version: 66.07
glider: 543
mission: 9
dive: 218
start: 1 6 114 0 22 41
data:
$ID,543
$MISSION,9
$DIVE,218
$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,-13224.243
$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,44
$R_STBD_OVSHOOT,23
$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
$GPS1,060114,000034,-4259.645,829.729,29,0.8,29,-25.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-61.6
$GPS2,060114,002217,-4259.642,829.805,17,0.9,18,-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,183.3,715,-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,-57.7,0.0,0.0,0,59,0.00,0.00,-42.10,0.000,2,0.000,0.000,61,3417,2520,0,0,0,0,0,0
$GC,61,-0.53,-95.8,3.2,-5.3,5,88,6.07,2.25,-9.62,0.000,4,0.231,0.047,1545,2000,2868,0,0,0,0,0,0
$GC,274,-0.53,-95.8,30.9,-11.7,39,281,0.00,2.33,0.00,0.000,6,0.000,0.053,1535,3430,2872,0,0,0,0,0,0
$GC,422,-0.53,-95.8,55.3,-17.3,64,428,0.00,0.00,0.00,0.000,6,0.000,0.000,1535,3430,2872,0,0,0,0,0,0
$GC,776,-0.53,-95.8,108.1,-14.2,121,777,0.00,0.00,0.00,0.000,6,0.000,0.000,1535,3430,2873,0,0,0,0,0,0
$GC,1093,-0.53,-95.8,153.0,-14.6,151,1096,0.00,0.82,0.00,0.000,4,0.000,0.059,1531,3940,2874,0,0,0,0,0,0
$GC,1153,-0.53,-95.8,162.6,-15.3,156,1163,0.00,0.80,0.00,0.000,6,0.000,0.034,1531,3416,2874,0,0,0,0,0,0
$GC,1478,-0.53,-95.8,210.6,-14.9,187,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3416,2874,0,0,0,0,0,0
$GC,1800,-0.53,-95.8,260.1,-15.3,217,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3416,2874,0,0,0,0,0,0
$GC,2126,-0.53,-95.8,307.0,-14.1,248,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3416,2874,0,0,0,0,0,0
$GC,2444,-0.53,-95.8,352.8,-14.3,278,2448,0.00,0.85,0.00,0.000,4,0.000,0.060,1528,3947,2874,0,0,0,0,0,0
$GC,2489,-0.53,-95.8,359.9,-15.6,282,2493,0.00,0.77,0.00,0.000,6,0.000,0.037,1528,3432,2874,0,0,0,0,0,0
$GC,2828,-0.53,-95.8,410.0,-14.6,311,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3431,2874,0,0,0,0,0,0
$GC,3137,-0.53,-95.8,453.7,-13.8,326,3139,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3431,2873,0,0,0,0,0,0
$GC,3448,-0.53,-95.8,496.4,-13.8,341,3449,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3431,2873,0,0,0,0,0,0
$GC,3756,-0.53,-95.8,538.4,-13.5,356,3757,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3431,2872,0,0,0,0,0,0
$GC,4066,-0.53,-95.8,579.3,-12.8,371,4070,0.00,2.15,0.00,0.000,4,0.000,0.031,1528,1992,2871,0,0,0,0,0,0
$GC,4109,-0.53,-95.8,584.6,-10.0,373,4114,0.08,2.33,0.00,0.000,6,0.135,0.054,1542,3421,2871,0,0,0,0,0,0
$GC,4436,-0.53,-95.8,620.2,-10.7,389,4437,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,3421,2871,0,0,0,0,0,0
$GC,4745,-0.53,-95.8,652.8,-10.4,404,4749,0.00,0.85,0.00,0.000,4,0.000,0.062,1539,3954,2870,0,0,0,0,0,0
$GC,4783,-0.53,-95.8,657.2,-12.2,405,4791,0.00,0.82,0.00,0.000,6,0.000,0.037,1539,3416,2870,0,0,0,0,0,0
$GC,5099,-0.53,-95.8,692.6,-11.8,421,5100,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,3416,2870,0,0,0,0,0,0
$GC,5409,-0.53,-95.8,730.1,-12.0,436,5410,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,3416,2869,0,0,0,0,0,0
$GC,5720,-0.53,-95.8,767.6,-12.0,451,5721,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,3416,2869,0,0,0,0,0,0
$GC,6027,-0.53,-95.8,804.0,-12.0,466,6028,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,3416,2868,0,0,0,0,0,0
$GC,6337,-0.53,-95.8,838.8,-10.7,481,6338,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,3416,2867,0,0,0,0,0,0
$GC,6646,-0.53,-95.8,870.9,-10.0,496,6647,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,3416,2867,0,0,0,0,0,0
$GC,6955,-0.53,-95.8,900.9,-9.8,511,6959,0.00,0.85,0.00,0.000,4,0.000,0.063,1535,3944,2867,0,0,0,0,0,0
$GC,7016,-0.53,-95.8,907.5,-11.1,513,7023,0.00,0.80,0.00,0.000,6,0.000,0.039,1535,3423,2867,0,0,0,0,0,0
$GC,7332,-0.53,-95.8,940.6,-10.8,529,7336,0.00,2.15,0.00,0.000,4,0.000,0.032,1535,1994,2866,0,0,0,0,0,0
$GC,7358,-0.53,-95.8,943.6,-11.4,530,7363,0.00,2.33,0.00,0.000,6,0.000,0.055,1524,3417,2866,0,0,0,0,0,0
$GC,7682,-0.53,-95.8,980.8,-11.7,546,7685,0.00,0.85,0.00,0.000,4,0.000,0.063,1520,3951,2866,0,0,0,0,0,0
$GC,7736,-0.53,-95.8,988.2,-12.7,548,7741,0.00,0.82,0.00,0.000,6,0.000,0.039,1520,3415,2865,0,0,0,0,0,0
$STATE,7768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7768,begin apogee
$GC,7772,-0.09,0.0,992.0,12.5,550,7871,0.57,0.00,93.43,1.874,6,0.157,0.000,1686,3281,2473,0,0,0,0,0,0
$STATE,7872,end apogee,CONTROL_FINISHED_OK
$STATE,7872,begin climb
$GC,7874,0.53,95.8,995.3,0.0,555,7981,0.57,2.42,97.78,1.815,4,0.066,0.031,1900,1866,2083,0,0,0,0,0,0
$GC,8014,0.53,95.8,986.4,11.5,561,8019,0.00,2.50,0.00,0.000,6,0.000,0.050,1900,3277,2079,0,0,0,0,0,0
$GC,8336,0.53,95.8,942.2,13.7,577,8337,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,3277,2072,0,0,0,0,0,0
$GC,8645,0.53,95.8,899.4,13.9,592,8649,0.00,2.22,0.00,0.000,4,0.000,0.035,1911,1862,2069,0,0,0,0,0,0
$GC,8707,0.53,95.8,891.5,12.6,595,8712,0.00,2.35,0.00,0.000,6,0.000,0.053,1911,3292,2067,0,0,0,0,0,0
$GC,9034,0.53,95.8,843.3,14.9,611,9038,0.00,1.08,0.00,0.000,4,0.000,0.060,1911,3949,2067,0,0,0,0,0,0
$GC,9072,0.53,95.8,836.9,16.4,612,9079,0.00,1.05,0.00,0.000,6,0.000,0.036,1916,3277,2067,0,0,0,0,0,0
$GC,9388,0.53,95.8,790.1,14.9,628,9392,0.00,2.20,0.00,0.000,4,0.000,0.034,1927,1855,2066,0,0,0,0,0,0
$GC,9428,0.53,95.8,784.7,13.2,630,9433,0.15,2.33,0.00,0.000,6,0.190,0.053,1891,3289,2065,0,0,0,0,0,0
$GC,9754,0.53,95.8,743.5,12.3,646,9758,0.00,1.08,0.00,0.000,4,0.000,0.060,1891,3950,2064,0,0,0,0,0,0
$GC,9822,0.53,95.8,734.4,13.7,649,9826,0.00,1.02,0.00,0.000,6,0.000,0.037,1895,3279,2064,0,0,0,0,0,0
$GC,10155,0.53,95.8,692.4,12.6,665,10156,0.00,0.00,0.00,0.000,6,0.000,0.000,1895,3279,2063,0,0,0,0,0,0
$GC,10464,0.53,95.8,653.1,12.4,680,10468,0.00,2.17,0.00,0.000,4,0.000,0.033,1906,1857,2062,0,0,0,0,0,0
$GC,10507,0.53,95.8,648.2,10.7,682,10511,0.00,2.33,0.00,0.000,6,0.000,0.051,1906,3285,2063,0,0,0,0,0,0
$GC,10834,0.53,95.8,605.9,13.2,698,10835,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3285,2062,0,0,0,0,0,0
$GC,11144,0.53,95.8,566.0,12.9,713,11145,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3285,2062,0,0,0,0,0,0
$GC,11453,0.53,95.8,527.0,12.5,728,11454,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3285,2062,0,0,0,0,0,0
$GC,11762,0.53,95.8,488.8,12.5,743,11763,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3284,2062,0,0,0,0,0,0
$GC,12072,0.53,95.8,450.4,12.5,758,12076,0.00,2.15,0.00,0.000,4,0.000,0.034,1917,1864,2062,0,0,0,0,0,0
$GC,12114,0.53,95.8,445.1,11.1,760,12119,0.00,2.33,0.00,0.000,6,0.000,0.053,1917,3285,2061,0,0,0,0,0,0
$GC,12442,0.53,95.8,402.6,13.1,776,12446,0.00,2.17,0.00,0.000,4,0.000,0.034,1928,1856,2061,0,0,0,0,0,0
$GC,12468,0.53,95.8,399.2,12.4,777,12476,0.10,2.33,0.00,0.000,6,0.165,0.053,1899,3283,2061,0,0,0,0,0,0
$GC,12793,0.53,95.8,359.3,12.4,808,12794,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3283,2061,0,0,0,0,0,0
$GC,13113,0.53,95.8,320.5,11.9,838,13117,0.00,1.08,0.00,0.000,4,0.000,0.061,1899,3947,2061,0,0,0,0,0,0
$GC,13207,0.53,95.8,307.5,13.7,846,13215,0.00,1.05,0.00,0.000,6,0.000,0.038,1903,3271,2061,0,0,0,0,0,0
$GC,13535,0.53,95.8,268.0,11.7,877,13537,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3271,2061,0,0,0,0,0,0
$GC,13853,0.53,95.8,230.7,11.8,907,13854,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3271,2061,0,0,0,0,0,0
$GC,14174,0.53,95.8,193.8,11.6,937,14180,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3271,2061,0,0,0,0,0,0
$GC,14500,0.53,95.8,155.0,12.0,968,14501,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3271,2061,0,0,0,0,0,0
$GC,14818,0.53,95.8,117.5,11.5,998,14822,0.00,2.15,0.00,0.000,4,0.000,0.034,1914,1860,2061,0,0,0,0,0,0
$GC,14847,0.53,95.8,114.2,10.7,1000,14851,0.00,2.25,0.00,0.000,6,0.000,0.052,1914,3280,2061,0,0,0,0,0,0
$GC,15185,0.53,95.8,72.1,11.3,1050,15194,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3280,2061,0,0,0,0,0,0
$GC,15539,0.54,120.2,37.8,6.8,1111,15555,0.00,2.15,8.35,0.884,4,0.000,0.032,1925,1854,1980,0,0,0,0,0,0
$GC,15664,0.54,120.2,26.9,9.8,1131,15671,0.00,2.28,0.00,0.000,6,0.000,0.053,1925,3284,1978,0,0,0,0,0,0
$GC,15818,0.54,120.2,8.4,13.1,1156,15827,0.00,1.08,0.00,0.000,4,0.000,0.060,1925,3954,1978,0,0,0,0,0,0
$STATE,15858,end climb,SURFACE_DEPTH_REACHED
$STATE,15858,begin surface coast
$FINISH,1.4,1.026224
$STATE,15866,end surface coast,CONTROL_FINISHED_OK
$STATE,15866,begin surface
$SM_CCo,15880,43.35,0.783,0,0,1550,225.18
$SM_GC,1.22,0.00,0.00,43.35,0.000,0.000,0.783,63,3410,1550,-5.18,-0.28,225.18
$IRIDIUM_FIX,-4242.04,830.68,060114,000027
$TT8_MAMPS,0.026215
$HUMID,61.89
$INTERNAL_PRESSURE,9.54255
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.4,32.730
$10V_AH,9.9,24.006
$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,12.600,66.525,199.550,43.350,0.000,108.213,188.021,648.956,0.000,0.000,20.129,2816.999,10350.495,356.278,3482.095,216.999,0.000,1349.167,0.000,2366.777,0.000,1.013,0.000
$DEVICE_MAMPS,231.030,63.495,1874.250,783.360,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,807.673,1982.863,778.640,381.663,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354380
$DATA_FILE_SIZE,80561,1163
$CAP_FILE_SIZE,141283,0
$CFSIZE,259252224,242802688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060114,044906,-4300.991,830.548,26,1.4,26,-25.0