version: 66.07
glider: 543
mission: 9
dive: 55
start: 12 9 113 21 28 3
data:
$ID,543
$MISSION,9
$DIVE,55
$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,350
$T_MISSION,390
$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,225
$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,-12566.466
$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,3180
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,22
$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
$GPS1,091213,211705,-4259.140,830.043,30,1.0,30,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-71.8
$GPS2,091213,212742,-4259.082,830.186,17,1.2,17,-25.0
$SPEED_LIMITS,0.163,0.255
$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,213.4,1720,-27.2,-9.429
$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,-0.61,-57.7,0.0,0.0,0,57,0.00,0.00,-41.35,0.000,2,0.000,0.000,64,3315,2513,0,0,0,0,0,0
$GC,59,-0.64,-105.3,3.0,-4.2,5,85,5.90,1.05,-11.05,0.000,4,0.247,0.086,1475,3953,2904,0,0,0,0,0,0
$GC,93,-0.64,-105.3,8.2,-12.0,9,102,0.00,0.98,0.00,0.000,6,0.000,0.037,1478,3325,2905,0,0,0,0,0,0
$GC,151,-0.64,-105.3,21.4,-23.0,18,160,0.00,2.22,0.00,0.000,4,0.000,0.034,1478,1900,2906,0,0,0,0,0,0
$GC,418,-0.64,-105.3,67.3,-16.1,64,426,0.00,2.30,0.00,0.000,6,0.000,0.054,1469,3327,2908,0,0,0,0,0,0
$GC,757,-0.64,-105.3,134.7,-20.2,109,760,0.00,0.98,0.00,0.000,4,0.000,0.058,1464,3940,2909,0,0,0,0,0,0
$GC,813,-0.64,-105.3,147.1,-22.2,114,817,0.00,0.95,0.00,0.000,6,0.000,0.036,1464,3312,2909,0,0,0,0,0,0
$GC,1145,-0.64,-105.3,214.8,-20.5,145,1148,0.00,1.00,0.00,0.000,4,0.000,0.060,1460,3940,2911,0,0,0,0,0,0
$GC,1405,-0.64,-105.3,271.6,-21.3,168,1408,0.00,0.93,0.00,0.000,6,0.000,0.036,1460,3321,2910,0,0,0,0,0,0
$GC,1735,-0.64,-105.3,335.4,-18.5,199,1738,0.00,1.02,0.00,0.000,4,0.000,0.061,1455,3952,2910,0,0,0,0,0,0
$GC,1905,-0.64,-105.3,371.1,-21.6,214,1909,0.10,0.95,0.00,0.000,6,0.187,0.037,1482,3322,2910,0,0,0,0,0,0
$GC,2240,-0.64,-105.3,427.5,-16.4,238,2244,0.00,0.98,0.00,0.000,4,0.000,0.061,1479,3936,2910,0,0,0,0,0,0
$GC,2294,-0.64,-105.3,437.4,-17.5,240,2299,0.00,0.95,0.00,0.000,6,0.000,0.037,1479,3316,2910,0,0,0,0,0,0
$GC,2616,-0.64,-105.3,490.3,-16.6,256,2620,0.00,1.00,0.00,0.000,4,0.000,0.061,1475,3949,2910,0,0,0,0,0,0
$GC,2783,-0.64,-105.3,521.6,-18.6,263,2788,0.00,0.98,0.00,0.000,6,0.000,0.037,1475,3309,2910,0,0,0,0,0,0
$GC,3106,-0.64,-105.3,580.0,-18.0,279,3110,0.00,1.00,0.00,0.000,4,0.000,0.062,1470,3937,2910,0,0,0,0,0,0
$GC,3219,-0.64,-105.3,602.2,-19.7,284,3222,0.00,0.93,0.00,0.000,6,0.000,0.038,1470,3323,2910,0,0,0,0,0,0
$GC,3552,-0.64,-105.3,666.4,-19.4,300,3556,0.00,0.98,0.00,0.000,4,0.000,0.063,1466,3936,2909,0,0,0,0,0,0
$GC,3687,-0.64,-105.3,694.8,-21.1,306,3691,0.00,0.93,0.00,0.000,6,0.000,0.039,1465,3324,2909,0,0,0,0,0,0
$GC,4019,-0.64,-105.3,758.3,-19.2,322,4022,0.00,0.98,0.00,0.000,4,0.000,0.063,1461,3939,2908,0,0,0,0,0,0
$GC,4140,-0.64,-105.3,782.7,-19.5,327,4145,0.00,0.98,0.00,0.000,6,0.000,0.038,1461,3306,2908,0,0,0,0,0,0
$GC,4463,-0.64,-105.3,840.6,-17.9,343,4466,0.00,1.02,0.00,0.000,4,0.000,0.063,1456,3950,2907,0,0,0,0,0,0
$GC,4630,-0.64,-105.3,873.0,-19.2,350,4635,0.10,0.98,0.00,0.000,6,0.212,0.038,1483,3314,2907,0,0,0,0,0,0
$GC,4951,-0.64,-105.3,921.0,-14.5,366,4954,0.00,1.00,0.00,0.000,4,0.000,0.063,1479,3945,2906,0,0,0,0,0,0
$GC,5139,-0.64,-105.3,951.8,-16.6,374,5144,0.00,0.98,0.00,0.000,6,0.000,0.039,1479,3310,2906,0,0,0,0,0,0
$STATE,5419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5419,begin apogee
$GC,5423,-0.11,0.0,992.6,14.3,388,5527,0.60,0.00,101.12,1.838,6,0.167,0.000,1655,3181,2473,0,0,0,0,0,0
$STATE,5528,end apogee,CONTROL_FINISHED_OK
$STATE,5528,begin climb
$GC,5529,0.64,105.3,995.9,0.0,393,5642,0.75,2.40,104.70,1.791,4,0.102,0.036,1903,1771,2043,0,0,0,0,0,0
$GC,5713,0.64,105.3,977.5,12.6,401,5721,0.00,2.45,0.00,0.000,6,0.000,0.052,1903,3179,2035,0,0,0,0,0,0
$GC,6031,0.64,105.3,928.5,15.4,417,6035,0.00,1.27,0.00,0.000,4,0.000,0.060,1903,3942,2030,0,0,0,0,0,0
$GC,6166,0.64,105.3,904.1,18.5,423,6170,0.00,1.20,0.00,0.000,6,0.000,0.037,1909,3179,2028,0,0,0,0,0,0
$GC,6498,0.64,105.3,850.3,15.7,439,6499,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3179,2027,0,0,0,0,0,0
$GC,6807,0.64,105.3,801.8,16.4,454,6810,0.00,1.25,0.00,0.000,4,0.000,0.062,1909,3944,2026,0,0,0,0,0,0
$GC,6996,0.64,105.3,765.5,19.4,462,7001,0.00,1.20,0.00,0.000,6,0.000,0.037,1915,3176,2026,0,0,0,0,0,0
$GC,7317,0.64,105.3,712.7,16.3,478,7321,0.00,1.25,0.00,0.000,4,0.000,0.061,1915,3942,2025,0,0,0,0,0,0
$GC,7355,0.64,105.3,705.9,19.0,479,7363,0.00,1.20,0.00,0.000,6,0.000,0.037,1921,3175,2026,0,0,0,0,0,0
$GC,7671,0.64,105.3,654.9,15.7,495,7672,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3175,2024,0,0,0,0,0,0
$GC,7980,0.64,105.3,606.2,15.8,510,7984,0.00,1.25,0.00,0.000,4,0.000,0.061,1921,3940,2024,0,0,0,0,0,0
$GC,8057,0.64,105.3,592.2,18.4,513,8062,0.00,1.20,0.00,0.000,6,0.000,0.039,1926,3174,2023,0,0,0,0,0,0
$GC,8380,0.64,105.3,539.4,16.2,529,8384,0.00,1.25,0.00,0.000,4,0.000,0.061,1926,3941,2023,0,0,0,0,0,0
$GC,8502,0.64,105.3,516.6,18.5,534,8507,0.00,1.20,0.00,0.000,6,0.000,0.038,1932,3172,2023,0,0,0,0,0,0
$GC,8824,0.64,105.3,463.6,16.3,550,8828,0.00,1.25,0.00,0.000,4,0.000,0.062,1932,3944,2022,0,0,0,0,0,0
$GC,9030,0.64,105.3,425.6,18.6,559,9035,0.12,1.20,0.00,0.000,6,0.224,0.038,1908,3172,2022,0,0,0,0,0,0
$GC,9354,0.64,105.3,378.1,14.7,581,9355,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3172,2022,0,0,0,0,0,0
$GC,9670,0.64,105.3,333.6,14.0,611,9671,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3172,2021,0,0,0,0,0,0
$GC,9991,0.64,105.3,289.4,13.9,641,9992,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3172,2021,0,0,0,0,0,0
$GC,10306,0.64,105.3,246.3,13.0,671,10310,0.00,1.25,0.00,0.000,4,0.000,0.061,1908,3945,2021,0,0,0,0,0,0
$GC,10502,0.64,105.3,217.6,15.2,688,10512,0.00,1.20,0.00,0.000,6,0.000,0.037,1913,3168,2021,0,0,0,0,0,0
$GC,10827,0.64,105.3,176.2,12.9,719,10831,0.00,1.25,0.00,0.000,4,0.000,0.062,1913,3945,2020,0,0,0,0,0,0
$GC,10932,0.64,105.3,161.2,14.5,728,10942,0.00,1.17,0.00,0.000,6,0.000,0.037,1919,3180,2021,0,0,0,0,0,0
$GC,11258,0.64,105.3,117.9,13.9,759,11261,0.00,1.23,0.00,0.000,4,0.000,0.062,1919,3949,2021,0,0,0,0,0,0
$GC,11318,0.64,105.3,108.5,15.4,764,11328,0.00,1.17,0.00,0.000,6,0.000,0.037,1925,3179,2021,0,0,0,0,0,0
$GC,11662,0.64,105.3,63.3,12.2,819,11670,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,3179,2021,0,0,0,0,0,0
$GC,12013,0.64,105.3,19.8,11.9,880,12022,0.00,1.23,0.00,0.000,4,0.000,0.061,1925,3945,2021,0,0,0,0,0,0
$STATE,12135,end climb,SURFACE_DEPTH_REACHED
$STATE,12135,begin surface coast
$FINISH,0.7,1.026188
$STATE,12155,end surface coast,CONTROL_FINISHED_OK
$STATE,12155,begin surface
$SM_CCo,12167,46.30,0.790,0,0,1554,225.18
$SM_GC,1.27,0.00,0.00,46.30,0.000,0.000,0.790,64,3316,1554,-5.09,-0.11,225.18
$IRIDIUM_FIX,-4244.98,828.21,091213,212131
$TT8_MAMPS,0.025466
$HUMID,61.57
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.9,10.094
$10V_AH,10.1,6.591
$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,12.475,55.225,205.825,46.300,0.000,61.829,60.891,331.850,0.000,0.000,20.352,2284.756,7289.297,343.836,2812.223,123.275,0.000,1305.778,0.000,2232.013,0.000,1.011,0.000
$DEVICE_MAMPS,247.095,86.445,1837.530,790.245,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,625.989,1555.604,643.723,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355208
$DATA_FILE_SIZE,60432,903
$CAP_FILE_SIZE,120180,0
$CFSIZE,259252224,254455808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,101213,005234,-4259.871,830.654,25,1.0,25,-25.0