version: 66.07
glider: 543
mission: 9
dive: 146
start: 12 23 113 22 54 48
data:
$ID,543
$MISSION,9
$DIVE,146
$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,-12975.141
$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,44
$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
$DEVICE3,131
$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
$GPS1,231213,224558,-4259.459,830.598,66,1.0,66,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-59.4
$GPS2,231213,225423,-4259.346,830.790,17,1.7,17,-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,246.5,1617,-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,-41.92,0.000,2,0.000,0.000,57,3425,2507,0,0,0,0,0,0
$GC,60,-0.52,-90.5,3.2,-5.8,5,87,6.15,0.88,-9.75,0.000,4,0.238,0.096,1539,3953,2845,0,0,0,0,0,0
$GC,297,-0.52,-90.5,47.1,-16.9,43,304,0.00,0.80,0.00,0.000,6,0.000,0.038,1539,3427,2849,0,0,0,0,0,0
$GC,649,-0.52,-90.5,103.7,-15.3,103,653,0.00,2.17,0.00,0.000,4,0.000,0.032,1540,1991,2850,0,0,0,0,0,0
$GC,694,-0.52,-90.5,110.0,-12.8,106,701,0.00,2.30,0.00,0.000,6,0.000,0.054,1528,3422,2851,0,0,0,0,0,0
$GC,1021,-0.52,-90.5,160.3,-15.8,137,1024,0.00,0.85,0.00,0.000,4,0.000,0.061,1524,3953,2852,0,0,0,0,0,0
$GC,1077,-0.52,-90.5,169.9,-16.9,142,1081,0.00,0.80,0.00,0.000,6,0.000,0.038,1524,3421,2852,0,0,0,0,0,0
$GC,1410,-0.52,-90.5,222.6,-15.9,173,1413,0.00,0.85,0.00,0.000,4,0.000,0.061,1520,3953,2852,0,0,0,0,0,0
$GC,1511,-0.52,-90.5,240.7,-18.2,182,1515,0.08,0.80,0.00,0.000,6,0.170,0.039,1542,3424,2852,0,0,0,0,0,0
$GC,1843,-0.52,-90.5,285.9,-13.0,213,1847,0.00,2.15,0.00,0.000,4,0.000,0.033,1542,1996,2852,0,0,0,0,0,0
$GC,1864,-0.52,-90.5,288.9,-12.3,214,1872,0.00,2.30,0.00,0.000,6,0.000,0.056,1532,3416,2853,0,0,0,0,0,0
$GC,2192,-0.52,-90.5,331.6,-12.9,245,2196,0.00,0.82,0.00,0.000,4,0.000,0.063,1528,3943,2853,0,0,0,0,0,0
$GC,2275,-0.52,-90.5,343.8,-14.1,252,2285,0.00,0.82,0.00,0.000,6,0.000,0.039,1528,3407,2853,0,0,0,0,0,0
$GC,2600,-0.52,-90.5,388.0,-14.0,283,2604,0.00,0.85,0.00,0.000,4,0.000,0.063,1525,3938,2853,0,0,0,0,0,0
$GC,2670,-0.52,-90.5,397.9,-15.4,289,2674,0.00,0.77,0.00,0.000,6,0.000,0.040,1524,3427,2853,0,0,0,0,0,0
$GC,3002,-0.52,-90.5,445.0,-13.8,306,3003,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3427,2853,0,0,0,0,0,0
$GC,3311,-0.52,-90.5,487.5,-14.2,321,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3427,2852,0,0,0,0,0,0
$GC,3621,-0.52,-90.5,531.6,-14.2,336,3624,0.00,0.82,0.00,0.000,4,0.000,0.063,1521,3945,2852,0,0,0,0,0,0
$GC,3720,-0.52,-90.5,547.2,-15.7,340,3725,0.00,0.82,0.00,0.000,6,0.000,0.040,1521,3413,2852,0,0,0,0,0,0
$GC,4043,-0.52,-90.5,592.3,-13.9,356,4044,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3413,2851,0,0,0,0,0,0
$GC,4351,-0.52,-90.5,634.4,-13.2,371,4355,0.00,0.85,0.00,0.000,4,0.000,0.064,1517,3945,2850,0,0,0,0,0,0
$GC,4418,-0.52,-90.5,643.5,-13.8,374,4422,0.08,0.80,0.00,0.000,6,0.168,0.041,1541,3420,2850,0,0,0,0,0,0
$GC,4750,-0.52,-90.5,683.7,-12.1,390,4752,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3420,2850,0,0,0,0,0,0
$GC,5060,-0.52,-90.5,718.6,-11.4,405,5063,0.00,2.17,0.00,0.000,4,0.000,0.035,1540,1992,2849,0,0,0,0,0,0
$GC,5080,-0.52,-90.5,721.0,-11.1,406,5085,0.00,2.30,0.00,0.000,6,0.000,0.057,1530,3414,2849,0,0,0,0,0,0
$GC,5410,-0.52,-90.5,761.1,-12.3,422,5413,0.00,0.85,0.00,0.000,4,0.000,0.061,1526,3955,2848,0,0,0,0,0,0
$GC,5458,-0.52,-90.5,767.8,-13.0,424,5463,0.00,0.82,0.00,0.000,6,0.000,0.038,1526,3414,2848,0,0,0,0,0,0
$GC,5786,-0.52,-90.5,807.0,-12.0,440,5787,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3414,2847,0,0,0,0,0,0
$GC,6097,-0.52,-90.5,845.9,-12.8,455,6098,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3414,2847,0,0,0,0,0,0
$GC,6404,-0.52,-90.5,885.9,-13.3,470,6408,0.00,0.85,0.00,0.000,4,0.000,0.062,1522,3949,2847,0,0,0,0,0,0
$GC,6481,-0.52,-90.5,897.0,-14.4,473,6486,0.00,0.82,0.00,0.000,6,0.000,0.038,1522,3413,2847,0,0,0,0,0,0
$GC,6802,-0.52,-90.5,938.7,-12.6,489,6806,0.00,2.12,0.00,0.000,4,0.000,0.033,1522,1992,2846,0,0,0,0,0,0
$GC,6829,-0.52,-90.5,941.9,-12.0,490,6834,0.10,2.33,0.00,0.000,6,0.141,0.056,1543,3427,2846,0,0,0,0,0,0
$GC,7150,-0.52,-90.5,974.6,-10.2,506,7154,0.00,0.82,0.00,0.000,4,0.000,0.064,1541,3951,2845,0,0,0,0,0,0
$GC,7227,-0.52,-90.5,983.2,-11.3,509,7232,0.00,0.82,0.00,0.000,6,0.000,0.041,1541,3417,2845,0,0,0,0,0,0
$STATE,7300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7300,begin apogee
$GC,7304,-0.09,0.0,990.7,10.5,513,7393,0.50,0.00,85.70,1.868,6,0.149,0.000,1690,3270,2473,0,0,0,0,0,0
$STATE,7394,end apogee,CONTROL_FINISHED_OK
$STATE,7394,begin climb
$GC,7396,0.52,90.5,992.4,0.0,517,7491,0.55,0.00,91.70,1.828,6,0.063,0.000,1887,3269,2103,0,0,0,0,0,0
$GC,7793,0.52,90.5,947.8,14.0,537,7795,0.00,0.00,0.00,0.000,6,0.000,0.000,1887,3269,2095,0,0,0,0,0,0
$GC,8101,0.52,90.5,905.5,13.7,552,8105,0.00,2.22,0.00,0.000,4,0.000,0.036,1898,1856,2092,0,0,0,0,0,0
$GC,8118,0.52,90.5,903.4,13.3,553,8122,0.00,2.35,0.00,0.000,6,0.000,0.054,1898,3288,2091,0,0,0,0,0,0
$GC,8444,0.52,90.5,855.7,14.7,569,8445,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,3289,2090,0,0,0,0,0,0
$GC,8753,0.52,90.5,810.7,14.4,584,8755,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,3289,2090,0,0,0,0,0,0
$GC,9063,0.52,90.5,766.6,14.2,599,9067,0.00,2.22,0.00,0.000,4,0.000,0.039,1909,1860,2089,0,0,0,0,0,0
$GC,9088,0.52,90.5,763.0,12.5,600,9093,0.00,2.33,0.00,0.000,6,0.000,0.055,1909,3279,2088,0,0,0,0,0,0
$GC,9413,0.52,90.5,717.4,14.1,616,9414,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3279,2087,0,0,0,0,0,0
$GC,9719,0.52,90.5,675.2,13.2,631,9721,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3279,2088,0,0,0,0,0,0
$GC,10029,0.52,90.5,635.8,12.8,646,10033,0.00,2.20,0.00,0.000,4,0.000,0.038,1920,1862,2087,0,0,0,0,0,0
$GC,10068,0.52,90.5,631.3,11.4,648,10073,0.12,2.30,0.00,0.000,6,0.199,0.057,1892,3286,2086,0,0,0,0,0,0
$GC,10395,0.52,90.5,593.1,11.9,664,10399,0.00,1.08,0.00,0.000,4,0.000,0.066,1892,3949,2086,0,0,0,0,0,0
$GC,10472,0.52,90.5,582.8,13.3,667,10477,0.00,1.05,0.00,0.000,6,0.000,0.041,1895,3280,2085,0,0,0,0,0,0
$GC,10795,0.52,90.5,544.7,12.0,683,10798,0.00,2.17,0.00,0.000,4,0.000,0.038,1906,1862,2085,0,0,0,0,0,0
$GC,10837,0.52,90.5,540.0,10.9,685,10842,0.00,2.30,0.00,0.000,6,0.000,0.056,1906,3278,2085,0,0,0,0,0,0
$GC,11167,0.52,90.5,503.5,10.8,701,11171,0.00,1.08,0.00,0.000,4,0.000,0.063,1906,3948,2084,0,0,0,0,0,0
$GC,11279,0.52,90.5,489.5,12.6,706,11283,0.00,1.02,0.00,0.000,6,0.000,0.040,1911,3277,2085,0,0,0,0,0,0
$GC,11612,0.52,90.5,453.7,10.7,722,11613,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3277,2085,0,0,0,0,0,0
$GC,11921,0.52,90.5,421.0,10.3,737,11922,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3277,2084,0,0,0,0,0,0
$GC,12233,0.52,90.5,389.9,10.4,756,12234,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3277,2085,0,0,0,0,0,0
$GC,12552,0.52,90.5,356.3,11.1,786,12556,0.00,2.17,0.00,0.000,4,0.000,0.035,1923,1852,2085,0,0,0,0,0,0
$GC,12572,0.52,90.5,353.9,11.1,787,12581,0.10,2.30,0.00,0.000,6,0.171,0.054,1894,3278,2084,0,0,0,0,0,0
$GC,12898,0.52,90.5,317.5,12.1,818,12899,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,3278,2083,0,0,0,0,0,0
$GC,13217,0.52,90.5,279.1,12.2,848,13221,0.00,2.17,0.00,0.000,4,0.000,0.037,1903,1858,2083,0,0,0,0,0,0
$GC,13282,0.52,90.5,272.6,10.4,853,13286,0.00,2.28,0.00,0.000,6,0.000,0.056,1904,3278,2083,0,0,0,0,0,0
$GC,13606,0.52,90.5,234.2,11.3,883,13610,0.00,1.08,0.00,0.000,4,0.000,0.061,1902,3951,2083,0,0,0,0,0,0
$GC,13867,0.52,90.5,202.1,12.4,906,13870,0.00,1.02,0.00,0.000,6,0.000,0.037,1908,3272,2083,0,0,0,0,0,0
$GC,14199,0.52,90.5,166.9,10.0,937,14203,0.00,2.12,0.00,0.000,4,0.000,0.034,1919,1862,2083,0,0,0,0,0,0
$GC,14261,0.52,91.2,160.9,9.4,942,14266,0.12,2.28,0.00,0.000,6,0.192,0.054,1890,3291,2083,0,0,0,0,0,0
$GC,14585,0.52,91.2,128.0,9.9,972,14586,0.00,0.00,0.00,0.000,6,0.000,0.000,1890,3291,2083,0,0,0,0,0,0
$GC,14905,0.53,99.9,99.4,8.5,1002,14914,0.00,1.05,2.03,0.422,4,0.000,0.060,1890,3943,2064,0,0,0,0,0,0
$GC,15159,0.53,105.5,74.4,8.8,1046,15167,0.00,1.00,2.55,0.560,6,0.000,0.040,1894,3286,2042,0,0,0,0,0,0
$GC,15511,0.54,112.6,42.6,8.7,1107,15521,0.00,2.17,3.10,0.630,4,0.000,0.034,1905,1852,2012,0,0,0,0,0,0
$GC,15788,0.55,125.4,20.6,8.0,1153,15804,0.00,2.28,5.55,0.747,6,0.000,0.056,1905,3279,1960,0,0,0,0,0,0
$GC,15953,0.55,125.4,3.8,11.1,1179,15962,0.00,2.17,0.00,0.000,4,0.000,0.037,1916,1864,1959,0,0,0,0,0,0
$STATE,15970,end climb,SURFACE_DEPTH_REACHED
$STATE,15970,begin surface coast
$FINISH,0.6,1.025438
$STATE,15990,end surface coast,CONTROL_FINISHED_OK
$STATE,15990,begin surface
$SM_CCo,16004,42.53,0.789,0,0,1551,225.18
$SM_GC,1.12,0.00,0.00,42.53,0.000,0.000,0.789,62,3423,1551,-5.18,0.08,225.18
$IRIDIUM_FIX,-4247.91,635.37,231213,181853
$TT8_MAMPS,0.026215
$HUMID,61.38
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.7,22.544
$10V_AH,10.0,15.795
$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,12.700,83.575,190.625,42.525,0.000,27.908,41.150,311.696,0.000,0.000,20.159,2928.945,10023.015,355.946,3038.915,205.269,0.000,1404.564,0.000,2525.549,0.000,1.705,0.000
$DEVICE_MAMPS,237.915,96.390,1868.130,788.715,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,822.305,2029.201,821.825,403.956,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354424
$DATA_FILE_SIZE,84005,1184
$CAP_FILE_SIZE,142896,0
$CFSIZE,259252224,248332288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,241213,032353,-4259.449,830.221,63,1.2,64,-25.0