version: 66.07
glider: 543
mission: 9
dive: 184
start: 12 30 113 20 8 49
data:
$ID,543
$MISSION,9
$DIVE,184
$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,-13106.68
$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,49
$R_STBD_OVSHOOT,34
$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
$GPS1,301213,200021,-4259.583,831.952,42,1.3,42,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-63.9
$GPS2,301213,200824,-4259.653,831.991,18,0.9,19,-25.1
$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,281.7,2773,-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,-49.38,0.000,2,0.000,0.000,58,3431,2681,0,0,0,0,0,0
$GC,68,-0.53,-108.0,3.1,-3.9,6,87,6.10,0.85,-6.45,0.000,4,0.235,0.093,1538,3942,2917,0,0,0,0,0,0
$GC,205,-0.53,-108.0,30.6,-20.2,27,212,0.00,0.80,0.00,0.000,6,0.000,0.035,1538,3418,2920,0,0,0,0,0,0
$GC,353,-0.53,-108.0,57.5,-16.4,52,360,0.00,0.82,0.00,0.000,4,0.000,0.059,1534,3927,2921,0,0,0,0,0,0
$GC,610,-0.53,-108.0,101.4,-16.3,96,620,0.00,0.80,0.00,0.000,6,0.000,0.034,1534,3408,2922,0,0,0,0,0,0
$GC,935,-0.53,-108.0,152.1,-15.8,127,939,0.00,2.10,0.00,0.000,4,0.000,0.029,1534,2004,2923,0,0,0,0,0,0
$GC,956,-0.53,-108.0,155.5,-15.7,128,966,0.00,2.28,0.00,0.000,6,0.000,0.050,1523,3410,2923,0,0,0,0,0,0
$GC,1281,-0.53,-108.0,209.9,-16.7,159,1285,0.00,0.85,0.00,0.000,4,0.000,0.057,1519,3950,2924,0,0,0,0,0,0
$GC,1433,-0.53,-108.0,236.4,-17.1,172,1442,0.00,0.77,0.00,0.000,6,0.000,0.034,1519,3425,2924,0,0,0,0,0,0
$GC,1757,-0.53,-108.0,290.2,-15.4,203,1760,0.00,0.82,0.00,0.000,4,0.000,0.059,1516,3946,2924,0,0,0,0,0,0
$GC,1884,-0.53,-108.0,312.6,-17.4,214,1893,0.12,0.80,0.00,0.000,6,0.186,0.034,1545,3417,2924,0,0,0,0,0,0
$GC,2212,-0.53,-108.0,356.6,-13.2,245,2216,0.00,2.10,0.00,0.000,4,0.000,0.028,1545,1992,2924,0,0,0,0,0,0
$GC,2232,-0.53,-108.0,359.7,-13.3,246,2240,0.00,2.30,0.00,0.000,6,0.000,0.051,1536,3416,2924,0,0,0,0,0,0
$GC,2567,-0.53,-108.0,406.3,-14.1,276,2570,0.00,0.85,0.00,0.000,4,0.000,0.059,1531,3955,2924,0,0,0,0,0,0
$GC,2661,-0.53,-108.0,420.5,-15.1,280,2665,0.00,0.82,0.00,0.000,6,0.000,0.034,1532,3412,2925,0,0,0,0,0,0
$GC,2988,-0.53,-108.0,466.0,-13.7,296,2992,0.00,0.85,0.00,0.000,4,0.000,0.059,1527,3949,2924,0,0,0,0,0,0
$GC,3077,-0.53,-108.0,479.2,-15.0,300,3081,0.00,0.77,0.00,0.000,6,0.000,0.037,1528,3428,2924,0,0,0,0,0,0
$GC,3410,-0.53,-108.0,525.1,-13.6,316,3411,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3428,2924,0,0,0,0,0,0
$GC,3719,-0.53,-108.0,567.7,-13.8,331,3722,0.00,0.82,0.00,0.000,4,0.000,0.062,1524,3947,2924,0,0,0,0,0,0
$GC,3768,-0.53,-108.0,575.1,-15.4,333,3772,0.00,0.80,0.00,0.000,6,0.000,0.037,1524,3420,2923,0,0,0,0,0,0
$GC,4097,-0.53,-108.0,621.4,-14.1,349,4098,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3419,2923,0,0,0,0,0,0
$GC,4404,-0.53,-108.0,665.1,-14.4,364,4408,0.00,0.85,0.00,0.000,4,0.000,0.061,1520,3939,2922,0,0,0,0,0,0
$GC,4472,-0.53,-108.0,675.2,-15.3,367,4475,0.00,0.77,0.00,0.000,6,0.000,0.038,1520,3425,2922,0,0,0,0,0,0
$GC,4804,-0.53,-108.0,723.7,-14.7,383,4805,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3424,2922,0,0,0,0,0,0
$GC,5113,-0.53,-108.0,770.0,-14.8,398,5117,0.00,0.82,0.00,0.000,4,0.000,0.061,1516,3943,2921,0,0,0,0,0,0
$GC,5207,-0.53,-108.0,784.8,-16.3,402,5212,0.10,0.82,0.00,0.000,6,0.189,0.037,1540,3408,2921,0,0,0,0,0,0
$GC,5533,-0.53,-108.0,824.2,-11.7,418,5537,0.00,0.85,0.00,0.000,4,0.000,0.063,1537,3941,2920,0,0,0,0,0,0
$GC,5556,-0.53,-108.0,826.9,-12.4,419,5560,0.00,0.77,0.00,0.000,6,0.000,0.039,1537,3427,2920,0,0,0,0,0,0
$GC,5888,-0.53,-108.0,864.0,-11.1,435,5892,0.00,0.82,0.00,0.000,4,0.000,0.062,1533,3946,2920,0,0,0,0,0,0
$GC,5966,-0.53,-108.0,873.4,-12.0,438,5970,0.00,0.82,0.00,0.000,6,0.000,0.037,1533,3408,2920,0,0,0,0,0,0
$GC,6288,-0.53,-108.0,908.4,-10.8,454,6289,0.00,0.00,0.00,0.000,6,0.000,0.000,1533,3408,2919,0,0,0,0,0,0
$GC,6597,-0.53,-108.0,942.3,-11.2,469,6600,0.00,0.85,0.00,0.000,4,0.000,0.062,1529,3942,2918,0,0,0,0,0,0
$GC,6645,-0.53,-108.0,948.0,-11.2,471,6650,0.00,0.80,0.00,0.000,6,0.000,0.038,1529,3424,2918,0,0,0,0,0,0
$GC,6973,-0.53,-108.0,985.1,-11.2,487,6977,0.00,0.82,0.00,0.000,4,0.000,0.062,1526,3943,2918,0,0,0,0,0,0
$STATE,7017,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7017,begin apogee
$GC,7022,-0.09,0.0,990.5,13.3,489,7130,0.55,0.00,105.15,1.867,6,0.157,0.000,1687,3277,2473,0,0,0,0,0,0
$STATE,7131,end apogee,CONTROL_FINISHED_OK
$STATE,7131,begin climb
$GC,7133,0.53,108.0,993.6,0.0,494,7251,0.60,2.42,109.68,1.811,4,0.066,0.030,1905,1874,2032,0,0,0,0,0,0
$GC,7257,0.53,108.0,985.4,13.0,500,7261,0.00,2.50,0.00,0.000,6,0.000,0.050,1905,3283,2030,0,0,0,0,0,0
$GC,7583,0.53,108.0,933.4,16.3,516,7584,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3283,2021,0,0,0,0,0,0
$GC,7894,0.53,108.0,884.7,15.7,531,7898,0.00,2.22,0.00,0.000,4,0.000,0.035,1915,1872,2018,0,0,0,0,0,0
$GC,7914,0.53,108.0,881.2,15.1,532,7919,0.00,2.35,0.00,0.000,6,0.000,0.052,1915,3284,2017,0,0,0,0,0,0
$GC,8242,0.53,108.0,828.5,16.4,548,8243,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3284,2016,0,0,0,0,0,0
$GC,8551,0.53,108.0,777.8,16.5,563,8555,0.00,2.20,0.00,0.000,4,0.000,0.035,1926,1867,2015,0,0,0,0,0,0
$GC,8571,0.53,108.0,774.4,15.8,564,8576,0.10,2.33,0.00,0.000,6,0.174,0.053,1897,3287,2014,0,0,0,0,0,0
$GC,8901,0.53,108.0,724.5,15.2,580,8902,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,3286,2014,0,0,0,0,0,0
$GC,9208,0.53,108.0,679.4,14.7,595,9212,0.00,2.20,0.00,0.000,4,0.000,0.034,1907,1861,2013,0,0,0,0,0,0
$GC,9228,0.53,108.0,676.4,13.5,596,9233,0.00,2.33,0.00,0.000,6,0.000,0.053,1907,3285,2012,0,0,0,0,0,0
$GC,9556,0.53,108.0,626.3,15.7,612,9560,0.00,1.08,0.00,0.000,4,0.000,0.060,1907,3952,2012,0,0,0,0,0,0
$GC,9611,0.53,108.0,616.8,17.6,614,9615,0.00,1.05,0.00,0.000,6,0.000,0.036,1912,3271,2013,0,0,0,0,0,0
$GC,9934,0.53,108.0,566.2,15.8,630,9938,0.00,2.15,0.00,0.000,4,0.000,0.033,1923,1864,2012,0,0,0,0,0,0
$GC,10011,0.53,108.0,554.8,13.4,633,10020,0.08,2.30,0.00,0.000,6,0.175,0.052,1901,3285,2011,0,0,0,0,0,0
$GC,10327,0.53,108.0,507.8,14.7,649,10328,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,3285,2011,0,0,0,0,0,0
$GC,10636,0.53,108.0,463.4,14.3,664,10640,0.00,2.17,0.00,0.000,4,0.000,0.034,1910,1863,2011,0,0,0,0,0,0
$GC,10668,0.53,108.0,459.0,12.5,665,10676,0.00,2.30,0.00,0.000,6,0.000,0.052,1911,3280,2010,0,0,0,0,0,0
$GC,10985,0.53,108.0,414.7,14.1,681,10986,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3280,2010,0,0,0,0,0,0
$GC,11302,0.53,108.0,371.7,13.3,705,11304,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3280,2010,0,0,0,0,0,0
$GC,11619,0.53,108.0,330.5,12.4,735,11620,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3280,2010,0,0,0,0,0,0
$GC,11940,0.53,108.0,289.0,12.9,765,11944,0.00,2.17,0.00,0.000,4,0.000,0.034,1922,1859,2010,0,0,0,0,0,0
$GC,11979,0.53,108.0,284.0,11.4,768,11983,0.00,2.28,0.00,0.000,6,0.000,0.052,1922,3281,2009,0,0,0,0,0,0
$GC,12303,0.53,108.0,238.8,14.0,798,12307,0.00,1.08,0.00,0.000,4,0.000,0.058,1922,3954,2010,0,0,0,0,0,0
$GC,12360,0.53,108.0,229.8,15.5,803,12364,0.10,1.02,0.00,0.000,6,0.197,0.035,1899,3273,2010,0,0,0,0,0,0
$GC,12689,0.53,108.0,187.3,13.3,834,12690,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3273,2009,0,0,0,0,0,0
$GC,13009,0.53,108.0,146.6,12.7,864,13010,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3273,2009,0,0,0,0,0,0
$GC,13328,0.53,108.0,105.1,13.9,894,13329,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,3273,2009,0,0,0,0,0,0
$GC,13667,0.53,108.0,64.2,12.1,950,13674,0.00,1.08,0.00,0.000,4,0.000,0.059,1899,3942,2009,0,0,0,0,0,0
$GC,13932,0.53,108.0,30.6,11.7,996,13941,0.00,1.00,0.00,0.000,6,0.000,0.035,1903,3282,2009,0,0,0,0,0,0
$GC,14088,0.53,108.0,15.7,10.6,1021,14097,0.00,1.08,0.00,0.000,4,0.000,0.057,1903,3954,2009,0,0,0,0,0,0
$STATE,14201,end climb,SURFACE_DEPTH_REACHED
$STATE,14201,begin surface coast
$FINISH,0.5,1.013480
$STATE,14240,end surface coast,CONTROL_FINISHED_OK
$STATE,14240,begin surface
$SM_CCo,14253,46.35,0.787,0,0,1553,225.18
$SM_GC,1.18,0.00,0.00,46.35,0.000,0.000,0.787,54,3405,1553,-5.20,-0.42,225.18
$IRIDIUM_FIX,-4247.91,828.21,301213,151531
$TT8_MAMPS,0.025466
$HUMID,61.97
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.4,27.917
$10V_AH,10.0,20.110
$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,12.825,70.400,214.825,46.350,0.000,27.676,19.639,307.883,0.000,0.000,21.121,2588.269,8885.589,368.365,2739.528,203.179,0.000,1338.159,0.000,2266.191,0.000,1.010,0.000
$DEVICE_MAMPS,234.855,93.330,1866.600,787.185,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,725.179,1808.898,723.440,361.505,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354408
$DATA_FILE_SIZE,73894,1045
$CAP_FILE_SIZE,129542,0
$CFSIZE,259252224,245440512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,311213,000822,-4259.609,830.905,39,0.9,39,-25.0