version: 66.07
glider: 543
mission: 9
dive: 198
start: 1 2 114 8 21 12
data:
$ID,543
$MISSION,9
$DIVE,198
$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,-13154.979
$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,43
$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
$GPS1,020114,081222,-4259.697,830.025,63,0.8,63,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-62.6
$GPS2,020114,082047,-4259.695,830.141,18,1.1,19,-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,223.6,595,-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,-49.22,0.000,2,0.000,0.000,55,3428,2663,0,0,0,0,0,0
$GC,68,-0.53,-101.7,3.2,-4.6,6,87,6.25,0.88,-5.90,0.000,4,0.241,0.093,1540,3953,2889,0,0,0,0,0,0
$GC,352,-0.53,-101.7,55.4,-16.2,53,359,0.00,0.80,0.00,0.000,6,0.000,0.038,1540,3428,2894,0,0,0,0,0,0
$GC,697,-0.53,-101.7,106.5,-14.8,110,701,0.00,0.82,0.00,0.000,4,0.000,0.062,1537,3936,2896,0,0,0,0,0,0
$GC,769,-0.53,-101.7,117.8,-15.0,116,779,0.00,0.82,0.00,0.000,6,0.000,0.037,1537,3407,2896,0,0,0,0,0,0
$GC,1094,-0.53,-101.7,164.8,-14.4,147,1098,0.00,0.88,0.00,0.000,4,0.000,0.061,1532,3942,2897,0,0,0,0,0,0
$GC,1208,-0.53,-101.7,182.1,-16.1,157,1212,0.00,0.80,0.00,0.000,6,0.000,0.037,1532,3415,2897,0,0,0,0,0,0
$GC,1539,-0.53,-101.7,231.4,-14.9,188,1542,0.00,0.85,0.00,0.000,4,0.000,0.061,1529,3942,2897,0,0,0,0,0,0
$GC,1635,-0.53,-101.7,246.6,-16.3,196,1643,0.00,0.80,0.00,0.000,6,0.000,0.037,1529,3417,2897,0,0,0,0,0,0
$GC,1959,-0.53,-101.7,294.6,-14.5,227,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3417,2897,0,0,0,0,0,0
$GC,2281,-0.53,-101.7,340.2,-14.6,257,2284,0.00,0.85,0.00,0.000,4,0.000,0.060,1525,3949,2897,0,0,0,0,0,0
$GC,2387,-0.53,-101.7,357.5,-15.4,266,2394,0.00,0.82,0.00,0.000,6,0.000,0.036,1525,3407,2897,0,0,0,0,0,0
$GC,2711,-0.53,-101.7,406.3,-14.8,295,2714,0.00,0.85,0.00,0.000,4,0.000,0.061,1521,3938,2897,0,0,0,0,0,0
$GC,2788,-0.53,-101.7,418.9,-16.5,298,2792,0.00,0.80,0.00,0.000,6,0.000,0.037,1521,3419,2897,0,0,0,0,0,0
$GC,3109,-0.53,-101.7,466.7,-14.9,314,3111,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3419,2897,0,0,0,0,0,0
$GC,3419,-0.53,-101.7,510.6,-14.2,329,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3419,2897,0,0,0,0,0,0
$GC,3728,-0.53,-101.7,554.4,-13.8,344,3732,0.00,0.85,0.00,0.000,4,0.000,0.062,1517,3951,2897,0,0,0,0,0,0
$GC,3896,-0.53,-101.7,579.2,-14.8,351,3901,0.08,0.80,0.00,0.000,6,0.162,0.038,1540,3423,2896,0,0,0,0,0,0
$GC,4217,-0.53,-101.7,617.5,-12.0,367,4220,0.00,0.85,0.00,0.000,4,0.000,0.063,1537,3953,2896,0,0,0,0,0,0
$GC,4262,-0.53,-101.7,623.2,-12.4,369,4265,0.00,0.80,0.00,0.000,6,0.000,0.039,1537,3422,2896,0,0,0,0,0,0
$GC,4595,-0.53,-101.7,663.3,-11.5,385,4599,0.00,0.82,0.00,0.000,4,0.000,0.063,1533,3936,2895,0,0,0,0,0,0
$GC,4641,-0.53,-101.7,669.2,-13.0,387,4644,0.00,0.77,0.00,0.000,6,0.000,0.039,1533,3425,2895,0,0,0,0,0,0
$GC,4973,-0.53,-101.7,708.6,-11.5,403,4977,0.00,0.82,0.00,0.000,4,0.000,0.063,1530,3938,2894,0,0,0,0,0,0
$GC,5027,-0.53,-101.7,715.8,-12.8,405,5032,0.00,0.82,0.00,0.000,6,0.000,0.038,1530,3406,2894,0,0,0,0,0,0
$GC,5349,-0.53,-101.7,754.8,-12.1,421,5351,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3406,2893,0,0,0,0,0,0
$GC,5658,-0.53,-101.7,792.3,-12.1,436,5662,0.00,0.88,0.00,0.000,4,0.000,0.063,1526,3950,2893,0,0,0,0,0,0
$GC,5794,-0.53,-101.7,810.8,-14.7,442,5797,0.00,0.80,0.00,0.000,6,0.000,0.041,1526,3422,2892,0,0,0,0,0,0
$GC,6128,-0.53,-101.7,854.0,-13.1,458,6131,0.00,2.15,0.00,0.000,4,0.000,0.033,1526,1992,2892,0,0,0,0,0,0
$GC,6154,-0.53,-101.7,857.8,-13.0,459,6159,0.08,2.30,0.00,0.000,6,0.136,0.054,1540,3410,2892,0,0,0,0,0,0
$GC,6475,-0.53,-101.7,892.3,-10.6,475,6479,0.00,0.85,0.00,0.000,4,0.000,0.063,1538,3941,2891,0,0,0,0,0,0
$GC,6552,-0.53,-101.7,901.4,-12.1,478,6557,0.00,0.82,0.00,0.000,6,0.000,0.039,1537,3409,2891,0,0,0,0,0,0
$GC,6874,-0.53,-101.7,937.0,-11.1,494,6878,0.00,0.85,0.00,0.000,4,0.000,0.063,1534,3941,2890,0,0,0,0,0,0
$GC,6912,-0.53,-101.7,941.9,-12.7,495,6920,0.00,0.82,0.00,0.000,6,0.000,0.040,1533,3409,2890,0,0,0,0,0,0
$GC,7228,-0.53,-101.7,977.2,-10.9,511,7229,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3408,2890,0,0,0,0,0,0
$STATE,7350,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7350,begin apogee
$GC,7355,-0.09,0.0,990.9,11.1,517,7457,0.52,0.00,98.53,1.857,6,0.151,0.000,1688,3277,2473,0,0,0,0,0,0
$STATE,7458,end apogee,CONTROL_FINISHED_OK
$STATE,7458,begin climb
$GC,7459,0.53,101.7,993.8,0.0,522,7567,0.60,0.00,103.95,1.808,6,0.061,0.000,1895,3276,2059,0,0,0,0,0,0
$GC,7864,0.53,101.7,945.8,14.3,542,7868,0.00,2.25,0.00,0.000,4,0.000,0.033,1906,1855,2049,0,0,0,0,0,0
$GC,7952,0.53,101.7,934.4,12.7,546,7956,0.00,2.38,0.00,0.000,6,0.000,0.052,1905,3286,2046,0,0,0,0,0,0
$GC,8280,0.53,101.7,887.3,14.7,562,8281,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3285,2044,0,0,0,0,0,0
$GC,8591,0.53,101.7,840.4,15.0,577,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3285,2042,0,0,0,0,0,0
$GC,8898,0.53,101.7,794.0,15.3,592,8902,0.00,2.22,0.00,0.000,4,0.000,0.036,1917,1856,2042,0,0,0,0,0,0
$GC,8914,0.53,101.7,791.5,15.6,593,8918,0.00,2.33,0.00,0.000,6,0.000,0.054,1916,3284,2042,0,0,0,0,0,0
$GC,9242,0.53,101.7,738.4,16.1,609,9243,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3284,2041,0,0,0,0,0,0
$GC,9550,0.53,101.7,689.5,15.6,624,9554,0.00,2.20,0.00,0.000,4,0.000,0.036,1927,1862,2040,0,0,0,0,0,0
$GC,9599,0.53,101.7,682.4,13.8,626,9604,0.10,2.30,0.00,0.000,6,0.168,0.054,1898,3272,2040,0,0,0,0,0,0
$GC,9921,0.53,101.7,640.1,13.0,642,9923,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,3272,2039,0,0,0,0,0,0
$GC,10230,0.53,101.7,602.0,12.3,657,10232,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3273,2039,0,0,0,0,0,0
$GC,10540,0.53,101.7,563.9,12.7,672,10541,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3272,2039,0,0,0,0,0,0
$GC,10849,0.53,101.7,524.0,12.8,687,10853,0.00,1.10,0.00,0.000,4,0.000,0.060,1898,3953,2038,0,0,0,0,0,0
$GC,10966,0.53,101.7,506.7,14.8,692,10970,0.00,1.05,0.00,0.000,6,0.000,0.037,1902,3274,2038,0,0,0,0,0,0
$GC,11293,0.53,101.7,463.9,12.8,708,11297,0.00,2.15,0.00,0.000,4,0.000,0.034,1913,1863,2038,0,0,0,0,0,0
$GC,11336,0.53,101.7,458.5,11.6,710,11341,0.00,2.30,0.00,0.000,6,0.000,0.053,1913,3278,2037,0,0,0,0,0,0
$GC,11664,0.53,101.7,416.0,12.9,726,11668,0.00,2.17,0.00,0.000,4,0.000,0.035,1924,1852,2037,0,0,0,0,0,0
$GC,11735,0.53,101.7,407.5,10.9,729,11740,0.10,2.33,0.00,0.000,6,0.171,0.053,1896,3282,2036,0,0,0,0,0,0
$GC,12059,0.53,101.7,368.0,11.8,756,12063,0.00,2.17,0.00,0.000,4,0.000,0.034,1905,1855,2036,0,0,0,0,0,0
$GC,12102,0.53,101.7,362.9,10.6,759,12110,0.00,2.33,0.00,0.000,6,0.000,0.054,1905,3281,2036,0,0,0,0,0,0
$GC,12428,0.53,101.7,320.6,12.9,790,12429,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3281,2036,0,0,0,0,0,0
$GC,12747,0.53,101.7,276.6,13.4,820,12751,0.00,2.17,0.00,0.000,4,0.000,0.037,1916,1856,2037,0,0,0,0,0,0
$GC,12812,0.53,101.7,268.7,12.9,825,12816,0.00,2.30,0.00,0.000,6,0.000,0.056,1916,3281,2036,0,0,0,0,0,0
$GC,13136,0.53,101.7,222.5,14.9,855,13137,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3282,2036,0,0,0,0,0,0
$GC,13458,0.53,101.7,179.1,13.2,885,13462,0.00,2.17,0.00,0.000,4,0.000,0.036,1927,1864,2036,0,0,0,0,0,0
$GC,13521,0.53,101.7,171.3,11.7,890,13526,0.12,2.30,0.00,0.000,6,0.187,0.056,1898,3287,2036,0,0,0,0,0,0
$GC,13846,0.53,101.7,134.6,11.6,920,13849,0.00,1.08,0.00,0.000,4,0.000,0.063,1898,3951,2036,0,0,0,0,0,0
$GC,13959,0.53,101.7,119.7,13.0,930,13963,0.00,1.02,0.00,0.000,6,0.000,0.040,1901,3279,2036,0,0,0,0,0,0
$GC,14300,0.53,101.7,79.1,11.5,976,14307,0.00,2.17,0.00,0.000,4,0.000,0.035,1912,1851,2036,0,0,0,0,0,0
$GC,14389,0.53,104.9,69.8,9.1,991,14396,0.00,2.30,0.00,0.000,6,0.000,0.054,1912,3280,2036,0,0,0,0,0,0
$GC,14741,0.54,116.8,38.1,8.1,1052,14751,0.00,2.22,4.32,0.752,4,0.000,0.035,1923,1855,1993,0,0,0,0,0,0
$GC,15022,0.54,116.8,12.9,9.8,1098,15031,0.00,2.33,0.00,0.000,6,0.000,0.055,1923,3280,1992,0,0,0,0,0,0
$GC,15082,0.54,116.8,5.4,13.8,1107,15091,0.00,2.20,0.00,0.000,4,0.000,0.036,1934,1867,1992,0,0,0,0,0,0
$STATE,15105,end climb,SURFACE_DEPTH_REACHED
$STATE,15105,begin surface coast
$FINISH,0.5,1.026270
$STATE,15137,end surface coast,CONTROL_FINISHED_OK
$STATE,15137,begin surface
$SM_CCo,15152,44.72,0.782,0,0,1553,225.18
$SM_GC,1.02,0.00,0.00,44.72,0.000,0.000,0.782,46,3430,1553,-5.23,0.28,225.18
$IRIDIUM_FIX,-4244.98,831.12,010114,232316
$TT8_MAMPS,0.025466
$HUMID,61.26
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.4,29.870
$10V_AH,10.0,21.682
$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,12.850,80.325,206.800,44.725,0.000,31.123,21.800,323.120,0.000,0.000,21.606,2770.230,9395.044,377.155,2950.599,208.773,0.000,1401.629,0.000,2438.757,0.000,1.011,0.000
$DEVICE_MAMPS,240.975,93.330,1857.420,781.830,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,774.500,1896.172,772.498,388.131,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354440
$DATA_FILE_SIZE,80570,1115
$CAP_FILE_SIZE,137292,0
$CFSIZE,259252224,244367360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020114,123534,-4300.685,829.607,31,0.8,31,-25.0