version: 66.11
revision: 1138
glider: 543
mission: 16
dive: 46
start: 12 13 116 6 44 42
data:
$ID,543
$MISSION,16
$DIVE,46
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1005
$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,340
$T_MISSION,365
$T_ABORT,400
$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,120
$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,400
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-35255.301
$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,1869
$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,3032
$C_ROLL_CLIMB,2694
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,23
$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
$GPS1,131216,062827,-4251.310,900.031,41,0.9,41,-25.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-62.6
$GPS2,131216,064416,-4251.264,900.434,18,1.0,19,-25.2
$SPEED_LIMITS,0.170,0.233
$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,254.7,34829,-19.4,-9.804,-22.81,1819
$D_GRID,1000
$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,15,-0.47,-116.8,123,3047,609,504,0.0,0.0,0,100,0.00,0.00,-81.95,0.000,16386,0.000,0.000,119,3048,2598,2651,2545,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.47,-116.8,120,3048,2651,2546,3.3,-4.7,13,117,6.82,1.42,-1.83,0.000,18692,0.241,0.070,1696,3923,2679,2737,2622,0,0,0,0,0,0,24.79,25.39,26.15
$GC,220,-0.50,-116.8,1024,3926,2702,2615,21.8,-10.2,35,227,0.00,1.40,0.00,0.000,1030,0.000,0.034,1696,3026,2684,2746,2622,0,0,0,0,0,0,28.83,25.58,28.83
$GC,350,-0.54,-116.8,1024,3024,2702,2615,36.5,-8.4,60,357,0.00,0.00,0.00,0.000,6,0.000,0.000,1696,3026,2684,2746,2622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,480,-0.59,-116.8,1696,3025,2746,2622,47.9,-8.4,85,487,0.00,1.50,0.00,0.000,260,0.000,0.061,1689,3935,2683,2746,2621,0,0,0,0,0,0,28.83,24.76,28.83
$GC,545,-0.62,-116.8,1044,3934,2705,2615,54.1,-9.4,97,551,0.00,1.40,0.00,0.000,1030,0.000,0.035,1689,3032,2684,2746,2622,0,0,0,0,0,0,28.83,25.43,28.83
$GC,853,-0.66,-116.8,1048,3030,2706,2615,84.3,-10.9,158,859,0.00,1.48,0.00,0.000,260,0.000,0.060,1682,3937,2683,2746,2621,0,0,0,0,0,0,28.83,24.63,28.83
$GC,958,-0.69,-116.8,1024,3936,2704,2615,95.9,-11.1,178,965,0.08,1.40,0.00,0.000,5126,0.069,0.034,1623,3029,2683,2746,2621,0,0,0,0,0,0,25.15,25.40,28.83
$GC,1267,-0.60,-116.8,1623,3029,2746,2620,142.7,-14.5,211,1271,0.15,1.48,0.00,0.000,2308,0.172,0.055,1660,3915,2683,2746,2620,0,0,0,0,0,0,25.40,24.53,28.83
$GC,1352,-0.59,-116.8,1660,3915,2746,2620,153.1,-12.2,219,1358,0.00,1.38,0.00,0.000,1030,0.000,0.033,1660,3026,2683,2746,2620,0,0,0,0,0,0,28.83,25.42,28.83
$GC,1658,-0.59,-116.8,1660,3026,2746,2620,189.6,-11.2,250,1662,0.00,1.50,0.00,0.000,260,0.000,0.059,1653,3936,2683,2746,2620,0,0,0,0,0,0,28.83,24.53,28.83
$GC,1739,-0.56,-116.8,1653,3936,2746,2620,199.2,-12.0,258,1743,0.10,1.40,0.00,0.000,3078,0.146,0.033,1690,3028,2683,2746,2620,0,0,0,0,0,0,24.74,25.41,28.83
$GC,2052,-0.61,-116.8,1690,3028,2746,2620,225.1,-8.0,289,2055,0.00,1.48,0.00,0.000,260,0.000,0.060,1685,3929,2683,2746,2620,0,0,0,0,0,0,28.83,24.48,28.83
$GC,2107,-0.66,-116.8,1685,3929,2746,2620,229.3,-8.5,294,2114,0.00,1.40,0.00,0.000,1030,0.000,0.034,1685,3028,2683,2746,2620,0,0,0,0,0,0,28.83,25.37,28.83
$GC,2413,-0.71,-116.8,1685,3027,2746,2620,255.1,-8.2,325,2418,0.12,1.52,0.00,0.000,4356,0.095,0.058,1619,3911,2683,2746,2620,0,0,0,0,0,0,25.99,24.41,28.83
$GC,2509,-0.62,-116.8,1617,3910,2746,2620,267.6,-14.8,334,2516,0.12,1.35,0.00,0.000,3078,0.149,0.033,1669,3032,2682,2745,2620,0,0,0,0,0,0,24.53,25.44,28.83
$GC,2817,-0.64,-116.8,1669,3032,2746,2620,298.7,-9.7,365,2820,0.00,1.48,0.00,0.000,260,0.000,0.060,1664,3931,2682,2746,2619,0,0,0,0,0,0,28.83,24.43,28.83
$GC,2938,-0.64,-116.8,1663,3930,2746,2620,312.0,-11.1,377,2941,0.00,1.38,0.00,0.000,1030,0.000,0.034,1664,3037,2683,2746,2620,0,0,0,0,0,0,28.83,25.37,28.83
$GC,3248,-0.64,-116.8,1663,3036,2746,2619,345.3,-10.4,408,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,1664,3036,2682,2746,2619,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3550,-0.64,-116.8,1663,3036,2746,2618,375.6,-9.5,438,3554,0.00,1.50,0.00,0.000,260,0.000,0.060,1657,3944,2682,2746,2618,0,0,0,0,0,0,28.83,24.39,28.83
$GC,3654,-0.64,-116.8,1088,3944,2712,2613,386.2,-10.7,448,3662,0.00,1.42,0.00,0.000,1030,0.000,0.032,1657,3026,2682,2746,2618,0,0,0,0,0,0,28.83,25.38,28.83
$GC,3972,-0.64,-116.8,1657,3026,2746,2618,418.2,-9.5,471,3975,0.00,1.50,0.00,0.000,260,0.000,0.061,1650,3928,2682,2746,2618,0,0,0,0,0,0,28.83,24.37,28.83
$GC,4073,-0.61,-116.8,1650,3928,2746,2618,428.8,-10.7,476,4076,0.00,1.40,0.00,0.000,1030,0.000,0.034,1650,3029,2682,2746,2618,0,0,0,0,0,0,28.83,25.37,28.83
$GC,4393,-0.61,-116.8,1649,3028,2746,2617,460.5,-9.7,492,4396,0.00,1.52,0.00,0.000,260,0.000,0.060,1643,3934,2681,2746,2617,0,0,0,0,0,0,28.83,24.37,28.83
$GC,4477,-0.58,-116.8,1643,3935,2746,2617,468.9,-10.3,496,4481,0.10,1.40,0.00,0.000,3078,0.148,0.035,1673,3037,2681,2746,2617,0,0,0,0,0,0,24.75,25.34,28.83
$GC,4794,-0.62,-116.8,1673,3037,2746,2616,491.3,-6.6,512,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,1673,3037,2681,2746,2616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5094,-0.66,-116.8,1673,3037,2746,2615,511.9,-7.2,527,5095,0.00,0.00,0.00,0.000,6,0.000,0.000,1673,3037,2680,2746,2615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5394,-0.71,-116.8,1673,3037,2745,2615,534.3,-7.8,542,5395,0.00,0.00,0.00,0.000,6,0.000,0.000,1673,3037,2680,2746,2615,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5694,-0.75,-116.8,1673,3037,2746,2614,557.6,-7.8,557,5698,0.12,1.48,0.00,0.000,4356,0.103,0.058,1612,3916,2680,2746,2614,0,0,0,0,0,0,25.98,24.31,28.83
$GC,5735,-0.75,-116.8,1612,3916,2746,2614,562.4,-9.6,559,5738,0.00,1.38,0.00,0.000,1030,0.000,0.034,1613,3028,2679,2746,2613,0,0,0,0,0,0,28.83,25.36,28.83
$GC,6055,-0.66,-116.8,1612,3028,2746,2612,605.1,-13.7,575,6059,0.12,1.52,0.00,0.000,2308,0.184,0.058,1642,3915,2679,2746,2612,0,0,0,0,0,0,25.56,24.22,28.83
$GC,6145,-0.62,-116.8,1642,3915,2746,2612,614.9,-12.0,579,6148,0.00,1.38,0.00,0.000,1030,0.000,0.034,1642,3035,2679,2746,2612,0,0,0,0,0,0,28.83,25.34,28.83
$GC,6457,-0.60,-116.8,1642,3034,2746,2611,649.9,-11.0,595,6461,0.12,1.50,0.00,0.000,2308,0.174,0.058,1672,3921,2678,2746,2611,0,0,0,0,0,0,25.61,24.21,28.83
$GC,6518,-0.61,-116.8,1672,3920,2746,2611,655.6,-9.8,598,6522,0.00,1.40,0.00,0.000,1030,0.000,0.037,1672,3031,2678,2746,2611,0,0,0,0,0,0,28.83,25.25,28.83
$GC,6840,-0.66,-116.8,1671,3031,2746,2611,682.6,-8.5,614,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,1672,3031,2678,2746,2610,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7139,-0.70,-116.8,1671,3031,2745,2610,707.4,-8.3,629,7143,0.00,1.52,0.00,0.000,260,0.000,0.064,1665,3905,2678,2746,2610,0,0,0,0,0,0,28.83,24.22,28.83
$GC,7180,-0.74,-116.8,1665,3905,2745,2610,711.1,-8.6,631,7185,0.08,1.38,0.00,0.000,5126,0.078,0.038,1625,3035,2678,2746,2610,0,0,0,0,0,0,24.98,25.20,28.83
$GC,7502,-0.69,-116.8,1625,3035,2746,2608,748.3,-11.7,647,7506,0.00,1.50,0.00,0.000,260,0.000,0.060,1618,3907,2677,2746,2608,0,0,0,0,0,0,28.83,24.32,28.83
$GC,7611,-0.61,-116.8,1618,3906,2746,2609,761.0,-12.6,652,7616,0.15,1.38,0.00,0.000,3078,0.150,0.036,1663,3035,2676,2745,2608,0,0,0,0,0,0,24.41,25.26,28.83
$GC,7924,-0.64,-116.8,1663,3034,2746,2607,789.1,-8.5,668,7925,0.00,0.00,0.00,0.000,6,0.000,0.000,1663,3034,2676,2746,2607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8224,-0.67,-116.8,1663,3035,2746,2606,814.7,-8.5,683,8225,0.00,0.00,0.00,0.000,6,0.000,0.000,1663,3035,2676,2746,2606,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8524,-0.71,-116.8,1663,3034,2745,2605,841.1,-8.9,698,8525,0.00,0.00,0.00,0.000,6,0.000,0.000,1663,3035,2675,2746,2605,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8824,-0.75,-116.8,1663,3035,2746,2605,868.1,-9.2,713,8826,0.12,0.00,0.00,0.000,4102,0.106,0.000,1617,3034,2674,2745,2604,0,0,0,0,0,0,26.01,28.83,28.83
$GC,9123,-0.69,-116.8,1616,3034,2746,2603,907.0,-13.6,728,9127,0.00,1.52,0.00,0.000,260,0.000,0.062,1610,3933,2674,2745,2604,0,0,0,0,0,0,28.83,24.21,28.83
$GC,9204,-0.61,-116.8,1609,3933,2745,2604,918.4,-14.3,732,9208,0.17,1.42,0.00,0.000,3078,0.153,0.037,1667,3030,2675,2746,2604,0,0,0,0,0,0,24.10,25.20,28.83
$GC,9526,-0.66,-116.8,1667,3031,2746,2603,947.8,-8.9,748,9527,0.00,0.00,0.00,0.000,6,0.000,0.000,1667,3030,2674,2746,2603,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9825,-0.72,-116.8,1667,3030,2745,2602,974.0,-8.6,763,9827,0.00,0.00,0.00,0.000,6,0.000,0.000,1667,3030,2674,2746,2602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10125,-0.77,-116.8,1667,3030,2746,2602,997.5,-7.6,778,10130,0.12,1.55,0.00,0.000,4356,0.108,0.063,1609,3908,2674,2746,2602,0,0,0,0,0,0,25.98,24.03,28.83
$STATE,10165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10165,begin apogee
$GC,10171,-0.09,0.0,1608,2672,2744,2602,1002.0,-9.0,780,10268,0.85,0.00,93.30,1.873,10242,0.157,0.000,1834,2672,2326,2408,2245,0,0,0,0,0,0,23.33,28.83,28.83
$STATE,10269,end apogee,ABORT_DEPTH_EXCEEDED
$SM_CCo,10281,548.75,1.576,50,1,648,380.70
$SM_CCo,11084,49.20,1.516,4,0,506,415.29
$SM_GC,1.32,4.82,0.00,0.00,0.054,0.000,0.000,151,2672,505,-5.31,-0.62,415.78,0,0,0,0,0,0,24.97,28.83,28.83
$IRIDIUM_FIX,-4230.32,949.94,091009,191941
$TT8_MAMPS,0.026964,0.026964
$HUMID,52.08
$INTERNAL_PRESSURE,10.7535
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,20.4,125.630
$10V_AH,10.3,81.228
$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,14.200,52.625,93.300,597.950,0.000,91.599,79.207,500.577,0.000,0.000,19.722,2240.129,14650.169,1079.697,2275.867,100.236,0.000,1966.005,0.000,1530.842,0.000,0.545,0.000
$DEVICE_MAMPS,240.975,70.380,1873.485,1575.900,0.000,109.400,160.000,223.000,420.000,0.000,29.210,14.960,2.190,14.210,42.670,51.660,0.000,15.000,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2FL,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,542.936,543.106,377.960,54.418,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,39.700,17.230,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353720
$DATA_FILE_SIZE,43641,785
$CAP_FILE_SIZE,142208,8
$CFSIZE,259248128,252907520
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,0,54,2,0
$EOP_CODE,ABORT_DEPTH_EXCEEDED
$RECOV_CODE,EXCEEDED_ABORT_DEPTH
$GPS,131216,120922,-4250.213,902.048,39,1.1,40,-25.2