version: 66.07
glider: 543
mission: 9
dive: 316
start: 1 24 114 18 56 5
data:
$ID,543
$MISSION,9
$DIVE,316
$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,-13522.716
$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,50
$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
$GPS1,240114,184635,-4300.323,830.674,37,0.9,37,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-66.3
$GPS2,240114,185541,-4300.415,830.750,16,1.4,16,-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,332.1,1274,-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,-41.17,0.000,2,0.000,0.000,53,3374,2517,0,0,0,0,0,0
$GC,60,-0.56,-78.6,3.1,-5.5,5,79,6.25,0.98,-7.90,0.000,4,0.234,0.086,1530,3957,2797,0,0,0,0,0,0
$GC,282,-0.56,-78.6,41.4,-15.7,41,289,0.00,0.88,0.00,0.000,6,0.000,0.034,1530,3381,2802,0,0,0,0,0,0
$GC,634,-0.56,-78.6,92.7,-13.9,102,643,0.00,0.93,0.00,0.000,4,0.000,0.057,1525,3954,2803,0,0,0,0,0,0
$GC,695,-0.56,-78.6,101.3,-14.1,112,698,0.00,0.85,0.00,0.000,6,0.000,0.033,1525,3385,2803,0,0,0,0,0,0
$GC,1025,-0.56,-78.6,144.7,-12.8,143,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3384,2804,0,0,0,0,0,0
$GC,1347,-0.56,-78.6,187.9,-13.7,173,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3384,2804,0,0,0,0,0,0
$GC,1673,-0.56,-78.6,232.5,-13.8,204,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3384,2804,0,0,0,0,0,0
$GC,1992,-0.56,-78.6,274.4,-13.1,234,1995,0.00,0.90,0.00,0.000,4,0.000,0.057,1522,3946,2804,0,0,0,0,0,0
$GC,2118,-0.56,-78.6,291.9,-13.9,245,2122,0.00,0.85,0.00,0.000,6,0.000,0.034,1521,3379,2804,0,0,0,0,0,0
$GC,2449,-0.56,-78.6,335.9,-13.1,276,2453,0.00,0.93,0.00,0.000,4,0.000,0.057,1517,3958,2804,0,0,0,0,0,0
$GC,2487,-0.56,-78.6,341.3,-13.9,279,2494,0.00,0.88,0.00,0.000,6,0.000,0.033,1517,3379,2804,0,0,0,0,0,0
$GC,2812,-0.56,-78.6,383.9,-13.0,310,2816,0.00,2.12,0.00,0.000,4,0.000,0.028,1517,1959,2804,0,0,0,0,0,0
$GC,2829,-0.56,-78.6,386.2,-12.8,311,2834,0.12,2.28,0.00,0.000,6,0.165,0.050,1538,3384,2804,0,0,0,0,0,0
$GC,3165,-0.56,-78.6,423.5,-11.4,333,3169,0.00,0.90,0.00,0.000,4,0.000,0.058,1535,3952,2804,0,0,0,0,0,0
$GC,3192,-0.56,-78.6,427.2,-12.1,334,3196,0.00,0.88,0.00,0.000,6,0.000,0.033,1535,3373,2804,0,0,0,0,0,0
$GC,3519,-0.56,-78.6,465.4,-11.8,350,3523,0.00,2.10,0.00,0.000,4,0.000,0.028,1535,1963,2804,0,0,0,0,0,0
$GC,3562,-0.56,-78.6,470.4,-10.9,352,3566,0.00,2.30,0.00,0.000,6,0.000,0.051,1524,3388,2804,0,0,0,0,0,0
$GC,3890,-0.56,-78.6,511.8,-12.9,368,3894,0.00,0.90,0.00,0.000,4,0.000,0.059,1520,3954,2804,0,0,0,0,0,0
$GC,3950,-0.56,-78.6,520.4,-14.0,370,3957,0.00,0.88,0.00,0.000,6,0.000,0.034,1519,3377,2804,0,0,0,0,0,0
$GC,4267,-0.56,-78.6,561.6,-13.0,386,4270,0.00,0.93,0.00,0.000,4,0.000,0.059,1515,3955,2804,0,0,0,0,0,0
$GC,4327,-0.56,-78.6,570.1,-14.2,388,4335,0.00,0.88,0.00,0.000,6,0.000,0.034,1515,3382,2804,0,0,0,0,0,0
$GC,4643,-0.56,-78.6,610.0,-12.1,404,4647,0.00,2.12,0.00,0.000,4,0.000,0.028,1515,1964,2803,0,0,0,0,0,0
$GC,4676,-0.56,-78.6,614.0,-10.5,405,4684,0.08,2.33,0.00,0.000,6,0.135,0.052,1539,3382,2803,0,0,0,0,0,0
$GC,4992,-0.56,-78.6,643.7,-9.1,421,4995,0.00,0.90,0.00,0.000,4,0.000,0.061,1536,3948,2803,0,0,0,0,0,0
$GC,5030,-0.56,-78.6,647.6,-9.8,422,5037,0.00,0.88,0.00,0.000,6,0.000,0.034,1537,3366,2803,0,0,0,0,0,0
$GC,5347,-0.56,-78.6,677.7,-9.8,438,5349,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3366,2802,0,0,0,0,0,0
$GC,5655,-0.56,-78.6,707.4,-9.6,453,5656,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3366,2801,0,0,0,0,0,0
$GC,5965,-0.56,-78.6,736.9,-10.0,468,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3366,2800,0,0,0,0,0,0
$GC,6274,-0.56,-78.6,768.1,-10.2,483,6275,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3366,2800,0,0,0,0,0,0
$GC,6583,-0.56,-78.6,799.9,-10.4,498,6584,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3367,2799,0,0,0,0,0,0
$GC,6895,-0.56,-78.6,830.9,-10.0,513,6896,0.00,0.00,0.00,0.000,6,0.000,0.000,1536,3366,2799,0,0,0,0,0,0
$GC,7202,-0.56,-78.6,860.9,-9.4,528,7203,0.00,0.00,0.00,0.000,6,0.000,0.000,1537,3366,2798,0,0,0,0,0,0
$GC,7511,-0.56,-78.6,889.6,-9.4,543,7515,0.00,2.12,0.00,0.000,4,0.000,0.030,1537,1966,2798,0,0,0,0,0,0
$GC,7538,-0.56,-78.6,892.5,-10.0,544,7542,0.00,2.30,0.00,0.000,6,0.000,0.053,1526,3382,2798,0,0,0,0,0,0
$GC,7860,-0.56,-78.6,924.8,-10.0,560,7863,0.00,0.93,0.00,0.000,4,0.000,0.061,1522,3957,2798,0,0,0,0,0,0
$GC,7886,-0.56,-78.6,927.8,-11.1,561,7891,0.00,0.90,0.00,0.000,6,0.000,0.035,1521,3373,2798,0,0,0,0,0,0
$GC,8214,-0.56,-78.6,959.3,-9.3,577,8216,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3372,2798,0,0,0,0,0,0
$GC,8525,-0.56,-78.6,988.1,-9.3,592,8526,0.00,0.00,0.00,0.000,6,0.000,0.000,1521,3373,2797,0,0,0,0,0,0
$STATE,8542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8542,begin apogee
$GC,8547,-0.09,0.0,990.1,9.6,593,8629,0.57,0.00,78.97,1.854,6,0.155,0.000,1686,3288,2473,0,0,0,0,0,0
$STATE,8630,end apogee,CONTROL_FINISHED_OK
$STATE,8630,begin climb
$GC,8632,0.56,78.6,991.5,0.0,597,8723,0.62,2.42,82.55,1.802,4,0.067,0.030,1911,1871,2152,0,0,0,0,0,0
$GC,8739,0.56,78.6,984.5,9.9,601,8746,0.00,2.53,0.00,0.000,6,0.000,0.048,1911,3283,2150,0,0,0,0,0,0
$GC,9056,0.56,78.6,942.0,13.1,617,9059,0.00,1.10,0.00,0.000,4,0.000,0.057,1912,3948,2143,0,0,0,0,0,0
$GC,9168,0.56,78.6,925.2,14.7,622,9172,0.00,1.02,0.00,0.000,6,0.000,0.034,1917,3288,2142,0,0,0,0,0,0
$GC,9501,0.56,78.6,881.4,13.1,638,9502,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3288,2139,0,0,0,0,0,0
$GC,9811,0.56,78.6,841.5,12.9,653,9813,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3287,2137,0,0,0,0,0,0
$GC,10119,0.56,78.6,801.2,12.7,668,10123,0.00,1.10,0.00,0.000,4,0.000,0.058,1917,3959,2136,0,0,0,0,0,0
$GC,10247,0.56,78.6,782.5,15.8,673,10255,0.00,1.02,0.00,0.000,6,0.000,0.034,1922,3287,2136,0,0,0,0,0,0
$GC,10563,0.56,78.6,740.3,13.1,689,10567,0.00,1.10,0.00,0.000,4,0.000,0.059,1922,3961,2136,0,0,0,0,0,0
$GC,10635,0.56,78.6,729.6,15.0,692,10640,0.00,1.05,0.00,0.000,6,0.000,0.034,1927,3273,2135,0,0,0,0,0,0
$GC,10962,0.56,78.6,686.5,13.1,708,10966,0.00,2.15,0.00,0.000,4,0.000,0.032,1938,1875,2135,0,0,0,0,0,0
$GC,11010,0.56,78.6,680.7,11.4,710,11016,0.10,2.33,0.00,0.000,6,0.162,0.050,1908,3296,2134,0,0,0,0,0,0
$GC,11334,0.56,78.6,643.7,11.7,726,11338,0.00,1.05,0.00,0.000,4,0.000,0.059,1908,3943,2133,0,0,0,0,0,0
$GC,11520,0.56,78.6,618.5,14.2,734,11523,0.00,1.00,0.00,0.000,6,0.000,0.035,1911,3288,2133,0,0,0,0,0,0
$GC,11847,0.56,78.6,578.0,12.3,750,11848,0.00,0.00,0.00,0.000,6,0.000,0.000,1911,3288,2133,0,0,0,0,0,0
$GC,12156,0.56,78.6,540.7,12.1,765,12159,0.00,1.08,0.00,0.000,4,0.000,0.059,1912,3949,2133,0,0,0,0,0,0
$GC,12256,0.56,78.6,527.2,13.3,769,12260,0.00,1.00,0.00,0.000,6,0.000,0.034,1917,3284,2133,0,0,0,0,0,0
$GC,12577,0.56,78.6,489.3,11.6,785,12579,0.00,0.00,0.00,0.000,6,0.000,0.000,1917,3284,2133,0,0,0,0,0,0
$GC,12887,0.56,78.6,454.4,11.2,800,12890,0.00,1.08,0.00,0.000,4,0.000,0.058,1917,3948,2133,0,0,0,0,0,0
$GC,12992,0.56,78.6,441.1,12.7,804,13000,0.00,1.00,0.00,0.000,6,0.000,0.034,1922,3287,2133,0,0,0,0,0,0
$GC,13308,0.56,78.6,406.8,10.5,820,13309,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,3287,2132,0,0,0,0,0,0
$GC,13625,0.56,78.6,373.8,10.7,846,13629,0.00,1.08,0.00,0.000,4,0.000,0.058,1922,3949,2132,0,0,0,0,0,0
$GC,13651,0.56,78.6,370.6,10.9,848,13661,0.00,1.05,0.00,0.000,6,0.000,0.034,1926,3268,2132,0,0,0,0,0,0
$GC,13978,0.56,78.6,337.6,10.5,879,13979,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,3268,2132,0,0,0,0,0,0
$GC,14299,0.56,78.6,303.1,10.9,909,14303,0.00,1.12,0.00,0.000,4,0.000,0.058,1927,3957,2132,0,0,0,0,0,0
$GC,14413,0.56,78.6,288.5,12.1,919,14417,0.10,1.02,0.00,0.000,6,0.195,0.034,1905,3276,2132,0,0,0,0,0,0
$GC,14743,0.56,78.6,257.3,9.3,950,14744,0.00,0.00,0.00,0.000,6,0.000,0.000,1905,3276,2131,0,0,0,0,0,0
$GC,15063,0.56,78.6,225.9,9.6,980,15067,0.00,1.10,0.00,0.000,4,0.000,0.058,1904,3957,2131,0,0,0,0,0,0
$GC,15323,0.56,78.6,194.8,12.0,1003,15327,0.00,1.02,0.00,0.000,6,0.000,0.034,1908,3277,2131,0,0,0,0,0,0
$GC,15653,0.56,78.6,159.5,9.9,1034,15655,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3277,2131,0,0,0,0,0,0
$GC,15974,0.56,78.6,127.2,10.0,1064,15978,0.00,1.10,0.00,0.000,4,0.000,0.057,1907,3957,2131,0,0,0,0,0,0
$GC,16080,0.56,78.6,115.5,10.6,1073,16087,0.00,1.02,0.00,0.000,6,0.000,0.032,1913,3285,2131,0,0,0,0,0,0
$GC,16419,0.56,78.6,85.3,8.7,1119,16427,0.00,1.08,0.00,0.000,4,0.000,0.057,1913,3954,2131,0,0,0,0,0,0
$GC,16473,0.56,78.6,80.1,9.9,1128,16482,0.00,1.00,0.00,0.000,6,0.000,0.033,1918,3286,2131,0,0,0,0,0,0
$GC,16828,0.57,93.9,52.4,6.9,1189,16841,0.00,2.17,4.38,0.768,4,0.000,0.028,1929,1864,2089,0,0,0,0,0,0
$GC,17101,0.58,113.0,31.8,6.5,1236,17116,0.00,2.30,8.02,0.819,6,0.000,0.049,1929,3289,2011,0,0,0,0,0,0
$GC,17261,0.58,113.0,16.6,9.8,1262,17270,0.00,2.15,0.00,0.000,4,0.000,0.028,1940,1872,2009,0,0,0,0,0,0
$GC,17358,0.58,113.0,6.9,9.7,1277,17368,0.08,2.30,0.00,0.000,6,0.156,0.049,1916,3290,2007,0,0,0,0,0,0
$STATE,17405,end climb,SURFACE_DEPTH_REACHED
$STATE,17405,begin surface coast
$FINISH,0.7,1.025951
$STATE,17443,end surface coast,CONTROL_FINISHED_OK
$STATE,17444,begin surface
$SM_CCo,17457,43.97,0.757,0,0,1574,220.03
$SM_GC,1.42,0.00,0.00,43.97,0.000,0.000,0.757,60,3385,1574,-5.19,0.14,220.03
$IRIDIUM_FIX,-4242.04,827.77,240114,141453
$TT8_MAMPS,0.025466
$HUMID,61.30
$INTERNAL_PRESSURE,9.58162
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,22.1,45.449
$10V_AH,9.8,35.829
$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,12.975,75.600,173.925,43.975,0.000,28.047,46.824,328.451,0.000,0.000,18.596,3168.506,10926.507,352.458,3337.977,257.003,0.000,1515.960,0.000,2780.112,0.000,1.011,0.000
$DEVICE_MAMPS,234.090,101.745,1854.360,756.585,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,893.659,2197.890,890.632,432.780,0.000,0.000,0.000,0.000,0.000,0.000
$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,93802,1290
$CAP_FILE_SIZE,153710,0
$CFSIZE,259252224,234872832
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,240114,234904,-4259.383,829.969,40,0.9,40,-25.0