version: 66.07
glider: 543
mission: 9
dive: 123
start: 12 19 113 20 15 14
data:
$ID,543
$MISSION,9
$DIVE,123
$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,-12899.648
$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,1700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,52
$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,3420
$C_ROLL_CLIMB,3280
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,31
$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
$DEVICE3,131
$DEVICE4,118
$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
$GPS1,191213,200658,-4259.395,830.366,38,0.9,38,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-65.5
$GPS2,191213,201453,-4259.407,830.435,14,1.9,14,-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,233.2,1246,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.56,-57.7,0.0,0.0,0,67,0.00,0.00,-49.97,0.000,2,0.000,0.000,62,3441,2673,0,0,0,0,0,0
$GC,69,-0.59,-104.3,3.2,-4.3,6,88,5.80,0.77,-6.32,0.000,4,0.230,0.091,1499,3953,2900,0,0,0,0,0,0
$GC,352,-0.59,-104.3,67.8,-21.6,53,359,0.00,0.80,0.00,0.000,6,0.000,0.037,1499,3425,2905,0,0,0,0,0,0
$GC,689,-0.59,-104.3,130.3,-17.7,98,692,0.00,0.82,0.00,0.000,4,0.000,0.060,1496,3934,2907,0,0,0,0,0,0
$GC,914,-0.59,-104.3,173.3,-19.8,118,918,0.00,0.80,0.00,0.000,6,0.000,0.037,1496,3410,2908,0,0,0,0,0,0
$GC,1246,-0.59,-104.3,234.6,-18.5,149,1250,0.00,0.85,0.00,0.000,4,0.000,0.060,1492,3940,2908,0,0,0,0,0,0
$GC,1352,-0.59,-104.3,255.9,-19.0,158,1359,0.00,0.80,0.00,0.000,6,0.000,0.037,1492,3418,2908,0,0,0,0,0,0
$GC,1679,-0.59,-104.3,312.3,-17.6,189,1683,0.00,0.82,0.00,0.000,4,0.000,0.060,1488,3933,2908,0,0,0,0,0,0
$GC,1738,-0.59,-104.3,324.0,-18.3,194,1746,0.00,0.80,0.00,0.000,6,0.000,0.037,1488,3413,2909,0,0,0,0,0,0
$GC,2066,-0.59,-104.3,380.8,-17.1,225,2067,0.00,0.00,0.00,0.000,6,0.000,0.000,1488,3413,2908,0,0,0,0,0,0
$GC,2386,-0.59,-104.3,441.0,-19.2,246,2390,0.00,0.82,0.00,0.000,4,0.000,0.061,1484,3929,2908,0,0,0,0,0,0
$GC,2480,-0.59,-104.3,460.3,-19.8,250,2484,0.00,0.80,0.00,0.000,6,0.000,0.037,1484,3411,2908,0,0,0,0,0,0
$GC,2807,-0.59,-104.3,523.3,-18.9,266,2811,0.00,0.85,0.00,0.000,4,0.000,0.061,1480,3944,2908,0,0,0,0,0,0
$GC,2878,-0.59,-104.3,538.2,-20.1,269,2884,0.12,0.80,0.00,0.000,6,0.193,0.038,1509,3424,2908,0,0,0,0,0,0
$GC,3206,-0.59,-104.3,592.2,-16.2,285,3209,0.00,0.82,0.00,0.000,4,0.000,0.063,1507,3939,2908,0,0,0,0,0,0
$GC,3288,-0.59,-104.3,606.6,-17.6,288,3296,0.00,0.80,0.00,0.000,6,0.000,0.038,1507,3419,2908,0,0,0,0,0,0
$GC,3604,-0.59,-104.3,656.4,-15.7,304,3608,0.00,0.82,0.00,0.000,4,0.000,0.064,1503,3932,2907,0,0,0,0,0,0
$GC,3682,-0.59,-104.3,669.5,-16.8,307,3686,0.00,0.80,0.00,0.000,6,0.000,0.039,1503,3418,2907,0,0,0,0,0,0
$GC,4003,-0.59,-104.3,720.8,-16.0,323,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,1503,3417,2906,0,0,0,0,0,0
$GC,4313,-0.59,-104.3,768.4,-15.2,338,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,1503,3417,2906,0,0,0,0,0,0
$GC,4623,-0.59,-104.3,814.3,-14.8,353,4627,0.00,2.15,0.00,0.000,4,0.000,0.034,1503,1992,2905,0,0,0,0,0,0
$GC,4649,-0.59,-104.3,818.6,-14.6,354,4654,0.00,2.28,0.00,0.000,6,0.000,0.054,1492,3405,2905,0,0,0,0,0,0
$GC,4972,-0.59,-104.3,867.4,-15.2,370,4973,0.00,0.00,0.00,0.000,6,0.000,0.000,1493,3405,2904,0,0,0,0,0,0
$GC,5281,-0.59,-104.3,912.0,-14.1,385,5284,0.00,0.85,0.00,0.000,4,0.000,0.062,1488,3947,2904,0,0,0,0,0,0
$GC,5393,-0.59,-104.3,929.2,-15.1,390,5397,0.00,0.80,0.00,0.000,6,0.000,0.041,1488,3419,2904,0,0,0,0,0,0
$GC,5725,-0.59,-104.3,975.2,-13.4,406,5726,0.00,0.00,0.00,0.000,6,0.000,0.000,1488,3419,2903,0,0,0,0,0,0
$STATE,5847,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5847,begin apogee
$GC,5852,-0.10,0.0,991.8,13.4,412,5956,0.60,0.00,100.75,1.880,6,0.160,0.000,1665,3270,2474,0,0,0,0,0,0
$STATE,5956,end apogee,CONTROL_FINISHED_OK
$STATE,5956,begin climb
$GC,5958,0.59,104.3,994.5,0.0,417,6074,0.70,2.45,105.10,1.831,4,0.094,0.034,1895,1866,2047,0,0,0,0,0,0
$GC,6102,0.59,104.3,980.6,13.7,424,6107,0.00,2.47,0.00,0.000,6,0.000,0.050,1895,3273,2044,0,0,0,0,0,0
$GC,6430,0.59,104.3,928.3,15.7,440,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,1895,3272,2036,0,0,0,0,0,0
$GC,6739,0.59,104.3,880.7,15.5,455,6740,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,3272,2033,0,0,0,0,0,0
$GC,7048,0.59,104.3,833.0,15.5,470,7052,0.00,1.10,0.00,0.000,4,0.000,0.061,1896,3949,2032,0,0,0,0,0,0
$GC,7125,0.59,104.3,819.3,18.2,473,7130,0.00,1.05,0.00,0.000,6,0.000,0.037,1901,3278,2031,0,0,0,0,0,0
$GC,7447,0.59,104.3,768.7,15.7,489,7451,0.00,2.20,0.00,0.000,4,0.000,0.036,1911,1859,2030,0,0,0,0,0,0
$GC,7478,0.59,104.3,763.8,14.2,490,7487,0.00,2.33,0.00,0.000,6,0.000,0.051,1911,3289,2029,0,0,0,0,0,0
$GC,7797,0.59,104.3,712.2,16.6,506,7798,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3289,2029,0,0,0,0,0,0
$GC,8104,0.59,104.3,662.0,16.4,521,8108,0.00,2.20,0.00,0.000,4,0.000,0.036,1922,1865,2028,0,0,0,0,0,0
$GC,8153,0.59,104.3,654.3,15.3,523,8158,0.10,2.30,0.00,0.000,6,0.171,0.051,1894,3284,2027,0,0,0,0,0,0
$GC,8477,0.59,104.3,606.5,15.4,539,8480,0.00,1.08,0.00,0.000,4,0.000,0.062,1893,3952,2027,0,0,0,0,0,0
$GC,8635,0.59,104.3,580.2,16.6,546,8638,0.00,1.02,0.00,0.000,6,0.000,0.038,1897,3282,2027,0,0,0,0,0,0
$GC,8968,0.59,104.3,532.3,14.1,562,8972,0.00,1.08,0.00,0.000,4,0.000,0.061,1897,3949,2027,0,0,0,0,0,0
$GC,9067,0.59,104.3,516.0,15.9,566,9072,0.00,1.05,0.00,0.000,6,0.000,0.038,1902,3272,2027,0,0,0,0,0,0
$GC,9389,0.59,104.3,471.7,13.6,582,9391,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3272,2027,0,0,0,0,0,0
$GC,9699,0.59,104.3,429.9,13.0,597,9700,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3272,2027,0,0,0,0,0,0
$GC,10010,0.59,104.3,389.4,13.0,615,10011,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3272,2026,0,0,0,0,0,0
$GC,10332,0.59,104.3,349.1,12.3,645,10335,0.00,1.10,0.00,0.000,4,0.000,0.060,1902,3954,2026,0,0,0,0,0,0
$GC,10494,0.59,104.3,326.2,14.1,659,10501,0.00,1.05,0.00,0.000,6,0.000,0.037,1908,3271,2026,0,0,0,0,0,0
$GC,10819,0.59,104.3,281.9,13.6,690,10820,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3271,2026,0,0,0,0,0,0
$GC,11139,0.59,104.3,237.6,13.4,720,11140,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3271,2026,0,0,0,0,0,0
$GC,11457,0.59,104.3,196.8,12.7,750,11458,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3271,2026,0,0,0,0,0,0
$GC,11776,0.59,104.3,155.7,12.9,780,11777,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3271,2026,0,0,0,0,0,0
$GC,12095,0.59,104.3,113.9,13.3,810,12098,0.00,1.10,0.00,0.000,4,0.000,0.060,1907,3954,2026,0,0,0,0,0,0
$GC,12273,0.59,104.3,88.3,14.3,832,12280,0.00,1.02,0.00,0.000,6,0.000,0.037,1913,3275,2026,0,0,0,0,0,0
$GC,12622,0.59,104.3,47.9,12.5,893,12628,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3275,2026,0,0,0,0,0,0
$GC,12986,0.59,104.3,8.4,9.9,954,12995,0.00,1.08,0.00,0.000,4,0.000,0.060,1913,3942,2026,0,0,0,0,0,0
$STATE,13033,end climb,SURFACE_DEPTH_REACHED
$STATE,13033,begin surface coast
$FINISH,0.7,1.026258
$STATE,13059,end surface coast,CONTROL_FINISHED_OK
$STATE,13059,begin surface
$SM_CCo,13071,46.30,0.812,0,0,1553,225.18
$SM_GC,1.47,0.00,0.00,46.30,0.000,0.000,0.812,56,3410,1553,-5.14,-0.28,225.18
$IRIDIUM_FIX,-4247.91,831.55,191213,161623
$TT8_MAMPS,0.026215
$HUMID,62.32
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.5,19.322
$10V_AH,10.0,13.200
$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,12.375,45.750,205.850,46.300,0.000,28.224,42.959,290.967,0.000,0.000,16.832,2382.191,8093.516,351.537,2617.037,149.250,0.000,1238.938,0.000,2136.027,0.000,1.010,0.000
$DEVICE_MAMPS,229.500,91.035,1880.370,811.665,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,670.005,1670.864,679.991,345.922,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354392
$DATA_FILE_SIZE,70374,965
$CAP_FILE_SIZE,114895,0
$CFSIZE,259252224,250122240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,191213,235522,-4300.277,830.089,56,1.0,56,-25.0