version: 66.07
glider: 543
mission: 9
dive: 247
start: 1 11 114 10 52 53
data:
$ID,543
$MISSION,9
$DIVE,247
$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,-13319.401
$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,48
$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
$GPS1,110114,104034,-4300.347,830.968,40,0.9,40,-25.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.69
$_SM_ANGLEo,-64.7
$GPS2,110114,105230,-4300.264,831.021,18,1.2,18,-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,314.4,1467,-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,-42.05,0.000,2,0.000,0.000,63,3376,2532,0,0,0,0,0,0
$GC,61,-0.57,-91.9,3.0,-4.0,5,88,6.12,2.20,-8.95,0.000,4,0.236,0.044,1527,1964,2852,0,0,0,0,0,0
$GC,243,-0.57,-91.9,31.7,-16.3,34,252,0.00,2.33,0.00,0.000,6,0.000,0.052,1518,3373,2855,0,0,0,0,0,0
$GC,390,-0.57,-91.9,61.1,-18.8,59,397,0.00,0.93,0.00,0.000,4,0.000,0.056,1513,3950,2855,0,0,0,0,0,0
$GC,444,-0.57,-91.9,70.5,-17.4,68,451,0.00,0.88,0.00,0.000,6,0.000,0.034,1513,3372,2856,0,0,0,0,0,0
$GC,781,-0.57,-91.9,128.3,-17.2,114,785,0.00,0.95,0.00,0.000,4,0.000,0.057,1509,3957,2857,0,0,0,0,0,0
$GC,997,-0.57,-91.9,166.5,-17.0,133,1001,0.00,0.88,0.00,0.000,6,0.000,0.033,1509,3371,2858,0,0,0,0,0,0
$GC,1327,-0.57,-91.9,219.9,-15.6,164,1330,0.00,0.93,0.00,0.000,4,0.000,0.057,1505,3952,2858,0,0,0,0,0,0
$GC,1446,-0.57,-91.9,239.8,-17.0,174,1453,0.08,0.85,0.00,0.000,6,0.167,0.034,1527,3387,2858,0,0,0,0,0,0
$GC,1773,-0.57,-91.9,285.6,-13.9,205,1774,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3387,2858,0,0,0,0,0,0
$GC,2090,-0.57,-91.9,330.9,-14.4,235,2094,0.00,2.15,0.00,0.000,4,0.000,0.029,1527,1956,2858,0,0,0,0,0,0
$GC,2111,-0.57,-91.9,334.0,-13.0,236,2120,0.00,2.33,0.00,0.000,6,0.000,0.050,1517,3383,2858,0,0,0,0,0,0
$GC,2436,-0.57,-91.9,379.1,-14.1,267,2440,0.00,0.90,0.00,0.000,4,0.000,0.057,1513,3951,2858,0,0,0,0,0,0
$GC,2587,-0.57,-91.9,402.2,-14.6,280,2594,0.00,0.85,0.00,0.000,6,0.000,0.034,1513,3379,2858,0,0,0,0,0,0
$GC,2903,-0.57,-91.9,448.1,-14.7,296,2907,0.00,0.93,0.00,0.000,4,0.000,0.057,1509,3957,2858,0,0,0,0,0,0
$GC,3031,-0.57,-91.9,468.5,-17.1,301,3038,0.00,0.90,0.00,0.000,6,0.000,0.034,1509,3367,2858,0,0,0,0,0,0
$GC,3347,-0.57,-91.9,515.6,-15.1,317,3351,0.00,0.93,0.00,0.000,4,0.000,0.060,1505,3947,2857,0,0,0,0,0,0
$GC,3416,-0.57,-91.9,526.3,-16.1,320,3420,0.08,0.85,0.00,0.000,6,0.163,0.035,1527,3384,2858,0,0,0,0,0,0
$GC,3748,-0.57,-91.9,570.5,-13.5,336,3751,0.00,0.90,0.00,0.000,4,0.000,0.060,1525,3949,2857,0,0,0,0,0,0
$GC,3887,-0.57,-91.9,591.6,-15.4,342,3891,0.00,0.88,0.00,0.000,6,0.000,0.035,1525,3376,2857,0,0,0,0,0,0
$GC,4214,-0.57,-91.9,637.7,-14.0,358,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3375,2856,0,0,0,0,0,0
$GC,4524,-0.57,-91.9,679.2,-13.1,373,4527,0.00,0.93,0.00,0.000,4,0.000,0.060,1521,3952,2855,0,0,0,0,0,0
$GC,4640,-0.57,-91.9,695.0,-12.9,378,4645,0.00,0.88,0.00,0.000,6,0.000,0.035,1521,3382,2855,0,0,0,0,0,0
$GC,4968,-0.57,-91.9,733.9,-11.8,394,4971,0.00,0.93,0.00,0.000,4,0.000,0.060,1516,3955,2854,0,0,0,0,0,0
$GC,5081,-0.57,-91.9,747.9,-12.4,399,5084,0.00,0.88,0.00,0.000,6,0.000,0.037,1516,3379,2854,0,0,0,0,0,0
$GC,5413,-0.57,-91.9,788.3,-12.3,415,5417,0.00,0.93,0.00,0.000,4,0.000,0.060,1512,3953,2853,0,0,0,0,0,0
$GC,5484,-0.57,-91.9,798.2,-13.5,418,5489,0.00,0.90,0.00,0.000,6,0.000,0.037,1512,3368,2853,0,0,0,0,0,0
$GC,5813,-0.57,-91.9,839.9,-12.9,434,5814,0.00,0.00,0.00,0.000,6,0.000,0.000,1512,3367,2852,0,0,0,0,0,0
$GC,6121,-0.57,-91.9,878.3,-12.2,449,6125,0.00,0.93,0.00,0.000,4,0.000,0.060,1508,3942,2852,0,0,0,0,0,0
$GC,6212,-0.57,-91.9,890.2,-13.2,453,6215,0.00,0.85,0.00,0.000,6,0.000,0.037,1508,3383,2851,0,0,0,0,0,0
$GC,6544,-0.57,-91.9,931.4,-12.3,469,6547,0.00,0.90,0.00,0.000,4,0.000,0.060,1504,3943,2851,0,0,0,0,0,0
$GC,6666,-0.57,-91.9,948.4,-14.1,474,6671,0.08,0.85,0.00,0.000,6,0.161,0.037,1527,3383,2851,0,0,0,0,0,0
$GC,6987,-0.57,-91.9,983.7,-10.9,490,6991,0.00,0.90,0.00,0.000,4,0.000,0.061,1524,3943,2850,0,0,0,0,0,0
$GC,7019,-0.57,-91.9,987.8,-11.9,491,7024,0.00,0.88,0.00,0.000,6,0.000,0.037,1524,3377,2850,0,0,0,0,0,0
$STATE,7051,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7051,begin apogee
$GC,7056,-0.09,0.0,991.3,11.5,493,7154,0.55,0.00,90.25,1.851,6,0.151,0.000,1684,3278,2474,0,0,0,0,0,0
$STATE,7155,end apogee,CONTROL_FINISHED_OK
$STATE,7155,begin climb
$GC,7157,0.57,91.9,993.8,0.0,498,7255,0.65,0.00,95.65,1.801,6,0.073,0.000,1901,3278,2098,0,0,0,0,0,0
$GC,7565,0.57,91.9,943.5,14.6,518,7569,0.00,2.22,0.00,0.000,4,0.000,0.033,1912,1867,2088,0,0,0,0,0,0
$GC,7604,0.57,91.9,938.0,12.4,520,7608,0.00,2.38,0.00,0.000,6,0.000,0.051,1912,3290,2086,0,0,0,0,0,0
$GC,7931,0.57,91.9,888.8,14.9,536,7932,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3290,2085,0,0,0,0,0,0
$GC,8242,0.57,91.9,842.8,14.7,551,8243,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3290,2083,0,0,0,0,0,0
$GC,8549,0.57,91.9,799.0,14.0,566,8551,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3289,2083,0,0,0,0,0,0
$GC,8859,0.57,91.9,756.7,13.5,581,8863,0.00,2.20,0.00,0.000,4,0.000,0.034,1923,1855,2081,0,0,0,0,0,0
$GC,8921,0.57,91.9,748.9,12.9,584,8925,0.00,2.33,0.00,0.000,6,0.000,0.051,1923,3288,2081,0,0,0,0,0,0
$GC,9247,0.57,91.9,702.2,14.3,600,9251,0.00,2.20,0.00,0.000,4,0.000,0.033,1934,1863,2080,0,0,0,0,0,0
$GC,9264,0.57,91.9,699.8,14.0,601,9269,0.12,2.30,0.00,0.000,6,0.188,0.051,1905,3287,2080,0,0,0,0,0,0
$GC,9596,0.57,91.9,653.3,14.6,617,9597,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3288,2079,0,0,0,0,0,0
$GC,9905,0.57,91.9,605.8,15.5,632,9906,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3288,2079,0,0,0,0,0,0
$GC,10216,0.57,91.9,557.6,15.5,647,10219,0.00,1.08,0.00,0.000,4,0.000,0.058,1905,3952,2079,0,0,0,0,0,0
$GC,10248,0.57,91.9,551.8,17.2,648,10253,0.00,1.05,0.00,0.000,6,0.000,0.037,1908,3272,2079,0,0,0,0,0,0
$GC,10570,0.57,91.9,503.6,14.9,664,10573,0.00,1.10,0.00,0.000,4,0.000,0.059,1908,3952,2079,0,0,0,0,0,0
$GC,10624,0.57,91.9,494.6,16.0,666,10629,0.00,1.05,0.00,0.000,6,0.000,0.036,1914,3272,2078,0,0,0,0,0,0
$GC,10946,0.57,91.9,451.1,12.6,682,10947,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3272,2078,0,0,0,0,0,0
$GC,11256,0.57,91.9,413.3,11.6,697,11260,0.00,2.12,0.00,0.000,4,0.000,0.032,1925,1867,2078,0,0,0,0,0,0
$GC,11299,0.57,91.9,408.7,10.2,699,11303,0.00,2.30,0.00,0.000,6,0.000,0.050,1925,3280,2077,0,0,0,0,0,0
$GC,11624,0.57,91.9,370.8,12.0,726,11627,0.00,1.08,0.00,0.000,4,0.000,0.058,1925,3946,2077,0,0,0,0,0,0
$GC,11718,0.57,91.9,357.8,13.3,734,11726,0.00,1.02,0.00,0.000,6,0.000,0.035,1930,3282,2077,0,0,0,0,0,0
$GC,12047,0.57,91.9,316.3,13.2,765,12051,0.00,2.17,0.00,0.000,4,0.000,0.032,1941,1859,2077,0,0,0,0,0,0
$GC,12075,0.57,91.9,312.5,11.6,767,12080,0.15,2.30,0.00,0.000,6,0.184,0.050,1904,3291,2076,0,0,0,0,0,0
$GC,12403,0.57,91.9,274.8,11.5,797,12407,0.00,2.17,0.00,0.000,4,0.000,0.031,1914,1867,2076,0,0,0,0,0,0
$GC,12434,0.57,91.9,270.9,10.3,799,12442,0.00,2.30,0.00,0.000,6,0.000,0.050,1915,3276,2076,0,0,0,0,0,0
$GC,12760,0.57,91.9,230.8,12.9,830,12761,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3276,2076,0,0,0,0,0,0
$GC,13080,0.57,91.9,189.4,12.9,860,13084,0.00,2.12,0.00,0.000,4,0.000,0.031,1925,1870,2076,0,0,0,0,0,0
$GC,13105,0.57,91.9,186.0,10.7,862,13113,0.00,2.30,0.00,0.000,6,0.000,0.050,1925,3281,2076,0,0,0,0,0,0
$GC,13433,0.57,91.9,143.5,12.9,893,13437,0.00,2.15,0.00,0.000,4,0.000,0.031,1936,1869,2076,0,0,0,0,0,0
$GC,13453,0.57,91.9,140.4,12.4,894,13462,0.10,2.30,0.00,0.000,6,0.164,0.050,1907,3283,2076,0,0,0,0,0,0
$GC,13781,0.57,91.9,101.8,11.8,925,13782,0.00,0.00,0.00,0.000,6,0.000,0.000,1906,3283,2076,0,0,0,0,0,0
$GC,14118,0.57,91.9,66.9,9.6,983,14124,0.00,1.08,0.00,0.000,4,0.000,0.057,1906,3947,2076,0,0,0,0,0,0
$GC,14150,0.57,91.9,63.6,10.7,988,14156,0.00,1.00,0.00,0.000,6,0.000,0.035,1910,3285,2076,0,0,0,0,0,0
$GC,14508,0.57,101.9,34.0,7.5,1049,14515,0.00,0.00,2.05,0.318,6,0.000,0.000,1910,3285,2055,0,0,0,0,0,0
$GC,14657,0.58,110.0,21.7,7.8,1074,14667,0.00,2.12,3.38,0.601,4,0.000,0.028,1921,1862,2021,0,0,0,0,0,0
$GC,14694,0.58,111.7,18.7,8.5,1079,14703,0.00,2.30,0.00,0.000,6,0.000,0.050,1921,3280,2021,0,0,0,0,0,0
$GC,14755,0.58,111.7,12.7,10.3,1088,14764,0.00,2.15,0.00,0.000,4,0.000,0.030,1932,1869,2021,0,0,0,0,0,0
$GC,14784,0.58,111.7,9.8,9.8,1092,14794,0.00,2.30,0.00,0.000,6,0.000,0.047,1932,3292,2021,0,0,0,0,0,0
$GC,14845,0.58,111.7,3.6,10.8,1101,14854,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,3292,2021,0,0,0,0,0,0
$STATE,14863,end climb,SURFACE_DEPTH_REACHED
$STATE,14863,begin surface coast
$FINISH,0.6,1.008281
$STATE,14895,end surface coast,CONTROL_FINISHED_OK
$STATE,14895,begin surface
$SM_CCo,14908,45.90,0.776,0,0,1575,220.03
$SM_GC,1.36,0.00,0.00,45.90,0.000,0.000,0.776,59,3419,1575,-5.19,1.10,220.03
$IRIDIUM_FIX,-4247.91,831.55,110114,101033
$TT8_MAMPS,0.026215
$HUMID,61.22
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,13.80
$XPDR_PINGS,0
$24V_AH,22.3,36.588
$10V_AH,9.9,27.425
$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,12.900,85.725,191.325,45.900,0.000,64.238,121.172,334.497,0.000,0.000,21.241,2761.669,9152.432,395.389,3120.211,236.801,0.000,1443.437,0.000,2472.503,0.000,1.010,0.000
$DEVICE_MAMPS,236.385,78.030,1850.535,775.710,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,768.401,1914.612,791.902,416.488,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354448
$DATA_FILE_SIZE,80604,1108
$CAP_FILE_SIZE,143061,0
$CFSIZE,259252224,240517120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110114,150328,-4258.711,829.498,42,0.8,46,-25.0