version: 66.07
glider: 543
mission: 9
dive: 230
start: 1 8 114 6 2 19
data:
$ID,543
$MISSION,9
$DIVE,230
$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,380
$T_MISSION,420
$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,220
$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,-13264.364
$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,53
$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,3380
$C_ROLL_CLIMB,3285
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,22
$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
$GPS1,080114,054835,-4259.338,831.619,41,0.9,41,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-67.9
$GPS2,080114,060156,-4259.334,831.599,15,0.8,17,-25.1
$SPEED_LIMITS,0.150,0.228
$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,265.4,2493,-27.0,-8.684
$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,-0.54,-51.0,0.0,0.0,0,66,0.00,0.00,-47.55,0.000,6,0.000,0.000,58,3352,2685,0,0,0,0,0,0
$GC,69,-0.57,-91.9,3.3,-4.0,6,87,6.12,0.98,-4.28,0.000,4,0.236,0.079,1525,3957,2851,0,0,0,0,0,0
$GC,296,-0.57,-91.9,52.2,-20.8,43,302,0.00,0.85,0.00,0.000,6,0.000,0.035,1524,3397,2854,0,0,0,0,0,0
$GC,646,-0.57,-91.9,110.7,-15.8,99,650,0.00,2.17,0.00,0.000,4,0.000,0.030,1525,1959,2856,0,0,0,0,0,0
$GC,711,-0.57,-91.9,119.5,-12.5,104,721,0.00,2.33,0.00,0.000,6,0.000,0.050,1514,3381,2856,0,0,0,0,0,0
$GC,1037,-0.57,-91.9,169.6,-15.8,135,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,1514,3381,2857,0,0,0,0,0,0
$GC,1358,-0.57,-91.9,219.9,-16.0,165,1362,0.00,0.90,0.00,0.000,4,0.000,0.058,1510,3947,2857,0,0,0,0,0,0
$GC,1471,-0.57,-91.9,239.5,-17.3,175,1475,0.00,0.85,0.00,0.000,6,0.000,0.035,1510,3377,2857,0,0,0,0,0,0
$GC,1801,-0.57,-91.9,290.6,-14.2,206,1805,0.00,2.12,0.00,0.000,4,0.000,0.029,1510,1957,2857,0,0,0,0,0,0
$GC,1822,-0.57,-91.9,293.8,-13.9,207,1831,0.08,2.30,0.00,0.000,6,0.145,0.050,1523,3375,2857,0,0,0,0,0,0
$GC,2148,-0.57,-91.9,334.7,-12.7,238,2151,0.00,0.90,0.00,0.000,4,0.000,0.058,1521,3942,2857,0,0,0,0,0,0
$GC,2208,-0.57,-91.9,343.2,-13.9,243,2216,0.00,0.85,0.00,0.000,6,0.000,0.035,1521,3382,2857,0,0,0,0,0,0
$GC,2534,-0.57,-91.9,382.3,-12.2,274,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3382,2857,0,0,0,0,0,0
$GC,2847,-0.57,-91.9,420.9,-12.6,296,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3382,2857,0,0,0,0,0,0
$GC,3157,-0.57,-91.9,463.1,-14.2,311,3161,0.00,2.15,0.00,0.000,4,0.000,0.030,1520,1956,2857,0,0,0,0,0,0
$GC,3184,-0.57,-91.9,467.1,-14.3,312,3188,0.00,2.33,0.00,0.000,6,0.000,0.051,1510,3384,2856,0,0,0,0,0,0
$GC,3506,-0.57,-91.9,515.5,-15.4,328,3507,0.00,0.00,0.00,0.000,6,0.000,0.000,1510,3384,2856,0,0,0,0,0,0
$GC,3817,-0.57,-91.9,562.6,-14.9,343,3820,0.00,0.90,0.00,0.000,4,0.000,0.060,1505,3949,2856,0,0,0,0,0,0
$GC,3871,-0.57,-91.9,571.9,-16.0,345,3877,0.12,0.88,0.00,0.000,6,0.183,0.036,1536,3381,2856,0,0,0,0,0,0
$GC,4193,-0.57,-91.9,612.5,-12.5,361,4194,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3381,2855,0,0,0,0,0,0
$GC,4504,-0.57,-91.9,650.0,-11.7,376,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,1535,3381,2855,0,0,0,0,0,0
$GC,4812,-0.57,-91.9,684.5,-10.6,391,4813,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3381,2854,0,0,0,0,0,0
$GC,5121,-0.57,-91.9,718.3,-11.0,406,5125,0.00,0.93,0.00,0.000,4,0.000,0.063,1532,3952,2853,0,0,0,0,0,0
$GC,5153,-0.57,-91.9,722.4,-12.1,407,5158,0.00,0.90,0.00,0.000,6,0.000,0.038,1532,3371,2854,0,0,0,0,0,0
$GC,5475,-0.57,-91.9,759.0,-11.4,423,5479,0.00,0.93,0.00,0.000,4,0.000,0.063,1528,3944,2853,0,0,0,0,0,0
$GC,5524,-0.57,-91.9,765.5,-12.5,425,5528,0.00,0.88,0.00,0.000,6,0.000,0.037,1528,3380,2853,0,0,0,0,0,0
$GC,5852,-0.57,-91.9,805.0,-12.2,441,5853,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3379,2852,0,0,0,0,0,0
$GC,6161,-0.57,-91.9,842.6,-12.1,456,6162,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3379,2852,0,0,0,0,0,0
$GC,6470,-0.57,-91.9,877.2,-11.0,471,6474,0.00,0.93,0.00,0.000,4,0.000,0.063,1524,3953,2851,0,0,0,0,0,0
$GC,6531,-0.57,-91.9,884.9,-11.9,473,6538,0.00,0.88,0.00,0.000,6,0.000,0.038,1524,3380,2851,0,0,0,0,0,0
$GC,6847,-0.57,-91.9,919.9,-11.1,489,6848,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3380,2850,0,0,0,0,0,0
$GC,7157,-0.57,-91.9,954.1,-10.9,504,7158,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3381,2850,0,0,0,0,0,0
$GC,7467,-0.57,-91.9,987.3,-10.7,519,7471,0.00,0.95,0.00,0.000,4,0.000,0.064,1520,3951,2849,0,0,0,0,0,0
$STATE,7488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7488,begin apogee
$GC,7493,-0.09,0.0,990.1,11.8,520,7591,0.57,0.00,90.03,1.870,6,0.156,0.000,1685,3284,2474,0,0,0,0,0,0
$STATE,7592,end apogee,CONTROL_FINISHED_OK
$STATE,7592,begin climb
$GC,7594,0.57,91.9,992.6,0.0,525,7702,0.62,2.47,94.62,1.821,4,0.067,0.031,1915,1877,2098,0,0,0,0,0,0
$GC,7757,0.57,91.9,978.0,13.4,532,7761,0.00,2.45,0.00,0.000,6,0.000,0.051,1915,3283,2092,0,0,0,0,0,0
$GC,8079,0.57,91.9,929.2,15.7,548,8083,0.00,1.12,0.00,0.000,4,0.000,0.060,1915,3957,2086,0,0,0,0,0,0
$GC,8241,0.57,91.9,901.0,17.5,555,8245,0.00,1.05,0.00,0.000,6,0.000,0.037,1920,3285,2085,0,0,0,0,0,0
$GC,8568,0.57,91.9,847.9,16.4,571,8570,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3285,2083,0,0,0,0,0,0
$GC,8877,0.57,91.9,798.9,15.7,586,8878,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3284,2082,0,0,0,0,0,0
$GC,9188,0.57,91.9,749.9,16.2,601,9189,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3285,2081,0,0,0,0,0,0
$GC,9496,0.57,91.9,702.5,15.1,616,9500,0.00,1.10,0.00,0.000,4,0.000,0.061,1920,3955,2080,0,0,0,0,0,0
$GC,9596,0.57,91.9,685.9,16.7,620,9600,0.00,1.05,0.00,0.000,6,0.000,0.036,1925,3281,2080,0,0,0,0,0,0
$GC,9918,0.57,91.9,637.8,15.0,636,9922,0.00,2.15,0.00,0.000,4,0.000,0.034,1936,1876,2080,0,0,0,0,0,0
$GC,9958,0.57,91.9,632.2,13.5,638,9963,0.12,2.28,0.00,0.000,6,0.187,0.051,1906,3289,2079,0,0,0,0,0,0
$GC,10284,0.57,91.9,586.9,13.7,654,10288,0.00,1.08,0.00,0.000,4,0.000,0.060,1906,3953,2078,0,0,0,0,0,0
$GC,10333,0.57,91.9,579.3,15.7,656,10338,0.00,1.00,0.00,0.000,6,0.000,0.037,1910,3293,2078,0,0,0,0,0,0
$GC,10662,0.57,91.9,533.7,14.0,672,10666,0.00,1.05,0.00,0.000,4,0.000,0.060,1910,3940,2078,0,0,0,0,0,0
$GC,10825,0.57,91.9,508.6,15.3,679,10828,0.00,1.00,0.00,0.000,6,0.000,0.037,1915,3288,2078,0,0,0,0,0,0
$GC,11151,0.57,91.9,463.9,13.1,695,11152,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3287,2078,0,0,0,0,0,0
$GC,11461,0.57,91.9,425.2,12.1,710,11462,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3287,2078,0,0,0,0,0,0
$GC,11773,0.57,91.9,387.1,12.2,730,11776,0.00,1.08,0.00,0.000,4,0.000,0.060,1915,3952,2077,0,0,0,0,0,0
$GC,11875,0.57,91.9,372.9,13.8,739,11879,0.00,1.02,0.00,0.000,6,0.000,0.037,1920,3278,2077,0,0,0,0,0,0
$GC,12205,0.57,91.9,331.7,11.9,770,12209,0.00,1.08,0.00,0.000,4,0.000,0.059,1920,3942,2077,0,0,0,0,0,0
$GC,12277,0.57,91.9,321.8,13.7,776,12287,0.00,1.02,0.00,0.000,6,0.000,0.037,1925,3281,2077,0,0,0,0,0,0
$GC,12602,0.57,91.9,282.8,11.8,807,12606,0.00,1.08,0.00,0.000,4,0.000,0.060,1925,3947,2077,0,0,0,0,0,0
$GC,12673,0.57,91.9,273.7,13.4,813,12676,0.00,1.00,0.00,0.000,6,0.000,0.036,1930,3286,2077,0,0,0,0,0,0
$GC,13003,0.57,91.9,228.6,13.4,844,13007,0.00,2.17,0.00,0.000,4,0.000,0.033,1941,1862,2077,0,0,0,0,0,0
$GC,13054,0.57,91.9,222.2,12.4,848,13059,0.15,2.30,0.00,0.000,6,0.184,0.050,1904,3293,2076,0,0,0,0,0,0
$GC,13378,0.57,91.9,180.8,12.6,878,13382,0.00,1.05,0.00,0.000,4,0.000,0.060,1904,3947,2076,0,0,0,0,0,0
$GC,13641,0.57,91.9,143.9,13.5,901,13644,0.00,1.00,0.00,0.000,6,0.000,0.037,1908,3285,2076,0,0,0,0,0,0
$GC,13971,0.57,91.9,105.8,10.8,932,13972,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3285,2076,0,0,0,0,0,0
$GC,14311,0.57,104.2,74.5,7.3,986,14319,0.00,1.10,3.03,0.696,4,0.000,0.058,1908,3955,2047,0,0,0,0,0,0
$GC,14576,0.57,104.9,53.3,8.6,1032,14584,0.00,1.02,0.00,0.000,6,0.000,0.035,1913,3279,2047,0,0,0,0,0,0
$GC,14936,0.57,104.9,20.1,9.5,1093,14942,0.00,1.08,0.00,0.000,4,0.000,0.058,1913,3953,2047,0,0,0,0,0,0
$STATE,15077,end climb,SURFACE_DEPTH_REACHED
$STATE,15078,begin surface coast
$FINISH,0.6,1.006642
$STATE,15110,end surface coast,CONTROL_FINISHED_OK
$STATE,15110,begin surface
$SM_CCo,15124,48.03,0.783,0,0,1575,220.03
$SM_GC,1.19,0.00,0.00,48.03,0.000,0.000,0.783,50,3372,1575,-5.22,-0.23,220.03
$IRIDIUM_FIX,-4244.98,828.21,080114,010112
$TT8_MAMPS,0.026215
$HUMID,61.89
$INTERNAL_PRESSURE,9.56208
$TCM_TEMP,14.50
$XPDR_PINGS,0
$24V_AH,22.3,34.452
$10V_AH,9.9,25.410
$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,12.800,62.575,187.675,48.025,0.000,25.169,19.458,628.441,0.000,0.000,19.778,2764.871,9427.070,335.600,3176.817,266.727,0.000,1351.220,0.000,2423.758,0.000,1.010,0.000
$DEVICE_MAMPS,236.385,78.795,1869.660,782.595,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,778.600,1896.802,765.317,367.104,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354644
$DATA_FILE_SIZE,80213,1121
$CAP_FILE_SIZE,137410,0
$CFSIZE,259252224,241876992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,080114,101622,-4259.968,830.284,36,1.0,36,-25.0