version: 66.07
glider: 543
mission: 9
dive: 245
start: 1 11 114 1 47 12
data:
$ID,543
$MISSION,9
$DIVE,245
$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,-13313.565
$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,50
$R_STBD_OVSHOOT,24
$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
$GPS1,110114,013728,-4259.292,830.406,46,0.9,46,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.58
$_SM_ANGLEo,-59.2
$GPS2,110114,014648,-4259.259,830.491,16,1.0,16,-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,230.9,1524,-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,-41.78,0.000,2,0.000,0.000,48,3364,2521,0,0,0,0,0,0
$GC,61,-0.56,-79.1,3.3,-5.5,5,80,6.20,1.00,-7.55,0.000,4,0.236,0.090,1527,3956,2799,0,0,0,0,0,0
$GC,346,-0.56,-79.1,57.9,-20.6,52,353,0.00,0.88,0.00,0.000,6,0.000,0.034,1527,3383,2803,0,0,0,0,0,0
$GC,692,-0.56,-79.1,112.0,-15.2,106,695,0.00,0.90,0.00,0.000,4,0.000,0.057,1523,3941,2805,0,0,0,0,0,0
$GC,839,-0.56,-79.1,135.1,-16.2,119,842,0.00,0.85,0.00,0.000,6,0.000,0.035,1523,3380,2805,0,0,0,0,0,0
$GC,1169,-0.56,-79.1,184.1,-15.0,150,1172,0.00,0.93,0.00,0.000,4,0.000,0.057,1519,3950,2805,0,0,0,0,0,0
$GC,1240,-0.56,-79.1,195.5,-15.5,156,1250,0.00,0.88,0.00,0.000,6,0.000,0.034,1519,3375,2806,0,0,0,0,0,0
$GC,1566,-0.56,-79.1,243.9,-14.3,187,1569,0.00,0.93,0.00,0.000,4,0.000,0.058,1515,3951,2806,0,0,0,0,0,0
$GC,1716,-0.56,-79.1,268.4,-16.8,200,1726,0.00,0.85,0.00,0.000,6,0.000,0.035,1515,3385,2806,0,0,0,0,0,0
$GC,2041,-0.56,-79.1,316.0,-13.8,231,2044,0.00,0.90,0.00,0.000,4,0.000,0.058,1511,3946,2806,0,0,0,0,0,0
$GC,2086,-0.56,-79.1,322.7,-15.2,235,2089,0.00,0.85,0.00,0.000,6,0.000,0.035,1511,3381,2806,0,0,0,0,0,0
$GC,2416,-0.56,-79.1,370.0,-14.5,266,2420,0.00,0.90,0.00,0.000,4,0.000,0.058,1507,3945,2806,0,0,0,0,0,0
$GC,2620,-0.56,-79.1,401.5,-16.1,284,2624,0.08,0.85,0.00,0.000,6,0.168,0.036,1529,3379,2806,0,0,0,0,0,0
$GC,2952,-0.56,-79.1,443.7,-12.5,300,2955,0.00,0.90,0.00,0.000,4,0.000,0.060,1527,3940,2806,0,0,0,0,0,0
$GC,3075,-0.56,-79.1,460.4,-12.9,305,3079,0.00,0.85,0.00,0.000,6,0.000,0.036,1527,3379,2806,0,0,0,0,0,0
$GC,3397,-0.56,-79.1,501.5,-13.1,321,3400,0.00,0.93,0.00,0.000,4,0.000,0.060,1523,3955,2806,0,0,0,0,0,0
$GC,3479,-0.56,-79.1,513.5,-14.3,324,3487,0.00,0.88,0.00,0.000,6,0.000,0.036,1523,3378,2806,0,0,0,0,0,0
$GC,3796,-0.56,-79.1,554.8,-12.8,340,3799,0.00,0.90,0.00,0.000,4,0.000,0.060,1519,3941,2805,0,0,0,0,0,0
$GC,3886,-0.56,-79.1,567.4,-13.8,344,3890,0.00,0.85,0.00,0.000,6,0.000,0.037,1518,3375,2804,0,0,0,0,0,0
$GC,4220,-0.56,-79.1,610.1,-12.5,360,4224,0.00,0.93,0.00,0.000,4,0.000,0.060,1514,3952,2804,0,0,0,0,0,0
$GC,4288,-0.56,-79.1,619.2,-12.9,363,4292,0.00,0.85,0.00,0.000,6,0.000,0.037,1514,3385,2804,0,0,0,0,0,0
$GC,4621,-0.56,-79.1,661.1,-12.6,379,4624,0.00,0.90,0.00,0.000,4,0.000,0.061,1510,3946,2804,0,0,0,0,0,0
$GC,4720,-0.56,-79.1,674.6,-13.6,383,4724,0.00,0.88,0.00,0.000,6,0.000,0.036,1510,3378,2804,0,0,0,0,0,0
$GC,5044,-0.56,-79.1,713.7,-12.1,399,5045,0.00,0.00,0.00,0.000,6,0.000,0.000,1510,3378,2803,0,0,0,0,0,0
$GC,5351,-0.56,-79.1,749.6,-11.6,414,5355,0.00,0.93,0.00,0.000,4,0.000,0.061,1506,3951,2802,0,0,0,0,0,0
$GC,5523,-0.56,-79.1,771.2,-12.0,421,5531,0.12,0.88,0.00,0.000,6,0.182,0.037,1536,3381,2802,0,0,0,0,0,0
$GC,5839,-0.56,-79.1,801.3,-9.4,437,5843,0.00,0.90,0.00,0.000,4,0.000,0.062,1533,3939,2801,0,0,0,0,0,0
$GC,5911,-0.56,-79.1,809.0,-10.7,440,5916,0.00,0.85,0.00,0.000,6,0.000,0.037,1533,3383,2801,0,0,0,0,0,0
$GC,6238,-0.56,-79.1,841.7,-10.4,456,6242,0.00,0.90,0.00,0.000,4,0.000,0.062,1529,3941,2800,0,0,0,0,0,0
$GC,6298,-0.56,-79.1,848.9,-12.0,458,6306,0.00,0.88,0.00,0.000,6,0.000,0.038,1529,3378,2800,0,0,0,0,0,0
$GC,6617,-0.56,-79.1,883.6,-11.0,474,6620,0.00,0.90,0.00,0.000,4,0.000,0.062,1525,3937,2800,0,0,0,0,0,0
$GC,6716,-0.56,-79.1,896.1,-12.7,478,6720,0.00,0.88,0.00,0.000,6,0.000,0.037,1525,3371,2799,0,0,0,0,0,0
$GC,7038,-0.56,-79.1,932.2,-11.1,494,7039,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3370,2799,0,0,0,0,0,0
$GC,7349,-0.56,-79.1,965.2,-10.6,509,7350,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3370,2799,0,0,0,0,0,0
$STATE,7593,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7593,begin apogee
$GC,7598,-0.09,0.0,991.5,10.8,521,7679,0.55,0.00,78.47,1.851,6,0.155,0.000,1684,3288,2473,0,0,0,0,0,0
$STATE,7680,end apogee,CONTROL_FINISHED_OK
$STATE,7680,begin climb
$GC,7682,0.56,79.1,993.6,0.0,525,7772,0.62,2.45,82.03,1.801,4,0.070,0.032,1910,1868,2150,0,0,0,0,0,0
$GC,7835,0.56,79.1,981.6,11.5,532,7839,0.00,2.47,0.00,0.000,6,0.000,0.051,1910,3287,2145,0,0,0,0,0,0
$GC,8163,0.56,79.1,934.8,15.0,548,8164,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3287,2139,0,0,0,0,0,0
$GC,8470,0.56,79.1,892.1,13.5,563,8474,0.00,2.22,0.00,0.000,4,0.000,0.034,1921,1871,2137,0,0,0,0,0,0
$GC,8496,0.56,79.1,888.6,12.0,564,8501,0.00,2.35,0.00,0.000,6,0.000,0.052,1921,3287,2136,0,0,0,0,0,0
$GC,8818,0.56,79.1,842.2,14.8,580,8819,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3287,2135,0,0,0,0,0,0
$GC,9127,0.56,79.1,797.4,14.5,595,9128,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3287,2135,0,0,0,0,0,0
$GC,9436,0.56,79.1,753.7,14.0,610,9437,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,3287,2134,0,0,0,0,0,0
$GC,9747,0.56,79.1,710.9,13.7,625,9750,0.00,1.08,0.00,0.000,4,0.000,0.060,1921,3949,2133,0,0,0,0,0,0
$GC,9830,0.56,79.1,697.6,15.3,628,9837,0.00,1.02,0.00,0.000,6,0.000,0.035,1926,3283,2133,0,0,0,0,0,0
$GC,10146,0.56,79.1,654.3,13.5,644,10150,0.00,2.17,0.00,0.000,4,0.000,0.034,1936,1876,2132,0,0,0,0,0,0
$GC,10164,0.56,79.1,652.0,13.0,645,10169,0.12,2.30,0.00,0.000,6,0.190,0.052,1907,3295,2131,0,0,0,0,0,0
$GC,10496,0.56,79.1,610.7,12.1,661,10497,0.00,0.00,0.00,0.000,6,0.000,0.000,1907,3295,2131,0,0,0,0,0,0
$GC,10805,0.56,79.1,572.8,12.4,676,10809,0.00,1.05,0.00,0.000,4,0.000,0.060,1907,3946,2131,0,0,0,0,0,0
$GC,10977,0.56,79.1,548.8,13.1,683,10985,0.00,1.02,0.00,0.000,6,0.000,0.036,1910,3280,2130,0,0,0,0,0,0
$GC,11294,0.56,79.1,510.1,12.3,699,11298,0.00,1.08,0.00,0.000,4,0.000,0.060,1911,3941,2130,0,0,0,0,0,0
$GC,11377,0.56,79.1,498.8,13.0,702,11385,0.00,1.02,0.00,0.000,6,0.000,0.036,1916,3282,2130,0,0,0,0,0,0
$GC,11694,0.56,79.1,460.8,12.1,718,11695,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3282,2130,0,0,0,0,0,0
$GC,12003,0.56,79.1,424.6,11.7,733,12006,0.00,1.08,0.00,0.000,4,0.000,0.059,1916,3945,2130,0,0,0,0,0,0
$GC,12048,0.56,79.1,418.9,12.6,735,12051,0.00,1.00,0.00,0.000,6,0.000,0.036,1921,3286,2130,0,0,0,0,0,0
$GC,12376,0.56,79.1,379.1,12.2,758,12379,0.00,1.08,0.00,0.000,4,0.000,0.060,1921,3955,2129,0,0,0,0,0,0
$GC,12606,0.56,79.1,347.8,12.9,778,12614,0.00,1.05,0.00,0.000,6,0.000,0.036,1926,3275,2130,0,0,0,0,0,0
$GC,12934,0.56,79.1,310.4,11.1,809,12938,0.00,2.15,0.00,0.000,4,0.000,0.032,1937,1862,2129,0,0,0,0,0,0
$GC,12987,0.56,79.1,305.1,9.2,813,12992,0.15,2.30,0.00,0.000,6,0.188,0.050,1902,3293,2129,0,0,0,0,0,0
$GC,13312,0.56,79.1,273.5,9.7,843,13316,0.00,1.05,0.00,0.000,4,0.000,0.058,1901,3947,2128,0,0,0,0,0,0
$GC,13543,0.56,79.1,248.3,10.6,863,13551,0.00,1.00,0.00,0.000,6,0.000,0.036,1904,3285,2129,0,0,0,0,0,0
$GC,13868,0.56,79.1,216.8,9.5,894,13872,0.00,1.08,0.00,0.000,4,0.000,0.060,1904,3954,2128,0,0,0,0,0,0
$GC,13918,0.56,79.1,211.5,11.0,898,13925,0.00,1.02,0.00,0.000,6,0.000,0.035,1909,3280,2128,0,0,0,0,0,0
$GC,14245,0.56,79.1,177.5,10.7,929,14247,0.00,0.00,0.00,0.000,6,0.000,0.000,1909,3280,2128,0,0,0,0,0,0
$GC,14563,0.56,79.1,144.5,10.1,959,14567,0.00,1.08,0.00,0.000,4,0.000,0.058,1910,3944,2128,0,0,0,0,0,0
$GC,14643,0.56,79.1,135.3,11.7,966,14646,0.00,1.00,0.00,0.000,6,0.000,0.035,1914,3284,2128,0,0,0,0,0,0
$GC,14975,0.56,79.1,99.5,10.5,997,14982,0.00,1.08,0.00,0.000,4,0.000,0.059,1914,3951,2128,0,0,0,0,0,0
$GC,15017,0.56,79.1,94.6,11.4,1004,15024,0.00,1.00,0.00,0.000,6,0.000,0.034,1919,3286,2129,0,0,0,0,0,0
$GC,15366,0.57,102.7,61.5,6.0,1065,15383,0.00,1.08,7.97,0.939,4,0.000,0.059,1919,3952,2052,0,0,0,0,0,0
$GC,15641,0.57,102.7,32.2,11.3,1112,15650,0.00,1.00,0.00,0.000,6,0.000,0.034,1925,3288,2052,0,0,0,0,0,0
$GC,15797,0.57,102.7,17.5,9.5,1137,15806,0.00,1.05,0.00,0.000,4,0.000,0.057,1925,3942,2051,0,0,0,0,0,0
$STATE,15918,end climb,SURFACE_DEPTH_REACHED
$STATE,15918,begin surface coast
$FINISH,0.5,1.026233
$STATE,15951,end surface coast,CONTROL_FINISHED_OK
$STATE,15951,begin surface
$SM_CCo,15964,48.38,0.779,0,0,1574,220.03
$SM_GC,1.94,0.00,0.00,48.38,0.000,0.000,0.779,54,3376,1574,-5.21,-0.11,220.03
$IRIDIUM_FIX,-4244.98,834.03,100114,202035
$TT8_MAMPS,0.026215
$HUMID,61.53
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,13.70
$XPDR_PINGS,0
$24V_AH,22.4,36.328
$10V_AH,9.9,27.190
$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,12.775,67.950,168.475,48.375,0.000,25.399,43.334,353.936,0.000,0.000,19.638,2907.419,9834.291,342.009,3207.948,277.297,0.000,1475.900,0.000,2667.015,0.000,1.012,0.000
$DEVICE_MAMPS,235.620,90.270,1850.535,778.770,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,806.016,1992.737,778.735,370.359,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354392
$DATA_FILE_SIZE,83743,1161
$CAP_FILE_SIZE,147194,0
$CFSIZE,259252224,240668672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110114,061535,-4259.633,829.575,54,0.9,54,-25.0