version: 66.07
glider: 543
mission: 9
dive: 152
start: 12 25 113 0 32 59
data:
$ID,543
$MISSION,9
$DIVE,152
$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,-12995.995
$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,27
$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
$GPS1,251213,002403,-4300.105,830.068,19,1.6,39,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-62.3
$GPS2,251213,003234,-4300.136,830.040,30,1.1,31,-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,12.9,258,-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,14,-0.50,-57.7,0.0,0.0,0,66,0.00,0.00,-49.42,0.000,2,0.000,0.000,52,3427,2666,0,0,0,0,0,0
$GC,68,-0.53,-101.8,3.1,-4.6,6,87,6.18,0.82,-6.00,0.000,4,0.239,0.084,1536,3956,2891,0,0,0,0,0,0
$GC,138,-0.53,-101.8,17.6,-18.5,16,147,0.00,0.82,0.00,0.000,6,0.000,0.037,1536,3419,2895,0,0,0,0,0,0
$GC,196,-0.53,-101.8,28.9,-19.8,25,202,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3419,2895,0,0,0,0,0,0
$GC,342,-0.53,-101.8,55.1,-15.9,50,349,0.00,0.85,0.00,0.000,4,0.000,0.061,1532,3944,2896,0,0,0,0,0,0
$GC,538,-0.53,-101.8,91.8,-18.1,84,547,0.00,0.80,0.00,0.000,6,0.000,0.035,1532,3417,2897,0,0,0,0,0,0
$GC,868,-0.53,-101.8,143.1,-15.1,119,870,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,3417,2899,0,0,0,0,0,0
$GC,1190,-0.53,-101.8,190.6,-15.4,149,1194,0.00,0.85,0.00,0.000,4,0.000,0.061,1528,3938,2899,0,0,0,0,0,0
$GC,1246,-0.53,-101.8,200.1,-16.8,154,1250,0.00,0.77,0.00,0.000,6,0.000,0.037,1529,3422,2899,0,0,0,0,0,0
$GC,1579,-0.53,-101.8,252.1,-16.2,185,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3421,2899,0,0,0,0,0,0
$GC,1895,-0.53,-101.8,304.6,-17.0,215,1896,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3421,2899,0,0,0,0,0,0
$GC,2216,-0.53,-101.8,353.7,-15.2,245,2223,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3421,2899,0,0,0,0,0,0
$GC,2541,-0.53,-101.8,404.3,-15.7,275,2542,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3421,2899,0,0,0,0,0,0
$GC,2850,-0.53,-101.8,452.7,-15.8,290,2854,0.00,2.12,0.00,0.000,4,0.000,0.031,1529,2002,2899,0,0,0,0,0,0
$GC,2889,-0.53,-101.8,458.2,-12.6,292,2893,0.10,2.22,0.00,0.000,6,0.166,0.054,1543,3416,2899,0,0,0,0,0,0
$GC,3214,-0.53,-101.8,502.3,-13.7,308,3218,0.00,0.85,0.00,0.000,4,0.000,0.060,1540,3956,2899,0,0,0,0,0,0
$GC,3297,-0.53,-101.8,514.5,-14.3,311,3305,0.00,0.82,0.00,0.000,6,0.000,0.037,1540,3411,2899,0,0,0,0,0,0
$GC,3615,-0.53,-101.8,557.9,-13.7,327,3616,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3410,2899,0,0,0,0,0,0
$GC,3923,-0.53,-101.8,599.9,-13.4,342,3924,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3411,2899,0,0,0,0,0,0
$GC,4232,-0.53,-101.8,639.4,-12.8,357,4236,0.00,2.10,0.00,0.000,4,0.000,0.032,1540,1993,2898,0,0,0,0,0,0
$GC,4259,-0.53,-101.8,642.8,-12.7,358,4263,0.00,2.30,0.00,0.000,6,0.000,0.054,1529,3419,2898,0,0,0,0,0,0
$GC,4580,-0.53,-101.8,684.8,-13.4,374,4584,0.00,0.82,0.00,0.000,4,0.000,0.062,1524,3944,2897,0,0,0,0,0,0
$GC,4663,-0.53,-101.8,696.6,-14.0,377,4671,0.00,0.80,0.00,0.000,6,0.000,0.038,1525,3420,2897,0,0,0,0,0,0
$GC,4979,-0.53,-101.8,739.5,-13.9,393,4983,0.00,2.12,0.00,0.000,4,0.000,0.032,1525,1999,2897,0,0,0,0,0,0
$GC,5011,-0.53,-101.8,743.7,-12.5,394,5019,0.08,2.30,0.00,0.000,6,0.144,0.054,1539,3422,2897,0,0,0,0,0,0
$GC,5328,-0.53,-101.8,781.9,-12.1,410,5329,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,3421,2896,0,0,0,0,0,0
$GC,5636,-0.53,-101.8,818.1,-11.5,425,5637,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,3422,2895,0,0,0,0,0,0
$GC,5946,-0.53,-101.8,852.4,-11.2,440,5947,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,3422,2895,0,0,0,0,0,0
$GC,6255,-0.53,-101.8,885.1,-10.2,455,6258,0.00,0.82,0.00,0.000,4,0.000,0.063,1537,3944,2894,0,0,0,0,0,0
$GC,6300,-0.53,-101.8,890.4,-11.7,457,6304,0.00,0.77,0.00,0.000,6,0.000,0.040,1537,3430,2894,0,0,0,0,0,0
$GC,6632,-0.53,-101.8,927.1,-11.3,473,6633,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3430,2894,0,0,0,0,0,0
$GC,6941,-0.53,-101.8,962.5,-11.7,488,6945,0.00,2.12,0.00,0.000,4,0.000,0.033,1537,1996,2893,0,0,0,0,0,0
$GC,6968,-0.53,-101.8,965.8,-11.4,489,6972,0.00,2.30,0.00,0.000,6,0.000,0.055,1526,3418,2893,0,0,0,0,0,0
$STATE,7164,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7164,begin apogee
$GC,7169,-0.09,0.0,990.8,13.1,499,7271,0.55,0.00,98.78,1.873,6,0.156,0.000,1688,3279,2473,0,0,0,0,0,0
$STATE,7272,end apogee,CONTROL_FINISHED_OK
$STATE,7272,begin climb
$GC,7273,0.53,101.8,995.0,0.0,504,7384,0.57,2.45,102.53,1.821,4,0.066,0.035,1900,1861,2057,0,0,0,0,0,0
$GC,7401,0.53,101.8,989.2,9.7,510,7406,0.00,2.50,0.00,0.000,6,0.000,0.051,1900,3279,2055,0,0,0,0,0,0
$GC,7729,0.53,101.8,943.4,14.7,526,7731,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,3279,2046,0,0,0,0,0,0
$GC,8037,0.53,101.8,895.4,15.9,541,8041,0.00,1.12,0.00,0.000,4,0.000,0.062,1900,3958,2043,0,0,0,0,0,0
$GC,8199,0.53,101.8,866.8,18.1,548,8203,0.00,1.05,0.00,0.000,6,0.000,0.039,1905,3282,2043,0,0,0,0,0,0
$GC,8526,0.53,101.8,815.7,15.4,564,8530,0.00,1.10,0.00,0.000,4,0.000,0.062,1905,3954,2041,0,0,0,0,0,0
$GC,8665,0.53,101.8,791.8,16.9,570,8670,0.00,1.08,0.00,0.000,6,0.000,0.038,1910,3269,2041,0,0,0,0,0,0
$GC,8993,0.53,101.8,743.1,14.7,586,8994,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3269,2040,0,0,0,0,0,0
$GC,9304,0.53,101.8,696.2,15.7,601,9307,0.00,1.12,0.00,0.000,4,0.000,0.063,1910,3958,2039,0,0,0,0,0,0
$GC,9394,0.53,101.8,680.7,18.0,605,9398,0.00,1.05,0.00,0.000,6,0.000,0.039,1916,3273,2040,0,0,0,0,0,0
$GC,9726,0.53,101.8,625.3,16.3,621,9730,0.00,1.10,0.00,0.000,4,0.000,0.062,1916,3950,2039,0,0,0,0,0,0
$GC,9876,0.53,101.8,598.0,18.5,627,9884,0.00,1.05,0.00,0.000,6,0.000,0.040,1921,3274,2038,0,0,0,0,0,0
$GC,10193,0.53,101.8,547.1,15.7,643,10196,0.00,1.10,0.00,0.000,4,0.000,0.062,1921,3953,2038,0,0,0,0,0,0
$GC,10270,0.53,101.8,534.1,17.0,646,10275,0.10,1.05,0.00,0.000,6,0.226,0.038,1900,3275,2038,0,0,0,0,0,0
$GC,10591,0.53,101.8,490.8,13.2,662,10592,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,3275,2037,0,0,0,0,0,0
$GC,10901,0.53,101.8,448.8,13.8,677,10902,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,3275,2037,0,0,0,0,0,0
$GC,11210,0.53,101.8,407.7,13.0,692,11213,0.00,1.10,0.00,0.000,4,0.000,0.062,1900,3954,2037,0,0,0,0,0,0
$GC,11311,0.53,101.8,393.1,14.8,698,11315,0.00,1.02,0.00,0.000,6,0.000,0.039,1904,3282,2037,0,0,0,0,0,0
$GC,11644,0.53,101.8,348.3,13.5,729,11647,0.00,1.10,0.00,0.000,4,0.000,0.063,1904,3956,2036,0,0,0,0,0,0
$GC,11736,0.53,101.8,335.0,14.7,737,11740,0.00,1.05,0.00,0.000,6,0.000,0.039,1909,3269,2037,0,0,0,0,0,0
$GC,12066,0.53,101.8,291.0,12.9,768,12067,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3269,2037,0,0,0,0,0,0
$GC,12386,0.53,101.8,249.2,13.5,798,12390,0.00,1.10,0.00,0.000,4,0.000,0.061,1909,3951,2037,0,0,0,0,0,0
$GC,12612,0.53,101.8,215.7,15.2,818,12616,0.00,1.02,0.00,0.000,6,0.000,0.039,1914,3276,2037,0,0,0,0,0,0
$GC,12944,0.53,101.8,173.1,12.9,849,12946,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3276,2037,0,0,0,0,0,0
$GC,13262,0.53,101.8,133.3,11.8,879,13263,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3276,2036,0,0,0,0,0,0
$GC,13581,0.53,101.8,95.9,11.6,912,13589,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3276,2036,0,0,0,0,0,0
$GC,13932,0.53,101.8,55.5,10.4,973,13939,0.00,1.10,0.00,0.000,4,0.000,0.061,1914,3955,2036,0,0,0,0,0,0
$GC,14204,0.53,101.8,22.9,11.8,1019,14211,0.00,1.02,0.00,0.000,6,0.000,0.037,1919,3277,2037,0,0,0,0,0,0
$GC,14361,0.54,114.5,6.9,8.0,1044,14371,0.00,2.15,3.12,0.535,4,0.000,0.033,1930,1858,2002,0,0,0,0,0,0
$STATE,14408,end climb,SURFACE_DEPTH_REACHED
$STATE,14409,begin surface coast
$FINISH,0.5,1.017541
$STATE,14447,end surface coast,CONTROL_FINISHED_OK
$STATE,14447,begin surface
$SM_CCo,14461,46.00,0.797,0,0,1552,225.18
$SM_GC,1.77,0.00,0.00,46.00,0.000,0.000,0.797,65,3427,1552,-5.16,0.20,225.18
$IRIDIUM_FIX,-4244.98,831.12,241213,202040
$TT8_MAMPS,0.025466
$HUMID,61.69
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.5,23.388
$10V_AH,10.0,16.450
$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,12.700,56.600,204.425,46.000,0.000,25.811,42.993,307.730,0.000,0.000,33.388,2596.568,9069.290,348.558,2816.359,189.104,0.000,1320.648,0.000,2307.010,0.000,1.818,0.000
$DEVICE_MAMPS,239.445,84.150,1872.720,797.130,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,733.740,1832.742,732.702,372.911,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354412
$DATA_FILE_SIZE,73685,1057
$CAP_FILE_SIZE,125689,0
$CFSIZE,259252224,247918592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,251213,043600,-4257.883,829.948,39,0.9,39,-25.0