version: 66.07
glider: 543
mission: 14
dive: 97
start: 8 14 115 23 2 33
data:
$ID,543
$MISSION,14
$DIVE,97
$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,390
$T_MISSION,420
$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,120
$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,-24408.52
$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,0.015
$PITCH_ADJ_DBAND,1
$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,56
$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
$GPS1,140815,224921,-4303.630,837.403,75,1.2,75,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-67.8
$GPS2,140815,230210,-4303.549,837.533,27,1.0,27,-25.1
$SPEED_LIMITS,0.148,0.223
$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,273.2,2236,-27.0,-8.547
$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,-0.54,-49.8,0.0,0.0,0,64,0.00,0.00,-45.75,0.000,6,0.000,0.000,60,3266,1707,0,0,0,0,0,0
$GC,66,-0.60,-107.9,2.7,-1.9,6,85,6.85,1.10,-7.40,0.000,4,0.241,0.083,1701,3933,1941,0,0,0,0,0,0
$GC,347,-0.50,-107.9,62.8,-22.3,53,354,0.12,1.05,0.00,0.000,6,0.168,0.034,1738,3239,1944,0,0,0,0,0,0
$GC,686,-0.50,-107.9,120.1,-16.5,102,690,0.00,1.10,0.00,0.000,4,0.000,0.057,1733,3925,1944,0,0,0,0,0,0
$GC,927,-0.50,-107.9,159.9,-14.2,123,935,0.00,1.08,0.00,0.000,6,0.000,0.033,1734,3211,1944,0,0,0,0,0,0
$GC,1253,-0.50,-107.9,204.3,-13.8,154,1256,0.00,1.27,0.00,0.000,4,0.000,0.029,1734,2328,1944,0,0,0,0,0,0
$GC,1309,-0.55,-107.9,211.0,-11.7,159,1313,0.00,1.42,0.00,0.000,6,0.000,0.053,1727,3211,1944,0,0,0,0,0,0
$GC,1639,-0.55,-107.9,252.3,-12.1,190,1642,0.00,1.15,0.00,0.000,4,0.000,0.057,1722,3949,1944,0,0,0,0,0,0
$GC,1741,-0.54,-107.9,265.8,-12.9,199,1744,0.00,1.05,0.00,0.000,6,0.000,0.034,1722,3229,1944,0,0,0,0,0,0
$GC,2071,-0.54,-107.9,309.4,-13.2,230,2074,0.00,1.12,0.00,0.000,4,0.000,0.057,1716,3947,1944,0,0,0,0,0,0
$GC,2176,-0.51,-107.9,324.9,-14.8,239,2184,0.00,1.08,0.00,0.000,6,0.000,0.033,1716,3219,1944,0,0,0,0,0,0
$GC,2501,-0.51,-107.9,370.2,-14.0,270,2505,0.00,1.15,0.00,0.000,4,0.000,0.057,1711,3953,1944,0,0,0,0,0,0
$GC,2592,-0.47,-107.9,383.4,-14.8,278,2596,0.10,1.05,0.00,0.000,6,0.161,0.034,1742,3238,1944,0,0,0,0,0,0
$GC,2919,-0.52,-107.9,422.9,-12.3,300,2923,0.00,1.12,0.00,0.000,4,0.000,0.058,1738,3955,1944,0,0,0,0,0,0
$GC,2991,-0.54,-107.9,432.9,-13.4,303,2996,0.00,1.10,0.00,0.000,6,0.000,0.034,1738,3214,1944,0,0,0,0,0,0
$GC,3318,-0.58,-107.9,475.4,-13.1,319,3322,0.00,1.15,0.00,0.000,4,0.000,0.059,1733,3945,1944,0,0,0,0,0,0
$GC,3388,-0.60,-107.9,485.1,-14.3,322,3392,0.00,1.05,0.00,0.000,6,0.000,0.034,1733,3229,1944,0,0,0,0,0,0
$GC,3720,-0.63,-107.9,528.0,-12.4,338,3724,0.00,1.15,0.00,0.000,4,0.000,0.059,1727,3958,1944,0,0,0,0,0,0
$GC,3788,-0.63,-107.9,536.9,-12.7,341,3791,0.00,1.08,0.00,0.000,6,0.000,0.035,1727,3228,1944,0,0,0,0,0,0
$GC,4120,-0.65,-107.9,578.5,-12.6,357,4121,0.00,0.00,0.00,0.000,6,0.000,0.000,1727,3227,1944,0,0,0,0,0,0
$GC,4430,-0.68,-107.9,617.2,-12.5,372,4434,0.12,1.15,0.00,0.000,4,0.105,0.060,1667,3944,1944,0,0,0,0,0,0
$GC,4512,-0.57,-107.9,631.5,-17.8,375,4520,0.20,1.08,0.00,0.000,6,0.184,0.034,1724,3229,1944,0,0,0,0,0,0
$GC,4828,-0.59,-107.9,672.9,-12.6,391,4832,0.00,1.12,0.00,0.000,4,0.000,0.060,1721,3943,1944,0,0,0,0,0,0
$GC,4933,-0.59,-107.9,687.7,-13.8,395,4941,0.00,1.08,0.00,0.000,6,0.000,0.034,1720,3225,1944,0,0,0,0,0,0
$GC,5250,-0.61,-107.9,729.0,-13.1,411,5253,0.00,1.15,0.00,0.000,4,0.000,0.060,1715,3953,1944,0,0,0,0,0,0
$GC,5349,-0.61,-107.9,743.4,-14.9,415,5354,0.00,1.10,0.00,0.000,6,0.000,0.035,1715,3220,1944,0,0,0,0,0,0
$GC,5671,-0.63,-107.9,784.8,-12.6,431,5675,0.00,1.15,0.00,0.000,4,0.000,0.060,1710,3950,1944,0,0,0,0,0,0
$GC,5748,-0.63,-107.9,795.5,-13.6,434,5753,0.00,1.08,0.00,0.000,6,0.000,0.036,1710,3231,1944,0,0,0,0,0,0
$GC,6070,-0.63,-107.9,835.1,-12.4,450,6073,0.00,1.15,0.00,0.000,4,0.000,0.060,1704,3958,1944,0,0,0,0,0,0
$GC,6160,-0.61,-107.9,847.0,-13.5,454,6164,0.00,1.08,0.00,0.000,6,0.000,0.037,1704,3233,1944,0,0,0,0,0,0
$GC,6492,-0.61,-107.9,889.4,-13.1,470,6496,0.00,1.12,0.00,0.000,4,0.000,0.060,1699,3947,1944,0,0,0,0,0,0
$GC,6541,-0.59,-107.9,896.4,-14.3,472,6546,0.00,1.08,0.00,0.000,6,0.000,0.035,1699,3233,1944,0,0,0,0,0,0
$GC,6868,-0.59,-107.9,939.9,-13.5,488,6872,0.00,1.12,0.00,0.000,4,0.000,0.061,1693,3946,1944,0,0,0,0,0,0
$GC,6959,-0.55,-107.9,953.5,-15.5,492,6963,0.08,1.08,0.00,0.000,6,0.175,0.036,1716,3228,1944,0,0,0,0,0,0
$GC,7291,-0.58,-107.9,993.7,-11.9,508,7292,0.00,0.00,0.00,0.000,6,0.000,0.000,1716,3227,1944,0,0,0,0,0,0
$STATE,7350,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7350,begin apogee
$GC,7354,-0.09,0.0,1001.0,12.0,511,7473,0.52,0.00,112.35,1.890,6,0.156,0.000,1872,3056,1498,0,0,0,0,0,0
$STATE,7474,end apogee,CONTROL_FINISHED_OK
$STATE,7474,begin climb
$GC,7476,0.60,107.9,1003.7,0.0,517,7588,0.68,0.00,107.95,1.830,6,0.096,0.000,2090,3056,1059,0,0,0,0,0,0
$GC,7889,0.57,107.9,945.7,16.0,537,7892,0.00,1.40,0.00,0.000,4,0.000,0.034,2097,2172,1057,0,0,0,0,0,0
$GC,7956,0.57,107.9,934.9,16.0,540,7960,0.00,1.48,0.00,0.000,6,0.000,0.054,2097,3057,1057,0,0,0,0,0,0
$GC,8288,0.53,107.9,877.1,17.6,556,8289,0.00,0.00,0.00,0.000,6,0.000,0.000,2097,3057,1056,0,0,0,0,0,0
$GC,8597,0.50,107.9,826.1,16.0,571,8601,0.12,1.38,0.00,0.000,4,0.213,0.037,2075,2183,1055,0,0,0,0,0,0
$GC,8623,0.50,107.9,821.9,14.7,572,8628,0.00,1.48,0.00,0.000,6,0.000,0.054,2075,3072,1055,0,0,0,0,0,0
$GC,8951,0.50,107.9,774.8,14.2,588,8952,0.00,0.00,0.00,0.000,6,0.000,0.000,2075,3072,1055,0,0,0,0,0,0
$GC,9260,0.50,107.9,731.8,13.8,603,9264,0.00,1.42,0.00,0.000,4,0.000,0.063,2075,3955,1054,0,0,0,0,0,0
$GC,9293,0.45,107.9,726.7,15.6,604,9298,0.10,1.38,0.00,0.000,6,0.203,0.034,2055,3050,1054,0,0,0,0,0,0
$GC,9614,0.48,107.9,687.7,11.9,620,9615,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,3049,1054,0,0,0,0,0,0
$GC,9924,0.51,107.9,652.8,10.9,635,9925,0.00,0.00,0.00,0.000,6,0.000,0.000,2055,3049,1053,0,0,0,0,0,0
$GC,10233,0.55,107.9,620.0,10.6,650,10237,0.00,1.45,0.00,0.000,4,0.000,0.063,2055,3949,1054,0,0,0,0,0,0
$GC,10300,0.55,107.9,611.6,12.9,653,10304,0.00,1.35,0.00,0.000,6,0.000,0.034,2060,3053,1053,0,0,0,0,0,0
$GC,10633,0.57,107.9,574.0,11.3,669,10636,0.00,1.33,0.00,0.000,4,0.000,0.036,2067,2176,1053,0,0,0,0,0,0
$GC,10693,0.63,107.9,567.5,10.2,671,10701,0.08,1.42,0.00,0.000,6,0.078,0.054,2110,3061,1053,0,0,0,0,0,0
$GC,11009,0.57,107.9,521.4,15.5,687,11011,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,3061,1053,0,0,0,0,0,0
$GC,11319,0.51,107.9,472.9,15.9,702,11321,0.15,0.00,0.00,0.000,6,0.213,0.000,2076,3061,1053,0,0,0,0,0,0
$GC,11628,0.51,107.9,430.6,13.6,717,11629,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,3061,1053,0,0,0,0,0,0
$GC,11939,0.51,107.9,389.9,13.2,735,11943,0.00,1.42,0.00,0.000,4,0.000,0.060,2076,3957,1053,0,0,0,0,0,0
$GC,11985,0.46,107.9,383.2,14.6,739,11988,0.00,1.35,0.00,0.000,6,0.000,0.034,2081,3052,1052,0,0,0,0,0,0
$GC,12315,0.46,107.9,338.2,13.5,770,12318,0.00,1.33,0.00,0.000,4,0.000,0.035,2088,2175,1052,0,0,0,0,0,0
$GC,12352,0.48,107.9,333.8,12.6,773,12356,0.00,1.42,0.00,0.000,6,0.000,0.054,2088,3061,1052,0,0,0,0,0,0
$GC,12683,0.46,107.9,289.0,12.7,804,12687,0.12,1.42,0.00,0.000,4,0.199,0.060,2057,3958,1052,0,0,0,0,0,0
$GC,12741,0.46,107.9,281.5,12.5,809,12745,0.00,1.33,0.00,0.000,6,0.000,0.034,2062,3063,1052,0,0,0,0,0,0
$GC,13072,0.49,107.9,245.5,10.9,840,13075,0.00,1.33,0.00,0.000,4,0.000,0.034,2070,2185,1052,0,0,0,0,0,0
$GC,13235,0.56,107.9,228.1,10.2,854,13243,0.00,1.40,0.00,0.000,6,0.000,0.053,2069,3059,1052,0,0,0,0,0,0
$GC,13562,0.56,107.9,190.1,11.8,885,13566,0.00,1.42,0.00,0.000,4,0.000,0.060,2069,3953,1052,0,0,0,0,0,0
$GC,13623,0.53,107.9,181.5,13.9,890,13630,0.00,1.33,0.00,0.000,6,0.000,0.033,2076,3057,1052,0,0,0,0,0,0
$GC,13951,0.53,107.9,142.7,11.1,921,13955,0.00,1.33,0.00,0.000,4,0.000,0.033,2083,2169,1052,0,0,0,0,0,0
$GC,13991,0.58,107.9,138.2,11.1,924,13999,0.00,1.42,0.00,0.000,6,0.000,0.053,2082,3060,1052,0,0,0,0,0,0
$GC,14316,0.58,107.9,95.4,14.1,957,14325,0.00,0.00,0.00,0.000,6,0.000,0.000,2083,3060,1052,0,0,0,0,0,0
$GC,14668,0.58,107.9,47.4,13.4,1018,14674,0.00,1.33,0.00,0.000,4,0.000,0.034,2089,2179,1052,0,0,0,0,0,0
$GC,14723,0.61,107.9,39.5,14.4,1027,14732,0.00,1.40,0.00,0.000,6,0.000,0.052,2089,3054,1052,0,0,0,0,0,0
$GC,14876,0.58,107.9,19.1,16.3,1052,14884,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,3054,1052,0,0,0,0,0,0
$GC,14933,0.58,107.9,9.1,16.1,1061,14942,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,3054,1052,0,0,0,0,0,0
$STATE,14972,end climb,SURFACE_DEPTH_REACHED
$STATE,14972,begin surface coast
$FINISH,1.0,1.021187
$STATE,14991,end surface coast,CONTROL_FINISHED_OK
$STATE,14991,begin surface
$SM_CCo,15004,61.70,0.635,1,0,683,200.16
$SM_GC,2.12,0.00,0.00,61.70,0.000,0.000,0.635,63,3258,683,-5.74,0.79,200.16
$IRIDIUM_FIX,-4247.91,837.82,100608,121216
$TT8_MAMPS,0.027713
$HUMID,61.45
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.4,21.089
$10V_AH,10.2,11.204
$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,14.725,69.625,220.300,61.700,0.000,53.170,76.316,418.577,0.000,0.000,29.933,2680.123,9573.530,407.482,3028.306,150.341,0.000,1449.881,0.000,2409.896,0.000,0.545,0.000
$DEVICE_MAMPS,240.975,82.620,1889.550,634.950,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,741.406,760.733,748.578,66.462,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353920
$DATA_FILE_SIZE,60400,1070
$CAP_FILE_SIZE,147906,0
$CFSIZE,259252224,251494400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,150815,031621,-4303.375,836.143,123,1.0,123,-25.1