version: 66.07
glider: 543
mission: 14
dive: 147
start: 8 26 115 0 9 40
data:
$ID,543
$MISSION,14
$DIVE,147
$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,-24571.611
$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,69
$R_STBD_OVSHOOT,35
$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
$GPS1,250815,235603,-4256.918,825.320,38,1.0,38,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-72.2
$GPS2,260815,000917,-4257.002,825.417,15,1.7,15,-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,339.0,2672,-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,-44.65,0.000,6,0.000,0.000,63,3236,1706,0,0,0,0,0,0
$GC,67,-0.60,-112.1,2.8,-1.4,6,93,6.93,1.17,-8.15,0.000,4,0.243,0.081,1698,3949,1958,0,0,0,0,0,0
$GC,219,-0.52,-112.1,30.2,-18.7,30,229,0.10,1.10,0.00,0.000,6,0.170,0.031,1728,3218,1961,0,0,0,0,0,0
$GC,370,-0.50,-112.1,55.2,-16.0,55,376,0.00,0.00,0.00,0.000,6,0.000,0.000,1728,3218,1961,0,0,0,0,0,0
$GC,714,-0.50,-112.1,107.9,-14.9,111,715,0.00,0.00,0.00,0.000,6,0.000,0.000,1728,3217,1961,0,0,0,0,0,0
$GC,1037,-0.50,-112.1,153.1,-13.9,141,1041,0.00,1.15,0.00,0.000,4,0.000,0.057,1724,3938,1961,0,0,0,0,0,0
$GC,1105,-0.50,-112.1,164.0,-15.4,147,1109,0.00,1.08,0.00,0.000,6,0.000,0.031,1724,3205,1961,0,0,0,0,0,0
$GC,1435,-0.50,-112.1,211.2,-14.5,178,1438,0.00,1.17,0.00,0.000,4,0.000,0.055,1718,3945,1961,0,0,0,0,0,0
$GC,1471,-0.48,-112.1,216.6,-16.4,181,1476,0.08,1.08,0.00,0.000,6,0.162,0.031,1742,3215,1961,0,0,0,0,0,0
$GC,1802,-0.51,-112.1,262.1,-13.2,212,1805,0.00,1.15,0.00,0.000,4,0.000,0.057,1738,3939,1960,0,0,0,0,0,0
$GC,1851,-0.54,-112.1,269.3,-14.1,216,1861,0.00,1.08,0.00,0.000,6,0.000,0.031,1738,3204,1961,0,0,0,0,0,0
$GC,2178,-0.57,-112.1,310.4,-11.9,247,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,1738,3204,1961,0,0,0,0,0,0
$GC,2498,-0.60,-112.1,347.7,-11.6,277,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,1738,3203,1960,0,0,0,0,0,0
$GC,2814,-0.64,-112.1,382.7,-10.7,307,2818,0.12,1.17,0.00,0.000,4,0.098,0.057,1677,3931,1960,0,0,0,0,0,0
$GC,2921,-0.54,-112.1,400.1,-16.1,316,2931,0.15,1.05,0.00,0.000,6,0.166,0.031,1722,3222,1961,0,0,0,0,0,0
$GC,3236,-0.54,-112.1,437.3,-11.5,332,3240,0.00,1.33,0.00,0.000,4,0.000,0.029,1722,2295,1960,0,0,0,0,0,0
$GC,3263,-0.57,-112.1,440.8,-12.0,333,3268,0.00,1.48,0.00,0.000,6,0.000,0.051,1716,3211,1960,0,0,0,0,0,0
$GC,3590,-0.57,-112.1,481.9,-13.2,349,3594,0.00,1.15,0.00,0.000,4,0.000,0.057,1711,3950,1960,0,0,0,0,0,0
$GC,3673,-0.55,-112.1,493.5,-13.5,352,3680,0.00,1.10,0.00,0.000,6,0.000,0.031,1711,3200,1961,0,0,0,0,0,0
$GC,3988,-0.55,-112.1,536.4,-13.5,368,3992,0.00,1.17,0.00,0.000,4,0.000,0.057,1705,3943,1960,0,0,0,0,0,0
$GC,4015,-0.52,-112.1,540.5,-14.7,369,4020,0.08,1.08,0.00,0.000,6,0.164,0.031,1728,3219,1961,0,0,0,0,0,0
$GC,4343,-0.55,-112.1,580.5,-12.3,385,4346,0.00,1.15,0.00,0.000,4,0.000,0.058,1724,3945,1960,0,0,0,0,0,0
$GC,4374,-0.55,-112.1,585.3,-13.8,386,4380,0.00,1.12,0.00,0.000,6,0.000,0.031,1724,3189,1960,0,0,0,0,0,0
$GC,4696,-0.57,-112.1,626.2,-12.7,402,4700,0.00,1.20,0.00,0.000,4,0.000,0.058,1718,3942,1961,0,0,0,0,0,0
$GC,4773,-0.57,-112.1,636.9,-12.3,405,4778,0.00,1.10,0.00,0.000,6,0.000,0.032,1718,3206,1961,0,0,0,0,0,0
$GC,5096,-0.59,-112.1,677.5,-12.5,421,5099,0.00,1.17,0.00,0.000,4,0.000,0.057,1713,3946,1960,0,0,0,0,0,0
$GC,5124,-0.59,-112.1,681.3,-13.3,422,5127,0.00,1.08,0.00,0.000,6,0.000,0.033,1713,3217,1960,0,0,0,0,0,0
$GC,5450,-0.59,-112.1,723.7,-12.9,438,5453,0.00,1.17,0.00,0.000,4,0.000,0.058,1707,3955,1960,0,0,0,0,0,0
$GC,5489,-0.57,-112.1,729.1,-14.2,439,5496,0.00,1.10,0.00,0.000,6,0.000,0.033,1707,3206,1961,0,0,0,0,0,0
$GC,5805,-0.57,-112.1,768.9,-12.0,455,5809,0.00,1.30,0.00,0.000,4,0.000,0.029,1707,2301,1961,0,0,0,0,0,0
$GC,5837,-0.60,-112.1,772.9,-11.1,456,5841,0.00,1.48,0.00,0.000,6,0.000,0.052,1700,3214,1960,0,0,0,0,0,0
$GC,6158,-0.60,-112.1,810.2,-11.3,472,6160,0.00,0.00,0.00,0.000,6,0.000,0.000,1700,3214,1960,0,0,0,0,0,0
$GC,6468,-0.60,-112.1,844.9,-11.4,487,6472,0.00,1.15,0.00,0.000,4,0.000,0.058,1695,3943,1960,0,0,0,0,0,0
$GC,6501,-0.57,-112.1,849.2,-12.6,488,6505,0.00,1.08,0.00,0.000,6,0.000,0.034,1694,3214,1961,0,0,0,0,0,0
$GC,6822,-0.55,-112.1,888.3,-12.4,504,6824,0.12,0.00,0.00,0.000,6,0.197,0.000,1724,3213,1960,0,0,0,0,0,0
$GC,7132,-0.59,-112.1,920.7,-10.2,519,7135,0.00,1.17,0.00,0.000,4,0.000,0.060,1720,3950,1961,0,0,0,0,0,0
$GC,7181,-0.62,-112.1,926.5,-11.2,521,7185,0.00,1.10,0.00,0.000,6,0.000,0.034,1720,3203,1960,0,0,0,0,0,0
$GC,7509,-0.65,-112.1,962.1,-11.1,537,7512,0.00,1.17,0.00,0.000,4,0.000,0.060,1715,3939,1961,0,0,0,0,0,0
$GC,7557,-0.65,-112.1,968.5,-12.8,539,7562,0.00,1.10,0.00,0.000,6,0.000,0.033,1715,3209,1961,0,0,0,0,0,0
$STATE,7842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7842,begin apogee
$GC,7847,-0.09,0.0,1001.2,11.5,553,7966,0.52,0.00,116.32,1.929,6,0.151,0.000,1868,2927,1498,0,0,0,0,0,0
$STATE,7967,end apogee,CONTROL_FINISHED_OK
$STATE,7967,begin climb
$GC,7969,0.60,112.1,1004.7,0.0,559,8096,0.70,1.52,115.12,1.883,4,0.093,0.033,2099,2050,1042,0,0,0,0,0,0
$GC,8128,0.60,112.1,988.0,15.9,566,8133,0.00,1.52,0.00,0.000,6,0.000,0.048,2099,2924,1042,0,0,0,0,0,0
$GC,8450,0.57,112.1,937.4,16.1,582,8454,0.00,1.48,0.00,0.000,4,0.000,0.059,2098,3808,1039,0,0,0,0,0,0
$GC,8579,0.49,112.1,913.6,19.5,587,8586,0.15,1.38,0.00,0.000,6,0.202,0.031,2067,2909,1038,0,0,0,0,0,0
$GC,8894,0.51,112.1,869.5,14.0,603,8898,0.00,1.48,0.00,0.000,4,0.000,0.058,2067,3810,1037,0,0,0,0,0,0
$GC,8945,0.48,112.1,861.8,15.6,605,8949,0.00,1.35,0.00,0.000,6,0.000,0.031,2072,2920,1036,0,0,0,0,0,0
$GC,9272,0.48,112.1,815.7,13.9,621,9275,0.00,1.45,0.00,0.000,4,0.000,0.058,2072,3811,1036,0,0,0,0,0,0
$GC,9339,0.44,112.1,804.6,18.1,624,9343,0.00,1.35,0.00,0.000,6,0.000,0.031,2079,2917,1036,0,0,0,0,0,0
$GC,9671,0.44,112.1,753.3,15.0,640,9673,0.12,0.00,0.00,0.000,6,0.207,0.000,2051,2916,1036,0,0,0,0,0,0
$GC,9981,0.49,112.1,712.5,12.6,655,9984,0.00,1.45,0.00,0.000,4,0.000,0.060,2051,3807,1036,0,0,0,0,0,0
$GC,10048,0.49,112.1,702.6,14.9,658,10052,0.00,1.33,0.00,0.000,6,0.000,0.033,2056,2926,1035,0,0,0,0,0,0
$GC,10381,0.53,112.1,661.1,12.4,674,10384,0.00,1.42,0.00,0.000,4,0.000,0.058,2056,3807,1035,0,0,0,0,0,0
$GC,10452,0.53,112.1,650.7,15.3,677,10457,0.00,1.35,0.00,0.000,6,0.000,0.031,2062,2917,1035,0,0,0,0,0,0
$GC,10780,0.57,112.1,607.9,13.1,693,10784,0.00,1.45,0.00,0.000,4,0.000,0.059,2062,3811,1035,0,0,0,0,0,0
$GC,10903,0.55,112.1,589.0,16.4,698,10907,0.00,1.33,0.00,0.000,6,0.000,0.031,2069,2922,1035,0,0,0,0,0,0
$GC,11225,0.57,112.1,545.4,14.0,714,11228,0.00,1.45,0.00,0.000,4,0.000,0.060,2069,3812,1035,0,0,0,0,0,0
$GC,11347,0.53,112.1,526.1,16.1,719,11351,0.00,1.33,0.00,0.000,6,0.000,0.031,2076,2917,1034,0,0,0,0,0,0
$GC,11669,0.53,112.1,484.6,12.6,735,11672,0.00,1.42,0.00,0.000,4,0.000,0.058,2076,3802,1035,0,0,0,0,0,0
$GC,11708,0.49,112.1,479.1,14.7,736,11715,0.00,1.30,0.00,0.000,6,0.000,0.031,2082,2927,1034,0,0,0,0,0,0
$GC,12024,0.49,112.1,439.7,12.0,752,12028,0.00,1.42,0.00,0.000,4,0.000,0.058,2082,3815,1035,0,0,0,0,0,0
$GC,12085,0.44,112.1,431.2,13.5,754,12093,0.12,1.33,0.00,0.000,6,0.193,0.031,2055,2925,1034,0,0,0,0,0,0
$GC,12401,0.49,112.1,399.4,9.7,770,12405,0.00,1.42,0.00,0.000,4,0.000,0.059,2055,3809,1034,0,0,0,0,0,0
$GC,12439,0.49,112.1,395.2,10.9,773,12447,0.00,1.33,0.00,0.000,6,0.000,0.031,2060,2916,1034,0,0,0,0,0,0
$GC,12765,0.54,112.1,363.5,9.8,804,12766,0.00,0.00,0.00,0.000,6,0.000,0.000,2060,2916,1034,0,0,0,0,0,0
$GC,13084,0.58,112.1,330.8,10.5,834,13088,0.00,1.45,0.00,0.000,4,0.000,0.059,2060,3811,1034,0,0,0,0,0,0
$GC,13221,0.58,112.1,313.2,12.8,846,13224,0.00,1.33,0.00,0.000,6,0.000,0.031,2066,2919,1034,0,0,0,0,0,0
$GC,13554,0.61,112.1,275.9,11.5,877,13559,0.10,1.42,0.00,0.000,4,0.112,0.058,2117,3803,1034,0,0,0,0,0,0
$GC,13705,0.51,112.1,249.7,16.7,890,13713,0.17,1.30,0.00,0.000,6,0.200,0.031,2076,2925,1034,0,0,0,0,0,0
$GC,14033,0.53,112.1,209.3,12.7,921,14036,0.00,1.42,0.00,0.000,4,0.000,0.057,2075,3808,1034,0,0,0,0,0,0
$GC,14181,0.51,112.1,188.4,13.4,934,14185,0.00,1.30,0.00,0.000,6,0.000,0.031,2081,2924,1034,0,0,0,0,0,0
$GC,14514,0.52,112.1,146.3,13.7,965,14517,0.00,1.42,0.00,0.000,4,0.000,0.057,2081,3809,1034,0,0,0,0,0,0
$GC,14564,0.49,112.1,138.9,13.5,969,14570,0.00,1.30,0.00,0.000,6,0.000,0.031,2087,2926,1034,0,0,0,0,0,0
$GC,14889,0.49,112.1,97.6,12.4,1001,14895,0.00,1.42,0.00,0.000,4,0.000,0.057,2087,3812,1034,0,0,0,0,0,0
$GC,14955,0.44,112.1,88.7,14.6,1012,14963,0.15,1.33,0.00,0.000,6,0.181,0.031,2051,2908,1034,0,0,0,0,0,0
$GC,15305,0.52,112.1,53.0,9.6,1073,15312,0.00,1.45,0.00,0.000,4,0.000,0.057,2051,3810,1034,0,0,0,0,0,0
$GC,15372,0.55,112.1,45.4,12.4,1084,15379,0.00,1.30,0.00,0.000,6,0.000,0.031,2056,2923,1034,0,0,0,0,0,0
$GC,15733,0.62,112.1,7.4,10.2,1145,15742,0.12,0.00,0.00,0.000,6,0.097,0.000,2116,2923,1034,0,0,0,0,0,0
$STATE,15772,end climb,SURFACE_DEPTH_REACHED
$STATE,15772,begin surface coast
$FINISH,1.4,1.026495
$STATE,15797,end surface coast,CONTROL_FINISHED_OK
$STATE,15797,begin surface
$SM_CCo,15810,40.15,0.140,0,0,682,200.16
$SM_GC,2.74,0.00,0.00,40.15,0.000,0.000,0.140,77,3225,682,-5.71,0.45,200.16
$IRIDIUM_FIX,-4239.11,824.86,210608,131300
$TT8_MAMPS,0.027713
$HUMID,62.48
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.3,29.514
$10V_AH,10.2,17.187
$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,15.250,85.325,231.450,40.150,0.000,51.839,62.978,479.142,0.000,0.000,17.756,2887.034,9898.035,403.334,3266.315,189.640,0.000,1527.865,0.000,2631.041,0.000,0.545,0.000
$DEVICE_MAMPS,242.505,81.090,1928.565,139.995,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,802.056,812.338,877.574,86.171,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353928
$DATA_FILE_SIZE,66887,1155
$CAP_FILE_SIZE,161831,0
$CFSIZE,259252224,247201792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260815,043503,-4255.479,824.551,38,0.8,38,-25.0