version: 66.07
glider: 543
mission: 9
dive: 251
start: 1 12 114 5 14 23
data:
$ID,543
$MISSION,9
$DIVE,251
$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,-13333.748
$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,44
$R_STBD_OVSHOOT,23
$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
$GPS1,120114,050458,-4258.127,829.128,96,0.9,96,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-59.6
$GPS2,120114,051359,-4258.071,829.106,16,1.7,16,-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,186.3,3773,-24.5,-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,-0.50,-61.5,0.0,0.0,0,59,0.00,0.00,-42.00,0.000,2,0.000,0.000,61,3382,2550,0,0,0,0,0,0
$GC,61,-0.52,-93.6,3.5,-5.6,5,80,6.32,0.98,-7.97,0.000,4,0.243,0.087,1539,3961,2857,0,0,0,0,0,0
$GC,217,-0.52,-93.6,35.7,-17.8,30,226,0.00,0.90,0.00,0.000,6,0.000,0.035,1539,3378,2860,0,0,0,0,0,0
$GC,365,-0.52,-93.6,58.9,-15.7,55,372,0.00,2.15,0.00,0.000,4,0.000,0.030,1539,1963,2861,0,0,0,0,0,0
$GC,386,-0.52,-93.6,61.8,-13.5,58,393,0.00,2.30,0.00,0.000,6,0.000,0.051,1528,3385,2862,0,0,0,0,0,0
$GC,738,-0.52,-93.6,111.3,-14.4,113,741,0.00,0.90,0.00,0.000,4,0.000,0.058,1524,3947,2863,0,0,0,0,0,0
$GC,817,-0.52,-93.6,124.0,-15.3,120,820,0.00,0.85,0.00,0.000,6,0.000,0.034,1524,3380,2863,0,0,0,0,0,0
$GC,1147,-0.52,-93.6,173.3,-15.1,151,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3380,2864,0,0,0,0,0,0
$GC,1469,-0.52,-93.6,220.0,-14.4,181,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3380,2864,0,0,0,0,0,0
$GC,1795,-0.52,-93.6,267.5,-14.4,212,1798,0.00,0.95,0.00,0.000,4,0.000,0.060,1520,3956,2864,0,0,0,0,0,0
$GC,1854,-0.52,-93.6,276.0,-14.6,217,1858,0.08,0.88,0.00,0.000,6,0.160,0.035,1543,3376,2864,0,0,0,0,0,0
$GC,2184,-0.52,-93.6,316.2,-11.8,248,2187,0.00,0.93,0.00,0.000,4,0.000,0.059,1540,3951,2864,0,0,0,0,0,0
$GC,2232,-0.52,-93.6,322.8,-13.1,252,2243,0.00,0.88,0.00,0.000,6,0.000,0.034,1540,3377,2864,0,0,0,0,0,0
$GC,2558,-0.52,-93.6,363.1,-12.4,283,2562,0.00,0.93,0.00,0.000,4,0.000,0.060,1536,3954,2864,0,0,0,0,0,0
$GC,2592,-0.52,-93.6,367.6,-13.3,286,2596,0.00,0.85,0.00,0.000,6,0.000,0.036,1536,3387,2864,0,0,0,0,0,0
$GC,2921,-0.52,-93.6,408.5,-12.6,314,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3388,2864,0,0,0,0,0,0
$GC,3231,-0.52,-93.6,447.0,-12.5,329,3234,0.00,0.90,0.00,0.000,4,0.000,0.060,1531,3948,2864,0,0,0,0,0,0
$GC,3279,-0.52,-93.6,454.0,-13.5,331,3284,0.00,0.88,0.00,0.000,6,0.000,0.035,1531,3377,2865,0,0,0,0,0,0
$GC,3607,-0.52,-93.6,494.5,-12.1,347,3608,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3378,2864,0,0,0,0,0,0
$GC,3916,-0.52,-93.6,532.3,-12.6,362,3920,0.00,0.93,0.00,0.000,4,0.000,0.061,1527,3953,2863,0,0,0,0,0,0
$GC,3971,-0.52,-93.6,540.0,-14.3,364,3976,0.00,0.88,0.00,0.000,6,0.000,0.035,1527,3384,2863,0,0,0,0,0,0
$GC,4295,-0.52,-93.6,581.9,-13.2,380,4298,0.00,2.12,0.00,0.000,4,0.000,0.030,1527,1956,2862,0,0,0,0,0,0
$GC,4315,-0.52,-93.6,585.1,-13.0,381,4321,0.10,2.33,0.00,0.000,6,0.134,0.053,1548,3382,2862,0,0,0,0,0,0
$GC,4643,-0.52,-93.6,622.6,-11.3,397,4647,0.00,0.90,0.00,0.000,4,0.000,0.061,1545,3943,2861,0,0,0,0,0,0
$GC,4711,-0.52,-93.6,630.6,-12.3,400,4715,0.00,0.85,0.00,0.000,6,0.000,0.037,1545,3382,2861,0,0,0,0,0,0
$GC,5043,-0.52,-93.6,667.5,-11.1,416,5046,0.00,0.93,0.00,0.000,4,0.000,0.062,1541,3953,2861,0,0,0,0,0,0
$GC,5103,-0.52,-93.6,674.8,-11.8,418,5110,0.00,0.90,0.00,0.000,6,0.000,0.037,1541,3356,2860,0,0,0,0,0,0
$GC,5420,-0.52,-93.6,709.7,-10.8,434,5421,0.00,0.00,0.00,0.000,6,0.000,0.000,1541,3356,2860,0,0,0,0,0,0
$GC,5728,-0.52,-93.6,742.0,-10.3,449,5732,0.00,0.95,0.00,0.000,4,0.000,0.062,1537,3949,2860,0,0,0,0,0,0
$GC,5833,-0.52,-93.6,753.9,-10.9,453,5841,0.00,0.88,0.00,0.000,6,0.000,0.037,1537,3382,2859,0,0,0,0,0,0
$GC,6150,-0.52,-93.6,786.5,-10.4,469,6153,0.00,0.93,0.00,0.000,4,0.000,0.062,1532,3953,2859,0,0,0,0,0,0
$GC,6199,-0.52,-93.6,792.2,-11.2,471,6204,0.00,0.90,0.00,0.000,6,0.000,0.037,1532,3368,2859,0,0,0,0,0,0
$GC,6526,-0.52,-93.6,827.2,-10.9,487,6527,0.00,0.00,0.00,0.000,6,0.000,0.000,1532,3368,2859,0,0,0,0,0,0
$GC,6836,-0.52,-93.6,862.1,-11.4,502,6839,0.00,0.95,0.00,0.000,4,0.000,0.063,1528,3955,2858,0,0,0,0,0,0
$GC,6881,-0.52,-93.6,867.5,-12.5,504,6885,0.00,0.88,0.00,0.000,6,0.000,0.038,1528,3381,2858,0,0,0,0,0,0
$GC,7213,-0.52,-93.6,905.2,-11.0,520,7215,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3381,2857,0,0,0,0,0,0
$GC,7523,-0.52,-93.6,939.6,-11.0,535,7527,0.00,0.93,0.00,0.000,4,0.000,0.063,1524,3952,2857,0,0,0,0,0,0
$GC,7561,-0.52,-93.6,944.2,-12.3,536,7569,0.00,0.90,0.00,0.000,6,0.000,0.037,1524,3371,2857,0,0,0,0,0,0
$GC,7879,-0.52,-93.6,979.8,-11.1,552,7882,0.00,0.95,0.00,0.000,4,0.000,0.063,1519,3955,2856,0,0,0,0,0,0
$GC,7924,-0.52,-93.6,985.2,-12.1,554,7929,0.08,0.88,0.00,0.000,6,0.161,0.038,1542,3386,2856,0,0,0,0,0,0
$STATE,7987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7987,begin apogee
$GC,7991,-0.09,0.0,991.7,9.3,557,8090,0.47,0.00,91.93,1.851,6,0.150,0.000,1682,3288,2474,0,0,0,0,0,0
$STATE,8091,end apogee,CONTROL_FINISHED_OK
$STATE,8091,begin climb
$GC,8092,0.52,93.6,993.7,0.0,562,8193,0.62,0.00,97.75,1.802,6,0.072,0.000,1890,3288,2091,0,0,0,0,0,0
$GC,8501,0.52,93.6,943.9,14.3,582,8502,0.00,0.00,0.00,0.000,6,0.000,0.000,1890,3288,2081,0,0,0,0,0,0
$GC,8807,0.52,93.6,899.7,14.6,597,8808,0.00,0.00,0.00,0.000,6,0.000,0.000,1890,3288,2079,0,0,0,0,0,0
$GC,9117,0.52,93.6,855.9,14.0,612,9120,0.00,1.10,0.00,0.000,4,0.000,0.061,1890,3954,2077,0,0,0,0,0,0
$GC,9177,0.52,93.6,846.1,16.5,614,9185,0.00,1.08,0.00,0.000,6,0.000,0.036,1895,3269,2077,0,0,0,0,0,0
$GC,9495,0.52,93.6,800.8,14.1,630,9496,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,3270,2075,0,0,0,0,0,0
$GC,9803,0.52,93.6,758.9,13.4,645,9804,0.00,0.00,0.00,0.000,6,0.000,0.000,1896,3270,2074,0,0,0,0,0,0
$GC,10112,0.52,93.6,719.3,12.8,660,10116,0.00,1.12,0.00,0.000,4,0.000,0.061,1896,3953,2074,0,0,0,0,0,0
$GC,10247,0.52,93.6,700.2,15.2,666,10251,0.00,1.02,0.00,0.000,6,0.000,0.037,1900,3287,2074,0,0,0,0,0,0
$GC,10579,0.52,93.6,660.5,11.4,682,10583,0.00,1.10,0.00,0.000,4,0.000,0.061,1901,3958,2074,0,0,0,0,0,0
$GC,10662,0.52,93.6,648.9,14.4,685,10670,0.00,1.05,0.00,0.000,6,0.000,0.037,1906,3284,2073,0,0,0,0,0,0
$GC,10980,0.52,93.6,610.5,11.8,701,10984,0.00,1.10,0.00,0.000,4,0.000,0.060,1906,3957,2073,0,0,0,0,0,0
$GC,11007,0.52,93.6,606.7,12.2,702,11012,0.00,1.05,0.00,0.000,6,0.000,0.035,1911,3283,2073,0,0,0,0,0,0
$GC,11335,0.52,93.6,566.8,12.6,718,11336,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3283,2072,0,0,0,0,0,0
$GC,11644,0.52,93.6,527.0,12.9,733,11648,0.00,1.10,0.00,0.000,4,0.000,0.060,1911,3957,2072,0,0,0,0,0,0
$GC,11704,0.52,93.6,518.3,14.2,735,11712,0.00,1.05,0.00,0.000,6,0.000,0.035,1916,3279,2072,0,0,0,0,0,0
$GC,12021,0.52,93.6,477.7,13.1,751,12023,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3280,2072,0,0,0,0,0,0
$GC,12330,0.52,93.6,438.2,12.6,766,12334,0.00,1.10,0.00,0.000,4,0.000,0.061,1916,3952,2072,0,0,0,0,0,0
$GC,12452,0.52,93.6,420.6,14.0,771,12457,0.12,1.05,0.00,0.000,6,0.215,0.035,1894,3274,2072,0,0,0,0,0,0
$GC,12780,0.52,93.6,382.6,11.6,794,12781,0.00,0.00,0.00,0.000,6,0.000,0.000,1894,3274,2071,0,0,0,0,0,0
$GC,13098,0.52,93.6,346.5,11.0,824,13102,0.00,1.10,0.00,0.000,4,0.000,0.060,1894,3950,2071,0,0,0,0,0,0
$GC,13148,0.52,93.6,340.0,13.6,828,13157,0.00,1.00,0.00,0.000,6,0.000,0.036,1897,3292,2071,0,0,0,0,0,0
$GC,13473,0.52,93.6,304.0,10.5,859,13476,0.00,1.08,0.00,0.000,4,0.000,0.060,1897,3956,2071,0,0,0,0,0,0
$GC,13522,0.52,93.6,298.1,11.5,863,13529,0.00,1.02,0.00,0.000,6,0.000,0.035,1902,3284,2071,0,0,0,0,0,0
$GC,13847,0.52,93.6,264.6,10.5,894,13848,0.00,0.00,0.00,0.000,6,0.000,0.000,1902,3284,2071,0,0,0,0,0,0
$GC,14167,0.52,93.6,230.9,10.8,924,14171,0.00,1.08,0.00,0.000,4,0.000,0.060,1902,3945,2071,0,0,0,0,0,0
$GC,14281,0.52,93.6,216.8,12.0,934,14284,0.00,1.00,0.00,0.000,6,0.000,0.035,1907,3286,2071,0,0,0,0,0,0
$GC,14613,0.52,93.6,176.8,12.3,965,14617,0.00,2.17,0.00,0.000,4,0.000,0.031,1918,1854,2071,0,0,0,0,0,0
$GC,14653,0.52,93.6,171.9,11.3,968,14658,0.12,2.30,0.00,0.000,6,0.189,0.050,1890,3287,2069,0,0,0,0,0,0
$GC,14977,0.52,93.6,135.5,11.4,998,14978,0.00,0.00,0.00,0.000,6,0.000,0.000,1890,3287,2069,0,0,0,0,0,0
$GC,15297,0.52,93.6,102.8,10.6,1028,15300,0.00,1.08,0.00,0.000,4,0.000,0.057,1890,3951,2069,0,0,0,0,0,0
$GC,15559,0.52,93.7,76.2,8.7,1071,15568,0.00,1.02,0.00,0.000,6,0.000,0.034,1893,3274,2069,0,0,0,0,0,0
$GC,15912,0.54,126.6,55.4,5.6,1132,15933,0.00,2.17,12.23,0.957,4,0.000,0.030,1904,1863,1954,0,0,0,0,0,0
$GC,15954,0.55,144.5,52.7,7.0,1138,15967,0.00,2.28,7.47,0.883,6,0.000,0.051,1904,3286,1881,0,0,0,0,0,0
$GC,16326,0.55,144.5,7.6,13.4,1200,16335,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3286,1876,0,0,0,0,0,0
$STATE,16354,end climb,SURFACE_DEPTH_REACHED
$STATE,16354,begin surface coast
$FINISH,0.7,1.016204
$STATE,16374,end surface coast,CONTROL_FINISHED_OK
$STATE,16374,begin surface
$SM_CCo,16387,30.58,0.776,0,0,1575,220.03
$SM_GC,2.52,0.00,0.00,30.58,0.000,0.000,0.776,52,3396,1575,-5.21,0.45,220.03
$IRIDIUM_FIX,-4242.04,831.12,120114,000028
$TT8_MAMPS,0.026215
$HUMID,61.61
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,22.3,37.094
$10V_AH,9.9,27.907
$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,12.925,64.700,209.375,30.575,0.000,25.493,40.786,338.069,0.000,0.000,19.339,2972.938,10243.786,380.929,3094.628,262.348,0.000,1465.088,0.000,2565.876,0.000,1.010,0.000
$DEVICE_MAMPS,243.270,87.210,1851.300,776.475,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,837.439,2039.168,795.189,348.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354372
$DATA_FILE_SIZE,87030,1207
$CAP_FILE_SIZE,146858,0
$CFSIZE,259252224,240185344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,120114,094904,-4259.127,829.786,28,1.6,28,-25.0