version: 66.07
glider: 543
mission: 14
dive: 68
start: 8 9 115 8 20 22
data:
$ID,543
$MISSION,14
$DIVE,68
$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,-24321.539
$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,55
$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,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,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
$GPS1,090815,081152,-4300.122,836.774,79,1.1,80,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-75.5
$GPS2,090815,082000,-4300.116,836.888,19,1.5,19,-25.1
$SPEED_LIMITS,0.172,0.243
$TGT_NAME,SAZ_BUT4
$TGT_LATLONG,-4304.000,836.000
$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,214.6,7292,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.47,-126.6,0.0,0.0,0,66,0.00,0.00,-48.62,0.000,2,0.000,0.000,62,3245,1837,0,0,0,0,0,0
$GC,68,-0.47,-126.6,3.1,-1.9,6,85,6.88,0.00,-4.85,0.000,6,0.237,0.000,1747,3244,2017,0,0,0,0,0,0
$GC,134,-0.47,-126.6,17.5,-18.9,16,142,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,3244,2021,0,0,0,0,0,0
$GC,190,-0.47,-126.6,27.5,-17.4,25,199,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,3244,2021,0,0,0,0,0,0
$GC,337,-0.47,-126.6,48.0,-12.4,50,343,0.00,0.00,0.00,0.000,6,0.000,0.000,1747,3244,2022,0,0,0,0,0,0
$GC,689,-0.47,-126.6,102.0,-14.6,111,690,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,3244,2022,0,0,0,0,0,0
$GC,1010,-0.47,-126.6,147.7,-13.5,141,1014,0.00,1.33,0.00,0.000,4,0.000,0.031,1748,2330,2022,0,0,0,0,0,0
$GC,1036,-0.47,-126.6,151.8,-13.3,143,1044,0.00,1.48,0.00,0.000,6,0.000,0.051,1742,3234,2021,0,0,0,0,0,0
$GC,1362,-0.47,-126.6,196.3,-13.3,174,1365,0.00,1.12,0.00,0.000,4,0.000,0.057,1737,3954,2022,0,0,0,0,0,0
$GC,1467,-0.47,-126.6,211.5,-14.0,183,1475,0.00,1.10,0.00,0.000,6,0.000,0.033,1737,3215,2022,0,0,0,0,0,0
$GC,1792,-0.47,-126.6,254.3,-12.5,214,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,1737,3215,2022,0,0,0,0,0,0
$GC,2112,-0.47,-126.6,292.8,-12.0,244,2113,0.00,0.00,0.00,0.000,6,0.000,0.000,1737,3215,2022,0,0,0,0,0,0
$GC,2432,-0.47,-126.6,330.1,-11.3,274,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,1737,3215,2022,0,0,0,0,0,0
$GC,2749,-0.47,-126.6,368.5,-12.3,304,2750,0.00,0.00,0.00,0.000,6,0.000,0.000,1737,3215,2021,0,0,0,0,0,0
$GC,3065,-0.47,-126.6,408.1,-12.5,331,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,1737,3215,2022,0,0,0,0,0,0
$GC,3375,-0.47,-126.6,448.3,-13.1,346,3378,0.00,1.15,0.00,0.000,4,0.000,0.058,1732,3944,2022,0,0,0,0,0,0
$GC,3412,-0.47,-126.6,453.8,-14.7,347,3420,0.00,1.08,0.00,0.000,6,0.000,0.034,1732,3224,2022,0,0,0,0,0,0
$GC,3728,-0.47,-126.6,495.7,-13.3,363,3731,0.00,1.30,0.00,0.000,4,0.000,0.031,1732,2327,2022,0,0,0,0,0,0
$GC,3754,-0.47,-126.6,499.2,-12.3,364,3759,0.00,1.48,0.00,0.000,6,0.000,0.052,1725,3239,2022,0,0,0,0,0,0
$GC,4082,-0.47,-126.6,541.6,-12.7,380,4083,0.00,0.00,0.00,0.000,6,0.000,0.000,1725,3239,2021,0,0,0,0,0,0
$GC,4391,-0.47,-126.6,578.9,-11.9,395,4392,0.00,0.00,0.00,0.000,6,0.000,0.000,1725,3239,2022,0,0,0,0,0,0
$GC,4700,-0.47,-126.6,616.5,-12.1,410,4704,0.00,1.12,0.00,0.000,4,0.000,0.059,1719,3958,2022,0,0,0,0,0,0
$GC,4754,-0.47,-126.6,623.8,-13.2,412,4760,0.12,1.08,0.00,0.000,6,0.178,0.035,1750,3239,2022,0,0,0,0,0,0
$GC,5076,-0.47,-126.6,656.5,-10.4,428,5077,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,3239,2022,0,0,0,0,0,0
$GC,5385,-0.47,-126.6,689.6,-10.6,443,5389,0.00,1.33,0.00,0.000,4,0.000,0.033,1750,2332,2022,0,0,0,0,0,0
$GC,5430,-0.47,-126.6,694.2,-10.0,445,5433,0.00,1.45,0.00,0.000,6,0.000,0.055,1745,3232,2022,0,0,0,0,0,0
$GC,5762,-0.47,-126.6,731.7,-11.3,461,5766,0.00,1.12,0.00,0.000,4,0.000,0.060,1740,3950,2022,0,0,0,0,0,0
$GC,5800,-0.47,-126.6,736.3,-12.2,462,5807,0.00,1.10,0.00,0.000,6,0.000,0.035,1739,3216,2022,0,0,0,0,0,0
$GC,6115,-0.47,-126.6,770.5,-10.4,478,6117,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,3216,2022,0,0,0,0,0,0
$GC,6425,-0.47,-126.6,802.5,-10.3,493,6426,0.00,0.00,0.00,0.000,6,0.000,0.000,1739,3216,2022,0,0,0,0,0,0
$GC,6734,-0.47,-126.6,834.5,-10.0,508,6738,0.00,1.15,0.00,0.000,4,0.000,0.061,1734,3947,2022,0,0,0,0,0,0
$GC,6817,-0.47,-126.6,843.5,-10.7,511,6824,0.00,1.08,0.00,0.000,6,0.000,0.036,1734,3230,2022,0,0,0,0,0,0
$GC,7133,-0.47,-126.6,875.0,-9.8,527,7134,0.00,0.00,0.00,0.000,6,0.000,0.000,1734,3230,2022,0,0,0,0,0,0
$GC,7442,-0.47,-126.6,904.3,-9.8,542,7446,0.00,1.33,0.00,0.000,4,0.000,0.035,1734,2338,2022,0,0,0,0,0,0
$GC,7474,-0.47,-126.6,907.7,-10.1,543,7479,0.00,1.45,0.00,0.000,6,0.000,0.055,1727,3230,2022,0,0,0,0,0,0
$GC,7796,-0.47,-126.6,942.5,-11.3,559,7800,0.00,1.15,0.00,0.000,4,0.000,0.062,1722,3946,2022,0,0,0,0,0,0
$GC,7833,-0.47,-126.6,947.3,-12.3,560,7842,0.10,1.08,0.00,0.000,6,0.187,0.036,1746,3232,2022,0,0,0,0,0,0
$GC,8150,-0.47,-126.6,976.5,-8.9,576,8153,0.00,1.33,0.00,0.000,4,0.000,0.035,1746,2328,2022,0,0,0,0,0,0
$GC,8188,-0.47,-126.6,979.7,-8.5,577,8195,0.00,1.45,0.00,0.000,6,0.000,0.056,1741,3227,2022,0,0,0,0,0,0
$STATE,8440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8440,begin apogee
$GC,8444,-0.09,0.0,1001.9,9.0,590,8583,0.43,0.00,131.80,1.899,6,0.143,0.000,1870,3065,1499,0,0,0,0,0,0
$STATE,8584,end apogee,CONTROL_FINISHED_OK
$STATE,8584,begin climb
$GC,8586,0.47,126.6,1004.7,0.0,597,8720,0.55,1.55,125.10,1.832,4,0.095,0.035,2057,2182,982,0,0,0,0,0,0
$GC,8837,0.47,126.6,979.9,12.1,608,8844,0.00,1.50,0.00,0.000,6,0.000,0.052,2058,3052,980,0,0,0,0,0,0
$GC,9152,0.47,126.6,937.5,13.3,624,9154,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,3052,978,0,0,0,0,0,0
$GC,9462,0.47,126.6,898.5,12.4,639,9463,0.00,0.00,0.00,0.000,6,0.000,0.000,2057,3052,977,0,0,0,0,0,0
$GC,9771,0.47,126.6,859.8,12.6,654,9775,0.00,1.35,0.00,0.000,4,0.000,0.037,2064,2181,976,0,0,0,0,0,0
$GC,9839,0.47,126.6,852.1,11.8,657,9842,0.00,1.45,0.00,0.000,6,0.000,0.054,2064,3066,976,0,0,0,0,0,0
$GC,10170,0.47,126.6,809.5,12.7,673,10174,0.00,1.42,0.00,0.000,4,0.000,0.061,2064,3952,976,0,0,0,0,0,0
$GC,10197,0.47,126.6,805.6,14.8,674,10202,0.00,1.38,0.00,0.000,6,0.000,0.034,2070,3049,975,0,0,0,0,0,0
$GC,10524,0.47,126.6,759.5,14.1,690,10527,0.00,1.33,0.00,0.000,4,0.000,0.037,2078,2186,975,0,0,0,0,0,0
$GC,10546,0.47,126.6,756.4,13.4,691,10550,0.00,1.42,0.00,0.000,6,0.000,0.053,2077,3066,975,0,0,0,0,0,0
$GC,10878,0.47,126.6,707.3,14.8,707,10879,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,3066,975,0,0,0,0,0,0
$GC,11187,0.47,126.6,661.2,15.0,722,11191,0.00,1.35,0.00,0.000,4,0.000,0.036,2084,2188,975,0,0,0,0,0,0
$GC,11213,0.47,126.6,657.3,14.2,723,11218,0.00,1.40,0.00,0.000,6,0.000,0.053,2084,3056,975,0,0,0,0,0,0
$GC,11541,0.47,126.6,608.6,15.1,739,11542,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,3056,975,0,0,0,0,0,0
$GC,11850,0.47,126.6,561.6,14.9,754,11854,0.00,1.33,0.00,0.000,4,0.000,0.037,2090,2184,975,0,0,0,0,0,0
$GC,11882,0.47,126.6,556.8,13.9,755,11887,0.12,1.45,0.00,0.000,6,0.197,0.053,2061,3073,975,0,0,0,0,0,0
$GC,12203,0.47,126.6,515.5,12.5,771,12204,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,3073,975,0,0,0,0,0,0
$GC,12512,0.47,126.6,478.0,11.7,786,12513,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,3073,975,0,0,0,0,0,0
$GC,12822,0.47,126.6,441.9,11.5,801,12825,0.00,1.35,0.00,0.000,4,0.000,0.034,2067,2181,975,0,0,0,0,0,0
$GC,12883,0.47,126.6,435.4,10.2,803,12890,0.00,1.42,0.00,0.000,6,0.000,0.054,2067,3062,974,0,0,0,0,0,0
$GC,13198,0.47,126.6,398.3,11.9,819,13202,0.00,1.42,0.00,0.000,4,0.000,0.061,2067,3957,975,0,0,0,0,0,0
$GC,13242,0.47,126.6,391.9,15.3,823,13246,0.00,1.33,0.00,0.000,6,0.000,0.034,2074,3066,974,0,0,0,0,0,0
$GC,13572,0.47,126.6,346.5,13.6,854,13576,0.00,1.33,0.00,0.000,4,0.000,0.034,2081,2183,974,0,0,0,0,0,0
$GC,13608,0.47,126.6,342.2,12.6,857,13611,0.00,1.42,0.00,0.000,6,0.000,0.054,2080,3068,974,0,0,0,0,0,0
$GC,13937,0.47,126.6,294.8,14.2,888,13941,0.00,1.35,0.00,0.000,4,0.000,0.034,2087,2179,974,0,0,0,0,0,0
$GC,13964,0.47,126.6,291.0,12.4,890,13972,0.00,1.45,0.00,0.000,6,0.000,0.052,2087,3072,974,0,0,0,0,0,0
$GC,14292,0.47,126.6,247.5,14.0,921,14293,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,3072,974,0,0,0,0,0,0
$GC,14611,0.47,126.6,204.2,13.7,951,14614,0.00,1.35,0.00,0.000,4,0.000,0.034,2094,2179,974,0,0,0,0,0,0
$GC,14667,0.47,126.6,196.5,12.8,956,14671,0.10,1.40,0.00,0.000,6,0.169,0.052,2064,3056,974,0,0,0,0,0,0
$GC,14996,0.47,126.6,154.5,12.4,987,14997,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,3055,974,0,0,0,0,0,0
$GC,15317,0.47,126.6,115.6,12.3,1017,15321,0.00,1.42,0.00,0.000,4,0.000,0.059,2064,3954,974,0,0,0,0,0,0
$GC,15385,0.47,126.6,106.2,13.8,1023,15389,0.00,1.33,0.00,0.000,6,0.000,0.033,2069,3056,974,0,0,0,0,0,0
$GC,15728,0.47,126.6,65.4,11.7,1079,15734,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,3055,974,0,0,0,0,0,0
$GC,16082,0.47,126.6,26.8,10.4,1140,16091,0.00,0.00,0.00,0.000,6,0.000,0.000,2070,3055,974,0,0,0,0,0,0
$GC,16234,0.47,126.6,8.6,10.9,1165,16243,0.00,1.42,0.00,0.000,4,0.000,0.057,2069,3948,975,0,0,0,0,0,0
$STATE,16284,end climb,SURFACE_DEPTH_REACHED
$STATE,16285,begin surface coast
$FINISH,1.2,1.026460
$STATE,16292,end surface coast,CONTROL_FINISHED_OK
$STATE,16292,begin surface
$SM_CCo,16305,34.35,0.142,0,0,681,200.16
$SM_GC,2.27,0.00,0.00,34.35,0.000,0.000,0.142,71,3218,681,-5.73,-0.34,200.16
$IRIDIUM_FIX,-4242.04,834.03,040608,161651
$TT8_MAMPS,0.026964
$HUMID,62.08
$INTERNAL_PRESSURE,11.4079
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.4,16.308
$10V_AH,10.3,8.203
$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,13.600,63.450,256.900,34.350,0.000,27.884,48.435,300.026,0.000,0.000,22.071,2843.593,10553.916,409.937,2861.077,160.798,0.000,1461.098,0.000,2468.656,0.000,0.544,0.000
$DEVICE_MAMPS,237.150,61.965,1898.730,142.290,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,815.041,840.063,834.170,82.044,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353948
$DATA_FILE_SIZE,66936,1174
$CAP_FILE_SIZE,140033,0
$CFSIZE,259252224,253661184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090815,125403,-4302.440,837.116,48,0.8,48,-25.1