version: 66.07
glider: 543
mission: 9
dive: 205
start: 1 3 114 14 45 30
data:
$ID,543
$MISSION,9
$DIVE,205
$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,-13179.258
$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,40
$R_STBD_OVSHOOT,19
$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
$GPS1,030114,143634,-4259.469,829.624,29,1.0,29,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-55.0
$GPS2,030114,144505,-4259.397,829.720,16,1.1,17,-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,186.2,1180,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.50,-57.7,0.0,0.0,0,67,0.00,0.00,-49.28,0.000,2,0.000,0.000,70,3422,2643,0,0,0,0,0,0
$GC,69,-0.53,-103.2,3.0,-4.4,6,88,6.10,0.90,-7.10,0.000,4,0.237,0.092,1537,3958,2897,0,0,0,0,0,0
$GC,194,-0.53,-103.2,24.7,-18.2,25,201,0.00,0.82,0.00,0.000,6,0.000,0.038,1537,3424,2901,0,0,0,0,0,0
$GC,341,-0.53,-103.2,50.6,-14.6,50,348,0.00,2.17,0.00,0.000,4,0.000,0.033,1537,1992,2901,0,0,0,0,0,0
$GC,360,-0.53,-103.2,53.1,-13.4,53,367,0.00,2.35,0.00,0.000,6,0.000,0.056,1526,3427,2902,0,0,0,0,0,0
$GC,714,-0.53,-103.2,104.6,-14.1,112,717,0.00,0.85,0.00,0.000,4,0.000,0.060,1522,3956,2902,0,0,0,0,0,0
$GC,975,-0.53,-103.2,145.0,-15.3,135,979,0.00,0.82,0.00,0.000,6,0.000,0.037,1522,3412,2904,0,0,0,0,0,0
$GC,1305,-0.53,-103.2,192.2,-14.3,166,1309,0.00,0.88,0.00,0.000,4,0.000,0.061,1518,3951,2904,0,0,0,0,0,0
$GC,1513,-0.53,-103.2,225.3,-16.8,184,1523,0.00,0.82,0.00,0.000,6,0.000,0.037,1518,3411,2905,0,0,0,0,0,0
$GC,1839,-0.53,-103.2,272.3,-14.3,215,1842,0.00,0.88,0.00,0.000,4,0.000,0.060,1514,3955,2904,0,0,0,0,0,0
$GC,2002,-0.53,-103.2,297.7,-14.9,229,2010,0.08,0.80,0.00,0.000,6,0.165,0.037,1537,3428,2904,0,0,0,0,0,0
$GC,2327,-0.53,-103.2,338.6,-11.8,260,2331,0.00,0.82,0.00,0.000,4,0.000,0.063,1534,3946,2905,0,0,0,0,0,0
$GC,2479,-0.53,-103.2,359.0,-13.3,273,2486,0.00,0.80,0.00,0.000,6,0.000,0.039,1534,3418,2904,0,0,0,0,0,0
$GC,2804,-0.53,-103.2,398.7,-12.3,304,2808,0.00,0.85,0.00,0.000,4,0.000,0.063,1531,3950,2904,0,0,0,0,0,0
$GC,2943,-0.53,-103.2,416.7,-12.7,311,2948,0.00,0.82,0.00,0.000,6,0.000,0.038,1530,3416,2904,0,0,0,0,0,0
$GC,3271,-0.53,-103.2,455.9,-12.0,327,3275,0.00,0.85,0.00,0.000,4,0.000,0.063,1527,3948,2904,0,0,0,0,0,0
$GC,3433,-0.53,-103.2,477.7,-13.3,334,3437,0.00,0.80,0.00,0.000,6,0.000,0.040,1527,3420,2904,0,0,0,0,0,0
$GC,3760,-0.53,-103.2,519.8,-13.2,350,3764,0.00,0.85,0.00,0.000,4,0.000,0.061,1523,3953,2904,0,0,0,0,0,0
$GC,3843,-0.53,-103.2,531.8,-14.0,353,3851,0.00,0.82,0.00,0.000,6,0.000,0.037,1523,3414,2904,0,0,0,0,0,0
$GC,4161,-0.53,-103.2,575.2,-13.8,369,4164,0.00,0.88,0.00,0.000,4,0.000,0.062,1519,3957,2903,0,0,0,0,0,0
$GC,4277,-0.53,-103.2,593.6,-15.0,374,4282,0.00,0.82,0.00,0.000,6,0.000,0.039,1519,3425,2903,0,0,0,0,0,0
$GC,4604,-0.53,-103.2,641.5,-14.6,390,4608,0.00,0.85,0.00,0.000,4,0.000,0.063,1515,3952,2902,0,0,0,0,0,0
$GC,4794,-0.53,-103.2,671.0,-15.3,398,4799,0.12,0.82,0.00,0.000,6,0.180,0.039,1545,3419,2902,0,0,0,0,0,0
$GC,5115,-0.53,-103.2,707.6,-11.0,414,5119,0.00,0.85,0.00,0.000,4,0.000,0.066,1542,3945,2902,0,0,0,0,0,0
$GC,5197,-0.53,-103.2,717.3,-12.1,417,5205,0.00,0.82,0.00,0.000,6,0.000,0.040,1542,3415,2901,0,0,0,0,0,0
$GC,5514,-0.53,-103.2,752.8,-11.5,433,5517,0.00,0.88,0.00,0.000,4,0.000,0.064,1539,3955,2901,0,0,0,0,0,0
$GC,5686,-0.53,-103.2,774.2,-12.0,440,5694,0.00,0.82,0.00,0.000,6,0.000,0.040,1539,3422,2901,0,0,0,0,0,0
$GC,6002,-0.53,-103.2,809.9,-11.1,456,6003,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,3422,2901,0,0,0,0,0,0
$GC,6313,-0.53,-103.2,842.9,-10.5,471,6317,0.00,0.85,0.00,0.000,4,0.000,0.066,1535,3948,2900,0,0,0,0,0,0
$GC,6373,-0.53,-103.2,849.9,-10.9,473,6381,0.00,0.82,0.00,0.000,6,0.000,0.041,1535,3419,2900,0,0,0,0,0,0
$GC,6689,-0.53,-103.2,881.4,-9.8,489,6693,0.00,0.85,0.00,0.000,4,0.000,0.066,1531,3944,2900,0,0,0,0,0,0
$GC,6849,-0.53,-103.2,897.9,-10.2,496,6852,0.00,0.80,0.00,0.000,6,0.000,0.042,1531,3425,2899,0,0,0,0,0,0
$GC,7181,-0.53,-103.2,929.7,-9.5,512,7182,0.00,0.00,0.00,0.000,6,0.000,0.000,1530,3425,2899,0,0,0,0,0,0
$GC,7492,-0.53,-107.4,957.0,-9.0,527,7496,0.00,0.85,0.00,0.000,4,0.000,0.067,1527,3950,2898,0,0,0,0,0,0
$GC,7743,-0.53,-107.4,983.0,-10.7,538,7748,0.00,0.85,0.00,0.000,6,0.000,0.041,1527,3407,2898,0,0,0,0,0,0
$STATE,7822,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7822,begin apogee
$GC,7827,-0.09,0.0,990.6,9.8,542,7930,0.55,0.00,100.43,1.864,6,0.150,0.000,1689,3277,2473,0,0,0,0,0,0
$STATE,7931,end apogee,CONTROL_FINISHED_OK
$STATE,7931,begin climb
$GC,7933,0.53,107.4,993.1,0.0,547,8050,0.57,2.42,109.50,1.806,4,0.065,0.033,1903,1865,2035,0,0,0,0,0,0
$GC,8088,0.53,107.4,980.8,12.9,554,8093,0.00,2.50,0.00,0.000,6,0.000,0.053,1903,3278,2029,0,0,0,0,0,0
$GC,8411,0.53,107.4,930.5,15.6,570,8414,0.00,1.12,0.00,0.000,4,0.000,0.061,1903,3948,2023,0,0,0,0,0,0
$GC,8510,0.53,107.4,913.1,17.6,574,8515,0.00,1.08,0.00,0.000,6,0.000,0.037,1908,3280,2022,0,0,0,0,0,0
$GC,8832,0.53,107.4,862.3,15.6,590,8836,0.00,2.22,0.00,0.000,4,0.000,0.037,1919,1866,2020,0,0,0,0,0,0
$GC,8863,0.53,107.4,857.6,14.3,591,8871,0.00,2.35,0.00,0.000,6,0.000,0.054,1919,3284,2019,0,0,0,0,0,0
$GC,9182,0.53,107.4,806.6,16.3,607,9185,0.00,1.10,0.00,0.000,4,0.000,0.062,1919,3956,2018,0,0,0,0,0,0
$GC,9214,0.53,107.4,800.4,18.4,608,9219,0.12,1.08,0.00,0.000,6,0.222,0.038,1898,3273,2018,0,0,0,0,0,0
$GC,9535,0.53,107.4,750.8,15.0,624,9539,0.00,2.17,0.00,0.000,4,0.000,0.036,1908,1858,2017,0,0,0,0,0,0
$GC,9579,0.53,107.4,744.8,13.1,626,9583,0.00,2.35,0.00,0.000,6,0.000,0.054,1907,3286,2016,0,0,0,0,0,0
$GC,9908,0.53,107.4,696.7,14.4,642,9909,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3285,2016,0,0,0,0,0,0
$GC,10216,0.53,107.4,653.1,14.1,657,10220,0.00,1.08,0.00,0.000,4,0.000,0.062,1908,3948,2015,0,0,0,0,0,0
$GC,10243,0.53,107.4,649.0,14.7,658,10248,0.00,1.05,0.00,0.000,6,0.000,0.039,1912,3275,2015,0,0,0,0,0,0
$GC,10570,0.53,107.4,600.7,15.2,674,10571,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3275,2014,0,0,0,0,0,0
$GC,10880,0.53,107.4,555.0,14.6,689,10881,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3275,2014,0,0,0,0,0,0
$GC,11190,0.53,107.4,510.1,14.2,704,11194,0.00,2.17,0.00,0.000,4,0.000,0.036,1923,1861,2014,0,0,0,0,0,0
$GC,11244,0.53,107.4,502.7,12.4,706,11252,0.08,2.30,0.00,0.000,6,0.172,0.053,1901,3278,2013,0,0,0,0,0,0
$GC,11561,0.53,107.4,459.0,14.1,722,11564,0.00,1.08,0.00,0.000,4,0.000,0.061,1901,3943,2013,0,0,0,0,0,0
$GC,11621,0.53,107.4,449.5,15.6,724,11628,0.00,1.05,0.00,0.000,6,0.000,0.039,1905,3269,2012,0,0,0,0,0,0
$GC,11937,0.53,107.4,406.4,13.6,740,11938,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3269,2013,0,0,0,0,0,0
$GC,12254,0.53,107.4,362.7,13.7,767,12255,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3269,2013,0,0,0,0,0,0
$GC,12576,0.53,107.4,320.7,13.1,797,12582,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3269,2013,0,0,0,0,0,0
$GC,12901,0.53,107.4,277.2,13.8,828,12905,0.00,1.10,0.00,0.000,4,0.000,0.061,1905,3948,2012,0,0,0,0,0,0
$GC,12962,0.53,107.4,268.3,13.5,833,12970,0.00,1.05,0.00,0.000,6,0.000,0.038,1910,3271,2012,0,0,0,0,0,0
$GC,13288,0.53,107.4,227.2,11.4,864,13291,0.00,1.10,0.00,0.000,4,0.000,0.060,1910,3948,2012,0,0,0,0,0,0
$GC,13325,0.53,107.4,222.2,13.1,867,13333,0.00,1.05,0.00,0.000,6,0.000,0.037,1915,3271,2012,0,0,0,0,0,0
$GC,13651,0.53,107.4,181.9,12.9,898,13655,0.00,1.10,0.00,0.000,4,0.000,0.061,1915,3948,2012,0,0,0,0,0,0
$GC,13687,0.53,107.4,177.2,14.1,901,13691,0.00,1.02,0.00,0.000,6,0.000,0.039,1920,3276,2012,0,0,0,0,0,0
$GC,14017,0.53,107.4,133.1,13.2,932,14018,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3276,2012,0,0,0,0,0,0
$GC,14340,0.53,107.4,90.4,14.0,968,14346,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3276,2012,0,0,0,0,0,0
$GC,14690,0.53,107.4,45.4,12.7,1029,14699,0.00,1.10,0.00,0.000,4,0.000,0.060,1920,3954,2012,0,0,0,0,0,0
$GC,14862,0.53,107.4,22.9,10.8,1058,14872,0.10,1.02,0.00,0.000,6,0.187,0.037,1898,3278,2012,0,0,0,0,0,0
$GC,15021,0.53,107.4,7.0,13.2,1083,15030,0.00,1.08,0.00,0.000,4,0.000,0.062,1897,3938,2012,0,0,0,0,0,0
$STATE,15055,end climb,SURFACE_DEPTH_REACHED
$STATE,15056,begin surface coast
$FINISH,0.5,1.013681
$STATE,15081,end surface coast,CONTROL_FINISHED_OK
$STATE,15081,begin surface
$SM_CCo,15095,47.15,0.783,0,0,1553,225.18
$SM_GC,1.22,0.00,0.00,47.15,0.000,0.000,0.783,51,3412,1553,-5.22,-0.23,225.18
$IRIDIUM_FIX,-4242.04,830.68,030114,101027
$TT8_MAMPS,0.025466
$HUMID,62.01
$INTERNAL_PRESSURE,9.53279
$TCM_TEMP,13.40
$XPDR_PINGS,0
$24V_AH,22.4,30.853
$10V_AH,10.0,22.485
$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,12.650,67.450,209.925,47.150,0.000,25.904,20.748,337.528,0.000,0.000,18.869,2744.614,9196.631,393.419,3090.815,227.897,0.000,1505.050,0.000,2578.417,0.000,1.010,0.000
$DEVICE_MAMPS,237.150,91.800,1863.540,783.360,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,757.677,1878.688,745.837,367.190,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354420
$DATA_FILE_SIZE,77019,1092
$CAP_FILE_SIZE,142604,0
$CFSIZE,259252224,243830784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030114,185904,-4300.587,830.276,37,0.9,37,-25.0