version: 66.11
revision: 1138
glider: 543
mission: 16
dive: 4
start: 12 3 116 15 43 1
data:
$ID,543
$MISSION,16
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,650
$D_NO_BLEED,500
$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,200
$T_MISSION,215
$T_ABORT,250
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52862
$MASS_COMP,0
$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,415.28613
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-35096.414
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,160
$PITCH_MAX,3800
$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,2669
$C_ROLL_CLIMB,2169
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,2200
$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
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$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,-59.167316
$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
$DEVICE3,131
$DEVICE4,149
$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
$GPS1,031216,153805,-4300.791,849.764,21,0.8,22,-25.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-59.3
$GPS2,031216,154235,-4300.768,849.858,15,1.2,16,-25.2
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,TARGET
$TGT_LATLONG,-4303.471,840.855
$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,272.9,13172,-14.9,-10.000,-18.74,2959
$D_GRID,600
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.47,-194.7,143,2676,564,441,0.0,0.0,0,112,0.00,0.00,-94.95,0.000,16386,0.000,0.000,134,2677,2880,2940,2821,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-0.47,-194.7,134,2677,2943,2821,3.8,-8.7,15,130,6.70,1.42,-2.20,0.000,18692,0.223,0.072,1741,3558,2995,3065,2926,0,0,0,0,0,0,24.71,25.48,26.33
$GC,228,-0.61,-194.7,1032,3557,3043,2920,23.7,-5.6,36,236,0.08,1.40,0.00,0.000,5126,0.075,0.042,1703,2665,3000,3075,2925,0,0,0,0,0,0,25.58,25.74,28.83
$GC,360,-0.66,-194.7,1024,2662,3043,2919,32.8,-9.7,61,367,0.00,1.48,0.00,0.000,260,0.000,0.061,1697,3547,3000,3075,2925,0,0,0,0,0,0,28.83,25.25,28.83
$GC,480,-0.70,-194.7,1697,3546,3075,2925,43.9,-10.4,84,487,0.00,1.38,0.00,0.000,1030,0.000,0.042,1697,2669,3000,3075,2925,0,0,0,0,0,0,28.83,25.70,28.83
$GC,794,-0.76,-194.7,1024,2667,3044,2918,66.5,-7.4,145,801,0.12,1.35,0.00,0.000,4612,0.103,0.039,1635,1771,2999,3075,2923,0,0,0,0,0,0,26.08,25.52,28.83
$GC,934,-0.76,-194.7,1024,1770,3047,2918,81.2,-10.9,172,941,0.12,1.48,0.00,0.000,3078,0.153,0.059,1659,2660,2999,3075,2923,0,0,0,0,0,0,25.07,25.25,28.83
$GC,1243,-0.74,-194.7,1659,2660,3075,2923,114.5,-11.2,220,1247,0.00,1.35,0.00,0.000,516,0.000,0.041,1660,1791,2999,3075,2923,0,0,0,0,0,0,28.83,25.54,28.83
$GC,1354,-0.78,-194.7,1659,1789,3076,2923,125.6,-9.6,231,1358,0.00,1.45,0.00,0.000,1030,0.000,0.057,1654,2663,2999,3075,2923,0,0,0,0,0,0,28.83,25.25,28.83
$GC,1665,-0.75,-194.7,1655,2663,3075,2922,162.6,-11.9,262,1668,0.00,1.38,0.00,0.000,516,0.000,0.044,1655,1786,2998,3075,2922,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1776,-0.78,-194.7,1655,1784,3075,2922,174.4,-10.7,273,1780,0.00,1.48,0.00,0.000,1030,0.000,0.060,1650,2669,2998,3075,2922,0,0,0,0,0,0,28.83,25.17,28.83
$GC,2086,-0.74,-194.7,1650,2668,3075,2922,212.3,-12.0,304,2090,0.00,1.38,0.00,0.000,516,0.000,0.044,1650,1792,2998,3075,2922,0,0,0,0,0,0,28.83,25.37,28.83
$GC,2207,-0.76,-194.7,1650,1791,3075,2922,225.1,-10.3,316,2211,0.00,1.48,0.00,0.000,1030,0.000,0.060,1645,2676,2998,3075,2922,0,0,0,0,0,0,28.83,25.13,28.83
$GC,2518,-0.72,-194.7,1645,2675,3075,2922,262.9,-11.7,347,2521,0.00,1.40,0.00,0.000,516,0.000,0.045,1645,1786,2998,3075,2922,0,0,0,0,0,0,28.83,25.30,28.83
$GC,2648,-0.72,-194.7,1645,1784,3075,2921,276.2,-10.2,360,2653,0.12,1.48,0.00,0.000,3078,0.159,0.061,1670,2665,2998,3075,2921,0,0,0,0,0,0,24.87,25.08,28.83
$GC,2960,-0.74,-194.7,1669,2664,3075,2921,302.7,-8.3,391,2963,0.00,1.38,0.00,0.000,516,0.000,0.042,1670,1782,2998,3075,2921,0,0,0,0,0,0,28.83,25.46,28.83
$GC,3071,-0.81,-194.7,1669,1781,3075,2921,311.1,-7.5,402,3075,0.00,1.50,0.00,0.000,1030,0.000,0.059,1666,2706,2998,3075,2921,0,0,0,0,0,0,28.83,25.08,28.83
$GC,3383,-0.81,-194.7,1666,2706,3075,2921,339.0,-9.6,433,3386,0.00,1.45,0.00,0.000,516,0.000,0.042,1666,1781,2997,3075,2920,0,0,0,0,0,0,28.83,25.40,28.83
$GC,3487,-0.87,-194.7,1666,1779,3075,2920,348.5,-9.4,443,3494,0.12,1.48,0.00,0.000,5126,0.100,0.058,1615,2664,2997,3075,2920,0,0,0,0,0,0,25.09,25.08,28.83
$GC,3793,-0.79,-194.7,1614,2663,3075,2919,396.7,-16.5,474,3797,0.12,1.38,0.00,0.000,2564,0.175,0.041,1650,1781,2997,3075,2919,0,0,0,0,0,0,25.75,25.26,28.83
$GC,3923,-0.82,-194.7,1650,1778,3075,2919,410.7,-10.8,482,3927,0.00,1.50,0.00,0.000,1030,0.000,0.060,1645,2670,2997,3074,2920,0,0,0,0,0,0,28.83,24.99,28.83
$GC,4235,-0.80,-194.7,1645,2670,3075,2918,448.5,-11.6,498,4238,0.00,1.40,0.00,0.000,516,0.000,0.043,1646,1782,2996,3075,2918,0,0,0,0,0,0,28.83,25.34,28.83
$GC,4349,-0.83,-194.7,1645,1780,3074,2918,458.8,-9.7,503,4355,0.00,1.50,0.00,0.000,1030,0.000,0.059,1640,2673,2996,3075,2918,0,0,0,0,0,0,28.83,25.01,28.83
$GC,4655,-0.80,-194.7,1641,2673,3075,2917,494.6,-11.3,519,4659,0.00,1.40,0.00,0.000,516,0.000,0.043,1640,1786,2996,3075,2917,0,0,0,0,0,0,28.83,25.32,28.83
$GC,4779,-0.82,-194.7,1048,1782,3048,2911,506.6,-9.7,525,4782,0.00,1.48,0.00,0.000,1030,0.000,0.060,1634,2665,2996,3075,2917,0,0,0,0,0,0,28.83,24.99,28.83
$GC,5095,-0.78,-194.7,1634,2665,3075,2916,544.7,-12.1,541,5099,0.00,1.40,0.00,0.000,516,0.000,0.047,1634,1783,2995,3075,2915,0,0,0,0,0,0,28.83,25.17,28.83
$GC,5216,-0.78,-194.7,1634,1782,3075,2915,557.6,-10.5,547,5219,0.00,1.50,0.00,0.000,1030,0.000,0.061,1628,2671,2995,3075,2915,0,0,0,0,0,0,28.83,24.92,28.83
$GC,5536,-0.73,-194.7,1628,2671,3074,2913,597.0,-12.5,563,5540,0.12,1.42,0.00,0.000,2564,0.177,0.044,1664,1788,2994,3075,2913,0,0,0,0,0,0,25.75,25.07,28.83
$STATE,5576,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5576,begin apogee
$GC,5580,-0.09,0.0,1663,2176,3075,2913,600.9,-11.1,565,5772,0.70,0.00,188.23,1.543,10246,0.122,0.000,1873,2177,2199,2288,2110,0,0,0,0,0,0,24.22,28.83,22.46
$STATE,5773,end apogee,CONTROL_FINISHED_OK
$STATE,5773,begin climb
$GC,5774,0.47,194.7,1873,2177,2289,2110,611.2,0.0,574,5967,0.52,1.50,185.55,1.480,11012,0.070,0.059,2063,1306,1405,1492,1319,0,0,0,0,0,0,23.98,23.18,21.75
$GC,6076,0.34,194.7,1344,1305,1458,1316,587.5,14.9,590,6082,0.15,1.48,0.00,0.000,5126,0.173,0.057,2022,2160,1399,1480,1319,0,0,0,0,0,0,24.55,25.07,28.83
$GC,6394,0.23,194.7,2021,2160,1480,1315,544.3,13.5,606,6398,0.15,1.48,0.00,0.000,4356,0.197,0.059,1983,3051,1397,1480,1315,0,0,0,0,0,0,25.49,25.37,28.83
$GC,6623,0.15,194.7,1983,3051,1480,1310,515.7,13.1,617,6628,0.10,1.40,0.00,0.000,5126,0.174,0.045,1961,2178,1395,1480,1310,0,0,0,0,0,0,25.06,25.59,28.83
$GC,6935,0.15,194.7,1960,2177,1480,1310,481.7,10.3,633,6936,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2177,1395,1480,1310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7235,0.15,194.7,1960,2177,1480,1310,451.0,10.1,648,7238,0.00,1.48,0.00,0.000,260,0.000,0.062,1960,3051,1395,1480,1310,0,0,0,0,0,0,28.83,25.19,28.83
$GC,7464,0.12,206.1,1960,3051,1480,1306,428.6,9.6,659,7478,0.00,1.42,9.75,1.369,9222,0.000,0.045,1966,2168,1358,1447,1270,0,0,0,0,0,0,28.83,25.43,23.84
$GC,7796,0.21,289.8,1965,2168,1446,1270,402.3,7.1,676,7879,0.00,1.55,77.47,1.462,8452,0.000,0.062,1966,3051,1016,1103,930,0,0,0,0,0,0,28.83,24.80,23.32
$GC,8107,0.27,354.8,1966,3051,1103,920,379.3,7.7,705,8171,0.00,1.42,59.42,1.417,9222,0.000,0.050,1972,2173,752,839,665,0,0,0,0,0,0,28.83,25.58,23.39
$GC,8472,0.41,442.4,1972,2172,838,660,353.8,7.0,741,8535,0.20,1.52,55.78,1.395,10500,0.095,0.059,2052,3052,505,577,434,0,0,0,0,0,0,25.89,25.02,23.44
$GC,8652,0.33,442.4,2051,3051,576,432,325.6,17.3,759,8656,0.12,1.45,0.00,0.000,5126,0.165,0.056,2013,2177,504,577,431,0,0,0,0,0,0,25.19,25.57,28.83
$GC,8964,0.36,442.4,2013,2173,577,428,290.6,11.5,790,8968,0.00,1.45,0.00,0.000,260,0.000,0.057,2013,3050,502,577,428,0,0,0,0,0,0,28.83,25.58,28.83
$GC,9197,0.36,442.4,2013,3050,577,427,258.2,14.8,813,9201,0.00,1.42,0.00,0.000,1030,0.000,0.047,2018,2173,502,577,428,0,0,0,0,0,0,28.83,25.51,28.83
$GC,9508,0.38,442.4,2018,2170,577,428,214.5,13.9,844,9511,0.00,1.50,0.00,0.000,516,0.000,0.063,2025,1258,502,577,427,0,0,0,0,0,0,28.83,25.26,28.83
$GC,9571,0.44,442.4,2025,1255,577,427,206.5,13.0,850,9578,0.00,1.55,0.00,0.000,1030,0.000,0.057,2025,2171,502,577,427,0,0,0,0,0,0,28.83,25.34,28.83
$GC,9878,0.44,442.4,2024,2170,576,427,164.2,13.2,881,9882,0.00,1.50,0.00,0.000,516,0.000,0.060,2030,1260,502,577,427,0,0,0,0,0,0,28.83,25.19,28.83
$GC,9942,0.50,442.4,2030,1258,577,427,156.6,11.8,887,9949,0.08,1.52,0.00,0.000,3078,0.087,0.057,2069,2165,502,577,427,0,0,0,0,0,0,25.17,25.27,28.83
$GC,10250,0.43,442.4,2069,2165,577,427,102.5,16.9,918,10254,0.00,1.48,0.00,0.000,260,0.000,0.057,2069,3050,502,577,427,0,0,0,0,0,0,28.83,25.25,28.83
$GC,10481,0.33,442.4,1280,3048,576,427,56.6,20.5,962,10488,0.17,1.45,0.00,0.000,5126,0.162,0.050,2017,2168,502,577,427,0,0,0,0,0,0,24.51,25.29,28.83
$GC,10791,0.33,442.4,1184,2163,576,426,24.1,11.7,1023,10798,0.00,1.48,0.00,0.000,516,0.000,0.059,2023,1289,502,577,427,0,0,0,0,0,0,28.83,25.15,28.83
$GC,10825,0.38,442.4,2022,1288,577,427,19.2,13.2,1029,10833,0.00,1.48,0.00,0.000,1030,0.000,0.054,2022,2170,502,577,427,0,0,0,0,0,0,28.83,25.22,28.83
$GC,10875,0.43,461.0,1200,2167,575,426,13.2,9.4,1038,10882,0.00,1.45,0.00,0.000,260,0.000,0.053,2023,3053,502,577,427,0,0,0,0,0,0,28.83,25.27,28.83
$STATE,10938,end climb,SURFACE_DEPTH_REACHED
$STATE,10938,begin surface coast
$FINISH,0.6,1.025707
$STATE,10949,end surface coast,CONTROL_FINISHED_OK
$STATE,10950,begin surface
$SM_CCo,11021,0.00,0.000,0,0,499,417.25
$SM_GC,0.87,5.30,0.62,0.00,0.057,0.042,0.000,160,2659,499,-5.41,0.96,417.25,0,0,0,0,0,0,25.22,25.82,28.83
$IRIDIUM_FIX,-4244.98,849.47,300909,050553
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.74
$INTERNAL_PRESSURE,10.7828
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,21.8,114.345
$10V_AH,10.4,76.358
$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,15.025,70.900,576.200,0.000,0.000,0.000,0.000,0.000,0.000,0.000,16.654,2548.553,5498.143,585.100,2377.403,84.021,0.000,1704.550,0.000,2333.791,0.000,0.545,0.000
$DEVICE_MAMPS,223.380,71.910,1543.005,0.000,0.000,0.000,0.000,0.000,420.000,0.000,29.210,14.960,2.190,14.210,42.670,51.660,0.000,15.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,724.705,694.803,712.985,108.661,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353876
$DATA_FILE_SIZE,60182,1052
$CAP_FILE_SIZE,147641,0
$CFSIZE,259248128,256925696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,031216,184757,-4300.522,852.047,43,0.9,43,-25.2