version: 66.07
glider: 543
mission: 9
dive: 76
start: 12 13 113 0 12 21
data:
$ID,543
$MISSION,9
$DIVE,76
$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,-12630.043
$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,48
$R_STBD_OVSHOOT,20
$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
$GPS1,131213,000433,-4259.707,830.847,28,1.7,37,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-62.0
$GPS2,131213,001200,-4259.749,830.874,14,1.2,15,-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,273.5,1272,-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,-57.7,0.0,0.0,0,65,0.00,0.00,-48.88,0.000,2,0.000,0.000,67,3320,2671,0,0,0,0,0,0
$GC,67,-0.65,-109.6,3.2,-3.7,6,85,5.78,2.25,-6.72,0.000,4,0.239,0.048,1489,1903,2924,0,0,0,0,0,0
$GC,245,-0.65,-109.6,37.5,-15.4,35,251,0.00,2.33,0.00,0.000,6,0.000,0.054,1480,3331,2928,0,0,0,0,0,0
$GC,388,-0.65,-109.6,67.7,-21.8,60,397,0.00,0.98,0.00,0.000,4,0.000,0.057,1475,3945,2928,0,0,0,0,0,0
$GC,510,-0.65,-109.6,95.1,-22.6,81,519,0.00,0.95,0.00,0.000,6,0.000,0.036,1475,3319,2928,0,0,0,0,0,0
$GC,844,-0.65,-109.6,165.1,-20.8,114,848,0.00,1.00,0.00,0.000,4,0.000,0.060,1470,3945,2929,0,0,0,0,0,0
$GC,1016,-0.65,-109.6,201.4,-20.9,129,1019,0.00,0.95,0.00,0.000,6,0.000,0.037,1470,3319,2930,0,0,0,0,0,0
$GC,1346,-0.65,-109.6,267.4,-19.2,160,1349,0.00,1.00,0.00,0.000,4,0.000,0.061,1465,3947,2930,0,0,0,0,0,0
$GC,1516,-0.65,-109.6,302.9,-20.3,175,1519,0.00,0.95,0.00,0.000,6,0.000,0.037,1465,3319,2930,0,0,0,0,0,0
$GC,1845,-0.65,-109.6,363.7,-17.9,206,1849,0.00,1.00,0.00,0.000,4,0.000,0.061,1461,3949,2931,0,0,0,0,0,0
$GC,2027,-0.65,-109.6,400.8,-20.9,222,2030,0.00,0.95,0.00,0.000,6,0.000,0.037,1461,3320,2930,0,0,0,0,0,0
$GC,2359,-0.65,-109.6,464.9,-19.3,238,2362,0.00,1.00,0.00,0.000,4,0.000,0.062,1456,3950,2930,0,0,0,0,0,0
$GC,2615,-0.65,-109.6,519.0,-20.7,249,2620,0.12,0.98,0.00,0.000,6,0.202,0.037,1485,3316,2930,0,0,0,0,0,0
$GC,2936,-0.65,-109.6,574.6,-17.4,265,2940,0.00,1.00,0.00,0.000,4,0.000,0.062,1481,3945,2930,0,0,0,0,0,0
$GC,3081,-0.65,-109.6,601.5,-18.5,271,3085,0.00,0.98,0.00,0.000,6,0.000,0.037,1481,3313,2930,0,0,0,0,0,0
$GC,3402,-0.65,-109.6,656.5,-17.1,287,3406,0.00,1.00,0.00,0.000,4,0.000,0.063,1477,3940,2930,0,0,0,0,0,0
$GC,3605,-0.65,-109.6,693.1,-18.8,296,3609,0.00,0.95,0.00,0.000,6,0.000,0.039,1477,3314,2930,0,0,0,0,0,0
$GC,3937,-0.65,-109.6,748.4,-16.5,312,3941,0.00,1.00,0.00,0.000,4,0.000,0.063,1472,3943,2929,0,0,0,0,0,0
$GC,4076,-0.65,-109.6,773.5,-17.5,318,4081,0.00,0.98,0.00,0.000,6,0.000,0.038,1472,3311,2929,0,0,0,0,0,0
$GC,4403,-0.65,-109.6,828.5,-16.5,334,4407,0.00,1.00,0.00,0.000,4,0.000,0.063,1467,3938,2928,0,0,0,0,0,0
$GC,4471,-0.65,-109.6,840.6,-18.8,337,4474,0.00,0.95,0.00,0.000,6,0.000,0.039,1467,3315,2928,0,0,0,0,0,0
$GC,4803,-0.65,-109.6,895.2,-15.9,353,4806,0.00,1.00,0.00,0.000,4,0.000,0.063,1463,3943,2927,0,0,0,0,0,0
$GC,4964,-0.65,-109.6,924.6,-17.9,360,4969,0.00,0.98,0.00,0.000,6,0.000,0.039,1462,3312,2926,0,0,0,0,0,0
$GC,5291,-0.65,-109.6,978.6,-16.2,376,5295,0.00,1.00,0.00,0.000,4,0.000,0.063,1458,3939,2926,0,0,0,0,0,0
$STATE,5358,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5358,begin apogee
$GC,5362,-0.11,0.0,990.3,16.9,379,5472,0.68,0.00,106.12,1.858,6,0.169,0.000,1654,3162,2474,0,0,0,0,0,0
$STATE,5472,end apogee,CONTROL_FINISHED_OK
$STATE,5473,begin climb
$GC,5474,0.65,109.6,994.8,0.0,384,5590,0.77,2.38,108.53,1.805,4,0.099,0.035,1909,1773,2027,0,0,0,0,0,0
$GC,5651,0.65,109.6,976.6,13.4,392,5656,0.00,2.45,0.00,0.000,6,0.000,0.051,1909,3175,2022,0,0,0,0,0,0
$GC,5973,0.65,109.6,921.5,17.7,408,5974,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3175,2016,0,0,0,0,0,0
$GC,6283,0.65,109.6,868.0,17.3,423,6285,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3175,2014,0,0,0,0,0,0
$GC,6591,0.65,109.6,816.2,16.9,438,6595,0.00,1.25,0.00,0.000,4,0.000,0.060,1909,3945,2013,0,0,0,0,0,0
$GC,6674,0.65,109.6,800.0,19.7,441,6682,0.00,1.23,0.00,0.000,6,0.000,0.036,1915,3162,2012,0,0,0,0,0,0
$GC,6990,0.65,109.6,746.7,16.9,457,6991,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3162,2011,0,0,0,0,0,0
$GC,7299,0.65,109.6,695.1,16.3,472,7303,0.00,1.27,0.00,0.000,4,0.000,0.060,1915,3946,2010,0,0,0,0,0,0
$GC,7421,0.65,109.6,672.3,20.1,477,7426,0.00,1.20,0.00,0.000,6,0.000,0.037,1921,3172,2010,0,0,0,0,0,0
$GC,7743,0.65,109.6,621.3,15.6,493,7747,0.00,1.25,0.00,0.000,4,0.000,0.060,1921,3946,2010,0,0,0,0,0,0
$GC,7803,0.65,109.6,610.9,17.5,495,7811,0.00,1.20,0.00,0.000,6,0.000,0.037,1926,3171,2010,0,0,0,0,0,0
$GC,8119,0.65,109.6,561.6,15.2,511,8120,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,3172,2009,0,0,0,0,0,0
$GC,8429,0.65,109.6,515.2,15.0,526,8432,0.00,1.25,0.00,0.000,4,0.000,0.060,1926,3947,2008,0,0,0,0,0,0
$GC,8522,0.65,109.6,498.7,17.1,530,8527,0.00,1.20,0.00,0.000,6,0.000,0.037,1933,3170,2009,0,0,0,0,0,0
$GC,8851,0.65,109.6,447.4,15.6,546,8855,0.00,1.25,0.00,0.000,4,0.000,0.060,1932,3943,2008,0,0,0,0,0,0
$GC,8905,0.65,109.6,437.6,17.7,548,8911,0.12,1.17,0.00,0.000,6,0.221,0.037,1910,3181,2008,0,0,0,0,0,0
$GC,9229,0.65,109.6,390.2,14.9,567,9230,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3181,2007,0,0,0,0,0,0
$GC,9550,0.65,109.6,343.4,14.3,597,9554,0.00,1.23,0.00,0.000,4,0.000,0.062,1909,3948,2007,0,0,0,0,0,0
$GC,9621,0.65,109.6,331.3,16.2,603,9629,0.00,1.17,0.00,0.000,6,0.000,0.037,1914,3179,2008,0,0,0,0,0,0
$GC,9947,0.65,109.6,283.4,15.1,634,9948,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3180,2007,0,0,0,0,0,0
$GC,10266,0.65,109.6,237.9,14.5,664,10270,0.00,1.25,0.00,0.000,4,0.000,0.061,1914,3954,2006,0,0,0,0,0,0
$GC,10370,0.65,109.6,220.5,18.3,673,10374,0.00,1.17,0.00,0.000,6,0.000,0.037,1920,3179,2006,0,0,0,0,0,0
$GC,10700,0.65,109.6,170.3,14.3,704,10703,0.00,1.25,0.00,0.000,4,0.000,0.060,1920,3956,2007,0,0,0,0,0,0
$GC,10772,0.65,109.6,158.2,17.3,710,10780,0.00,1.20,0.00,0.000,6,0.000,0.036,1926,3170,2006,0,0,0,0,0,0
$GC,11099,0.65,109.6,109.4,15.3,741,11103,0.00,1.25,0.00,0.000,4,0.000,0.060,1926,3949,2007,0,0,0,0,0,0
$GC,11178,0.65,109.6,96.1,17.4,750,11187,0.00,1.15,0.00,0.000,6,0.000,0.037,1932,3183,2007,0,0,0,0,0,0
$GC,11529,0.65,109.6,45.2,13.5,811,11535,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,3184,2007,0,0,0,0,0,0
$STATE,11856,end climb,SURFACE_DEPTH_REACHED
$STATE,11856,begin surface coast
$FINISH,0.7,1.015250
$STATE,11888,end surface coast,CONTROL_FINISHED_OK
$STATE,11888,begin surface
$SM_CCo,11900,45.00,0.802,0,0,1552,225.18
$SM_GC,1.36,0.00,0.00,45.00,0.000,0.000,0.802,66,3339,1552,-5.09,0.54,225.18
$IRIDIUM_FIX,-4244.98,755.73,121213,202055
$TT8_MAMPS,0.026215
$HUMID,61.93
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,22.8,12.934
$10V_AH,10.1,8.636
$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,12.400,53.375,214.650,45.000,0.000,27.022,50.534,261.329,0.000,0.000,17.492,2198.955,7163.324,345.350,2558.828,127.304,0.000,1250.405,0.000,2117.594,0.000,1.011,0.000
$DEVICE_MAMPS,238.680,76.500,1858.185,801.720,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,604.870,1517.576,627.237,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,60195,872
$CAP_FILE_SIZE,113275,0
$CFSIZE,259252224,253108224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131213,033234,-4259.860,830.269,34,1.2,34,-25.0