version: 66.07
glider: 543
mission: 14
dive: 72
start: 8 10 115 2 3 8
data:
$ID,543
$MISSION,14
$DIVE,72
$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,-24333.203
$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,58
$R_STBD_OVSHOOT,35
$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
$GPS1,100815,015451,-4303.843,833.632,44,1.0,45,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-75.2
$GPS2,100815,020246,-4303.848,833.669,20,1.3,20,-25.1
$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,293.9,13085,-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,-126.6,0.0,0.0,0,73,0.00,0.00,-55.85,0.000,6,0.000,0.000,64,3246,2017,0,0,0,0,0,0
$GC,75,-0.47,-126.6,3.7,-2.8,7,92,6.85,1.38,0.00,0.000,4,0.237,0.034,1750,2336,2022,0,0,0,0,0,0
$GC,135,-0.47,-126.6,18.7,-16.1,16,144,0.00,1.45,0.00,0.000,6,0.000,0.052,1745,3222,2027,0,0,0,0,0,0
$GC,193,-0.47,-126.6,26.3,-13.4,25,202,0.00,1.17,0.00,0.000,4,0.000,0.058,1740,3955,2027,0,0,0,0,0,0
$GC,227,-0.47,-126.6,31.1,-14.2,30,236,0.00,1.10,0.00,0.000,6,0.000,0.033,1740,3220,2027,0,0,0,0,0,0
$GC,376,-0.47,-126.6,52.6,-14.8,55,382,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,3220,2027,0,0,0,0,0,0
$GC,722,-0.47,-126.6,102.1,-13.8,115,726,0.00,1.17,0.00,0.000,4,0.000,0.057,1734,3955,2027,0,0,0,0,0,0
$GC,755,-0.47,-126.6,107.1,-14.8,118,759,0.00,1.08,0.00,0.000,6,0.000,0.033,1734,3229,2027,0,0,0,0,0,0
$GC,1088,-0.47,-126.6,154.0,-13.0,149,1092,0.00,1.15,0.00,0.000,4,0.000,0.057,1729,3949,2027,0,0,0,0,0,0
$GC,1144,-0.47,-126.6,161.9,-13.7,154,1148,0.00,1.05,0.00,0.000,6,0.000,0.033,1729,3234,2027,0,0,0,0,0,0
$GC,1476,-0.47,-126.6,204.6,-12.4,185,1479,0.00,1.33,0.00,0.000,4,0.000,0.031,1729,2321,2028,0,0,0,0,0,0
$GC,1498,-0.47,-126.6,207.6,-12.6,187,1502,0.00,1.45,0.00,0.000,6,0.000,0.052,1722,3227,2027,0,0,0,0,0,0
$GC,1828,-0.47,-126.6,250.5,-12.9,218,1832,0.10,1.15,0.00,0.000,4,0.193,0.057,1742,3951,2027,0,0,0,0,0,0
$GC,1853,-0.47,-126.6,253.9,-12.5,220,1863,0.00,1.08,0.00,0.000,6,0.000,0.032,1742,3223,2027,0,0,0,0,0,0
$GC,2178,-0.47,-126.6,290.0,-11.5,251,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,1742,3224,2027,0,0,0,0,0,0
$GC,2501,-0.47,-126.6,326.7,-11.1,281,2505,0.00,1.15,0.00,0.000,4,0.000,0.058,1737,3956,2027,0,0,0,0,0,0
$GC,2558,-0.47,-126.6,334.2,-12.4,286,2561,0.00,1.05,0.00,0.000,6,0.000,0.034,1737,3235,2027,0,0,0,0,0,0
$GC,2889,-0.47,-126.6,373.4,-12.0,317,2893,0.00,1.12,0.00,0.000,4,0.000,0.057,1732,3954,2027,0,0,0,0,0,0
$GC,2915,-0.47,-126.6,377.3,-12.9,319,2923,0.00,1.08,0.00,0.000,6,0.000,0.033,1731,3228,2027,0,0,0,0,0,0
$GC,3247,-0.47,-126.6,419.0,-12.7,344,3251,0.00,1.12,0.00,0.000,4,0.000,0.057,1727,3948,2027,0,0,0,0,0,0
$GC,3279,-0.47,-126.6,423.6,-14.5,345,3284,0.00,1.08,0.00,0.000,6,0.000,0.033,1726,3223,2027,0,0,0,0,0,0
$GC,3600,-0.47,-126.6,465.4,-13.1,361,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,1726,3223,2027,0,0,0,0,0,0
$GC,3910,-0.47,-126.6,505.9,-13.2,376,3913,0.00,1.15,0.00,0.000,4,0.000,0.059,1721,3956,2027,0,0,0,0,0,0
$GC,3958,-0.47,-126.6,512.9,-13.7,378,3964,0.12,1.08,0.00,0.000,6,0.180,0.034,1752,3234,2027,0,0,0,0,0,0
$GC,4286,-0.47,-126.6,547.7,-10.4,394,4287,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,3234,2027,0,0,0,0,0,0
$GC,4595,-0.47,-126.6,580.4,-10.6,409,4596,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,3234,2027,0,0,0,0,0,0
$GC,4904,-0.47,-126.6,612.6,-10.1,424,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,1752,3234,2027,0,0,0,0,0,0
$GC,5214,-0.47,-126.6,643.4,-9.8,439,5218,0.00,1.12,0.00,0.000,4,0.000,0.060,1749,3946,2027,0,0,0,0,0,0
$GC,5262,-0.47,-126.6,648.5,-10.1,441,5267,0.00,1.08,0.00,0.000,6,0.000,0.034,1748,3227,2027,0,0,0,0,0,0
$GC,5590,-0.47,-126.6,680.5,-9.8,457,5591,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,3227,2027,0,0,0,0,0,0
$GC,5899,-0.47,-126.6,711.4,-10.0,472,5900,0.00,0.00,0.00,0.000,6,0.000,0.000,1748,3227,2027,0,0,0,0,0,0
$GC,6208,-0.47,-126.6,743.5,-10.4,487,6212,0.00,1.15,0.00,0.000,4,0.000,0.061,1743,3955,2027,0,0,0,0,0,0
$GC,6246,-0.47,-126.6,748.0,-11.9,488,6253,0.00,1.10,0.00,0.000,6,0.000,0.036,1743,3222,2027,0,0,0,0,0,0
$GC,6562,-0.47,-126.6,781.5,-10.6,504,6563,0.00,0.00,0.00,0.000,6,0.000,0.000,1743,3223,2027,0,0,0,0,0,0
$GC,6871,-0.47,-126.6,812.3,-9.9,519,6872,0.00,0.00,0.00,0.000,6,0.000,0.000,1743,3223,2027,0,0,0,0,0,0
$GC,7181,-0.47,-126.6,842.2,-9.6,534,7184,0.00,1.15,0.00,0.000,4,0.000,0.062,1738,3948,2027,0,0,0,0,0,0
$GC,7203,-0.47,-126.6,844.4,-9.7,535,7207,0.00,1.08,0.00,0.000,6,0.000,0.037,1737,3226,2027,0,0,0,0,0,0
$GC,7535,-0.47,-126.6,877.2,-10.0,551,7536,0.00,0.00,0.00,0.000,6,0.000,0.000,1738,3226,2026,0,0,0,0,0,0
$GC,7845,-0.47,-126.6,908.1,-9.9,566,7849,0.00,1.30,0.00,0.000,4,0.000,0.034,1738,2338,2027,0,0,0,0,0,0
$GC,7866,-0.47,-126.6,910.3,-10.2,567,7870,0.00,1.42,0.00,0.000,6,0.000,0.056,1731,3224,2027,0,0,0,0,0,0
$GC,8198,-0.47,-126.6,945.3,-10.5,583,8202,0.00,1.15,0.00,0.000,4,0.000,0.062,1726,3954,2027,0,0,0,0,0,0
$GC,8243,-0.47,-126.6,950.6,-11.1,585,8247,0.00,1.08,0.00,0.000,6,0.000,0.037,1726,3232,2027,0,0,0,0,0,0
$GC,8575,-0.47,-126.6,987.4,-11.2,601,8578,0.00,1.12,0.00,0.000,4,0.000,0.062,1720,3943,2027,0,0,0,0,0,0
$GC,8623,-0.47,-126.6,993.5,-11.7,603,8629,0.12,1.10,0.00,0.000,6,0.181,0.037,1752,3220,2027,0,0,0,0,0,0
$STATE,8701,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8702,begin apogee
$GC,8706,-0.09,0.0,1000.5,8.6,607,8845,0.40,0.00,133.48,1.913,6,0.142,0.000,1875,3061,1499,0,0,0,0,0,0
$STATE,8846,end apogee,CONTROL_FINISHED_OK
$STATE,8846,begin climb
$GC,8847,0.47,126.6,1003.9,0.0,614,8981,0.52,1.55,125.20,1.850,4,0.094,0.035,2054,2182,982,0,0,0,0,0,0
$GC,9060,0.47,126.6,984.8,11.6,624,9064,0.00,1.52,0.00,0.000,6,0.000,0.051,2054,3058,979,0,0,0,0,0,0
$GC,9392,0.47,126.6,941.5,12.9,640,9393,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,3058,977,0,0,0,0,0,0
$GC,9701,0.47,126.6,901.1,13.3,655,9702,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,3058,976,0,0,0,0,0,0
$GC,10010,0.47,126.6,862.8,11.8,670,10014,0.00,1.35,0.00,0.000,4,0.000,0.037,2061,2186,976,0,0,0,0,0,0
$GC,10042,0.47,126.6,859.2,10.6,671,10047,0.00,1.45,0.00,0.000,6,0.000,0.052,2061,3065,976,0,0,0,0,0,0
$GC,10364,0.47,126.6,819.5,12.6,687,10368,0.00,1.38,0.00,0.000,4,0.000,0.037,2067,2176,975,0,0,0,0,0,0
$GC,10401,0.47,126.6,814.9,11.6,688,10409,0.00,1.45,0.00,0.000,6,0.000,0.052,2067,3060,975,0,0,0,0,0,0
$GC,10718,0.47,126.6,773.5,13.3,704,10722,0.00,1.38,0.00,0.000,4,0.000,0.036,2074,2168,975,0,0,0,0,0,0
$GC,10766,0.47,126.6,766.9,13.5,706,10772,0.00,1.48,0.00,0.000,6,0.000,0.052,2074,3070,975,0,0,0,0,0,0
$GC,11094,0.47,126.6,720.2,14.5,722,11098,0.00,1.42,0.00,0.000,4,0.000,0.062,2074,3954,974,0,0,0,0,0,0
$GC,11139,0.47,126.6,712.9,17.6,724,11142,0.00,1.35,0.00,0.000,6,0.000,0.034,2081,3052,974,0,0,0,0,0,0
$GC,11470,0.47,126.6,662.7,14.8,740,11474,0.00,1.33,0.00,0.000,4,0.000,0.038,2087,2188,974,0,0,0,0,0,0
$GC,11525,0.47,126.6,655.0,13.5,742,11530,0.00,1.42,0.00,0.000,6,0.000,0.052,2087,3060,974,0,0,0,0,0,0
$GC,11847,0.47,126.6,607.9,14.6,758,11848,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,3060,974,0,0,0,0,0,0
$GC,12156,0.47,126.6,563.5,14.2,773,12157,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,3060,974,0,0,0,0,0,0
$GC,12465,0.47,126.6,520.1,13.7,788,12469,0.00,1.33,0.00,0.000,4,0.000,0.037,2094,2187,973,0,0,0,0,0,0
$GC,12519,0.47,126.6,513.1,11.3,790,12525,0.15,1.42,0.00,0.000,6,0.192,0.053,2057,3059,973,0,0,0,0,0,0
$GC,12841,0.47,126.6,476.3,11.4,806,12844,0.00,1.42,0.00,0.000,4,0.000,0.061,2057,3945,973,0,0,0,0,0,0
$GC,12917,0.47,126.6,465.5,14.3,809,12922,0.00,1.35,0.00,0.000,6,0.000,0.033,2063,3048,973,0,0,0,0,0,0
$GC,13239,0.47,126.6,425.5,12.5,825,13240,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,3048,973,0,0,0,0,0,0
$GC,13554,0.47,126.6,385.5,12.9,845,13555,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,3048,973,0,0,0,0,0,0
$GC,13871,0.47,126.6,344.7,12.9,875,13874,0.00,1.45,0.00,0.000,4,0.000,0.060,2063,3949,973,0,0,0,0,0,0
$GC,13927,0.47,126.6,336.3,16.0,880,13931,0.00,1.33,0.00,0.000,6,0.000,0.034,2069,3059,973,0,0,0,0,0,0
$GC,14257,0.47,126.6,291.6,13.4,911,14260,0.00,1.33,0.00,0.000,4,0.000,0.035,2076,2184,973,0,0,0,0,0,0
$GC,14335,0.47,126.6,281.9,12.3,918,14339,0.00,1.40,0.00,0.000,6,0.000,0.054,2076,3056,973,0,0,0,0,0,0
$GC,14669,0.47,126.6,236.8,13.7,949,14670,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,3056,973,0,0,0,0,0,0
$GC,14984,0.47,126.6,194.2,13.2,979,14985,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,3056,973,0,0,0,0,0,0
$GC,15306,0.47,126.6,152.8,13.7,1009,15310,0.00,1.33,0.00,0.000,4,0.000,0.034,2083,2180,973,0,0,0,0,0,0
$GC,15344,0.47,126.6,147.5,11.8,1012,15353,0.00,1.42,0.00,0.000,6,0.000,0.053,2083,3066,973,0,0,0,0,0,0
$GC,15668,0.47,126.6,105.1,13.1,1043,15670,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,3066,973,0,0,0,0,0,0
$GC,16008,0.47,126.6,60.6,12.7,1099,16014,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,3066,973,0,0,0,0,0,0
$GC,16362,0.47,126.6,16.3,11.7,1160,16371,0.00,1.40,0.00,0.000,4,0.000,0.059,2083,3952,974,0,0,0,0,0,0
$GC,16419,0.47,126.6,7.8,16.6,1169,16428,0.00,1.33,0.00,0.000,6,0.000,0.031,2090,3046,974,0,0,0,0,0,0
$STATE,16452,end climb,SURFACE_DEPTH_REACHED
$STATE,16453,begin surface coast
$FINISH,1.2,1.016028
$STATE,16472,end surface coast,CONTROL_FINISHED_OK
$STATE,16472,begin surface
$SM_CCo,16484,43.75,0.402,1,0,681,200.16
$SM_GC,2.16,0.00,0.00,43.75,0.000,0.000,0.402,71,3255,681,-5.73,0.68,200.16
$IRIDIUM_FIX,-4247.91,834.91,050608,101011
$TT8_MAMPS,0.026964
$HUMID,62.16
$INTERNAL_PRESSURE,11.4079
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.4,16.941
$10V_AH,10.3,8.599
$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,13.625,71.325,258.675,43.750,0.000,27.522,50.057,286.292,0.000,0.000,22.455,2874.125,10708.054,418.852,2878.544,129.810,0.000,1495.997,0.000,2476.063,0.000,0.545,0.000
$DEVICE_MAMPS,237.150,65.025,1913.265,401.625,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,816.964,827.951,821.113,76.960,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353944
$DATA_FILE_SIZE,66983,1177
$CAP_FILE_SIZE,144977,0
$CFSIZE,259252224,253378560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,100815,063956,-4303.520,831.620,41,1.2,41,-25.1