version: 66.07
glider: 543
mission: 9
dive: 335
start: 1 28 114 11 42 54
data:
$ID,543
$MISSION,9
$DIVE,335
$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,-13577.248
$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,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
$GPS1,280114,112735,-4300.154,830.179,27,1.1,27,-25.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-71.0
$GPS2,280114,114230,-4300.067,830.311,28,0.8,28,-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,311.5,440,-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,-46.72,0.000,6,0.000,0.000,62,3387,2685,0,0,0,0,0,0
$GC,69,-0.57,-91.8,3.4,-4.0,6,87,6.03,2.17,-4.28,0.000,4,0.226,0.041,1542,1956,2852,0,0,0,0,0,0
$GC,151,-0.57,-91.8,17.4,-13.3,18,160,0.00,2.35,0.00,0.000,6,0.000,0.050,1533,3380,2854,0,0,0,0,0,0
$GC,210,-0.57,-91.8,26.6,-17.2,27,216,0.00,0.93,0.00,0.000,4,0.000,0.057,1528,3955,2855,0,0,0,0,0,0
$GC,237,-0.57,-91.8,31.5,-18.2,31,244,0.00,0.88,0.00,0.000,6,0.000,0.034,1528,3376,2855,0,0,0,0,0,0
$GC,382,-0.57,-91.8,57.5,-16.0,56,389,0.00,2.12,0.00,0.000,4,0.000,0.028,1528,1965,2855,0,0,0,0,0,0
$GC,466,-0.57,-91.8,68.6,-11.5,70,473,0.00,2.28,0.00,0.000,6,0.000,0.050,1518,3380,2856,0,0,0,0,0,0
$GC,812,-0.57,-91.8,118.2,-13.6,120,813,0.00,0.00,0.00,0.000,6,0.000,0.000,1518,3380,2856,0,0,0,0,0,0
$GC,1131,-0.57,-91.8,163.3,-13.4,150,1135,0.00,2.12,0.00,0.000,4,0.000,0.027,1518,1959,2857,0,0,0,0,0,0
$GC,1163,-0.57,-91.8,167.7,-12.5,152,1173,0.08,2.30,0.00,0.000,6,0.137,0.049,1531,3377,2858,0,0,0,0,0,0
$GC,1488,-0.57,-91.8,206.5,-11.4,183,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3377,2858,0,0,0,0,0,0
$GC,1810,-0.57,-91.8,243.1,-11.7,213,1814,0.00,2.12,0.00,0.000,4,0.000,0.028,1531,1951,2858,0,0,0,0,0,0
$GC,1850,-0.57,-91.8,247.7,-10.0,216,1854,0.00,2.30,0.00,0.000,6,0.000,0.050,1522,3385,2858,0,0,0,0,0,0
$GC,2175,-0.57,-91.8,288.4,-13.1,246,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3385,2858,0,0,0,0,0,0
$GC,2494,-0.57,-91.8,330.1,-13.4,276,2496,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3385,2858,0,0,0,0,0,0
$GC,2814,-0.57,-91.8,371.1,-13.0,306,2818,0.00,2.12,0.00,0.000,4,0.000,0.027,1522,1961,2858,0,0,0,0,0,0
$GC,2857,-0.57,-91.8,376.9,-11.4,309,2865,0.00,2.30,0.00,0.000,6,0.000,0.050,1511,3378,2858,0,0,0,0,0,0
$GC,3189,-0.57,-91.8,423.2,-13.8,333,3190,0.00,0.00,0.00,0.000,6,0.000,0.000,1511,3378,2858,0,0,0,0,0,0
$GC,3498,-0.57,-91.8,466.7,-14.1,348,3502,0.00,2.10,0.00,0.000,4,0.000,0.027,1511,1959,2858,0,0,0,0,0,0
$GC,3524,-0.57,-91.8,470.6,-14.0,349,3530,0.10,2.33,0.00,0.000,6,0.135,0.050,1532,3382,2857,0,0,0,0,0,0
$GC,3847,-0.57,-91.8,505.9,-10.6,365,3851,0.00,2.12,0.00,0.000,4,0.000,0.028,1532,1960,2857,0,0,0,0,0,0
$GC,3901,-0.57,-91.8,511.7,-9.7,367,3908,0.00,2.33,0.00,0.000,6,0.000,0.051,1523,3383,2857,0,0,0,0,0,0
$GC,4219,-0.57,-91.8,546.5,-10.8,383,4222,0.00,0.90,0.00,0.000,4,0.000,0.057,1518,3950,2857,0,0,0,0,0,0
$GC,4287,-0.57,-91.8,554.6,-12.0,386,4291,0.00,0.85,0.00,0.000,6,0.000,0.034,1518,3379,2856,0,0,0,0,0,0
$GC,4620,-0.57,-91.8,591.6,-11.1,402,4623,0.00,2.12,0.00,0.000,4,0.000,0.028,1518,1961,2856,0,0,0,0,0,0
$GC,4663,-0.57,-91.8,596.2,-9.3,404,4668,0.00,2.30,0.00,0.000,6,0.000,0.051,1508,3385,2856,0,0,0,0,0,0
$GC,4992,-0.57,-91.8,636.9,-12.9,420,4993,0.00,0.00,0.00,0.000,6,0.000,0.000,1507,3385,2855,0,0,0,0,0,0
$GC,5300,-0.57,-91.8,676.0,-12.5,435,5304,0.00,2.12,0.00,0.000,4,0.000,0.028,1507,1955,2854,0,0,0,0,0,0
$GC,5355,-0.57,-91.8,682.5,-10.8,437,5362,0.15,2.30,0.00,0.000,6,0.161,0.052,1536,3381,2854,0,0,0,0,0,0
$GC,5672,-0.57,-91.8,715.0,-10.7,453,5676,0.00,2.12,0.00,0.000,4,0.000,0.029,1536,1963,2853,0,0,0,0,0,0
$GC,5692,-0.57,-91.8,717.5,-10.2,454,5697,0.00,2.33,0.00,0.000,6,0.000,0.053,1527,3379,2853,0,0,0,0,0,0
$GC,6020,-0.57,-91.8,753.4,-10.8,470,6022,0.00,0.00,0.00,0.000,6,0.000,0.000,1527,3379,2852,0,0,0,0,0,0
$GC,6329,-0.57,-91.8,785.4,-10.2,485,6333,0.00,2.15,0.00,0.000,4,0.000,0.029,1527,1963,2852,0,0,0,0,0,0
$GC,6379,-0.57,-92.0,790.2,-8.7,487,6383,0.00,2.33,0.00,0.000,6,0.000,0.053,1516,3391,2852,0,0,0,0,0,0
$GC,6701,-0.57,-92.0,824.0,-10.9,503,6705,0.00,2.15,0.00,0.000,4,0.000,0.029,1516,1966,2851,0,0,0,0,0,0
$GC,6772,-0.57,-92.0,831.2,-9.7,506,6777,0.08,2.33,0.00,0.000,6,0.138,0.053,1529,3380,2851,0,0,0,0,0,0
$GC,7094,-0.57,-92.0,861.8,-9.4,522,7098,0.00,2.17,0.00,0.000,4,0.000,0.030,1529,1951,2850,0,0,0,0,0,0
$GC,7128,-0.57,-92.0,865.1,-9.0,523,7134,0.00,2.33,0.00,0.000,6,0.000,0.054,1520,3383,2850,0,0,0,0,0,0
$GC,7443,-0.57,-92.0,898.0,-10.9,539,7447,0.00,2.15,0.00,0.000,4,0.000,0.029,1520,1955,2849,0,0,0,0,0,0
$GC,7475,-0.57,-92.0,901.5,-10.5,540,7482,0.00,2.33,0.00,0.000,6,0.000,0.053,1508,3389,2849,0,0,0,0,0,0
$GC,7793,-0.57,-92.0,938.4,-11.9,556,7796,0.00,0.90,0.00,0.000,4,0.000,0.060,1505,3949,2849,0,0,0,0,0,0
$GC,7819,-0.57,-92.0,942.1,-12.5,557,7824,0.12,0.88,0.00,0.000,6,0.175,0.035,1535,3379,2849,0,0,0,0,0,0
$GC,8147,-0.57,-92.0,973.0,-9.2,573,8151,0.00,2.12,0.00,0.000,4,0.000,0.030,1536,1956,2848,0,0,0,0,0,0
$GC,8197,-0.57,-100.1,977.4,-7.8,575,8201,0.00,2.33,0.00,0.000,6,0.000,0.053,1525,3387,2848,0,0,0,0,0,0
$STATE,8352,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8352,begin apogee
$GC,8357,-0.09,0.0,991.8,9.4,583,8455,0.55,0.00,90.95,1.859,6,0.146,0.000,1686,3294,2475,0,0,0,0,0,0
$STATE,8456,end apogee,CONTROL_FINISHED_OK
$STATE,8456,begin climb
$GC,8458,0.57,100.1,993.6,0.0,588,8567,0.65,0.00,106.12,1.799,6,0.065,0.000,1908,3294,2064,0,0,0,0,0,0
$GC,8867,0.57,100.1,938.8,16.6,608,8871,0.00,1.10,0.00,0.000,4,0.000,0.058,1908,3946,2054,0,0,0,0,0,0
$GC,9119,0.57,100.1,893.9,18.4,619,9123,0.00,1.05,0.00,0.000,6,0.000,0.034,1913,3276,2052,0,0,0,0,0,0
$GC,9448,0.57,100.1,841.7,14.9,635,9452,0.00,1.10,0.00,0.000,4,0.000,0.057,1913,3950,2050,0,0,0,0,0,0
$GC,9571,0.57,100.1,821.8,16.0,640,9575,0.00,1.02,0.00,0.000,6,0.000,0.034,1918,3286,2050,0,0,0,0,0,0
$GC,9893,0.57,100.1,776.7,13.9,656,9897,0.00,1.08,0.00,0.000,4,0.000,0.059,1918,3944,2049,0,0,0,0,0,0
$GC,10006,0.57,100.1,758.9,15.7,661,10010,0.00,1.00,0.00,0.000,6,0.000,0.035,1923,3289,2049,0,0,0,0,0,0
$GC,10338,0.57,100.1,711.5,13.6,677,10342,0.00,1.08,0.00,0.000,4,0.000,0.058,1923,3950,2048,0,0,0,0,0,0
$GC,10595,0.57,100.1,670.4,15.5,688,10600,0.00,1.05,0.00,0.000,6,0.000,0.034,1929,3269,2048,0,0,0,0,0,0
$GC,10918,0.57,100.1,624.6,14.0,704,10922,0.00,1.10,0.00,0.000,4,0.000,0.057,1929,3942,2046,0,0,0,0,0,0
$GC,11147,0.57,100.1,587.0,16.0,714,11152,0.00,1.02,0.00,0.000,6,0.000,0.034,1934,3277,2047,0,0,0,0,0,0
$GC,11475,0.57,100.1,539.0,14.6,730,11479,0.00,1.10,0.00,0.000,4,0.000,0.058,1934,3955,2046,0,0,0,0,0,0
$GC,11638,0.57,100.1,512.6,16.7,737,11642,0.10,1.02,0.00,0.000,6,0.197,0.034,1911,3274,2046,0,0,0,0,0,0
$GC,11965,0.57,100.1,468.1,13.4,753,11968,0.00,1.10,0.00,0.000,4,0.000,0.057,1911,3952,2044,0,0,0,0,0,0
$GC,12200,0.57,100.1,433.2,14.0,763,12204,0.00,1.00,0.00,0.000,6,0.000,0.034,1915,3289,2044,0,0,0,0,0,0
$GC,12523,0.57,100.1,390.1,12.8,782,12527,0.00,1.08,0.00,0.000,4,0.000,0.057,1915,3951,2043,0,0,0,0,0,0
$GC,12685,0.57,100.1,365.2,15.9,796,12695,0.00,1.00,0.00,0.000,6,0.000,0.034,1920,3291,2043,0,0,0,0,0,0
$GC,13010,0.57,100.1,320.3,14.7,827,13014,0.00,1.08,0.00,0.000,4,0.000,0.059,1920,3953,2043,0,0,0,0,0,0
$GC,13270,0.57,100.1,281.2,15.0,850,13274,0.00,1.02,0.00,0.000,6,0.000,0.034,1925,3272,2043,0,0,0,0,0,0
$GC,13603,0.57,100.1,238.6,12.4,881,13607,0.00,1.10,0.00,0.000,4,0.000,0.058,1925,3948,2042,0,0,0,0,0,0
$GC,13741,0.57,100.1,219.2,13.8,893,13744,0.00,1.00,0.00,0.000,6,0.000,0.034,1930,3284,2042,0,0,0,0,0,0
$GC,14071,0.57,100.1,175.8,13.3,924,14075,0.00,1.08,0.00,0.000,4,0.000,0.058,1930,3945,2042,0,0,0,0,0,0
$GC,14213,0.57,100.1,155.0,13.9,936,14222,0.08,1.00,0.00,0.000,6,0.196,0.033,1914,3278,2043,0,0,0,0,0,0
$GC,14537,0.57,100.1,117.1,10.6,967,14541,0.00,1.10,0.00,0.000,4,0.000,0.057,1913,3955,2042,0,0,0,0,0,0
$GC,14677,0.57,100.1,101.1,10.6,979,14684,0.00,1.00,0.00,0.000,6,0.000,0.033,1917,3290,2042,0,0,0,0,0,0
$GC,15030,0.57,100.1,65.6,9.3,1039,15036,0.00,1.08,0.00,0.000,4,0.000,0.057,1917,3952,2043,0,0,0,0,0,0
$GC,15296,0.57,100.1,37.4,8.9,1085,15303,0.00,1.00,0.00,0.000,6,0.000,0.032,1922,3284,2042,0,0,0,0,0,0
$GC,15445,0.57,100.1,24.1,9.2,1110,15454,0.00,1.08,0.00,0.000,4,0.000,0.057,1922,3953,2043,0,0,0,0,0,0
$GC,15614,0.57,100.1,7.5,9.5,1137,15623,0.00,1.00,0.00,0.000,6,0.000,0.032,1927,3284,2042,0,0,0,0,0,0
$STATE,15666,end climb,SURFACE_DEPTH_REACHED
$STATE,15666,begin surface coast
$FINISH,0.6,1.016659
$STATE,15705,end surface coast,CONTROL_FINISHED_OK
$STATE,15705,begin surface
$SM_CCo,15719,48.10,0.770,0,0,1572,220.03
$SM_GC,1.50,0.00,0.00,48.10,0.000,0.000,0.770,65,3401,1572,-5.17,0.59,220.03
$IRIDIUM_FIX,-4244.98,831.12,280114,111127
$TT8_MAMPS,0.026215
$HUMID,62.67
$INTERNAL_PRESSURE,9.57185
$TCM_TEMP,14.60
$XPDR_PINGS,0
$24V_AH,22.0,48.018
$10V_AH,9.7,38.150
$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,12.950,101.800,197.075,48.100,0.000,81.310,182.758,346.449,0.000,0.000,31.869,2902.475,9594.046,395.046,3488.258,278.287,0.000,1552.966,0.000,2723.370,0.000,1.014,0.000
$DEVICE_MAMPS,225.675,80.325,1858.950,769.590,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,797.513,1981.320,811.734,410.094,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354368
$DATA_FILE_SIZE,83850,1151
$CAP_FILE_SIZE,153832,0
$CFSIZE,259252224,233312256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280114,160658,-4300.125,829.217,39,0.8,39,-25.0