version: 66.07
glider: 543
mission: 9
dive: 239
start: 1 9 114 22 33 17
data:
$ID,543
$MISSION,9
$DIVE,239
$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,-13293.278
$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,39
$R_STBD_OVSHOOT,28
$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
$GPS1,090114,222404,-4259.634,830.252,39,0.9,39,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-65.8
$GPS2,090114,223253,-4259.622,830.322,15,1.3,16,-25.0
$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,236.9,825,-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,-51.0,0.0,0.0,0,59,0.00,0.00,-42.15,0.000,2,0.000,0.000,57,3390,2534,0,0,0,0,0,0
$GC,61,-0.57,-93.1,3.1,-3.9,5,88,6.12,0.95,-9.32,0.000,4,0.233,0.093,1529,3954,2856,0,0,0,0,0,0
$GC,206,-0.57,-93.1,29.6,-19.9,27,212,0.00,0.90,0.00,0.000,6,0.000,0.034,1528,3362,2858,0,0,0,0,0,0
$GC,353,-0.57,-93.1,57.5,-18.3,52,360,0.00,0.95,0.00,0.000,4,0.000,0.057,1525,3949,2859,0,0,0,0,0,0
$GC,426,-0.57,-93.1,70.7,-17.4,64,433,0.00,0.85,0.00,0.000,6,0.000,0.034,1525,3387,2859,0,0,0,0,0,0
$GC,764,-0.57,-93.1,123.0,-15.1,111,767,0.00,0.90,0.00,0.000,4,0.000,0.059,1520,3945,2861,0,0,0,0,0,0
$GC,869,-0.57,-93.1,141.2,-16.4,120,879,0.00,0.88,0.00,0.000,6,0.000,0.034,1521,3375,2862,0,0,0,0,0,0
$GC,1195,-0.57,-93.1,192.4,-16.0,151,1196,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3375,2862,0,0,0,0,0,0
$GC,1518,-0.57,-93.1,244.5,-16.1,181,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,1520,3375,2863,0,0,0,0,0,0
$GC,1843,-0.57,-93.1,296.3,-15.4,212,1847,0.00,0.93,0.00,0.000,4,0.000,0.059,1516,3949,2862,0,0,0,0,0,0
$GC,1947,-0.57,-93.1,314.4,-17.6,221,1951,0.00,0.85,0.00,0.000,6,0.000,0.034,1516,3383,2863,0,0,0,0,0,0
$GC,2277,-0.57,-93.1,368.8,-15.4,252,2281,0.00,0.90,0.00,0.000,4,0.000,0.059,1512,3943,2863,0,0,0,0,0,0
$GC,2306,-0.57,-93.1,373.6,-16.4,254,2312,0.00,0.85,0.00,0.000,6,0.000,0.035,1512,3382,2863,0,0,0,0,0,0
$GC,2626,-0.57,-93.1,423.0,-15.3,278,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,1512,3382,2863,0,0,0,0,0,0
$GC,2935,-0.57,-93.1,469.3,-15.5,293,2939,0.00,0.90,0.00,0.000,4,0.000,0.060,1508,3940,2863,0,0,0,0,0,0
$GC,3048,-0.57,-93.1,487.8,-17.3,298,3052,0.00,0.85,0.00,0.000,6,0.000,0.035,1508,3376,2863,0,0,0,0,0,0
$GC,3380,-0.57,-93.1,539.8,-14.9,314,3383,0.00,0.90,0.00,0.000,4,0.000,0.060,1504,3935,2862,0,0,0,0,0,0
$GC,3440,-0.57,-93.1,549.7,-16.7,316,3448,0.12,0.85,0.00,0.000,6,0.183,0.035,1534,3383,2862,0,0,0,0,0,0
$GC,3758,-0.57,-93.1,586.9,-11.2,332,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,1534,3383,2862,0,0,0,0,0,0
$GC,4065,-0.57,-93.1,619.6,-10.3,347,4069,0.00,0.90,0.00,0.000,4,0.000,0.061,1531,3941,2861,0,0,0,0,0,0
$GC,4114,-0.57,-93.1,625.5,-11.4,349,4119,0.00,0.88,0.00,0.000,6,0.000,0.037,1531,3373,2861,0,0,0,0,0,0
$GC,4444,-0.57,-93.1,659.6,-10.9,365,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3373,2860,0,0,0,0,0,0
$GC,4751,-0.57,-93.1,694.2,-11.2,380,4755,0.00,0.93,0.00,0.000,4,0.000,0.063,1527,3945,2860,0,0,0,0,0,0
$GC,4834,-0.57,-93.1,704.8,-12.5,383,4842,0.00,0.88,0.00,0.000,6,0.000,0.037,1527,3380,2859,0,0,0,0,0,0
$GC,5150,-0.57,-93.1,743.2,-11.8,399,5154,0.00,0.93,0.00,0.000,4,0.000,0.063,1523,3937,2859,0,0,0,0,0,0
$GC,5240,-0.57,-93.1,754.4,-12.2,403,5244,0.00,0.85,0.00,0.000,6,0.000,0.037,1523,3380,2858,0,0,0,0,0,0
$GC,5575,-0.57,-93.1,794.0,-11.4,419,5578,0.00,0.90,0.00,0.000,4,0.000,0.062,1519,3937,2859,0,0,0,0,0,0
$GC,5634,-0.57,-93.1,801.7,-12.2,421,5642,0.00,0.88,0.00,0.000,6,0.000,0.037,1518,3374,2858,0,0,0,0,0,0
$GC,5952,-0.57,-93.1,840.2,-12.3,437,5956,0.00,0.93,0.00,0.000,4,0.000,0.063,1514,3944,2858,0,0,0,0,0,0
$GC,6012,-0.57,-93.1,848.8,-13.7,439,6020,0.00,0.88,0.00,0.000,6,0.000,0.037,1514,3380,2858,0,0,0,0,0,0
$GC,6329,-0.57,-93.1,888.9,-13.0,455,6330,0.00,0.00,0.00,0.000,6,0.000,0.000,1515,3380,2857,0,0,0,0,0,0
$GC,6641,-0.57,-93.1,927.8,-12.3,470,6644,0.00,0.93,0.00,0.000,4,0.000,0.063,1510,3934,2856,0,0,0,0,0,0
$GC,6678,-0.57,-93.1,933.4,-13.6,471,6686,0.00,0.88,0.00,0.000,6,0.000,0.037,1510,3372,2857,0,0,0,0,0,0
$GC,6995,-0.57,-93.1,971.0,-12.0,487,6998,0.00,0.93,0.00,0.000,4,0.000,0.063,1506,3943,2856,0,0,0,0,0,0
$STATE,7132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7132,begin apogee
$GC,7139,-0.09,0.0,990.2,13.9,493,7236,0.60,0.00,91.47,1.869,6,0.160,0.000,1682,3281,2474,0,0,0,0,0,0
$STATE,7237,end apogee,CONTROL_FINISHED_OK
$STATE,7237,begin climb
$GC,7239,0.57,93.1,993.2,0.0,498,7339,0.68,0.00,96.70,1.812,6,0.070,0.000,1906,3281,2093,0,0,0,0,0,0
$GC,7648,0.57,93.1,942.1,14.9,518,7649,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3281,2083,0,0,0,0,0,0
$GC,7954,0.57,93.1,895.9,15.0,533,7955,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3281,2080,0,0,0,0,0,0
$GC,8263,0.57,93.1,849.4,15.1,548,8267,0.00,2.20,0.00,0.000,4,0.000,0.034,1917,1873,2079,0,0,0,0,0,0
$GC,8325,0.57,93.1,840.9,13.1,551,8330,0.00,2.30,0.00,0.000,6,0.000,0.053,1917,3281,2077,0,0,0,0,0,0
$GC,8652,0.57,93.1,789.3,15.6,567,8653,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3281,2077,0,0,0,0,0,0
$GC,8962,0.57,93.1,742.2,14.5,582,8963,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3281,2076,0,0,0,0,0,0
$GC,9271,0.57,93.1,697.0,14.6,597,9274,0.00,1.08,0.00,0.000,4,0.000,0.060,1917,3943,2075,0,0,0,0,0,0
$GC,9302,0.57,93.1,691.7,16.1,598,9307,0.00,1.02,0.00,0.000,6,0.000,0.037,1922,3286,2075,0,0,0,0,0,0
$GC,9626,0.57,93.1,643.8,14.6,614,9628,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3285,2075,0,0,0,0,0,0
$GC,9934,0.57,93.1,600.3,13.9,629,9938,0.00,2.17,0.00,0.000,4,0.000,0.034,1933,1872,2074,0,0,0,0,0,0
$GC,9996,0.57,93.1,592.7,11.7,632,10000,0.00,2.30,0.00,0.000,6,0.000,0.051,1933,3293,2073,0,0,0,0,0,0
$GC,10322,0.57,93.1,547.2,13.8,648,10323,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,3293,2073,0,0,0,0,0,0
$GC,10631,0.57,93.1,505.2,13.6,663,10635,0.00,1.08,0.00,0.000,4,0.000,0.060,1933,3955,2073,0,0,0,0,0,0
$GC,10669,0.57,93.1,499.1,16.2,664,10677,0.10,1.02,0.00,0.000,6,0.197,0.037,1910,3279,2073,0,0,0,0,0,0
$GC,10985,0.57,93.1,458.8,12.8,680,10989,0.00,2.17,0.00,0.000,4,0.000,0.033,1920,1858,2073,0,0,0,0,0,0
$GC,11011,0.57,93.1,455.6,10.5,681,11016,0.00,2.33,0.00,0.000,6,0.000,0.050,1920,3283,2072,0,0,0,0,0,0
$GC,11333,0.57,93.1,414.1,12.9,697,11337,0.00,1.10,0.00,0.000,4,0.000,0.060,1920,3961,2072,0,0,0,0,0,0
$GC,11395,0.57,93.1,405.5,13.9,699,11401,0.00,1.02,0.00,0.000,6,0.000,0.037,1926,3290,2072,0,0,0,0,0,0
$GC,11719,0.57,93.1,363.3,13.4,728,11722,0.00,2.17,0.00,0.000,4,0.000,0.032,1936,1865,2072,0,0,0,0,0,0
$GC,11769,0.57,93.1,357.1,11.3,732,11774,0.12,2.30,0.00,0.000,6,0.187,0.051,1907,3293,2072,0,0,0,0,0,0
$GC,12094,0.57,93.1,317.1,12.9,762,12098,0.00,1.05,0.00,0.000,4,0.000,0.059,1907,3943,2072,0,0,0,0,0,0
$GC,12189,0.57,93.1,303.8,14.4,770,12197,0.00,1.02,0.00,0.000,6,0.000,0.036,1911,3278,2072,0,0,0,0,0,0
$GC,12517,0.57,93.1,264.3,11.5,801,12518,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3279,2072,0,0,0,0,0,0
$GC,12833,0.57,93.1,226.3,12.1,831,12837,0.00,2.15,0.00,0.000,4,0.000,0.032,1922,1868,2072,0,0,0,0,0,0
$GC,12884,0.57,93.1,220.4,11.0,835,12889,0.00,2.28,0.00,0.000,6,0.000,0.051,1922,3287,2071,0,0,0,0,0,0
$GC,13211,0.57,93.1,180.7,12.1,865,13213,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3287,2071,0,0,0,0,0,0
$GC,13528,0.57,93.1,141.9,12.6,895,13530,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3287,2071,0,0,0,0,0,0
$GC,13849,0.57,93.1,103.7,11.8,925,13853,0.00,2.17,0.00,0.000,4,0.000,0.031,1933,1861,2071,0,0,0,0,0,0
$GC,13899,0.57,93.1,98.1,10.5,930,13908,0.00,2.33,0.00,0.000,6,0.000,0.051,1933,3286,2071,0,0,0,0,0,0
$GC,14252,0.57,93.1,54.2,12.9,991,14258,0.00,1.08,0.00,0.000,4,0.000,0.058,1933,3955,2071,0,0,0,0,0,0
$GC,14525,0.57,93.1,25.6,10.9,1037,14533,0.10,1.00,0.00,0.000,6,0.200,0.035,1911,3287,2071,0,0,0,0,0,0
$GC,14681,0.57,93.1,11.1,8.8,1062,14690,0.00,1.08,0.00,0.000,4,0.000,0.058,1909,3953,2071,0,0,0,0,0,0
$STATE,14764,end climb,SURFACE_DEPTH_REACHED
$STATE,14764,begin surface coast
$FINISH,0.6,1.026248
$STATE,14795,end surface coast,CONTROL_FINISHED_OK
$STATE,14796,begin surface
$SM_CCo,14810,51.28,0.783,0,0,1572,220.03
$SM_GC,1.35,0.00,0.00,51.28,0.000,0.000,0.783,48,3382,1572,-5.23,0.06,220.03
$IRIDIUM_FIX,-4244.98,831.12,090114,131310
$TT8_MAMPS,0.026215
$HUMID,61.61
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,13.90
$XPDR_PINGS,0
$24V_AH,22.3,35.583
$10V_AH,9.9,26.461
$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,12.900,64.425,188.175,51.275,0.000,36.905,40.375,319.443,0.000,0.000,18.548,2668.795,9266.031,386.061,2836.196,232.161,0.000,1363.281,0.000,2325.351,0.000,2.063,0.000
$DEVICE_MAMPS,233.325,92.565,1868.895,782.595,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,749.279,1866.723,742.533,381.435,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354416
$DATA_FILE_SIZE,77093,1080
$CAP_FILE_SIZE,132159,0
$CFSIZE,259252224,241180672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100114,024204,-4259.987,829.149,30,1.0,30,-25.0