version: 66.07
glider: 543
mission: 9
dive: 173
start: 12 28 113 20 36 6
data:
$ID,543
$MISSION,9
$DIVE,173
$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,-13069.216
$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,40
$R_STBD_OVSHOOT,21
$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
$GPS1,281213,202705,-4258.851,829.749,32,1.1,32,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-63.7
$GPS2,281213,203541,-4259.006,829.882,19,1.1,20,-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,200.0,1848,-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,15,-0.50,-57.7,0.0,0.0,0,67,0.00,0.00,-49.88,0.000,2,0.000,0.000,52,3422,2708,0,0,0,0,0,0
$GC,69,-0.53,-97.3,3.5,-5.1,6,87,6.10,0.85,-4.10,0.000,4,0.233,0.086,1540,3952,2872,0,0,0,0,0,0
$GC,102,-0.53,-97.3,11.9,-20.6,10,111,0.00,0.82,0.00,0.000,6,0.000,0.035,1540,3416,2874,0,0,0,0,0,0
$GC,161,-0.53,-97.3,23.4,-18.1,19,168,0.00,2.15,0.00,0.000,4,0.000,0.030,1540,1992,2875,0,0,0,0,0,0
$GC,429,-0.53,-97.3,59.3,-12.4,65,436,0.00,2.33,0.00,0.000,6,0.000,0.051,1529,3431,2878,0,0,0,0,0,0
$GC,772,-0.53,-97.3,112.4,-14.4,118,776,0.00,2.15,0.00,0.000,4,0.000,0.028,1529,1988,2879,0,0,0,0,0,0
$GC,833,-0.53,-97.3,120.1,-12.0,123,838,0.12,2.30,0.00,0.000,6,0.161,0.051,1550,3422,2880,0,0,0,0,0,0
$GC,1160,-0.53,-97.3,161.0,-12.6,153,1164,0.00,0.85,0.00,0.000,4,0.000,0.060,1547,3952,2880,0,0,0,0,0,0
$GC,1228,-0.53,-97.3,170.5,-13.5,159,1231,0.00,0.80,0.00,0.000,6,0.000,0.035,1547,3413,2880,0,0,0,0,0,0
$GC,1558,-0.53,-97.3,213.2,-12.6,190,1561,0.00,0.85,0.00,0.000,4,0.000,0.059,1543,3949,2881,0,0,0,0,0,0
$GC,1614,-0.53,-97.3,221.1,-14.7,195,1618,0.00,0.77,0.00,0.000,6,0.000,0.035,1544,3427,2881,0,0,0,0,0,0
$GC,1944,-0.53,-97.3,263.7,-13.0,226,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,1544,3426,2881,0,0,0,0,0,0
$GC,2264,-0.53,-97.3,306.3,-12.8,256,2267,0.00,0.82,0.00,0.000,4,0.000,0.060,1540,3947,2880,0,0,0,0,0,0
$GC,2444,-0.53,-97.3,330.7,-12.7,272,2448,0.00,0.80,0.00,0.000,6,0.000,0.037,1540,3412,2880,0,0,0,0,0,0
$GC,2774,-0.53,-97.3,370.8,-11.8,303,2775,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3412,2880,0,0,0,0,0,0
$GC,3100,-0.53,-97.3,410.1,-12.0,330,3104,0.00,0.85,0.00,0.000,4,0.000,0.059,1536,3949,2880,0,0,0,0,0,0
$GC,3183,-0.53,-97.3,421.1,-13.1,333,3190,0.00,0.80,0.00,0.000,6,0.000,0.036,1536,3419,2880,0,0,0,0,0,0
$GC,3499,-0.53,-97.3,460.2,-12.7,349,3500,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3419,2880,0,0,0,0,0,0
$GC,3808,-0.53,-97.3,499.0,-12.2,364,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,1535,3419,2880,0,0,0,0,0,0
$GC,4118,-0.53,-97.3,534.5,-11.2,379,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3419,2879,0,0,0,0,0,0
$GC,4427,-0.53,-97.3,568.3,-10.8,394,4430,0.00,0.85,0.00,0.000,4,0.000,0.061,1532,3951,2879,0,0,0,0,0,0
$GC,4498,-0.53,-97.3,577.0,-12.1,397,4502,0.00,0.82,0.00,0.000,6,0.000,0.037,1532,3415,2878,0,0,0,0,0,0
$GC,4826,-0.53,-97.3,614.8,-11.7,413,4827,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,3415,2878,0,0,0,0,0,0
$GC,5136,-0.53,-97.3,652.3,-12.2,428,5140,0.00,0.85,0.00,0.000,4,0.000,0.062,1528,3948,2878,0,0,0,0,0,0
$GC,5295,-0.53,-97.3,673.4,-12.2,435,5298,0.00,0.80,0.00,0.000,6,0.000,0.038,1529,3414,2877,0,0,0,0,0,0
$GC,5628,-0.53,-97.3,714.3,-11.9,451,5629,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3414,2877,0,0,0,0,0,0
$GC,5936,-0.53,-97.3,751.6,-11.8,466,5937,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3414,2876,0,0,0,0,0,0
$GC,6246,-0.53,-97.3,786.4,-11.2,481,6247,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3414,2876,0,0,0,0,0,0
$GC,6555,-0.53,-97.3,821.9,-11.7,496,6556,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3414,2875,0,0,0,0,0,0
$GC,6864,-0.53,-97.3,858.6,-11.9,511,6868,0.00,0.85,0.00,0.000,4,0.000,0.063,1524,3948,2874,0,0,0,0,0,0
$GC,6958,-0.53,-97.3,871.0,-13.3,515,6963,0.00,0.82,0.00,0.000,6,0.000,0.039,1524,3413,2874,0,0,0,0,0,0
$GC,7285,-0.53,-97.3,911.5,-12.3,531,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3412,2874,0,0,0,0,0,0
$GC,7595,-0.53,-97.3,949.1,-12.1,546,7596,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3412,2874,0,0,0,0,0,0
$GC,7904,-0.53,-97.3,984.1,-10.7,561,7908,0.00,0.85,0.00,0.000,4,0.000,0.063,1520,3942,2873,0,0,0,0,0,0
$STATE,7957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7957,begin apogee
$GC,7962,-0.09,0.0,990.7,11.9,563,8060,0.52,0.00,94.68,1.857,6,0.155,0.000,1680,3278,2473,0,0,0,0,0,0
$STATE,8061,end apogee,CONTROL_FINISHED_OK
$STATE,8061,begin climb
$GC,8063,0.53,97.3,992.5,0.0,568,8168,0.62,2.40,98.12,1.806,4,0.073,0.031,1898,1874,2078,0,0,0,0,0,0
$GC,8184,0.53,97.3,983.3,12.2,574,8189,0.00,2.50,0.00,0.000,6,0.000,0.050,1897,3275,2075,0,0,0,0,0,0
$GC,8508,0.53,97.3,933.6,15.5,590,8511,0.00,1.12,0.00,0.000,4,0.000,0.058,1898,3949,2067,0,0,0,0,0,0
$GC,8579,0.53,97.3,920.8,17.7,593,8584,0.00,1.08,0.00,0.000,6,0.000,0.034,1902,3273,2066,0,0,0,0,0,0
$GC,8907,0.53,97.3,867.8,16.0,609,8910,0.00,1.12,0.00,0.000,4,0.000,0.058,1902,3956,2063,0,0,0,0,0,0
$GC,9006,0.53,97.3,850.3,17.8,613,9011,0.00,1.08,0.00,0.000,6,0.000,0.035,1908,3269,2063,0,0,0,0,0,0
$GC,9330,0.53,97.3,799.8,15.3,629,9333,0.00,1.10,0.00,0.000,4,0.000,0.059,1908,3940,2062,0,0,0,0,0,0
$GC,9452,0.53,97.3,779.0,17.1,634,9456,0.00,1.02,0.00,0.000,6,0.000,0.035,1912,3276,2062,0,0,0,0,0,0
$GC,9773,0.53,97.3,729.2,15.0,650,9777,0.00,1.10,0.00,0.000,4,0.000,0.058,1912,3957,2061,0,0,0,0,0,0
$GC,9805,0.53,97.3,723.8,16.5,651,9810,0.00,1.05,0.00,0.000,6,0.000,0.035,1918,3278,2061,0,0,0,0,0,0
$GC,10127,0.53,97.3,675.5,14.6,667,10131,0.00,2.17,0.00,0.000,4,0.000,0.035,1929,1867,2060,0,0,0,0,0,0
$GC,10154,0.53,97.3,671.7,13.6,668,10159,0.10,2.30,0.00,0.000,6,0.166,0.051,1899,3284,2059,0,0,0,0,0,0
$GC,10475,0.53,97.3,629.1,13.1,684,10479,0.00,1.08,0.00,0.000,4,0.000,0.060,1899,3949,2059,0,0,0,0,0,0
$GC,10709,0.53,97.3,592.8,15.8,694,10714,0.00,1.02,0.00,0.000,6,0.000,0.036,1902,3283,2059,0,0,0,0,0,0
$GC,11033,0.53,97.3,548.2,13.7,710,11034,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3283,2058,0,0,0,0,0,0
$GC,11340,0.53,97.3,505.6,13.6,725,11344,0.00,1.08,0.00,0.000,4,0.000,0.060,1902,3950,2057,0,0,0,0,0,0
$GC,11431,0.53,97.3,492.2,14.9,729,11434,0.00,1.02,0.00,0.000,6,0.000,0.037,1908,3277,2057,0,0,0,0,0,0
$GC,11763,0.53,97.3,447.2,13.1,745,11766,0.00,1.08,0.00,0.000,4,0.000,0.059,1908,3942,2057,0,0,0,0,0,0
$GC,11830,0.53,97.3,437.3,15.0,748,11834,0.00,1.00,0.00,0.000,6,0.000,0.037,1913,3282,2057,0,0,0,0,0,0
$GC,12154,0.53,97.3,391.7,14.3,766,12155,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3281,2057,0,0,0,0,0,0
$GC,12473,0.53,97.3,348.7,13.3,796,12474,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3281,2057,0,0,0,0,0,0
$GC,12792,0.53,97.3,307.2,13.2,826,12793,0.00,0.00,0.00,0.000,6,0.000,0.000,1913,3281,2057,0,0,0,0,0,0
$GC,13110,0.53,97.3,267.7,12.0,856,13114,0.00,1.08,0.00,0.000,4,0.000,0.059,1913,3949,2057,0,0,0,0,0,0
$GC,13223,0.53,97.3,252.4,13.5,866,13228,0.00,1.02,0.00,0.000,6,0.000,0.036,1918,3271,2056,0,0,0,0,0,0
$GC,13556,0.53,97.3,209.3,12.9,897,13557,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3271,2056,0,0,0,0,0,0
$GC,13873,0.53,97.3,168.6,12.7,927,13874,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3271,2056,0,0,0,0,0,0
$GC,14194,0.53,97.3,127.1,13.1,957,14197,0.00,1.10,0.00,0.000,4,0.000,0.058,1918,3957,2056,0,0,0,0,0,0
$GC,14322,0.53,97.3,107.8,14.9,968,14332,0.12,1.05,0.00,0.000,6,0.215,0.034,1895,3270,2056,0,0,0,0,0,0
$GC,14665,0.53,97.3,71.4,9.7,1023,14674,0.00,1.10,0.00,0.000,4,0.000,0.058,1894,3954,2056,0,0,0,0,0,0
$GC,14935,0.54,117.9,47.9,7.2,1069,14949,0.00,1.00,6.72,0.872,6,0.000,0.035,1899,3285,1990,0,0,0,0,0,0
$GC,15305,0.55,136.2,16.7,7.4,1131,15323,0.00,1.08,7.25,0.776,4,0.000,0.061,1898,3943,1914,0,0,0,0,0,0
$STATE,15415,end climb,SURFACE_DEPTH_REACHED
$STATE,15415,begin surface coast
$FINISH,0.6,1.026265
$STATE,15441,end surface coast,CONTROL_FINISHED_OK
$STATE,15441,begin surface
$SM_CCo,15454,36.25,0.777,0,0,1551,225.18
$SM_GC,1.03,0.00,0.00,36.25,0.000,0.000,0.777,67,3421,1551,-5.15,0.06,225.18
$IRIDIUM_FIX,-4244.98,831.12,281213,151515
$TT8_MAMPS,0.026215
$HUMID,61.53
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.5,26.334
$10V_AH,10.0,18.878
$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,12.625,56.575,206.775,36.250,0.000,26.639,21.357,340.697,0.000,0.000,21.898,2850.354,9556.290,328.529,3076.807,194.963,0.000,1396.165,0.000,2547.126,0.000,1.011,0.000
$DEVICE_MAMPS,232.560,85.680,1857.420,777.240,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,799.894,1957.209,799.746,388.157,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354404
$DATA_FILE_SIZE,80523,1152
$CAP_FILE_SIZE,137312,0
$CFSIZE,259252224,246276096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,291213,005528,-4300.599,831.211,36,0.9,36,-25.1