version: 66.07
glider: 543
mission: 9
dive: 61
start: 12 10 113 18 35 9
data:
$ID,543
$MISSION,9
$DIVE,61
$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,-12584.526
$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,47
$R_STBD_OVSHOOT,28
$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
$GPS1,101213,182805,-4300.263,830.082,32,0.9,32,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-71.5
$GPS2,101213,183448,-4300.244,830.224,14,1.2,14,-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,351.2,544,-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,-41.17,0.000,2,0.000,0.000,65,3324,2491,0,0,0,0,0,0
$GC,59,-0.64,-109.0,3.0,-3.8,5,85,5.68,2.20,-12.40,0.000,4,0.232,0.047,1477,1917,2919,0,0,0,0,0,0
$GC,164,-0.64,-109.0,19.0,-16.5,21,173,0.00,2.30,0.00,0.000,6,0.000,0.052,1469,3314,2923,0,0,0,0,0,0
$GC,219,-0.64,-109.0,30.5,-22.4,30,227,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3314,2923,0,0,0,0,0,0
$GC,366,-0.64,-109.0,60.7,-21.6,55,372,0.00,0.00,0.00,0.000,6,0.000,0.000,1469,3314,2923,0,0,0,0,0,0
$GC,703,-0.64,-109.0,128.0,-20.2,103,707,0.00,1.00,0.00,0.000,4,0.000,0.059,1464,3946,2925,0,0,0,0,0,0
$GC,899,-0.64,-109.0,170.3,-21.6,120,909,0.00,0.98,0.00,0.000,6,0.000,0.035,1464,3309,2925,0,0,0,0,0,0
$GC,1225,-0.64,-109.0,237.0,-20.4,151,1228,0.00,1.02,0.00,0.000,4,0.000,0.060,1459,3952,2926,0,0,0,0,0,0
$GC,1442,-0.64,-109.0,285.1,-21.3,170,1450,0.00,0.98,0.00,0.000,6,0.000,0.036,1459,3314,2925,0,0,0,0,0,0
$GC,1770,-0.64,-109.0,346.9,-19.2,201,1773,0.00,1.00,0.00,0.000,4,0.000,0.060,1454,3942,2926,0,0,0,0,0,0
$GC,1883,-0.64,-109.0,370.6,-20.2,211,1887,0.08,0.93,0.00,0.000,6,0.184,0.037,1476,3332,2926,0,0,0,0,0,0
$GC,2219,-0.64,-109.0,430.2,-17.4,235,2223,0.00,0.98,0.00,0.000,4,0.000,0.061,1473,3948,2926,0,0,0,0,0,0
$GC,2341,-0.64,-109.0,454.1,-19.1,240,2345,0.00,0.98,0.00,0.000,6,0.000,0.037,1473,3311,2926,0,0,0,0,0,0
$GC,2662,-0.64,-109.0,510.6,-17.5,256,2666,0.00,1.00,0.00,0.000,4,0.000,0.062,1468,3942,2926,0,0,0,0,0,0
$GC,2739,-0.64,-109.0,525.8,-20.0,259,2744,0.00,0.95,0.00,0.000,6,0.000,0.037,1468,3321,2926,0,0,0,0,0,0
$GC,3061,-0.64,-109.0,585.2,-18.5,275,3064,0.00,1.00,0.00,0.000,4,0.000,0.062,1463,3950,2926,0,0,0,0,0,0
$GC,3250,-0.64,-109.0,624.5,-21.5,283,3254,0.00,0.98,0.00,0.000,6,0.000,0.037,1463,3314,2926,0,0,0,0,0,0
$GC,3572,-0.64,-109.0,685.8,-19.1,299,3575,0.00,1.00,0.00,0.000,4,0.000,0.062,1459,3944,2925,0,0,0,0,0,0
$GC,3648,-0.64,-109.0,701.9,-20.7,302,3653,0.00,0.98,0.00,0.000,6,0.000,0.038,1459,3311,2926,0,0,0,0,0,0
$GC,3970,-0.64,-109.0,762.9,-18.3,318,3973,0.00,1.02,0.00,0.000,4,0.000,0.063,1454,3954,2925,0,0,0,0,0,0
$GC,4018,-0.64,-109.0,772.8,-19.9,320,4024,0.12,0.98,0.00,0.000,6,0.201,0.038,1483,3320,2925,0,0,0,0,0,0
$GC,4347,-0.64,-109.0,827.3,-16.6,336,4351,0.00,1.02,0.00,0.000,4,0.000,0.065,1479,3950,2924,0,0,0,0,0,0
$GC,4486,-0.64,-109.0,852.9,-18.2,342,4490,0.00,0.95,0.00,0.000,6,0.000,0.039,1479,3316,2924,0,0,0,0,0,0
$GC,4813,-0.64,-109.0,907.6,-17.0,358,4814,0.00,0.00,0.00,0.000,6,0.000,0.000,1479,3316,2923,0,0,0,0,0,0
$GC,5122,-0.64,-109.0,956.5,-14.9,373,5126,0.00,1.00,0.00,0.000,4,0.000,0.064,1474,3946,2923,0,0,0,0,0,0
$GC,5267,-0.64,-109.0,980.4,-16.2,379,5271,0.00,0.98,0.00,0.000,6,0.000,0.040,1474,3314,2923,0,0,0,0,0,0
$STATE,5340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5340,begin apogee
$GC,5343,-0.11,0.0,991.4,15.2,383,5452,0.60,0.00,104.80,1.847,6,0.164,0.000,1651,3171,2474,0,0,0,0,0,0
$STATE,5452,end apogee,CONTROL_FINISHED_OK
$STATE,5452,begin climb
$GC,5454,0.64,109.0,995.0,0.0,388,5570,0.77,2.40,107.62,1.801,4,0.101,0.037,1907,1777,2028,0,0,0,0,0,0
$GC,5585,0.64,109.0,982.4,14.4,394,5590,0.00,2.47,0.00,0.000,6,0.000,0.050,1907,3176,2026,0,0,0,0,0,0
$GC,5914,0.64,109.0,925.1,17.3,410,5918,0.00,1.30,0.00,0.000,4,0.000,0.060,1908,3952,2017,0,0,0,0,0,0
$GC,6072,0.64,109.0,894.0,20.2,417,6076,0.00,1.23,0.00,0.000,6,0.000,0.037,1913,3174,2016,0,0,0,0,0,0
$GC,6405,0.64,109.0,835.3,17.5,433,6407,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3175,2013,0,0,0,0,0,0
$GC,6713,0.64,109.0,785.3,16.5,448,6717,0.00,1.27,0.00,0.000,4,0.000,0.061,1913,3950,2013,0,0,0,0,0,0
$GC,6780,0.64,109.0,772.7,19.3,451,6784,0.00,1.20,0.00,0.000,6,0.000,0.037,1919,3179,2013,0,0,0,0,0,0
$GC,7112,0.64,109.0,717.5,16.2,467,7114,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3179,2012,0,0,0,0,0,0
$GC,7421,0.64,109.0,666.8,16.6,482,7425,0.00,1.25,0.00,0.000,4,0.000,0.061,1919,3944,2011,0,0,0,0,0,0
$GC,7515,0.64,109.0,649.3,18.9,486,7520,0.00,1.20,0.00,0.000,6,0.000,0.037,1925,3179,2011,0,0,0,0,0,0
$GC,7843,0.64,109.0,595.0,16.3,502,7846,0.00,1.25,0.00,0.000,4,0.000,0.061,1925,3949,2010,0,0,0,0,0,0
$GC,8054,0.64,109.0,556.0,18.4,511,8059,0.00,1.20,0.00,0.000,6,0.000,0.037,1930,3177,2010,0,0,0,0,0,0
$GC,8377,0.64,109.0,502.9,16.7,527,8379,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3176,2009,0,0,0,0,0,0
$GC,8687,0.64,109.0,452.5,16.3,542,8690,0.00,1.25,0.00,0.000,4,0.000,0.062,1930,3947,2009,0,0,0,0,0,0
$GC,8845,0.64,109.0,423.3,18.8,549,8848,0.00,1.17,0.00,0.000,6,0.000,0.038,1936,3180,2009,0,0,0,0,0,0
$GC,9174,0.64,109.0,368.9,16.5,573,9176,0.12,0.00,0.00,0.000,6,0.217,0.000,1908,3180,2008,0,0,0,0,0,0
$GC,9490,0.64,109.0,323.8,13.9,603,9494,0.00,1.23,0.00,0.000,4,0.000,0.061,1907,3945,2008,0,0,0,0,0,0
$GC,9750,0.64,109.0,282.6,16.6,626,9753,0.00,1.17,0.00,0.000,6,0.000,0.038,1912,3175,2008,0,0,0,0,0,0
$GC,10082,0.64,109.0,237.7,13.4,657,10085,0.00,1.25,0.00,0.000,4,0.000,0.060,1912,3949,2007,0,0,0,0,0,0
$GC,10251,0.64,109.0,210.6,16.2,672,10255,0.00,1.17,0.00,0.000,6,0.000,0.037,1918,3178,2007,0,0,0,0,0,0
$GC,10580,0.64,109.0,163.2,14.1,703,10584,0.00,1.25,0.00,0.000,4,0.000,0.061,1917,3955,2007,0,0,0,0,0,0
$GC,10624,0.64,109.0,156.2,16.7,707,10628,0.00,1.17,0.00,0.000,6,0.000,0.037,1924,3179,2007,0,0,0,0,0,0
$GC,10954,0.64,109.0,107.3,14.4,738,10955,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,3179,2007,0,0,0,0,0,0
$GC,11296,0.64,109.0,60.3,13.5,793,11303,0.00,1.25,0.00,0.000,4,0.000,0.060,1924,3955,2007,0,0,0,0,0,0
$GC,11448,0.64,109.0,37.5,14.5,819,11454,0.00,1.17,0.00,0.000,6,0.000,0.037,1930,3179,2007,0,0,0,0,0,0
$GC,11597,0.64,109.0,17.4,13.2,844,11605,0.00,1.23,0.00,0.000,4,0.000,0.060,1930,3943,2007,0,0,0,0,0,0
$GC,11644,0.64,109.0,11.0,13.9,851,11653,0.10,1.15,0.00,0.000,6,0.192,0.037,1907,3181,2007,0,0,0,0,0,0
$GC,11703,0.66,125.4,5.3,7.6,860,11713,0.00,2.20,4.57,0.660,4,0.000,0.034,1917,1770,1957,0,0,0,0,0,0
$STATE,11743,end climb,SURFACE_DEPTH_REACHED
$STATE,11743,begin surface coast
$FINISH,0.8,1.025611
$STATE,11799,end surface coast,CONTROL_FINISHED_OK
$STATE,11799,begin surface
$SM_CCo,11813,39.85,0.793,0,0,1555,225.18
$SM_GC,1.40,0.00,0.00,39.85,0.000,0.000,0.793,64,3326,1555,-5.10,0.17,225.18
$IRIDIUM_FIX,-4242.04,830.68,101213,141400
$TT8_MAMPS,0.025466
$HUMID,62.12
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,22.9,10.906
$10V_AH,10.1,7.169
$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,12.375,58.375,217.000,39.850,0.000,25.675,17.235,257.580,0.000,0.000,17.398,2218.800,6984.547,342.141,2564.848,147.268,0.000,1273.033,0.000,2174.259,0.000,1.011,0.000
$DEVICE_MAMPS,231.795,65.025,1846.710,792.540,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,606.615,1542.847,657.858,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,60330,875
$CAP_FILE_SIZE,116188,0
$CFSIZE,259252224,254074880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,101213,215353,-4258.955,830.519,38,1.5,38,-25.0