version: 66.07
glider: 543
mission: 14
dive: 145
start: 8 25 115 14 55 33
data:
$ID,543
$MISSION,14
$DIVE,145
$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,-24565.15
$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,72
$R_STBD_OVSHOOT,32
$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
$GPS1,250815,144733,-4256.522,824.182,36,1.1,36,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-74.2
$GPS2,250815,145511,-4256.557,824.281,20,1.1,20,-25.0
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAZ_BUT2
$TGT_LATLONG,-4256.000,824.000
$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,4.7,1100,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.54,-49.8,0.0,0.0,0,65,0.00,0.00,-44.80,0.000,6,0.000,0.000,64,3233,1704,0,0,0,0,0,0
$GC,67,-0.60,-109.6,3.0,-1.7,6,85,6.75,1.20,-7.78,0.000,4,0.233,0.082,1702,3953,1947,0,0,0,0,0,0
$GC,135,-0.52,-109.6,14.0,-17.1,16,144,0.08,1.10,0.00,0.000,6,0.171,0.031,1723,3221,1950,0,0,0,0,0,0
$GC,194,-0.50,-109.6,23.1,-15.0,25,202,0.00,0.00,0.00,0.000,6,0.000,0.000,1723,3221,1950,0,0,0,0,0,0
$GC,343,-0.48,-109.6,45.8,-15.2,50,350,0.00,1.35,0.00,0.000,4,0.000,0.028,1723,2293,1950,0,0,0,0,0,0
$GC,358,-0.46,-109.6,47.8,-15.1,52,365,0.10,1.50,0.00,0.000,6,0.147,0.050,1748,3211,1950,0,0,0,0,0,0
$GC,705,-0.50,-109.6,92.6,-12.6,113,712,0.00,1.17,0.00,0.000,4,0.000,0.057,1744,3951,1950,0,0,0,0,0,0
$GC,755,-0.52,-109.6,98.9,-13.7,121,761,0.00,1.10,0.00,0.000,6,0.000,0.032,1744,3206,1950,0,0,0,0,0,0
$GC,1090,-0.55,-109.6,141.8,-12.8,153,1093,0.00,1.30,0.00,0.000,4,0.000,0.028,1744,2301,1950,0,0,0,0,0,0
$GC,1137,-0.63,-109.6,147.5,-11.3,157,1141,0.08,1.48,0.00,0.000,6,0.060,0.051,1690,3213,1950,0,0,0,0,0,0
$GC,1468,-0.58,-109.6,201.7,-16.0,188,1471,0.00,1.15,0.00,0.000,4,0.000,0.054,1684,3951,1950,0,0,0,0,0,0
$GC,1502,-0.49,-109.6,207.6,-17.4,191,1506,0.17,1.08,0.00,0.000,6,0.163,0.031,1736,3220,1950,0,0,0,0,0,0
$GC,1831,-0.52,-109.6,246.4,-10.8,222,1835,0.00,1.15,0.00,0.000,4,0.000,0.056,1732,3947,1950,0,0,0,0,0,0
$GC,1867,-0.52,-109.6,250.4,-12.4,225,1870,0.00,1.10,0.00,0.000,6,0.000,0.031,1732,3193,1950,0,0,0,0,0,0
$GC,2197,-0.55,-109.6,286.7,-10.8,256,2201,0.00,1.20,0.00,0.000,4,0.000,0.056,1727,3953,1950,0,0,0,0,0,0
$GC,2235,-0.55,-109.6,291.5,-12.2,259,2243,0.00,1.10,0.00,0.000,6,0.000,0.031,1727,3209,1950,0,0,0,0,0,0
$GC,2561,-0.57,-109.6,330.3,-11.8,290,2564,0.00,1.20,0.00,0.000,4,0.000,0.057,1721,3953,1950,0,0,0,0,0,0
$GC,2583,-0.57,-109.6,333.3,-13.3,292,2587,0.00,1.08,0.00,0.000,6,0.000,0.032,1721,3216,1950,0,0,0,0,0,0
$GC,2913,-0.57,-109.6,375.1,-12.7,323,2914,0.00,0.00,0.00,0.000,6,0.000,0.000,1721,3216,1950,0,0,0,0,0,0
$GC,3238,-0.57,-109.6,415.8,-12.2,348,3242,0.00,1.17,0.00,0.000,4,0.000,0.057,1715,3957,1950,0,0,0,0,0,0
$GC,3306,-0.57,-109.6,424.5,-12.7,351,3309,0.00,1.10,0.00,0.000,6,0.000,0.032,1716,3208,1950,0,0,0,0,0,0
$GC,3638,-0.57,-109.6,465.2,-12.2,367,3639,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,3207,1950,0,0,0,0,0,0
$GC,3947,-0.57,-109.6,501.8,-12.3,382,3948,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,3207,1950,0,0,0,0,0,0
$GC,4259,-0.57,-109.6,539.7,-12.2,397,4262,0.00,1.17,0.00,0.000,4,0.000,0.057,1710,3950,1950,0,0,0,0,0,0
$GC,4330,-0.55,-109.6,549.8,-14.0,400,4335,0.00,1.12,0.00,0.000,6,0.000,0.032,1710,3197,1950,0,0,0,0,0,0
$GC,4658,-0.55,-109.6,591.6,-12.8,416,4661,0.00,1.20,0.00,0.000,4,0.000,0.057,1704,3955,1950,0,0,0,0,0,0
$GC,4673,-0.55,-109.6,593.9,-12.6,416,4680,0.00,1.12,0.00,0.000,6,0.000,0.033,1704,3204,1950,0,0,0,0,0,0
$GC,4989,-0.55,-109.6,634.9,-13.0,432,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,1703,3204,1949,0,0,0,0,0,0
$GC,5298,-0.55,-109.6,676.1,-13.2,447,5302,0.00,1.17,0.00,0.000,4,0.000,0.057,1698,3948,1949,0,0,0,0,0,0
$GC,5376,-0.51,-109.6,687.5,-15.2,450,5380,0.10,1.08,0.00,0.000,6,0.166,0.034,1728,3222,1949,0,0,0,0,0,0
$GC,5697,-0.56,-109.6,724.4,-11.4,466,5701,0.00,1.15,0.00,0.000,4,0.000,0.059,1724,3945,1949,0,0,0,0,0,0
$GC,5743,-0.58,-109.6,729.6,-11.5,468,5747,0.00,1.10,0.00,0.000,6,0.000,0.034,1724,3202,1950,0,0,0,0,0,0
$GC,6075,-0.61,-109.6,766.3,-10.5,484,6079,0.00,1.20,0.00,0.000,4,0.000,0.059,1718,3954,1950,0,0,0,0,0,0
$GC,6152,-0.63,-109.6,775.4,-11.4,487,6156,0.00,1.10,0.00,0.000,6,0.000,0.034,1719,3210,1950,0,0,0,0,0,0
$GC,6473,-0.66,-109.6,811.6,-11.4,503,6477,0.00,1.17,0.00,0.000,4,0.000,0.059,1713,3951,1950,0,0,0,0,0,0
$GC,6505,-0.66,-109.6,815.5,-11.4,504,6510,0.00,1.12,0.00,0.000,6,0.000,0.034,1713,3201,1949,0,0,0,0,0,0
$GC,6829,-0.68,-109.6,851.9,-11.2,520,6830,0.00,0.00,0.00,0.000,6,0.000,0.000,1713,3201,1949,0,0,0,0,0,0
$GC,7137,-0.71,-109.6,885.9,-11.0,535,7141,0.10,1.20,0.00,0.000,4,0.118,0.060,1663,3942,1949,0,0,0,0,0,0
$GC,7249,-0.61,-109.6,903.1,-17.0,540,7254,0.12,1.08,0.00,0.000,6,0.165,0.034,1700,3221,1949,0,0,0,0,0,0
$GC,7581,-0.61,-109.6,943.4,-11.6,556,7582,0.00,0.00,0.00,0.000,6,0.000,0.000,1699,3220,1949,0,0,0,0,0,0
$GC,7891,-0.61,-109.6,978.3,-11.3,571,7894,0.00,1.15,0.00,0.000,4,0.000,0.059,1696,3943,1949,0,0,0,0,0,0
$GC,7964,-0.59,-109.6,987.3,-13.2,574,7967,0.00,1.10,0.00,0.000,6,0.000,0.034,1695,3202,1949,0,0,0,0,0,0
$STATE,8082,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8082,begin apogee
$GC,8087,-0.09,0.0,1001.1,11.3,580,8208,0.60,0.00,117.53,1.936,6,0.156,0.000,1869,2922,1499,0,0,0,0,0,0
$STATE,8209,end apogee,CONTROL_FINISHED_OK
$STATE,8209,begin climb
$GC,8210,0.60,109.6,1003.5,0.0,586,8330,0.70,1.45,112.93,1.867,4,0.092,0.031,2101,2050,1052,0,0,0,0,0,0
$GC,8385,0.60,109.6,983.4,16.0,593,8390,0.00,1.50,0.00,0.000,6,0.000,0.048,2101,2917,1050,0,0,0,0,0,0
$GC,8708,0.56,109.6,931.6,16.0,609,8711,0.00,1.45,0.00,0.000,4,0.000,0.057,2101,3804,1046,0,0,0,0,0,0
$GC,8820,0.47,109.6,912.0,18.1,614,8825,0.17,1.35,0.00,0.000,6,0.199,0.031,2062,2911,1045,0,0,0,0,0,0
$GC,9153,0.50,109.6,870.8,12.4,630,9157,0.00,1.48,0.00,0.000,4,0.000,0.058,2062,3805,1045,0,0,0,0,0,0
$GC,9297,0.48,109.6,849.6,14.9,636,9301,0.00,1.33,0.00,0.000,6,0.000,0.031,2067,2927,1044,0,0,0,0,0,0
$GC,9618,0.49,109.6,808.4,12.9,652,9622,0.00,1.45,0.00,0.000,4,0.000,0.058,2067,3812,1044,0,0,0,0,0,0
$GC,9651,0.46,109.6,803.6,14.9,653,9655,0.00,1.33,0.00,0.000,6,0.000,0.031,2074,2927,1044,0,0,0,0,0,0
$GC,9972,0.46,109.6,760.0,13.6,669,9976,0.00,1.42,0.00,0.000,4,0.000,0.058,2074,3805,1044,0,0,0,0,0,0
$GC,10089,0.42,109.6,740.9,16.6,674,10094,0.12,1.33,0.00,0.000,6,0.192,0.031,2046,2913,1043,0,0,0,0,0,0
$GC,10417,0.48,109.6,701.6,11.9,690,10421,0.00,1.45,0.00,0.000,4,0.000,0.058,2046,3805,1043,0,0,0,0,0,0
$GC,10522,0.48,109.6,687.2,13.2,694,10530,0.00,1.33,0.00,0.000,6,0.000,0.031,2051,2925,1043,0,0,0,0,0,0
$GC,10839,0.53,109.6,650.4,11.4,710,10842,0.00,1.42,0.00,0.000,4,0.000,0.059,2051,3804,1043,0,0,0,0,0,0
$GC,10974,0.53,109.6,632.4,14.0,716,10977,0.00,1.30,0.00,0.000,6,0.000,0.031,2058,2928,1043,0,0,0,0,0,0
$GC,11306,0.56,109.6,593.3,11.7,732,11307,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,2928,1043,0,0,0,0,0,0
$GC,11618,0.60,109.6,556.7,11.8,747,11620,0.12,0.00,0.00,0.000,6,0.100,0.000,2114,2927,1043,0,0,0,0,0,0
$GC,11925,0.55,109.6,508.1,15.5,762,11929,0.12,1.42,0.00,0.000,4,0.211,0.057,2086,3811,1043,0,0,0,0,0,0
$GC,12007,0.50,109.6,494.4,15.8,765,12014,0.00,1.33,0.00,0.000,6,0.000,0.031,2091,2919,1042,0,0,0,0,0,0
$GC,12323,0.50,109.6,449.2,14.2,781,12324,0.00,0.00,0.00,0.000,6,0.000,0.000,2091,2919,1043,0,0,0,0,0,0
$GC,12632,0.48,109.6,405.6,13.8,796,12637,0.12,1.42,0.00,0.000,4,0.214,0.058,2061,3801,1042,0,0,0,0,0,0
$GC,12790,0.48,109.6,382.9,14.2,808,12793,0.00,1.30,0.00,0.000,6,0.000,0.033,2066,2928,1042,0,0,0,0,0,0
$GC,13120,0.51,109.6,343.7,11.1,839,13123,0.00,1.42,0.00,0.000,4,0.000,0.059,2066,3807,1042,0,0,0,0,0,0
$GC,13225,0.49,109.6,329.2,13.9,848,13235,0.00,1.30,0.00,0.000,6,0.000,0.031,2073,2926,1042,0,0,0,0,0,0
$GC,13551,0.51,109.6,291.2,11.4,879,13552,0.00,0.00,0.00,0.000,6,0.000,0.000,2073,2926,1042,0,0,0,0,0,0
$GC,13874,0.53,109.6,254.1,11.6,909,13877,0.00,1.42,0.00,0.000,4,0.000,0.058,2073,3808,1042,0,0,0,0,0,0
$GC,13957,0.50,109.6,241.7,14.3,916,13966,0.00,1.33,0.00,0.000,6,0.000,0.031,2080,2912,1042,0,0,0,0,0,0
$GC,14282,0.50,109.6,198.6,13.9,947,14285,0.00,1.45,0.00,0.000,4,0.000,0.057,2080,3808,1042,0,0,0,0,0,0
$GC,14373,0.45,109.6,184.9,15.7,955,14377,0.10,1.30,0.00,0.000,6,0.191,0.031,2058,2924,1042,0,0,0,0,0,0
$GC,14704,0.51,109.6,146.8,11.2,986,14707,0.00,1.42,0.00,0.000,4,0.000,0.058,2058,3812,1042,0,0,0,0,0,0
$GC,14727,0.54,109.6,144.0,12.1,988,14730,0.00,1.30,0.00,0.000,6,0.000,0.031,2063,2925,1042,0,0,0,0,0,0
$GC,15057,0.59,109.6,108.3,10.9,1019,15061,0.00,1.40,0.00,0.000,4,0.000,0.057,2063,3801,1042,0,0,0,0,0,0
$GC,15095,0.59,109.6,103.7,12.0,1022,15103,0.00,1.27,0.00,0.000,6,0.000,0.030,2070,2927,1042,0,0,0,0,0,0
$GC,15442,0.63,109.6,64.6,11.3,1080,15451,0.10,1.42,0.00,0.000,4,0.112,0.057,2120,3813,1042,0,0,0,0,0,0
$GC,15566,0.53,109.6,44.1,17.5,1101,15575,0.15,1.30,0.00,0.000,6,0.196,0.030,2085,2928,1042,0,0,0,0,0,0
$STATE,15894,end climb,SURFACE_DEPTH_REACHED
$STATE,15894,begin surface coast
$FINISH,1.3,1.008368
$STATE,15920,end surface coast,CONTROL_FINISHED_OK
$STATE,15920,begin surface
$SM_CCo,15933,40.72,0.141,0,0,681,200.16
$SM_GC,2.70,0.00,0.00,40.72,0.000,0.000,0.141,54,3218,681,-5.78,0.25,200.16
$IRIDIUM_FIX,-4236.17,821.53,200608,232331
$TT8_MAMPS,0.026964
$HUMID,62.28
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,22.3,29.207
$10V_AH,10.2,16.969
$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,15.300,82.050,230.450,40.725,0.000,24.558,24.893,284.944,0.000,0.000,23.015,2903.758,9958.215,386.483,3009.568,173.329,0.000,1517.686,0.000,2643.880,0.000,0.543,0.000
$DEVICE_MAMPS,233.325,81.855,1936.215,140.760,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,806.323,819.455,870.845,84.571,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353952
$DATA_FILE_SIZE,66976,1160
$CAP_FILE_SIZE,156584,0
$CFSIZE,259252224,247361536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,250815,192321,-4254.863,823.900,60,0.9,60,-25.0