version: 66.07
glider: 543
mission: 9
dive: 132
start: 12 21 113 9 50 7
data:
$ID,543
$MISSION,9
$DIVE,132
$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,125
$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,-12929.031
$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,1720
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,58
$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,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,32
$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
$GPS1,211213,094122,-4259.836,830.920,39,0.8,39,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-56.0
$GPS2,211213,094942,-4259.824,830.993,17,1.9,17,-25.0
$SPEED_LIMITS,0.163,0.235
$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,281.4,1383,-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,-0.50,-57.7,0.0,0.0,0,58,0.00,0.00,-41.95,0.000,2,0.000,0.000,54,3446,2484,0,0,0,0,0,0
$GC,60,-0.53,-106.7,3.1,-4.1,5,86,6.20,0.00,-11.70,0.000,6,0.240,0.000,1541,3446,2907,0,0,0,0,0,0
$GC,137,-0.53,-106.7,15.8,-16.4,16,146,0.00,0.80,0.00,0.000,4,0.000,0.062,1539,3938,2909,0,0,0,0,0,0
$GC,184,-0.53,-106.7,24.8,-19.4,23,191,0.00,0.80,0.00,0.000,6,0.000,0.037,1539,3418,2909,0,0,0,0,0,0
$GC,331,-0.53,-106.7,50.5,-15.9,48,340,0.00,0.85,0.00,0.000,4,0.000,0.060,1535,3942,2911,0,0,0,0,0,0
$GC,436,-0.53,-106.7,68.5,-17.5,66,445,0.00,0.80,0.00,0.000,6,0.000,0.036,1535,3417,2911,0,0,0,0,0,0
$GC,785,-0.53,-106.7,122.3,-15.7,115,788,0.00,0.85,0.00,0.000,4,0.000,0.061,1531,3944,2913,0,0,0,0,0,0
$GC,841,-0.53,-106.7,131.5,-16.5,120,845,0.00,0.80,0.00,0.000,6,0.000,0.037,1531,3415,2913,0,0,0,0,0,0
$GC,1171,-0.53,-106.7,184.5,-16.3,151,1175,0.00,0.85,0.00,0.000,4,0.000,0.061,1527,3944,2914,0,0,0,0,0,0
$GC,1274,-0.53,-106.7,202.0,-17.5,160,1277,0.00,0.77,0.00,0.000,6,0.000,0.037,1527,3425,2914,0,0,0,0,0,0
$GC,1604,-0.53,-106.7,257.9,-16.6,191,1607,0.00,0.82,0.00,0.000,4,0.000,0.060,1523,3943,2914,0,0,0,0,0,0
$GC,1641,-0.53,-106.7,264.9,-17.5,194,1649,0.00,0.80,0.00,0.000,6,0.000,0.036,1523,3417,2914,0,0,0,0,0,0
$GC,1969,-0.53,-106.7,318.9,-16.2,225,1972,0.00,0.82,0.00,0.000,4,0.000,0.061,1520,3932,2913,0,0,0,0,0,0
$GC,2006,-0.53,-106.7,326.1,-17.7,228,2015,0.00,0.80,0.00,0.000,6,0.000,0.036,1520,3409,2914,0,0,0,0,0,0
$GC,2331,-0.53,-106.7,378.1,-16.2,259,2334,0.00,0.85,0.00,0.000,4,0.000,0.061,1516,3940,2914,0,0,0,0,0,0
$GC,2421,-0.53,-106.7,393.8,-17.4,267,2425,0.08,0.77,0.00,0.000,6,0.168,0.037,1539,3426,2914,0,0,0,0,0,0
$GC,2752,-0.53,-106.7,442.6,-14.5,285,2754,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,3426,2914,0,0,0,0,0,0
$GC,3061,-0.53,-106.7,486.8,-13.9,300,3065,0.00,0.82,0.00,0.000,4,0.000,0.063,1536,3943,2913,0,0,0,0,0,0
$GC,3166,-0.53,-106.7,502.8,-15.8,304,3174,0.00,0.82,0.00,0.000,6,0.000,0.037,1536,3405,2913,0,0,0,0,0,0
$GC,3484,-0.53,-106.7,546.8,-13.8,320,3488,0.00,0.85,0.00,0.000,4,0.000,0.063,1532,3934,2913,0,0,0,0,0,0
$GC,3560,-0.53,-106.7,558.0,-14.3,323,3565,0.00,0.80,0.00,0.000,6,0.000,0.038,1532,3417,2913,0,0,0,0,0,0
$GC,3882,-0.53,-106.7,601.4,-13.3,339,3886,0.00,0.82,0.00,0.000,4,0.000,0.063,1529,3930,2913,0,0,0,0,0,0
$GC,3976,-0.53,-106.7,614.8,-13.8,343,3980,0.00,0.80,0.00,0.000,6,0.000,0.038,1528,3413,2913,0,0,0,0,0,0
$GC,4303,-0.53,-106.7,657.8,-12.7,359,4306,0.00,0.85,0.00,0.000,4,0.000,0.063,1525,3944,2912,0,0,0,0,0,0
$GC,4385,-0.53,-106.7,669.2,-13.7,362,4393,0.00,0.80,0.00,0.000,6,0.000,0.039,1525,3420,2912,0,0,0,0,0,0
$GC,4703,-0.53,-106.7,708.1,-12.4,378,4707,0.00,0.82,0.00,0.000,4,0.000,0.063,1521,3933,2911,0,0,0,0,0,0
$GC,4795,-0.53,-106.7,720.4,-13.8,382,4799,0.00,0.77,0.00,0.000,6,0.000,0.041,1521,3423,2911,0,0,0,0,0,0
$GC,5127,-0.53,-106.7,763.7,-12.8,398,5131,0.00,0.82,0.00,0.000,4,0.000,0.063,1517,3935,2910,0,0,0,0,0,0
$GC,5240,-0.53,-106.7,779.3,-13.6,403,5243,0.00,0.80,0.00,0.000,6,0.000,0.039,1517,3411,2910,0,0,0,0,0,0
$GC,5571,-0.53,-106.7,824.5,-13.6,419,5576,0.10,0.85,0.00,0.000,4,0.194,0.063,1538,3929,2909,0,0,0,0,0,0
$GC,5620,-0.53,-106.7,831.2,-12.8,421,5624,0.00,0.80,0.00,0.000,6,0.000,0.040,1538,3417,2909,0,0,0,0,0,0
$GC,5947,-0.53,-106.7,871.2,-12.4,437,5951,0.00,0.82,0.00,0.000,4,0.000,0.065,1534,3929,2909,0,0,0,0,0,0
$GC,6041,-0.53,-106.7,884.0,-13.1,441,6045,0.00,0.80,0.00,0.000,6,0.000,0.040,1534,3416,2909,0,0,0,0,0,0
$GC,6370,-0.53,-106.7,926.1,-12.9,457,6373,0.00,0.82,0.00,0.000,4,0.000,0.065,1530,3928,2908,0,0,0,0,0,0
$GC,6424,-0.53,-106.7,934.1,-14.6,459,6428,0.00,0.80,0.00,0.000,6,0.000,0.040,1530,3416,2907,0,0,0,0,0,0
$GC,6745,-0.53,-106.7,974.5,-12.5,475,6749,0.00,0.82,0.00,0.000,4,0.000,0.064,1526,3927,2907,0,0,0,0,0,0
$GC,6836,-0.53,-106.7,986.1,-12.4,479,6839,0.00,0.77,0.00,0.000,6,0.000,0.041,1526,3422,2907,0,0,0,0,0,0
$STATE,6877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6878,begin apogee
$GC,6882,-0.09,0.0,991.6,12.6,481,6987,0.55,0.00,102.15,1.861,6,0.155,0.000,1690,3273,2473,0,0,0,0,0,0
$STATE,6988,end apogee,CONTROL_FINISHED_OK
$STATE,6988,begin climb
$GC,6989,0.53,106.7,994.8,0.0,486,7105,0.57,2.45,106.85,1.815,4,0.069,0.033,1901,1869,2039,0,0,0,0,0,0
$GC,7162,0.53,106.7,980.3,13.9,494,7166,0.00,2.42,0.00,0.000,6,0.000,0.050,1901,3275,2033,0,0,0,0,0,0
$GC,7488,0.53,106.7,927.4,16.9,510,7491,0.00,1.12,0.00,0.000,4,0.000,0.060,1901,3953,2026,0,0,0,0,0,0
$GC,7578,0.53,106.7,910.7,19.0,514,7581,0.00,1.05,0.00,0.000,6,0.000,0.037,1906,3281,2026,0,0,0,0,0,0
$GC,7910,0.53,106.7,853.4,17.2,530,7913,0.00,1.10,0.00,0.000,4,0.000,0.060,1906,3953,2024,0,0,0,0,0,0
$GC,7955,0.53,106.7,845.3,18.4,532,7959,0.00,1.05,0.00,0.000,6,0.000,0.037,1911,3274,2024,0,0,0,0,0,0
$GC,8288,0.53,106.7,790.4,16.1,548,8290,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3274,2023,0,0,0,0,0,0
$GC,8597,0.53,106.7,741.2,16.1,563,8601,0.00,1.10,0.00,0.000,4,0.000,0.060,1911,3945,2022,0,0,0,0,0,0
$GC,8668,0.53,106.7,728.8,17.5,566,8673,0.00,1.05,0.00,0.000,6,0.000,0.036,1916,3271,2022,0,0,0,0,0,0
$GC,8996,0.53,106.7,677.0,15.8,582,8999,0.00,1.10,0.00,0.000,4,0.000,0.060,1916,3951,2020,0,0,0,0,0,0
$GC,9050,0.53,106.7,666.9,19.0,584,9055,0.00,1.05,0.00,0.000,6,0.000,0.036,1922,3272,2020,0,0,0,0,0,0
$GC,9373,0.53,106.7,615.2,15.9,600,9375,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3272,2020,0,0,0,0,0,0
$GC,9681,0.53,106.7,567.9,15.3,615,9685,0.00,1.10,0.00,0.000,4,0.000,0.060,1922,3951,2019,0,0,0,0,0,0
$GC,9708,0.53,106.7,563.2,16.9,616,9713,0.12,1.05,0.00,0.000,6,0.218,0.036,1899,3272,2019,0,0,0,0,0,0
$GC,10035,0.53,106.7,518.1,14.0,632,10036,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3273,2018,0,0,0,0,0,0
$GC,10344,0.53,106.7,474.7,13.8,647,10345,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3272,2018,0,0,0,0,0,0
$GC,10653,0.53,106.7,433.2,12.8,662,10657,0.00,1.10,0.00,0.000,4,0.000,0.060,1899,3956,2018,0,0,0,0,0,0
$GC,10680,0.53,106.7,429.2,14.1,663,10684,0.00,1.05,0.00,0.000,6,0.000,0.037,1903,3275,2017,0,0,0,0,0,0
$GC,11000,0.53,106.7,386.4,13.8,683,11003,0.00,1.10,0.00,0.000,4,0.000,0.059,1903,3958,2017,0,0,0,0,0,0
$GC,11083,0.53,106.7,373.9,15.0,690,11091,0.00,1.05,0.00,0.000,6,0.000,0.036,1908,3278,2017,0,0,0,0,0,0
$GC,11411,0.53,106.7,329.1,13.3,721,11412,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3279,2017,0,0,0,0,0,0
$GC,11727,0.53,106.7,284.7,13.8,751,11731,0.00,1.08,0.00,0.000,4,0.000,0.060,1908,3946,2017,0,0,0,0,0,0
$GC,11776,0.53,106.7,276.7,15.6,755,11784,0.00,1.02,0.00,0.000,6,0.000,0.036,1913,3278,2017,0,0,0,0,0,0
$GC,12101,0.53,106.7,231.9,13.6,786,12105,0.00,1.08,0.00,0.000,4,0.000,0.059,1913,3953,2017,0,0,0,0,0,0
$GC,12241,0.53,106.7,211.0,15.1,798,12248,0.00,1.02,0.00,0.000,6,0.000,0.036,1918,3274,2017,0,0,0,0,0,0
$GC,12568,0.53,106.7,167.5,12.9,829,12569,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3275,2017,0,0,0,0,0,0
$GC,12885,0.53,106.7,125.4,13.2,859,12889,0.00,2.15,0.00,0.000,4,0.000,0.034,1930,1853,2017,0,0,0,0,0,0
$GC,12905,0.53,106.7,122.7,11.7,860,12916,0.10,2.30,0.00,0.000,6,0.160,0.050,1899,3290,2016,0,0,0,0,0,0
$GC,13241,0.53,106.7,85.6,9.5,903,13250,0.00,2.17,0.00,0.000,4,0.000,0.032,1909,1864,2016,0,0,0,0,0,0
$GC,13256,0.53,106.7,84.1,10.0,905,13263,0.00,2.25,0.00,0.000,6,0.000,0.052,1909,3286,2016,0,0,0,0,0,0
$GC,13607,0.53,106.7,42.8,12.7,966,13616,0.00,1.05,0.00,0.000,4,0.000,0.059,1909,3952,2016,0,0,0,0,0,0
$GC,13793,0.53,106.7,20.5,10.6,997,13800,0.00,1.00,0.00,0.000,6,0.000,0.037,1913,3286,2016,0,0,0,0,0,0
$STATE,13951,end climb,SURFACE_DEPTH_REACHED
$STATE,13951,begin surface coast
$FINISH,1.0,1.026253
$STATE,13977,end surface coast,CONTROL_FINISHED_OK
$STATE,13977,begin surface
$SM_CCo,13988,45.60,0.799,0,0,1552,225.18
$SM_GC,1.51,0.00,0.00,45.60,0.000,0.000,0.799,68,3438,1552,-5.16,0.51,225.18
$IRIDIUM_FIX,-4242.04,827.77,211213,050532
$TT8_MAMPS,0.025466
$HUMID,62.08
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.5,20.545
$10V_AH,10.0,14.194
$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,12.550,63.200,209.000,45.600,0.000,26.887,42.163,309.066,0.000,0.000,20.502,2576.786,8546.715,376.479,2844.650,192.171,0.000,1401.297,0.000,2346.146,0.000,1.010,0.000
$DEVICE_MAMPS,240.210,71.910,1861.245,798.660,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,711.839,1762.241,712.967,360.267,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354452
$DATA_FILE_SIZE,73786,1026
$CAP_FILE_SIZE,135701,0
$CFSIZE,259252224,249430016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,211213,134504,-4259.609,829.867,28,0.8,28,-25.0