version: 66.07
glider: 543
mission: 9
dive: 44
start: 12 8 113 8 35 1
data:
$ID,543
$MISSION,9
$DIVE,44
$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,220
$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,-12533.548
$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,1695
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,47
$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,3320
$C_ROLL_CLIMB,3190
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$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,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
$GPS1,081213,081704,-4258.714,832.904,24,0.8,25,-25.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-72.4
$GPS2,081213,083437,-4258.629,833.189,16,1.9,16,-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,264.6,5010,-18.1,-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,-0.47,-137.9,0.0,0.0,0,65,0.00,0.00,-48.47,0.000,2,0.000,0.000,67,3332,2734,0,0,0,0,0,0
$GC,67,-0.47,-146.1,3.0,-3.6,6,93,6.12,2.28,-8.55,0.000,4,0.246,0.054,1543,1920,3074,0,0,0,0,0,0
$GC,130,-0.47,-146.1,15.2,-14.8,15,139,0.00,2.30,0.00,0.000,6,0.000,0.056,1534,3307,3076,0,0,0,0,0,0
$GC,185,-0.47,-146.1,23.7,-15.6,24,194,0.00,1.05,0.00,0.000,4,0.000,0.062,1529,3953,3076,0,0,0,0,0,0
$GC,265,-0.47,-146.1,37.8,-19.2,37,272,0.00,0.98,0.00,0.000,6,0.000,0.038,1529,3317,3076,0,0,0,0,0,0
$GC,408,-0.47,-146.1,63.5,-16.3,62,414,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3317,3077,0,0,0,0,0,0
$GC,753,-0.47,-146.1,120.2,-16.7,113,756,0.00,1.02,0.00,0.000,4,0.000,0.063,1524,3947,3078,0,0,0,0,0,0
$GC,831,-0.47,-146.1,134.5,-18.3,120,835,0.00,0.95,0.00,0.000,6,0.000,0.038,1524,3322,3078,0,0,0,0,0,0
$GC,1161,-0.47,-146.1,191.7,-18.0,151,1165,0.00,1.02,0.00,0.000,4,0.000,0.063,1520,3956,3078,0,0,0,0,0,0
$GC,1210,-0.47,-146.1,201.2,-18.3,155,1217,0.00,1.00,0.00,0.000,6,0.000,0.037,1520,3310,3079,0,0,0,0,0,0
$GC,1535,-0.47,-146.1,257.5,-17.0,186,1538,0.00,1.02,0.00,0.000,4,0.000,0.063,1515,3950,3078,0,0,0,0,0,0
$GC,1616,-0.47,-146.1,272.3,-19.3,193,1620,0.00,0.95,0.00,0.000,6,0.000,0.038,1515,3318,3079,0,0,0,0,0,0
$GC,1946,-0.47,-146.1,330.0,-17.5,224,1947,0.00,0.00,0.00,0.000,6,0.000,0.000,1515,3318,3079,0,0,0,0,0,0
$GC,2265,-0.47,-146.1,382.0,-16.4,254,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,1515,3318,3079,0,0,0,0,0,0
$GC,2588,-0.47,-146.1,434.6,-16.3,275,2589,0.00,0.00,0.00,0.000,6,0.000,0.000,1515,3318,3078,0,0,0,0,0,0
$GC,2897,-0.47,-146.1,483.6,-15.6,290,2900,0.00,1.00,0.00,0.000,4,0.000,0.064,1510,3945,3078,0,0,0,0,0,0
$GC,2945,-0.47,-146.1,491.9,-16.5,292,2951,0.12,0.98,0.00,0.000,6,0.185,0.039,1541,3315,3078,0,0,0,0,0,0
$GC,3272,-0.47,-146.1,530.7,-11.6,308,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,3315,3078,0,0,0,0,0,0
$GC,3581,-0.47,-146.1,568.0,-12.4,323,3585,0.00,1.02,0.00,0.000,4,0.000,0.066,1537,3956,3077,0,0,0,0,0,0
$GC,3681,-0.47,-146.1,581.3,-13.0,327,3685,0.00,1.00,0.00,0.000,6,0.000,0.041,1537,3311,3077,0,0,0,0,0,0
$GC,4004,-0.47,-146.1,623.5,-13.2,343,4005,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3311,3076,0,0,0,0,0,0
$GC,4312,-0.47,-146.1,666.2,-14.2,358,4313,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3311,3076,0,0,0,0,0,0
$GC,4621,-0.47,-146.1,709.2,-14.1,373,4625,0.00,1.02,0.00,0.000,4,0.000,0.067,1533,3950,3075,0,0,0,0,0,0
$GC,4711,-0.47,-146.1,722.6,-15.2,377,4715,0.00,0.98,0.00,0.000,6,0.000,0.042,1533,3313,3075,0,0,0,0,0,0
$GC,5045,-0.47,-146.1,770.6,-14.1,393,5046,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3313,3074,0,0,0,0,0,0
$GC,5352,-0.47,-146.1,812.9,-13.6,408,5353,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3313,3073,0,0,0,0,0,0
$GC,5661,-0.47,-146.1,853.4,-12.7,423,5663,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3314,3073,0,0,0,0,0,0
$GC,5971,-0.47,-146.1,891.2,-11.9,438,5972,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3313,3072,0,0,0,0,0,0
$GC,6280,-0.47,-146.1,928.3,-11.8,453,6281,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3313,3072,0,0,0,0,0,0
$GC,6591,-0.47,-146.1,965.2,-11.5,468,6595,0.00,1.02,0.00,0.000,4,0.000,0.068,1528,3950,3071,0,0,0,0,0,0
$GC,6651,-0.47,-146.1,973.3,-13.1,470,6659,0.00,1.00,0.00,0.000,6,0.000,0.043,1528,3309,3071,0,0,0,0,0,0
$STATE,6801,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6801,begin apogee
$GC,6805,-0.11,0.0,991.1,11.9,478,6947,0.43,0.00,139.35,1.869,6,0.151,0.000,1655,3186,2474,0,0,0,0,0,0
$STATE,6948,end apogee,CONTROL_FINISHED_OK
$STATE,6948,begin climb
$GC,6949,0.47,146.1,996.1,0.0,485,7101,0.57,2.50,143.15,1.828,4,0.102,0.040,1849,1786,1877,0,0,0,0,0,0
$GC,7156,0.47,146.1,980.1,11.1,494,7164,0.00,2.50,0.00,0.000,6,0.000,0.056,1849,3195,1872,0,0,0,0,0,0
$GC,7472,0.47,146.1,937.6,13.6,510,7476,0.00,1.27,0.00,0.000,4,0.000,0.065,1849,3944,1866,0,0,0,0,0,0
$GC,7554,0.47,146.1,924.5,15.9,513,7563,0.00,1.25,0.00,0.000,6,0.000,0.039,1854,3178,1865,0,0,0,0,0,0
$GC,7871,0.47,146.1,878.4,14.3,529,7874,0.00,1.30,0.00,0.000,4,0.000,0.065,1854,3952,1864,0,0,0,0,0,0
$GC,7931,0.47,146.1,868.3,17.0,531,7939,0.00,1.23,0.00,0.000,6,0.000,0.040,1860,3187,1864,0,0,0,0,0,0
$GC,8247,0.47,146.1,821.6,14.5,547,8248,0.00,0.00,0.00,0.000,6,0.000,0.000,1860,3187,1863,0,0,0,0,0,0
$GC,8556,0.47,146.1,777.8,14.1,562,8557,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,3187,1862,0,0,0,0,0,0
$GC,8867,0.47,146.1,737.0,12.7,577,8870,0.00,1.27,0.00,0.000,4,0.000,0.066,1861,3956,1861,0,0,0,0,0,0
$GC,8927,0.47,146.1,728.3,13.9,579,8935,0.00,1.23,0.00,0.000,6,0.000,0.041,1866,3183,1861,0,0,0,0,0,0
$GC,9243,0.47,146.1,688.1,12.7,595,9247,0.00,1.25,0.00,0.000,4,0.000,0.066,1866,3949,1860,0,0,0,0,0,0
$GC,9342,0.47,146.1,673.5,15.2,599,9347,0.00,1.20,0.00,0.000,6,0.000,0.041,1872,3187,1860,0,0,0,0,0,0
$GC,9664,0.47,146.1,630.6,13.5,615,9667,0.00,1.25,0.00,0.000,4,0.000,0.065,1872,3949,1860,0,0,0,0,0,0
$GC,9763,0.47,146.1,614.7,16.5,619,9768,0.00,1.20,0.00,0.000,6,0.000,0.041,1878,3184,1860,0,0,0,0,0,0
$GC,10085,0.47,146.1,568.4,14.6,635,10088,0.00,1.25,0.00,0.000,4,0.000,0.067,1878,3947,1860,0,0,0,0,0,0
$GC,10206,0.47,146.1,547.6,16.6,640,10212,0.12,1.20,0.00,0.000,6,0.210,0.041,1855,3182,1860,0,0,0,0,0,0
$GC,10528,0.47,146.1,505.3,13.1,656,10531,0.00,1.25,0.00,0.000,4,0.000,0.065,1854,3948,1859,0,0,0,0,0,0
$GC,10595,0.47,146.1,495.1,15.8,659,10599,0.00,1.17,0.00,0.000,6,0.000,0.042,1859,3189,1859,0,0,0,0,0,0
$GC,10927,0.47,146.1,449.8,13.4,675,10931,0.00,1.25,0.00,0.000,4,0.000,0.065,1859,3956,1859,0,0,0,0,0,0
$GC,11017,0.47,146.1,436.2,15.8,679,11020,0.00,1.17,0.00,0.000,6,0.000,0.041,1864,3193,1859,0,0,0,0,0,0
$GC,11343,0.47,146.1,391.8,14.0,697,11349,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,3193,1859,0,0,0,0,0,0
$GC,11668,0.47,146.1,346.7,13.5,728,11672,0.00,1.23,0.00,0.000,4,0.000,0.063,1864,3950,1859,0,0,0,0,0,0
$GC,11717,0.47,146.1,339.2,16.4,732,11727,0.00,1.20,0.00,0.000,6,0.000,0.038,1871,3172,1859,0,0,0,0,0,0
$GC,12042,0.47,146.1,294.7,13.4,763,12046,0.00,1.27,0.00,0.000,4,0.000,0.064,1870,3958,1858,0,0,0,0,0,0
$GC,12101,0.47,146.1,285.7,15.6,768,12112,0.00,1.20,0.00,0.000,6,0.000,0.037,1876,3181,1858,0,0,0,0,0,0
$GC,12427,0.47,146.1,241.2,13.1,799,12430,0.00,1.25,0.00,0.000,4,0.000,0.063,1876,3953,1858,0,0,0,0,0,0
$GC,12487,0.47,146.1,232.0,15.0,804,12498,0.12,1.17,0.00,0.000,6,0.203,0.037,1853,3190,1859,0,0,0,0,0,0
$GC,12812,0.47,146.1,192.9,12.2,835,12815,0.00,1.23,0.00,0.000,4,0.000,0.063,1853,3955,1857,0,0,0,0,0,0
$GC,12882,0.47,146.1,183.8,14.3,841,12885,0.00,1.15,0.00,0.000,6,0.000,0.038,1857,3194,1858,0,0,0,0,0,0
$GC,13211,0.47,146.1,143.6,11.6,872,13215,0.00,1.23,0.00,0.000,4,0.000,0.063,1857,3953,1858,0,0,0,0,0,0
$GC,13272,0.47,146.1,135.2,14.2,877,13280,0.00,1.17,0.00,0.000,6,0.000,0.037,1862,3187,1858,0,0,0,0,0,0
$GC,13601,0.47,146.1,95.0,11.8,911,13608,0.00,1.23,0.00,0.000,4,0.000,0.063,1863,3949,1858,0,0,0,0,0,0
$GC,13693,0.47,146.1,81.6,14.5,927,13702,0.00,1.15,0.00,0.000,6,0.000,0.037,1868,3189,1858,0,0,0,0,0,0
$GC,14046,0.47,146.1,41.2,11.2,988,14052,0.00,0.00,0.00,0.000,6,0.000,0.000,1869,3189,1858,0,0,0,0,0,0
$STATE,14381,end climb,SURFACE_DEPTH_REACHED
$STATE,14381,begin surface coast
$FINISH,0.7,1.010295
$STATE,14413,end surface coast,CONTROL_FINISHED_OK
$STATE,14413,begin surface
$SM_CCo,14424,28.05,0.806,0,0,1575,220.03
$SM_GC,2.13,0.00,0.00,28.05,0.000,0.000,0.806,61,3335,1575,-5.10,0.40,220.03
$IRIDIUM_FIX,-4244.98,834.03,081213,080803
$TT8_MAMPS,0.025466
$HUMID,61.30
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.5,8.453
$10V_AH,10.1,5.601
$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,12.325,60.225,282.500,28.050,0.000,114.816,241.402,383.255,0.000,0.000,19.103,2573.353,9179.978,424.057,3180.131,149.428,0.000,1428.722,0.000,2311.380,0.000,1.010,0.000
$DEVICE_MAMPS,245.565,78.030,1868.895,805.545,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,727.081,1806.968,723.672,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355244
$DATA_FILE_SIZE,70478,1050
$CAP_FILE_SIZE,133734,0
$CFSIZE,259252224,255119360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,081213,123704,-4259.077,832.347,38,0.8,38,-25.1