version: 66.07
glider: 543
mission: 9
dive: 159
start: 12 26 113 6 53 19
data:
$ID,543
$MISSION,9
$DIVE,159
$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,-13019.786
$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,47
$R_STBD_OVSHOOT,22
$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
$GPS1,261213,064328,-4259.782,831.052,37,0.9,37,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-62.5
$GPS2,261213,065254,-4259.679,831.206,25,2.0,25,-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,275.0,1739,-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,-57.7,0.0,0.0,0,66,0.00,0.00,-49.60,0.000,2,0.000,0.000,61,3409,2687,0,0,0,0,0,0
$GC,68,-0.53,-104.9,3.1,-4.3,6,87,6.18,0.82,-5.60,0.000,4,0.242,0.084,1535,3958,2903,0,0,0,0,0,0
$GC,260,-0.53,-104.9,44.9,-20.7,37,267,0.00,0.80,0.00,0.000,6,0.000,0.036,1536,3431,2906,0,0,0,0,0,0
$GC,612,-0.53,-104.9,102.0,-14.5,97,616,0.00,2.15,0.00,0.000,4,0.000,0.030,1535,1990,2908,0,0,0,0,0,0
$GC,723,-0.53,-104.9,115.3,-11.0,106,730,0.00,2.33,0.00,0.000,6,0.000,0.051,1525,3424,2909,0,0,0,0,0,0
$GC,1051,-0.53,-104.9,167.0,-16.9,137,1052,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3424,2909,0,0,0,0,0,0
$GC,1367,-0.53,-104.9,219.0,-16.6,167,1371,0.00,2.15,0.00,0.000,4,0.000,0.031,1525,1996,2910,0,0,0,0,0,0
$GC,1407,-0.53,-104.9,224.9,-13.3,170,1412,0.12,2.30,0.00,0.000,6,0.159,0.054,1546,3426,2910,0,0,0,0,0,0
$GC,1731,-0.53,-104.9,270.3,-14.4,200,1732,0.00,0.00,0.00,0.000,6,0.000,0.000,1546,3426,2910,0,0,0,0,0,0
$GC,2051,-0.53,-104.9,315.6,-14.6,230,2054,0.00,0.82,0.00,0.000,4,0.000,0.062,1543,3951,2910,0,0,0,0,0,0
$GC,2100,-0.53,-104.9,323.4,-15.5,234,2107,0.00,0.82,0.00,0.000,6,0.000,0.037,1544,3412,2910,0,0,0,0,0,0
$GC,2427,-0.53,-104.9,370.1,-14.4,265,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,1543,3412,2910,0,0,0,0,0,0
$GC,2741,-0.53,-104.9,414.1,-13.4,290,2744,0.00,0.85,0.00,0.000,4,0.000,0.061,1539,3944,2910,0,0,0,0,0,0
$GC,2801,-0.53,-104.9,422.9,-14.0,292,2808,0.00,0.82,0.00,0.000,6,0.000,0.037,1539,3408,2910,0,0,0,0,0,0
$GC,3117,-0.53,-104.9,464.9,-13.2,308,3121,0.00,0.88,0.00,0.000,4,0.000,0.062,1536,3956,2910,0,0,0,0,0,0
$GC,3199,-0.53,-104.9,476.9,-13.7,311,3207,0.00,0.82,0.00,0.000,6,0.000,0.037,1536,3418,2910,0,0,0,0,0,0
$GC,3515,-0.53,-104.9,520.7,-14.1,327,3519,0.00,2.12,0.00,0.000,4,0.000,0.033,1536,2001,2910,0,0,0,0,0,0
$GC,3559,-0.53,-104.9,526.3,-11.0,329,3563,0.00,2.30,0.00,0.000,6,0.000,0.055,1525,3421,2909,0,0,0,0,0,0
$GC,3886,-0.53,-104.9,575.5,-15.5,345,3887,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3421,2909,0,0,0,0,0,0
$GC,4195,-0.53,-104.9,623.1,-15.1,360,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3421,2908,0,0,0,0,0,0
$GC,4505,-0.53,-104.9,669.6,-14.4,375,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3421,2907,0,0,0,0,0,0
$GC,4816,-0.53,-104.9,712.0,-13.4,390,4820,0.00,2.15,0.00,0.000,4,0.000,0.034,1525,1991,2907,0,0,0,0,0,0
$GC,4842,-0.53,-104.9,715.8,-12.0,391,4847,0.08,2.33,0.00,0.000,6,0.138,0.056,1539,3423,2907,0,0,0,0,0,0
$GC,5164,-0.53,-104.9,751.1,-11.0,407,5165,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,3423,2906,0,0,0,0,0,0
$GC,5473,-0.53,-104.9,784.1,-10.7,422,5474,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,3423,2906,0,0,0,0,0,0
$GC,5783,-0.53,-104.9,816.3,-10.2,437,5784,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,3423,2906,0,0,0,0,0,0
$GC,6092,-0.53,-104.9,848.3,-10.4,452,6096,0.00,2.15,0.00,0.000,4,0.000,0.036,1539,2004,2905,0,0,0,0,0,0
$GC,6141,-0.54,-114.2,853.1,-8.4,454,6146,0.00,2.33,0.00,0.000,6,0.000,0.059,1529,3427,2905,0,0,0,0,0,0
$GC,6463,-0.54,-114.2,889.7,-11.6,470,6465,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3427,2904,0,0,0,0,0,0
$GC,6772,-0.54,-114.2,925.0,-11.4,485,6776,0.00,2.15,0.00,0.000,4,0.000,0.036,1530,2002,2904,0,0,0,0,0,0
$GC,6821,-0.54,-114.2,930.3,-9.6,487,6826,0.00,2.33,0.00,0.000,6,0.000,0.059,1519,3424,2904,0,0,0,0,0,0
$GC,7143,-0.54,-114.2,969.8,-12.6,503,7147,0.00,0.85,0.00,0.000,4,0.000,0.066,1515,3959,2904,0,0,0,0,0,0
$GC,7215,-0.54,-114.2,979.7,-14.3,506,7220,0.12,0.82,0.00,0.000,6,0.179,0.041,1546,3423,2903,0,0,0,0,0,0
$STATE,7314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7314,begin apogee
$GC,7318,-0.09,0.0,990.6,11.0,511,7423,0.47,0.00,101.40,1.856,6,0.148,0.000,1689,3276,2473,0,0,0,0,0,0
$STATE,7423,end apogee,CONTROL_FINISHED_OK
$STATE,7424,begin climb
$GC,7425,0.54,114.2,993.9,0.0,516,7548,0.57,2.45,114.30,1.802,4,0.063,0.034,1903,1864,2008,0,0,0,0,0,0
$GC,7586,0.54,114.2,983.4,11.8,522,7593,0.00,2.53,0.00,0.000,6,0.000,0.054,1903,3286,2003,0,0,0,0,0,0
$GC,7903,0.54,114.2,938.2,14.5,538,7907,0.00,1.12,0.00,0.000,4,0.000,0.061,1903,3960,1997,0,0,0,0,0,0
$GC,8076,0.54,114.2,909.5,15.6,545,8084,0.00,1.10,0.00,0.000,6,0.000,0.037,1908,3269,1995,0,0,0,0,0,0
$GC,8393,0.54,114.2,861.8,15.3,561,8395,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3270,1993,0,0,0,0,0,0
$GC,8701,0.54,114.2,815.4,15.0,576,8702,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3270,1992,0,0,0,0,0,0
$GC,9011,0.54,114.2,767.5,15.4,591,9015,0.00,1.12,0.00,0.000,4,0.000,0.063,1908,3954,1991,0,0,0,0,0,0
$GC,9110,0.54,114.2,749.9,17.3,595,9115,0.00,1.08,0.00,0.000,6,0.000,0.038,1913,3267,1991,0,0,0,0,0,0
$GC,9435,0.54,114.2,698.3,16.0,611,9438,0.00,1.12,0.00,0.000,4,0.000,0.062,1913,3955,1990,0,0,0,0,0,0
$GC,9506,0.54,114.2,684.9,18.0,614,9510,0.00,1.05,0.00,0.000,6,0.000,0.039,1918,3283,1990,0,0,0,0,0,0
$GC,9833,0.54,114.2,630.6,16.9,630,9834,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3283,1990,0,0,0,0,0,0
$GC,10143,0.54,114.2,579.6,16.3,645,10146,0.00,1.10,0.00,0.000,4,0.000,0.063,1918,3959,1989,0,0,0,0,0,0
$GC,10332,0.54,114.2,545.3,17.9,653,10337,0.00,1.08,0.00,0.000,6,0.000,0.037,1924,3267,1989,0,0,0,0,0,0
$GC,10654,0.54,114.2,494.7,15.7,669,10658,0.00,1.12,0.00,0.000,4,0.000,0.062,1924,3960,1989,0,0,0,0,0,0
$GC,10677,0.54,114.2,491.0,16.1,670,10681,0.10,1.05,0.00,0.000,6,0.196,0.040,1901,3273,1989,0,0,0,0,0,0
$GC,11008,0.54,114.2,444.8,14.0,686,11009,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,3273,1988,0,0,0,0,0,0
$GC,11318,0.54,114.2,401.5,14.5,701,11319,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,3273,1988,0,0,0,0,0,0
$GC,11636,0.54,114.2,355.3,15.2,730,11639,0.00,1.10,0.00,0.000,4,0.000,0.062,1901,3954,1988,0,0,0,0,0,0
$GC,11704,0.54,114.2,344.3,15.4,736,11707,0.00,1.02,0.00,0.000,6,0.000,0.040,1905,3282,1988,0,0,0,0,0,0
$GC,12034,0.54,114.2,293.5,14.9,767,12037,0.00,1.08,0.00,0.000,4,0.000,0.061,1905,3954,1987,0,0,0,0,0,0
$GC,12276,0.54,114.2,253.7,15.9,788,12286,0.00,1.05,0.00,0.000,6,0.000,0.037,1910,3272,1987,0,0,0,0,0,0
$GC,12601,0.54,114.2,208.8,13.6,819,12604,0.00,1.10,0.00,0.000,4,0.000,0.060,1910,3955,1987,0,0,0,0,0,0
$GC,12672,0.54,114.2,197.9,15.5,825,12680,0.00,1.05,0.00,0.000,6,0.000,0.037,1916,3273,1987,0,0,0,0,0,0
$GC,12998,0.54,114.2,153.2,13.7,856,13001,0.00,1.10,0.00,0.000,4,0.000,0.061,1915,3957,1987,0,0,0,0,0,0
$GC,13025,0.54,114.2,149.0,14.9,858,13032,0.00,1.02,0.00,0.000,6,0.000,0.037,1921,3281,1987,0,0,0,0,0,0
$GC,13352,0.54,114.2,103.3,13.9,889,13356,0.00,1.08,0.00,0.000,4,0.000,0.061,1921,3951,1987,0,0,0,0,0,0
$GC,13387,0.54,114.2,98.0,14.5,893,13394,0.08,1.02,0.00,0.000,6,0.199,0.038,1904,3274,1987,0,0,0,0,0,0
$GC,13738,0.54,114.2,57.3,12.4,954,13747,0.00,2.17,0.00,0.000,4,0.000,0.034,1914,1854,1987,0,0,0,0,0,0
$GC,13878,0.55,135.1,45.6,7.1,978,13893,0.00,2.30,6.90,0.869,6,0.000,0.052,1914,3287,1919,0,0,0,0,0,0
$STATE,14209,end climb,SURFACE_DEPTH_REACHED
$STATE,14209,begin surface coast
$FINISH,0.5,1.026358
$STATE,14230,end surface coast,CONTROL_FINISHED_OK
$STATE,14230,begin surface
$SM_CCo,14242,37.50,0.779,0,0,1552,225.18
$SM_GC,1.21,0.00,0.00,37.50,0.000,0.000,0.779,59,3428,1552,-5.19,0.23,225.18
$IRIDIUM_FIX,-4244.98,831.12,261213,020201
$TT8_MAMPS,0.026215
$HUMID,62.99
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,13.50
$XPDR_PINGS,0
$24V_AH,22.5,24.359
$10V_AH,10.0,17.240
$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,12.700,66.550,222.600,37.500,0.000,35.351,60.833,338.130,0.000,0.000,28.175,2563.136,8906.014,362.576,2835.781,179.033,0.000,1333.281,0.000,2266.594,0.000,1.762,0.000
$DEVICE_MAMPS,241.740,88.740,1855.890,778.770,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,718.782,1756.690,690.344,322.793,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354372
$DATA_FILE_SIZE,73862,1036
$CAP_FILE_SIZE,128101,0
$CFSIZE,259252224,247382016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,261213,105252,-4259.688,830.003,59,1.3,59,-25.0