version: 66.07
glider: 543
mission: 9
dive: 308
start: 1 23 114 5 29 6
data:
$ID,543
$MISSION,9
$DIVE,308
$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,-13499.431
$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,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
$GPS1,230114,051935,-4300.182,830.575,42,1.0,42,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-68.0
$GPS2,230114,052842,-4300.244,830.636,17,1.8,17,-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,322.7,972,-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,-51.0,0.0,0.0,0,58,0.00,0.00,-41.22,0.000,2,0.000,0.000,50,3373,2507,0,0,0,0,0,0
$GC,60,-0.56,-81.1,3.2,-5.3,5,79,6.20,0.98,-8.45,0.000,4,0.232,0.088,1530,3954,2807,0,0,0,0,0,0
$GC,195,-0.56,-81.1,26.4,-16.8,26,204,0.00,0.88,0.00,0.000,6,0.000,0.034,1531,3378,2810,0,0,0,0,0,0
$GC,343,-0.56,-81.1,49.3,-15.5,51,351,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3379,2811,0,0,0,0,0,0
$GC,698,-0.56,-81.1,95.6,-12.7,112,705,0.00,0.93,0.00,0.000,4,0.000,0.057,1528,3955,2812,0,0,0,0,0,0
$GC,779,-0.56,-81.1,106.8,-14.2,122,783,0.00,0.85,0.00,0.000,6,0.000,0.033,1528,3384,2813,0,0,0,0,0,0
$GC,1112,-0.56,-81.1,150.5,-13.2,153,1116,0.00,2.15,0.00,0.000,4,0.000,0.027,1528,1956,2813,0,0,0,0,0,0
$GC,1166,-0.56,-81.1,156.9,-11.2,157,1171,0.00,2.30,0.00,0.000,6,0.000,0.050,1517,3384,2814,0,0,0,0,0,0
$GC,1491,-0.56,-81.1,200.5,-13.1,187,1495,0.00,2.12,0.00,0.000,4,0.000,0.028,1517,1962,2814,0,0,0,0,0,0
$GC,1534,-0.56,-81.1,206.2,-11.7,190,1542,0.08,2.30,0.00,0.000,6,0.146,0.049,1530,3376,2814,0,0,0,0,0,0
$GC,1862,-0.56,-81.1,247.2,-13.0,221,1865,0.00,0.90,0.00,0.000,4,0.000,0.057,1527,3942,2814,0,0,0,0,0,0
$GC,1922,-0.56,-81.1,255.9,-13.4,226,1930,0.00,0.85,0.00,0.000,6,0.000,0.033,1527,3379,2814,0,0,0,0,0,0
$GC,2251,-0.56,-81.1,296.8,-12.3,257,2254,0.00,2.12,0.00,0.000,4,0.000,0.027,1527,1951,2814,0,0,0,0,0,0
$GC,2280,-0.56,-81.1,300.6,-11.9,259,2284,0.00,2.30,0.00,0.000,6,0.000,0.049,1517,3380,2814,0,0,0,0,0,0
$GC,2606,-0.56,-81.1,342.3,-13.0,289,2610,0.00,0.93,0.00,0.000,4,0.000,0.058,1512,3950,2814,0,0,0,0,0,0
$GC,2641,-0.56,-81.1,347.2,-14.2,292,2644,0.00,0.85,0.00,0.000,6,0.000,0.033,1512,3375,2814,0,0,0,0,0,0
$GC,2971,-0.56,-81.1,392.2,-14.2,323,2975,0.00,2.10,0.00,0.000,4,0.000,0.027,1512,1962,2814,0,0,0,0,0,0
$GC,3004,-0.56,-81.1,396.7,-12.7,325,3012,0.12,2.28,0.00,0.000,6,0.168,0.049,1532,3384,2814,0,0,0,0,0,0
$GC,3331,-0.56,-81.1,434.1,-11.1,343,3335,0.00,2.12,0.00,0.000,4,0.000,0.028,1532,1961,2814,0,0,0,0,0,0
$GC,3358,-0.56,-81.1,437.2,-11.1,344,3362,0.00,2.33,0.00,0.000,6,0.000,0.050,1523,3385,2814,0,0,0,0,0,0
$GC,3680,-0.56,-81.1,474.9,-11.8,360,3681,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3386,2814,0,0,0,0,0,0
$GC,3989,-0.56,-81.1,511.5,-11.9,375,3993,0.00,2.12,0.00,0.000,4,0.000,0.028,1522,1959,2814,0,0,0,0,0,0
$GC,4043,-0.56,-81.1,517.6,-10.1,377,4048,0.00,2.35,0.00,0.000,6,0.000,0.052,1512,3390,2813,0,0,0,0,0,0
$GC,4366,-0.56,-81.1,557.6,-12.6,393,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,1512,3390,2813,0,0,0,0,0,0
$GC,4676,-0.56,-81.1,595.5,-12.4,408,4677,0.00,0.00,0.00,0.000,6,0.000,0.000,1512,3390,2812,0,0,0,0,0,0
$GC,4984,-0.56,-81.1,633.5,-12.3,423,4988,0.00,2.15,0.00,0.000,4,0.000,0.030,1512,1959,2812,0,0,0,0,0,0
$GC,5011,-0.56,-81.1,637.0,-13.0,424,5016,0.10,2.33,0.00,0.000,6,0.144,0.053,1532,3378,2812,0,0,0,0,0,0
$GC,5332,-0.56,-81.1,672.2,-11.0,440,5335,0.00,0.93,0.00,0.000,4,0.000,0.060,1529,3954,2811,0,0,0,0,0,0
$GC,5359,-0.56,-81.1,675.6,-12.3,441,5363,0.00,0.85,0.00,0.000,6,0.000,0.036,1529,3388,2811,0,0,0,0,0,0
$GC,5687,-0.56,-81.1,713.8,-11.7,457,5688,0.00,0.00,0.00,0.000,6,0.000,0.000,1529,3388,2811,0,0,0,0,0,0
$GC,5995,-0.56,-81.1,748.9,-11.3,472,5999,0.00,2.17,0.00,0.000,4,0.000,0.031,1529,1951,2810,0,0,0,0,0,0
$GC,6039,-0.56,-81.1,753.6,-10.0,474,6043,0.00,2.35,0.00,0.000,6,0.000,0.054,1518,3392,2810,0,0,0,0,0,0
$GC,6366,-0.56,-81.1,791.3,-11.9,490,6370,0.00,0.90,0.00,0.000,4,0.000,0.060,1514,3954,2809,0,0,0,0,0,0
$GC,6393,-0.56,-81.1,794.8,-12.3,491,6397,0.00,0.85,0.00,0.000,6,0.000,0.035,1514,3386,2809,0,0,0,0,0,0
$GC,6721,-0.56,-81.1,832.5,-11.3,507,6725,0.00,2.15,0.00,0.000,4,0.000,0.031,1514,1965,2809,0,0,0,0,0,0
$GC,6760,-0.56,-81.1,836.7,-10.2,509,6765,0.12,2.30,0.00,0.000,6,0.167,0.054,1534,3378,2809,0,0,0,0,0,0
$GC,7087,-0.56,-81.1,867.0,-9.0,525,7090,0.00,0.93,0.00,0.000,4,0.000,0.062,1531,3955,2809,0,0,0,0,0,0
$GC,7125,-0.56,-81.1,870.7,-9.7,526,7132,0.00,0.88,0.00,0.000,6,0.000,0.037,1531,3377,2809,0,0,0,0,0,0
$GC,7441,-0.56,-84.7,897.9,-8.3,542,7445,0.00,2.15,0.00,0.000,4,0.000,0.031,1531,1956,2808,0,0,0,0,0,0
$GC,7473,-0.57,-91.5,900.6,-7.9,543,7480,0.00,2.35,0.00,0.000,6,0.000,0.055,1521,3379,2808,0,0,0,0,0,0
$GC,7791,-0.57,-91.5,930.1,-9.5,559,7792,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3379,2807,0,0,0,0,0,0
$GC,8098,-0.57,-91.5,959.3,-9.6,574,8099,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3379,2807,0,0,0,0,0,0
$GC,8408,-0.57,-91.5,989.3,-10.1,589,8409,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3379,2806,0,0,0,0,0,0
$STATE,8427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8427,begin apogee
$GC,8432,-0.09,0.0,991.4,10.1,590,8516,0.57,0.00,81.12,1.861,6,0.155,0.000,1685,3287,2473,0,0,0,0,0,0
$STATE,8517,end apogee,CONTROL_FINISHED_OK
$STATE,8517,begin climb
$GC,8519,0.57,91.5,993.1,0.0,594,8624,0.65,2.50,96.20,1.801,4,0.069,0.031,1917,1864,2100,0,0,0,0,0,0
$GC,8636,0.57,91.5,984.6,12.5,600,8641,0.00,2.55,0.00,0.000,6,0.000,0.050,1917,3281,2099,0,0,0,0,0,0
$GC,8965,0.57,91.5,934.5,15.2,616,8969,0.00,1.12,0.00,0.000,4,0.000,0.060,1917,3953,2090,0,0,0,0,0,0
$GC,9222,0.57,91.5,892.2,16.5,627,9227,0.00,1.08,0.00,0.000,6,0.000,0.035,1922,3269,2088,0,0,0,0,0,0
$GC,9546,0.57,91.5,848.0,13.8,643,9550,0.00,1.12,0.00,0.000,4,0.000,0.057,1922,3955,2086,0,0,0,0,0,0
$GC,9573,0.57,91.5,843.7,15.0,644,9577,0.00,1.02,0.00,0.000,6,0.000,0.034,1927,3285,2086,0,0,0,0,0,0
$GC,9900,0.57,91.5,800.0,13.6,660,9904,0.00,1.10,0.00,0.000,4,0.000,0.058,1927,3958,2085,0,0,0,0,0,0
$GC,10148,0.57,91.5,762.5,15.3,671,10151,0.00,1.02,0.00,0.000,6,0.000,0.034,1932,3286,2084,0,0,0,0,0,0
$GC,10480,0.57,91.5,715.9,14.2,687,10484,0.00,1.08,0.00,0.000,4,0.000,0.058,1932,3954,2083,0,0,0,0,0,0
$GC,10643,0.57,91.5,690.3,17.1,694,10647,0.10,1.02,0.00,0.000,6,0.204,0.034,1910,3277,2083,0,0,0,0,0,0
$GC,10969,0.57,91.5,646.7,13.3,710,10973,0.00,1.10,0.00,0.000,4,0.000,0.058,1911,3955,2082,0,0,0,0,0,0
$GC,11226,0.57,91.5,607.9,15.5,721,11231,0.00,1.02,0.00,0.000,6,0.000,0.035,1914,3288,2082,0,0,0,0,0,0
$GC,11548,0.57,91.5,563.6,13.9,737,11552,0.00,1.10,0.00,0.000,4,0.000,0.058,1914,3961,2081,0,0,0,0,0,0
$GC,11805,0.57,91.5,524.6,15.7,748,11810,0.00,1.05,0.00,0.000,6,0.000,0.034,1920,3279,2081,0,0,0,0,0,0
$GC,12128,0.57,91.5,482.8,12.8,764,12132,0.00,1.10,0.00,0.000,4,0.000,0.058,1920,3956,2080,0,0,0,0,0,0
$GC,12356,0.57,91.5,449.7,14.6,774,12361,0.00,1.05,0.00,0.000,6,0.000,0.033,1925,3270,2080,0,0,0,0,0,0
$GC,12685,0.57,91.5,409.6,12.1,790,12688,0.00,1.10,0.00,0.000,4,0.000,0.057,1925,3954,2080,0,0,0,0,0,0
$GC,12811,0.57,91.5,392.8,12.8,797,12814,0.00,1.00,0.00,0.000,6,0.000,0.034,1930,3290,2080,0,0,0,0,0,0
$GC,13141,0.57,91.5,351.3,12.1,828,13142,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3289,2080,0,0,0,0,0,0
$GC,13461,0.57,91.5,313.4,11.6,858,13464,0.00,1.08,0.00,0.000,4,0.000,0.059,1930,3953,2080,0,0,0,0,0,0
$GC,13677,0.57,91.5,285.2,12.9,877,13681,0.10,1.00,0.00,0.000,6,0.196,0.034,1908,3285,2080,0,0,0,0,0,0
$GC,14007,0.57,91.5,251.5,10.8,908,14010,0.00,1.08,0.00,0.000,4,0.000,0.058,1905,3955,2079,0,0,0,0,0,0
$GC,14221,0.57,91.5,225.3,11.9,927,14225,0.00,1.00,0.00,0.000,6,0.000,0.034,1909,3292,2079,0,0,0,0,0,0
$GC,14552,0.57,91.5,189.0,11.0,958,14555,0.00,1.08,0.00,0.000,4,0.000,0.057,1909,3958,2079,0,0,0,0,0,0
$GC,14815,0.57,91.5,155.9,13.4,981,14819,0.00,1.02,0.00,0.000,6,0.000,0.034,1914,3277,2079,0,0,0,0,0,0
$GC,15146,0.57,91.5,118.5,11.4,1012,15147,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3277,2079,0,0,0,0,0,0
$GC,15474,0.57,91.5,81.1,12.0,1056,15484,0.00,2.17,0.00,0.000,4,0.000,0.030,1925,1860,2079,0,0,0,0,0,0
$GC,15508,0.57,91.5,77.5,10.7,1061,15515,0.00,2.30,0.00,0.000,6,0.000,0.049,1925,3290,2078,0,0,0,0,0,0
$GC,15859,0.57,98.5,41.6,7.9,1122,15867,0.00,1.05,0.00,0.000,4,0.000,0.056,1925,3953,2078,0,0,0,0,0,0
$GC,16094,0.57,98.5,17.4,9.9,1161,16102,0.00,1.00,0.00,0.000,6,0.000,0.034,1930,3285,2078,0,0,0,0,0,0
$GC,16154,0.57,98.7,12.1,8.7,1170,16162,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,3284,2078,0,0,0,0,0,0
$GC,16214,0.57,98.7,6.8,9.4,1179,16223,0.00,1.10,0.00,0.000,4,0.000,0.054,1930,3960,2078,0,0,0,0,0,0
$STATE,16254,end climb,SURFACE_DEPTH_REACHED
$STATE,16254,begin surface coast
$FINISH,0.5,1.022509
$STATE,16286,end surface coast,CONTROL_FINISHED_OK
$STATE,16287,begin surface
$SM_CCo,16300,51.83,0.780,0,0,1573,220.03
$SM_GC,1.05,0.00,0.00,51.83,0.000,0.000,0.780,56,3365,1573,-5.20,-0.42,220.03
$IRIDIUM_FIX,-4242.04,830.68,230114,000031
$TT8_MAMPS,0.026215
$HUMID,62.16
$INTERNAL_PRESSURE,9.57185
$TCM_TEMP,14.60
$XPDR_PINGS,0
$24V_AH,22.1,44.427
$10V_AH,9.8,34.833
$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,13.050,94.075,177.325,51.825,0.000,25.914,41.081,335.174,0.000,0.000,20.413,3002.660,9906.855,362.326,3336.884,287.777,0.000,1551.114,0.000,2795.813,0.000,1.011,0.000
$DEVICE_MAMPS,231.795,87.975,1861.245,779.535,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,824.616,2043.959,818.129,404.014,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354428
$DATA_FILE_SIZE,83782,1190
$CAP_FILE_SIZE,155841,0
$CFSIZE,259252224,235532288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230114,100254,-4259.422,829.722,38,1.6,38,-25.0