version: 66.07
glider: 543
mission: 9
dive: 336
start: 1 28 114 16 22 53
data:
$ID,543
$MISSION,9
$DIVE,336
$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,482.49722
$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,-13579.639
$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,31
$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
$GPS1,280114,160658,-4300.125,829.217,39,0.8,39,-25.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-66.5
$GPS2,280114,162230,-4300.166,829.252,16,1.2,16,-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,98.1,1059,-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,-41.10,0.000,2,0.000,0.000,63,3401,2534,0,0,0,0,0,0
$GC,61,-0.56,-80.8,3.3,-5.3,5,79,6.15,0.93,-7.53,0.000,4,0.233,0.089,1529,3954,2806,0,0,0,0,0,0
$GC,345,-0.56,-80.8,50.6,-14.7,52,352,0.00,0.88,0.00,0.000,6,0.000,0.033,1529,3372,2810,0,0,0,0,0,0
$GC,694,-0.56,-80.8,101.6,-14.2,112,697,0.00,0.90,0.00,0.000,4,0.000,0.057,1526,3930,2811,0,0,0,0,0,0
$GC,822,-0.56,-80.8,118.6,-13.5,123,829,0.00,0.85,0.00,0.000,6,0.000,0.032,1525,3372,2811,0,0,0,0,0,0
$GC,1147,-0.56,-80.8,157.4,-12.4,154,1151,0.00,2.10,0.00,0.000,4,0.000,0.028,1525,1970,2812,0,0,0,0,0,0
$GC,1202,-0.56,-80.8,163.5,-9.8,158,1210,0.00,2.28,0.00,0.000,6,0.000,0.049,1515,3377,2812,0,0,0,0,0,0
$GC,1530,-0.56,-80.8,205.2,-13.0,189,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,1515,3377,2813,0,0,0,0,0,0
$GC,1847,-0.56,-80.8,248.2,-13.8,219,1848,0.00,0.00,0.00,0.000,6,0.000,0.000,1515,3377,2812,0,0,0,0,0,0
$GC,2168,-0.56,-80.8,294.4,-14.4,249,2175,0.00,0.00,0.00,0.000,6,0.000,0.000,1515,3377,2812,0,0,0,0,0,0
$GC,2494,-0.56,-80.8,340.2,-13.8,280,2498,0.00,2.12,0.00,0.000,4,0.000,0.027,1515,1967,2812,0,0,0,0,0,0
$GC,2554,-0.56,-80.8,347.0,-10.9,285,2559,0.12,2.28,0.00,0.000,6,0.157,0.050,1537,3383,2812,0,0,0,0,0,0
$GC,2879,-0.56,-80.8,383.7,-11.1,315,2882,0.00,0.90,0.00,0.000,4,0.000,0.057,1533,3950,2812,0,0,0,0,0,0
$GC,2917,-0.56,-80.8,388.2,-11.2,318,2924,0.00,0.85,0.00,0.000,6,0.000,0.033,1533,3378,2812,0,0,0,0,0,0
$GC,3236,-0.56,-80.8,421.8,-10.4,339,3240,0.00,2.10,0.00,0.000,4,0.000,0.028,1533,1966,2812,0,0,0,0,0,0
$GC,3262,-0.56,-80.8,424.5,-9.1,340,3267,0.00,2.30,0.00,0.000,6,0.000,0.050,1523,3381,2812,0,0,0,0,0,0
$GC,3584,-0.56,-80.8,460.8,-11.7,356,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3381,2812,0,0,0,0,0,0
$GC,3893,-0.56,-80.8,498.6,-12.5,371,3894,0.00,0.00,0.00,0.000,6,0.000,0.000,1523,3382,2811,0,0,0,0,0,0
$GC,4203,-0.56,-80.8,536.9,-12.2,386,4207,0.00,2.12,0.00,0.000,4,0.000,0.028,1523,1967,2811,0,0,0,0,0,0
$GC,4242,-0.56,-80.8,541.3,-11.1,388,4247,0.00,2.30,0.00,0.000,6,0.000,0.050,1512,3391,2811,0,0,0,0,0,0
$GC,4569,-0.56,-80.8,582.0,-12.7,404,4570,0.00,0.00,0.00,0.000,6,0.000,0.000,1512,3391,2810,0,0,0,0,0,0
$GC,4878,-0.56,-80.8,621.5,-12.3,419,4880,0.00,0.00,0.00,0.000,6,0.000,0.000,1512,3391,2809,0,0,0,0,0,0
$GC,5188,-0.56,-80.8,659.8,-12.5,434,5189,0.00,0.00,0.00,0.000,6,0.000,0.000,1512,3391,2809,0,0,0,0,0,0
$GC,5499,-0.56,-80.8,697.5,-12.4,449,5500,0.00,0.00,0.00,0.000,6,0.000,0.000,1512,3391,2808,0,0,0,0,0,0
$GC,5807,-0.56,-80.8,735.9,-12.6,464,5811,0.00,2.15,0.00,0.000,4,0.000,0.029,1512,1965,2807,0,0,0,0,0,0
$GC,5855,-0.56,-80.8,742.0,-12.0,466,5860,0.08,2.33,0.00,0.000,6,0.138,0.051,1526,3383,2807,0,0,0,0,0,0
$GC,6178,-0.56,-80.8,779.3,-11.7,482,6179,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3383,2807,0,0,0,0,0,0
$GC,6486,-0.56,-80.8,815.0,-11.5,497,6487,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3383,2806,0,0,0,0,0,0
$GC,6795,-0.56,-80.8,850.8,-11.5,512,6799,0.00,2.12,0.00,0.000,4,0.000,0.030,1526,1959,2806,0,0,0,0,0,0
$GC,6827,-0.56,-80.8,854.6,-10.8,513,6835,0.00,2.35,0.00,0.000,6,0.000,0.053,1517,3384,2806,0,0,0,0,0,0
$GC,7144,-0.56,-80.8,891.7,-11.9,529,7145,0.00,0.00,0.00,0.000,6,0.000,0.000,1517,3384,2805,0,0,0,0,0,0
$GC,7454,-0.56,-80.8,926.4,-11.1,544,7458,0.00,2.15,0.00,0.000,4,0.000,0.031,1517,1966,2804,0,0,0,0,0,0
$GC,7495,-0.56,-80.8,930.8,-10.3,546,7500,0.12,2.33,0.00,0.000,6,0.161,0.054,1537,3390,2804,0,0,0,0,0,0
$GC,7822,-0.56,-80.8,961.1,-9.2,562,7825,0.00,2.15,0.00,0.000,4,0.000,0.031,1537,1970,2804,0,0,0,0,0,0
$GC,7865,-0.57,-93.4,965.1,-7.3,564,7869,0.00,2.33,0.00,0.000,6,0.000,0.054,1528,3377,2803,0,0,0,0,0,0
$STATE,8151,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8151,begin apogee
$GC,8157,-0.09,0.0,991.7,9.3,578,8241,0.52,0.00,80.78,1.863,6,0.147,0.000,1681,3295,2474,0,0,0,0,0,0
$STATE,8242,end apogee,CONTROL_FINISHED_OK
$STATE,8242,begin climb
$GC,8243,0.57,93.4,993.3,0.0,582,8346,0.62,0.00,98.57,1.800,6,0.073,0.000,1899,3295,2092,0,0,0,0,0,0
$GC,8654,0.57,93.4,942.2,14.3,602,8656,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,3295,2082,0,0,0,0,0,0
$GC,8963,0.57,93.4,897.0,14.6,617,8965,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,3295,2079,0,0,0,0,0,0
$GC,9273,0.57,93.4,853.9,13.8,632,9274,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,3295,2077,0,0,0,0,0,0
$GC,9583,0.57,93.4,812.5,12.7,647,9584,0.00,0.00,0.00,0.000,6,0.000,0.000,1898,3295,2077,0,0,0,0,0,0
$GC,9892,0.57,93.4,773.2,12.3,662,9893,0.00,0.00,0.00,0.000,6,0.000,0.000,1899,3295,2076,0,0,0,0,0,0
$GC,10202,0.57,93.4,736.2,11.8,677,10206,0.00,1.08,0.00,0.000,4,0.000,0.060,1898,3945,2075,0,0,0,0,0,0
$GC,10248,0.57,93.4,730.2,12.8,679,10252,0.00,1.02,0.00,0.000,6,0.000,0.035,1903,3276,2076,0,0,0,0,0,0
$GC,10581,0.57,93.4,687.4,13.3,695,10582,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,3276,2075,0,0,0,0,0,0
$GC,10892,0.57,93.4,646.6,13.3,710,10895,0.00,1.10,0.00,0.000,4,0.000,0.059,1904,3949,2074,0,0,0,0,0,0
$GC,11087,0.57,93.4,617.8,14.3,718,11095,0.00,1.02,0.00,0.000,6,0.000,0.034,1909,3281,2074,0,0,0,0,0,0
$GC,11404,0.57,93.4,575.2,13.7,734,11407,0.00,1.08,0.00,0.000,4,0.000,0.059,1909,3940,2074,0,0,0,0,0,0
$GC,11453,0.57,93.4,567.3,16.3,736,11458,0.00,1.02,0.00,0.000,6,0.000,0.034,1914,3275,2074,0,0,0,0,0,0
$GC,11780,0.57,93.4,521.6,14.0,752,11782,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,3276,2073,0,0,0,0,0,0
$GC,12090,0.57,93.4,480.1,13.0,767,12094,0.00,1.10,0.00,0.000,4,0.000,0.059,1914,3952,2073,0,0,0,0,0,0
$GC,12150,0.57,93.4,471.7,13.5,769,12158,0.00,1.02,0.00,0.000,6,0.000,0.034,1919,3285,2073,0,0,0,0,0,0
$GC,12467,0.57,93.4,433.5,11.7,785,12468,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,3285,2072,0,0,0,0,0,0
$GC,12780,0.57,93.4,396.9,12.1,801,12783,0.00,1.05,0.00,0.000,4,0.000,0.059,1919,3935,2072,0,0,0,0,0,0
$GC,12803,0.57,93.4,393.5,12.9,803,12806,0.00,1.00,0.00,0.000,6,0.000,0.034,1924,3280,2072,0,0,0,0,0,0
$GC,13133,0.57,93.4,350.2,13.8,834,13137,0.00,1.08,0.00,0.000,4,0.000,0.059,1924,3943,2072,0,0,0,0,0,0
$GC,13160,0.57,93.4,346.1,14.2,836,13170,0.00,1.02,0.00,0.000,6,0.000,0.034,1929,3278,2072,0,0,0,0,0,0
$GC,13486,0.57,93.4,301.9,13.4,867,13489,0.00,1.08,0.00,0.000,4,0.000,0.059,1929,3941,2072,0,0,0,0,0,0
$GC,13543,0.57,93.4,293.6,14.4,872,13547,0.00,1.00,0.00,0.000,6,0.000,0.034,1934,3281,2072,0,0,0,0,0,0
$GC,13873,0.57,93.4,247.8,13.1,903,13878,0.12,2.12,0.00,0.000,4,0.200,0.030,1914,1867,2071,0,0,0,0,0,0
$GC,13894,0.57,93.4,245.1,12.6,904,13903,0.00,2.30,0.00,0.000,6,0.000,0.050,1914,3283,2070,0,0,0,0,0,0
$GC,14219,0.57,93.4,206.0,12.1,935,14223,0.00,1.08,0.00,0.000,4,0.000,0.057,1914,3952,2070,0,0,0,0,0,0
$GC,14303,0.57,93.4,195.2,12.8,942,14311,0.00,1.00,0.00,0.000,6,0.000,0.034,1919,3287,2070,0,0,0,0,0,0
$GC,14631,0.57,93.4,157.6,11.5,973,14634,0.00,1.08,0.00,0.000,4,0.000,0.058,1919,3954,2070,0,0,0,0,0,0
$GC,14692,0.57,93.4,149.2,13.2,978,14700,0.00,1.00,0.00,0.000,6,0.000,0.033,1924,3292,2070,0,0,0,0,0,0
$GC,15019,0.57,93.4,110.7,11.7,1009,15023,0.00,2.17,0.00,0.000,4,0.000,0.029,1935,1857,2070,0,0,0,0,0,0
$GC,15074,0.57,93.4,104.9,10.8,1013,15079,0.12,2.30,0.00,0.000,6,0.181,0.049,1906,3287,2070,0,0,0,0,0,0
$GC,15424,0.57,93.4,68.1,10.3,1069,15430,0.00,1.05,0.00,0.000,4,0.000,0.057,1905,3942,2070,0,0,0,0,0,0
$GC,15632,0.57,93.4,48.0,9.2,1105,15638,0.00,1.00,0.00,0.000,6,0.000,0.033,1909,3275,2070,0,0,0,0,0,0
$GC,15990,0.58,115.4,23.5,6.2,1166,16005,0.00,2.17,7.30,0.784,4,0.000,0.029,1920,1860,2000,0,0,0,0,0,0
$GC,16112,0.59,125.4,15.1,7.5,1185,16122,0.00,2.30,3.95,0.600,6,0.000,0.049,1920,3279,1959,0,0,0,0,0,0
$GC,16174,0.59,125.4,8.9,10.9,1194,16182,0.00,1.08,0.00,0.000,4,0.000,0.057,1920,3954,1959,0,0,0,0,0,0
$GC,16216,0.59,125.4,3.9,12.4,1200,16225,0.00,1.00,0.00,0.000,6,0.000,0.032,1925,3288,1958,0,0,0,0,0,0
$STATE,16232,end climb,SURFACE_DEPTH_REACHED
$STATE,16232,begin surface coast
$FINISH,0.7,1.011722
$STATE,16259,end surface coast,CONTROL_FINISHED_OK
$STATE,16259,begin surface
$SM_CCo,16272,149.98,0.740,0,0,503,482.50
$SM_GC,1.40,0.00,0.00,149.98,0.000,0.000,0.740,57,3393,503,-5.20,0.37,482.50
$IRIDIUM_FIX,-4242.04,831.12,280114,161639
$TT8_MAMPS,0.026215
$HUMID,60.51
$INTERNAL_PRESSURE,9.47419
$TCM_TEMP,14.30
$XPDR_PINGS,0
$24V_AH,22.0,48.166
$10V_AH,9.7,38.274
$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,12.925,77.375,190.600,149.975,0.000,149.834,402.039,0.000,0.000,0.000,19.055,2941.839,10470.793,476.805,3171.907,288.305,0.000,1514.941,0.000,2508.616,0.000,1.011,0.000
$DEVICE_MAMPS,232.560,88.740,1862.775,739.755,0.000,103.000,160.000,0.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,835.753,2062.007,844.732,438.370,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354512
$DATA_FILE_SIZE,87200,1206
$CAP_FILE_SIZE,138264,0
$CFSIZE,259252224,233201664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280114,205752,-4259.989,832.557,39,1.1,39,-25.1