version: 66.07
glider: 543
mission: 9
dive: 287
start: 1 19 114 3 10 59
data:
$ID,543
$MISSION,9
$DIVE,287
$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,-13435.894
$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,49
$R_STBD_OVSHOOT,19
$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
$GPS1,190114,030127,-4259.923,830.700,44,1.0,44,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-69.0
$GPS2,190114,031035,-4259.950,830.928,18,1.2,18,-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,290.8,1260,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.54,-51.0,0.0,0.0,0,66,0.00,0.00,-47.25,0.000,6,0.000,0.000,57,3371,2684,0,0,0,0,0,0
$GC,69,-0.56,-88.1,3.4,-4.5,6,87,6.15,0.95,-3.83,0.000,4,0.233,0.078,1527,3961,2833,0,0,0,0,0,0
$GC,296,-0.56,-88.1,49.1,-17.2,43,303,0.00,0.88,0.00,0.000,6,0.000,0.034,1527,3384,2836,0,0,0,0,0,0
$GC,646,-0.56,-88.1,98.6,-13.9,104,653,0.00,2.12,0.00,0.000,4,0.000,0.028,1527,1962,2838,0,0,0,0,0,0
$GC,661,-0.56,-88.1,100.5,-13.9,106,666,0.00,2.30,0.00,0.000,6,0.000,0.049,1516,3394,2838,0,0,0,0,0,0
$GC,987,-0.56,-88.1,146.6,-14.5,136,988,0.00,0.00,0.00,0.000,6,0.000,0.000,1516,3394,2839,0,0,0,0,0,0
$GC,1306,-0.56,-88.1,190.7,-13.1,166,1310,0.00,0.88,0.00,0.000,4,0.000,0.057,1512,3947,2840,0,0,0,0,0,0
$GC,1423,-0.56,-88.1,207.5,-13.8,176,1433,0.00,0.88,0.00,0.000,6,0.000,0.032,1512,3366,2840,0,0,0,0,0,0
$GC,1749,-0.56,-88.1,249.2,-13.1,207,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,1513,3366,2840,0,0,0,0,0,0
$GC,2071,-0.56,-88.1,291.1,-13.7,237,2075,0.00,2.10,0.00,0.000,4,0.000,0.027,1512,1962,2839,0,0,0,0,0,0
$GC,2103,-0.56,-88.1,296.0,-12.2,239,2111,0.12,2.30,0.00,0.000,6,0.164,0.050,1533,3402,2840,0,0,0,0,0,0
$GC,2429,-0.56,-88.1,333.3,-11.6,270,2432,0.00,0.88,0.00,0.000,4,0.000,0.058,1530,3954,2840,0,0,0,0,0,0
$GC,2601,-0.56,-88.1,354.5,-12.7,285,2605,0.00,0.85,0.00,0.000,6,0.000,0.034,1530,3380,2840,0,0,0,0,0,0
$GC,2932,-0.56,-88.1,394.1,-11.4,316,2935,0.00,0.93,0.00,0.000,4,0.000,0.059,1526,3945,2840,0,0,0,0,0,0
$GC,2977,-0.56,-88.1,399.8,-12.5,320,2981,0.00,0.85,0.00,0.000,6,0.000,0.034,1526,3371,2840,0,0,0,0,0,0
$GC,3298,-0.56,-88.1,438.5,-12.2,336,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3371,2840,0,0,0,0,0,0
$GC,3608,-0.56,-88.1,476.0,-12.1,351,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3371,2840,0,0,0,0,0,0
$GC,3917,-0.56,-88.1,511.4,-11.1,366,3918,0.00,0.00,0.00,0.000,6,0.000,0.000,1526,3370,2839,0,0,0,0,0,0
$GC,4226,-0.56,-88.1,545.0,-10.9,381,4230,0.00,0.93,0.00,0.000,4,0.000,0.060,1522,3949,2839,0,0,0,0,0,0
$GC,4275,-0.56,-88.1,551.2,-12.0,383,4280,0.00,0.85,0.00,0.000,6,0.000,0.034,1522,3381,2839,0,0,0,0,0,0
$GC,4602,-0.56,-88.1,588.0,-11.0,399,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3381,2838,0,0,0,0,0,0
$GC,4912,-0.56,-88.1,621.8,-10.5,414,4915,0.00,2.12,0.00,0.000,4,0.000,0.029,1522,1962,2838,0,0,0,0,0,0
$GC,4938,-0.56,-88.1,624.8,-10.6,415,4943,0.00,2.30,0.00,0.000,6,0.000,0.052,1511,3387,2838,0,0,0,0,0,0
$GC,5262,-0.56,-88.1,661.4,-11.5,431,5265,0.00,0.90,0.00,0.000,4,0.000,0.060,1507,3951,2837,0,0,0,0,0,0
$GC,5311,-0.56,-88.1,668.1,-13.2,433,5316,0.12,0.88,0.00,0.000,6,0.182,0.034,1537,3380,2837,0,0,0,0,0,0
$GC,5639,-0.56,-88.1,700.6,-10.0,449,5640,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3379,2836,0,0,0,0,0,0
$GC,5949,-0.56,-88.1,731.0,-9.8,464,5953,0.00,0.95,0.00,0.000,4,0.000,0.062,1533,3954,2836,0,0,0,0,0,0
$GC,6017,-0.56,-88.1,738.5,-11.2,467,6021,0.00,0.88,0.00,0.000,6,0.000,0.036,1533,3374,2836,0,0,0,0,0,0
$GC,6350,-0.56,-88.1,774.8,-11.4,483,6354,0.00,2.12,0.00,0.000,4,0.000,0.030,1533,1963,2835,0,0,0,0,0,0
$GC,6382,-0.56,-88.1,778.5,-10.8,484,6389,0.00,2.33,0.00,0.000,6,0.000,0.053,1523,3379,2835,0,0,0,0,0,0
$GC,6699,-0.56,-88.1,815.2,-11.7,500,6700,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3379,2834,0,0,0,0,0,0
$GC,7009,-0.56,-88.1,850.0,-11.0,515,7013,0.00,2.15,0.00,0.000,4,0.000,0.030,1523,1951,2834,0,0,0,0,0,0
$GC,7026,-0.56,-88.1,852.0,-11.0,516,7030,0.00,2.33,0.00,0.000,6,0.000,0.053,1512,3382,2833,0,0,0,0,0,0
$GC,7352,-0.56,-88.1,890.4,-11.9,532,7356,0.00,0.90,0.00,0.000,4,0.000,0.060,1508,3943,2833,0,0,0,0,0,0
$GC,7443,-0.56,-88.1,901.6,-12.7,536,7446,0.00,0.85,0.00,0.000,6,0.000,0.036,1508,3381,2832,0,0,0,0,0,0
$GC,7777,-0.56,-88.1,941.2,-12.0,552,7778,0.00,0.00,0.00,0.000,6,0.000,0.000,1508,3381,2832,0,0,0,0,0,0
$GC,8085,-0.56,-88.1,977.8,-11.5,567,8086,0.00,0.00,0.00,0.000,6,0.000,0.000,1508,3381,2832,0,0,0,0,0,0
$STATE,8206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8206,begin apogee
$GC,8211,-0.09,0.0,991.7,11.3,573,8301,0.60,0.00,86.47,1.841,6,0.155,0.000,1680,3281,2473,0,0,0,0,0,0
$STATE,8302,end apogee,CONTROL_FINISHED_OK
$STATE,8302,begin climb
$GC,8304,0.56,88.1,993.7,0.0,577,8400,0.62,0.00,92.15,1.789,6,0.073,0.000,1895,3281,2113,0,0,0,0,0,0
$GC,8702,0.56,88.1,944.5,14.3,597,8706,0.00,1.12,0.00,0.000,4,0.000,0.060,1895,3949,2104,0,0,0,0,0,0
$GC,8871,0.56,88.1,917.5,16.3,604,8874,0.00,1.05,0.00,0.000,6,0.000,0.034,1900,3276,2103,0,0,0,0,0,0
$GC,9192,0.56,88.1,871.4,13.9,620,9193,0.00,0.00,0.00,0.000,6,0.000,0.000,1900,3276,2100,0,0,0,0,0,0
$GC,9501,0.56,88.1,829.5,13.7,635,9505,0.00,1.10,0.00,0.000,4,0.000,0.060,1900,3947,2098,0,0,0,0,0,0
$GC,9561,0.56,88.1,820.4,15.7,637,9568,0.00,1.00,0.00,0.000,6,0.000,0.036,1905,3293,2098,0,0,0,0,0,0
$GC,9879,0.56,88.1,777.4,13.4,653,9883,0.00,2.20,0.00,0.000,4,0.000,0.031,1916,1867,2097,0,0,0,0,0,0
$GC,9956,0.56,88.1,767.6,12.1,656,9964,0.00,2.33,0.00,0.000,6,0.000,0.051,1916,3283,2095,0,0,0,0,0,0
$GC,10273,0.56,88.1,724.6,13.3,672,10276,0.00,1.08,0.00,0.000,4,0.000,0.060,1916,3948,2095,0,0,0,0,0,0
$GC,10468,0.56,88.1,694.8,14.5,680,10476,0.00,1.00,0.00,0.000,6,0.000,0.035,1922,3288,2095,0,0,0,0,0,0
$GC,10784,0.56,88.1,650.1,14.1,696,10788,0.00,1.08,0.00,0.000,4,0.000,0.059,1921,3952,2094,0,0,0,0,0,0
$GC,10839,0.56,88.1,641.5,15.3,698,10844,0.00,1.02,0.00,0.000,6,0.000,0.034,1926,3284,2094,0,0,0,0,0,0
$GC,11161,0.56,88.1,594.6,14.3,714,11165,0.00,1.08,0.00,0.000,4,0.000,0.059,1926,3942,2094,0,0,0,0,0,0
$GC,11210,0.56,88.1,586.7,15.9,716,11215,0.00,1.02,0.00,0.000,6,0.000,0.034,1931,3280,2094,0,0,0,0,0,0
$GC,11540,0.56,88.1,540.2,13.9,732,11544,0.00,2.15,0.00,0.000,4,0.000,0.031,1942,1874,2094,0,0,0,0,0,0
$GC,11567,0.56,88.1,536.3,11.9,733,11571,0.15,2.28,0.00,0.000,6,0.186,0.050,1905,3287,2092,0,0,0,0,0,0
$GC,11888,0.56,88.1,496.0,12.5,749,11891,0.00,1.08,0.00,0.000,4,0.000,0.057,1906,3951,2092,0,0,0,0,0,0
$GC,12001,0.56,88.1,480.9,13.2,754,12004,0.00,1.00,0.00,0.000,6,0.000,0.035,1909,3292,2092,0,0,0,0,0,0
$GC,12333,0.56,88.1,440.7,12.0,770,12336,0.00,1.08,0.00,0.000,4,0.000,0.059,1909,3955,2092,0,0,0,0,0,0
$GC,12461,0.56,88.1,423.4,13.1,775,12468,0.00,1.02,0.00,0.000,6,0.000,0.035,1915,3278,2092,0,0,0,0,0,0
$GC,12780,0.56,88.1,384.8,12.0,796,12781,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3278,2092,0,0,0,0,0,0
$GC,13100,0.56,88.1,345.7,11.9,826,13104,0.00,1.10,0.00,0.000,4,0.000,0.058,1914,3956,2092,0,0,0,0,0,0
$GC,13362,0.56,88.1,311.2,12.7,849,13366,0.00,1.00,0.00,0.000,6,0.000,0.034,1920,3294,2092,0,0,0,0,0,0
$GC,13692,0.56,88.1,273.2,11.1,880,13696,0.00,1.05,0.00,0.000,4,0.000,0.058,1919,3940,2092,0,0,0,0,0,0
$GC,13788,0.56,88.1,261.4,13.0,888,13797,0.00,1.00,0.00,0.000,6,0.000,0.034,1925,3282,2091,0,0,0,0,0,0
$GC,14113,0.56,88.1,223.2,11.3,919,14117,0.00,2.15,0.00,0.000,4,0.000,0.030,1936,1867,2091,0,0,0,0,0,0
$GC,14156,0.56,88.1,218.3,10.2,922,14164,0.10,2.30,0.00,0.000,6,0.159,0.050,1906,3280,2090,0,0,0,0,0,0
$GC,14484,0.56,88.1,182.6,11.2,953,14488,0.00,2.15,0.00,0.000,4,0.000,0.030,1916,1859,2089,0,0,0,0,0,0
$GC,14549,0.56,88.1,175.5,9.7,958,14557,0.00,2.33,0.00,0.000,6,0.000,0.050,1916,3282,2089,0,0,0,0,0,0
$GC,14877,0.56,88.1,137.4,12.0,989,14879,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3282,2090,0,0,0,0,0,0
$GC,15197,0.56,88.1,97.0,12.8,1021,15203,0.00,0.00,0.00,0.000,6,0.000,0.000,1916,3282,2089,0,0,0,0,0,0
$GC,15547,0.56,88.1,59.4,9.7,1082,15553,0.00,2.15,0.00,0.000,4,0.000,0.029,1926,1853,2089,0,0,0,0,0,0
$GC,15810,0.58,108.0,41.7,6.4,1128,15826,0.00,2.33,6.20,0.799,6,0.000,0.048,1927,3286,2030,0,0,0,0,0,0
$GC,16187,0.58,108.0,4.8,11.0,1190,16196,0.00,2.15,0.00,0.000,4,0.000,0.028,1938,1862,2030,0,0,0,0,0,0
$STATE,16205,end climb,SURFACE_DEPTH_REACHED
$STATE,16205,begin surface coast
$FINISH,0.6,1.025828
$STATE,16237,end surface coast,CONTROL_FINISHED_OK
$STATE,16237,begin surface
$SM_CCo,16252,46.33,0.757,0,0,1574,220.03
$SM_GC,1.45,0.00,0.00,46.33,0.000,0.000,0.757,46,3378,1574,-5.23,-0.06,220.03
$IRIDIUM_FIX,-4244.98,828.21,180114,222204
$TT8_MAMPS,0.025466
$HUMID,61.45
$INTERNAL_PRESSURE,9.59138
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,22.2,41.716
$10V_AH,9.8,32.241
$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,12.900,82.350,184.825,46.325,0.000,26.225,48.618,331.362,0.000,0.000,20.547,2964.675,10056.176,375.398,3172.852,273.520,0.000,1473.963,0.000,2640.210,0.000,1.012,0.000
$DEVICE_MAMPS,233.325,78.030,1840.590,756.585,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,828.474,2040.578,821.484,391.626,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354396
$DATA_FILE_SIZE,83828,1197
$CAP_FILE_SIZE,145467,0
$CFSIZE,259252224,237285376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190114,074352,-4259.562,829.446,37,0.8,37,-25.0