version: 66.07
glider: 543
mission: 9
dive: 200
start: 1 2 114 17 9 42
data:
$ID,543
$MISSION,9
$DIVE,200
$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,-13161.931
$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,39
$R_STBD_OVSHOOT,36
$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
$GPS1,020114,170106,-4258.925,831.353,40,0.9,40,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-61.4
$GPS2,020114,170917,-4258.917,831.425,15,1.4,16,-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,249.0,2784,-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,-49.80,0.000,2,0.000,0.000,54,3444,2651,0,0,0,0,0,0
$GC,69,-0.53,-99.5,3.1,-4.8,6,88,6.28,0.82,-6.20,0.000,4,0.243,0.095,1540,3937,2882,0,0,0,0,0,0
$GC,266,-0.53,-99.5,41.8,-19.3,38,273,0.00,0.80,0.00,0.000,6,0.000,0.038,1540,3419,2886,0,0,0,0,0,0
$GC,614,-0.53,-99.5,96.9,-13.8,99,623,0.00,0.82,0.00,0.000,4,0.000,0.060,1537,3926,2888,0,0,0,0,0,0
$GC,766,-0.53,-99.5,118.9,-13.9,114,769,0.00,0.77,0.00,0.000,6,0.000,0.037,1537,3421,2889,0,0,0,0,0,0
$GC,1098,-0.53,-99.5,162.5,-13.7,145,1102,0.00,0.82,0.00,0.000,4,0.000,0.062,1533,3928,2890,0,0,0,0,0,0
$GC,1145,-0.53,-99.5,169.3,-14.6,149,1149,0.00,0.77,0.00,0.000,6,0.000,0.037,1533,3420,2890,0,0,0,0,0,0
$GC,1475,-0.53,-99.5,217.1,-14.9,180,1479,0.00,0.82,0.00,0.000,4,0.000,0.062,1529,3929,2891,0,0,0,0,0,0
$GC,1535,-0.53,-99.5,225.6,-15.6,185,1539,0.00,0.77,0.00,0.000,6,0.000,0.038,1529,3419,2891,0,0,0,0,0,0
$GC,1865,-0.53,-99.5,273.9,-14.3,216,1869,0.00,0.82,0.00,0.000,4,0.000,0.060,1525,3931,2890,0,0,0,0,0,0
$GC,2028,-0.53,-99.5,299.2,-15.3,230,2035,0.00,0.77,0.00,0.000,6,0.000,0.038,1526,3419,2890,0,0,0,0,0,0
$GC,2355,-0.53,-99.5,347.0,-14.3,261,2359,0.00,0.82,0.00,0.000,4,0.000,0.061,1522,3933,2890,0,0,0,0,0,0
$GC,2427,-0.53,-99.5,358.9,-16.6,267,2435,0.00,0.80,0.00,0.000,6,0.000,0.037,1522,3415,2890,0,0,0,0,0,0
$GC,2751,-0.53,-99.5,407.9,-15.1,296,2754,0.00,0.82,0.00,0.000,4,0.000,0.062,1518,3930,2890,0,0,0,0,0,0
$GC,2910,-0.53,-99.5,432.8,-15.7,303,2914,0.08,0.77,0.00,0.000,6,0.164,0.039,1540,3421,2891,0,0,0,0,0,0
$GC,3243,-0.53,-99.5,476.1,-12.9,319,3246,0.00,0.82,0.00,0.000,4,0.000,0.063,1538,3930,2890,0,0,0,0,0,0
$GC,3414,-0.53,-99.5,500.1,-13.9,326,3422,0.00,0.80,0.00,0.000,6,0.000,0.038,1538,3416,2890,0,0,0,0,0,0
$GC,3732,-0.53,-99.5,541.2,-13.0,342,3736,0.00,0.82,0.00,0.000,4,0.000,0.061,1534,3930,2889,0,0,0,0,0,0
$GC,3792,-0.53,-99.5,549.6,-12.9,344,3800,0.00,0.80,0.00,0.000,6,0.000,0.037,1534,3413,2889,0,0,0,0,0,0
$GC,4108,-0.53,-99.5,588.8,-12.5,360,4110,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3412,2888,0,0,0,0,0,0
$GC,4419,-0.53,-99.5,626.1,-11.7,375,4423,0.00,0.82,0.00,0.000,4,0.000,0.063,1530,3923,2888,0,0,0,0,0,0
$GC,4541,-0.53,-99.5,642.3,-12.4,380,4546,0.00,0.77,0.00,0.000,6,0.000,0.038,1530,3420,2888,0,0,0,0,0,0
$GC,4865,-0.53,-99.5,680.9,-11.9,396,4868,0.00,0.82,0.00,0.000,4,0.000,0.062,1526,3929,2887,0,0,0,0,0,0
$GC,4936,-0.53,-99.5,690.4,-12.1,399,4940,0.00,0.80,0.00,0.000,6,0.000,0.038,1526,3412,2887,0,0,0,0,0,0
$GC,5263,-0.53,-99.5,728.8,-11.7,415,5267,0.00,0.85,0.00,0.000,4,0.000,0.063,1522,3938,2887,0,0,0,0,0,0
$GC,5334,-0.53,-99.5,738.0,-12.6,418,5339,0.00,0.80,0.00,0.000,6,0.000,0.038,1523,3421,2887,0,0,0,0,0,0
$GC,5662,-0.53,-99.5,778.7,-12.6,434,5666,0.00,0.85,0.00,0.000,4,0.000,0.063,1519,3934,2886,0,0,0,0,0,0
$GC,5730,-0.53,-99.5,787.9,-14.1,437,5733,0.00,0.77,0.00,0.000,6,0.000,0.039,1519,3420,2886,0,0,0,0,0,0
$GC,6062,-0.53,-99.5,829.5,-12.8,453,6063,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3419,2886,0,0,0,0,0,0
$GC,6371,-0.53,-99.5,868.6,-12.8,468,6375,0.00,0.85,0.00,0.000,4,0.000,0.064,1515,3931,2885,0,0,0,0,0,0
$GC,6516,-0.53,-99.5,888.5,-13.5,474,6521,0.12,0.80,0.00,0.000,6,0.177,0.039,1546,3416,2885,0,0,0,0,0,0
$GC,6837,-0.53,-99.5,922.6,-10.4,490,6841,0.00,0.82,0.00,0.000,4,0.000,0.063,1543,3926,2885,0,0,0,0,0,0
$GC,6892,-0.53,-99.5,928.8,-10.9,492,6896,0.00,0.80,0.00,0.000,6,0.000,0.040,1543,3414,2884,0,0,0,0,0,0
$GC,7214,-0.53,-99.5,960.6,-9.8,508,7218,0.00,0.82,0.00,0.000,4,0.000,0.064,1539,3924,2884,0,0,0,0,0,0
$GC,7319,-0.53,-99.5,971.8,-10.7,512,7327,0.00,0.80,0.00,0.000,6,0.000,0.039,1539,3409,2884,0,0,0,0,0,0
$STATE,7510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7510,begin apogee
$GC,7514,-0.09,0.0,991.3,10.2,522,7615,0.50,0.00,97.40,1.865,6,0.145,0.000,1689,3277,2473,0,0,0,0,0,0
$STATE,7616,end apogee,CONTROL_FINISHED_OK
$STATE,7616,begin climb
$GC,7618,0.53,99.5,993.8,0.0,527,7728,0.57,2.45,101.55,1.812,4,0.063,0.032,1903,1873,2067,0,0,0,0,0,0
$GC,7806,0.53,99.5,977.9,12.5,535,7814,0.00,2.42,0.00,0.000,6,0.000,0.050,1903,3263,2059,0,0,0,0,0,0
$GC,8124,0.53,99.5,931.3,15.0,551,8127,0.00,1.15,0.00,0.000,4,0.000,0.059,1904,3949,2055,0,0,0,0,0,0
$GC,8184,0.53,99.5,920.9,17.5,553,8191,0.00,1.08,0.00,0.000,6,0.000,0.036,1909,3276,2055,0,0,0,0,0,0
$GC,8500,0.53,99.5,873.5,15.2,569,8504,0.00,2.22,0.00,0.000,4,0.000,0.035,1919,1854,2053,0,0,0,0,0,0
$GC,8532,0.53,99.5,868.6,14.1,570,8540,0.00,2.35,0.00,0.000,6,0.000,0.050,1920,3283,2051,0,0,0,0,0,0
$GC,8850,0.53,99.5,817.3,16.8,586,8854,0.00,2.20,0.00,0.000,4,0.000,0.034,1930,1863,2051,0,0,0,0,0,0
$GC,8882,0.53,99.5,811.7,15.0,587,8891,0.10,2.33,0.00,0.000,6,0.171,0.050,1901,3285,2050,0,0,0,0,0,0
$GC,9199,0.53,99.5,763.7,15.4,603,9203,0.00,2.20,0.00,0.000,4,0.000,0.034,1910,1857,2049,0,0,0,0,0,0
$GC,9283,0.53,99.5,752.1,12.8,607,9287,0.00,2.30,0.00,0.000,6,0.000,0.052,1911,3280,2049,0,0,0,0,0,0
$GC,9611,0.53,99.5,702.6,15.1,623,9613,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3280,2049,0,0,0,0,0,0
$GC,9919,0.53,99.5,655.8,15.1,638,9923,0.00,2.15,0.00,0.000,4,0.000,0.033,1921,1858,2048,0,0,0,0,0,0
$GC,9958,0.53,99.5,650.4,13.2,640,9963,0.12,2.30,0.00,0.000,6,0.191,0.053,1893,3284,2048,0,0,0,0,0,0
$GC,10284,0.53,99.5,606.1,13.5,656,10286,0.00,0.00,0.00,0.000,6,0.000,0.000,1893,3284,2047,0,0,0,0,0,0
$GC,10596,0.53,99.5,565.0,13.3,671,10597,0.00,0.00,0.00,0.000,6,0.000,0.000,1893,3284,2047,0,0,0,0,0,0
$GC,10903,0.53,99.5,525.2,12.4,686,10907,0.00,2.20,0.00,0.000,4,0.000,0.035,1902,1851,2047,0,0,0,0,0,0
$GC,10942,0.53,99.5,520.7,10.9,688,10946,0.00,2.30,0.00,0.000,6,0.000,0.054,1902,3280,2046,0,0,0,0,0,0
$GC,11268,0.53,99.5,478.8,13.0,704,11269,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3281,2046,0,0,0,0,0,0
$GC,11577,0.53,99.5,439.8,12.7,719,11578,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3280,2046,0,0,0,0,0,0
$GC,11886,0.53,99.5,402.2,11.7,734,11890,0.00,1.08,0.00,0.000,4,0.000,0.060,1902,3949,2046,0,0,0,0,0,0
$GC,11979,0.53,99.5,389.8,13.4,741,11983,0.00,1.02,0.00,0.000,6,0.000,0.039,1907,3281,2046,0,0,0,0,0,0
$GC,12309,0.53,99.5,350.0,12.0,772,12313,0.00,2.17,0.00,0.000,4,0.000,0.034,1919,1849,2046,0,0,0,0,0,0
$GC,12374,0.53,99.5,343.2,9.9,777,12378,0.00,2.30,0.00,0.000,6,0.000,0.053,1919,3281,2045,0,0,0,0,0,0
$GC,12699,0.53,99.5,302.7,12.8,807,12702,0.00,1.08,0.00,0.000,4,0.000,0.061,1919,3948,2045,0,0,0,0,0,0
$GC,12733,0.53,99.5,298.0,14.4,810,12738,0.10,1.02,0.00,0.000,6,0.197,0.039,1897,3272,2045,0,0,0,0,0,0
$GC,13066,0.53,99.5,258.8,12.3,841,13067,0.00,0.00,0.00,0.000,6,0.000,0.000,1897,3273,2045,0,0,0,0,0,0
$GC,13383,0.53,99.5,218.2,12.8,871,13387,0.00,2.12,0.00,0.000,4,0.000,0.034,1906,1862,2045,0,0,0,0,0,0
$GC,13449,0.53,99.5,210.1,10.9,876,13458,0.00,2.30,0.00,0.000,6,0.000,0.054,1906,3276,2045,0,0,0,0,0,0
$GC,13774,0.53,99.5,168.5,13.0,907,13775,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3276,2045,0,0,0,0,0,0
$GC,14096,0.53,99.5,130.5,11.4,937,14100,0.00,2.17,0.00,0.000,4,0.000,0.036,1917,1859,2045,0,0,0,0,0,0
$GC,14158,0.53,100.2,123.9,9.4,942,14162,0.00,2.30,0.00,0.000,6,0.000,0.054,1917,3285,2044,0,0,0,0,0,0
$GC,14491,0.53,100.2,87.3,11.2,982,14498,0.00,1.08,0.00,0.000,4,0.000,0.060,1917,3950,2045,0,0,0,0,0,0
$GC,14753,0.53,100.2,54.2,13.5,1028,14761,0.10,1.02,0.00,0.000,6,0.196,0.037,1895,3273,2044,0,0,0,0,0,0
$GC,15111,0.53,107.2,29.1,8.7,1089,15116,0.00,0.00,0.00,0.000,6,0.000,0.000,1895,3273,2044,0,0,0,0,0,0
$GC,15263,0.54,112.0,15.4,8.9,1114,15272,0.00,0.00,2.95,0.529,6,0.000,0.000,1895,3273,2013,0,0,0,0,0,0
$GC,15323,0.54,112.0,9.8,9.9,1123,15331,0.00,0.00,0.00,0.000,6,0.000,0.000,1895,3273,2013,0,0,0,0,0,0
$GC,15383,0.54,115.9,4.1,9.0,1132,15391,0.00,0.00,1.23,0.243,6,0.000,0.000,1895,3273,1998,0,0,0,0,0,0
$STATE,15398,end climb,SURFACE_DEPTH_REACHED
$STATE,15398,begin surface coast
$FINISH,0.4,1.003233
$STATE,15443,end surface coast,CONTROL_FINISHED_OK
$STATE,15443,begin surface
$SM_CCo,15456,45.28,0.786,0,0,1553,225.18
$SM_GC,1.04,0.00,0.00,45.28,0.000,0.000,0.786,52,3428,1553,-5.21,0.23,225.18
$IRIDIUM_FIX,-4247.91,828.64,020114,121214
$TT8_MAMPS,0.025466
$HUMID,61.73
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.4,30.141
$10V_AH,9.9,21.919
$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,12.875,75.650,203.125,45.275,0.000,25.382,23.687,310.437,0.000,0.000,18.735,2849.102,9447.134,378.357,3095.812,221.212,0.000,1487.583,0.000,2596.781,0.000,1.010,0.000
$DEVICE_MAMPS,242.505,94.860,1865.070,785.655,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,791.780,1963.242,805.277,411.834,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354344
$DATA_FILE_SIZE,80405,1141
$CAP_FILE_SIZE,146053,0
$CFSIZE,259252224,244203520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020114,212904,-4259.624,830.386,26,0.9,26,-25.0