version: 66.07
glider: 543
mission: 14
dive: 286
start: 9 27 115 3 21 57
data:
$ID,543
$MISSION,14
$DIVE,286
$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,-25042.752
$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,75
$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
$GPS1,270915,031257,-4301.482,829.660,61,0.9,61,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-73.7
$GPS2,270915,032134,-4301.492,829.727,15,1.5,15,-25.0
$SPEED_LIMITS,0.148,0.223
$TGT_NAME,SAZ_BUT1
$TGT_LATLONG,-4304.000,824.000
$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,264.1,9035,-17.1,-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,-0.43,-116.8,0.0,0.0,0,66,0.00,0.00,-48.70,0.000,2,0.000,0.000,63,3224,1807,0,0,0,0,0,0
$GC,68,-0.43,-116.8,3.1,-1.5,6,87,7.07,1.23,-5.03,0.000,4,0.232,0.079,1754,3960,1978,0,0,0,0,0,0
$GC,319,-0.35,-116.8,33.5,-10.4,47,329,0.08,1.08,0.00,0.000,6,0.148,0.031,1779,3233,1979,0,0,0,0,0,0
$GC,471,-0.33,-116.8,47.1,-8.9,72,479,0.00,1.35,0.00,0.000,4,0.000,0.028,1779,2289,1980,0,0,0,0,0,0
$GC,499,-0.33,-116.8,49.6,-8.7,76,506,0.00,1.50,0.00,0.000,6,0.000,0.051,1774,3215,1980,0,0,0,0,0,0
$GC,848,-0.30,-116.8,82.6,-9.8,137,855,0.12,1.17,0.00,0.000,4,0.164,0.057,1803,3950,1979,0,0,0,0,0,0
$GC,885,-0.32,-116.8,85.6,-7.9,143,891,0.00,1.08,0.00,0.000,6,0.000,0.032,1803,3213,1980,0,0,0,0,0,0
$GC,1233,-0.36,-116.8,109.0,-7.2,193,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,3213,1979,0,0,0,0,0,0
$GC,1559,-0.41,-116.8,134.3,-8.0,224,1560,0.00,0.00,0.00,0.000,6,0.000,0.000,1803,3213,1980,0,0,0,0,0,0
$GC,1879,-0.45,-116.8,158.5,-7.1,254,1883,0.12,1.33,0.00,0.000,4,0.090,0.028,1738,2296,1979,0,0,0,0,0,0
$GC,1915,-0.40,-116.8,161.9,-10.5,257,1919,0.10,1.48,0.00,0.000,6,0.134,0.050,1763,3212,1979,0,0,0,0,0,0
$GC,2245,-0.36,-116.8,195.8,-10.0,288,2248,0.00,1.15,0.00,0.000,4,0.000,0.057,1759,3946,1979,0,0,0,0,0,0
$GC,2281,-0.32,-116.8,199.4,-10.7,291,2285,0.10,1.08,0.00,0.000,6,0.140,0.031,1791,3210,1979,0,0,0,0,0,0
$GC,2611,-0.35,-116.8,221.8,-5.7,322,2615,0.00,1.30,0.00,0.000,4,0.000,0.028,1791,2291,1980,0,0,0,0,0,0
$GC,2650,-0.41,-116.8,224.2,-5.8,325,2657,0.00,1.48,0.00,0.000,6,0.000,0.051,1786,3205,1980,0,0,0,0,0,0
$GC,2975,-0.43,-116.8,242.9,-5.8,356,2979,0.00,1.17,0.00,0.000,4,0.000,0.058,1781,3954,1979,0,0,0,0,0,0
$GC,3021,-0.43,-116.8,246.0,-6.6,360,3025,0.00,1.08,0.00,0.000,6,0.000,0.031,1781,3210,1980,0,0,0,0,0,0
$GC,3352,-0.45,-116.8,266.6,-6.6,391,3356,0.00,1.30,0.00,0.000,4,0.000,0.028,1781,2293,1979,0,0,0,0,0,0
$GC,3402,-0.49,-116.8,269.9,-6.3,395,3409,0.00,1.48,0.00,0.000,6,0.000,0.051,1775,3211,1979,0,0,0,0,0,0
$GC,3727,-0.49,-116.8,293.6,-7.5,426,3731,0.00,1.17,0.00,0.000,4,0.000,0.057,1769,3956,1980,0,0,0,0,0,0
$GC,3764,-0.49,-116.8,296.4,-8.0,429,3768,0.00,1.10,0.00,0.000,6,0.000,0.032,1769,3201,1979,0,0,0,0,0,0
$GC,4094,-0.49,-116.8,322.4,-8.2,460,4098,0.00,1.27,0.00,0.000,4,0.000,0.028,1769,2301,1979,0,0,0,0,0,0
$GC,4117,-0.49,-116.8,324.4,-8.9,462,4121,0.00,1.48,0.00,0.000,6,0.000,0.050,1763,3213,1980,0,0,0,0,0,0
$GC,4450,-0.47,-116.8,353.8,-9.0,493,4454,0.00,1.17,0.00,0.000,4,0.000,0.057,1757,3957,1979,0,0,0,0,0,0
$GC,4488,-0.43,-116.8,357.9,-10.3,496,4498,0.00,1.08,0.00,0.000,6,0.000,0.031,1758,3218,1980,0,0,0,0,0,0
$GC,4814,-0.40,-116.8,389.4,-9.4,527,4817,0.00,1.30,0.00,0.000,4,0.000,0.027,1758,2297,1979,0,0,0,0,0,0
$GC,4839,-0.38,-116.8,391.5,-9.2,529,4843,0.00,1.48,0.00,0.000,6,0.000,0.051,1751,3210,1979,0,0,0,0,0,0
$GC,5163,-0.34,-116.8,423.0,-9.6,549,5165,0.15,0.00,0.00,0.000,6,0.164,0.000,1791,3209,1979,0,0,0,0,0,0
$GC,5473,-0.38,-116.8,444.1,-6.7,564,5474,0.00,0.00,0.00,0.000,6,0.000,0.000,1790,3209,1980,0,0,0,0,0,0
$GC,5782,-0.43,-116.8,464.3,-6.5,579,5783,0.00,0.00,0.00,0.000,6,0.000,0.000,1791,3209,1979,0,0,0,0,0,0
$GC,6092,-0.47,-116.8,484.2,-6.3,594,6094,0.12,0.00,0.00,0.000,6,0.091,0.000,1730,3211,1979,0,0,0,0,0,0
$GC,6400,-0.39,-116.8,516.8,-11.1,609,6404,0.17,1.20,0.00,0.000,4,0.160,0.057,1774,3956,1979,0,0,0,0,0,0
$GC,6433,-0.39,-116.8,520.0,-8.4,610,6437,0.00,1.10,0.00,0.000,6,0.000,0.032,1774,3208,1979,0,0,0,0,0,0
$GC,6755,-0.39,-116.8,545.9,-8.3,626,6756,0.00,0.00,0.00,0.000,6,0.000,0.000,1774,3208,1980,0,0,0,0,0,0
$GC,7064,-0.39,-116.8,571.5,-8.1,641,7068,0.00,1.17,0.00,0.000,4,0.000,0.058,1768,3945,1979,0,0,0,0,0,0
$GC,7090,-0.39,-116.8,573.9,-8.6,642,7094,0.00,1.10,0.00,0.000,6,0.000,0.031,1768,3210,1979,0,0,0,0,0,0
$GC,7418,-0.39,-116.8,600.2,-8.1,658,7419,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,3210,1980,0,0,0,0,0,0
$GC,7727,-0.39,-116.8,624.5,-7.8,673,7728,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,3210,1979,0,0,0,0,0,0
$GC,8037,-0.39,-116.8,647.3,-7.6,688,8038,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,3210,1980,0,0,0,0,0,0
$GC,8346,-0.39,-116.8,670.4,-7.4,703,8347,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,3210,1979,0,0,0,0,0,0
$GC,8655,-0.39,-116.8,692.6,-7.1,718,8656,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,3210,1979,0,0,0,0,0,0
$GC,8965,-0.39,-116.8,713.8,-6.9,733,8966,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,3210,1980,0,0,0,0,0,0
$GC,9274,-0.39,-116.8,735.3,-7.1,748,9275,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,3210,1979,0,0,0,0,0,0
$GC,9583,-0.39,-116.8,757.4,-7.1,763,9584,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,3210,1979,0,0,0,0,0,0
$GC,9893,-0.39,-116.8,778.7,-6.7,778,9894,0.00,0.00,0.00,0.000,6,0.000,0.000,1768,3209,1979,0,0,0,0,0,0
$GC,10202,-0.39,-116.8,798.3,-6.2,793,10205,0.00,1.33,0.00,0.000,4,0.000,0.030,1769,2301,1979,0,0,0,0,0,0
$GC,10230,-0.42,-116.8,800.2,-6.3,794,10233,0.00,1.48,0.00,0.000,6,0.000,0.054,1763,3202,1979,0,0,0,0,0,0
$GC,10557,-0.42,-116.8,822.1,-6.8,810,10560,0.00,1.20,0.00,0.000,4,0.000,0.060,1757,3956,1980,0,0,0,0,0,0
$GC,10629,-0.42,-116.8,827.6,-7.8,813,10633,0.00,1.10,0.00,0.000,6,0.000,0.034,1757,3211,1979,0,0,0,0,0,0
$GC,10957,-0.42,-116.8,850.4,-7.1,829,10958,0.00,0.00,0.00,0.000,6,0.000,0.000,1757,3212,1979,0,0,0,0,0,0
$GC,11265,-0.42,-116.8,873.8,-7.8,844,11269,0.00,1.20,0.00,0.000,4,0.000,0.060,1752,3956,1979,0,0,0,0,0,0
$GC,11304,-0.40,-116.8,877.3,-9.0,845,11311,0.00,1.10,0.00,0.000,6,0.000,0.034,1752,3216,1979,0,0,0,0,0,0
$GC,11620,-0.40,-116.8,903.7,-8.4,861,11624,0.00,1.33,0.00,0.000,4,0.000,0.029,1752,2297,1979,0,0,0,0,0,0
$GC,11652,-0.40,-116.8,906.6,-7.9,862,11656,0.08,1.50,0.00,0.000,6,0.132,0.053,1769,3218,1979,0,0,0,0,0,0
$GC,11975,-0.43,-116.8,928.0,-6.2,878,11977,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,3218,1979,0,0,0,0,0,0
$GC,12283,-0.45,-116.8,945.0,-5.1,893,12284,0.00,0.00,0.00,0.000,6,0.000,0.000,1769,3218,1979,0,0,0,0,0,0
$GC,12593,-0.48,-116.8,960.3,-4.5,908,12597,0.00,1.17,0.00,0.000,4,0.000,0.060,1765,3954,1979,0,0,0,0,0,0
$STATE,12606,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,12606,begin apogee
$GC,12612,-0.09,0.0,961.2,5.3,908,12744,0.30,0.00,129.02,1.851,6,0.132,0.000,1862,2903,1499,0,0,0,0,0,0
$STATE,12745,end apogee,CONTROL_FINISHED_OK
$STATE,12745,begin climb
$GC,12747,0.43,116.8,962.0,0.0,915,12878,0.55,1.38,123.97,1.786,4,0.093,0.028,2041,2063,1021,0,0,0,0,0,0
$GC,12950,0.43,116.8,943.2,11.2,924,12955,0.00,1.50,0.00,0.000,6,0.000,0.047,2042,2924,1017,0,0,0,0,0,0
$GC,13273,0.37,116.8,905.2,11.6,940,13277,0.00,1.42,0.00,0.000,4,0.000,0.057,2042,3804,1014,0,0,0,0,0,0
$GC,13357,0.28,116.8,894.0,13.7,943,13364,0.15,1.33,0.00,0.000,6,0.166,0.031,2004,2919,1013,0,0,0,0,0,0
$GC,13674,0.31,129.9,867.3,7.9,959,13690,0.00,1.50,12.05,1.668,4,0.000,0.058,2004,3810,967,0,0,0,0,0,0
$GC,13740,0.29,129.9,861.4,9.4,961,13745,0.00,1.35,0.00,0.000,6,0.000,0.031,2009,2916,967,0,0,0,0,0,0
$GC,14068,0.31,147.2,835.9,7.7,977,14091,0.00,1.52,17.75,1.717,4,0.000,0.058,2009,3813,898,0,0,0,0,0,0
$GC,14141,0.29,147.2,829.4,9.1,980,14145,0.00,1.35,0.00,0.000,6,0.000,0.030,2016,2925,897,0,0,0,0,0,0
$GC,14468,0.29,147.2,801.2,8.8,996,14472,0.00,1.42,0.00,0.000,4,0.000,0.057,2016,3805,896,0,0,0,0,0,0
$GC,14529,0.27,147.2,794.9,10.5,998,14536,0.00,1.33,0.00,0.000,6,0.000,0.031,2023,2914,896,0,0,0,0,0,0
$GC,14845,0.27,147.2,765.3,9.6,1014,14846,0.00,0.00,0.00,0.000,6,0.000,0.000,2023,2914,895,0,0,0,0,0,0
$GC,15154,0.27,147.2,735.3,9.9,1029,15158,0.00,1.45,0.00,0.000,4,0.000,0.058,2023,3812,895,0,0,0,0,0,0
$GC,15223,0.23,147.2,727.3,11.3,1032,15227,0.15,1.33,0.00,0.000,6,0.153,0.031,1984,2926,894,0,0,0,0,0,0
$GC,15556,0.36,188.9,704.3,6.5,1048,15604,0.12,1.52,40.88,1.708,4,0.096,0.057,2039,3807,728,0,0,0,0,0,0
$GC,15620,0.33,188.9,697.7,10.8,1051,15625,0.10,1.38,0.00,0.000,6,0.154,0.030,2015,2912,728,0,0,0,0,0,0
$GC,15949,0.38,193.1,669.4,8.3,1067,15958,0.00,1.50,5.05,1.340,4,0.000,0.058,2016,3813,712,0,0,0,0,0,0
$GC,15993,0.38,193.1,665.1,10.2,1069,15996,0.00,1.35,0.00,0.000,6,0.000,0.031,2021,2913,712,0,0,0,0,0,0
$GC,16326,0.42,193.1,636.3,8.6,1085,16329,0.00,1.45,0.00,0.000,4,0.000,0.057,2021,3808,711,0,0,0,0,0,0
$GC,16352,0.42,193.1,633.6,9.9,1086,16357,0.00,1.33,0.00,0.000,6,0.000,0.030,2027,2924,711,0,0,0,0,0,0
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$STATE,22179,end climb,SURFACE_DEPTH_REACHED
$STATE,22179,begin surface coast
$FINISH,1.4,1.026527
$STATE,22193,end surface coast,CONTROL_FINISHED_OK
$STATE,22193,begin surface
$SM_CCo,22267,0.00,0.000,0,0,641,210.71
$SM_GC,2.75,5.40,0.00,0.00,0.045,0.000,0.000,68,3218,641,-5.65,0.25,210.71
$IRIDIUM_FIX,-4244.98,831.55,230708,030305
$TT8_MAMPS,0.026964
$HUMID,63.19
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,21.6,54.190
$10V_AH,10.1,34.506
$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
$DEVICE_SECS,15.575,108.450,345.475,0.000,0.000,25.253,17.145,326.870,0.000,0.000,19.026,3907.027,14332.056,480.775,3726.351,321.922,0.000,1919.912,0.000,3344.467,0.000,0.544,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1104.187,1139.618,1128.299,105.536,0.000,0.000,0.000,0.000,0.000,0.000
$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,90252,1591
$CAP_FILE_SIZE,208558,0
$CFSIZE,259252224,234881024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270915,093404,-4301.441,827.720,26,1.1,26,-25.0