version: 66.07
glider: 543
mission: 9
dive: 27
start: 12 5 113 7 50 17
data:
$ID,543
$MISSION,9
$DIVE,27
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,0
$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,330
$T_MISSION,370
$T_ABORT,720
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52459
$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,210
$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,-12483.376
$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,1685
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,44
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,394
$ROLL_MAX,3944
$ROLL_DEG,40
$C_ROLL_DIVE,3290
$C_ROLL_CLIMB,3160
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,507
$VBD_MAX,3960
$C_VBD,2474
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,800
$PITCH_VBD_SHIFT,0.00061500003
$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,-59.073162
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,15
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.050000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,-1
$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,0.00023287861
$GPS1,051213,073734,-4251.724,846.052,42,1.1,43,-25.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-63.2
$GPS2,051213,074953,-4251.670,846.262,22,1.1,22,-25.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SAZ
$TGT_LATLONG,-4300.000,830.000
$TGT_RADIUS,500.000
$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,260.1,26891,-17.5,-10.000
$D_GRID,990
$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,14,-0.49,-146.1,0.0,0.0,0,57,0.00,0.00,-41.17,0.000,2,0.000,0.000,69,3314,2545,0,0,0,0,0,0
$GC,59,-0.49,-146.1,3.0,-5.1,5,85,5.68,1.05,-14.60,0.000,4,0.224,0.092,1514,3937,3073,0,0,0,0,0,0
$GC,167,-0.49,-146.1,25.2,-22.7,22,176,0.00,1.00,0.00,0.000,6,0.000,0.040,1514,3296,3075,0,0,0,0,0,0
$GC,315,-0.49,-146.1,57.9,-22.1,47,321,0.00,0.00,0.00,0.000,6,0.000,0.000,1514,3296,3076,0,0,0,0,0,0
$GC,658,-0.49,-146.1,128.5,-19.9,96,662,0.00,1.02,0.00,0.000,4,0.000,0.063,1509,3928,3076,0,0,0,0,0,0
$GC,877,-0.49,-146.1,174.7,-21.5,115,884,0.00,1.00,0.00,0.000,6,0.000,0.037,1509,3286,3077,0,0,0,0,0,0
$GC,1202,-0.49,-146.1,238.7,-19.4,146,1205,0.00,1.05,0.00,0.000,4,0.000,0.063,1505,3943,3077,0,0,0,0,0,0
$GC,1269,-0.49,-146.1,252.7,-20.8,152,1273,0.00,1.00,0.00,0.000,6,0.000,0.038,1505,3287,3077,0,0,0,0,0,0
$GC,1599,-0.49,-146.1,317.2,-18.6,183,1603,0.00,1.05,0.00,0.000,4,0.000,0.062,1500,3943,3077,0,0,0,0,0,0
$GC,1701,-0.49,-146.1,337.1,-19.2,192,1705,0.00,1.00,0.00,0.000,6,0.000,0.038,1500,3283,3078,0,0,0,0,0,0
$GC,2031,-0.49,-146.1,399.8,-18.4,223,2035,0.00,1.05,0.00,0.000,4,0.000,0.063,1495,3939,3078,0,0,0,0,0,0
$GC,2169,-0.49,-146.1,428.0,-19.6,230,2175,0.12,1.00,0.00,0.000,6,0.190,0.037,1525,3291,3078,0,0,0,0,0,0
$GC,2497,-0.49,-146.1,478.1,-14.9,246,2500,0.00,1.05,0.00,0.000,4,0.000,0.065,1522,3930,3078,0,0,0,0,0,0
$GC,2579,-0.49,-146.1,491.2,-15.8,249,2587,0.00,1.00,0.00,0.000,6,0.000,0.039,1522,3282,3078,0,0,0,0,0,0
$GC,2895,-0.49,-146.1,538.2,-14.8,265,2899,0.00,1.05,0.00,0.000,4,0.000,0.064,1517,3935,3078,0,0,0,0,0,0
$GC,2989,-0.49,-146.1,553.2,-16.0,269,2993,0.00,1.00,0.00,0.000,6,0.000,0.040,1517,3290,3078,0,0,0,0,0,0
$GC,3316,-0.49,-146.1,602.2,-15.3,285,3319,0.00,1.08,0.00,0.000,4,0.000,0.067,1512,3945,3078,0,0,0,0,0,0
$GC,3409,-0.49,-146.1,617.8,-16.5,289,3414,0.00,1.02,0.00,0.000,6,0.000,0.039,1512,3281,3078,0,0,0,0,0,0
$GC,3738,-0.49,-146.1,667.9,-15.6,305,3742,0.00,1.05,0.00,0.000,4,0.000,0.066,1507,3934,3077,0,0,0,0,0,0
$GC,3865,-0.49,-146.1,690.1,-17.5,310,3873,0.00,1.00,0.00,0.000,6,0.000,0.040,1507,3289,3077,0,0,0,0,0,0
$GC,4183,-0.49,-146.1,742.4,-16.7,326,4186,0.00,1.05,0.00,0.000,4,0.000,0.067,1503,3945,3076,0,0,0,0,0,0
$GC,4294,-0.49,-146.1,762.7,-17.9,331,4298,0.00,1.00,0.00,0.000,6,0.000,0.041,1503,3287,3076,0,0,0,0,0,0
$GC,4626,-0.49,-146.1,820.3,-17.2,347,4630,0.00,1.05,0.00,0.000,4,0.000,0.065,1498,3941,3075,0,0,0,0,0,0
$GC,4680,-0.49,-146.1,830.7,-19.0,349,4685,0.00,1.02,0.00,0.000,6,0.000,0.041,1498,3280,3075,0,0,0,0,0,0
$GC,5002,-0.49,-146.1,886.5,-17.1,365,5003,0.00,0.00,0.00,0.000,6,0.000,0.000,1498,3280,3075,0,0,0,0,0,0
$GC,5313,-0.49,-146.1,938.0,-16.5,380,5316,0.00,1.05,0.00,0.000,4,0.000,0.067,1493,3934,3073,0,0,0,0,0,0
$GC,5389,-0.49,-146.1,952.5,-17.8,383,5395,0.12,1.00,0.00,0.000,6,0.194,0.041,1523,3290,3074,0,0,0,0,0,0
$STATE,5669,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5669,begin apogee
$GC,5673,-0.11,0.0,991.7,14.2,397,5815,0.40,0.00,139.65,1.855,6,0.148,0.000,1645,3162,2473,0,0,0,0,0,0
$STATE,5816,end apogee,CONTROL_FINISHED_OK
$STATE,5816,begin climb
$GC,5817,0.49,146.1,999.2,0.0,404,5969,0.62,2.47,142.15,1.807,4,0.111,0.039,1846,1762,1878,0,0,0,0,0,0
$GC,6024,0.50,163.9,986.7,9.2,413,6048,0.00,2.45,17.98,1.698,6,0.000,0.053,1846,3151,1804,0,0,0,0,0,0
$GC,6358,0.50,163.9,949.3,11.5,429,6359,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,3151,1798,0,0,0,0,0,0
$GC,6665,0.50,163.9,912.3,12.0,444,6666,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,3151,1796,0,0,0,0,0,0
$GC,6975,0.50,163.9,873.0,12.8,459,6976,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,3151,1795,0,0,0,0,0,0
$GC,7284,0.50,163.9,832.8,13.0,474,7285,0.00,0.00,0.00,0.000,6,0.000,0.000,1846,3151,1794,0,0,0,0,0,0
$GC,7593,0.50,163.9,793.4,12.6,489,7597,0.00,1.33,0.00,0.000,4,0.000,0.065,1846,3956,1793,0,0,0,0,0,0
$GC,7661,0.50,163.9,783.7,15.0,492,7664,0.00,1.25,0.00,0.000,6,0.000,0.040,1852,3151,1793,0,0,0,0,0,0
$GC,7992,0.50,163.9,738.5,13.5,508,7996,0.00,1.33,0.00,0.000,4,0.000,0.065,1852,3958,1792,0,0,0,0,0,0
$GC,8063,0.50,163.9,727.9,15.1,511,8068,0.00,1.25,0.00,0.000,6,0.000,0.040,1858,3158,1792,0,0,0,0,0,0
$GC,8392,0.50,163.9,684.7,13.3,527,8393,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,3158,1793,0,0,0,0,0,0
$GC,8700,0.50,163.9,644.9,12.7,542,8701,0.00,0.00,0.00,0.000,6,0.000,0.000,1858,3158,1792,0,0,0,0,0,0
$GC,9009,0.50,163.9,606.2,12.2,557,9013,0.00,1.30,0.00,0.000,4,0.000,0.066,1858,3954,1792,0,0,0,0,0,0
$GC,9063,0.50,163.9,598.6,14.2,559,9068,0.00,1.25,0.00,0.000,6,0.000,0.040,1864,3154,1792,0,0,0,0,0,0
$GC,9387,0.50,163.9,556.9,13.1,575,9388,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,3154,1791,0,0,0,0,0,0
$GC,9695,0.50,163.9,517.0,12.8,590,9696,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,3154,1791,0,0,0,0,0,0
$GC,10004,0.50,163.9,477.8,12.6,605,10008,0.00,2.17,0.00,0.000,4,0.000,0.041,1875,1755,1791,0,0,0,0,0,0
$GC,10043,0.50,163.9,473.2,11.3,607,10047,0.00,2.30,0.00,0.000,6,0.000,0.055,1875,3182,1790,0,0,0,0,0,0
$GC,10368,0.50,163.9,428.4,13.9,623,10372,0.00,1.25,0.00,0.000,4,0.000,0.065,1875,3951,1790,0,0,0,0,0,0
$GC,10423,0.50,163.9,419.8,16.0,625,10428,0.12,1.25,0.00,0.000,6,0.209,0.039,1852,3143,1790,0,0,0,0,0,0
$GC,10748,0.50,163.9,380.1,12.7,648,10752,0.00,1.30,0.00,0.000,4,0.000,0.065,1853,3947,1790,0,0,0,0,0,0
$GC,10809,0.50,163.9,371.4,14.4,653,10816,0.00,1.23,0.00,0.000,6,0.000,0.040,1857,3155,1790,0,0,0,0,0,0
$GC,11134,0.50,163.9,330.3,13.5,684,11138,0.00,1.27,0.00,0.000,4,0.000,0.065,1857,3946,1790,0,0,0,0,0,0
$GC,11192,0.50,163.9,322.1,14.0,689,11196,0.00,1.20,0.00,0.000,6,0.000,0.040,1862,3159,1790,0,0,0,0,0,0
$GC,11522,0.50,163.9,278.8,12.8,720,11523,0.00,0.00,0.00,0.000,6,0.000,0.000,1863,3158,1790,0,0,0,0,0,0
$GC,11841,0.50,163.9,237.1,13.0,750,11845,0.00,1.27,0.00,0.000,4,0.000,0.064,1863,3950,1790,0,0,0,0,0,0
$GC,11886,0.50,163.9,230.6,15.0,754,11890,0.00,1.20,0.00,0.000,6,0.000,0.039,1869,3157,1790,0,0,0,0,0,0
$GC,12218,0.50,163.9,186.5,13.3,785,12222,0.00,1.27,0.00,0.000,4,0.000,0.063,1869,3950,1790,0,0,0,0,0,0
$GC,12275,0.50,163.9,177.6,15.7,790,12279,0.00,1.20,0.00,0.000,6,0.000,0.039,1875,3157,1790,0,0,0,0,0,0
$GC,12607,0.50,163.9,130.8,14.1,821,12608,0.00,0.00,0.00,0.000,6,0.000,0.000,1875,3157,1790,0,0,0,0,0,0
$GC,12931,0.50,163.9,86.1,13.6,859,12937,0.00,1.27,0.00,0.000,4,0.000,0.063,1875,3950,1790,0,0,0,0,0,0
$GC,12972,0.50,163.9,79.3,16.0,866,12979,0.10,1.20,0.00,0.000,6,0.177,0.038,1851,3157,1790,0,0,0,0,0,0
$GC,13320,0.50,163.9,41.3,10.1,927,13329,0.00,2.15,0.00,0.000,4,0.000,0.038,1860,1763,1790,0,0,0,0,0,0
$GC,13360,0.51,190.4,38.0,8.8,933,13376,0.00,2.22,9.43,0.878,6,0.000,0.052,1861,3165,1694,0,0,0,0,0,0
$GC,13517,0.51,190.4,20.5,12.2,959,13523,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,3165,1693,0,0,0,0,0,0
$STATE,13655,end climb,SURFACE_DEPTH_REACHED
$STATE,13655,begin surface coast
$FINISH,0.7,1.026142
$STATE,13680,end surface coast,CONTROL_FINISHED_OK
$STATE,13681,begin surface
$SM_CCo,13691,7.22,0.715,0,0,1613,210.22
$SM_GC,1.73,0.00,0.00,7.22,0.000,0.000,0.715,69,3297,1613,-5.05,0.20,210.22
$IRIDIUM_FIX,-4239.11,926.77,051213,070701
$TT8_MAMPS,0.026215
$HUMID,61.22
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,22.8,5.285
$10V_AH,10.1,3.712
$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,11.950,61.425,309.200,7.225,0.000,68.791,50.858,427.438,0.000,0.000,24.836,2449.436,8569.441,392.300,2895.375,134.295,0.000,1362.647,0.000,2222.067,0.000,1.011,0.000
$DEVICE_MAMPS,224.145,91.800,1855.125,714.510,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,682.919,1686.632,660.110,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355176
$DATA_FILE_SIZE,67147,986
$CAP_FILE_SIZE,130275,0
$CFSIZE,259252224,256434176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,051213,113952,-4251.804,845.248,42,1.1,43,-25.1