version: 66.07
glider: 543
mission: 9
dive: 108
start: 12 17 113 17 22 3
data:
$ID,543
$MISSION,9
$DIVE,108
$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,-12730.164
$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,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
$GPS1,171213,171458,-4300.166,829.722,69,0.8,69,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-65.6
$GPS2,171213,172142,-4300.115,829.763,17,1.1,17,-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,81.5,385,-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,-40.92,0.000,2,0.000,0.000,65,3324,2463,0,0,0,0,0,0
$GC,59,-0.64,-101.2,3.1,-4.7,5,85,5.68,2.20,-12.75,0.000,4,0.230,0.046,1483,1898,2888,0,0,0,0,0,0
$GC,210,-0.64,-101.2,28.9,-19.1,29,216,0.00,2.33,0.00,0.000,6,0.000,0.054,1474,3328,2891,0,0,0,0,0,0
$GC,353,-0.64,-101.2,60.0,-22.0,54,362,0.00,0.98,0.00,0.000,4,0.000,0.057,1469,3941,2892,0,0,0,0,0,0
$GC,528,-0.64,-101.2,101.5,-22.4,84,531,0.00,0.95,0.00,0.000,6,0.000,0.035,1469,3315,2893,0,0,0,0,0,0
$GC,858,-0.64,-101.2,173.2,-21.6,115,862,0.00,1.00,0.00,0.000,4,0.000,0.057,1465,3941,2894,0,0,0,0,0,0
$GC,1111,-0.64,-101.2,231.8,-22.2,137,1118,0.00,0.98,0.00,0.000,6,0.000,0.035,1465,3307,2896,0,0,0,0,0,0
$GC,1436,-0.64,-101.2,299.4,-19.9,168,1440,0.00,1.02,0.00,0.000,4,0.000,0.058,1460,3950,2896,0,0,0,0,0,0
$GC,1696,-0.64,-101.2,356.5,-22.7,191,1700,0.00,0.95,0.00,0.000,6,0.000,0.036,1460,3322,2896,0,0,0,0,0,0
$GC,2034,-0.64,-101.2,426.7,-21.0,217,2037,0.00,1.00,0.00,0.000,4,0.000,0.058,1455,3954,2896,0,0,0,0,0,0
$GC,2290,-0.64,-101.2,485.6,-23.2,228,2295,0.12,0.98,0.00,0.000,6,0.194,0.035,1484,3319,2896,0,0,0,0,0,0
$GC,2613,-0.64,-101.2,546.5,-19.2,244,2616,0.00,1.00,0.00,0.000,4,0.000,0.060,1481,3951,2896,0,0,0,0,0,0
$GC,2784,-0.64,-101.2,581.7,-20.3,251,2792,0.00,0.98,0.00,0.000,6,0.000,0.037,1481,3313,2895,0,0,0,0,0,0
$GC,3101,-0.64,-101.2,638.6,-17.6,267,3104,0.00,1.00,0.00,0.000,4,0.000,0.061,1476,3947,2895,0,0,0,0,0,0
$GC,3290,-0.64,-101.2,675.0,-19.2,275,3294,0.00,0.98,0.00,0.000,6,0.000,0.037,1476,3310,2895,0,0,0,0,0,0
$GC,3611,-0.64,-101.2,730.8,-17.2,291,3615,0.00,1.02,0.00,0.000,4,0.000,0.062,1471,3955,2894,0,0,0,0,0,0
$GC,3868,-0.64,-101.2,778.9,-18.7,302,3872,0.00,0.98,0.00,0.000,6,0.000,0.037,1471,3319,2893,0,0,0,0,0,0
$GC,4190,-0.64,-101.2,833.4,-17.1,318,4193,0.00,1.00,0.00,0.000,4,0.000,0.063,1467,3947,2893,0,0,0,0,0,0
$GC,4356,-0.64,-101.2,864.6,-18.8,325,4361,0.00,0.98,0.00,0.000,6,0.000,0.037,1467,3316,2892,0,0,0,0,0,0
$GC,4678,-0.64,-101.2,920.3,-17.3,341,4682,0.00,1.00,0.00,0.000,4,0.000,0.062,1462,3943,2892,0,0,0,0,0,0
$GC,4925,-0.64,-101.2,966.9,-18.1,352,4929,0.00,0.95,0.00,0.000,6,0.000,0.039,1462,3319,2891,0,0,0,0,0,0
$STATE,5070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5070,begin apogee
$GC,5075,-0.11,0.0,992.3,17.1,359,5176,0.65,0.00,98.00,1.870,6,0.161,0.000,1653,3178,2473,0,0,0,0,0,0
$STATE,5177,end apogee,CONTROL_FINISHED_OK
$STATE,5177,begin climb
$GC,5178,0.64,101.2,997.2,0.0,364,5289,0.75,2.45,101.35,1.819,4,0.094,0.034,1903,1783,2060,0,0,0,0,0,0
$GC,5321,0.64,101.2,985.0,13.0,370,5329,0.00,2.47,0.00,0.000,6,0.000,0.050,1904,3181,2056,0,0,0,0,0,0
$GC,5639,0.64,101.2,937.9,14.8,386,5643,0.00,1.27,0.00,0.000,4,0.000,0.058,1904,3950,2050,0,0,0,0,0,0
$GC,5864,0.64,101.2,899.2,17.8,396,5868,0.00,1.23,0.00,0.000,6,0.000,0.037,1909,3167,2049,0,0,0,0,0,0
$GC,6196,0.64,101.2,849.7,14.7,412,6197,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3168,2046,0,0,0,0,0,0
$GC,6506,0.64,101.2,804.2,14.8,427,6509,0.00,1.27,0.00,0.000,4,0.000,0.060,1910,3948,2045,0,0,0,0,0,0
$GC,6663,0.64,101.2,778.3,17.4,434,6667,0.00,1.17,0.00,0.000,6,0.000,0.037,1915,3183,2045,0,0,0,0,0,0
$GC,6996,0.64,101.2,730.5,14.1,450,6999,0.00,1.25,0.00,0.000,4,0.000,0.060,1915,3949,2044,0,0,0,0,0,0
$GC,7198,0.64,101.2,698.3,15.8,459,7201,0.00,1.17,0.00,0.000,6,0.000,0.037,1921,3182,2044,0,0,0,0,0,0
$GC,7530,0.64,101.2,648.9,15.0,475,7533,0.00,1.23,0.00,0.000,4,0.000,0.060,1921,3938,2043,0,0,0,0,0,0
$GC,7786,0.64,101.2,604.3,17.0,486,7791,0.00,1.20,0.00,0.000,6,0.000,0.036,1927,3166,2043,0,0,0,0,0,0
$GC,8108,0.64,101.2,555.4,14.9,502,8111,0.00,1.25,0.00,0.000,4,0.000,0.060,1927,3938,2042,0,0,0,0,0,0
$GC,8207,0.64,101.2,538.8,17.2,506,8212,0.12,1.17,0.00,0.000,6,0.217,0.036,1905,3180,2042,0,0,0,0,0,0
$GC,8529,0.64,101.2,494.8,13.7,522,8530,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3180,2041,0,0,0,0,0,0
$GC,8838,0.64,101.2,452.8,13.5,537,8842,0.00,1.23,0.00,0.000,4,0.000,0.059,1904,3944,2041,0,0,0,0,0,0
$GC,9050,0.64,101.2,419.8,16.2,546,9055,0.00,1.20,0.00,0.000,6,0.000,0.037,1909,3168,2041,0,0,0,0,0,0
$GC,9377,0.64,101.2,375.2,13.4,570,9380,0.00,1.25,0.00,0.000,4,0.000,0.060,1909,3939,2041,0,0,0,0,0,0
$GC,9602,0.64,101.2,341.1,15.5,590,9606,0.00,1.15,0.00,0.000,6,0.000,0.037,1915,3187,2040,0,0,0,0,0,0
$GC,9934,0.64,101.2,297.1,12.9,621,9935,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3187,2040,0,0,0,0,0,0
$GC,10251,0.64,101.2,257.1,12.1,651,10254,0.00,1.23,0.00,0.000,4,0.000,0.060,1914,3952,2040,0,0,0,0,0,0
$GC,10410,0.64,101.2,235.5,13.7,665,10414,0.00,1.17,0.00,0.000,6,0.000,0.037,1921,3174,2040,0,0,0,0,0,0
$GC,10740,0.64,101.2,192.6,12.1,696,10743,0.00,1.25,0.00,0.000,4,0.000,0.060,1921,3949,2040,0,0,0,0,0,0
$GC,11000,0.64,101.2,154.6,14.3,719,11004,0.00,1.17,0.00,0.000,6,0.000,0.037,1928,3170,2040,0,0,0,0,0,0
$GC,11330,0.64,101.2,110.5,13.6,750,11333,0.00,1.25,0.00,0.000,4,0.000,0.059,1927,3952,2040,0,0,0,0,0,0
$GC,11496,0.64,101.2,85.6,15.8,772,11504,0.08,1.15,0.00,0.000,6,0.200,0.035,1911,3187,2040,0,0,0,0,0,0
$GC,11846,0.64,101.2,43.4,11.0,833,11853,0.00,1.23,0.00,0.000,4,0.000,0.059,1911,3953,2040,0,0,0,0,0,0
$GC,11918,0.64,101.2,34.4,13.0,845,11925,0.00,1.15,0.00,0.000,6,0.000,0.035,1915,3187,2040,0,0,0,0,0,0
$GC,12066,0.64,101.2,16.4,10.9,870,12074,0.00,1.23,0.00,0.000,4,0.000,0.058,1915,3953,2040,0,0,0,0,0,0
$GC,12130,0.64,102.5,10.0,9.3,880,12139,0.00,1.17,0.00,0.000,6,0.000,0.035,1922,3172,2040,0,0,0,0,0,0
$GC,12188,0.64,102.5,4.4,10.6,889,12196,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3172,2040,0,0,0,0,0,0
$STATE,12203,end climb,SURFACE_DEPTH_REACHED
$STATE,12203,begin surface coast
$FINISH,0.8,1.024699
$STATE,12240,end surface coast,CONTROL_FINISHED_OK
$STATE,12240,begin surface
$SM_CCo,12252,48.17,0.799,0,0,1553,225.18
$SM_GC,1.32,0.00,0.00,48.17,0.000,0.000,0.799,59,3329,1553,-5.11,0.25,225.18
$IRIDIUM_FIX,-4244.98,828.21,171213,131319
$TT8_MAMPS,0.026215
$HUMID,61.89
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.7,17.297
$10V_AH,10.0,11.800
$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,12.300,56.675,199.350,48.175,0.000,27.232,24.410,243.934,0.000,0.000,20.237,2302.597,7116.800,338.178,2816.066,133.457,0.000,1363.223,0.000,2405.475,0.000,1.009,0.000
$DEVICE_MAMPS,230.265,77.265,1870.425,799.425,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,622.340,1562.367,663.719,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355200
$DATA_FILE_SIZE,60526,897
$CAP_FILE_SIZE,121822,0
$CFSIZE,259252224,251023360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,171213,204804,-4259.254,831.918,26,1.0,26,-25.1