version: 66.07
glider: 543
mission: 14
dive: 48
start: 8 5 115 23 41 42
data:
$ID,543
$MISSION,14
$DIVE,48
$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,-24263.484
$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,60
$R_STBD_OVSHOOT,45
$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
$GPS1,050815,233343,-4304.057,824.868,38,0.9,39,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-69.5
$GPS2,050815,234120,-4304.068,824.931,39,4.4,58,-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,300.7,1266,-27.2,-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,-0.59,-62.5,0.0,0.0,0,64,0.00,0.00,-47.78,0.000,6,0.000,0.000,62,3261,1756,0,0,0,0,0,0
$GC,66,-0.65,-126.6,2.7,-2.1,6,85,6.53,1.12,-7.97,0.000,4,0.233,0.088,1684,3929,2018,0,0,0,0,0,0
$GC,248,-0.65,-126.6,43.8,-21.6,36,257,0.00,1.05,0.00,0.000,6,0.000,0.034,1684,3239,2025,0,0,0,0,0,0
$GC,599,-0.65,-126.6,119.0,-22.3,90,602,0.00,1.10,0.00,0.000,4,0.000,0.058,1679,3923,2025,0,0,0,0,0,0
$GC,625,-0.65,-126.6,125.9,-23.4,92,635,0.00,1.08,0.00,0.000,6,0.000,0.034,1679,3219,2025,0,0,0,0,0,0
$GC,949,-0.65,-126.6,191.7,-20.7,123,951,0.00,0.00,0.00,0.000,6,0.000,0.000,1679,3219,2025,0,0,0,0,0,0
$GC,1272,-0.65,-126.6,256.4,-20.1,153,1276,0.00,1.12,0.00,0.000,4,0.000,0.058,1674,3926,2025,0,0,0,0,0,0
$GC,1351,-0.65,-126.6,273.6,-21.6,160,1354,0.00,1.02,0.00,0.000,6,0.000,0.035,1674,3238,2025,0,0,0,0,0,0
$GC,1680,-0.65,-126.6,342.0,-20.4,191,1684,0.00,1.08,0.00,0.000,4,0.000,0.059,1669,3913,2025,0,0,0,0,0,0
$GC,1782,-0.65,-126.6,363.3,-20.1,200,1785,0.00,1.02,0.00,0.000,6,0.000,0.035,1669,3229,2025,0,0,0,0,0,0
$GC,2118,-0.65,-126.6,427.3,-18.7,225,2122,0.00,1.10,0.00,0.000,4,0.000,0.059,1663,3924,2024,0,0,0,0,0,0
$GC,2268,-0.65,-126.6,457.5,-20.3,231,2276,0.12,1.05,0.00,0.000,6,0.199,0.034,1693,3233,2025,0,0,0,0,0,0
$GC,2584,-0.65,-126.6,506.8,-15.1,247,2588,0.00,1.10,0.00,0.000,4,0.000,0.060,1689,3924,2025,0,0,0,0,0,0
$GC,2610,-0.65,-126.6,511.5,-16.8,248,2615,0.00,1.05,0.00,0.000,6,0.000,0.035,1689,3225,2025,0,0,0,0,0,0
$GC,2937,-0.65,-126.6,562.3,-15.5,264,2941,0.00,1.10,0.00,0.000,4,0.000,0.059,1684,3916,2025,0,0,0,0,0,0
$GC,3008,-0.65,-126.6,574.3,-16.8,267,3013,0.00,1.05,0.00,0.000,6,0.000,0.035,1684,3224,2025,0,0,0,0,0,0
$GC,3336,-0.65,-126.6,626.2,-16.0,283,3339,0.00,1.10,0.00,0.000,4,0.000,0.060,1678,3917,2024,0,0,0,0,0,0
$GC,3395,-0.65,-126.6,636.8,-17.4,285,3403,0.00,1.05,0.00,0.000,6,0.000,0.036,1679,3224,2025,0,0,0,0,0,0
$GC,3711,-0.65,-126.6,688.6,-16.5,301,3715,0.00,1.10,0.00,0.000,4,0.000,0.060,1673,3916,2025,0,0,0,0,0,0
$GC,3756,-0.65,-126.6,696.7,-18.7,303,3760,0.00,1.02,0.00,0.000,6,0.000,0.037,1673,3233,2025,0,0,0,0,0,0
$GC,4088,-0.65,-126.6,753.9,-17.1,319,4091,0.00,1.10,0.00,0.000,4,0.000,0.061,1668,3926,2025,0,0,0,0,0,0
$GC,4209,-0.65,-126.6,776.5,-17.1,324,4214,0.00,1.05,0.00,0.000,6,0.000,0.036,1668,3229,2025,0,0,0,0,0,0
$GC,4531,-0.65,-126.6,829.1,-16.1,340,4534,0.00,1.10,0.00,0.000,4,0.000,0.060,1663,3924,2025,0,0,0,0,0,0
$GC,4607,-0.65,-126.6,843.4,-18.1,343,4613,0.12,1.05,0.00,0.000,6,0.203,0.037,1692,3235,2025,0,0,0,0,0,0
$GC,4929,-0.65,-126.6,893.4,-15.4,359,4932,0.00,1.10,0.00,0.000,4,0.000,0.063,1688,3929,2025,0,0,0,0,0,0
$GC,5000,-0.65,-126.6,905.8,-16.8,362,5005,0.00,1.08,0.00,0.000,6,0.000,0.037,1688,3220,2025,0,0,0,0,0,0
$GC,5327,-0.65,-126.6,957.8,-15.8,378,5331,0.00,1.12,0.00,0.000,4,0.000,0.062,1682,3926,2025,0,0,0,0,0,0
$GC,5372,-0.65,-126.6,964.9,-16.3,380,5375,0.00,1.05,0.00,0.000,6,0.000,0.037,1682,3226,2024,0,0,0,0,0,0
$STATE,5620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5620,begin apogee
$GC,5623,-0.10,0.0,1002.2,15.0,392,5762,0.62,0.00,130.68,1.898,6,0.167,0.000,1865,3056,1499,0,0,0,0,0,0
$STATE,5763,end apogee,CONTROL_FINISHED_OK
$STATE,5763,begin climb
$GC,5764,0.65,126.6,1006.5,0.0,399,5899,0.77,1.55,125.72,1.844,4,0.102,0.035,2116,2178,982,0,0,0,0,0,0
$GC,5982,0.65,126.6,979.2,16.5,409,5987,0.00,1.50,0.00,0.000,6,0.000,0.051,2116,3039,981,0,0,0,0,0,0
$GC,6309,0.65,126.6,920.4,17.9,425,6311,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,3038,979,0,0,0,0,0,0
$GC,6619,0.65,126.6,864.8,17.5,440,6622,0.00,1.50,0.00,0.000,4,0.000,0.061,2116,3956,978,0,0,0,0,0,0
$GC,6641,0.65,126.6,860.8,18.3,441,6644,0.00,1.38,0.00,0.000,6,0.000,0.034,2123,3058,978,0,0,0,0,0,0
$GC,6972,0.65,126.6,801.2,18.3,457,6974,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,3058,978,0,0,0,0,0,0
$GC,7282,0.65,126.6,745.4,18.2,472,7285,0.00,1.35,0.00,0.000,4,0.000,0.039,2129,2183,977,0,0,0,0,0,0
$GC,7313,0.65,126.6,739.6,17.2,473,7318,0.00,1.45,0.00,0.000,6,0.000,0.053,2129,3067,978,0,0,0,0,0,0
$GC,7635,0.65,126.6,679.9,18.8,489,7636,0.00,0.00,0.00,0.000,6,0.000,0.000,2129,3066,977,0,0,0,0,0,0
$GC,7945,0.65,126.6,623.6,18.3,504,7948,0.00,1.35,0.00,0.000,4,0.000,0.038,2136,2188,977,0,0,0,0,0,0
$GC,8015,0.65,126.6,611.4,17.3,507,8020,0.00,1.42,0.00,0.000,6,0.000,0.054,2136,3061,977,0,0,0,0,0,0
$GC,8343,0.65,126.6,550.8,18.5,523,8344,0.00,0.00,0.00,0.000,6,0.000,0.000,2136,3061,976,0,0,0,0,0,0
$GC,8652,0.65,126.6,493.3,18.6,538,8656,0.00,1.42,0.00,0.000,4,0.000,0.060,2136,3947,976,0,0,0,0,0,0
$GC,8684,0.65,126.6,486.6,20.3,539,8689,0.00,1.35,0.00,0.000,6,0.000,0.033,2142,3055,976,0,0,0,0,0,0
$GC,9006,0.65,126.6,426.5,18.5,555,9007,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,3054,975,0,0,0,0,0,0
$GC,9322,0.65,126.6,367.7,18.1,578,9325,0.00,1.42,0.00,0.000,4,0.000,0.061,2142,3945,976,0,0,0,0,0,0
$GC,9378,0.65,126.6,355.8,21.1,583,9382,0.10,1.33,0.00,0.000,6,0.226,0.034,2123,3058,975,0,0,0,0,0,0
$GC,9707,0.65,126.6,299.0,17.2,614,9711,0.00,1.45,0.00,0.000,4,0.000,0.061,2122,3959,975,0,0,0,0,0,0
$GC,9745,0.65,126.6,291.9,19.2,617,9753,0.00,1.38,0.00,0.000,6,0.000,0.033,2129,3050,975,0,0,0,0,0,0
$GC,10070,0.65,126.6,238.9,16.2,648,10073,0.00,1.30,0.00,0.000,4,0.000,0.037,2135,2186,975,0,0,0,0,0,0
$GC,10093,0.65,126.6,235.2,16.9,650,10096,0.00,1.40,0.00,0.000,6,0.000,0.054,2135,3060,975,0,0,0,0,0,0
$GC,10426,0.65,126.6,179.5,17.5,681,10429,0.00,1.40,0.00,0.000,4,0.000,0.060,2135,3949,975,0,0,0,0,0,0
$GC,10459,0.65,126.6,172.4,19.8,684,10463,0.00,1.33,0.00,0.000,6,0.000,0.034,2142,3055,975,0,0,0,0,0,0
$GC,10790,0.65,126.6,116.6,15.5,715,10794,0.00,1.42,0.00,0.000,4,0.000,0.059,2142,3946,975,0,0,0,0,0,0
$GC,10816,0.65,126.6,112.6,16.4,717,10820,0.10,1.33,0.00,0.000,6,0.224,0.032,2123,3057,975,0,0,0,0,0,0
$GC,11158,0.65,126.6,61.0,15.0,770,11164,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,3056,975,0,0,0,0,0,0
$GC,11513,0.65,126.6,5.6,17.2,831,11521,0.00,0.00,0.00,0.000,6,0.000,0.000,2123,3055,976,0,0,0,0,0,0
$STATE,11527,end climb,SURFACE_DEPTH_REACHED
$STATE,11528,begin surface coast
$FINISH,0.9,1.026435
$STATE,11547,end surface coast,CONTROL_FINISHED_OK
$STATE,11547,begin surface
$SM_CCo,11559,33.80,0.143,0,0,682,200.16
$SM_GC,1.50,0.00,0.00,33.80,0.000,0.000,0.143,71,3237,682,-5.73,0.20,200.16
$IRIDIUM_FIX,-4250.85,820.32,010608,090955
$TT8_MAMPS,0.026964
$HUMID,62.99
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.30
$XPDR_PINGS,0
$24V_AH,22.4,13.077
$10V_AH,10.3,6.338
$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,13.925,56.525,256.400,33.800,0.000,33.242,24.627,254.728,0.000,0.000,62.348,2085.041,7223.824,370.608,2288.215,90.808,0.000,1203.032,0.000,1895.405,0.000,0.543,0.000
$DEVICE_MAMPS,233.325,87.975,1897.965,143.055,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,580.112,581.750,623.276,62.314,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354020
$DATA_FILE_SIZE,46922,836
$CAP_FILE_SIZE,109591,0
$CFSIZE,259252224,255049728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060815,025632,-4303.667,823.451,62,1.6,64,-25.0