version: 66.07
glider: 543
mission: 9
dive: 165
start: 12 27 113 8 54 31
data:
$ID,543
$MISSION,9
$DIVE,165
$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,-13041.412
$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,25
$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
$GPS1,271213,084552,-4259.938,829.122,38,0.8,38,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-65.6
$GPS2,271213,085406,-4300.028,829.223,14,1.1,15,-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,112.1,1053,-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,-57.7,0.0,0.0,0,73,0.00,0.00,-51.75,0.000,6,0.000,0.000,63,3432,2710,0,0,0,0,0,0
$GC,76,-0.53,-105.2,3.4,-4.2,7,94,6.18,2.20,-4.72,0.000,4,0.240,0.041,1547,2006,2905,0,0,0,0,0,0
$GC,297,-0.53,-105.2,37.0,-12.3,43,304,0.00,2.30,0.00,0.000,6,0.000,0.052,1538,3423,2909,0,0,0,0,0,0
$GC,442,-0.53,-105.2,57.4,-14.4,68,449,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,3423,2909,0,0,0,0,0,0
$GC,792,-0.53,-105.2,110.2,-15.4,124,796,0.00,2.12,0.00,0.000,4,0.000,0.031,1538,2004,2911,0,0,0,0,0,0
$GC,937,-0.53,-105.2,129.2,-12.1,136,948,0.00,2.30,0.00,0.000,6,0.000,0.052,1527,3418,2911,0,0,0,0,0,0
$GC,1263,-0.53,-105.2,181.7,-16.1,167,1266,0.00,0.85,0.00,0.000,4,0.000,0.060,1523,3948,2912,0,0,0,0,0,0
$GC,1300,-0.53,-105.2,188.6,-17.8,170,1308,0.00,0.82,0.00,0.000,6,0.000,0.036,1523,3410,2912,0,0,0,0,0,0
$GC,1628,-0.53,-105.2,242.3,-16.4,201,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3410,2913,0,0,0,0,0,0
$GC,1944,-0.53,-105.2,294.9,-16.4,231,1948,0.00,0.88,0.00,0.000,4,0.000,0.060,1519,3958,2913,0,0,0,0,0,0
$GC,2148,-0.53,-105.2,329.8,-17.5,249,2152,0.00,0.80,0.00,0.000,6,0.000,0.038,1519,3425,2913,0,0,0,0,0,0
$GC,2478,-0.53,-105.2,382.9,-15.8,280,2482,0.00,2.15,0.00,0.000,4,0.000,0.032,1519,1988,2912,0,0,0,0,0,0
$GC,2507,-0.53,-105.2,386.9,-14.2,282,2512,0.15,2.30,0.00,0.000,6,0.155,0.054,1548,3430,2913,0,0,0,0,0,0
$GC,2831,-0.53,-105.2,425.7,-12.0,303,2835,0.00,0.82,0.00,0.000,4,0.000,0.063,1545,3953,2912,0,0,0,0,0,0
$GC,2926,-0.53,-105.2,437.9,-12.4,307,2930,0.00,0.80,0.00,0.000,6,0.000,0.038,1545,3418,2912,0,0,0,0,0,0
$GC,3253,-0.53,-105.2,476.7,-12.1,323,3257,0.00,2.12,0.00,0.000,4,0.000,0.032,1545,1997,2912,0,0,0,0,0,0
$GC,3318,-0.53,-105.2,483.9,-9.8,326,3323,0.00,2.30,0.00,0.000,6,0.000,0.055,1534,3419,2912,0,0,0,0,0,0
$GC,3646,-0.53,-105.2,526.7,-13.5,342,3649,0.00,0.85,0.00,0.000,4,0.000,0.060,1530,3958,2912,0,0,0,0,0,0
$GC,3781,-0.53,-105.2,546.3,-14.3,348,3785,0.00,0.80,0.00,0.000,6,0.000,0.037,1530,3419,2911,0,0,0,0,0,0
$GC,4113,-0.53,-105.2,591.6,-13.4,364,4117,0.00,0.85,0.00,0.000,4,0.000,0.060,1526,3955,2911,0,0,0,0,0,0
$GC,4207,-0.53,-105.2,604.9,-14.0,368,4211,0.00,0.82,0.00,0.000,6,0.000,0.037,1526,3411,2911,0,0,0,0,0,0
$GC,4535,-0.53,-105.2,649.3,-14.1,384,4538,0.00,2.08,0.00,0.000,4,0.000,0.031,1526,2000,2910,0,0,0,0,0,0
$GC,4557,-0.53,-105.2,652.3,-13.7,385,4562,0.12,2.28,0.00,0.000,6,0.161,0.054,1547,3423,2910,0,0,0,0,0,0
$GC,4878,-0.53,-105.2,689.7,-11.6,401,4881,0.00,0.82,0.00,0.000,4,0.000,0.062,1544,3944,2910,0,0,0,0,0,0
$GC,4932,-0.53,-105.2,696.5,-11.4,403,4936,0.00,0.80,0.00,0.000,6,0.000,0.037,1545,3421,2909,0,0,0,0,0,0
$GC,5254,-0.53,-105.2,733.5,-11.7,419,5255,0.00,0.00,0.00,0.000,6,0.000,0.000,1545,3421,2909,0,0,0,0,0,0
$GC,5563,-0.53,-105.2,769.4,-11.4,434,5564,0.00,0.00,0.00,0.000,6,0.000,0.000,1545,3421,2908,0,0,0,0,0,0
$GC,5872,-0.53,-105.2,803.6,-10.9,449,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,1545,3421,2908,0,0,0,0,0,0
$GC,6182,-0.53,-105.2,837.0,-10.8,464,6185,0.00,0.85,0.00,0.000,4,0.000,0.062,1541,3952,2907,0,0,0,0,0,0
$GC,6236,-0.53,-105.2,843.4,-10.9,466,6241,0.00,0.82,0.00,0.000,6,0.000,0.037,1541,3417,2907,0,0,0,0,0,0
$GC,6558,-0.53,-105.2,879.4,-11.0,482,6559,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,3417,2907,0,0,0,0,0,0
$GC,6867,-0.53,-105.2,913.6,-10.9,497,6871,0.00,0.85,0.00,0.000,4,0.000,0.063,1537,3949,2906,0,0,0,0,0,0
$GC,6984,-0.53,-105.2,927.3,-11.8,502,6988,0.00,0.82,0.00,0.000,6,0.000,0.038,1537,3406,2906,0,0,0,0,0,0
$GC,7311,-0.53,-105.2,961.6,-10.1,518,7312,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3405,2906,0,0,0,0,0,0
$STATE,7598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7598,begin apogee
$GC,7603,-0.09,0.0,990.7,10.2,532,7707,0.50,0.00,101.43,1.852,6,0.150,0.000,1686,3274,2473,0,0,0,0,0,0
$STATE,7708,end apogee,CONTROL_FINISHED_OK
$STATE,7708,begin climb
$GC,7710,0.53,105.2,992.5,0.0,537,7825,0.57,2.47,105.75,1.800,4,0.067,0.032,1898,1867,2044,0,0,0,0,0,0
$GC,7852,0.53,105.2,980.8,13.7,543,7860,0.00,2.47,0.00,0.000,6,0.000,0.050,1898,3272,2039,0,0,0,0,0,0
$GC,8170,0.53,105.2,930.2,16.3,559,8171,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,3272,2032,0,0,0,0,0,0
$GC,8478,0.53,105.2,881.0,15.9,574,8482,0.00,1.12,0.00,0.000,4,0.000,0.060,1898,3956,2029,0,0,0,0,0,0
$GC,8645,0.53,105.2,852.2,16.6,581,8650,0.00,1.05,0.00,0.000,6,0.000,0.036,1903,3274,2029,0,0,0,0,0,0
$GC,8967,0.53,105.2,803.0,15.3,597,8968,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3274,2027,0,0,0,0,0,0
$GC,9276,0.53,105.2,757.4,14.9,612,9277,0.00,0.00,0.00,0.000,6,0.000,0.000,1903,3274,2026,0,0,0,0,0,0
$GC,9585,0.53,105.2,713.1,14.2,627,9589,0.00,1.10,0.00,0.000,4,0.000,0.060,1903,3951,2026,0,0,0,0,0,0
$GC,9653,0.53,105.2,702.3,16.1,630,9657,0.00,1.02,0.00,0.000,6,0.000,0.037,1908,3279,2026,0,0,0,0,0,0
$GC,9985,0.53,105.2,655.2,14.0,646,9989,0.00,1.10,0.00,0.000,4,0.000,0.060,1908,3957,2025,0,0,0,0,0,0
$GC,10040,0.53,105.2,646.6,15.7,648,10045,0.00,1.05,0.00,0.000,6,0.000,0.036,1913,3277,2025,0,0,0,0,0,0
$GC,10361,0.53,105.2,601.0,14.5,664,10365,0.00,2.17,0.00,0.000,4,0.000,0.034,1924,1855,2024,0,0,0,0,0,0
$GC,10384,0.53,105.2,597.8,13.7,665,10389,0.12,2.30,0.00,0.000,6,0.187,0.052,1895,3290,2024,0,0,0,0,0,0
$GC,10704,0.53,105.2,555.8,13.0,681,10708,0.00,1.05,0.00,0.000,4,0.000,0.060,1895,3943,2023,0,0,0,0,0,0
$GC,10849,0.53,105.2,534.3,14.6,687,10853,0.00,1.00,0.00,0.000,6,0.000,0.037,1898,3286,2023,0,0,0,0,0,0
$GC,11170,0.53,105.2,492.3,13.2,703,11174,0.00,1.08,0.00,0.000,4,0.000,0.060,1899,3953,2023,0,0,0,0,0,0
$GC,11196,0.53,105.2,488.4,14.6,704,11201,0.00,1.05,0.00,0.000,6,0.000,0.036,1904,3271,2023,0,0,0,0,0,0
$GC,11524,0.53,105.2,443.5,13.9,720,11528,0.00,2.15,0.00,0.000,4,0.000,0.033,1915,1853,2023,0,0,0,0,0,0
$GC,11613,0.53,105.2,432.4,11.2,724,11618,0.00,2.28,0.00,0.000,6,0.000,0.051,1915,3278,2022,0,0,0,0,0,0
$GC,11932,0.53,105.2,388.0,13.3,743,11935,0.00,1.08,0.00,0.000,4,0.000,0.059,1915,3954,2022,0,0,0,0,0,0
$GC,12116,0.53,105.2,360.5,14.3,759,12124,0.00,1.05,0.00,0.000,6,0.000,0.035,1920,3268,2022,0,0,0,0,0,0
$GC,12442,0.53,105.2,315.5,13.5,790,12443,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3267,2022,0,0,0,0,0,0
$GC,12761,0.53,105.2,271.1,13.9,820,12765,0.00,1.10,0.00,0.000,4,0.000,0.060,1920,3948,2022,0,0,0,0,0,0
$GC,12965,0.53,105.2,238.2,16.6,838,12970,0.10,1.00,0.00,0.000,6,0.193,0.037,1897,3282,2022,0,0,0,0,0,0
$GC,13297,0.53,105.2,194.9,13.4,869,13298,0.00,0.00,0.00,0.000,6,0.000,0.000,1897,3282,2022,0,0,0,0,0,0
$GC,13614,0.53,105.2,153.7,12.5,899,13617,0.00,1.08,0.00,0.000,4,0.000,0.058,1896,3954,2022,0,0,0,0,0,0
$GC,13684,0.53,105.2,144.0,15.0,905,13688,0.00,1.00,0.00,0.000,6,0.000,0.036,1899,3286,2022,0,0,0,0,0,0
$GC,14014,0.53,105.2,103.2,11.4,936,14018,0.00,1.08,0.00,0.000,4,0.000,0.059,1899,3955,2022,0,0,0,0,0,0
$GC,14184,0.53,105.2,82.6,12.1,963,14193,0.00,1.02,0.00,0.000,6,0.000,0.036,1904,3271,2022,0,0,0,0,0,0
$GC,14537,0.53,105.2,46.7,9.6,1024,14544,0.00,2.12,0.00,0.000,4,0.000,0.031,1916,1851,2022,0,0,0,0,0,0
$GC,14721,0.54,119.8,33.5,7.8,1055,14737,0.00,2.28,3.80,0.687,6,0.000,0.050,1916,3291,1983,0,0,0,0,0,0
$GC,14882,0.54,119.8,16.6,10.9,1081,14891,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3291,1983,0,0,0,0,0,0
$GC,14942,0.54,119.8,8.9,13.4,1090,14951,0.00,1.02,0.00,0.000,4,0.000,0.056,1915,3947,1982,0,0,0,0,0,0
$STATE,14994,end climb,SURFACE_DEPTH_REACHED
$STATE,14994,begin surface coast
$FINISH,0.5,1.026184
$STATE,15014,end surface coast,CONTROL_FINISHED_OK
$STATE,15014,begin surface
$SM_CCo,15027,43.62,0.777,0,0,1553,225.18
$SM_GC,1.04,0.00,0.00,43.62,0.000,0.000,0.777,61,3416,1553,-5.18,-0.08,225.18
$IRIDIUM_FIX,-4242.04,827.77,271213,040412
$TT8_MAMPS,0.026215
$HUMID,61.53
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.00
$XPDR_PINGS,0
$24V_AH,22.5,25.203
$10V_AH,10.0,17.933
$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,12.775,74.700,210.975,43.625,0.000,25.787,43.486,304.376,0.000,0.000,16.965,2743.015,9249.737,362.618,2997.114,213.533,0.000,1438.472,0.000,2500.963,0.000,1.010,0.000
$DEVICE_MAMPS,240.210,62.730,1852.065,777.240,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,764.025,1863.620,758.902,393.625,0.000,0.000,0.000,0.000,0.000,0.000
$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,77142,1101
$CAP_FILE_SIZE,138970,0
$CFSIZE,259252224,246910976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,271213,130658,-4259.569,832.981,42,0.8,42,-25.1