version: 66.07
glider: 543
mission: 9
dive: 263
start: 1 14 114 12 32 53
data:
$ID,543
$MISSION,9
$DIVE,263
$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,-13368.097
$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,45
$R_STBD_OVSHOOT,32
$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
$GPS1,140114,122334,-4259.551,831.204,28,1.0,28,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-67.0
$GPS2,140114,123229,-4259.537,831.258,19,0.9,19,-25.1
$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,268.4,1909,-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,-51.0,0.0,0.0,0,66,0.00,0.00,-47.85,0.000,6,0.000,0.000,48,3393,2685,0,0,0,0,0,0
$GC,69,-0.56,-85.3,3.6,-4.8,6,86,6.18,0.00,-3.60,0.000,6,0.235,0.000,1532,3393,2826,0,0,0,0,0,0
$GC,138,-0.56,-85.3,17.6,-17.9,16,146,0.00,2.22,0.00,0.000,4,0.000,0.031,1532,1964,2828,0,0,0,0,0,0
$GC,175,-0.56,-85.3,23.2,-15.9,21,182,0.00,2.30,0.00,0.000,6,0.000,0.051,1522,3370,2828,0,0,0,0,0,0
$GC,323,-0.56,-85.3,48.2,-15.1,46,330,0.00,0.95,0.00,0.000,4,0.000,0.058,1518,3957,2829,0,0,0,0,0,0
$GC,585,-0.56,-85.3,93.6,-16.4,92,592,0.00,0.88,0.00,0.000,6,0.000,0.035,1518,3379,2830,0,0,0,0,0,0
$GC,914,-0.56,-85.3,145.0,-14.9,126,917,0.00,0.93,0.00,0.000,4,0.000,0.059,1514,3955,2831,0,0,0,0,0,0
$GC,1130,-0.56,-85.3,180.5,-17.3,145,1134,0.00,0.88,0.00,0.000,6,0.000,0.034,1514,3372,2831,0,0,0,0,0,0
$GC,1461,-0.56,-85.3,232.3,-15.7,176,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,1514,3371,2832,0,0,0,0,0,0
$GC,1780,-0.56,-85.3,279.9,-14.0,206,1784,0.00,0.93,0.00,0.000,4,0.000,0.058,1510,3953,2832,0,0,0,0,0,0
$GC,1862,-0.56,-85.3,291.5,-14.7,213,1865,0.00,0.85,0.00,0.000,6,0.000,0.034,1510,3384,2832,0,0,0,0,0,0
$GC,2192,-0.56,-85.3,338.5,-14.2,244,2195,0.00,0.90,0.00,0.000,4,0.000,0.058,1506,3948,2831,0,0,0,0,0,0
$GC,2275,-0.56,-85.3,351.9,-15.9,251,2284,0.12,0.88,0.00,0.000,6,0.182,0.034,1536,3374,2832,0,0,0,0,0,0
$GC,2601,-0.56,-85.3,391.0,-11.9,282,2604,0.00,0.93,0.00,0.000,4,0.000,0.060,1533,3952,2832,0,0,0,0,0,0
$GC,2715,-0.56,-85.3,406.0,-13.8,291,2719,0.00,0.85,0.00,0.000,6,0.000,0.035,1533,3385,2832,0,0,0,0,0,0
$GC,3047,-0.56,-85.3,448.7,-12.9,307,3050,0.00,0.90,0.00,0.000,4,0.000,0.060,1529,3949,2832,0,0,0,0,0,0
$GC,3118,-0.56,-85.3,458.9,-13.8,310,3123,0.00,0.88,0.00,0.000,6,0.000,0.035,1528,3375,2832,0,0,0,0,0,0
$GC,3446,-0.56,-85.3,501.4,-12.7,326,3450,0.00,0.93,0.00,0.000,4,0.000,0.060,1525,3951,2832,0,0,0,0,0,0
$GC,3478,-0.56,-85.3,506.0,-14.3,327,3483,0.00,0.88,0.00,0.000,6,0.000,0.035,1525,3377,2832,0,0,0,0,0,0
$GC,3802,-0.56,-85.3,548.4,-12.9,343,3805,0.00,0.93,0.00,0.000,4,0.000,0.060,1521,3953,2831,0,0,0,0,0,0
$GC,3840,-0.56,-85.3,554.0,-14.4,344,3847,0.00,0.88,0.00,0.000,6,0.000,0.036,1520,3382,2831,0,0,0,0,0,0
$GC,4156,-0.56,-85.3,595.4,-13.1,360,4159,0.00,0.90,0.00,0.000,4,0.000,0.060,1516,3944,2831,0,0,0,0,0,0
$GC,4233,-0.56,-85.3,606.6,-14.4,363,4237,0.00,0.85,0.00,0.000,6,0.000,0.036,1516,3381,2831,0,0,0,0,0,0
$GC,4555,-0.56,-85.3,648.9,-12.9,379,4559,0.00,0.90,0.00,0.000,4,0.000,0.061,1512,3940,2830,0,0,0,0,0,0
$GC,4699,-0.56,-85.3,669.0,-13.3,385,4704,0.00,0.88,0.00,0.000,6,0.000,0.036,1511,3372,2829,0,0,0,0,0,0
$GC,5021,-0.56,-85.3,709.5,-12.5,401,5023,0.00,0.00,0.00,0.000,6,0.000,0.000,1512,3371,2829,0,0,0,0,0,0
$GC,5330,-0.56,-85.3,748.5,-12.6,416,5334,0.00,0.93,0.00,0.000,4,0.000,0.061,1508,3949,2828,0,0,0,0,0,0
$GC,5436,-0.56,-85.3,763.0,-13.4,420,5444,0.10,0.88,0.00,0.000,6,0.186,0.037,1535,3382,2828,0,0,0,0,0,0
$GC,5754,-0.56,-85.3,795.8,-10.1,436,5755,0.00,0.00,0.00,0.000,6,0.000,0.000,1535,3382,2828,0,0,0,0,0,0
$GC,6061,-0.56,-85.3,825.5,-10.0,451,6065,0.00,0.93,0.00,0.000,4,0.000,0.063,1531,3952,2827,0,0,0,0,0,0
$GC,6139,-0.56,-85.3,834.1,-11.3,454,6143,0.00,0.90,0.00,0.000,6,0.000,0.037,1532,3369,2827,0,0,0,0,0,0
$GC,6460,-0.56,-85.3,867.0,-10.5,470,6464,0.00,0.93,0.00,0.000,4,0.000,0.063,1528,3939,2826,0,0,0,0,0,0
$GC,6528,-0.56,-85.3,874.3,-10.9,473,6532,0.00,0.85,0.00,0.000,6,0.000,0.038,1528,3384,2826,0,0,0,0,0,0
$GC,6861,-0.56,-85.3,910.3,-10.7,489,6864,0.00,0.90,0.00,0.000,4,0.000,0.063,1523,3940,2826,0,0,0,0,0,0
$GC,6938,-0.56,-85.3,919.5,-11.9,492,6942,0.00,0.88,0.00,0.000,6,0.000,0.037,1523,3375,2826,0,0,0,0,0,0
$GC,7260,-0.56,-85.3,955.0,-10.9,508,7263,0.00,0.93,0.00,0.000,4,0.000,0.063,1519,3948,2825,0,0,0,0,0,0
$GC,7342,-0.56,-85.3,964.8,-11.6,511,7350,0.00,0.88,0.00,0.000,6,0.000,0.037,1519,3382,2825,0,0,0,0,0,0
$STATE,7574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7574,begin apogee
$GC,7579,-0.09,0.0,990.2,10.6,523,7667,0.57,0.00,84.62,1.849,6,0.153,0.000,1686,3284,2474,0,0,0,0,0,0
$STATE,7668,end apogee,CONTROL_FINISHED_OK
$STATE,7668,begin climb
$GC,7670,0.56,85.3,991.8,0.0,527,7762,0.60,0.00,88.88,1.801,6,0.070,0.000,1896,3284,2125,0,0,0,0,0,0
$GC,8070,0.56,85.3,942.3,14.3,547,8074,0.00,2.28,0.00,0.000,4,0.000,0.032,1907,1856,2116,0,0,0,0,0,0
$GC,8124,0.56,85.3,934.8,11.5,549,8132,0.00,2.40,0.00,0.000,6,0.000,0.052,1907,3279,2114,0,0,0,0,0,0
$GC,8440,0.56,85.3,889.6,14.1,565,8444,0.00,1.10,0.00,0.000,4,0.000,0.060,1907,3951,2112,0,0,0,0,0,0
$GC,8478,0.56,85.3,883.8,15.0,566,8486,0.00,1.05,0.00,0.000,6,0.000,0.035,1912,3274,2112,0,0,0,0,0,0
$GC,8796,0.56,85.3,839.6,13.7,582,8797,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,3273,2110,0,0,0,0,0,0
$GC,9104,0.56,85.3,800.2,12.6,597,9107,0.00,2.17,0.00,0.000,4,0.000,0.034,1923,1871,2109,0,0,0,0,0,0
$GC,9158,0.56,85.3,793.6,11.4,599,9166,0.00,2.33,0.00,0.000,6,0.000,0.053,1923,3285,2108,0,0,0,0,0,0
$GC,9476,0.56,85.3,751.4,13.6,615,9477,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3285,2107,0,0,0,0,0,0
$GC,9784,0.56,85.3,710.2,13.0,630,9785,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,3285,2107,0,0,0,0,0,0
$GC,10094,0.56,85.3,668.3,13.6,645,10098,0.00,2.17,0.00,0.000,4,0.000,0.033,1934,1863,2106,0,0,0,0,0,0
$GC,10156,0.56,85.3,660.5,11.6,648,10161,0.12,2.33,0.00,0.000,6,0.187,0.052,1905,3293,2106,0,0,0,0,0,0
$GC,10483,0.56,85.3,618.5,12.9,664,10487,0.00,2.20,0.00,0.000,4,0.000,0.032,1915,1862,2106,0,0,0,0,0,0
$GC,10500,0.56,85.3,616.2,12.9,665,10504,0.00,2.30,0.00,0.000,6,0.000,0.050,1915,3284,2105,0,0,0,0,0,0
$GC,10832,0.56,85.3,574.3,12.5,681,10835,0.00,1.08,0.00,0.000,4,0.000,0.060,1915,3946,2105,0,0,0,0,0,0
$GC,10892,0.56,85.3,565.9,13.9,683,10900,0.00,1.02,0.00,0.000,6,0.000,0.037,1920,3278,2105,0,0,0,0,0,0
$GC,11208,0.56,85.3,523.4,13.5,699,11212,0.00,2.17,0.00,0.000,4,0.000,0.032,1931,1859,2105,0,0,0,0,0,0
$GC,11302,0.56,85.3,511.7,11.8,703,11307,0.00,2.33,0.00,0.000,6,0.000,0.050,1931,3283,2105,0,0,0,0,0,0
$GC,11624,0.56,85.3,467.9,13.7,719,11627,0.00,1.08,0.00,0.000,4,0.000,0.060,1931,3946,2104,0,0,0,0,0,0
$GC,11691,0.56,85.3,458.0,15.3,722,11696,0.10,1.00,0.00,0.000,6,0.198,0.037,1909,3287,2104,0,0,0,0,0,0
$GC,12023,0.56,85.3,418.4,11.7,738,12027,0.00,2.17,0.00,0.000,4,0.000,0.032,1918,1864,2104,0,0,0,0,0,0
$GC,12096,0.56,85.3,410.9,9.6,741,12101,0.00,2.30,0.00,0.000,6,0.000,0.050,1918,3293,2103,0,0,0,0,0,0
$GC,12419,0.56,85.3,373.0,12.1,766,12423,0.00,1.05,0.00,0.000,4,0.000,0.059,1918,3940,2103,0,0,0,0,0,0
$GC,12546,0.56,85.3,355.4,14.2,777,12554,0.00,1.02,0.00,0.000,6,0.000,0.035,1923,3277,2103,0,0,0,0,0,0
$GC,12872,0.56,85.3,317.6,11.6,808,12876,0.00,1.10,0.00,0.000,4,0.000,0.059,1923,3955,2103,0,0,0,0,0,0
$GC,12906,0.56,85.3,313.4,12.6,811,12910,0.00,1.02,0.00,0.000,6,0.000,0.036,1929,3279,2103,0,0,0,0,0,0
$GC,13236,0.56,85.3,276.1,10.9,842,13240,0.00,2.15,0.00,0.000,4,0.000,0.031,1939,1867,2103,0,0,0,0,0,0
$GC,13356,0.57,89.5,265.1,8.2,852,13361,0.15,2.30,0.00,0.000,6,0.182,0.050,1903,3295,2102,0,0,0,0,0,0
$GC,13681,0.57,89.5,234.3,10.4,882,13684,0.00,1.05,0.00,0.000,4,0.000,0.059,1903,3954,2102,0,0,0,0,0,0
$GC,13764,0.57,89.5,224.1,11.8,889,13772,0.00,1.02,0.00,0.000,6,0.000,0.034,1906,3285,2102,0,0,0,0,0,0
$GC,14090,0.57,89.5,187.6,11.0,920,14094,0.00,1.10,0.00,0.000,4,0.000,0.059,1906,3955,2102,0,0,0,0,0,0
$GC,14139,0.57,89.5,181.2,13.5,924,14149,0.00,1.02,0.00,0.000,6,0.000,0.034,1912,3284,2102,0,0,0,0,0,0
$GC,14464,0.57,89.5,142.1,12.1,955,14468,0.00,1.08,0.00,0.000,4,0.000,0.057,1911,3955,2102,0,0,0,0,0,0
$GC,14499,0.57,89.5,137.9,12.5,958,14502,0.00,1.00,0.00,0.000,6,0.000,0.034,1917,3293,2102,0,0,0,0,0,0
$GC,14831,0.57,89.5,99.6,11.3,989,14838,0.00,2.17,0.00,0.000,4,0.000,0.030,1928,1852,2102,0,0,0,0,0,0
$GC,14915,0.57,89.5,91.5,9.2,1003,14922,0.00,2.30,0.00,0.000,6,0.000,0.050,1928,3288,2102,0,0,0,0,0,0
$GC,15265,0.57,91.1,57.2,8.5,1064,15271,0.00,1.05,0.00,0.000,4,0.000,0.056,1928,3950,2102,0,0,0,0,0,0
$GC,15531,0.57,91.1,31.6,9.0,1110,15541,0.00,1.00,0.00,0.000,6,0.000,0.035,1933,3283,2102,0,0,0,0,0,0
$GC,15685,0.57,100.0,20.2,7.7,1135,15693,0.00,1.10,3.90,0.639,4,0.000,0.057,1933,3953,2063,0,0,0,0,0,0
$STATE,15843,end climb,SURFACE_DEPTH_REACHED
$STATE,15843,begin surface coast
$FINISH,0.7,1.013510
$STATE,15869,end surface coast,CONTROL_FINISHED_OK
$STATE,15869,begin surface
$SM_CCo,15883,49.75,0.770,0,0,1572,220.03
$SM_GC,1.10,0.00,0.00,49.75,0.000,0.000,0.770,57,3376,1572,-5.20,-0.11,220.03
$IRIDIUM_FIX,-4244.98,822.38,140114,070754
$TT8_MAMPS,0.025466
$HUMID,61.45
$INTERNAL_PRESSURE,9.56208
$TCM_TEMP,14.50
$XPDR_PINGS,0
$24V_AH,22.3,38.584
$10V_AH,9.9,29.345
$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,12.900,88.375,177.400,49.750,0.000,25.973,41.418,327.093,0.000,0.000,21.676,2912.483,9766.521,378.565,3156.673,251.386,0.000,1504.404,0.000,2625.657,0.000,1.011,0.000
$DEVICE_MAMPS,234.855,71.145,1849.005,770.355,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,806.952,1994.062,796.024,389.298,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354380
$DATA_FILE_SIZE,83772,1164
$CAP_FILE_SIZE,151569,0
$CFSIZE,259252224,239226880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,140114,165935,-4259.104,829.939,33,1.2,33,-25.0