version: 66.07
glider: 543
mission: 14
dive: 38
start: 8 4 115 3 41 10
data:
$ID,543
$MISSION,14
$DIVE,38
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,20
$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,-24234.941
$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,54
$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
$GPS1,040815,033304,-4315.562,808.960,58,1.7,59,-24.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-68.4
$GPS2,040815,034048,-4315.524,809.112,22,1.1,22,-24.9
$SPEED_LIMITS,0.172,0.259
$TGT_NAME,HEADING
$TGT_LATLONG,-4305.376,814.170
$TGT_RADIUS,1852.000
$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,44.9,20000,-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,-56.95,0.000,2,0.000,0.000,62,3246,2015,0,0,0,0,0,0
$GC,76,-0.47,-146.1,3.4,-4.2,7,93,6.75,1.38,-3.15,0.000,4,0.230,0.060,1761,2346,2147,0,0,0,0,0,0
$GC,247,-0.47,-146.1,30.2,-11.3,35,256,0.00,1.45,0.00,0.000,6,0.000,0.054,1756,3230,2153,0,0,0,0,0,0
$GC,394,-0.47,-146.1,49.4,-15.3,60,403,0.00,1.17,0.00,0.000,4,0.000,0.061,1751,3949,2153,0,0,0,0,0,0
$GC,439,-0.47,-146.1,57.2,-17.9,67,446,0.00,1.08,0.00,0.000,6,0.000,0.034,1751,3230,2153,0,0,0,0,0,0
$GC,784,-0.47,-146.1,111.9,-15.3,121,787,0.00,1.35,0.00,0.000,4,0.000,0.034,1750,2330,2153,0,0,0,0,0,0
$GC,806,-0.47,-146.1,115.6,-15.1,123,809,0.00,1.45,0.00,0.000,6,0.000,0.054,1744,3226,2153,0,0,0,0,0,0
$GC,1135,-0.47,-146.1,164.4,-14.1,154,1139,0.00,1.15,0.00,0.000,4,0.000,0.059,1738,3955,2153,0,0,0,0,0,0
$GC,1216,-0.47,-146.1,175.9,-14.2,161,1220,0.00,1.08,0.00,0.000,6,0.000,0.036,1738,3228,2153,0,0,0,0,0,0
$GC,1546,-0.47,-146.1,222.6,-14.0,192,1547,0.00,0.00,0.00,0.000,6,0.000,0.000,1738,3228,2153,0,0,0,0,0,0
$GC,1865,-0.47,-146.1,266.7,-14.0,222,1869,0.00,1.15,0.00,0.000,4,0.000,0.060,1733,3958,2153,0,0,0,0,0,0
$GC,1887,-0.47,-146.1,270.1,-15.0,224,1891,0.00,1.08,0.00,0.000,6,0.000,0.035,1733,3230,2153,0,0,0,0,0,0
$GC,2217,-0.47,-146.1,318.4,-14.6,255,2220,0.00,1.33,0.00,0.000,4,0.000,0.033,1733,2331,2153,0,0,0,0,0,0
$GC,2251,-0.47,-146.1,323.0,-12.9,258,2256,0.10,1.42,0.00,0.000,6,0.138,0.054,1758,3222,2153,0,0,0,0,0,0
$GC,2585,-0.47,-146.1,359.5,-10.6,289,2588,0.00,1.15,0.00,0.000,4,0.000,0.060,1755,3956,2153,0,0,0,0,0,0
$GC,2697,-0.47,-146.1,372.2,-10.9,299,2700,0.00,1.08,0.00,0.000,6,0.000,0.036,1755,3227,2153,0,0,0,0,0,0
$GC,3036,-0.47,-146.1,409.8,-11.6,327,3038,0.00,0.00,0.00,0.000,6,0.000,0.000,1754,3227,2153,0,0,0,0,0,0
$GC,3344,-0.47,-146.1,446.3,-11.8,342,3347,0.00,1.15,0.00,0.000,4,0.000,0.061,1750,3957,2153,0,0,0,0,0,0
$GC,3381,-0.47,-146.1,451.1,-11.7,343,3389,0.00,1.10,0.00,0.000,6,0.000,0.035,1750,3223,2153,0,0,0,0,0,0
$GC,3697,-0.47,-146.1,488.1,-11.3,359,3698,0.00,0.00,0.00,0.000,6,0.000,0.000,1749,3223,2153,0,0,0,0,0,0
$GC,4006,-0.47,-146.1,521.5,-10.5,374,4007,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,3223,2153,0,0,0,0,0,0
$GC,4316,-0.47,-146.1,554.0,-10.7,389,4319,0.00,1.15,0.00,0.000,4,0.000,0.061,1744,3951,2152,0,0,0,0,0,0
$GC,4388,-0.47,-146.1,562.1,-10.7,392,4392,0.00,1.05,0.00,0.000,6,0.000,0.037,1744,3241,2153,0,0,0,0,0,0
$GC,4716,-0.47,-146.1,599.6,-11.8,408,4717,0.00,0.00,0.00,0.000,6,0.000,0.000,1744,3240,2153,0,0,0,0,0,0
$GC,5024,-0.47,-146.1,636.0,-11.5,423,5027,0.00,1.12,0.00,0.000,4,0.000,0.063,1739,3954,2153,0,0,0,0,0,0
$GC,5050,-0.47,-146.1,639.3,-12.2,424,5054,0.00,1.10,0.00,0.000,6,0.000,0.037,1739,3222,2153,0,0,0,0,0,0
$GC,5377,-0.47,-146.1,677.2,-11.6,440,5380,0.00,1.15,0.00,0.000,4,0.000,0.062,1734,3951,2153,0,0,0,0,0,0
$GC,5414,-0.47,-146.1,682.2,-12.6,441,5422,0.00,1.10,0.00,0.000,6,0.000,0.037,1733,3219,2152,0,0,0,0,0,0
$GC,5730,-0.47,-146.1,723.9,-13.9,457,5731,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,3219,2153,0,0,0,0,0,0
$GC,6039,-0.47,-146.1,766.0,-13.3,472,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,3219,2153,0,0,0,0,0,0
$GC,6349,-0.47,-146.1,804.5,-12.2,487,6352,0.00,1.15,0.00,0.000,4,0.000,0.063,1728,3945,2152,0,0,0,0,0,0
$GC,6371,-0.47,-146.1,807.0,-11.4,488,6375,0.08,1.08,0.00,0.000,6,0.161,0.037,1752,3226,2153,0,0,0,0,0,0
$GC,6702,-0.47,-146.1,837.2,-8.5,504,6706,0.00,1.15,0.00,0.000,4,0.000,0.063,1748,3954,2153,0,0,0,0,0,0
$GC,6747,-0.47,-146.1,841.1,-8.5,506,6751,0.00,1.08,0.00,0.000,6,0.000,0.038,1748,3228,2153,0,0,0,0,0,0
$GC,7079,-0.47,-146.1,869.7,-8.4,522,7083,0.00,1.15,0.00,0.000,4,0.000,0.063,1743,3957,2153,0,0,0,0,0,0
$GC,7105,-0.47,-146.1,872.2,-9.9,523,7110,0.00,1.10,0.00,0.000,6,0.000,0.037,1743,3223,2153,0,0,0,0,0,0
$GC,7432,-0.47,-146.1,903.2,-10.0,539,7436,0.00,1.15,0.00,0.000,4,0.000,0.064,1737,3953,2153,0,0,0,0,0,0
$GC,7477,-0.47,-146.1,908.0,-10.7,541,7480,0.00,1.08,0.00,0.000,6,0.000,0.038,1738,3229,2153,0,0,0,0,0,0
$GC,7809,-0.47,-146.1,945.1,-11.5,557,7810,0.00,0.00,0.00,0.000,6,0.000,0.000,1738,3228,2153,0,0,0,0,0,0
$GC,8118,-0.47,-146.1,981.7,-11.9,572,8121,0.00,1.15,0.00,0.000,4,0.000,0.064,1732,3956,2153,0,0,0,0,0,0
$GC,8144,-0.47,-146.1,985.2,-12.8,573,8149,0.10,1.10,0.00,0.000,6,0.182,0.037,1756,3230,2153,0,0,0,0,0,0
$STATE,8304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8304,begin apogee
$GC,8308,-0.11,0.0,1001.3,9.9,581,8459,0.38,0.00,147.50,1.878,6,0.140,0.000,1873,3077,1549,0,0,0,0,0,0
$STATE,8460,end apogee,CONTROL_FINISHED_OK
$STATE,8460,begin climb
$GC,8461,0.47,146.1,1007.3,0.0,588,8612,0.55,1.48,144.12,1.843,4,0.073,0.035,2069,2204,953,0,0,0,0,0,0
$GC,8739,0.47,146.1,981.1,13.3,601,8744,0.00,1.52,0.00,0.000,6,0.000,0.053,2069,3079,953,0,0,0,0,0,0
$GC,9067,0.47,146.1,933.4,15.0,617,9070,0.00,1.40,0.00,0.000,4,0.000,0.038,2075,2195,951,0,0,0,0,0,0
$GC,9104,0.47,146.1,927.9,14.3,618,9112,0.00,1.50,0.00,0.000,6,0.000,0.053,2075,3086,951,0,0,0,0,0,0
$GC,9420,0.47,146.1,880.5,14.5,634,9421,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,3085,950,0,0,0,0,0,0
$GC,9730,0.47,146.1,838.5,13.4,649,9733,0.00,1.38,0.00,0.000,4,0.000,0.038,2082,2197,950,0,0,0,0,0,0
$GC,9761,0.47,146.1,834.4,12.3,650,9766,0.00,1.48,0.00,0.000,6,0.000,0.054,2082,3089,950,0,0,0,0,0,0
$GC,10083,0.47,146.1,790.3,13.8,666,10087,0.00,1.38,0.00,0.000,4,0.000,0.038,2089,2192,949,0,0,0,0,0,0
$GC,10109,0.47,146.1,786.6,13.2,667,10114,0.00,1.48,0.00,0.000,6,0.000,0.054,2089,3089,949,0,0,0,0,0,0
$GC,10436,0.47,146.1,737.4,15.5,683,10440,0.00,1.38,0.00,0.000,4,0.000,0.038,2095,2193,949,0,0,0,0,0,0
$GC,10536,0.47,146.1,723.1,14.3,687,10540,0.00,1.45,0.00,0.000,6,0.000,0.054,2095,3080,949,0,0,0,0,0,0
$GC,10857,0.47,146.1,671.7,16.7,703,10861,0.00,1.38,0.00,0.000,4,0.000,0.039,2102,2193,949,0,0,0,0,0,0
$GC,10883,0.47,146.1,667.3,15.6,704,10889,0.12,1.45,0.00,0.000,6,0.205,0.054,2074,3081,949,0,0,0,0,0,0
$GC,11211,0.47,146.1,614.4,17.1,720,11214,0.00,1.35,0.00,0.000,4,0.000,0.037,2080,2191,949,0,0,0,0,0,0
$GC,11270,0.47,146.1,605.3,14.4,722,11278,0.00,1.45,0.00,0.000,6,0.000,0.054,2080,3080,949,0,0,0,0,0,0
$GC,11586,0.47,146.1,555.7,15.4,738,11590,0.00,1.38,0.00,0.000,4,0.000,0.062,2079,3945,949,0,0,0,0,0,0
$GC,11618,0.47,146.1,550.3,16.2,739,11623,0.00,1.33,0.00,0.000,6,0.000,0.035,2086,3070,949,0,0,0,0,0,0
$GC,11940,0.47,146.1,501.1,15.1,755,11943,0.00,1.30,0.00,0.000,4,0.000,0.037,2093,2207,949,0,0,0,0,0,0
$GC,11999,0.47,146.1,492.6,13.6,757,12007,0.00,1.42,0.00,0.000,6,0.000,0.054,2093,3082,949,0,0,0,0,0,0
$GC,12316,0.47,146.1,444.4,15.3,773,12319,0.00,1.38,0.00,0.000,4,0.000,0.061,2093,3950,949,0,0,0,0,0,0
$GC,12338,0.47,146.1,440.7,16.5,774,12342,0.10,1.30,0.00,0.000,6,0.209,0.035,2073,3073,948,0,0,0,0,0,0
$GC,12660,0.47,146.1,394.3,14.7,791,12663,0.00,1.30,0.00,0.000,4,0.000,0.037,2078,2210,948,0,0,0,0,0,0
$GC,12730,0.47,146.1,385.7,13.1,797,12733,0.00,1.40,0.00,0.000,6,0.000,0.055,2078,3081,949,0,0,0,0,0,0
$GC,13059,0.47,146.1,340.4,13.3,828,13063,0.00,1.33,0.00,0.000,4,0.000,0.037,2084,2203,949,0,0,0,0,0,0
$GC,13118,0.47,146.1,333.4,11.8,833,13122,0.00,1.40,0.00,0.000,6,0.000,0.055,2085,3079,949,0,0,0,0,0,0
$GC,13448,0.47,146.1,286.5,13.6,864,13451,0.00,1.38,0.00,0.000,4,0.000,0.063,2084,3947,949,0,0,0,0,0,0
$GC,13507,0.47,146.1,277.6,15.2,869,13510,0.00,1.30,0.00,0.000,6,0.000,0.034,2091,3075,948,0,0,0,0,0,0
$GC,13836,0.47,146.1,226.5,16.2,900,13840,0.00,1.30,0.00,0.000,4,0.000,0.037,2098,2206,948,0,0,0,0,0,0
$GC,13950,0.47,146.1,211.0,12.8,910,13954,0.08,1.40,0.00,0.000,6,0.183,0.055,2075,3083,949,0,0,0,0,0,0
$GC,14281,0.47,146.1,168.4,13.2,941,14282,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,3082,948,0,0,0,0,0,0
$GC,14600,0.47,146.1,125.2,14.4,971,14601,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,3082,948,0,0,0,0,0,0
$GC,14929,0.47,146.1,79.8,11.4,1015,14936,0.00,1.33,0.00,0.000,4,0.000,0.036,2080,2194,948,0,0,0,0,0,0
$GC,15027,0.48,157.7,71.2,9.4,1032,15036,0.00,1.40,5.03,0.903,6,0.000,0.052,2080,3080,905,0,0,0,0,0,0
$GC,15384,0.48,157.7,23.9,13.1,1093,15392,0.00,1.38,0.00,0.000,4,0.000,0.058,2080,3946,907,0,0,0,0,0,0
$GC,15423,0.48,157.7,17.7,16.3,1099,15432,0.00,1.27,0.00,0.000,6,0.000,0.034,2087,3075,908,0,0,0,0,0,0
$GC,15481,0.48,157.7,7.3,17.7,1108,15489,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,3074,908,0,0,0,0,0,0
$STATE,15508,end climb,SURFACE_DEPTH_REACHED
$STATE,15508,begin surface coast
$FINISH,1.7,1.026501
$STATE,15527,end surface coast,CONTROL_FINISHED_OK
$STATE,15527,begin surface
$SM_CCo,15540,39.42,0.515,1,0,713,205.07
$SM_GC,2.44,0.00,0.00,39.42,0.000,0.000,0.515,68,3252,713,-5.76,0.62,205.07
$IRIDIUM_FIX,-4259.69,812.83,300508,121237
$TT8_MAMPS,0.027713
$HUMID,61.89
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.3,11.316
$10V_AH,10.3,5.368
$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,14.450,82.175,296.650,39.425,0.000,25.721,20.358,307.554,0.000,0.000,24.789,2747.505,9906.035,446.740,2832.865,118.144,0.000,1515.098,0.000,2437.747,0.000,0.544,0.000
$DEVICE_MAMPS,230.265,65.790,1878.075,514.845,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,775.091,780.151,804.594,77.259,0.000,0.000,0.000,0.000,0.000,0.000
$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,63589,1115
$CAP_FILE_SIZE,143566,0
$CFSIZE,259252224,255713280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040815,080452,-4313.383,810.826,203,1.4,204,-25.0