version: 66.07
glider: 543
mission: 14
dive: 149
start: 8 26 115 9 12 33
data:
$ID,543
$MISSION,14
$DIVE,149
$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,-24578.105
$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,57
$R_STBD_OVSHOOT,24
$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
$GPS1,260815,090404,-4256.477,823.286,28,1.1,28,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-75.4
$GPS2,260815,091210,-4256.473,823.331,20,1.2,20,-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,71.0,1261,-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,15,-0.54,-49.8,0.0,0.0,0,65,0.00,0.00,-44.72,0.000,6,0.000,0.000,60,3213,1704,0,0,0,0,0,0
$GC,67,-0.60,-109.0,3.0,-1.7,6,85,6.68,1.38,-7.53,0.000,4,0.228,0.053,1703,2300,1946,0,0,0,0,0,0
$GC,246,-0.60,-109.0,29.8,-15.8,35,255,0.00,1.50,0.00,0.000,6,0.000,0.052,1697,3214,1947,0,0,0,0,0,0
$GC,394,-0.53,-109.0,55.9,-18.1,60,404,0.12,1.20,0.00,0.000,4,0.192,0.056,1723,3957,1948,0,0,0,0,0,0
$GC,458,-0.49,-109.0,66.8,-17.2,70,465,0.00,1.10,0.00,0.000,6,0.000,0.031,1723,3213,1948,0,0,0,0,0,0
$GC,801,-0.47,-109.0,121.5,-15.2,119,804,0.00,1.17,0.00,0.000,4,0.000,0.056,1718,3949,1948,0,0,0,0,0,0
$GC,826,-0.44,-109.0,125.3,-16.1,121,830,0.12,1.10,0.00,0.000,6,0.166,0.031,1754,3209,1948,0,0,0,0,0,0
$GC,1156,-0.50,-109.0,165.4,-11.5,152,1160,0.00,1.20,0.00,0.000,4,0.000,0.058,1750,3944,1948,0,0,0,0,0,0
$GC,1191,-0.54,-109.0,169.6,-12.9,155,1195,0.00,1.10,0.00,0.000,6,0.000,0.032,1749,3197,1948,0,0,0,0,0,0
$GC,1521,-0.60,-109.0,208.5,-11.9,186,1523,0.12,0.00,0.00,0.000,6,0.097,0.000,1695,3196,1948,0,0,0,0,0,0
$GC,1840,-0.55,-109.0,259.0,-15.8,216,1844,0.12,1.23,0.00,0.000,4,0.184,0.057,1720,3955,1948,0,0,0,0,0,0
$GC,1931,-0.54,-109.0,272.4,-14.6,224,1934,0.00,1.10,0.00,0.000,6,0.000,0.032,1721,3203,1948,0,0,0,0,0,0
$GC,2260,-0.54,-109.0,316.9,-13.0,255,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,1721,3203,1948,0,0,0,0,0,0
$GC,2582,-0.54,-109.0,360.0,-13.4,285,2583,0.00,0.00,0.00,0.000,6,0.000,0.000,1721,3203,1948,0,0,0,0,0,0
$GC,2899,-0.54,-109.0,402.8,-13.8,314,2900,0.00,0.00,0.00,0.000,6,0.000,0.000,1721,3204,1948,0,0,0,0,0,0
$GC,3206,-0.54,-109.0,445.4,-13.4,329,3209,0.00,1.17,0.00,0.000,4,0.000,0.057,1715,3942,1948,0,0,0,0,0,0
$GC,3278,-0.52,-109.0,455.9,-14.0,332,3282,0.00,1.08,0.00,0.000,6,0.000,0.032,1715,3213,1948,0,0,0,0,0,0
$GC,3605,-0.52,-109.0,499.5,-13.2,348,3606,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,3213,1948,0,0,0,0,0,0
$GC,3914,-0.52,-109.0,537.7,-11.9,363,3917,0.00,1.17,0.00,0.000,4,0.000,0.057,1710,3954,1948,0,0,0,0,0,0
$GC,3952,-0.49,-109.0,542.7,-12.6,364,3960,0.10,1.10,0.00,0.000,6,0.163,0.031,1739,3210,1948,0,0,0,0,0,0
$GC,4268,-0.55,-109.0,574.4,-10.2,380,4272,0.00,1.17,0.00,0.000,4,0.000,0.058,1735,3952,1948,0,0,0,0,0,0
$GC,4301,-0.58,-109.0,578.4,-11.9,381,4305,0.00,1.10,0.00,0.000,6,0.000,0.032,1735,3201,1948,0,0,0,0,0,0
$GC,4623,-0.63,-109.0,614.0,-11.2,397,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,1735,3200,1948,0,0,0,0,0,0
$GC,4932,-0.68,-109.0,648.0,-10.8,412,4936,0.15,1.20,0.00,0.000,4,0.093,0.058,1666,3942,1948,0,0,0,0,0,0
$GC,5054,-0.56,-109.0,669.3,-19.0,417,5059,0.15,1.08,0.00,0.000,6,0.170,0.032,1711,3218,1948,0,0,0,0,0,0
$GC,5374,-0.56,-109.0,711.7,-12.4,433,5378,0.00,1.15,0.00,0.000,4,0.000,0.058,1707,3944,1949,0,0,0,0,0,0
$GC,5407,-0.55,-109.0,716.2,-14.0,434,5411,0.00,1.10,0.00,0.000,6,0.000,0.032,1707,3197,1949,0,0,0,0,0,0
$GC,5728,-0.55,-109.0,756.7,-12.5,450,5730,0.00,0.00,0.00,0.000,6,0.000,0.000,1707,3197,1949,0,0,0,0,0,0
$GC,6037,-0.55,-109.0,796.0,-13.0,465,6039,0.00,0.00,0.00,0.000,6,0.000,0.000,1706,3197,1948,0,0,0,0,0,0
$GC,6347,-0.55,-109.0,834.8,-12.6,480,6350,0.00,1.20,0.00,0.000,4,0.000,0.059,1701,3950,1949,0,0,0,0,0,0
$GC,6430,-0.52,-109.0,846.5,-14.7,483,6438,0.10,1.10,0.00,0.000,6,0.162,0.034,1731,3216,1949,0,0,0,0,0,0
$GC,6746,-0.58,-109.0,878.8,-9.8,499,6750,0.00,1.17,0.00,0.000,4,0.000,0.060,1727,3954,1949,0,0,0,0,0,0
$GC,6791,-0.62,-109.0,883.8,-11.2,501,6795,0.00,1.10,0.00,0.000,6,0.000,0.034,1727,3204,1949,0,0,0,0,0,0
$GC,7123,-0.67,-109.0,919.3,-10.7,517,7125,0.12,0.00,0.00,0.000,6,0.103,0.000,1673,3204,1948,0,0,0,0,0,0
$GC,7432,-0.62,-109.0,963.0,-14.5,532,7436,0.12,1.20,0.00,0.000,4,0.188,0.059,1699,3946,1948,0,0,0,0,0,0
$GC,7464,-0.59,-109.0,967.9,-13.8,533,7469,0.00,1.10,0.00,0.000,6,0.000,0.033,1699,3210,1949,0,0,0,0,0,0
$STATE,7743,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7743,begin apogee
$GC,7748,-0.09,0.0,1001.2,11.7,547,7867,0.60,0.00,113.38,1.944,6,0.156,0.000,1872,2927,1499,0,0,0,0,0,0
$STATE,7867,end apogee,CONTROL_FINISHED_OK
$STATE,7868,begin climb
$GC,7869,0.60,109.0,1003.6,0.0,553,7989,0.68,1.45,112.93,1.886,4,0.089,0.031,2099,2051,1053,0,0,0,0,0,0
$GC,8035,0.60,109.0,985.4,15.1,560,8038,0.00,1.50,0.00,0.000,6,0.000,0.048,2099,2914,1052,0,0,0,0,0,0
$GC,8367,0.57,109.0,933.8,15.1,576,8371,0.00,1.45,0.00,0.000,4,0.000,0.057,2099,3801,1050,0,0,0,0,0,0
$GC,8450,0.48,109.0,919.7,16.5,579,8458,0.12,1.35,0.00,0.000,6,0.202,0.030,2073,2917,1049,0,0,0,0,0,0
$GC,8766,0.48,109.0,880.1,13.0,595,8769,0.00,1.45,0.00,0.000,4,0.000,0.057,2073,3805,1048,0,0,0,0,0,0
$GC,8843,0.44,109.0,868.2,16.4,598,8848,0.08,1.33,0.00,0.000,6,0.200,0.031,2058,2920,1047,0,0,0,0,0,0
$GC,9164,0.47,109.0,827.5,12.5,614,9168,0.00,1.45,0.00,0.000,4,0.000,0.058,2057,3811,1047,0,0,0,0,0,0
$GC,9326,0.46,109.0,803.6,14.7,621,9331,0.00,1.33,0.00,0.000,6,0.000,0.031,2063,2925,1047,0,0,0,0,0,0
$GC,9655,0.48,109.0,760.6,13.1,637,9657,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2925,1046,0,0,0,0,0,0
$GC,9963,0.51,109.0,720.9,12.4,652,9964,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2925,1047,0,0,0,0,0,0
$GC,10272,0.54,109.0,682.9,11.9,667,10276,0.00,1.45,0.00,0.000,4,0.000,0.059,2062,3812,1046,0,0,0,0,0,0
$GC,10385,0.51,109.0,666.8,15.1,672,10389,0.00,1.33,0.00,0.000,6,0.000,0.031,2070,2924,1046,0,0,0,0,0,0
$GC,10718,0.53,109.0,626.0,12.3,688,10721,0.00,1.42,0.00,0.000,4,0.000,0.059,2069,3801,1046,0,0,0,0,0,0
$GC,10840,0.49,109.0,608.2,14.3,693,10844,0.00,1.30,0.00,0.000,6,0.000,0.031,2076,2926,1046,0,0,0,0,0,0
$GC,11161,0.49,109.0,565.9,13.9,709,11165,0.00,1.42,0.00,0.000,4,0.000,0.058,2076,3802,1046,0,0,0,0,0,0
$GC,11256,0.45,109.0,550.8,16.7,713,11261,0.10,1.30,0.00,0.000,6,0.196,0.031,2055,2925,1046,0,0,0,0,0,0
$GC,11584,0.49,109.0,509.6,12.6,729,11587,0.00,1.42,0.00,0.000,4,0.000,0.059,2055,3810,1046,0,0,0,0,0,0
$GC,11622,0.49,109.0,503.8,14.9,730,11629,0.00,1.30,0.00,0.000,6,0.000,0.031,2061,2928,1045,0,0,0,0,0,0
$GC,11938,0.53,109.0,459.1,13.8,746,11942,0.00,1.42,0.00,0.000,4,0.000,0.059,2060,3806,1045,0,0,0,0,0,0
$GC,12043,0.53,109.0,442.6,16.5,750,12050,0.00,1.30,0.00,0.000,6,0.000,0.031,2067,2926,1045,0,0,0,0,0,0
$GC,12359,0.56,109.0,400.2,12.9,766,12363,0.00,1.42,0.00,0.000,4,0.000,0.058,2067,3805,1045,0,0,0,0,0,0
$GC,12472,0.54,109.0,383.6,14.0,775,12476,0.00,1.30,0.00,0.000,6,0.000,0.031,2074,2926,1045,0,0,0,0,0,0
$GC,12803,0.55,109.0,342.2,11.7,806,12806,0.00,1.42,0.00,0.000,4,0.000,0.058,2074,3806,1045,0,0,0,0,0,0
$GC,12916,0.52,109.0,326.4,14.3,816,12920,0.00,1.30,0.00,0.000,6,0.000,0.031,2080,2927,1045,0,0,0,0,0,0
$GC,13246,0.52,109.0,285.9,12.4,847,13250,0.00,1.42,0.00,0.000,4,0.000,0.057,2080,3807,1045,0,0,0,0,0,0
$GC,13284,0.48,109.0,280.5,14.0,850,13292,0.00,1.30,0.00,0.000,6,0.000,0.031,2087,2928,1045,0,0,0,0,0,0
$GC,13613,0.48,109.0,238.4,13.2,881,13616,0.00,1.42,0.00,0.000,4,0.000,0.058,2087,3806,1045,0,0,0,0,0,0
$GC,13761,0.42,109.0,215.5,15.3,894,13765,0.17,1.30,0.00,0.000,6,0.189,0.031,2045,2928,1046,0,0,0,0,0,0
$GC,14093,0.49,109.0,180.0,10.0,925,14096,0.00,1.42,0.00,0.000,4,0.000,0.058,2045,3811,1045,0,0,0,0,0,0
$GC,14153,0.52,109.0,172.6,12.2,930,14161,0.00,1.30,0.00,0.000,6,0.000,0.031,2050,2924,1045,0,0,0,0,0,0
$GC,14482,0.59,109.0,137.2,10.8,961,14486,0.12,1.42,0.00,0.000,4,0.094,0.058,2110,3805,1045,0,0,0,0,0,0
$GC,14589,0.51,109.0,119.4,16.7,970,14596,0.15,1.30,0.00,0.000,6,0.196,0.031,2076,2925,1045,0,0,0,0,0,0
$GC,14926,0.54,109.0,79.8,11.7,1016,14932,0.00,1.42,0.00,0.000,4,0.000,0.057,2075,3812,1045,0,0,0,0,0,0
$GC,15026,0.52,109.0,66.3,13.9,1033,15033,0.00,1.30,0.00,0.000,6,0.000,0.031,2081,2925,1045,0,0,0,0,0,0
$GC,15381,0.54,109.0,22.4,13.4,1094,15390,0.00,1.40,0.00,0.000,4,0.000,0.056,2080,3802,1045,0,0,0,0,0,0
$GC,15446,0.51,109.0,13.7,13.7,1104,15455,0.00,1.30,0.00,0.000,6,0.000,0.030,2087,2915,1045,0,0,0,0,0,0
$GC,15504,0.51,109.0,6.4,12.2,1113,15512,0.00,0.00,0.00,0.000,6,0.000,0.000,2087,2915,1045,0,0,0,0,0,0
$STATE,15530,end climb,SURFACE_DEPTH_REACHED
$STATE,15530,begin surface coast
$FINISH,1.3,1.006342
$STATE,15556,end surface coast,CONTROL_FINISHED_OK
$STATE,15556,begin surface
$SM_CCo,15568,52.70,0.459,1,0,682,200.16
$SM_GC,2.14,0.00,0.00,52.70,0.000,0.000,0.459,73,3230,682,-5.72,0.59,200.16
$IRIDIUM_FIX,-4239.11,821.53,210608,181804
$TT8_MAMPS,0.027713
$HUMID,61.93
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,22.3,29.812
$10V_AH,10.2,17.395
$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,15.350,77.925,226.300,52.700,0.000,27.058,51.057,287.794,0.000,0.000,22.854,2800.626,9790.677,398.391,2938.185,184.597,0.000,1490.904,0.000,2545.604,0.000,0.544,0.000
$DEVICE_MAMPS,227.970,62.730,1943.865,459.000,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,778.020,799.575,827.895,78.850,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353900
$DATA_FILE_SIZE,63625,1121
$CAP_FILE_SIZE,152064,0
$CFSIZE,259252224,247058432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,260815,133434,-4254.879,825.812,60,0.8,60,-25.0