version: 66.07
glider: 543
mission: 9
dive: 89
start: 12 14 113 21 56 33
data:
$ID,543
$MISSION,9
$DIVE,89
$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,-12670.035
$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,23
$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
$GPS1,141213,214904,-4259.438,829.626,23,1.6,23,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-69.6
$GPS2,141213,215612,-4259.426,829.628,20,1.8,20,-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,179.6,1176,-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,-41.25,0.000,2,0.000,0.000,66,3319,2478,0,0,0,0,0,0
$GC,59,-0.64,-93.9,3.2,-5.5,5,85,5.65,1.05,-11.02,0.000,4,0.229,0.085,1477,3955,2859,0,0,0,0,0,0
$GC,152,-0.64,-93.9,23.4,-26.6,19,158,0.00,0.98,0.00,0.000,6,0.000,0.036,1480,3320,2861,0,0,0,0,0,0
$GC,296,-0.64,-93.9,53.5,-20.9,44,302,0.00,0.00,0.00,0.000,6,0.000,0.000,1480,3321,2862,0,0,0,0,0,0
$GC,641,-0.64,-93.9,120.6,-18.7,96,645,0.00,1.00,0.00,0.000,4,0.000,0.060,1477,3945,2864,0,0,0,0,0,0
$GC,778,-0.64,-93.9,148.6,-20.0,108,781,0.00,0.95,0.00,0.000,6,0.000,0.037,1477,3320,2865,0,0,0,0,0,0
$GC,1108,-0.64,-93.9,212.5,-18.8,139,1111,0.00,1.02,0.00,0.000,4,0.000,0.060,1472,3950,2866,0,0,0,0,0,0
$GC,1258,-0.64,-93.9,243.8,-20.3,152,1268,0.00,0.98,0.00,0.000,6,0.000,0.035,1472,3312,2866,0,0,0,0,0,0
$GC,1583,-0.64,-93.9,305.7,-18.9,183,1586,0.00,1.00,0.00,0.000,4,0.000,0.060,1467,3945,2866,0,0,0,0,0,0
$GC,1734,-0.64,-93.9,337.1,-20.1,196,1744,0.00,0.98,0.00,0.000,6,0.000,0.036,1468,3307,2866,0,0,0,0,0,0
$GC,2059,-0.64,-93.9,398.7,-18.8,227,2062,0.00,1.02,0.00,0.000,4,0.000,0.060,1463,3951,2866,0,0,0,0,0,0
$GC,2163,-0.64,-93.9,420.4,-20.1,232,2172,0.00,0.98,0.00,0.000,6,0.000,0.036,1463,3313,2866,0,0,0,0,0,0
$GC,2479,-0.64,-93.9,479.2,-18.5,248,2483,0.00,1.00,0.00,0.000,4,0.000,0.060,1458,3943,2866,0,0,0,0,0,0
$GC,2607,-0.64,-93.9,505.2,-20.1,253,2615,0.12,0.95,0.00,0.000,6,0.198,0.037,1487,3323,2866,0,0,0,0,0,0
$GC,2925,-0.64,-93.9,557.6,-16.5,269,2928,0.00,1.00,0.00,0.000,4,0.000,0.062,1484,3952,2866,0,0,0,0,0,0
$GC,3024,-0.64,-93.9,576.0,-18.2,273,3028,0.00,0.98,0.00,0.000,6,0.000,0.037,1484,3315,2866,0,0,0,0,0,0
$GC,3346,-0.64,-93.9,629.8,-16.5,289,3349,0.00,1.00,0.00,0.000,4,0.000,0.062,1479,3946,2865,0,0,0,0,0,0
$GC,3428,-0.64,-93.9,644.8,-18.7,292,3436,0.00,0.98,0.00,0.000,6,0.000,0.037,1479,3310,2865,0,0,0,0,0,0
$GC,3746,-0.64,-93.9,697.5,-16.6,308,3749,0.00,1.00,0.00,0.000,4,0.000,0.062,1475,3942,2865,0,0,0,0,0,0
$GC,3862,-0.64,-93.9,719.2,-19.1,313,3866,0.00,0.95,0.00,0.000,6,0.000,0.037,1475,3319,2865,0,0,0,0,0,0
$GC,4191,-0.64,-93.9,776.3,-17.6,329,4194,0.00,1.00,0.00,0.000,4,0.000,0.063,1470,3948,2864,0,0,0,0,0,0
$GC,4438,-0.64,-93.9,824.5,-20.0,340,4441,0.00,0.95,0.00,0.000,6,0.000,0.038,1470,3321,2863,0,0,0,0,0,0
$GC,4771,-0.64,-93.9,881.6,-16.4,356,4775,0.00,1.02,0.00,0.000,4,0.000,0.064,1465,3951,2862,0,0,0,0,0,0
$GC,4893,-0.64,-93.9,903.3,-17.8,361,4898,0.00,0.98,0.00,0.000,6,0.000,0.038,1465,3314,2862,0,0,0,0,0,0
$GC,5215,-0.64,-93.9,953.6,-15.6,377,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,1465,3314,2861,0,0,0,0,0,0
$STATE,5461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5461,begin apogee
$GC,5465,-0.11,0.0,992.0,15.3,389,5564,0.65,0.00,91.22,1.881,6,0.164,0.000,1656,3171,2474,0,0,0,0,0,0
$STATE,5565,end apogee,CONTROL_FINISHED_OK
$STATE,5565,begin climb
$GC,5566,0.64,93.9,995.6,0.0,394,5673,0.73,2.42,94.22,1.828,4,0.098,0.035,1901,1780,2090,0,0,0,0,0,0
$GC,5719,0.64,93.9,982.0,13.3,401,5723,0.00,2.42,0.00,0.000,6,0.000,0.051,1901,3182,2086,0,0,0,0,0,0
$GC,6044,0.64,93.9,932.8,15.5,417,6048,0.00,1.27,0.00,0.000,4,0.000,0.060,1901,3947,2080,0,0,0,0,0,0
$GC,6206,0.64,93.9,904.3,17.2,424,6210,0.00,1.20,0.00,0.000,6,0.000,0.037,1906,3180,2078,0,0,0,0,0,0
$GC,6533,0.64,93.9,853.3,15.5,440,6534,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3180,2076,0,0,0,0,0,0
$GC,6842,0.64,93.9,807.4,14.6,455,6846,0.00,1.25,0.00,0.000,4,0.000,0.061,1907,3947,2075,0,0,0,0,0,0
$GC,7099,0.64,93.9,764.9,16.7,466,7104,0.00,1.20,0.00,0.000,6,0.000,0.037,1912,3177,2074,0,0,0,0,0,0
$GC,7421,0.64,93.9,720.0,14.1,482,7424,0.00,1.25,0.00,0.000,4,0.000,0.060,1912,3943,2073,0,0,0,0,0,0
$GC,7677,0.64,93.9,679.5,16.7,493,7682,0.00,1.20,0.00,0.000,6,0.000,0.037,1918,3173,2073,0,0,0,0,0,0
$GC,7999,0.64,93.9,631.7,15.0,509,8002,0.00,1.25,0.00,0.000,4,0.000,0.060,1918,3941,2072,0,0,0,0,0,0
$GC,8255,0.64,93.9,588.4,16.6,520,8260,0.00,1.20,0.00,0.000,6,0.000,0.037,1924,3167,2072,0,0,0,0,0,0
$GC,8578,0.64,93.9,541.6,14.6,536,8582,0.00,1.27,0.00,0.000,4,0.000,0.060,1924,3954,2071,0,0,0,0,0,0
$GC,8802,0.64,93.9,505.2,16.0,546,8806,0.00,1.17,0.00,0.000,6,0.000,0.038,1929,3187,2071,0,0,0,0,0,0
$GC,9134,0.64,93.9,457.0,14.7,562,9138,0.00,1.23,0.00,0.000,4,0.000,0.060,1929,3944,2071,0,0,0,0,0,0
$GC,9391,0.64,93.9,416.3,15.3,573,9397,0.12,1.20,0.00,0.000,6,0.217,0.037,1907,3170,2071,0,0,0,0,0,0
$GC,9718,0.64,93.9,376.8,12.3,598,9722,0.00,1.25,0.00,0.000,4,0.000,0.060,1907,3943,2070,0,0,0,0,0,0
$GC,9946,0.64,93.9,344.2,13.8,618,9949,0.00,1.17,0.00,0.000,6,0.000,0.037,1912,3174,2070,0,0,0,0,0,0
$GC,10278,0.64,93.9,301.1,12.8,649,10281,0.00,1.25,0.00,0.000,4,0.000,0.060,1911,3953,2070,0,0,0,0,0,0
$GC,10537,0.64,93.9,261.7,15.0,672,10541,0.00,1.17,0.00,0.000,6,0.000,0.037,1917,3177,2069,0,0,0,0,0,0
$GC,10867,0.64,93.9,216.9,13.3,703,10868,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3176,2070,0,0,0,0,0,0
$GC,11188,0.64,93.9,175.3,13.4,733,11192,0.00,1.25,0.00,0.000,4,0.000,0.061,1917,3955,2070,0,0,0,0,0,0
$GC,11447,0.64,93.9,136.8,14.7,756,11451,0.00,1.17,0.00,0.000,6,0.000,0.037,1923,3176,2070,0,0,0,0,0,0
$GC,11776,0.64,93.9,94.6,11.9,790,11783,0.00,1.23,0.00,0.000,4,0.000,0.060,1923,3941,2070,0,0,0,0,0,0
$GC,12039,0.64,93.9,58.7,12.9,836,12046,0.00,1.15,0.00,0.000,6,0.000,0.036,1929,3180,2069,0,0,0,0,0,0
$GC,12393,0.64,93.9,20.3,11.6,897,12400,0.00,1.23,0.00,0.000,4,0.000,0.059,1929,3950,2070,0,0,0,0,0,0
$GC,12432,0.64,93.9,15.7,11.4,903,12441,0.10,1.15,0.00,0.000,6,0.198,0.035,1907,3179,2070,0,0,0,0,0,0
$GC,12491,0.65,110.6,10.5,7.6,912,12501,0.00,2.17,4.72,0.694,4,0.000,0.034,1917,1775,2018,0,0,0,0,0,0
$GC,12539,0.66,132.5,7.2,7.0,919,12556,0.00,2.25,8.55,0.765,6,0.000,0.051,1917,3178,1929,0,0,0,0,0,0
$STATE,12587,end climb,SURFACE_DEPTH_REACHED
$STATE,12587,begin surface coast
$FINISH,0.7,1.023220
$STATE,12625,end surface coast,CONTROL_FINISHED_OK
$STATE,12625,begin surface
$SM_CCo,12637,36.70,0.793,0,0,1555,225.18
$SM_GC,1.34,0.00,0.00,36.70,0.000,0.000,0.793,65,3324,1555,-5.09,0.14,225.18
$IRIDIUM_FIX,-4244.98,828.21,141213,181826
$TT8_MAMPS,0.025466
$HUMID,62.28
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.9,14.731
$10V_AH,10.1,9.923
$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,12.275,58.175,198.725,36.700,0.000,26.190,20.083,269.349,0.000,0.000,23.259,2383.712,7361.614,337.092,2880.460,139.963,0.000,1381.549,0.000,2444.342,0.000,1.010,0.000
$DEVICE_MAMPS,228.735,84.915,1881.135,792.540,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,646.195,1621.562,684.190,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355224
$DATA_FILE_SIZE,63640,932
$CAP_FILE_SIZE,125852,0
$CFSIZE,259252224,252256256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,151213,012858,-4300.623,831.475,38,1.1,38,-25.1