version: 66.07
glider: 543
mission: 9
dive: 295
start: 1 20 114 16 24 30
data:
$ID,543
$MISSION,9
$DIVE,295
$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,-13458.873
$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,46
$R_STBD_OVSHOOT,22
$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
$GPS1,200114,161506,-4259.623,830.425,42,0.8,42,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-64.6
$GPS2,200114,162406,-4259.574,830.678,18,0.9,18,-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,254.3,1211,-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,-41.67,0.000,2,0.000,0.000,61,3380,2541,0,0,0,0,0,0
$GC,61,-0.56,-80.0,3.3,-5.4,5,79,6.22,0.98,-7.00,0.000,4,0.238,0.087,1531,3961,2804,0,0,0,0,0,0
$GC,346,-0.56,-80.0,53.6,-17.3,52,353,0.00,0.88,0.00,0.000,6,0.000,0.033,1531,3378,2808,0,0,0,0,0,0
$GC,696,-0.56,-80.0,99.8,-12.2,113,702,0.00,0.93,0.00,0.000,4,0.000,0.057,1527,3956,2809,0,0,0,0,0,0
$GC,747,-0.56,-80.0,106.8,-13.7,118,754,0.00,0.88,0.00,0.000,6,0.000,0.031,1527,3376,2809,0,0,0,0,0,0
$GC,1075,-0.56,-80.0,150.9,-14.4,149,1079,0.00,2.12,0.00,0.000,4,0.000,0.027,1527,1959,2810,0,0,0,0,0,0
$GC,1095,-0.56,-80.0,154.3,-13.6,150,1103,0.00,2.30,0.00,0.000,6,0.000,0.049,1516,3377,2810,0,0,0,0,0,0
$GC,1423,-0.56,-80.0,199.5,-13.6,181,1427,0.00,0.93,0.00,0.000,4,0.000,0.056,1512,3953,2810,0,0,0,0,0,0
$GC,1516,-0.56,-80.0,213.0,-14.8,189,1520,0.00,0.85,0.00,0.000,6,0.000,0.033,1512,3375,2811,0,0,0,0,0,0
$GC,1847,-0.56,-80.0,259.6,-13.7,220,1850,0.00,0.90,0.00,0.000,4,0.000,0.057,1508,3940,2811,0,0,0,0,0,0
$GC,1893,-0.56,-80.0,266.4,-15.3,224,1897,0.08,0.82,0.00,0.000,6,0.169,0.033,1530,3385,2811,0,0,0,0,0,0
$GC,2222,-0.56,-80.0,306.1,-11.7,255,2226,0.00,0.90,0.00,0.000,4,0.000,0.057,1527,3951,2811,0,0,0,0,0,0
$GC,2249,-0.56,-80.0,309.8,-12.6,257,2257,0.00,0.85,0.00,0.000,6,0.000,0.033,1527,3376,2811,0,0,0,0,0,0
$GC,2575,-0.56,-80.0,349.0,-11.7,288,2578,0.00,2.10,0.00,0.000,4,0.000,0.028,1527,1962,2811,0,0,0,0,0,0
$GC,2626,-0.56,-80.0,354.3,-9.8,292,2630,0.00,2.28,0.00,0.000,6,0.000,0.050,1517,3381,2811,0,0,0,0,0,0
$GC,2950,-0.56,-80.0,396.6,-13.6,322,2954,0.00,0.90,0.00,0.000,4,0.000,0.057,1513,3946,2811,0,0,0,0,0,0
$GC,3097,-0.56,-80.0,418.4,-14.6,330,3101,0.00,0.85,0.00,0.000,6,0.000,0.034,1512,3377,2811,0,0,0,0,0,0
$GC,3418,-0.56,-80.0,463.1,-13.8,346,3422,0.00,2.10,0.00,0.000,4,0.000,0.028,1512,1964,2810,0,0,0,0,0,0
$GC,3449,-0.56,-80.0,467.4,-12.8,347,3457,0.10,2.30,0.00,0.000,6,0.145,0.050,1533,3380,2810,0,0,0,0,0,0
$GC,3766,-0.56,-80.0,505.5,-12.1,363,3770,0.00,0.93,0.00,0.000,4,0.000,0.060,1530,3944,2810,0,0,0,0,0,0
$GC,3879,-0.56,-80.0,520.1,-12.5,368,3883,0.00,0.82,0.00,0.000,6,0.000,0.034,1530,3389,2810,0,0,0,0,0,0
$GC,4212,-0.56,-80.0,559.5,-11.6,384,4216,0.00,2.15,0.00,0.000,4,0.000,0.028,1530,1953,2809,0,0,0,0,0,0
$GC,4233,-0.56,-80.0,562.0,-11.4,385,4237,0.00,2.30,0.00,0.000,6,0.000,0.052,1519,3381,2809,0,0,0,0,0,0
$GC,4560,-0.56,-80.0,600.0,-11.4,401,4564,0.00,0.90,0.00,0.000,4,0.000,0.059,1515,3944,2808,0,0,0,0,0,0
$GC,4644,-0.56,-80.0,610.7,-12.4,404,4651,0.00,0.82,0.00,0.000,6,0.000,0.034,1515,3386,2808,0,0,0,0,0,0
$GC,4961,-0.56,-80.0,647.3,-11.3,420,4965,0.00,0.90,0.00,0.000,4,0.000,0.060,1511,3948,2807,0,0,0,0,0,0
$GC,5006,-0.56,-80.0,653.1,-12.5,422,5010,0.00,0.85,0.00,0.000,6,0.000,0.035,1511,3382,2807,0,0,0,0,0,0
$GC,5339,-0.56,-80.0,692.7,-11.8,438,5343,0.00,0.90,0.00,0.000,4,0.000,0.060,1506,3945,2807,0,0,0,0,0,0
$GC,5400,-0.56,-80.0,700.6,-13.0,440,5408,0.08,0.88,0.00,0.000,6,0.203,0.034,1527,3372,2807,0,0,0,0,0,0
$GC,5716,-0.56,-80.0,734.1,-10.8,456,5717,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3371,2806,0,0,0,0,0,0
$GC,6025,-0.56,-80.0,766.8,-10.7,471,6026,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3371,2806,0,0,0,0,0,0
$GC,6336,-0.56,-80.0,799.3,-10.3,486,6337,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3371,2805,0,0,0,0,0,0
$GC,6644,-0.56,-80.0,830.7,-9.8,501,6645,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3371,2805,0,0,0,0,0,0
$GC,6953,-0.56,-80.0,862.0,-10.3,516,6954,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3371,2804,0,0,0,0,0,0
$GC,7262,-0.56,-80.0,894.6,-10.8,531,7264,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3371,2803,0,0,0,0,0,0
$GC,7572,-0.56,-80.0,928.9,-11.0,546,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3371,2803,0,0,0,0,0,0
$GC,7883,-0.56,-80.0,962.0,-10.4,561,7887,0.00,2.15,0.00,0.000,4,0.000,0.031,1527,1964,2802,0,0,0,0,0,0
$GC,7904,-0.56,-80.0,964.5,-10.9,562,7908,0.00,2.33,0.00,0.000,6,0.000,0.054,1518,3373,2802,0,0,0,0,0,0
$STATE,8147,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8147,begin apogee
$GC,8153,-0.09,0.0,990.8,10.9,574,8233,0.57,0.00,77.62,1.859,6,0.158,0.000,1682,3294,2473,0,0,0,0,0,0
$STATE,8234,end apogee,CONTROL_FINISHED_OK
$STATE,8234,begin climb
$GC,8236,0.56,80.0,993.3,0.0,578,8331,0.62,2.47,84.12,1.808,4,0.074,0.030,1908,1870,2146,0,0,0,0,0,0
$GC,8374,0.56,80.0,983.2,11.2,584,8380,0.00,2.50,0.00,0.000,6,0.000,0.050,1909,3283,2142,0,0,0,0,0,0
$GC,8697,0.56,80.0,939.8,13.4,600,8700,0.00,1.12,0.00,0.000,4,0.000,0.058,1909,3957,2136,0,0,0,0,0,0
$GC,8810,0.56,80.0,923.3,14.3,605,8813,0.00,1.05,0.00,0.000,6,0.000,0.035,1914,3281,2135,0,0,0,0,0,0
$GC,9142,0.56,80.0,878.2,13.7,621,9146,0.00,1.10,0.00,0.000,4,0.000,0.057,1914,3953,2134,0,0,0,0,0,0
$GC,9247,0.56,80.0,862.1,15.7,625,9255,0.00,1.05,0.00,0.000,6,0.000,0.034,1919,3277,2133,0,0,0,0,0,0
$GC,9566,0.56,80.0,819.4,13.6,641,9567,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3278,2131,0,0,0,0,0,0
$GC,9873,0.56,80.0,778.3,12.7,656,9874,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3277,2130,0,0,0,0,0,0
$GC,10183,0.56,80.0,739.2,12.8,671,10186,0.00,1.10,0.00,0.000,4,0.000,0.058,1919,3954,2129,0,0,0,0,0,0
$GC,10265,0.56,80.0,727.6,14.2,674,10273,0.00,1.05,0.00,0.000,6,0.000,0.034,1924,3274,2129,0,0,0,0,0,0
$GC,10582,0.56,80.0,686.7,13.2,690,10585,0.00,1.10,0.00,0.000,4,0.000,0.058,1924,3951,2128,0,0,0,0,0,0
$GC,10754,0.56,80.0,660.9,14.7,697,10762,0.00,1.02,0.00,0.000,6,0.000,0.034,1929,3286,2128,0,0,0,0,0,0
$GC,11071,0.56,80.0,619.4,12.4,713,11075,0.00,2.17,0.00,0.000,4,0.000,0.032,1940,1874,2127,0,0,0,0,0,0
$GC,11120,0.56,80.0,613.7,11.5,715,11125,0.12,2.33,0.00,0.000,6,0.168,0.050,1904,3291,2126,0,0,0,0,0,0
$GC,11441,0.56,80.0,576.7,11.3,731,11444,0.00,1.08,0.00,0.000,4,0.000,0.058,1904,3954,2126,0,0,0,0,0,0
$GC,11608,0.56,80.0,555.5,12.1,738,11613,0.00,1.02,0.00,0.000,6,0.000,0.034,1907,3286,2126,0,0,0,0,0,0
$GC,11929,0.56,80.0,520.0,11.2,754,11930,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3286,2126,0,0,0,0,0,0
$GC,12239,0.56,80.0,486.6,10.8,769,12240,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3286,2125,0,0,0,0,0,0
$GC,12548,0.56,80.0,454.0,10.1,784,12552,0.00,1.08,0.00,0.000,4,0.000,0.060,1908,3948,2125,0,0,0,0,0,0
$GC,12699,0.56,80.0,436.6,12.1,790,12706,0.00,1.00,0.00,0.000,6,0.000,0.035,1912,3284,2125,0,0,0,0,0,0
$GC,13015,0.56,80.0,402.8,10.8,806,13019,0.00,2.17,0.00,0.000,4,0.000,0.031,1924,1860,2125,0,0,0,0,0,0
$GC,13047,0.56,80.0,399.5,9.5,807,13054,0.00,2.33,0.00,0.000,6,0.000,0.049,1924,3288,2124,0,0,0,0,0,0
$GC,13372,0.56,80.0,363.2,11.3,838,13376,0.00,1.08,0.00,0.000,4,0.000,0.057,1924,3956,2125,0,0,0,0,0,0
$GC,13508,0.56,80.0,346.5,12.6,850,13512,0.00,1.02,0.00,0.000,6,0.000,0.035,1929,3278,2124,0,0,0,0,0,0
$GC,13841,0.56,80.0,310.1,10.9,881,13842,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,3277,2124,0,0,0,0,0,0
$GC,14158,0.56,80.0,274.0,11.4,911,14161,0.00,1.10,0.00,0.000,4,0.000,0.057,1929,3956,2124,0,0,0,0,0,0
$GC,14355,0.56,80.0,248.5,11.2,928,14365,0.12,1.05,0.00,0.000,6,0.219,0.033,1907,3272,2124,0,0,0,0,0,0
$GC,14681,0.56,80.0,216.0,9.5,959,14684,0.00,1.10,0.00,0.000,4,0.000,0.057,1904,3951,2124,0,0,0,0,0,0
$GC,14760,0.56,80.0,207.6,10.9,966,14763,0.00,1.00,0.00,0.000,6,0.000,0.034,1908,3287,2124,0,0,0,0,0,0
$GC,15093,0.56,80.0,174.7,9.8,997,15097,0.00,2.17,0.00,0.000,4,0.000,0.030,1919,1857,2125,0,0,0,0,0,0
$GC,15204,0.56,83.9,164.7,8.2,1006,15211,0.00,2.33,0.00,0.000,6,0.000,0.050,1919,3281,2124,0,0,0,0,0,0
$GC,15531,0.56,83.9,132.7,10.0,1037,15535,0.00,1.08,0.00,0.000,4,0.000,0.056,1919,3956,2124,0,0,0,0,0,0
$GC,15566,0.56,83.9,128.9,10.6,1040,15569,0.00,1.02,0.00,0.000,6,0.000,0.034,1924,3274,2124,0,0,0,0,0,0
$GC,15898,0.56,88.7,94.8,8.1,1075,15906,0.00,2.15,1.50,0.390,4,0.000,0.027,1935,1860,2110,0,0,0,0,0,0
$GC,16007,0.56,88.7,84.0,10.4,1093,16015,0.12,2.30,0.00,0.000,6,0.175,0.048,1905,3291,2110,0,0,0,0,0,0
$GC,16360,0.58,110.2,53.3,6.2,1154,16376,0.00,2.20,9.50,0.917,4,0.000,0.028,1915,1862,2021,0,0,0,0,0,0
$GC,16607,0.58,110.2,32.8,8.7,1195,16613,0.00,2.30,0.00,0.000,6,0.000,0.049,1915,3289,2020,0,0,0,0,0,0
$GC,16760,0.58,110.2,17.7,10.1,1220,16769,0.00,1.05,0.00,0.000,4,0.000,0.055,1915,3951,2019,0,0,0,0,0,0
$GC,16882,0.58,110.2,3.6,10.8,1239,16891,0.00,1.00,0.00,0.000,6,0.000,0.031,1920,3274,2019,0,0,0,0,0,0
$STATE,16898,end climb,SURFACE_DEPTH_REACHED
$STATE,16898,begin surface coast
$FINISH,0.6,1.018998
$STATE,16936,end surface coast,CONTROL_FINISHED_OK
$STATE,16936,begin surface
$SM_CCo,16950,45.83,0.761,0,0,1575,220.03
$SM_GC,1.28,0.00,0.00,45.83,0.000,0.000,0.761,47,3388,1575,-5.23,0.23,220.03
$IRIDIUM_FIX,-4242.04,833.59,200114,111153
$TT8_MAMPS,0.026215
$HUMID,61.14
$INTERNAL_PRESSURE,9.58162
$TCM_TEMP,14.80
$XPDR_PINGS,0
$24V_AH,22.2,42.721
$10V_AH,9.8,33.225
$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,13.100,90.750,172.750,45.825,0.000,32.412,41.275,321.539,0.000,0.000,21.126,3102.972,10453.303,360.696,3343.052,272.680,0.000,1538.961,0.000,2796.560,0.000,1.010,0.000
$DEVICE_MAMPS,237.915,87.210,1858.950,761.175,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,863.834,2135.564,857.608,405.104,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354392
$DATA_FILE_SIZE,90598,1247
$CAP_FILE_SIZE,156703,0
$CFSIZE,259252224,236609536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200114,210905,-4300.201,829.847,42,1.0,42,-25.0