version: 66.07
glider: 543
mission: 14
dive: 396
start: 10 22 115 17 0 21
data:
$ID,543
$MISSION,14
$DIVE,396
$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,-25366.096
$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,79
$R_STBD_OVSHOOT,29
$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
$GPS1,221015,165028,-4256.248,826.208,41,1.1,41,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-72.3
$GPS2,221015,165957,-4256.206,826.236,23,1.0,24,-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,302.2,3056,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.54,-49.8,0.0,0.0,0,49,0.00,0.00,-32.40,0.000,2,0.000,0.000,62,3221,1378,0,0,0,0,0,0
$GC,52,-0.60,-104.1,3.0,-2.3,4,93,6.88,1.20,-23.90,0.000,4,0.233,0.084,1700,3953,1925,0,0,0,0,0,0
$GC,102,-0.37,-116.8,4.3,-2.0,10,112,0.25,1.05,-1.62,0.000,6,0.158,0.031,1773,3233,1977,0,0,0,0,0,0
$GC,163,-0.54,-116.8,9.5,-7.3,19,172,0.12,1.38,0.00,0.000,4,0.093,0.027,1715,2283,1978,0,0,0,0,0,0
$GC,217,-0.61,-116.8,15.4,-11.1,27,226,0.00,1.50,0.00,0.000,6,0.000,0.049,1708,3212,1979,0,0,0,0,0,0
$GC,277,-0.61,-116.8,23.2,-14.0,36,285,0.00,0.00,0.00,0.000,6,0.000,0.000,1708,3212,1978,0,0,0,0,0,0
$GC,428,-0.63,-116.8,45.0,-13.4,61,435,0.00,1.15,0.00,0.000,4,0.000,0.055,1703,3952,1978,0,0,0,0,0,0
$GC,483,-0.63,-116.8,53.0,-14.9,70,490,0.00,1.08,0.00,0.000,6,0.000,0.029,1702,3200,1978,0,0,0,0,0,0
$GC,831,-0.63,-116.8,103.2,-14.5,129,835,0.00,1.17,0.00,0.000,4,0.000,0.055,1697,3948,1978,0,0,0,0,0,0
$GC,881,-0.63,-116.8,111.7,-15.5,133,888,0.00,1.08,0.00,0.000,6,0.000,0.029,1697,3209,1978,0,0,0,0,0,0
$GC,1206,-0.63,-116.8,159.0,-14.7,164,1210,0.00,1.17,0.00,0.000,4,0.000,0.055,1691,3954,1978,0,0,0,0,0,0
$GC,1253,-0.61,-116.8,166.0,-16.3,168,1256,0.00,1.08,0.00,0.000,6,0.000,0.030,1691,3206,1978,0,0,0,0,0,0
$GC,1583,-0.61,-116.8,214.1,-14.1,199,1587,0.00,1.27,0.00,0.000,4,0.000,0.026,1691,2292,1978,0,0,0,0,0,0
$GC,1685,-0.66,-116.8,227.0,-12.2,208,1688,0.00,1.48,0.00,0.000,6,0.000,0.050,1684,3210,1978,0,0,0,0,0,0
$GC,2015,-0.66,-116.8,274.6,-15.2,239,2019,0.00,1.15,0.00,0.000,4,0.000,0.054,1678,3952,1978,0,0,0,0,0,0
$GC,2041,-0.64,-116.8,278.2,-15.5,241,2045,0.00,1.08,0.00,0.000,6,0.000,0.030,1678,3199,1978,0,0,0,0,0,0
$GC,2371,-0.64,-116.8,326.8,-13.5,272,2375,0.00,1.17,0.00,0.000,4,0.000,0.054,1673,3948,1978,0,0,0,0,0,0
$GC,2431,-0.61,-116.8,335.4,-15.2,277,2435,0.10,1.05,0.00,0.000,6,0.160,0.030,1702,3220,1979,0,0,0,0,0,0
$GC,2761,-0.65,-116.8,376.0,-11.9,308,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,1703,3220,1978,0,0,0,0,0,0
$GC,3077,-0.69,-116.8,413.0,-11.9,333,3080,0.00,1.15,0.00,0.000,4,0.000,0.055,1698,3949,1978,0,0,0,0,0,0
$GC,3155,-0.71,-116.8,423.0,-11.8,336,3159,0.00,1.08,0.00,0.000,6,0.000,0.030,1699,3202,1978,0,0,0,0,0,0
$GC,3476,-0.75,-116.8,461.3,-11.9,352,3478,0.10,0.00,0.00,0.000,6,0.109,0.000,1652,3201,1978,0,0,0,0,0,0
$GC,3786,-0.70,-116.8,508.5,-15.6,367,3789,0.00,1.27,0.00,0.000,4,0.000,0.026,1652,2294,1979,0,0,0,0,0,0
$GC,3846,-0.70,-116.8,517.6,-13.4,369,3854,0.10,1.48,0.00,0.000,6,0.156,0.048,1675,3211,1979,0,0,0,0,0,0
$GC,4162,-0.70,-116.8,560.2,-13.4,385,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,1674,3211,1979,0,0,0,0,0,0
$GC,4472,-0.70,-116.8,600.3,-12.9,400,4476,0.00,1.15,0.00,0.000,4,0.000,0.056,1671,3950,1979,0,0,0,0,0,0
$GC,4544,-0.67,-116.8,610.8,-14.4,403,4548,0.00,1.05,0.00,0.000,6,0.000,0.029,1671,3214,1979,0,0,0,0,0,0
$GC,4872,-0.67,-116.8,654.2,-13.1,419,4876,0.00,1.15,0.00,0.000,4,0.000,0.055,1665,3946,1979,0,0,0,0,0,0
$GC,4910,-0.63,-116.8,660.0,-14.3,420,4918,0.10,1.05,0.00,0.000,6,0.164,0.028,1695,3217,1978,0,0,0,0,0,0
$GC,5227,-0.67,-116.8,695.7,-11.5,436,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,1695,3217,1978,0,0,0,0,0,0
$GC,5537,-0.72,-116.8,731.3,-11.6,451,5540,0.00,1.30,0.00,0.000,4,0.000,0.027,1695,2296,1979,0,0,0,0,0,0
$GC,5605,-0.80,-116.8,738.7,-9.9,454,5609,0.10,1.48,0.00,0.000,6,0.057,0.050,1635,3210,1978,0,0,0,0,0,0
$GC,5939,-0.73,-116.8,791.3,-15.8,470,5944,0.12,1.17,0.00,0.000,4,0.194,0.054,1660,3954,1978,0,0,0,0,0,0
$GC,5999,-0.69,-116.8,801.4,-15.1,472,6006,0.00,1.08,0.00,0.000,6,0.000,0.029,1660,3203,1978,0,0,0,0,0,0
$GC,6316,-0.68,-116.8,845.9,-13.7,488,6320,0.00,1.27,0.00,0.000,4,0.000,0.026,1661,2297,1978,0,0,0,0,0,0
$GC,6354,-0.70,-116.8,851.2,-13.4,489,6361,0.00,1.48,0.00,0.000,6,0.000,0.050,1653,3211,1978,0,0,0,0,0,0
$GC,6670,-0.67,-116.8,895.8,-13.9,505,6674,0.12,1.17,0.00,0.000,4,0.188,0.055,1680,3954,1978,0,0,0,0,0,0
$GC,6726,-0.67,-116.8,903.5,-13.1,507,6729,0.00,1.08,0.00,0.000,6,0.000,0.030,1680,3208,1978,0,0,0,0,0,0
$GC,7047,-0.69,-116.8,941.5,-11.5,523,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,1680,3208,1978,0,0,0,0,0,0
$GC,7357,-0.71,-116.8,976.9,-11.6,538,7360,0.00,1.17,0.00,0.000,4,0.000,0.057,1674,3951,1978,0,0,0,0,0,0
$GC,7412,-0.71,-116.8,984.3,-13.2,540,7416,0.00,1.08,0.00,0.000,6,0.000,0.031,1674,3208,1978,0,0,0,0,0,0
$STATE,7546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7546,begin apogee
$GC,7551,-0.09,0.0,1000.9,12.1,547,7729,0.68,0.00,142.57,1.774,6,0.146,0.000,1872,2918,1499,0,0,0,0,6,0
$STATE,7730,end apogee,CONTROL_FINISHED_OK
$STATE,7730,begin climb
$GC,7733,0.61,116.8,1005.8,0.0,556,7874,0.70,1.52,129.05,1.790,4,0.081,0.028,2104,2038,1022,0,0,0,0,1,0
$GC,7936,0.65,116.8,986.2,12.6,564,7943,0.00,1.52,0.00,0.000,6,0.000,0.045,2104,2921,1018,0,0,0,0,0,0
$GC,8253,0.65,116.8,941.0,14.6,580,8257,0.00,1.42,0.00,0.000,4,0.000,0.055,2104,3808,1015,0,0,0,0,0,0
$GC,8417,0.60,116.8,912.7,18.5,587,8421,0.00,1.33,0.00,0.000,6,0.000,0.028,2111,2895,1014,0,0,0,0,0,0
$GC,8744,0.59,116.8,861.1,15.9,603,8748,0.00,1.48,0.00,0.000,4,0.000,0.054,2111,3805,1014,0,0,0,0,0,0
$GC,8858,0.53,116.8,841.0,17.6,608,8862,0.12,1.27,0.00,0.000,6,0.193,0.028,2084,2922,1013,0,0,0,0,0,0
$GC,9190,0.56,116.8,796.2,12.8,624,9191,0.00,0.00,0.00,0.000,6,0.000,0.000,2084,2921,1013,0,0,0,0,0,0
$GC,9500,0.60,116.8,756.4,12.5,639,9503,0.00,1.42,0.00,0.000,4,0.000,0.054,2084,3803,1012,0,0,0,0,0,0
$GC,9560,0.60,116.8,747.5,14.6,641,9568,0.00,1.27,0.00,0.000,6,0.000,0.029,2089,2929,1012,0,0,0,0,0,0
$GC,9877,0.63,116.8,706.0,13.4,657,9878,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2929,1012,0,0,0,0,0,0
$GC,10187,0.66,116.8,663.0,14.2,672,10188,0.00,0.00,0.00,0.000,6,0.000,0.000,2089,2929,1012,0,0,0,0,0,0
$GC,10495,0.69,116.8,619.1,14.3,687,10500,0.12,1.42,0.00,0.000,4,0.096,0.057,2137,3807,1012,0,0,0,0,0,0
$GC,10619,0.59,116.8,594.1,21.7,692,10623,0.15,1.27,0.00,0.000,6,0.196,0.028,2102,2927,1011,0,0,0,0,0,0
$GC,10941,0.59,116.8,543.9,15.3,708,10944,0.00,1.42,0.00,0.000,4,0.000,0.054,2102,3809,1011,0,0,0,0,0,0
$GC,10996,0.55,116.8,534.2,17.9,710,11000,0.00,1.30,0.00,0.000,6,0.000,0.028,2107,2911,1011,0,0,0,0,0,0
$GC,11318,0.55,116.8,485.4,15.1,726,11322,0.00,1.45,0.00,0.000,4,0.000,0.054,2107,3805,1012,0,0,0,0,0,0
$GC,11364,0.50,116.8,478.0,17.0,728,11368,0.15,1.27,0.00,0.000,6,0.178,0.028,2072,2924,1010,0,0,0,0,0,0
$GC,11698,0.57,116.8,438.3,11.9,744,11701,0.00,1.40,0.00,0.000,4,0.000,0.055,2071,3802,1010,0,0,0,0,0,0
$GC,11788,0.59,116.8,426.1,14.5,748,11792,0.00,1.27,0.00,0.000,6,0.000,0.028,2077,2919,1010,0,0,0,0,0,0
$GC,12115,0.65,116.8,387.9,11.1,768,12119,0.12,1.42,0.00,0.000,4,0.097,0.055,2133,3801,1010,0,0,0,0,0,0
$GC,12210,0.57,116.8,371.6,17.3,776,12219,0.15,1.25,0.00,0.000,6,0.187,0.028,2097,2928,1010,0,0,0,0,0,0
$GC,12535,0.60,116.8,328.3,12.8,807,12539,0.00,1.42,0.00,0.000,4,0.000,0.055,2097,3809,1010,0,0,0,0,0,0
$GC,12652,0.58,116.8,311.3,14.9,817,12655,0.00,1.27,0.00,0.000,6,0.000,0.028,2102,2924,1010,0,0,0,0,0,0
$GC,12983,0.60,116.8,268.9,12.2,848,12986,0.00,1.25,0.00,0.000,4,0.000,0.030,2108,2061,1010,0,0,0,0,0,0
$GC,13010,0.64,116.8,265.5,10.8,850,13017,0.00,1.38,0.00,0.000,6,0.000,0.047,2108,2923,1010,0,0,0,0,0,0
$GC,13337,0.64,116.8,224.2,12.9,881,13341,0.00,1.40,0.00,0.000,4,0.000,0.056,2108,3807,1010,0,0,0,0,0,0
$GC,13440,0.61,116.8,209.4,14.3,890,13444,0.00,1.27,0.00,0.000,6,0.000,0.028,2115,2922,1010,0,0,0,0,0,0
$GC,13774,0.61,116.8,167.7,12.2,921,13777,0.00,1.42,0.00,0.000,4,0.000,0.054,2115,3803,1010,0,0,0,0,0,0
$GC,13926,0.56,116.8,144.9,14.7,934,13934,0.10,1.27,0.00,0.000,6,0.185,0.028,2094,2915,1010,0,0,0,0,0,0
$GC,14253,0.61,116.8,107.7,10.8,965,14257,0.00,1.42,0.00,0.000,4,0.000,0.054,2094,3799,1010,0,0,0,0,0,0
$GC,14368,0.61,116.8,92.3,13.3,980,14375,0.00,1.25,0.00,0.000,6,0.000,0.028,2099,2931,1010,0,0,0,0,0,0
$GC,14717,0.64,116.8,50.6,12.6,1041,14726,0.00,1.40,0.00,0.000,4,0.000,0.054,2099,3799,1010,0,0,0,0,0,0
$GC,14784,0.64,116.8,41.2,14.3,1052,14790,0.00,1.27,0.00,0.000,6,0.000,0.028,2106,2912,1010,0,0,0,0,0,0
$STATE,15097,end climb,SURFACE_DEPTH_REACHED
$STATE,15097,begin surface coast
$FINISH,1.8,1.026514
$STATE,15124,end surface coast,CONTROL_FINISHED_OK
$STATE,15124,begin surface
$SM_CCo,15138,38.78,0.137,0,0,683,200.16
$SM_GC,3.07,0.00,0.00,38.78,0.000,0.000,0.137,62,3218,683,-5.76,0.25,200.16
$IRIDIUM_FIX,-4242.04,822.38,170808,232304
$TT8_MAMPS,0.026964
$HUMID,64.29
$INTERNAL_PRESSURE,11.3883
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,21.2,73.760
$10V_AH,9.9,48.336
$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,15.700,82.400,271.625,38.775,0.000,28.432,19.578,354.769,0.000,0.000,27.092,2765.590,9243.065,459.218,2990.410,274.253,0.000,1561.450,0.000,2565.523,0.000,0.546,0.000
$DEVICE_MAMPS,232.560,84.150,1790.100,136.935,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,768.285,778.443,874.557,89.952,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353992
$DATA_FILE_SIZE,63525,1109
$CAP_FILE_SIZE,154861,0
$CFSIZE,259252224,225230848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,1
$GPS,221015,211433,-4255.466,825.259,38,1.5,38,-25.0