version: 66.07
glider: 543
mission: 14
dive: 202
start: 9 7 115 15 9 17
data:
$ID,543
$MISSION,14
$DIVE,202
$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,-24766.918
$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,73
$R_STBD_OVSHOOT,30
$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
$GPS1,070915,150035,-4254.825,823.986,46,0.9,46,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-70.2
$GPS2,070915,150854,-4254.778,824.035,39,1.3,39,-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,206.2,2263,-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,-44.75,0.000,6,0.000,0.000,62,3224,1703,0,0,0,0,0,0
$GC,67,-0.60,-108.8,3.0,-1.8,6,93,6.88,1.20,-7.75,0.000,4,0.236,0.080,1699,3950,1945,0,0,0,0,0,0
$GC,136,-0.52,-108.8,13.7,-16.0,16,146,0.10,1.08,0.00,0.000,6,0.169,0.031,1728,3227,1946,0,0,0,0,0,0
$GC,196,-0.50,-108.8,23.0,-16.1,25,204,0.00,0.00,0.00,0.000,6,0.000,0.000,1728,3227,1946,0,0,0,0,0,0
$GC,344,-0.50,-108.8,45.9,-14.6,50,351,0.00,1.15,0.00,0.000,4,0.000,0.054,1724,3947,1946,0,0,0,0,0,0
$GC,386,-0.48,-108.8,52.2,-15.2,57,394,0.00,1.10,0.00,0.000,6,0.000,0.030,1724,3199,1946,0,0,0,0,0,0
$GC,740,-0.48,-108.8,105.2,-15.1,116,744,0.00,1.27,0.00,0.000,4,0.000,0.027,1724,2305,1946,0,0,0,0,0,0
$GC,824,-0.52,-108.8,117.1,-12.9,123,831,0.00,1.45,0.00,0.000,6,0.000,0.049,1718,3202,1946,0,0,0,0,0,0
$GC,1150,-0.50,-108.8,165.8,-15.0,154,1153,0.00,1.17,0.00,0.000,4,0.000,0.054,1712,3956,1946,0,0,0,0,0,0
$GC,1335,-0.47,-108.8,194.8,-14.5,170,1344,0.12,1.10,0.00,0.000,6,0.155,0.029,1750,3216,1947,0,0,0,0,0,0
$GC,1665,-0.53,-108.8,229.0,-10.3,201,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,1750,3216,1946,0,0,0,0,0,0
$GC,1990,-0.59,-108.8,261.6,-9.7,232,1992,0.10,0.00,0.00,0.000,6,0.112,0.000,1701,3216,1946,0,0,0,0,0,0
$GC,2308,-0.56,-108.8,304.8,-13.8,262,2312,0.00,1.17,0.00,0.000,4,0.000,0.054,1696,3960,1946,0,0,0,0,0,0
$GC,2422,-0.51,-108.8,321.5,-14.6,272,2426,0.12,1.10,0.00,0.000,6,0.158,0.030,1733,3210,1946,0,0,0,0,0,0
$GC,2752,-0.54,-108.8,359.1,-11.1,303,2753,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,3210,1946,0,0,0,0,0,0
$GC,3073,-0.58,-108.8,394.8,-11.9,333,3074,0.00,0.00,0.00,0.000,6,0.000,0.000,1733,3210,1946,0,0,0,0,0,0
$GC,3392,-0.62,-108.8,432.7,-11.8,351,3395,0.00,1.17,0.00,0.000,4,0.000,0.056,1729,3954,1946,0,0,0,0,0,0
$GC,3514,-0.65,-108.8,448.6,-12.6,356,3519,0.00,1.10,0.00,0.000,6,0.000,0.030,1729,3196,1946,0,0,0,0,0,0
$GC,3836,-0.68,-108.8,486.4,-11.6,372,3838,0.12,0.00,0.00,0.000,6,0.099,0.000,1672,3196,1946,0,0,0,0,0,0
$GC,4145,-0.61,-108.8,535.2,-15.8,387,4149,0.12,1.23,0.00,0.000,4,0.189,0.055,1698,3958,1946,0,0,0,0,0,0
$GC,4240,-0.57,-108.8,550.1,-15.3,391,4244,0.00,1.10,0.00,0.000,6,0.000,0.030,1698,3200,1946,0,0,0,0,0,0
$GC,4567,-0.55,-108.8,595.6,-13.9,407,4571,0.00,1.20,0.00,0.000,4,0.000,0.055,1692,3959,1946,0,0,0,0,0,0
$GC,4661,-0.49,-108.8,610.1,-15.0,411,4666,0.15,1.10,0.00,0.000,6,0.161,0.030,1737,3213,1946,0,0,0,0,0,0
$GC,4989,-0.55,-108.8,644.0,-10.1,427,4990,0.00,0.00,0.00,0.000,6,0.000,0.000,1737,3213,1946,0,0,0,0,0,0
$GC,5298,-0.61,-108.8,674.5,-10.0,442,5301,0.00,1.17,0.00,0.000,4,0.000,0.057,1733,3954,1947,0,0,0,0,0,0
$GC,5343,-0.65,-108.8,679.5,-11.2,444,5348,0.08,1.10,0.00,0.000,6,0.069,0.031,1689,3203,1947,0,0,0,0,0,0
$GC,5676,-0.62,-108.8,726.7,-14.6,460,5677,0.00,0.00,0.00,0.000,6,0.000,0.000,1689,3203,1947,0,0,0,0,0,0
$GC,5985,-0.59,-108.8,770.3,-13.6,475,5989,0.00,1.20,0.00,0.000,4,0.000,0.055,1683,3959,1947,0,0,0,0,0,0
$GC,6053,-0.53,-108.8,780.4,-15.3,478,6058,0.15,1.10,0.00,0.000,6,0.160,0.031,1727,3214,1947,0,0,0,0,0,0
$GC,6387,-0.58,-108.8,815.4,-10.5,494,6390,0.00,1.17,0.00,0.000,4,0.000,0.057,1723,3952,1947,0,0,0,0,0,0
$GC,6419,-0.60,-108.8,819.5,-12.2,495,6424,0.00,1.10,0.00,0.000,6,0.000,0.031,1723,3202,1947,0,0,0,0,0,0
$GC,6741,-0.65,-108.8,854.3,-10.7,511,6745,0.00,1.20,0.00,0.000,4,0.000,0.057,1718,3956,1947,0,0,0,0,0,0
$GC,6802,-0.67,-108.8,861.7,-11.8,513,6809,0.00,1.10,0.00,0.000,6,0.000,0.031,1718,3206,1947,0,0,0,0,0,0
$GC,7118,-0.70,-108.8,896.8,-11.0,529,7122,0.12,1.20,0.00,0.000,4,0.101,0.057,1655,3949,1947,0,0,0,0,0,0
$GC,7178,-0.60,-108.8,906.3,-16.5,531,7186,0.17,1.08,0.00,0.000,6,0.173,0.031,1706,3218,1947,0,0,0,0,0,0
$GC,7494,-0.61,-108.8,946.2,-12.3,547,7497,0.00,1.17,0.00,0.000,4,0.000,0.057,1702,3957,1947,0,0,0,0,0,0
$GC,7639,-0.61,-108.8,966.0,-14.1,553,7643,0.00,1.10,0.00,0.000,6,0.000,0.031,1702,3203,1947,0,0,0,0,0,0
$STATE,7917,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7918,begin apogee
$GC,7922,-0.09,0.0,1002.1,13.3,567,8041,0.57,0.00,113.18,1.885,6,0.155,0.000,1867,2916,1500,0,0,0,0,0,0
$STATE,8041,end apogee,CONTROL_FINISHED_OK
$STATE,8042,begin climb
$GC,8043,0.60,108.8,1006.6,0.0,573,8162,0.70,0.00,113.65,1.854,6,0.092,0.000,2091,2916,1054,0,0,0,0,0,0
$GC,8457,0.60,108.8,956.7,14.5,593,8460,0.00,1.48,0.00,0.000,4,0.000,0.055,2091,3804,1054,0,0,0,0,0,0
$GC,8525,0.53,108.8,945.6,17.4,596,8529,0.00,1.35,0.00,0.000,6,0.000,0.028,2098,2912,1054,0,0,0,0,0,0
$GC,8857,0.51,108.8,894.1,15.5,612,8861,0.00,1.45,0.00,0.000,4,0.000,0.056,2098,3801,1053,0,0,0,0,0,0
$GC,8984,0.43,108.8,871.4,17.9,617,8992,0.20,1.30,0.00,0.000,6,0.191,0.028,2050,2924,1052,0,0,0,0,0,0
$GC,9300,0.48,108.8,831.4,12.8,633,9304,0.00,1.45,0.00,0.000,4,0.000,0.057,2050,3806,1051,0,0,0,0,0,0
$GC,9390,0.48,108.8,818.3,15.4,637,9393,0.00,1.30,0.00,0.000,6,0.000,0.031,2055,2930,1051,0,0,0,0,0,0
$GC,9722,0.52,108.8,774.1,13.2,653,9726,0.00,1.42,0.00,0.000,4,0.000,0.057,2055,3811,1051,0,0,0,0,0,0
$GC,9805,0.52,108.8,761.6,14.6,656,9813,0.00,1.35,0.00,0.000,6,0.000,0.030,2062,2914,1050,0,0,0,0,0,0
$GC,10122,0.56,108.8,720.0,13.5,672,10123,0.00,0.00,0.00,0.000,6,0.000,0.000,2062,2913,1050,0,0,0,0,0,0
$GC,10431,0.59,108.8,677.0,14.2,687,10435,0.10,1.48,0.00,0.000,4,0.118,0.057,2103,3814,1050,0,0,0,0,0,0
$GC,10476,0.51,108.8,669.2,19.1,689,10480,0.12,1.33,0.00,0.000,6,0.194,0.029,2076,2923,1050,0,0,0,0,0,0
$GC,10807,0.51,108.8,622.8,13.3,705,10811,0.00,1.42,0.00,0.000,4,0.000,0.056,2076,3811,1050,0,0,0,0,0,0
$GC,10853,0.48,108.8,616.3,14.6,707,10856,0.00,1.33,0.00,0.000,6,0.000,0.030,2081,2913,1050,0,0,0,0,0,0
$GC,11185,0.48,108.8,574.3,12.1,723,11189,0.00,1.45,0.00,0.000,4,0.000,0.056,2080,3814,1050,0,0,0,0,0,0
$GC,11268,0.43,108.8,562.1,14.6,726,11276,0.12,1.33,0.00,0.000,6,0.180,0.029,2052,2923,1049,0,0,0,0,0,0
$GC,11585,0.49,108.8,528.5,10.4,742,11588,0.00,1.42,0.00,0.000,4,0.000,0.057,2052,3808,1049,0,0,0,0,0,0
$GC,11667,0.49,108.8,518.3,12.0,745,11675,0.00,1.33,0.00,0.000,6,0.000,0.029,2057,2917,1049,0,0,0,0,0,0
$GC,11984,0.53,108.8,484.1,10.5,761,11988,0.00,1.42,0.00,0.000,4,0.000,0.056,2057,3803,1050,0,0,0,0,0,0
$GC,12100,0.53,108.8,468.8,13.6,766,12105,0.00,1.33,0.00,0.000,6,0.000,0.030,2064,2919,1049,0,0,0,0,0,0
$GC,12428,0.57,108.8,431.2,11.4,782,12432,0.00,1.42,0.00,0.000,4,0.000,0.056,2064,3804,1049,0,0,0,0,0,0
$GC,12687,0.55,108.8,396.2,14.0,794,12691,0.00,1.30,0.00,0.000,6,0.000,0.030,2070,2924,1049,0,0,0,0,0,0
$GC,13020,0.58,108.8,356.7,11.7,825,13023,0.00,1.27,0.00,0.000,4,0.000,0.032,2077,2057,1049,0,0,0,0,0,0
$GC,13280,0.64,108.8,329.0,10.2,848,13284,0.00,1.40,0.00,0.000,6,0.000,0.052,2077,2927,1049,0,0,0,0,0,0
$GC,13611,0.66,108.8,289.6,11.8,879,13615,0.12,1.42,0.00,0.000,4,0.099,0.059,2128,3809,1049,0,0,0,0,0,0
$GC,13701,0.54,108.8,274.6,17.5,887,13706,0.17,1.30,0.00,0.000,6,0.200,0.031,2087,2926,1049,0,0,0,0,0,0
$GC,14031,0.54,108.8,229.4,14.1,918,14035,0.00,1.40,0.00,0.000,4,0.000,0.056,2087,3798,1049,0,0,0,0,0,0
$GC,14113,0.50,108.8,217.1,15.8,925,14117,0.00,1.30,0.00,0.000,6,0.000,0.031,2092,2917,1049,0,0,0,0,0,0
$GC,14443,0.50,108.8,172.8,13.6,956,14447,0.00,1.42,0.00,0.000,4,0.000,0.057,2092,3802,1049,0,0,0,0,0,0
$GC,14516,0.45,108.8,161.7,14.5,962,14524,0.15,1.30,0.00,0.000,6,0.182,0.030,2056,2921,1049,0,0,0,0,0,0
$GC,14844,0.52,112.2,132.2,8.2,993,14848,0.00,1.42,0.00,0.000,4,0.000,0.057,2056,3808,1049,0,0,0,0,0,0
$GC,14993,0.54,112.2,116.3,10.8,1006,14996,0.00,1.30,0.00,0.000,6,0.000,0.031,2061,2928,1049,0,0,0,0,0,0
$GC,15328,0.59,112.2,85.7,8.5,1050,15337,0.10,1.42,0.00,0.000,4,0.113,0.057,2109,3804,1049,0,0,0,0,0,0
$GC,15408,0.52,112.2,75.8,13.8,1063,15415,0.12,1.30,0.00,0.000,6,0.188,0.030,2080,2920,1049,0,0,0,0,0,0
$GC,15760,0.55,112.2,37.2,10.4,1124,15769,0.00,1.42,0.00,0.000,4,0.000,0.057,2081,3805,1049,0,0,0,0,0,0
$GC,15902,0.52,112.2,17.7,14.8,1147,15911,0.00,1.30,0.00,0.000,6,0.000,0.030,2085,2914,1049,0,0,0,0,0,0
$GC,15960,0.54,112.2,9.8,13.1,1156,15969,0.00,1.42,0.00,0.000,4,0.000,0.056,2086,3800,1049,0,0,0,0,0,0
$STATE,16023,end climb,SURFACE_DEPTH_REACHED
$STATE,16023,begin surface coast
$FINISH,1.9,1.026513
$STATE,16030,end surface coast,CONTROL_FINISHED_OK
$STATE,16031,begin surface
$SM_CCo,16045,42.20,0.139,0,0,680,200.16
$SM_GC,2.67,0.00,0.00,42.20,0.000,0.000,0.139,65,3238,680,-5.75,0.82,200.16
$IRIDIUM_FIX,-4239.11,821.95,030708,232335
$TT8_MAMPS,0.027713
$HUMID,62.24
$INTERNAL_PRESSURE,11.3981
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,22.1,39.195
$10V_AH,10.2,23.958
$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,16.150,81.725,226.825,42.200,0.000,27.179,21.706,303.085,0.000,0.000,41.235,2937.509,9897.833,403.752,3150.896,194.818,0.000,1582.517,0.000,2744.888,0.000,0.545,0.000
$DEVICE_MAMPS,235.620,80.325,1884.960,139.230,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,810.014,821.416,854.489,79.475,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353948
$DATA_FILE_SIZE,66932,1167
$CAP_FILE_SIZE,162805,0
$CFSIZE,259252224,242388992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,070915,193834,-4255.998,824.578,35,1.1,35,-25.0