version: 66.07
glider: 543
mission: 9
dive: 259
start: 1 13 114 17 57 53
data:
$ID,543
$MISSION,9
$DIVE,259
$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,-13357.102
$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,43
$R_STBD_OVSHOOT,33
$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
$GPS1,130114,174828,-4258.870,829.779,36,1.1,36,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-63.1
$GPS2,130114,175729,-4258.838,829.856,16,1.1,16,-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,199.8,2160,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.54,-51.0,0.0,0.0,0,58,0.00,0.00,-41.55,0.000,2,0.000,0.000,61,3400,2513,0,0,0,0,0,0
$GC,60,-0.56,-84.3,3.1,-4.9,5,79,6.25,0.93,-8.43,0.000,4,0.243,0.091,1527,3947,2819,0,0,0,0,0,0
$GC,345,-0.56,-84.3,57.5,-18.9,52,352,0.00,0.88,0.00,0.000,6,0.000,0.034,1527,3368,2824,0,0,0,0,0,0
$GC,689,-0.56,-84.3,111.7,-14.4,106,693,0.00,0.90,0.00,0.000,4,0.000,0.058,1523,3927,2826,0,0,0,0,0,0
$GC,937,-0.56,-84.3,149.8,-15.2,128,941,0.00,0.82,0.00,0.000,6,0.000,0.034,1523,3383,2826,0,0,0,0,0,0
$GC,1268,-0.56,-84.3,196.7,-14.0,159,1271,0.00,0.90,0.00,0.000,4,0.000,0.057,1519,3939,2827,0,0,0,0,0,0
$GC,1337,-0.56,-84.3,207.0,-15.6,165,1341,0.00,0.85,0.00,0.000,6,0.000,0.034,1519,3373,2827,0,0,0,0,0,0
$GC,1667,-0.56,-84.3,256.9,-15.4,196,1671,0.00,0.90,0.00,0.000,4,0.000,0.058,1515,3932,2827,0,0,0,0,0,0
$GC,1786,-0.56,-84.3,275.8,-15.3,206,1792,0.00,0.82,0.00,0.000,6,0.000,0.034,1515,3384,2827,0,0,0,0,0,0
$GC,2112,-0.56,-84.3,326.0,-15.9,237,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,1515,3384,2827,0,0,0,0,0,0
$GC,2430,-0.56,-84.3,375.0,-14.8,267,2433,0.00,0.88,0.00,0.000,4,0.000,0.057,1511,3932,2827,0,0,0,0,0,0
$GC,2615,-0.56,-84.3,404.8,-15.6,282,2619,0.00,0.85,0.00,0.000,6,0.000,0.034,1511,3381,2827,0,0,0,0,0,0
$GC,2942,-0.56,-84.3,453.1,-14.8,298,2946,0.00,0.90,0.00,0.000,4,0.000,0.058,1507,3940,2827,0,0,0,0,0,0
$GC,3024,-0.56,-84.3,466.3,-15.7,301,3032,0.12,0.88,0.00,0.000,6,0.182,0.034,1543,3370,2827,0,0,0,0,0,0
$GC,3340,-0.56,-84.3,503.5,-11.4,317,3344,0.00,0.90,0.00,0.000,4,0.000,0.060,1540,3927,2827,0,0,0,0,0,0
$GC,3431,-0.56,-84.3,514.2,-11.6,321,3435,0.00,0.82,0.00,0.000,6,0.000,0.036,1540,3385,2827,0,0,0,0,0,0
$GC,3763,-0.56,-84.3,553.6,-11.8,337,3764,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3384,2826,0,0,0,0,0,0
$GC,4072,-0.56,-84.3,591.4,-12.0,352,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,1540,3384,2826,0,0,0,0,0,0
$GC,4382,-0.56,-84.3,630.1,-12.5,367,4386,0.00,0.90,0.00,0.000,4,0.000,0.060,1536,3940,2826,0,0,0,0,0,0
$GC,4437,-0.56,-84.3,637.6,-12.4,369,4442,0.00,0.88,0.00,0.000,6,0.000,0.037,1536,3373,2825,0,0,0,0,0,0
$GC,4759,-0.56,-84.3,678.2,-13.2,385,4763,0.00,0.90,0.00,0.000,4,0.000,0.061,1531,3930,2824,0,0,0,0,0,0
$GC,4933,-0.56,-84.3,701.3,-13.0,392,4940,0.00,0.82,0.00,0.000,6,0.000,0.037,1531,3389,2824,0,0,0,0,0,0
$GC,5249,-0.56,-84.3,737.9,-11.0,408,5252,0.00,0.88,0.00,0.000,4,0.000,0.061,1528,3930,2824,0,0,0,0,0,0
$GC,5298,-0.56,-84.3,743.8,-11.4,410,5302,0.00,0.88,0.00,0.000,6,0.000,0.036,1528,3367,2824,0,0,0,0,0,0
$GC,5625,-0.56,-84.3,778.5,-10.4,426,5629,0.00,0.93,0.00,0.000,4,0.000,0.061,1524,3940,2823,0,0,0,0,0,0
$GC,5716,-0.56,-84.3,789.0,-11.9,430,5719,0.00,0.85,0.00,0.000,6,0.000,0.037,1524,3384,2823,0,0,0,0,0,0
$GC,6050,-0.56,-84.3,825.7,-11.0,446,6051,0.00,0.00,0.00,0.000,6,0.000,0.000,1524,3384,2822,0,0,0,0,0,0
$GC,6357,-0.56,-84.3,860.1,-11.5,461,6358,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3384,2822,0,0,0,0,0,0
$GC,6667,-0.56,-84.3,895.7,-11.5,476,6671,0.00,0.90,0.00,0.000,4,0.000,0.062,1519,3937,2821,0,0,0,0,0,0
$GC,6750,-0.56,-84.3,906.2,-12.5,479,6757,0.00,0.88,0.00,0.000,6,0.000,0.037,1519,3375,2821,0,0,0,0,0,0
$GC,7066,-0.56,-84.3,941.9,-11.3,495,7070,0.00,0.90,0.00,0.000,4,0.000,0.062,1515,3928,2821,0,0,0,0,0,0
$GC,7171,-0.56,-84.3,955.7,-13.5,499,7179,0.00,0.85,0.00,0.000,6,0.000,0.037,1515,3383,2821,0,0,0,0,0,0
$STATE,7465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7466,begin apogee
$GC,7470,-0.09,0.0,990.5,11.6,514,7557,0.60,0.00,83.62,1.851,6,0.159,0.000,1687,3285,2473,0,0,0,0,0,0
$STATE,7558,end apogee,CONTROL_FINISHED_OK
$STATE,7558,begin climb
$GC,7560,0.56,84.3,992.6,0.0,518,7656,0.60,2.45,87.70,1.800,4,0.070,0.031,1906,1868,2129,0,0,0,0,0,0
$GC,7700,0.56,84.3,981.7,12.2,524,7707,0.00,2.47,0.00,0.000,6,0.000,0.051,1906,3266,2124,0,0,0,0,0,0
$GC,8016,0.56,84.3,934.2,15.4,540,8019,0.00,1.15,0.00,0.000,4,0.000,0.058,1906,3951,2118,0,0,0,0,0,0
$GC,8065,0.56,84.3,925.3,17.8,542,8069,0.00,1.08,0.00,0.000,6,0.000,0.034,1911,3276,2117,0,0,0,0,0,0
$GC,8394,0.56,84.3,874.6,15.2,558,8396,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3276,2116,0,0,0,0,0,0
$GC,8702,0.56,84.3,829.4,15.0,573,8705,0.00,1.10,0.00,0.000,4,0.000,0.059,1911,3944,2114,0,0,0,0,0,0
$GC,8740,0.56,84.3,823.1,16.4,574,8747,0.00,1.02,0.00,0.000,6,0.000,0.035,1916,3285,2114,0,0,0,0,0,0
$GC,9056,0.56,84.3,777.8,13.6,590,9057,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3285,2113,0,0,0,0,0,0
$GC,9365,0.56,84.3,736.2,13.4,605,9369,0.00,1.08,0.00,0.000,4,0.000,0.060,1917,3951,2112,0,0,0,0,0,0
$GC,9433,0.56,84.3,726.1,15.4,608,9436,0.00,1.02,0.00,0.000,6,0.000,0.037,1922,3282,2112,0,0,0,0,0,0
$GC,9767,0.56,84.3,681.5,12.9,624,9770,0.00,1.10,0.00,0.000,4,0.000,0.060,1922,3953,2110,0,0,0,0,0,0
$GC,9827,0.56,84.3,672.6,14.1,626,9835,0.00,1.05,0.00,0.000,6,0.000,0.036,1926,3278,2110,0,0,0,0,0,0
$GC,10144,0.56,84.3,630.2,13.2,642,10147,0.00,1.10,0.00,0.000,4,0.000,0.059,1926,3954,2110,0,0,0,0,0,0
$GC,10316,0.56,84.3,604.5,15.2,649,10324,0.00,1.05,0.00,0.000,6,0.000,0.036,1931,3277,2109,0,0,0,0,0,0
$GC,10633,0.56,84.3,563.3,12.7,665,10637,0.00,2.17,0.00,0.000,4,0.000,0.033,1942,1862,2109,0,0,0,0,0,0
$GC,10676,0.56,84.3,557.9,11.4,667,10682,0.12,2.33,0.00,0.000,6,0.169,0.050,1906,3287,2108,0,0,0,0,0,0
$GC,11004,0.56,84.3,520.6,11.5,683,11007,0.00,1.08,0.00,0.000,4,0.000,0.058,1906,3952,2107,0,0,0,0,0,0
$GC,11081,0.56,84.3,510.9,13.5,686,11085,0.00,1.00,0.00,0.000,6,0.000,0.036,1910,3293,2107,0,0,0,0,0,0
$GC,11403,0.56,84.3,475.5,11.3,702,11406,0.00,1.08,0.00,0.000,4,0.000,0.059,1910,3955,2107,0,0,0,0,0,0
$GC,11516,0.56,84.3,461.6,12.9,707,11519,0.00,1.02,0.00,0.000,6,0.000,0.036,1915,3284,2107,0,0,0,0,0,0
$GC,11849,0.56,84.3,422.7,12.1,723,11853,0.00,1.08,0.00,0.000,4,0.000,0.059,1915,3948,2106,0,0,0,0,0,0
$GC,12029,0.56,84.3,397.8,14.2,731,12033,0.00,1.02,0.00,0.000,6,0.000,0.036,1920,3278,2107,0,0,0,0,0,0
$GC,12360,0.56,84.3,355.0,12.5,762,12363,0.00,1.10,0.00,0.000,4,0.000,0.059,1920,3955,2106,0,0,0,0,0,0
$GC,12594,0.56,84.3,321.1,14.1,783,12598,0.00,1.02,0.00,0.000,6,0.000,0.035,1925,3284,2106,0,0,0,0,0,0
$GC,12925,0.56,84.3,279.6,11.8,814,12929,0.00,2.17,0.00,0.000,4,0.000,0.032,1936,1861,2106,0,0,0,0,0,0
$GC,12987,0.56,84.3,272.9,10.3,819,12992,0.12,2.28,0.00,0.000,6,0.186,0.050,1907,3290,2105,0,0,0,0,0,0
$GC,13314,0.56,84.3,238.6,10.7,849,13318,0.00,1.08,0.00,0.000,4,0.000,0.058,1907,3953,2106,0,0,0,0,0,0
$GC,13382,0.56,84.3,230.5,11.8,855,13386,0.00,1.02,0.00,0.000,6,0.000,0.035,1911,3280,2105,0,0,0,0,0,0
$GC,13712,0.56,84.3,195.1,10.8,886,13714,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3280,2105,0,0,0,0,0,0
$GC,14032,0.56,84.3,162.5,9.8,916,14033,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3280,2105,0,0,0,0,0,0
$GC,14351,0.56,84.3,130.5,10.7,946,14352,0.00,0.00,0.00,0.000,6,0.000,0.000,1910,3280,2105,0,0,0,0,0,0
$GC,14674,0.56,84.3,95.6,10.9,979,14680,0.00,1.08,0.00,0.000,4,0.000,0.057,1911,3942,2105,0,0,0,0,0,0
$GC,14886,0.56,84.3,69.8,11.4,1016,14893,0.00,1.00,0.00,0.000,6,0.000,0.034,1916,3282,2105,0,0,0,0,0,0
$GC,15236,0.57,97.9,43.7,7.1,1077,15246,0.00,1.10,3.67,0.700,4,0.000,0.058,1916,3952,2070,0,0,0,0,0,0
$GC,15510,0.57,97.9,19.4,11.1,1123,15519,0.00,1.00,0.00,0.000,6,0.000,0.034,1921,3285,2070,0,0,0,0,0,0
$GC,15570,0.57,97.9,13.4,9.0,1132,15579,0.00,1.10,0.00,0.000,4,0.000,0.059,1921,3956,2070,0,0,0,0,0,0
$STATE,15665,end climb,SURFACE_DEPTH_REACHED
$STATE,15665,begin surface coast
$FINISH,0.6,1.026261
$STATE,15698,end surface coast,CONTROL_FINISHED_OK
$STATE,15698,begin surface
$SM_CCo,15712,50.80,0.775,0,0,1572,220.03
$SM_GC,1.09,0.00,0.00,50.80,0.000,0.000,0.775,52,3372,1572,-5.21,-0.23,220.03
$IRIDIUM_FIX,-4244.98,828.21,130114,131311
$TT8_MAMPS,0.026215
$HUMID,61.73
$INTERNAL_PRESSURE,9.55232
$TCM_TEMP,14.20
$XPDR_PINGS,0
$24V_AH,22.3,38.097
$10V_AH,9.9,28.858
$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,12.950,64.175,175.000,50.800,0.000,32.500,21.657,346.837,0.000,0.000,19.901,2889.126,9628.029,338.873,3206.764,237.421,0.000,1461.765,0.000,2663.190,0.000,1.010,0.000
$DEVICE_MAMPS,242.505,91.035,1850.535,774.945,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,799.742,1962.935,791.915,388.586,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354404
$DATA_FILE_SIZE,80627,1152
$CAP_FILE_SIZE,145521,0
$CFSIZE,259252224,239558656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,130114,222153,-4259.537,830.063,40,0.9,40,-25.0