version: 66.07
glider: 543
mission: 9
dive: 220
start: 1 6 114 9 17 36
data:
$ID,543
$MISSION,9
$DIVE,220
$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,-13229.981
$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,20
$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
$GPS1,060114,090834,-4259.823,830.195,54,0.7,54,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-62.0
$GPS2,060114,091711,-4259.860,830.247,17,1.2,17,-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,257.3,423,-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,-41.88,0.000,2,0.000,0.000,61,3427,2481,0,0,0,0,0,0
$GC,61,-0.53,-102.6,3.0,-4.5,5,88,6.25,0.85,-12.15,0.000,4,0.243,0.089,1535,3950,2896,0,0,0,0,0,0
$GC,335,-0.53,-102.6,51.4,-17.2,50,342,0.00,0.80,0.00,0.000,6,0.000,0.037,1535,3426,2899,0,0,0,0,0,0
$GC,685,-0.53,-102.6,103.2,-13.5,109,686,0.00,0.00,0.00,0.000,6,0.000,0.000,1535,3425,2900,0,0,0,0,0,0
$GC,1002,-0.53,-102.6,146.3,-13.6,139,1003,0.00,0.00,0.00,0.000,6,0.000,0.000,1535,3425,2901,0,0,0,0,0,0
$GC,1323,-0.53,-102.6,190.1,-13.8,169,1327,0.00,2.15,0.00,0.000,4,0.000,0.031,1535,2001,2901,0,0,0,0,0,0
$GC,1340,-0.53,-102.6,192.9,-14.3,170,1345,0.00,2.28,0.00,0.000,6,0.000,0.051,1525,3423,2902,0,0,0,0,0,0
$GC,1665,-0.53,-102.6,240.1,-14.9,200,1669,0.00,2.15,0.00,0.000,4,0.000,0.029,1524,1991,2902,0,0,0,0,0,0
$GC,1684,-0.53,-102.6,242.5,-14.5,201,1689,0.12,2.30,0.00,0.000,6,0.162,0.051,1545,3424,2902,0,0,0,0,0,0
$GC,2009,-0.53,-102.6,284.1,-13.3,231,2013,0.00,2.15,0.00,0.000,4,0.000,0.032,1545,1997,2902,0,0,0,0,0,0
$GC,2039,-0.53,-102.6,287.6,-12.6,233,2043,0.00,2.30,0.00,0.000,6,0.000,0.054,1536,3423,2902,0,0,0,0,0,0
$GC,2369,-0.53,-102.6,332.1,-13.3,264,2373,0.00,2.15,0.00,0.000,4,0.000,0.032,1535,1997,2901,0,0,0,0,0,0
$GC,2402,-0.53,-102.6,336.5,-11.4,266,2409,0.00,2.30,0.00,0.000,6,0.000,0.056,1525,3421,2902,0,0,0,0,0,0
$GC,2730,-0.53,-102.6,381.5,-13.9,297,2733,0.00,0.82,0.00,0.000,4,0.000,0.060,1521,3945,2902,0,0,0,0,0,0
$GC,2767,-0.53,-102.6,387.7,-14.5,300,2777,0.00,0.80,0.00,0.000,6,0.000,0.035,1521,3413,2902,0,0,0,0,0,0
$GC,3086,-0.53,-102.6,432.1,-14.2,320,3089,0.00,2.10,0.00,0.000,4,0.000,0.030,1521,2002,2902,0,0,0,0,0,0
$GC,3113,-0.53,-102.6,436.1,-14.1,321,3118,0.12,2.30,0.00,0.000,6,0.161,0.056,1542,3423,2901,0,0,0,0,0,0
$GC,3428,-0.53,-102.6,474.1,-12.3,336,3430,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,3423,2902,0,0,0,0,0,0
$GC,3737,-0.53,-102.6,510.6,-11.5,351,3739,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,3423,2901,0,0,0,0,0,0
$GC,4047,-0.53,-102.6,546.1,-11.6,366,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,3423,2900,0,0,0,0,0,0
$GC,4356,-0.53,-102.6,582.7,-12.2,381,4358,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,3423,2900,0,0,0,0,0,0
$GC,4665,-0.53,-102.6,620.0,-11.9,396,4667,0.00,0.00,0.00,0.000,6,0.000,0.000,1542,3423,2900,0,0,0,0,0,0
$GC,4976,-0.53,-102.6,656.6,-11.6,411,4980,0.00,0.85,0.00,0.000,4,0.000,0.065,1540,3952,2899,0,0,0,0,0,0
$GC,5026,-0.53,-102.6,663.0,-12.0,413,5030,0.00,0.82,0.00,0.000,6,0.000,0.042,1539,3426,2899,0,0,0,0,0,0
$GC,5353,-0.53,-102.6,702.5,-12.1,429,5354,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3426,2899,0,0,0,0,0,0
$GC,5664,-0.53,-102.6,740.0,-12.3,444,5665,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,3426,2898,0,0,0,0,0,0
$GC,5972,-0.53,-102.6,778.1,-12.4,459,5973,0.00,0.00,0.00,0.000,6,0.000,0.000,1539,3426,2897,0,0,0,0,0,0
$GC,6281,-0.53,-102.6,815.1,-11.5,474,6285,0.00,2.20,0.00,0.000,4,0.000,0.036,1540,1993,2897,0,0,0,0,0,0
$GC,6329,-0.53,-102.6,820.3,-9.5,476,6334,0.00,2.35,0.00,0.000,6,0.000,0.058,1529,3413,2897,0,0,0,0,0,0
$GC,6653,-0.53,-102.6,858.0,-11.7,492,6654,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3413,2896,0,0,0,0,0,0
$GC,6960,-0.53,-102.6,891.9,-10.8,507,6962,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3413,2896,0,0,0,0,0,0
$GC,7270,-0.53,-102.6,925.5,-10.7,522,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3413,2895,0,0,0,0,0,0
$GC,7579,-0.53,-102.6,958.5,-10.3,537,7580,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3413,2895,0,0,0,0,0,0
$STATE,7887,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7887,begin apogee
$GC,7892,-0.09,0.0,990.5,10.6,552,7995,0.55,0.00,100.07,1.857,6,0.155,0.000,1688,3275,2473,0,0,0,0,0,0
$STATE,7996,end apogee,CONTROL_FINISHED_OK
$STATE,7996,begin climb
$GC,7998,0.53,102.6,992.5,0.0,557,8113,0.57,2.50,104.85,1.805,4,0.064,0.035,1902,1861,2054,0,0,0,0,0,0
$GC,8140,0.53,102.6,981.6,12.7,563,8147,0.00,2.53,0.00,0.000,6,0.000,0.054,1902,3274,2051,0,0,0,0,0,0
$GC,8458,0.53,102.6,932.8,15.4,579,8459,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3274,2043,0,0,0,0,0,0
$GC,8765,0.53,102.6,886.8,14.8,594,8766,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3274,2040,0,0,0,0,0,0
$GC,9075,0.53,102.6,841.1,14.4,609,9079,0.00,1.12,0.00,0.000,4,0.000,0.064,1902,3953,2039,0,0,0,0,0,0
$GC,9102,0.53,102.6,836.8,15.2,610,9106,0.00,1.05,0.00,0.000,6,0.000,0.041,1907,3283,2039,0,0,0,0,0,0
$GC,9429,0.53,102.6,789.5,14.4,626,9433,0.00,2.22,0.00,0.000,4,0.000,0.037,1918,1859,2038,0,0,0,0,0,0
$GC,9491,0.53,102.6,781.7,12.0,629,9495,0.00,2.35,0.00,0.000,6,0.000,0.057,1918,3290,2037,0,0,0,0,0,0
$GC,9817,0.53,102.6,735.2,14.4,645,9821,0.00,1.08,0.00,0.000,4,0.000,0.065,1918,3946,2036,0,0,0,0,0,0
$GC,9843,0.53,102.6,730.8,16.0,646,9848,0.12,1.08,0.00,0.000,6,0.220,0.041,1896,3267,2036,0,0,0,0,0,0
$GC,10173,0.53,102.6,688.0,13.1,662,10176,0.00,1.12,0.00,0.000,4,0.000,0.066,1896,3949,2036,0,0,0,0,0,0
$GC,10272,0.53,102.6,672.8,16.0,666,10276,0.00,1.05,0.00,0.000,6,0.000,0.041,1900,3281,2036,0,0,0,0,0,0
$GC,10594,0.53,102.6,628.8,13.9,682,10595,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,3281,2035,0,0,0,0,0,0
$GC,10905,0.53,102.6,587.1,13.9,697,10906,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,3281,2035,0,0,0,0,0,0
$GC,11212,0.53,102.6,544.1,13.8,712,11216,0.00,1.10,0.00,0.000,4,0.000,0.065,1900,3949,2034,0,0,0,0,0,0
$GC,11251,0.53,102.6,538.2,16.0,713,11258,0.00,1.02,0.00,0.000,6,0.000,0.040,1905,3285,2034,0,0,0,0,0,0
$GC,11566,0.53,102.6,493.0,13.7,729,11568,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3285,2034,0,0,0,0,0,0
$GC,11876,0.53,102.6,449.4,14.7,744,11880,0.00,2.20,0.00,0.000,4,0.000,0.037,1916,1858,2033,0,0,0,0,0,0
$GC,11903,0.53,102.6,445.4,13.7,745,11907,0.00,2.33,0.00,0.000,6,0.000,0.056,1916,3288,2033,0,0,0,0,0,0
$GC,12224,0.53,102.6,398.5,14.9,761,12228,0.00,1.08,0.00,0.000,4,0.000,0.065,1916,3950,2033,0,0,0,0,0,0
$GC,12251,0.53,102.6,394.1,15.7,763,12259,0.08,1.02,0.00,0.000,6,0.198,0.041,1901,3283,2033,0,0,0,0,0,0
$GC,12576,0.53,102.6,350.0,12.8,794,12577,0.00,0.00,0.00,0.000,6,0.000,0.000,1901,3283,2033,0,0,0,0,0,0
$GC,12896,0.53,102.6,308.6,13.1,824,12900,0.00,1.08,0.00,0.000,4,0.000,0.063,1900,3948,2033,0,0,0,0,0,0
$GC,12964,0.53,102.6,298.6,14.8,830,12967,0.00,1.02,0.00,0.000,6,0.000,0.038,1904,3281,2033,0,0,0,0,0,0
$GC,13297,0.53,102.6,256.0,12.6,861,13301,0.00,2.17,0.00,0.000,4,0.000,0.036,1915,1860,2033,0,0,0,0,0,0
$GC,13339,0.53,102.6,250.5,11.8,864,13349,0.00,2.33,0.00,0.000,6,0.000,0.056,1915,3279,2032,0,0,0,0,0,0
$GC,13665,0.53,102.6,208.9,12.7,895,13666,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3278,2032,0,0,0,0,0,0
$GC,13987,0.53,102.6,166.2,13.7,925,13991,0.00,1.10,0.00,0.000,4,0.000,0.063,1915,3954,2032,0,0,0,0,0,0
$GC,14012,0.53,102.6,162.7,13.2,927,14015,0.00,1.05,0.00,0.000,6,0.000,0.041,1920,3277,2031,0,0,0,0,0,0
$GC,14342,0.53,102.6,119.6,12.5,958,14343,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3277,2032,0,0,0,0,0,0
$GC,14671,0.53,102.6,80.6,12.9,1002,14680,0.00,2.20,0.00,0.000,4,0.000,0.036,1931,1861,2032,0,0,0,0,0,0
$GC,14734,0.53,102.6,73.8,10.8,1012,14742,0.08,2.33,0.00,0.000,6,0.161,0.057,1899,3280,2032,0,0,0,0,0,0
$GC,15089,0.54,116.9,42.3,7.9,1073,15097,0.00,1.10,3.88,0.727,4,0.000,0.060,1899,3953,1993,0,0,0,0,0,0
$GC,15257,0.54,116.9,24.2,11.3,1101,15264,0.00,1.02,0.00,0.000,6,0.000,0.037,1902,3278,1993,0,0,0,0,0,0
$GC,15413,0.54,116.9,8.4,10.0,1126,15422,0.00,1.08,0.00,0.000,4,0.000,0.058,1902,3952,1993,0,0,0,0,0,0
$STATE,15454,end climb,SURFACE_DEPTH_REACHED
$STATE,15454,begin surface coast
$FINISH,2.1,1.026207
$STATE,15462,end surface coast,CONTROL_FINISHED_OK
$STATE,15462,begin surface
$SM_CCo,15475,45.08,0.780,0,0,1552,225.18
$SM_GC,1.31,0.00,0.00,45.08,0.000,0.000,0.780,45,3419,1552,-5.23,-0.03,225.18
$IRIDIUM_FIX,-4244.98,831.55,060114,040400
$TT8_MAMPS,0.026215
$HUMID,62.36
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,13.60
$XPDR_PINGS,0
$24V_AH,22.3,33.008
$10V_AH,9.9,24.232
$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,13.025,74.025,208.800,45.075,0.000,35.851,19.639,327.307,0.000,0.000,19.282,2767.554,9866.247,356.379,2818.492,227.966,0.000,1330.298,0.000,2309.001,0.000,2.042,0.000
$DEVICE_MAMPS,242.505,88.740,1857.420,779.535,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,787.038,1935.650,761.996,365.130,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354428
$DATA_FILE_SIZE,80608,1133
$CAP_FILE_SIZE,132575,0
$CFSIZE,259252224,242655232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,060114,133729,-4300.010,828.717,37,1.1,37,-25.0