version: 66.07
glider: 543
mission: 9
dive: 70
start: 12 12 113 2 45 15
data:
$ID,543
$MISSION,9
$DIVE,70
$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,-12611.57
$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,46
$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
$GPS1,121213,023734,-4258.727,831.869,24,1.7,24,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.67
$_SM_ANGLEo,-67.7
$GPS2,121213,024454,-4258.721,831.924,18,1.8,18,-25.1
$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,252.8,3522,-26.5,-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,-0.60,-60.7,0.0,0.0,0,65,0.00,0.00,-49.00,0.000,2,0.000,0.000,58,3327,2692,0,0,0,0,0,0
$GC,67,-0.63,-112.9,3.2,-4.0,6,85,5.75,1.02,-6.38,0.000,4,0.233,0.089,1479,3947,2938,0,0,0,0,0,0
$GC,345,-0.63,-112.9,71.2,-25.6,53,351,0.00,0.95,0.00,0.000,6,0.000,0.036,1479,3319,2942,0,0,0,0,0,0
$GC,683,-0.63,-112.9,146.0,-20.8,95,687,0.00,1.00,0.00,0.000,4,0.000,0.059,1474,3944,2943,0,0,0,0,0,0
$GC,943,-0.63,-112.9,205.2,-22.3,118,947,0.00,0.95,0.00,0.000,6,0.000,0.036,1474,3315,2944,0,0,0,0,0,0
$GC,1275,-0.63,-112.9,271.7,-19.6,149,1279,0.00,1.00,0.00,0.000,4,0.000,0.059,1470,3943,2945,0,0,0,0,0,0
$GC,1534,-0.63,-112.9,327.4,-20.7,172,1538,0.00,0.93,0.00,0.000,6,0.000,0.036,1470,3323,2945,0,0,0,0,0,0
$GC,1864,-0.63,-112.9,392.9,-19.4,203,1868,0.00,0.98,0.00,0.000,4,0.000,0.060,1465,3938,2945,0,0,0,0,0,0
$GC,2121,-0.63,-112.9,447.9,-21.2,216,2126,0.00,0.95,0.00,0.000,6,0.000,0.036,1465,3316,2945,0,0,0,0,0,0
$GC,2443,-0.63,-112.9,512.0,-19.6,232,2446,0.00,1.00,0.00,0.000,4,0.000,0.060,1460,3946,2945,0,0,0,0,0,0
$GC,2699,-0.63,-112.9,565.5,-20.7,243,2705,0.12,0.98,0.00,0.000,6,0.199,0.036,1489,3311,2945,0,0,0,0,0,0
$GC,3021,-0.63,-112.9,618.1,-16.4,259,3025,0.00,1.00,0.00,0.000,4,0.000,0.062,1486,3941,2945,0,0,0,0,0,0
$GC,3278,-0.63,-112.9,664.2,-17.1,270,3282,0.00,0.95,0.00,0.000,6,0.000,0.037,1486,3316,2945,0,0,0,0,0,0
$GC,3601,-0.63,-112.9,716.5,-16.3,286,3604,0.00,1.00,0.00,0.000,4,0.000,0.063,1481,3944,2944,0,0,0,0,0,0
$GC,3857,-0.63,-112.9,764.6,-19.5,297,3861,0.00,0.98,0.00,0.000,6,0.000,0.038,1481,3310,2944,0,0,0,0,0,0
$GC,4178,-0.63,-112.9,819.1,-17.1,313,4182,0.00,1.00,0.00,0.000,4,0.000,0.063,1477,3941,2943,0,0,0,0,0,0
$GC,4329,-0.63,-112.9,847.4,-19.4,319,4336,0.00,0.95,0.00,0.000,6,0.000,0.038,1476,3319,2943,0,0,0,0,0,0
$GC,4645,-0.63,-112.9,900.7,-17.0,335,4648,0.00,1.00,0.00,0.000,4,0.000,0.063,1472,3950,2942,0,0,0,0,0,0
$GC,4900,-0.63,-112.9,949.0,-18.1,346,4905,0.00,0.98,0.00,0.000,6,0.000,0.038,1472,3314,2942,0,0,0,0,0,0
$STATE,5159,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5159,begin apogee
$GC,5163,-0.11,0.0,991.3,16.1,359,5276,0.62,0.00,109.10,1.851,6,0.163,0.000,1656,3170,2473,0,0,0,0,0,0
$STATE,5276,end apogee,CONTROL_FINISHED_OK
$STATE,5277,begin climb
$GC,5278,0.63,112.9,996.3,0.0,364,5398,0.73,2.42,111.93,1.799,4,0.097,0.036,1899,1784,2013,0,0,0,0,0,0
$GC,5472,0.63,112.9,978.5,11.9,373,5476,0.00,2.40,0.00,0.000,6,0.000,0.051,1899,3179,2005,0,0,0,0,0,0
$GC,5797,0.63,112.9,926.8,16.0,389,5801,0.00,1.27,0.00,0.000,4,0.000,0.060,1899,3942,2000,0,0,0,0,0,0
$GC,5842,0.63,112.9,919.1,18.4,391,5846,0.00,1.20,0.00,0.000,6,0.000,0.037,1905,3182,2000,0,0,0,0,0,0
$GC,6174,0.63,112.9,864.6,16.1,407,6178,0.00,1.25,0.00,0.000,4,0.000,0.061,1904,3939,1998,0,0,0,0,0,0
$GC,6318,0.63,112.9,838.4,18.6,413,6323,0.00,1.23,0.00,0.000,6,0.000,0.037,1910,3163,1997,0,0,0,0,0,0
$GC,6640,0.63,112.9,785.6,16.5,429,6641,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3163,1996,0,0,0,0,0,0
$GC,6950,0.63,112.9,736.5,15.8,444,6953,0.00,1.27,0.00,0.000,4,0.000,0.061,1910,3942,1995,0,0,0,0,0,0
$GC,7043,0.63,112.9,719.6,18.2,448,7048,0.00,1.20,0.00,0.000,6,0.000,0.037,1916,3176,1995,0,0,0,0,0,0
$GC,7373,0.63,112.9,668.1,15.5,464,7374,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3177,1994,0,0,0,0,0,0
$GC,7680,0.63,112.9,621.3,15.2,479,7684,0.00,1.25,0.00,0.000,4,0.000,0.061,1916,3944,1993,0,0,0,0,0,0
$GC,7774,0.63,112.9,604.4,18.6,483,7779,0.00,1.20,0.00,0.000,6,0.000,0.037,1922,3172,1993,0,0,0,0,0,0
$GC,8101,0.63,112.9,552.6,16.1,499,8105,0.00,1.25,0.00,0.000,4,0.000,0.061,1922,3940,1993,0,0,0,0,0,0
$GC,8206,0.63,112.9,534.0,18.0,503,8214,0.00,1.17,0.00,0.000,6,0.000,0.037,1928,3181,1993,0,0,0,0,0,0
$GC,8522,0.63,112.9,484.1,15.6,519,8526,0.00,1.23,0.00,0.000,4,0.000,0.060,1928,3943,1992,0,0,0,0,0,0
$GC,8612,0.63,112.9,468.6,17.1,523,8616,0.10,1.15,0.00,0.000,6,0.194,0.037,1906,3187,1992,0,0,0,0,0,0
$GC,8944,0.63,112.9,422.3,14.2,539,8948,0.00,1.23,0.00,0.000,4,0.000,0.060,1905,3945,1992,0,0,0,0,0,0
$GC,9034,0.63,112.9,408.1,16.6,543,9037,0.00,1.17,0.00,0.000,6,0.000,0.037,1910,3174,1992,0,0,0,0,0,0
$GC,9363,0.63,112.9,362.1,13.5,571,9364,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3174,1991,0,0,0,0,0,0
$GC,9685,0.63,112.9,316.7,14.6,601,9688,0.00,1.25,0.00,0.000,4,0.000,0.062,1910,3954,1991,0,0,0,0,0,0
$GC,9867,0.63,112.9,287.5,16.5,617,9871,0.00,1.17,0.00,0.000,6,0.000,0.037,1916,3178,1991,0,0,0,0,0,0
$GC,10197,0.63,112.9,236.4,15.4,648,10201,0.00,1.23,0.00,0.000,4,0.000,0.061,1916,3938,1991,0,0,0,0,0,0
$GC,10348,0.63,112.9,210.0,17.7,661,10356,0.00,1.17,0.00,0.000,6,0.000,0.036,1922,3173,1991,0,0,0,0,0,0
$GC,10674,0.63,112.9,160.0,15.7,692,10677,0.00,1.25,0.00,0.000,4,0.000,0.060,1922,3952,1991,0,0,0,0,0,0
$GC,10813,0.63,112.9,135.8,17.1,704,10823,0.00,1.15,0.00,0.000,6,0.000,0.036,1928,3186,1991,0,0,0,0,0,0
$GC,11146,0.63,112.9,85.3,13.5,743,11153,0.00,1.23,0.00,0.000,4,0.000,0.060,1928,3949,1991,0,0,0,0,0,0
$GC,11248,0.63,112.9,70.2,14.5,760,11255,0.10,1.15,0.00,0.000,6,0.190,0.037,1904,3181,1991,0,0,0,0,0,0
$GC,11600,0.63,112.9,26.1,13.5,821,11606,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3181,1991,0,0,0,0,0,0
$GC,11749,0.63,112.9,8.2,10.8,846,11758,0.00,1.23,0.00,0.000,4,0.000,0.061,1904,3943,1991,0,0,0,0,0,0
$STATE,11806,end climb,SURFACE_DEPTH_REACHED
$STATE,11806,begin surface coast
$FINISH,0.7,1.013343
$STATE,11843,end surface coast,CONTROL_FINISHED_OK
$STATE,11843,begin surface
$SM_CCo,11856,42.95,0.796,0,0,1555,225.18
$SM_GC,1.58,0.00,0.00,42.95,0.000,0.000,0.796,65,3315,1555,-5.09,-0.14,225.18
$IRIDIUM_FIX,-4244.98,831.12,111213,232320
$TT8_MAMPS,0.026215
$HUMID,61.81
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.8,12.138
$10V_AH,10.1,8.049
$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,12.350,51.475,221.025,42.950,0.000,27.826,40.458,265.082,0.000,0.000,21.415,2205.452,6983.415,345.360,2679.956,127.746,0.000,1302.894,0.000,2240.459,0.000,1.012,0.000
$DEVICE_MAMPS,233.325,88.740,1850.535,795.600,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,596.882,1494.094,614.158,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355192
$DATA_FILE_SIZE,57063,861
$CAP_FILE_SIZE,115850,0
$CFSIZE,259252224,253505536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,121213,060435,-4258.822,831.701,28,1.4,28,-25.1