0,0
$GC,2960,-0.47,-146.1,389.2,-14.0,329,2969,0.12,1.08,0.00,0.000,6,0.172,0.035,1762,3230,2152,0,0,0,0,0,0
$GC,3290,-0.47,-146.1,424.5,-10.9,350,3293,0.00,1.33,0.00,0.000,4,0.000,0.033,1762,2325,2152,0,0,0,0,0,0
$GC,3315,-0.47,-146.1,427.4,-10.5,351,3321,0.00,1.48,0.00,0.000,6,0.000,0.054,1757,3235,2152,0,0,0,0,0,0
$GC,3643,-0.47,-146.1,463.7,-11.6,367,3644,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,3236,2152,0,0,0,0,0,0
$GC,3952,-0.47,-146.1,498.7,-11.2,382,3953,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,3235,2152,0,0,0,0,0,0
$GC,4261,-0.47,-146.1,532.0,-10.6,397,4265,0.00,1.12,0.00,0.000,4,0.000,0.062,1751,3954,2152,0,0,0,0,0,0
$GC,4306,-0.47,-146.1,537.1,-10.9,399,4310,0.00,1.08,0.00,0.000,6,0.000,0.037,1751,3227,2152,0,0,0,0,0,0
$GC,4637,-0.47,-146.1,572.9,-10.8,415,4641,0.00,1.30,0.00,0.000,4,0.000,0.033,1752,2337,2152,0,0,0,0,0,0
$GC,4663,-0.47,-146.1,575.7,-10.4,416,4668,0.00,1.45,0.00,0.000,6,0.000,0.056,1745,3233,2152,0,0,0,0,0,0
$GC,4991,-0.47,-146.1,611.8,-11.0,432,4995,0.00,1.12,0.00,0.000,4,0.000,0.061,1740,3950,2152,0,0,0,0,0,0
$GC,5036,-0.47,-146.1,617.1,-11.7,434,5039,0.00,1.08,0.00,0.000,6,0.000,0.037,1740,3226,2152,0,0,0,0,0,0
$GC,5367,-0.47,-146.1,655.3,-11.5,450,5369,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,3225,2151,0,0,0,0,0,0
$GC,5677,-0.47,-146.1,690.5,-11.4,465,5678,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,3225,2152,0,0,0,0,0,0
$GC,5986,-0.47,-146.1,724.7,-10.9,480,5990,0.00,1.15,0.00,0.000,4,0.000,0.063,1734,3953,2151,0,0,0,0,0,0
$GC,6034,-0.47,-146.1,730.4,-11.5,482,6039,0.00,1.10,0.00,0.000,6,0.000,0.037,1734,3225,2152,0,0,0,0,0,0
$GC,6362,-0.47,-146.1,765.5,-10.7,498,6363,0.00,0.00,0.00,0.000,6,0.000,0.000,1734,3225,2152,0,0,0,0,0,0
$GC,6671,-0.47,-146.1,800.6,-11.6,513,6675,0.00,1.15,0.00,0.000,4,0.000,0.062,1729,3954,2152,0,0,0,0,0,0
$GC,6716,-0.47,-146.1,806.1,-13.0,515,6720,0.08,1.08,0.00,0.000,6,0.155,0.037,1753,3237,2152,0,0,0,0,0,0
$GC,7047,-0.47,-146.1,838.8,-9.8,531,7049,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3237,2152,0,0,0,0,0,0
$GC,7357,-0.47,-146.1,868.4,-9.4,546,7358,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3237,2152,0,0,0,0,0,0
$GC,7666,-0.47,-146.1,896.5,-8.8,561,7667,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3237,2152,0,0,0,0,0,0
$GC,7975,-0.47,-146.1,923.1,-8.7,576,7976,0.00,0.00,0.00,0.000,6,0.000,0.000,1753,3237,2152,0,0,0,0,0,0
$GC,8285,-0.47,-146.1,949.4,-8.2,591,8288,0.00,1.12,0.00,0.000,4,0.000,0.064,1749,3942,2151,0,0,0,0,0,0
$GC,8317,-0.47,-146.1,952.4,-8.9,592,8321,0.00,1.10,0.00,0.000,6,0.000,0.038,1749,3221,2151,0,0,0,0,0,0
$GC,8638,-0.47,-146.1,981.2,-9.0,608,8640,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,3221,2152,0,0,0,0,0,0
$STATE,8843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8843,begin apogee
$GC,8847,-0.11,0.0,1000.4,9.5,618,9006,0.40,0.00,151.45,1.929,6,0.141,0.000,1873,3086,1549,0,0,0,0,0,0
$STATE,9007,end apogee,CONTROL_FINISHED_OK
$STATE,9007,begin climb
$GC,9008,0.47,146.1,1006.2,0.0,626,9160,0.57,1.60,144.95,1.867,4,0.077,0.038,2074,2196,953,0,0,0,0,0,0
$GC,9221,0.47,146.1,986.5,12.9,636,9226,0.00,1.55,0.00,0.000,6,0.000,0.053,2074,3074,950,0,0,0,0,0,0
$GC,9548,0.47,146.1,939.1,14.8,652,9549,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,3074,947,0,0,0,0,0,0
$GC,9857,0.47,146.1,891.1,15.4,667,9861,0.00,1.40,0.00,0.000,4,0.000,0.038,2081,2197,946,0,0,0,0,0,0
$GC,9917,0.47,146.1,882.3,13.4,669,9925,0.00,1.50,0.00,0.000,6,0.000,0.054,2081,3089,946,0,0,0,0,0,0
$GC,10233,0.47,146.1,833.6,15.7,685,10234,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,3089,946,0,0,0,0,0,0
$GC,10543,0.47,146.1,786.1,15.4,700,10544,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,3089,945,0,0,0,0,0,0
$GC,10852,0.47,146.1,739.2,15.1,715,10855,0.00,1.40,0.00,0.000,4,0.000,0.039,2088,2191,945,0,0,0,0,0,0
$GC,10906,0.47,146.1,731.4,13.1,717,10911,0.00,1.48,0.00,0.000,6,0.000,0.054,2088,3085,945,0,0,0,0,0,0
$GC,11228,0.47,146.1,681.0,15.6,733,11231,0.00,1.38,0.00,0.000,4,0.000,0.038,2095,2195,945,0,0,0,0,0,0
$GC,11254,0.47,146.1,676.8,15.5,734,11259,0.00,1.45,0.00,0.000,6,0.000,0.054,2094,3080,945,0,0,0,0,0,0
$GC,11581,0.47,146.1,624.0,16.0,750,11585,0.00,1.38,0.00,0.000,4,0.000,0.038,2101,2190,945,0,0,0,0,0,0
$GC,11603,0.47,146.1,620.6,15.1,751,11608,0.10,1.45,0.00,0.000,6,0.185,0.056,2073,3085,945,0,0,0,0,0,0
$GC,11935,0.47,146.1,573.1,14.0,767,11939,0.00,1.38,0.00,0.000,4,0.000,0.038,2078,2192,944,0,0,0,0,0,0
$GC,11967,0.47,146.1,568.6,13.4,768,11972,0.00,1.45,0.00,0.000,6,0.000,0.055,2078,3080,944,0,0,0,0,0,0
$GC,12288,0.47,146.1,523.5,14.2,784,12292,0.00,1.38,0.00,0.000,4,0.000,0.063,2078,3946,944,0,0,0,0,0,0
$GC,12337,0.47,146.1,515.6,16.0,786,12342,0.00,1.35,0.00,0.000,6,0.000,0.034,2085,3060,944,0,0,0,0,0,0
$GC,12664,0.47,146.1,468.2,14.2,802,12665,0.00,0.00,0.00,0.000,6,0.000,0.000,2085,3060,944,0,0,0,0,0,0
$GC,12974,0.47,146.1,423.2,14.7,817,12978,0.00,1.30,0.00,0.000,4,0.000,0.037,2092,2206,944,0,0,0,0,0,0
$GC,13033,0.47,146.1,415.1,12.4,819,13042,0.00,1.42,0.00,0.000,6,0.000,0.055,2092,3081,944,0,0,0,0,0,0
$GC,13360,0.47,146.1,368.6,14.9,845,13366,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,3080,944,0,0,0,0,0,0
$GC,13684,0.47,146.1,320.3,14.5,876,13685,0.00,0.00,0.00,0.000,6,0.000,0.000,2092,3081,944,0,0,0,0,0,0
$GC,14003,0.47,146.1,273.7,14.9,906,14004,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,3081,944,0,0,0,0,0,0
$GC,14321,0.47,146.1,225.5,15.1,936,14325,0.00,1.35,0.00,0.000,4,0.000,0.037,2098,2198,944,0,0,0,0,0,0
$GC,14380,0.47,146.1,217.5,13.5,941,14384,0.10,1.42,0.00,0.000,6,0.177,0.056,2069,3085,944,0,0,0,0,0,0
$GC,14709,0.47,146.1,173.0,13.1,972,14713,0.00,1.38,0.00,0.000,4,0.000,0.062,2069,3949,944,0,0,0,0,0,0
$GC,14769,0.47,146.1,163.8,15.6,977,14777,0.00,1.33,0.00,0.000,6,0.000,0.034,2074,3071,944,0,0,0,0,0,0
$GC,15095,0.47,146.1,122.4,11.2,1008,15098,0.00,1.30,0.00,0.000,4,0.000,0.034,2081,2198,944,0,0,0,0,0,0
$GC,15219,0.47,146.1,109.3,10.5,1019,15223,0.00,1.40,0.00,0.000,6,0.000,0.054,2081,3078,944,0,0,0,0,0,0
$GC,15561,0.47,146.1,67.5,12.8,1073,15567,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,3078,944,0,0,0,0,0,0
$GC,15913,0.47,146.1,19.3,14.1,1134,15922,0.00,1.33,0.00,0.000,4,0.000,0.033,2087,2187,944,0,0,0,0,0,0
$GC,15954,0.47,146.1,14.7,11.1,1140,15963,0.00,1.42,0.00,0.000,6,0.000,0.054,2088,3083,944,0,0,0,0,0,0
$GC,16012,0.47,146.1,7.8,12.7,1149,16020,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,3083,944,0,0,0,0,0,0
$STATE,16051,end climb,SURFACE_DEPTH_REACHED
$STATE,16051,begin surface coast
$FINISH,0.9,1.026410
$STATE,16076,end surface coast,CONTROL_FINISHED_OK
$STATE,16076,begin surface
$SM_CCo,16088,26.38,0.147,0,0,713,205.07
$SM_GC,1.66,0.00,0.00,26.38,0.000,0.000,0.147,77,3255,713,-5.75,0.71,205.07
$IRIDIUM_FIX,-4259.69,836.67,290508,040422
$TT8_MAMPS,0.027713
$HUMID,62.44
$INTERNAL_PRESSURE,11.3688
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,22.3,10.059
$10V_AH,10.3,4.654
$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,13.600,65.400,296.400,26.375,0.000,27.113,26.391,270.738,0.000,0.000,23.988,2808.686,10369.999,435.436,2824.562,110.817,0.000,1486.243,0.000,2457.199,0.000,0.543,0.000
$DEVICE_MAMPS,232.560,68.085,1928.565,146.880,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,803.894,807.618,837.454,82.026,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354544
$DATA_FILE_SIZE,66936,1159
$CAP_FILE_SIZE,139284,0
$CFSIZE,259252224,256229376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020815,235621,-4319.216,805.877,41,1.2,42,-24.9