version: 66.07
glider: 543
mission: 9
dive: 186
start: 12 31 113 4 27 12
data:
$ID,543
$MISSION,9
$DIVE,186
$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,-13113.551
$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,46
$R_STBD_OVSHOOT,17
$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
$GPS1,311213,041805,-4259.681,829.897,30,1.2,30,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-53.7
$GPS2,311213,042647,-4259.640,829.995,18,0.9,19,-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,204.4,667,-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,13,begin dive
$GC,14,-0.50,-57.7,0.0,0.0,0,66,0.00,0.00,-49.50,0.000,2,0.000,0.000,66,3428,2699,0,0,0,0,0,0
$GC,68,-0.53,-105.2,3.4,-4.2,6,87,6.18,0.85,-5.25,0.000,4,0.241,0.086,1538,3953,2906,0,0,0,0,0,0
$GC,351,-0.53,-105.2,59.5,-15.0,53,358,0.00,0.80,0.00,0.000,6,0.000,0.037,1538,3426,2910,0,0,0,0,0,0
$GC,694,-0.53,-105.2,113.8,-15.4,106,697,0.00,0.85,0.00,0.000,4,0.000,0.060,1534,3954,2912,0,0,0,0,0,0
$GC,829,-0.53,-105.2,135.9,-16.7,118,833,0.00,0.82,0.00,0.000,6,0.000,0.037,1534,3412,2912,0,0,0,0,0,0
$GC,1162,-0.53,-105.2,184.9,-14.8,149,1165,0.00,0.88,0.00,0.000,4,0.000,0.059,1530,3954,2912,0,0,0,0,0,0
$GC,1275,-0.53,-105.2,202.9,-15.1,159,1278,0.00,0.80,0.00,0.000,6,0.000,0.037,1530,3421,2913,0,0,0,0,0,0
$GC,1605,-0.53,-105.2,252.7,-15.0,190,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3422,2913,0,0,0,0,0,0
$GC,1924,-0.53,-105.2,299.5,-14.4,220,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3421,2913,0,0,0,0,0,0
$GC,2243,-0.53,-105.2,344.6,-14.7,250,2247,0.00,0.85,0.00,0.000,4,0.000,0.060,1526,3956,2913,0,0,0,0,0,0
$GC,2325,-0.53,-105.2,356.6,-15.3,257,2328,0.00,0.80,0.00,0.000,6,0.000,0.037,1526,3424,2913,0,0,0,0,0,0
$GC,2664,-0.53,-105.2,406.5,-14.6,287,2668,0.00,2.12,0.00,0.000,4,0.000,0.031,1526,1992,2913,0,0,0,0,0,0
$GC,2684,-0.53,-105.2,409.7,-14.4,288,2690,0.08,2.33,0.00,0.000,6,0.143,0.052,1540,3431,2913,0,0,0,0,0,0
$GC,3012,-0.53,-105.2,454.6,-13.9,304,3015,0.00,0.80,0.00,0.000,4,0.000,0.060,1537,3941,2913,0,0,0,0,0,0
$GC,3080,-0.53,-105.2,464.5,-15.3,307,3084,0.00,0.77,0.00,0.000,6,0.000,0.037,1537,3422,2913,0,0,0,0,0,0
$GC,3412,-0.53,-105.2,510.9,-13.5,323,3413,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3422,2913,0,0,0,0,0,0
$GC,3722,-0.53,-105.2,553.2,-13.8,338,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3421,2913,0,0,0,0,0,0
$GC,4031,-0.53,-105.2,596.3,-14.0,353,4034,0.00,0.85,0.00,0.000,4,0.000,0.062,1533,3956,2912,0,0,0,0,0,0
$GC,4076,-0.53,-105.2,603.0,-15.4,355,4079,0.00,0.80,0.00,0.000,6,0.000,0.038,1533,3422,2912,0,0,0,0,0,0
$GC,4408,-0.53,-105.2,650.6,-14.0,371,4412,0.00,2.12,0.00,0.000,4,0.000,0.031,1533,1990,2911,0,0,0,0,0,0
$GC,4447,-0.53,-105.2,655.3,-11.3,373,4451,0.00,2.30,0.00,0.000,6,0.000,0.054,1523,3428,2912,0,0,0,0,0,0
$GC,4774,-0.53,-105.2,700.4,-13.5,389,4778,0.00,0.82,0.00,0.000,4,0.000,0.060,1519,3951,2911,0,0,0,0,0,0
$GC,4835,-0.53,-105.2,709.7,-14.9,391,4842,0.00,0.82,0.00,0.000,6,0.000,0.037,1519,3411,2911,0,0,0,0,0,0
$GC,5151,-0.53,-105.2,751.5,-12.8,407,5152,0.00,0.00,0.00,0.000,6,0.000,0.000,1518,3411,2910,0,0,0,0,0,0
$GC,5462,-0.53,-105.2,789.0,-11.8,422,5465,0.00,0.85,0.00,0.000,4,0.000,0.061,1515,3945,2909,0,0,0,0,0,0
$GC,5566,-0.53,-105.2,802.7,-12.1,426,5575,0.12,0.80,0.00,0.000,6,0.184,0.039,1545,3425,2909,0,0,0,0,0,0
$GC,5882,-0.53,-105.2,833.1,-9.7,442,5884,0.00,0.00,0.00,0.000,6,0.000,0.000,1544,3425,2909,0,0,0,0,0,0
$GC,6194,-0.53,-105.2,863.4,-9.8,457,6198,0.00,2.12,0.00,0.000,4,0.000,0.033,1545,1993,2908,0,0,0,0,0,0
$GC,6214,-0.53,-105.2,865.8,-9.9,458,6219,0.00,2.33,0.00,0.000,6,0.000,0.055,1535,3426,2908,0,0,0,0,0,0
$GC,6542,-0.53,-105.2,899.9,-10.8,474,6545,0.00,0.82,0.00,0.000,4,0.000,0.063,1531,3950,2907,0,0,0,0,0,0
$GC,6587,-0.53,-105.2,905.0,-11.7,476,6591,0.00,0.80,0.00,0.000,6,0.000,0.040,1531,3419,2907,0,0,0,0,0,0
$GC,6921,-0.53,-105.2,941.1,-10.7,492,6922,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3419,2907,0,0,0,0,0,0
$GC,7229,-0.53,-105.2,974.3,-10.8,507,7230,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3419,2906,0,0,0,0,0,0
$STATE,7392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7392,begin apogee
$GC,7397,-0.09,0.0,992.0,10.7,515,7503,0.52,0.00,102.57,1.866,6,0.157,0.000,1684,3268,2473,0,0,0,0,0,0
$STATE,7503,end apogee,CONTROL_FINISHED_OK
$STATE,7503,begin climb
$GC,7505,0.53,105.2,994.2,0.0,520,7616,0.62,0.00,107.45,1.816,6,0.068,0.000,1895,3268,2044,0,0,0,0,0,0
$GC,7926,0.53,105.2,939.6,15.3,541,7930,0.00,2.22,0.00,0.000,4,0.000,0.033,1906,1863,2032,0,0,0,0,0,0
$GC,7952,0.53,105.2,935.0,14.8,542,7957,0.00,2.38,0.00,0.000,6,0.000,0.050,1906,3278,2030,0,0,0,0,0,0
$GC,8274,0.53,105.2,883.4,16.2,558,8275,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3278,2029,0,0,0,0,0,0
$GC,8584,0.53,105.2,834.6,15.9,573,8587,0.00,1.10,0.00,0.000,4,0.000,0.060,1906,3951,2028,0,0,0,0,0,0
$GC,8629,0.53,105.2,826.8,17.5,575,8632,0.00,1.02,0.00,0.000,6,0.000,0.037,1911,3286,2028,0,0,0,0,0,0
$GC,8962,0.53,105.2,774.8,15.4,591,8966,0.00,1.08,0.00,0.000,4,0.000,0.060,1911,3948,2027,0,0,0,0,0,0
$GC,9045,0.53,105.2,760.3,17.5,594,9053,0.00,1.05,0.00,0.000,6,0.000,0.037,1916,3275,2027,0,0,0,0,0,0
$GC,9361,0.53,105.2,712.8,15.0,610,9362,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3275,2025,0,0,0,0,0,0
$GC,9670,0.53,105.2,666.6,15.0,625,9674,0.00,1.10,0.00,0.000,4,0.000,0.060,1916,3951,2025,0,0,0,0,0,0
$GC,9787,0.53,105.2,646.8,17.9,630,9791,0.00,1.05,0.00,0.000,6,0.000,0.036,1921,3277,2025,0,0,0,0,0,0
$GC,10114,0.53,105.2,596.3,15.4,646,10116,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3277,2024,0,0,0,0,0,0
$GC,10425,0.53,105.2,547.3,16.1,661,10429,0.00,1.10,0.00,0.000,4,0.000,0.060,1921,3955,2024,0,0,0,0,0,0
$GC,10480,0.53,105.2,537.5,17.7,663,10485,0.12,1.05,0.00,0.000,6,0.218,0.037,1899,3277,2024,0,0,0,0,0,0
$GC,10802,0.53,105.2,491.1,14.6,679,10803,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,3277,2023,0,0,0,0,0,0
$GC,11110,0.53,105.2,447.3,14.2,694,11112,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3277,2023,0,0,0,0,0,0
$GC,11420,0.53,105.2,404.8,13.3,709,11423,0.00,1.10,0.00,0.000,4,0.000,0.061,1899,3954,2023,0,0,0,0,0,0
$GC,11522,0.53,105.2,389.6,15.2,716,11526,0.00,1.02,0.00,0.000,6,0.000,0.037,1902,3281,2023,0,0,0,0,0,0
$GC,11852,0.53,105.2,346.1,12.4,747,11853,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3281,2022,0,0,0,0,0,0
$GC,12174,0.53,105.2,306.3,11.9,777,12178,0.00,1.08,0.00,0.000,4,0.000,0.060,1902,3947,2022,0,0,0,0,0,0
$GC,12269,0.53,105.2,292.6,13.9,785,12276,0.00,1.05,0.00,0.000,6,0.000,0.037,1908,3270,2022,0,0,0,0,0,0
$GC,12594,0.53,105.2,250.2,13.1,816,12595,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3270,2021,0,0,0,0,0,0
$GC,12914,0.53,105.2,206.3,14.7,846,12917,0.00,1.10,0.00,0.000,4,0.000,0.059,1908,3953,2021,0,0,0,0,0,0
$GC,12974,0.53,105.2,196.2,16.0,851,12982,0.00,1.05,0.00,0.000,6,0.000,0.036,1913,3270,2021,0,0,0,0,0,0
$GC,13299,0.53,105.2,146.4,15.6,882,13303,0.00,1.10,0.00,0.000,4,0.000,0.059,1913,3953,2021,0,0,0,0,0,0
$GC,13458,0.53,105.2,120.8,16.3,896,13461,0.00,1.02,0.00,0.000,6,0.000,0.036,1918,3274,2021,0,0,0,0,0,0
$GC,13801,0.53,105.2,75.1,12.8,943,13807,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3273,2021,0,0,0,0,0,0
$GC,14150,0.53,105.2,35.0,11.4,1004,14158,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3274,2022,0,0,0,0,0,0
$GC,14301,0.53,105.2,16.7,13.4,1029,14310,0.00,1.10,0.00,0.000,4,0.000,0.060,1918,3955,2021,0,0,0,0,0,0
$STATE,14396,end climb,SURFACE_DEPTH_REACHED
$STATE,14396,begin surface coast
$FINISH,0.9,1.026287
$STATE,14410,end surface coast,CONTROL_FINISHED_OK
$STATE,14410,begin surface
$SM_CCo,14423,47.72,0.785,0,0,1553,225.18
$SM_GC,1.18,0.00,0.00,47.72,0.000,0.000,0.785,63,3413,1553,-5.17,-0.20,225.18
$IRIDIUM_FIX,-4244.98,834.03,311213,000001
$TT8_MAMPS,0.025466
$HUMID,61.93
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,22.4,28.201
$10V_AH,10.0,20.325
$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,12.550,51.925,210.025,47.725,0.000,26.689,42.949,327.122,0.000,0.000,20.837,2586.560,9103.950,367.444,2746.911,189.637,0.000,1302.942,0.000,2227.139,0.000,1.010,0.000
$DEVICE_MAMPS,240.975,86.445,1865.835,784.890,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,726.331,1772.268,683.060,316.581,0.000,0.000,0.000,0.000,0.000,0.000
$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,73874,1046
$CAP_FILE_SIZE,124650,0
$CFSIZE,259252224,245297152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,311213,082934,-4300.970,830.422,36,0.8,36,-25.0