version: 66.07
glider: 543
mission: 14
dive: 156
start: 8 27 115 20 51 45
data:
$ID,543
$MISSION,14
$DIVE,156
$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,-24602.619
$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,59
$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,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
$GPS1,270815,204257,-4255.515,836.226,82,1.0,82,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-72.0
$GPS2,270815,205122,-4255.436,836.351,15,1.7,16,-25.1
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAZ_BUT3
$TGT_LATLONG,-4256.000,836.000
$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,229.6,1147,-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,-45.62,0.000,6,0.000,0.000,63,3222,1704,0,0,0,0,0,0
$GC,67,-0.60,-106.7,3.0,-2.0,6,86,6.80,1.23,-7.10,0.000,4,0.235,0.080,1701,3961,1935,0,0,0,0,0,0
$GC,164,-0.51,-106.7,20.8,-19.4,21,174,0.10,1.12,0.00,0.000,6,0.173,0.031,1730,3204,1937,0,0,0,0,0,0
$GC,317,-0.51,-106.7,43.3,-14.5,46,323,0.00,0.00,0.00,0.000,6,0.000,0.000,1730,3204,1938,0,0,0,0,0,0
$GC,665,-0.51,-106.7,91.4,-14.2,107,671,0.00,0.00,0.00,0.000,6,0.000,0.000,1730,3204,1938,0,0,0,0,0,0
$GC,999,-0.51,-106.7,137.9,-14.5,144,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,1730,3204,1937,0,0,0,0,0,0
$GC,1320,-0.51,-106.7,179.6,-12.7,174,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,1730,3204,1937,0,0,0,0,0,0
$GC,1637,-0.52,-106.7,221.5,-13.2,204,1640,0.00,1.20,0.00,0.000,4,0.000,0.057,1726,3959,1938,0,0,0,0,0,0
$GC,1705,-0.52,-106.7,231.5,-14.2,210,1709,0.00,1.10,0.00,0.000,6,0.000,0.031,1726,3202,1937,0,0,0,0,0,0
$GC,2038,-0.52,-106.7,275.0,-13.2,241,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,1726,3202,1938,0,0,0,0,0,0
$GC,2364,-0.52,-106.7,318.0,-13.6,272,2367,0.00,1.20,0.00,0.000,4,0.000,0.057,1721,3959,1938,0,0,0,0,0,0
$GC,2443,-0.51,-106.7,329.6,-14.9,279,2447,0.00,1.08,0.00,0.000,6,0.000,0.031,1721,3218,1937,0,0,0,0,0,0
$GC,2773,-0.51,-106.7,375.5,-13.3,310,2774,0.00,0.00,0.00,0.000,6,0.000,0.000,1721,3218,1937,0,0,0,0,0,0
$GC,3088,-0.51,-106.7,417.5,-13.4,334,3092,0.00,1.17,0.00,0.000,4,0.000,0.057,1715,3959,1937,0,0,0,0,0,0
$GC,3134,-0.48,-106.7,423.9,-14.7,336,3138,0.08,1.10,0.00,0.000,6,0.159,0.032,1738,3204,1937,0,0,0,0,0,0
$GC,3465,-0.53,-106.7,464.5,-12.1,352,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,1738,3205,1937,0,0,0,0,0,0
$GC,3775,-0.58,-106.7,503.0,-12.4,367,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,1738,3204,1938,0,0,0,0,0,0
$GC,4084,-0.63,-106.7,539.8,-11.5,382,4086,0.12,0.00,0.00,0.000,6,0.098,0.000,1683,3205,1937,0,0,0,0,0,0
$GC,4393,-0.57,-106.7,587.6,-15.7,397,4398,0.12,1.20,0.00,0.000,4,0.189,0.057,1709,3950,1938,0,0,0,0,0,0
$GC,4461,-0.54,-106.7,597.6,-14.5,400,4465,0.00,1.08,0.00,0.000,6,0.000,0.034,1709,3214,1937,0,0,0,0,0,0
$GC,4793,-0.54,-106.7,641.0,-12.2,416,4797,0.00,1.30,0.00,0.000,4,0.000,0.030,1709,2302,1937,0,0,0,0,0,0
$GC,4831,-0.58,-106.7,645.4,-10.5,417,4839,0.00,1.45,0.00,0.000,6,0.000,0.052,1703,3207,1937,0,0,0,0,0,0
$GC,5147,-0.58,-106.7,683.3,-12.1,433,5148,0.00,0.00,0.00,0.000,6,0.000,0.000,1702,3207,1938,0,0,0,0,0,0
$GC,5456,-0.58,-106.7,721.7,-12.4,448,5460,0.00,1.17,0.00,0.000,4,0.000,0.058,1697,3958,1938,0,0,0,0,0,0
$GC,5636,-0.54,-106.7,746.3,-13.1,456,5640,0.08,1.10,0.00,0.000,6,0.163,0.033,1719,3209,1937,0,0,0,0,0,0
$GC,5969,-0.57,-106.7,781.8,-10.4,472,5972,0.00,1.20,0.00,0.000,4,0.000,0.060,1716,3949,1937,0,0,0,0,0,0
$GC,6006,-0.57,-106.7,786.3,-11.9,473,6014,0.00,1.10,0.00,0.000,6,0.000,0.033,1716,3204,1937,0,0,0,0,0,0
$GC,6323,-0.60,-106.7,820.6,-10.9,489,6326,0.00,1.17,0.00,0.000,4,0.000,0.059,1711,3945,1938,0,0,0,0,0,0
$GC,6390,-0.60,-106.7,829.2,-12.5,492,6394,0.00,1.08,0.00,0.000,6,0.000,0.034,1711,3211,1937,0,0,0,0,0,0
$GC,6722,-0.60,-106.7,869.5,-12.1,508,6723,0.00,0.00,0.00,0.000,6,0.000,0.000,1710,3210,1938,0,0,0,0,0,0
$GC,7032,-0.61,-106.7,906.8,-12.3,523,7033,0.00,0.00,0.00,0.000,6,0.000,0.000,1710,3210,1937,0,0,0,0,0,0
$GC,7341,-0.63,-106.7,945.4,-12.6,538,7342,0.00,0.00,0.00,0.000,6,0.000,0.000,1710,3210,1937,0,0,0,0,0,0
$GC,7650,-0.65,-106.7,984.3,-12.7,553,7654,0.00,1.17,0.00,0.000,4,0.000,0.059,1704,3946,1938,0,0,0,0,0,0
$GC,7744,-0.65,-106.7,997.2,-13.7,557,7749,0.00,1.10,0.00,0.000,6,0.000,0.033,1705,3210,1938,0,0,0,0,0,0
$STATE,7781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7781,begin apogee
$GC,7786,-0.09,0.0,1001.9,12.8,559,7905,0.57,0.00,114.35,1.911,6,0.153,0.000,1872,2924,1500,0,0,0,0,0,0
$STATE,7906,end apogee,CONTROL_FINISHED_OK
$STATE,7906,begin climb
$GC,7907,0.60,106.7,1006.3,0.0,565,8022,0.68,0.00,110.32,1.851,6,0.090,0.000,2090,2924,1064,0,0,0,0,0,0
$GC,8321,0.57,106.7,954.2,14.6,585,8324,0.00,1.50,0.00,0.000,4,0.000,0.058,2091,3805,1059,0,0,0,0,0,0
$GC,8420,0.49,106.7,937.1,17.3,589,8426,0.10,1.35,0.00,0.000,6,0.205,0.030,2072,2910,1058,0,0,0,0,0,0
$GC,8742,0.49,106.7,894.4,13.1,605,8746,0.00,1.45,0.00,0.000,4,0.000,0.058,2072,3795,1057,0,0,0,0,0,0
$GC,8797,0.45,106.7,886.4,14.5,607,8801,0.00,1.30,0.00,0.000,6,0.000,0.031,2077,2926,1056,0,0,0,0,0,0
$GC,9119,0.45,106.7,843.0,13.6,623,9122,0.00,1.45,0.00,0.000,4,0.000,0.057,2077,3809,1056,0,0,0,0,0,0
$GC,9179,0.39,106.7,833.4,16.0,625,9187,0.17,1.33,0.00,0.000,6,0.192,0.031,2036,2922,1056,0,0,0,0,0,0
$GC,9495,0.46,106.7,800.5,10.0,641,9499,0.00,1.45,0.00,0.000,4,0.000,0.059,2036,3803,1056,0,0,0,0,0,0
$GC,9573,0.48,106.7,791.6,12.1,644,9577,0.00,1.33,0.00,0.000,6,0.000,0.031,2041,2919,1055,0,0,0,0,0,0
$GC,9895,0.54,106.7,758.5,10.5,660,9899,0.12,1.45,0.00,0.000,4,0.103,0.059,2091,3806,1055,0,0,0,0,0,0
$GC,10023,0.47,106.7,738.2,16.1,665,10030,0.12,1.33,0.00,0.000,6,0.197,0.031,2063,2920,1055,0,0,0,0,0,0
$GC,10338,0.49,106.7,696.9,13.2,681,10342,0.00,1.42,0.00,0.000,4,0.000,0.058,2063,3799,1055,0,0,0,0,0,0
$GC,10505,0.47,106.7,671.9,15.1,688,10510,0.00,1.30,0.00,0.000,6,0.000,0.031,2068,2922,1055,0,0,0,0,0,0
$GC,10827,0.48,106.7,629.5,13.2,704,10828,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2922,1055,0,0,0,0,0,0
$GC,11136,0.50,106.7,589.8,12.6,719,11137,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,2922,1055,0,0,0,0,0,0
$GC,11445,0.52,106.7,551.5,12.1,734,11449,0.00,1.42,0.00,0.000,4,0.000,0.059,2068,3799,1055,0,0,0,0,0,0
$GC,11648,0.49,106.7,523.6,13.2,743,11651,0.00,1.30,0.00,0.000,6,0.000,0.031,2075,2922,1054,0,0,0,0,0,0
$GC,11980,0.49,106.7,483.7,12.5,759,11983,0.00,1.42,0.00,0.000,4,0.000,0.058,2075,3801,1054,0,0,0,0,0,0
$GC,12018,0.45,106.7,478.2,14.6,760,12026,0.10,1.30,0.00,0.000,6,0.189,0.031,2053,2921,1054,0,0,0,0,0,0
$GC,12334,0.50,106.7,444.0,10.5,776,12337,0.00,1.42,0.00,0.000,4,0.000,0.058,2053,3800,1054,0,0,0,0,0,0
$GC,12411,0.50,106.7,434.3,12.7,779,12416,0.00,1.30,0.00,0.000,6,0.000,0.031,2058,2922,1054,0,0,0,0,0,0
$GC,12733,0.54,106.7,398.8,11.0,795,12737,0.00,1.42,0.00,0.000,4,0.000,0.058,2058,3803,1054,0,0,0,0,0,0
$GC,12824,0.54,106.7,386.4,13.9,803,12828,0.00,1.30,0.00,0.000,6,0.000,0.031,2065,2920,1053,0,0,0,0,0,0
$GC,13154,0.57,106.7,345.6,12.0,834,13155,0.00,0.00,0.00,0.000,6,0.000,0.000,2065,2919,1054,0,0,0,0,0,0
$GC,13474,0.60,106.7,307.4,11.8,864,13477,0.00,1.42,0.00,0.000,4,0.000,0.058,2065,3801,1054,0,0,0,0,0,0
$GC,13591,0.57,106.7,290.5,13.7,874,13599,0.00,1.30,0.00,0.000,6,0.000,0.031,2071,2919,1054,0,0,0,0,0,0
$GC,13919,0.59,106.7,250.4,11.9,905,13922,0.00,1.42,0.00,0.000,4,0.000,0.057,2072,3806,1054,0,0,0,0,0,0
$GC,13979,0.56,106.7,241.5,13.8,910,13987,0.00,1.30,0.00,0.000,6,0.000,0.031,2078,2922,1054,0,0,0,0,0,0
$GC,14308,0.56,106.7,200.1,12.4,941,14312,0.00,1.42,0.00,0.000,4,0.000,0.057,2078,3803,1054,0,0,0,0,0,0
$GC,14456,0.53,106.7,177.3,14.9,954,14460,0.00,1.30,0.00,0.000,6,0.000,0.031,2085,2921,1054,0,0,0,0,0,0
$GC,14788,0.53,106.7,132.1,13.3,985,14791,0.00,1.42,0.00,0.000,4,0.000,0.057,2085,3801,1054,0,0,0,0,0,0
$GC,14927,0.48,106.7,110.9,14.9,997,14931,0.10,1.30,0.00,0.000,6,0.187,0.031,2064,2918,1054,0,0,0,0,0,0
$GC,15269,0.52,106.7,74.4,10.1,1049,15274,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2917,1054,0,0,0,0,0,0
$GC,15621,0.58,106.7,36.5,10.7,1110,15629,0.00,0.00,0.00,0.000,6,0.000,0.000,2064,2917,1054,0,0,0,0,0,0
$GC,15773,0.62,106.7,22.1,9.4,1135,15783,0.12,1.42,0.00,0.000,4,0.098,0.059,2122,3797,1054,0,0,0,0,0,0
$GC,15809,0.58,106.7,18.6,9.8,1140,15819,0.10,1.27,0.00,0.000,6,0.195,0.029,2101,2923,1054,0,0,0,0,0,0
$GC,15868,0.56,106.7,11.3,13.0,1149,15876,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,2923,1054,0,0,0,0,0,0
$STATE,15924,end climb,SURFACE_DEPTH_REACHED
$STATE,15924,begin surface coast
$FINISH,1.0,1.026509
$STATE,15949,end surface coast,CONTROL_FINISHED_OK
$STATE,15950,begin surface
$SM_CCo,15962,61.00,0.416,1,0,681,200.16
$SM_GC,2.40,0.00,0.00,61.00,0.000,0.000,0.416,53,3228,681,-5.79,0.51,200.16
$IRIDIUM_FIX,-4239.11,839.41,230608,050505
$TT8_MAMPS,0.027713
$HUMID,61.18
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.2,30.970
$10V_AH,10.2,18.213
$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,15.025,65.350,224.675,61.000,0.000,26.458,61.145,301.001,0.000,0.000,17.940,2887.390,10005.489,406.877,3053.644,180.298,0.000,1517.495,0.000,2645.063,0.000,0.546,0.000
$DEVICE_MAMPS,234.855,79.560,1910.970,416.160,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,808.033,816.434,867.697,86.791,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353924
$DATA_FILE_SIZE,66901,1162
$CAP_FILE_SIZE,151464,0
$CFSIZE,259252224,246472704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2
$GPS,280815,012120,-4256.871,835.976,100,1.4,112,-25.1