version: 66.07
glider: 543
mission: 14
dive: 45
start: 8 5 115 11 16 27
data:
$ID,543
$MISSION,14
$DIVE,45
$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,130
$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,-24255.102
$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,52
$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,3060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,42
$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
$GPS1,050815,110551,-4307.469,816.532,219,1.0,219,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-61.0
$GPS2,050815,111604,-4307.491,816.633,18,1.2,18,-25.0
$SPEED_LIMITS,0.172,0.243
$TGT_NAME,SAZ_BUT1
$TGT_LATLONG,-4304.000,824.000
$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,82.0,11880,-18.8,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.49,-126.6,0.0,0.0,0,73,0.00,0.00,-56.55,0.000,2,0.000,0.000,60,3258,1981,0,0,0,0,0,0
$GC,75,-0.49,-126.6,3.5,-3.6,7,92,6.62,1.42,-0.90,0.000,4,0.226,0.063,1745,2337,2021,0,0,0,0,0,0
$GC,176,-0.49,-126.6,18.6,-9.8,23,185,0.00,1.42,0.00,0.000,6,0.000,0.054,1740,3208,2026,0,0,0,0,0,0
$GC,234,-0.49,-126.6,26.3,-15.2,32,242,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,3209,2026,0,0,0,0,0,0
$GC,380,-0.49,-126.6,53.1,-18.3,57,389,0.00,1.17,0.00,0.000,4,0.000,0.059,1734,3946,2026,0,0,0,0,0,0
$GC,425,-0.49,-126.6,61.7,-20.7,64,432,0.00,1.08,0.00,0.000,6,0.000,0.035,1734,3232,2026,0,0,0,0,0,0
$GC,765,-0.49,-126.6,117.1,-15.5,115,768,0.00,1.15,0.00,0.000,4,0.000,0.060,1729,3950,2025,0,0,0,0,0,0
$GC,844,-0.49,-126.6,130.6,-18.0,122,848,0.00,1.08,0.00,0.000,6,0.000,0.035,1729,3229,2026,0,0,0,0,0,0
$GC,1177,-0.49,-126.6,181.5,-13.6,153,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,1729,3228,2026,0,0,0,0,0,0
$GC,1493,-0.49,-126.6,226.4,-14.1,183,1496,0.00,1.15,0.00,0.000,4,0.000,0.060,1723,3956,2026,0,0,0,0,0,0
$GC,1526,-0.49,-126.6,231.5,-15.3,186,1530,0.00,1.08,0.00,0.000,6,0.000,0.036,1723,3230,2026,0,0,0,0,0,0
$GC,1860,-0.49,-126.6,277.6,-14.3,217,1863,0.00,1.15,0.00,0.000,4,0.000,0.060,1718,3942,2026,0,0,0,0,0,0
$GC,1931,-0.49,-126.6,289.1,-14.8,223,1939,0.00,1.08,0.00,0.000,6,0.000,0.035,1718,3226,2026,0,0,0,0,0,0
$GC,2256,-0.49,-126.6,335.6,-14.5,254,2260,0.00,1.15,0.00,0.000,4,0.000,0.060,1713,3959,2026,0,0,0,0,0,0
$GC,2305,-0.49,-126.6,343.8,-16.3,258,2314,0.12,1.10,0.00,0.000,6,0.184,0.034,1743,3229,2026,0,0,0,0,0,0
$GC,2633,-0.49,-126.6,385.2,-12.9,289,2636,0.00,1.12,0.00,0.000,4,0.000,0.060,1739,3942,2026,0,0,0,0,0,0
$GC,2700,-0.49,-126.6,394.3,-13.4,295,2704,0.00,1.05,0.00,0.000,6,0.000,0.036,1739,3233,2026,0,0,0,0,0,0
$GC,3022,-0.49,-126.6,435.3,-12.8,313,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,1739,3233,2026,0,0,0,0,0,0
$GC,3332,-0.49,-126.6,473.3,-12.4,328,3335,0.00,1.12,0.00,0.000,4,0.000,0.061,1734,3948,2026,0,0,0,0,0,0
$GC,3391,-0.49,-126.6,481.8,-13.7,330,3399,0.00,1.10,0.00,0.000,6,0.000,0.035,1734,3214,2026,0,0,0,0,0,0
$GC,3707,-0.49,-126.6,521.9,-12.6,346,3711,0.00,1.15,0.00,0.000,4,0.000,0.062,1728,3943,2026,0,0,0,0,0,0
$GC,3738,-0.49,-126.6,526.4,-13.8,347,3743,0.00,1.08,0.00,0.000,6,0.000,0.036,1729,3228,2026,0,0,0,0,0,0
$GC,4060,-0.49,-126.6,568.2,-13.4,363,4061,0.00,0.00,0.00,0.000,6,0.000,0.000,1729,3228,2026,0,0,0,0,0,0
$GC,4369,-0.49,-126.6,610.1,-13.6,378,4370,0.00,0.00,0.00,0.000,6,0.000,0.000,1729,3229,2026,0,0,0,0,0,0
$GC,4679,-0.49,-126.6,651.2,-13.0,393,4682,0.00,1.12,0.00,0.000,4,0.000,0.062,1724,3942,2026,0,0,0,0,0,0
$GC,4761,-0.49,-126.6,663.0,-14.2,396,4769,0.00,1.08,0.00,0.000,6,0.000,0.037,1724,3233,2026,0,0,0,0,0,0
$GC,5077,-0.49,-126.6,702.0,-12.4,412,5081,0.00,1.12,0.00,0.000,4,0.000,0.063,1718,3949,2026,0,0,0,0,0,0
$GC,5121,-0.49,-126.6,708.0,-13.5,414,5125,0.00,1.08,0.00,0.000,6,0.000,0.037,1718,3227,2026,0,0,0,0,0,0
$GC,5453,-0.49,-126.6,748.8,-12.3,430,5457,0.00,1.15,0.00,0.000,4,0.000,0.062,1713,3957,2026,0,0,0,0,0,0
$GC,5542,-0.49,-126.6,760.5,-13.2,434,5546,0.08,1.08,0.00,0.000,6,0.178,0.037,1736,3239,2025,0,0,0,0,0,0
$GC,5874,-0.49,-126.6,794.2,-10.0,450,5877,0.00,1.12,0.00,0.000,4,0.000,0.063,1733,3951,2026,0,0,0,0,0,0
$GC,5941,-0.49,-126.6,801.7,-11.7,453,5945,0.00,1.08,0.00,0.000,6,0.000,0.038,1732,3229,2026,0,0,0,0,0,0
$GC,6273,-0.49,-126.6,836.5,-10.5,469,6274,0.00,0.00,0.00,0.000,6,0.000,0.000,1732,3228,2026,0,0,0,0,0,0
$GC,6582,-0.49,-126.6,868.2,-10.0,484,6586,0.00,1.15,0.00,0.000,4,0.000,0.064,1727,3956,2026,0,0,0,0,0,0
$GC,6614,-0.49,-126.6,871.8,-10.5,485,6618,0.00,1.10,0.00,0.000,6,0.000,0.038,1727,3232,2026,0,0,0,0,0,0
$GC,6936,-0.49,-126.6,902.4,-9.3,501,6939,0.00,1.12,0.00,0.000,4,0.000,0.064,1721,3943,2026,0,0,0,0,0,0
$GC,6981,-0.49,-126.6,906.9,-9.6,503,6984,0.00,1.08,0.00,0.000,6,0.000,0.039,1721,3227,2026,0,0,0,0,0,0
$GC,7313,-0.49,-126.6,939.2,-9.7,519,7316,0.00,1.15,0.00,0.000,4,0.000,0.064,1716,3956,2026,0,0,0,0,0,0
$GC,7361,-0.49,-126.6,944.6,-11.1,521,7366,0.12,1.10,0.00,0.000,6,0.193,0.039,1746,3232,2026,0,0,0,0,0,0
$GC,7688,-0.49,-126.6,968.9,-7.3,537,7691,0.00,1.12,0.00,0.000,4,0.000,0.065,1742,3942,2026,0,0,0,0,0,0
$GC,7720,-0.49,-126.6,971.6,-8.1,538,7724,0.00,1.10,0.00,0.000,6,0.000,0.038,1742,3220,2026,0,0,0,0,0,0
$GC,8041,-0.49,-126.6,995.9,-7.7,554,8043,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3219,2026,0,0,0,0,0,0
$STATE,8102,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8102,begin apogee
$GC,8106,-0.10,0.0,1001.0,8.1,557,8235,0.43,0.00,126.12,1.836,6,0.152,0.000,1869,3066,1500,0,0,0,0,0,0
$STATE,8236,end apogee,CONTROL_FINISHED_OK
$STATE,8236,begin climb
$GC,8237,0.49,126.6,1002.3,0.0,563,8369,0.57,1.58,124.97,1.829,4,0.103,0.037,2061,2178,985,0,0,0,0,0,0
$GC,8497,0.49,126.6,974.2,12.6,575,8502,0.00,1.50,0.00,0.000,6,0.000,0.053,2062,3053,989,0,0,0,0,0,0
$GC,8825,0.49,126.6,931.2,12.8,591,8828,0.00,1.38,0.00,0.000,4,0.000,0.038,2068,2182,987,0,0,0,0,0,0
$GC,8869,0.49,126.6,925.8,12.0,593,8873,0.00,1.45,0.00,0.000,6,0.000,0.054,2068,3055,987,0,0,0,0,0,0
$GC,9201,0.49,126.6,881.2,13.9,609,9202,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,3055,986,0,0,0,0,0,0
$GC,9510,0.49,126.6,836.2,14.5,624,9514,0.00,1.35,0.00,0.000,4,0.000,0.038,2074,2181,986,0,0,0,0,0,0
$GC,9578,0.49,126.6,827.0,13.7,627,9581,0.00,1.42,0.00,0.000,6,0.000,0.055,2074,3059,986,0,0,0,0,0,0
$GC,9909,0.49,126.6,778.7,14.8,643,9913,0.00,1.35,0.00,0.000,4,0.000,0.037,2081,2177,986,0,0,0,0,0,0
$GC,9958,0.49,126.6,771.9,12.9,645,9963,0.00,1.45,0.00,0.000,6,0.000,0.054,2081,3062,986,0,0,0,0,0,0
$GC,10285,0.49,126.6,725.2,14.2,661,10286,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,3062,985,0,0,0,0,0,0
$GC,10594,0.49,126.6,683.6,13.4,676,10596,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,3061,985,0,0,0,0,0,0
$GC,10904,0.49,126.6,642.0,13.7,691,10905,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,3062,985,0,0,0,0,0,0
$GC,11213,0.49,126.6,600.9,13.5,706,11214,0.00,0.00,0.00,0.000,6,0.000,0.000,2081,3062,985,0,0,0,0,0,0
$GC,11522,0.49,126.6,559.8,13.4,721,11526,0.00,1.35,0.00,0.000,4,0.000,0.037,2087,2172,985,0,0,0,0,0,0
$GC,11545,0.49,126.6,556.9,13.1,722,11548,0.00,1.42,0.00,0.000,6,0.000,0.055,2088,3059,985,0,0,0,0,0,0
$GC,11876,0.49,126.6,509.0,14.8,738,11877,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,3059,985,0,0,0,0,0,0
$GC,12186,0.49,126.6,462.2,14.9,753,12187,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,3058,985,0,0,0,0,0,0
$GC,12495,0.49,126.6,417.5,14.2,768,12496,0.00,0.00,0.00,0.000,6,0.000,0.000,2088,3058,985,0,0,0,0,0,0
$GC,12809,0.49,126.6,373.7,13.5,791,12813,0.00,1.42,0.00,0.000,4,0.000,0.063,2087,3952,985,0,0,0,0,0,0
$GC,12834,0.49,126.6,370.4,14.3,793,12838,0.08,1.35,0.00,0.000,6,0.207,0.035,2073,3053,985,0,0,0,0,0,0
$GC,13163,0.49,126.6,328.7,12.5,824,13164,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,3053,985,0,0,0,0,0,0
$GC,13482,0.49,126.6,288.2,12.4,854,13483,0.00,0.00,0.00,0.000,6,0.000,0.000,2074,3053,985,0,0,0,0,0,0
$GC,13801,0.49,126.6,248.3,12.3,884,13804,0.00,1.33,0.00,0.000,4,0.000,0.037,2079,2172,985,0,0,0,0,0,0
$GC,13869,0.49,126.6,240.6,11.5,890,13872,0.00,1.42,0.00,0.000,6,0.000,0.055,2079,3063,985,0,0,0,0,0,0
$GC,14202,0.49,126.6,199.1,12.5,921,14203,0.00,0.00,0.00,0.000,6,0.000,0.000,2079,3063,985,0,0,0,0,0,0
$GC,14517,0.49,126.6,159.5,12.0,951,14518,0.00,0.00,0.00,0.000,6,0.000,0.000,2080,3063,985,0,0,0,0,0,0
$GC,14839,0.49,126.6,120.8,12.7,981,14843,0.00,1.33,0.00,0.000,4,0.000,0.035,2086,2177,985,0,0,0,0,0,0
$GC,14895,0.49,126.6,113.7,12.3,986,14899,0.00,1.40,0.00,0.000,6,0.000,0.054,2086,3059,985,0,0,0,0,0,0
$GC,15235,0.49,126.6,72.6,11.4,1037,15241,0.00,1.40,0.00,0.000,4,0.000,0.060,2086,3947,985,0,0,0,0,0,0
$GC,15293,0.49,126.6,63.8,16.2,1047,15301,0.00,1.33,0.00,0.000,6,0.000,0.034,2092,3054,985,0,0,0,0,0,0
$GC,15651,0.49,126.6,16.6,11.9,1108,15660,0.00,1.33,0.00,0.000,4,0.000,0.044,2099,2199,985,0,0,0,0,0,0
$GC,15738,0.49,126.6,6.3,15.1,1122,15747,0.10,1.38,0.00,0.000,6,0.171,0.054,2069,3064,986,0,0,0,0,0,0
$STATE,15761,end climb,SURFACE_DEPTH_REACHED
$STATE,15761,begin surface coast
$FINISH,0.8,1.004033
$STATE,15780,end surface coast,CONTROL_FINISHED_OK
$STATE,15781,begin surface
$SM_CCo,15792,46.92,0.431,1,0,683,200.16
$SM_GC,1.72,0.00,0.00,46.92,0.000,0.000,0.431,71,3253,683,-5.72,0.65,200.16
$IRIDIUM_FIX,-4250.85,811.56,310508,191942
$TT8_MAMPS,0.026964
$HUMID,61.65
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.4,12.590
$10V_AH,10.3,6.078
$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,13.475,66.800,251.100,46.925,0.000,126.230,22.001,300.071,0.000,0.000,21.093,2766.415,10253.355,404.965,2908.314,127.314,0.000,1453.957,0.000,2430.832,0.000,0.545,0.000
$DEVICE_MAMPS,226.440,71.910,1836.000,430.695,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,782.887,802.856,814.516,79.492,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354136
$DATA_FILE_SIZE,63682,1128
$CAP_FILE_SIZE,140700,0
$CFSIZE,259252224,255205376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,050815,154327,-4306.383,819.532,141,1.0,142,-25.0