version: 66.07
glider: 543
mission: 14
dive: 99
start: 8 15 115 7 57 51
data:
$ID,543
$MISSION,14
$DIVE,99
$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,-24414.389
$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,52
$R_STBD_OVSHOOT,41
$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
$GPS1,150815,074531,-4305.135,835.842,80,1.0,80,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-69.6
$GPS2,150815,075728,-4305.110,835.889,40,1.2,40,-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,29.3,2061,-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,13,begin dive
$GC,14,-0.54,-49.8,0.0,0.0,0,64,0.00,0.00,-44.60,0.000,6,0.000,0.000,61,3251,1705,0,0,0,0,0,0
$GC,66,-0.59,-101.1,3.1,-2.7,6,84,6.80,1.42,-6.18,0.000,4,0.237,0.054,1709,2328,1913,0,0,0,0,0,0
$GC,301,-0.58,-101.1,46.4,-23.3,45,310,0.00,1.45,0.00,0.000,6,0.000,0.053,1704,3214,1917,0,0,0,0,0,0
$GC,651,-0.50,-101.1,123.1,-19.6,97,655,0.15,1.20,0.00,0.000,4,0.190,0.059,1737,3958,1916,0,0,0,0,0,0
$GC,791,-0.47,-101.1,146.5,-15.9,109,798,0.00,1.08,0.00,0.000,6,0.000,0.033,1737,3232,1917,0,0,0,0,0,0
$GC,1116,-0.47,-101.1,193.0,-13.8,140,1119,0.00,1.15,0.00,0.000,4,0.000,0.058,1732,3957,1916,0,0,0,0,0,0
$GC,1233,-0.46,-101.1,211.8,-15.8,150,1241,0.00,1.10,0.00,0.000,6,0.000,0.033,1732,3223,1916,0,0,0,0,0,0
$GC,1560,-0.46,-101.1,259.4,-14.3,181,1564,0.00,1.15,0.00,0.000,4,0.000,0.059,1727,3950,1917,0,0,0,0,0,0
$GC,1587,-0.44,-101.1,263.7,-15.1,183,1595,0.12,1.08,0.00,0.000,6,0.181,0.033,1757,3235,1916,0,0,0,0,0,0
$GC,1912,-0.50,-101.1,301.2,-11.2,214,1916,0.00,1.12,0.00,0.000,4,0.000,0.059,1753,3947,1917,0,0,0,0,0,0
$GC,1939,-0.55,-101.1,304.6,-12.4,216,1949,0.00,1.08,0.00,0.000,6,0.000,0.034,1753,3224,1917,0,0,0,0,0,0
$GC,2264,-0.60,-101.1,342.2,-11.5,247,2268,0.12,1.17,0.00,0.000,4,0.099,0.060,1691,3957,1916,0,0,0,0,0,0
$GC,2313,-0.52,-101.1,350.1,-16.6,251,2321,0.15,1.10,0.00,0.000,6,0.182,0.034,1733,3224,1916,0,0,0,0,0,0
$GC,2639,-0.54,-101.1,395.0,-13.7,282,2642,0.00,1.15,0.00,0.000,4,0.000,0.059,1728,3954,1916,0,0,0,0,0,0
$GC,2721,-0.54,-101.1,407.8,-15.7,287,2729,0.00,1.10,0.00,0.000,6,0.000,0.034,1729,3216,1917,0,0,0,0,0,0
$GC,3037,-0.54,-101.1,452.4,-13.9,303,3038,0.00,0.00,0.00,0.000,6,0.000,0.000,1728,3216,1916,0,0,0,0,0,0
$GC,3347,-0.54,-101.1,494.0,-13.1,318,3350,0.00,1.15,0.00,0.000,4,0.000,0.060,1723,3945,1916,0,0,0,0,0,0
$GC,3401,-0.51,-101.1,502.2,-14.9,320,3406,0.00,1.08,0.00,0.000,6,0.000,0.034,1723,3226,1916,0,0,0,0,0,0
$GC,3723,-0.51,-101.1,548.3,-14.5,336,3727,0.00,1.15,0.00,0.000,4,0.000,0.060,1718,3957,1916,0,0,0,0,0,0
$GC,3783,-0.49,-101.1,557.9,-15.5,338,3791,0.00,1.10,0.00,0.000,6,0.000,0.034,1718,3222,1917,0,0,0,0,0,0
$GC,4099,-0.49,-101.1,601.5,-13.0,354,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,1717,3222,1916,0,0,0,0,0,0
$GC,4409,-0.49,-101.1,642.1,-13.2,369,4412,0.00,1.15,0.00,0.000,4,0.000,0.060,1713,3949,1916,0,0,0,0,0,0
$GC,4666,-0.44,-101.1,680.6,-15.1,380,4671,0.17,1.08,0.00,0.000,6,0.179,0.035,1757,3234,1916,0,0,0,0,0,0
$GC,4987,-0.53,-101.1,712.2,-8.8,396,4991,0.00,1.12,0.00,0.000,4,0.000,0.061,1754,3945,1916,0,0,0,0,0,0
$GC,5245,-0.59,-101.1,737.5,-9.3,407,5249,0.10,1.08,0.00,0.000,6,0.064,0.037,1700,3224,1916,0,0,0,0,0,0
$GC,5566,-0.57,-101.1,779.1,-13.3,423,5570,0.00,1.30,0.00,0.000,4,0.000,0.032,1700,2330,1916,0,0,0,0,0,0
$GC,5706,-0.60,-101.1,795.4,-11.1,429,5710,0.00,1.45,0.00,0.000,6,0.000,0.056,1693,3228,1916,0,0,0,0,0,0
$GC,6033,-0.56,-101.1,841.1,-14.7,445,6037,0.12,1.15,0.00,0.000,4,0.200,0.063,1719,3948,1916,0,0,0,0,0,0
$GC,6289,-0.56,-101.1,878.9,-15.2,456,6294,0.00,1.10,0.00,0.000,6,0.000,0.036,1719,3218,1917,0,0,0,0,0,0
$GC,6611,-0.58,-101.1,922.1,-13.7,472,6614,0.00,1.30,0.00,0.000,4,0.000,0.032,1718,2325,1917,0,0,0,0,0,0
$GC,6823,-0.65,-101.1,947.8,-12.2,481,6828,0.00,1.48,0.00,0.000,6,0.000,0.056,1712,3236,1917,0,0,0,0,0,0
$GC,7144,-0.65,-101.1,989.0,-12.8,497,7148,0.00,1.12,0.00,0.000,4,0.000,0.062,1706,3951,1916,0,0,0,0,0,0
$STATE,7220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7220,begin apogee
$GC,7226,-0.09,0.0,1000.4,14.1,500,7331,0.55,0.00,101.95,1.881,6,0.168,0.000,1868,3052,1498,0,0,0,0,0,0
$STATE,7332,end apogee,CONTROL_FINISHED_OK
$STATE,7332,begin climb
$GC,7333,0.59,101.1,1004.7,0.0,505,7443,0.68,1.48,101.88,1.831,4,0.094,0.033,2094,2196,1089,0,0,0,0,0,0
$GC,7694,0.59,101.1,966.3,14.0,521,7699,0.00,1.48,0.00,0.000,6,0.000,0.051,2094,3071,1090,0,0,0,0,0,0
$GC,8016,0.54,101.1,918.4,14.9,537,8020,0.00,1.38,0.00,0.000,4,0.000,0.034,2101,2192,1088,0,0,0,0,0,0
$GC,8076,0.54,101.1,909.7,13.3,539,8084,0.00,1.45,0.00,0.000,6,0.000,0.053,2101,3063,1089,0,0,0,0,0,0
$GC,8393,0.48,101.1,863.4,14.9,555,8397,0.15,1.38,0.00,0.000,4,0.210,0.035,2072,2183,1088,0,0,0,0,0,0
$GC,8431,0.51,101.1,858.4,11.8,556,8439,0.00,1.42,0.00,0.000,6,0.000,0.054,2072,3052,1087,0,0,0,0,0,0
$GC,8747,0.51,101.1,817.6,12.6,572,8750,0.00,1.45,0.00,0.000,4,0.000,0.061,2072,3952,1087,0,0,0,0,0,0
$GC,8793,0.44,101.1,811.2,14.8,574,8797,0.10,1.35,0.00,0.000,6,0.210,0.034,2053,3055,1087,0,0,0,0,0,0
$GC,9125,0.46,101.1,773.1,11.2,590,9126,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,3054,1086,0,0,0,0,0,0
$GC,9434,0.48,101.1,739.7,10.4,605,9435,0.00,0.00,0.00,0.000,6,0.000,0.000,2053,3054,1086,0,0,0,0,0,0
$GC,9743,0.50,101.1,707.9,10.3,620,9747,0.00,1.45,0.00,0.000,4,0.000,0.063,2053,3954,1086,0,0,0,0,0,0
$GC,9811,0.47,101.1,699.5,12.5,623,9815,0.00,1.35,0.00,0.000,6,0.000,0.034,2058,3058,1086,0,0,0,0,0,0
$GC,10143,0.47,101.1,661.8,11.1,639,10144,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,3057,1086,0,0,0,0,0,0
$GC,10452,0.47,101.1,627.0,11.5,654,10456,0.00,1.42,0.00,0.000,4,0.000,0.062,2059,3945,1086,0,0,0,0,0,0
$GC,10520,0.42,101.1,618.4,13.3,657,10523,0.00,1.33,0.00,0.000,6,0.000,0.034,2065,3059,1086,0,0,0,0,0,0
$GC,10851,0.42,101.1,580.5,11.1,673,10855,0.00,1.33,0.00,0.000,4,0.000,0.034,2072,2179,1086,0,0,0,0,0,0
$GC,10957,0.46,101.1,569.3,10.8,677,10964,0.00,1.42,0.00,0.000,6,0.000,0.054,2072,3062,1086,0,0,0,0,0,0
$GC,11273,0.46,101.1,532.0,11.9,693,11276,0.00,1.42,0.00,0.000,4,0.000,0.062,2072,3958,1086,0,0,0,0,0,0
$GC,11363,0.40,101.1,519.5,14.8,697,11367,0.15,1.35,0.00,0.000,6,0.195,0.034,2037,3052,1086,0,0,0,0,0,0
$GC,11695,0.45,101.1,488.2,8.7,713,11697,0.00,0.00,0.00,0.000,6,0.000,0.000,2037,3051,1085,0,0,0,0,0,0
$GC,12004,0.51,101.1,460.7,8.7,728,12008,0.00,1.45,0.00,0.000,4,0.000,0.062,2037,3958,1085,0,0,0,0,0,0
$GC,12049,0.51,101.1,456.3,10.8,730,12052,0.00,1.35,0.00,0.000,6,0.000,0.034,2042,3055,1085,0,0,0,0,0,0
$GC,12382,0.55,101.1,425.5,9.8,746,12384,0.12,0.00,0.00,0.000,6,0.096,0.000,2099,3055,1085,0,0,0,0,0,0
$GC,12693,0.49,101.1,385.1,12.7,766,12695,0.12,0.00,0.00,0.000,6,0.209,0.000,2072,3055,1085,0,0,0,0,0,0
$GC,13011,0.49,101.1,348.4,11.3,796,13012,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,3055,1085,0,0,0,0,0,0
$GC,13331,0.49,101.1,312.2,11.7,826,13332,0.00,0.00,0.00,0.000,6,0.000,0.000,2072,3055,1085,0,0,0,0,0,0
$GC,13649,0.49,101.1,275.4,11.6,856,13653,0.00,1.42,0.00,0.000,4,0.000,0.060,2072,3951,1085,0,0,0,0,0,0
$GC,13684,0.44,101.1,270.9,13.7,859,13687,0.00,1.33,0.00,0.000,6,0.000,0.033,2077,3060,1085,0,0,0,0,0,0
$GC,14013,0.44,101.1,232.2,10.9,890,14017,0.00,1.45,0.00,0.000,4,0.000,0.061,2077,3955,1085,0,0,0,0,0,0
$GC,14177,0.37,101.1,212.3,12.3,904,14186,0.17,1.33,0.00,0.000,6,0.192,0.033,2033,3057,1085,0,0,0,0,0,0
$GC,14501,0.45,107.8,187.1,7.8,935,14513,0.00,1.27,5.75,1.175,4,0.000,0.031,2039,2169,1064,0,0,0,0,0,0
$GC,14582,0.57,115.6,180.8,7.7,942,14596,0.10,1.42,8.70,1.271,6,0.061,0.054,2099,3061,1027,0,0,0,0,0,0
$GC,14914,0.53,115.6,138.7,12.5,973,14918,0.00,1.33,0.00,0.000,4,0.000,0.032,2106,2175,1033,0,0,0,0,0,0
$GC,15020,0.53,115.6,126.6,10.2,982,15028,0.00,1.45,0.00,0.000,6,0.000,0.052,2105,3065,1033,0,0,0,0,0,0
$GC,15354,0.49,115.6,86.7,11.3,1022,15361,0.15,1.42,0.00,0.000,4,0.201,0.058,2070,3957,1033,0,0,0,0,0,0
$GC,15390,0.46,115.6,82.6,11.0,1028,15397,0.00,1.33,0.00,0.000,6,0.000,0.033,2074,3061,1033,0,0,0,0,0,0
$GC,15740,0.47,120.5,51.4,8.0,1089,15750,0.00,1.30,3.35,0.683,4,0.000,0.028,2081,2170,1007,0,0,0,0,0,0
$GC,15813,0.51,120.5,43.5,12.1,1101,15822,0.00,1.42,0.00,0.000,6,0.000,0.051,2082,3061,1011,0,0,0,0,0,0
$STATE,16158,end climb,SURFACE_DEPTH_REACHED
$STATE,16158,begin surface coast
$FINISH,1.1,1.026515
$STATE,16190,end surface coast,CONTROL_FINISHED_OK
$STATE,16190,begin surface
$SM_CCo,16202,37.92,0.140,0,0,680,200.16
$SM_GC,1.96,0.00,0.00,37.92,0.000,0.000,0.140,65,3250,680,-5.74,0.54,200.16
$IRIDIUM_FIX,-4247.91,831.99,100608,212134
$TT8_MAMPS,0.026964
$HUMID,61.41
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.4,21.381
$10V_AH,10.2,11.418
$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,15.425,77.500,221.625,37.925,0.000,69.466,125.053,324.566,0.000,0.000,43.435,2922.221,10119.201,380.969,3359.962,176.623,0.000,1562.734,0.000,2789.366,0.000,0.545,0.000
$DEVICE_MAMPS,237.150,72.675,1881.135,139.995,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,808.553,833.964,857.238,83.638,0.000,0.000,0.000,0.000,0.000,0.000
$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,66873,1164
$CAP_FILE_SIZE,157731,0
$CFSIZE,259252224,251326464
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,150815,123133,-4303.657,836.853,147,1.0,147,-25.1