version: 66.07
glider: 543
mission: 14
dive: 431
start: 10 30 115 6 32 28
data:
$ID,543
$MISSION,14
$DIVE,431
$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,-25483.369
$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,3209
$C_ROLL_CLIMB,2924
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,91
$R_STBD_OVSHOOT,33
$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
$GPS1,301015,062333,-4303.640,837.819,51,0.9,51,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-74.7
$GPS2,301015,063205,-4303.615,837.981,17,0.8,17,-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,280.2,2774,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.54,-49.8,0.0,0.0,0,50,0.00,0.00,-32.55,0.000,2,0.000,0.000,63,3221,1446,0,0,0,0,0,0
$GC,53,-0.59,-103.1,3.1,-2.4,4,87,6.97,1.27,-19.73,0.000,4,0.233,0.047,1706,2311,1918,0,0,0,0,0,0
$GC,108,-0.49,-116.8,6.1,-6.7,11,118,0.12,1.45,-1.60,0.000,6,0.133,0.050,1740,3205,1977,0,0,0,0,0,0
$GC,169,-0.58,-116.8,12.7,-11.0,20,177,0.00,0.00,0.00,0.000,6,0.000,0.000,1740,3205,1977,0,0,0,0,0,0
$GC,228,-0.66,-116.8,19.5,-11.0,29,236,0.15,0.00,0.00,0.000,6,0.086,0.000,1674,3205,1977,0,0,0,0,0,0
$GC,287,-0.61,-116.8,28.6,-16.2,38,296,0.12,1.20,0.00,0.000,4,0.186,0.053,1700,3959,1977,0,0,0,0,0,0
$GC,312,-0.57,-116.8,32.9,-17.3,41,321,0.00,1.05,0.00,0.000,6,0.000,0.029,1700,3222,1977,0,0,0,0,0,0
$GC,459,-0.57,-116.8,56.4,-15.4,66,467,0.00,1.15,0.00,0.000,4,0.000,0.054,1694,3951,1977,0,0,0,0,0,0
$GC,514,-0.55,-116.8,65.2,-16.4,75,523,0.08,1.05,0.00,0.000,6,0.159,0.029,1717,3222,1977,0,0,0,0,0,0
$GC,864,-0.59,-116.8,110.2,-12.7,129,868,0.00,1.15,0.00,0.000,4,0.000,0.055,1714,3951,1977,0,0,0,0,0,0
$GC,900,-0.62,-116.8,115.3,-14.0,132,904,0.00,1.08,0.00,0.000,6,0.000,0.029,1714,3203,1977,0,0,0,0,0,0
$GC,1231,-0.66,-116.8,160.2,-13.6,163,1234,0.00,1.17,0.00,0.000,4,0.000,0.055,1708,3947,1977,0,0,0,0,0,0
$GC,1270,-0.68,-116.8,166.0,-14.1,166,1277,0.00,1.05,0.00,0.000,6,0.000,0.029,1708,3214,1978,0,0,0,0,0,0
$GC,1599,-0.71,-116.8,211.8,-13.4,197,1602,0.00,1.30,0.00,0.000,4,0.000,0.024,1708,2279,1977,0,0,0,0,0,0
$GC,1657,-0.79,-116.8,219.5,-12.4,202,1661,0.12,1.50,0.00,0.000,6,0.050,0.048,1636,3211,1977,0,0,0,0,0,0
$GC,1989,-0.70,-116.8,281.3,-18.7,233,1993,0.15,1.17,0.00,0.000,4,0.192,0.052,1669,3957,1977,0,0,0,0,0,0
$GC,2069,-0.66,-116.8,295.5,-16.4,240,2073,0.00,1.08,0.00,0.000,6,0.000,0.028,1669,3201,1977,0,0,0,0,0,0
$GC,2401,-0.63,-116.8,349.0,-14.9,271,2405,0.12,1.20,0.00,0.000,4,0.183,0.054,1695,3949,1977,0,0,0,0,0,0
$GC,2486,-0.65,-116.8,361.3,-13.3,278,2492,0.00,1.05,0.00,0.000,6,0.000,0.028,1696,3213,1977,0,0,0,0,0,0
$GC,2813,-0.67,-116.8,401.0,-12.1,309,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,1695,3213,1977,0,0,0,0,0,0
$GC,3121,-0.70,-116.8,438.0,-12.1,324,3124,0.00,1.17,0.00,0.000,4,0.000,0.054,1690,3956,1977,0,0,0,0,0,0
$GC,3153,-0.70,-116.8,442.5,-12.5,325,3157,0.00,1.08,0.00,0.000,6,0.000,0.028,1690,3202,1977,0,0,0,0,0,0
$GC,3477,-0.72,-116.8,482.6,-12.6,341,3478,0.00,0.00,0.00,0.000,6,0.000,0.000,1690,3202,1977,0,0,0,0,0,0
$GC,3785,-0.74,-116.8,521.8,-12.8,356,3789,0.00,1.17,0.00,0.000,4,0.000,0.054,1685,3946,1977,0,0,0,0,0,0
$GC,3846,-0.74,-116.8,530.6,-13.8,358,3853,0.00,1.05,0.00,0.000,6,0.000,0.029,1684,3215,1977,0,0,0,0,0,0
$GC,4163,-0.74,-116.8,573.3,-13.4,374,4166,0.00,1.30,0.00,0.000,4,0.000,0.026,1684,2290,1977,0,0,0,0,0,0
$GC,4196,-0.78,-116.8,577.9,-12.3,375,4199,0.00,1.48,0.00,0.000,6,0.000,0.047,1677,3204,1977,0,0,0,0,0,0
$GC,4517,-0.78,-116.8,622.7,-14.2,391,4521,0.00,1.17,0.00,0.000,4,0.000,0.055,1671,3954,1977,0,0,0,0,0,0
$GC,4641,-0.76,-116.8,641.4,-15.2,396,4644,0.00,1.08,0.00,0.000,6,0.000,0.030,1671,3209,1977,0,0,0,0,0,0
$GC,4962,-0.76,-116.8,685.6,-13.9,412,4965,0.00,1.20,0.00,0.000,4,0.000,0.057,1666,3949,1977,0,0,0,0,0,0
$GC,5030,-0.73,-116.8,695.8,-15.2,415,5034,0.00,1.08,0.00,0.000,6,0.000,0.030,1666,3209,1977,0,0,0,0,0,0
$GC,5364,-0.72,-116.8,744.0,-14.8,431,5365,0.00,0.00,0.00,0.000,6,0.000,0.000,1666,3209,1977,0,0,0,0,0,0
$GC,5672,-0.70,-116.8,788.8,-14.5,446,5676,0.00,1.20,0.00,0.000,4,0.000,0.057,1660,3949,1977,0,0,0,0,0,0
$GC,5729,-0.66,-116.8,797.6,-15.3,448,5733,0.08,1.08,0.00,0.000,6,0.164,0.031,1683,3217,1977,0,0,0,0,0,0
$GC,6051,-0.69,-116.8,837.4,-12.2,464,6052,0.00,0.00,0.00,0.000,6,0.000,0.000,1683,3217,1977,0,0,0,0,0,0
$GC,6360,-0.72,-116.8,875.2,-11.8,479,6361,0.00,0.00,0.00,0.000,6,0.000,0.000,1683,3217,1977,0,0,0,0,0,0
$GC,6668,-0.75,-116.8,911.8,-11.7,494,6672,0.00,1.17,0.00,0.000,4,0.000,0.057,1679,3954,1977,0,0,0,0,0,0
$GC,6706,-0.75,-116.8,917.0,-13.6,495,6714,0.00,1.10,0.00,0.000,6,0.000,0.030,1679,3202,1977,0,0,0,0,0,0
$GC,7024,-0.78,-116.8,953.9,-11.3,511,7028,0.00,1.20,0.00,0.000,4,0.000,0.056,1674,3954,1977,0,0,0,0,0,0
$GC,7061,-0.78,-116.8,958.8,-12.1,512,7069,0.00,1.10,0.00,0.000,6,0.000,0.030,1673,3197,1977,0,0,0,0,0,0
$GC,7378,-0.79,-116.8,995.0,-11.4,528,7381,0.00,1.20,0.00,0.000,4,0.000,0.056,1668,3951,1977,0,0,0,0,0,0
$STATE,7414,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7414,begin apogee
$GC,7421,-0.09,0.0,1000.0,13.1,529,7592,0.65,0.00,142.05,1.783,6,0.148,0.000,1862,2909,1499,0,0,0,0,5,0
$STATE,7593,end apogee,CONTROL_FINISHED_OK
$STATE,7593,begin climb
$GC,7595,0.61,116.8,1005.0,0.0,538,7751,0.73,1.48,134.45,1.745,4,0.084,0.028,2100,2063,1023,0,0,0,0,3,0
$GC,7881,0.65,116.8,975.1,13.0,551,7885,0.00,1.45,0.00,0.000,6,0.000,0.047,2100,2922,1018,0,0,0,0,0,0
$GC,8203,0.65,116.8,930.6,13.6,567,8207,0.00,1.42,0.00,0.000,4,0.000,0.054,2100,3814,1016,0,0,0,0,0,0
$GC,8363,0.60,116.8,905.4,16.7,574,8366,0.00,1.30,0.00,0.000,6,0.000,0.028,2107,2915,1015,0,0,0,0,0,0
$GC,8696,0.60,116.8,858.0,13.9,590,8699,0.00,1.45,0.00,0.000,4,0.000,0.055,2106,3805,1014,0,0,0,0,0,0
$GC,8751,0.55,116.8,849.2,16.6,592,8755,0.10,1.27,0.00,0.000,6,0.190,0.028,2086,2927,1014,0,0,0,0,0,0
$GC,9073,0.57,116.8,809.6,12.3,608,9077,0.00,1.42,0.00,0.000,4,0.000,0.054,2086,3804,1014,0,0,0,0,0,0
$GC,9123,0.57,116.8,802.3,14.6,610,9127,0.00,1.27,0.00,0.000,6,0.000,0.028,2091,2933,1013,0,0,0,0,0,0
$GC,9451,0.59,116.8,759.4,12.9,626,9454,0.00,1.42,0.00,0.000,4,0.000,0.055,2091,3807,1013,0,0,0,0,0,0
$GC,9529,0.56,116.8,747.6,14.8,629,9533,0.00,1.30,0.00,0.000,6,0.000,0.028,2098,2917,1013,0,0,0,0,0,0
$GC,9850,0.56,116.8,706.1,12.6,645,9854,0.00,1.45,0.00,0.000,4,0.000,0.055,2098,3807,1013,0,0,0,0,0,0
$GC,9880,0.54,116.8,702.2,13.5,646,9883,0.00,1.30,0.00,0.000,6,0.000,0.029,2105,2924,1013,0,0,0,0,0,0
$GC,10206,0.54,116.8,657.1,14.2,662,10210,0.00,1.42,0.00,0.000,4,0.000,0.055,2104,3806,1013,0,0,0,0,0,0
$GC,10348,0.49,116.8,634.8,16.3,668,10353,0.15,1.30,0.00,0.000,6,0.180,0.028,2069,2920,1013,0,0,0,0,0,0
$GC,10676,0.56,116.8,596.5,11.5,684,10680,0.00,1.45,0.00,0.000,4,0.000,0.056,2069,3807,1013,0,0,0,0,0,0
$GC,10799,0.58,116.8,580.1,13.0,689,10802,0.00,1.30,0.00,0.000,6,0.000,0.029,2073,2921,1012,0,0,0,0,0,0
$GC,11120,0.63,116.8,541.3,12.5,705,11125,0.10,1.45,0.00,0.000,4,0.111,0.057,2125,3808,1012,0,0,0,0,0,0
$GC,11159,0.55,116.8,534.9,17.2,706,11166,0.12,1.30,0.00,0.000,6,0.188,0.028,2095,2919,1012,0,0,0,0,0,0
$GC,11476,0.57,116.8,490.7,13.7,722,11477,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2919,1012,0,0,0,0,0,0
$GC,11784,0.60,116.8,450.0,12.9,737,11788,0.00,1.45,0.00,0.000,4,0.000,0.055,2095,3808,1013,0,0,0,0,0,0
$GC,11937,0.57,116.8,428.1,13.6,743,11944,0.00,1.30,0.00,0.000,6,0.000,0.029,2100,2925,1012,0,0,0,0,0,0
$GC,12255,0.57,116.8,388.8,12.1,763,12259,0.00,1.45,0.00,0.000,4,0.000,0.055,2100,3813,1012,0,0,0,0,0,0
$GC,12405,0.53,116.8,368.2,14.1,776,12409,0.00,1.30,0.00,0.000,6,0.000,0.028,2107,2920,1012,0,0,0,0,0,0
$GC,12735,0.53,116.8,324.7,13.2,807,12738,0.00,1.45,0.00,0.000,4,0.000,0.055,2107,3809,1012,0,0,0,0,0,0
$GC,12782,0.48,116.8,318.0,15.3,811,12786,0.17,1.30,0.00,0.000,6,0.177,0.028,2064,2921,1012,0,0,0,0,0,0
$GC,13114,0.57,116.8,285.6,9.6,842,13117,0.00,1.45,0.00,0.000,4,0.000,0.054,2064,3814,1012,0,0,0,0,0,0
$GC,13197,0.61,116.8,276.5,12.0,849,13200,0.00,1.30,0.00,0.000,6,0.000,0.029,2069,2930,1012,0,0,0,0,0,0
$GC,13528,0.69,116.8,242.0,10.9,880,13532,0.17,1.42,0.00,0.000,4,0.078,0.055,2141,3805,1012,0,0,0,0,0,0
$GC,13555,0.64,116.8,238.0,15.7,882,13563,0.10,1.30,0.00,0.000,6,0.199,0.028,2120,2912,1012,0,0,0,0,0,0
$GC,13883,0.64,116.8,194.9,12.5,913,13884,0.00,0.00,0.00,0.000,6,0.000,0.000,2120,2912,1012,0,0,0,0,0,0
$GC,14200,0.64,116.8,153.8,13.0,943,14203,0.00,1.48,0.00,0.000,4,0.000,0.055,2120,3814,1012,0,0,0,0,0,0
$GC,14422,0.58,116.8,120.4,15.1,962,14429,0.10,1.30,0.00,0.000,6,0.184,0.028,2097,2923,1012,0,0,0,0,0,0
$GC,14757,0.62,116.8,80.2,11.4,1007,14764,0.00,1.45,0.00,0.000,4,0.000,0.054,2097,3813,1012,0,0,0,0,0,0
$GC,14857,0.62,116.8,67.5,13.2,1024,14864,0.00,1.30,0.00,0.000,6,0.000,0.028,2102,2918,1012,0,0,0,0,0,0
$GC,15214,0.65,116.8,26.2,11.2,1085,15222,0.00,0.00,0.00,0.000,6,0.000,0.000,2102,2918,1012,0,0,0,0,0,0
$GC,15366,0.67,116.8,8.6,11.3,1110,15375,0.00,1.45,0.00,0.000,4,0.000,0.054,2102,3807,1013,0,0,0,0,0,0
$GC,15395,0.67,116.8,4.6,13.1,1114,15404,0.00,1.27,0.00,0.000,6,0.000,0.028,2109,2922,1012,0,0,0,0,0,0
$STATE,15411,end climb,SURFACE_DEPTH_REACHED
$STATE,15411,begin surface coast
$FINISH,1.6,1.004179
$STATE,15436,end surface coast,CONTROL_FINISHED_OK
$STATE,15436,begin surface
$SM_CCo,15451,39.12,0.138,0,0,681,200.16
$SM_GC,3.05,0.00,0.00,39.12,0.000,0.000,0.138,74,3222,681,-5.72,0.34,200.16
$IRIDIUM_FIX,-4244.98,837.38,250808,151507
$TT8_MAMPS,0.026964
$HUMID,64.21
$INTERNAL_PRESSURE,11.3786
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,21.0,79.586
$10V_AH,9.8,52.501
$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,15.775,87.525,276.500,39.125,0.000,28.262,35.389,300.558,0.000,0.000,19.897,2814.399,9429.441,468.985,2984.775,300.961,0.000,1615.889,0.000,2606.388,0.000,0.544,0.000
$DEVICE_MAMPS,232.560,58.140,1783.215,137.700,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,777.485,789.582,854.446,86.131,0.000,0.000,0.000,0.000,0.000,0.000
$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,63592,1120
$CAP_FILE_SIZE,160285,0
$CFSIZE,259252224,222269440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,8,1
$GPS,301015,105154,-4303.365,837.642,38,0.8,38,-25.1