version: 66.07
glider: 543
mission: 9
dive: 197
start: 1 2 114 4 4 37
data:
$ID,543
$MISSION,9
$DIVE,197
$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,-13151.52
$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,26
$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
$GPS1,020114,035534,-4259.342,831.091,24,1.3,24,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-58.2
$GPS2,020114,040412,-4259.321,831.252,20,1.2,21,-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,258.4,2111,-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,-49.50,0.000,2,0.000,0.000,61,3428,2675,0,0,0,0,0,0
$GC,69,-0.53,-107.4,3.2,-4.0,6,88,6.15,0.82,-5.93,0.000,4,0.238,0.084,1539,3959,2913,0,0,0,0,0,0
$GC,319,-0.53,-107.4,52.8,-16.4,47,326,0.00,0.82,0.00,0.000,6,0.000,0.037,1540,3417,2917,0,0,0,0,0,0
$GC,673,-0.53,-107.4,106.8,-15.0,105,677,0.00,0.85,0.00,0.000,4,0.000,0.060,1536,3944,2918,0,0,0,0,0,0
$GC,730,-0.53,-107.4,116.2,-15.4,110,734,0.00,0.80,0.00,0.000,6,0.000,0.037,1536,3416,2919,0,0,0,0,0,0
$GC,1062,-0.53,-107.4,166.4,-15.2,141,1064,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3416,2920,0,0,0,0,0,0
$GC,1380,-0.53,-107.4,213.3,-14.9,171,1383,0.00,0.85,0.00,0.000,4,0.000,0.060,1531,3946,2920,0,0,0,0,0,0
$GC,1565,-0.53,-107.4,242.7,-16.6,187,1572,0.00,0.80,0.00,0.000,6,0.000,0.036,1531,3420,2920,0,0,0,0,0,0
$GC,1890,-0.53,-107.4,290.8,-15.1,218,1894,0.00,0.85,0.00,0.000,4,0.000,0.061,1528,3937,2920,0,0,0,0,0,0
$GC,1939,-0.53,-107.4,298.7,-15.6,222,1947,0.00,0.80,0.00,0.000,6,0.000,0.037,1528,3418,2920,0,0,0,0,0,0
$GC,2267,-0.53,-107.4,348.2,-15.1,253,2270,0.00,0.85,0.00,0.000,4,0.000,0.060,1524,3952,2920,0,0,0,0,0,0
$GC,2316,-0.53,-107.4,356.8,-16.2,257,2324,0.00,0.82,0.00,0.000,6,0.000,0.037,1524,3413,2920,0,0,0,0,0,0
$GC,2640,-0.53,-107.4,407.4,-15.2,286,2644,0.00,0.85,0.00,0.000,4,0.000,0.060,1520,3947,2920,0,0,0,0,0,0
$GC,2689,-0.53,-107.4,415.6,-16.1,288,2693,0.00,0.80,0.00,0.000,6,0.000,0.037,1520,3424,2920,0,0,0,0,0,0
$GC,3016,-0.53,-107.4,467.1,-16.0,304,3020,0.00,0.82,0.00,0.000,4,0.000,0.060,1516,3945,2920,0,0,0,0,0,0
$GC,3129,-0.53,-107.4,485.6,-16.2,309,3133,0.08,0.80,0.00,0.000,6,0.162,0.039,1539,3417,2920,0,0,0,0,0,0
$GC,3461,-0.53,-107.4,530.4,-13.1,325,3464,0.00,0.85,0.00,0.000,4,0.000,0.063,1536,3947,2919,0,0,0,0,0,0
$GC,3510,-0.53,-107.4,537.3,-13.6,327,3514,0.00,0.82,0.00,0.000,6,0.000,0.037,1536,3412,2919,0,0,0,0,0,0
$GC,3837,-0.53,-107.4,578.0,-12.3,343,3841,0.00,0.85,0.00,0.000,4,0.000,0.062,1532,3941,2918,0,0,0,0,0,0
$GC,3882,-0.53,-107.4,583.7,-13.3,345,3886,0.00,0.80,0.00,0.000,6,0.000,0.039,1532,3415,2919,0,0,0,0,0,0
$GC,4215,-0.53,-107.4,624.0,-12.1,361,4218,0.00,0.85,0.00,0.000,4,0.000,0.063,1528,3947,2918,0,0,0,0,0,0
$GC,4252,-0.53,-107.4,629.0,-12.6,362,4260,0.00,0.82,0.00,0.000,6,0.000,0.037,1528,3409,2918,0,0,0,0,0,0
$GC,4569,-0.53,-107.4,667.4,-12.2,378,4572,0.00,0.85,0.00,0.000,4,0.000,0.063,1524,3938,2918,0,0,0,0,0,0
$GC,4636,-0.53,-107.4,676.4,-13.4,381,4640,0.00,0.77,0.00,0.000,6,0.000,0.040,1525,3429,2917,0,0,0,0,0,0
$GC,4968,-0.53,-107.4,718.8,-12.6,397,4972,0.00,0.82,0.00,0.000,4,0.000,0.063,1521,3943,2917,0,0,0,0,0,0
$GC,5085,-0.53,-107.4,734.8,-14.1,402,5089,0.00,0.82,0.00,0.000,6,0.000,0.038,1521,3408,2916,0,0,0,0,0,0
$GC,5412,-0.53,-107.4,779.1,-13.7,418,5416,0.00,0.85,0.00,0.000,4,0.000,0.063,1517,3934,2916,0,0,0,0,0,0
$GC,5468,-0.53,-107.4,787.4,-14.1,420,5472,0.08,0.77,0.00,0.000,6,0.161,0.040,1540,3429,2916,0,0,0,0,0,0
$GC,5788,-0.53,-107.4,825.3,-11.6,436,5789,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3429,2915,0,0,0,0,0,0
$GC,6098,-0.53,-107.4,859.8,-11.1,451,6099,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3429,2915,0,0,0,0,0,0
$GC,6409,-0.53,-107.4,891.3,-9.7,466,6412,0.00,0.82,0.00,0.000,4,0.000,0.064,1537,3939,2913,0,0,0,0,0,0
$GC,6543,-0.53,-107.4,905.9,-11.2,472,6547,0.00,0.80,0.00,0.000,6,0.000,0.040,1537,3416,2914,0,0,0,0,0,0
$GC,6876,-0.53,-107.4,940.0,-10.4,488,6877,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3416,2914,0,0,0,0,0,0
$GC,7185,-0.53,-107.4,972.7,-10.9,503,7186,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3416,2913,0,0,0,0,0,0
$STATE,7348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7348,begin apogee
$GC,7353,-0.09,0.0,990.2,10.8,511,7460,0.50,0.00,103.85,1.860,6,0.149,0.000,1685,3281,2473,0,0,0,0,0,0
$STATE,7460,end apogee,CONTROL_FINISHED_OK
$STATE,7460,begin climb
$GC,7462,0.53,107.4,992.8,0.0,516,7579,0.60,2.42,108.78,1.810,4,0.066,0.031,1902,1869,2036,0,0,0,0,0,0
$GC,7634,0.53,107.4,978.2,13.2,524,7639,0.00,2.47,0.00,0.000,6,0.000,0.051,1902,3275,2030,0,0,0,0,0,0
$GC,7962,0.53,107.4,926.2,16.1,540,7966,0.00,2.25,0.00,0.000,4,0.000,0.035,1913,1867,2023,0,0,0,0,0,0
$GC,8016,0.53,107.4,918.0,13.7,542,8024,0.00,2.40,0.00,0.000,6,0.000,0.054,1913,3289,2023,0,0,0,0,0,0
$GC,8333,0.53,107.4,867.0,16.1,558,8336,0.00,1.10,0.00,0.000,4,0.000,0.060,1913,3958,2021,0,0,0,0,0,0
$GC,8400,0.53,107.4,855.2,18.2,561,8404,0.00,1.05,0.00,0.000,6,0.000,0.037,1918,3279,2021,0,0,0,0,0,0
$GC,8733,0.53,107.4,803.9,15.3,577,8737,0.00,2.20,0.00,0.000,4,0.000,0.037,1929,1869,2019,0,0,0,0,0,0
$GC,8775,0.53,107.4,797.6,14.4,579,8780,0.10,2.33,0.00,0.000,6,0.166,0.054,1900,3279,2018,0,0,0,0,0,0
$GC,9103,0.53,107.4,751.3,14.4,595,9104,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,3279,2017,0,0,0,0,0,0
$GC,9412,0.53,107.4,705.2,15.0,610,9416,0.00,2.17,0.00,0.000,4,0.000,0.035,1909,1859,2017,0,0,0,0,0,0
$GC,9429,0.53,107.4,702.6,15.3,611,9434,0.00,2.30,0.00,0.000,6,0.000,0.054,1909,3282,2016,0,0,0,0,0,0
$GC,9761,0.53,107.4,650.7,15.3,627,9763,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3282,2016,0,0,0,0,0,0
$GC,10071,0.53,107.4,605.0,14.5,642,10075,0.00,2.20,0.00,0.000,4,0.000,0.035,1920,1858,2016,0,0,0,0,0,0
$GC,10110,0.53,107.4,599.7,13.1,644,10114,0.00,2.30,0.00,0.000,6,0.000,0.054,1920,3280,2015,0,0,0,0,0,0
$GC,10436,0.53,107.4,553.4,14.2,660,10440,0.00,2.15,0.00,0.000,4,0.000,0.035,1931,1863,2014,0,0,0,0,0,0
$GC,10468,0.53,107.4,549.0,12.2,661,10476,0.10,2.33,0.00,0.000,6,0.171,0.054,1902,3280,2014,0,0,0,0,0,0
$GC,10784,0.53,107.4,508.8,12.8,677,10785,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3281,2014,0,0,0,0,0,0
$GC,11094,0.53,107.4,467.1,13.9,692,11097,0.00,1.08,0.00,0.000,4,0.000,0.062,1902,3950,2014,0,0,0,0,0,0
$GC,11131,0.53,107.4,461.4,14.8,693,11139,0.00,1.05,0.00,0.000,6,0.000,0.039,1906,3273,2014,0,0,0,0,0,0
$GC,11447,0.53,107.4,418.6,13.6,709,11451,0.00,2.17,0.00,0.000,4,0.000,0.036,1917,1854,2014,0,0,0,0,0,0
$GC,11532,0.53,107.4,408.3,12.0,713,11536,0.00,2.30,0.00,0.000,6,0.000,0.055,1917,3282,2013,0,0,0,0,0,0
$GC,11855,0.53,107.4,361.8,15.1,740,11857,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3282,2013,0,0,0,0,0,0
$GC,12175,0.53,107.4,314.2,15.3,770,12176,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3282,2013,0,0,0,0,0,0
$GC,12494,0.53,107.4,266.9,14.4,800,12497,0.00,1.08,0.00,0.000,4,0.000,0.061,1917,3949,2013,0,0,0,0,0,0
$GC,12553,0.53,107.4,258.0,15.8,805,12556,0.00,1.02,0.00,0.000,6,0.000,0.039,1922,3276,2013,0,0,0,0,0,0
$GC,12883,0.53,107.4,208.7,14.1,836,12884,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3275,2013,0,0,0,0,0,0
$GC,13203,0.53,107.4,164.4,14.4,866,13206,0.00,1.10,0.00,0.000,4,0.000,0.060,1922,3955,2013,0,0,0,0,0,0
$GC,13259,0.53,107.4,155.9,14.5,871,13263,0.10,1.02,0.00,0.000,6,0.194,0.037,1900,3277,2013,0,0,0,0,0,0
$GC,13589,0.53,107.4,116.5,11.6,902,13590,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,3276,2013,0,0,0,0,0,0
$GC,13921,0.53,107.4,80.3,10.5,947,13928,0.00,2.15,0.00,0.000,4,0.000,0.033,1909,1857,2013,0,0,0,0,0,0
$GC,13991,0.53,108.0,73.6,9.4,959,13997,0.00,2.28,0.00,0.000,6,0.000,0.053,1909,3280,2013,0,0,0,0,0,0
$GC,14343,0.53,108.0,33.6,12.0,1020,14352,0.00,2.17,0.00,0.000,4,0.000,0.035,1920,1868,2012,0,0,0,0,0,0
$GC,14605,0.54,114.1,9.3,8.8,1063,14615,0.00,2.30,0.35,0.283,6,0.000,0.054,1920,3281,2005,0,0,0,0,0,0
$GC,14666,0.54,114.1,3.1,10.9,1072,14674,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3281,2005,0,0,0,0,0,0
$STATE,14681,end climb,SURFACE_DEPTH_REACHED
$STATE,14681,begin surface coast
$FINISH,0.4,1.026246
$STATE,14707,end surface coast,CONTROL_FINISHED_OK
$STATE,14708,begin surface
$SM_CCo,14720,46.40,0.775,0,0,1555,225.18
$SM_GC,1.20,0.00,0.00,46.40,0.000,0.000,0.775,56,3427,1555,-5.20,0.20,225.18
$IRIDIUM_FIX,-4244.98,831.12,010114,232316
$TT8_MAMPS,0.026215
$HUMID,61.61
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.4,29.732
$10V_AH,10.0,21.566
$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,12.725,72.875,212.975,46.400,0.000,25.855,43.669,314.411,0.000,0.000,22.922,2679.604,9140.973,366.601,2896.301,199.912,0.000,1385.682,0.000,2378.335,0.000,1.896,0.000
$DEVICE_MAMPS,237.915,84.150,1860.480,774.945,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,748.441,1847.136,735.713,379.270,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354384
$DATA_FILE_SIZE,77113,1078
$CAP_FILE_SIZE,136424,0
$CFSIZE,259252224,244449280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020114,081222,-4259.697,830.025,63,0.8,63,-25.0