version: 66.07
glider: 543
mission: 9
dive: 345
start: 1 30 114 11 3 30
data:
$ID,543
$MISSION,9
$DIVE,345
$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,-13609.024
$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,42
$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
$GPS1,300114,105334,-4259.953,831.443,34,0.9,34,-25.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-69.7
$GPS2,300114,110306,-4259.946,831.614,16,1.5,16,-25.1
$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,292.5,2188,-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,-46.67,0.000,6,0.000,0.000,50,3391,2686,0,0,0,0,0,0
$GC,69,-0.57,-92.7,3.6,-3.9,6,87,6.15,0.00,-4.18,0.000,6,0.230,0.000,1528,3391,2854,0,0,0,0,0,0
$GC,138,-0.57,-92.7,18.9,-19.2,16,146,0.00,2.22,0.00,0.000,4,0.000,0.029,1530,1952,2857,0,0,0,0,0,0
$GC,188,-0.57,-92.7,27.1,-15.2,24,197,0.00,2.35,0.00,0.000,6,0.000,0.050,1521,3383,2858,0,0,0,0,0,0
$GC,338,-0.57,-92.7,51.2,-16.4,49,345,0.00,0.90,0.00,0.000,4,0.000,0.057,1517,3950,2858,0,0,0,0,0,0
$GC,379,-0.57,-92.7,58.3,-16.2,56,386,0.00,0.88,0.00,0.000,6,0.000,0.033,1517,3364,2858,0,0,0,0,0,0
$GC,730,-0.57,-92.7,111.5,-14.3,111,733,0.00,2.08,0.00,0.000,4,0.000,0.026,1517,1959,2859,0,0,0,0,0,0
$GC,761,-0.57,-92.7,115.3,-13.6,113,765,0.10,2.28,0.00,0.000,6,0.162,0.049,1531,3383,2860,0,0,0,0,0,0
$GC,1091,-0.57,-92.7,156.9,-12.6,144,1094,0.00,0.90,0.00,0.000,4,0.000,0.057,1528,3951,2860,0,0,0,0,0,0
$GC,1136,-0.57,-92.7,163.0,-13.5,148,1140,0.00,0.82,0.00,0.000,6,0.000,0.033,1528,3391,2860,0,0,0,0,0,0
$GC,1467,-0.57,-92.7,205.4,-12.8,179,1470,0.00,0.88,0.00,0.000,4,0.000,0.057,1524,3941,2860,0,0,0,0,0,0
$GC,1512,-0.57,-92.7,211.7,-14.4,183,1516,0.00,0.82,0.00,0.000,6,0.000,0.033,1524,3383,2860,0,0,0,0,0,0
$GC,1842,-0.57,-92.7,254.2,-12.2,214,1846,0.00,2.12,0.00,0.000,4,0.000,0.026,1524,1950,2860,0,0,0,0,0,0
$GC,1896,-0.57,-92.7,260.3,-9.9,218,1904,0.00,2.33,0.00,0.000,6,0.000,0.050,1513,3381,2861,0,0,0,0,0,0
$GC,2224,-0.57,-92.7,302.5,-13.5,249,2228,0.00,0.90,0.00,0.000,4,0.000,0.057,1509,3951,2861,0,0,0,0,0,0
$GC,2285,-0.57,-92.7,312.0,-15.1,254,2293,0.00,0.88,0.00,0.000,6,0.000,0.031,1509,3364,2861,0,0,0,0,0,0
$GC,2613,-0.57,-92.7,359.9,-14.8,285,2617,0.00,2.08,0.00,0.000,4,0.000,0.026,1509,1967,2861,0,0,0,0,0,0
$GC,2641,-0.57,-92.7,364.3,-14.9,287,2646,0.12,2.28,0.00,0.000,6,0.161,0.050,1530,3386,2861,0,0,0,0,0,0
$GC,2976,-0.57,-92.7,408.5,-13.0,315,2980,0.00,2.10,0.00,0.000,4,0.000,0.027,1530,1965,2861,0,0,0,0,0,0
$GC,3002,-0.57,-92.7,412.2,-12.9,316,3007,0.00,2.30,0.00,0.000,6,0.000,0.050,1521,3384,2861,0,0,0,0,0,0
$GC,3324,-0.57,-92.7,455.0,-13.7,332,3328,0.00,0.90,0.00,0.000,4,0.000,0.058,1517,3952,2861,0,0,0,0,0,0
$GC,3357,-0.57,-92.7,459.9,-14.1,333,3361,0.00,0.85,0.00,0.000,6,0.000,0.033,1517,3382,2861,0,0,0,0,0,0
$GC,3679,-0.57,-92.7,503.6,-13.2,349,3682,0.00,2.12,0.00,0.000,4,0.000,0.027,1517,1956,2861,0,0,0,0,0,0
$GC,3696,-0.57,-92.7,505.8,-13.2,350,3701,0.10,2.28,0.00,0.000,6,0.164,0.050,1530,3380,2861,0,0,0,0,0,0
$GC,4028,-0.57,-92.7,543.6,-10.7,366,4032,0.00,0.93,0.00,0.000,4,0.000,0.060,1527,3950,2860,0,0,0,0,0,0
$GC,4106,-0.57,-92.7,552.9,-11.4,369,4110,0.00,0.88,0.00,0.000,6,0.000,0.033,1527,3368,2860,0,0,0,0,0,0
$GC,4428,-0.57,-92.7,586.3,-10.3,385,4429,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3368,2860,0,0,0,0,0,0
$GC,4739,-0.57,-92.7,617.4,-9.9,400,4742,0.00,0.93,0.00,0.000,4,0.000,0.059,1523,3948,2859,0,0,0,0,0,0
$GC,4793,-0.57,-92.7,623.7,-11.1,402,4798,0.00,0.88,0.00,0.000,6,0.000,0.034,1523,3374,2859,0,0,0,0,0,0
$GC,5116,-0.57,-92.7,656.8,-10.3,418,5119,0.00,0.93,0.00,0.000,4,0.000,0.060,1519,3949,2858,0,0,0,0,0,0
$GC,5187,-0.57,-92.7,665.3,-11.6,421,5192,0.00,0.88,0.00,0.000,6,0.000,0.034,1519,3374,2858,0,0,0,0,0,0
$GC,5517,-0.57,-92.7,702.6,-11.7,437,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3374,2858,0,0,0,0,0,0
$GC,5825,-0.57,-92.7,739.6,-12.1,452,5829,0.00,0.93,0.00,0.000,4,0.000,0.060,1515,3948,2857,0,0,0,0,0,0
$GC,5880,-0.57,-92.7,747.0,-13.1,454,5884,0.00,0.88,0.00,0.000,6,0.000,0.034,1515,3378,2857,0,0,0,0,0,0
$GC,6204,-0.57,-92.7,786.4,-12.2,470,6208,0.00,0.93,0.00,0.000,4,0.000,0.060,1511,3951,2856,0,0,0,0,0,0
$GC,6249,-0.57,-92.7,792.6,-13.5,472,6253,0.00,0.85,0.00,0.000,6,0.000,0.035,1511,3386,2856,0,0,0,0,0,0
$GC,6582,-0.57,-92.7,834.0,-12.4,488,6586,0.00,2.12,0.00,0.000,4,0.000,0.029,1511,1959,2855,0,0,0,0,0,0
$GC,6602,-0.57,-92.7,836.8,-12.7,489,6607,0.10,2.33,0.00,0.000,6,0.138,0.052,1531,3375,2855,0,0,0,0,0,0
$GC,6932,-0.57,-92.7,870.6,-10.0,505,6936,0.00,0.93,0.00,0.000,4,0.000,0.060,1528,3953,2855,0,0,0,0,0,0
$GC,6993,-0.57,-92.7,877.7,-10.7,507,7000,0.00,0.88,0.00,0.000,6,0.000,0.036,1528,3378,2855,0,0,0,0,0,0
$GC,7309,-0.57,-92.7,908.7,-10.0,523,7313,0.00,0.93,0.00,0.000,4,0.000,0.061,1525,3950,2854,0,0,0,0,0,0
$GC,7342,-0.57,-92.7,912.4,-10.6,524,7346,0.00,0.88,0.00,0.000,6,0.000,0.035,1525,3380,2854,0,0,0,0,0,0
$GC,7665,-0.57,-92.7,943.4,-9.4,540,7667,0.00,0.00,0.00,0.000,6,0.000,0.000,1525,3379,2853,0,0,0,0,0,0
$GC,7974,-0.57,-92.7,973.0,-9.7,555,7977,0.00,0.93,0.00,0.000,4,0.000,0.062,1520,3950,2853,0,0,0,0,0,0
$GC,8023,-0.57,-92.7,978.4,-10.0,557,8027,0.00,0.88,0.00,0.000,6,0.000,0.035,1520,3380,2853,0,0,0,0,0,0
$STATE,8142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8142,begin apogee
$GC,8148,-0.09,0.0,990.2,9.8,563,8246,0.55,0.00,92.25,1.861,6,0.148,0.000,1680,3280,2473,0,0,0,0,0,0
$STATE,8246,end apogee,CONTROL_FINISHED_OK
$STATE,8246,begin climb
$GC,8249,0.57,92.7,992.1,0.0,568,8361,0.62,2.40,99.28,1.782,4,0.067,0.028,1910,1866,2097,0,0,0,0,1,0
$GC,8396,0.57,92.7,982.1,12.8,575,8401,0.00,2.50,0.00,0.000,6,0.000,0.050,1910,3287,2094,0,0,0,0,0,0
$GC,8723,0.57,92.7,934.4,14.7,591,8727,0.00,1.10,0.00,0.000,4,0.000,0.058,1910,3951,2086,0,0,0,0,0,0
$GC,8980,0.57,92.7,892.5,15.9,602,8985,0.00,1.05,0.00,0.000,6,0.000,0.034,1915,3278,2084,0,0,0,0,0,0
$GC,9302,0.57,92.7,845.1,14.4,618,9306,0.00,1.10,0.00,0.000,4,0.000,0.058,1915,3953,2083,0,0,0,0,0,0
$GC,9484,0.57,92.7,817.5,14.8,626,9487,0.00,1.02,0.00,0.000,6,0.000,0.034,1920,3284,2082,0,0,0,0,0,0
$GC,9816,0.57,92.7,769.9,13.9,642,9820,0.00,1.08,0.00,0.000,4,0.000,0.059,1920,3947,2081,0,0,0,0,0,0
$GC,9952,0.57,92.7,749.7,14.6,648,9955,0.00,1.00,0.00,0.000,6,0.000,0.035,1925,3292,2081,0,0,0,0,0,0
$GC,10284,0.57,92.7,705.4,13.0,664,10288,0.00,1.08,0.00,0.000,4,0.000,0.059,1925,3954,2080,0,0,0,0,0,0
$GC,10541,0.57,92.7,667.7,14.2,675,10546,0.00,1.05,0.00,0.000,6,0.000,0.034,1930,3274,2080,0,0,0,0,0,0
$GC,10863,0.57,92.7,626.0,13.0,691,10867,0.00,1.10,0.00,0.000,4,0.000,0.057,1930,3952,2079,0,0,0,0,0,0
$GC,10954,0.57,92.7,612.7,14.6,695,10958,0.10,1.02,0.00,0.000,6,0.197,0.035,1908,3277,2079,0,0,0,0,0,0
$GC,11287,0.57,92.7,570.6,12.4,711,11290,0.00,1.10,0.00,0.000,4,0.000,0.059,1908,3956,2079,0,0,0,0,0,0
$GC,11544,0.57,92.7,534.3,14.1,722,11548,0.00,1.00,0.00,0.000,6,0.000,0.034,1911,3293,2079,0,0,0,0,0,0
$GC,11866,0.57,92.7,494.0,12.1,738,11869,0.00,1.08,0.00,0.000,4,0.000,0.059,1912,3955,2078,0,0,0,0,0,0
$GC,12123,0.57,92.7,459.5,12.9,749,12127,0.00,1.05,0.00,0.000,6,0.000,0.034,1917,3272,2078,0,0,0,0,0,0
$GC,12445,0.57,92.7,422.4,11.2,765,12449,0.00,1.10,0.00,0.000,4,0.000,0.058,1917,3953,2077,0,0,0,0,0,0
$GC,12704,0.57,92.7,389.9,13.0,780,12708,0.00,1.00,0.00,0.000,6,0.000,0.034,1922,3291,2077,0,0,0,0,0,0
$GC,13035,0.57,92.7,353.1,11.2,811,13038,0.00,1.08,0.00,0.000,4,0.000,0.059,1922,3953,2077,0,0,0,0,0,0
$GC,13297,0.57,92.7,320.2,11.9,834,13300,0.00,1.00,0.00,0.000,6,0.000,0.034,1927,3289,2077,0,0,0,0,0,0
$GC,13630,0.57,92.7,280.2,12.1,865,13633,0.00,1.08,0.00,0.000,4,0.000,0.058,1927,3953,2077,0,0,0,0,0,0
$GC,13888,0.57,92.7,245.6,12.3,888,13892,0.00,1.00,0.00,0.000,6,0.000,0.034,1932,3289,2077,0,0,0,0,0,0
$GC,14218,0.57,92.7,207.7,10.3,919,14222,0.00,1.08,0.00,0.000,4,0.000,0.057,1932,3953,2077,0,0,0,0,0,0
$GC,14479,0.57,92.7,177.3,11.1,942,14483,0.10,1.00,0.00,0.000,6,0.191,0.033,1909,3283,2077,0,0,0,0,0,0
$GC,14811,0.57,92.7,145.0,10.2,973,14815,0.00,1.08,0.00,0.000,4,0.000,0.058,1905,3948,2076,0,0,0,0,0,0
$GC,15071,0.57,92.7,114.7,12.2,996,15075,0.00,1.00,0.00,0.000,6,0.000,0.034,1909,3285,2076,0,0,0,0,0,0
$GC,15410,0.57,92.7,78.8,9.3,1044,15418,0.00,1.08,0.00,0.000,4,0.000,0.058,1909,3955,2076,0,0,0,0,0,0
$GC,15627,0.57,92.7,57.9,9.0,1081,15634,0.00,1.00,0.00,0.000,6,0.000,0.033,1914,3289,2076,0,0,0,0,0,0
$GC,15981,0.59,129.3,35.5,4.5,1142,16004,0.00,2.20,14.35,0.895,4,0.000,0.028,1925,1857,1945,0,0,0,0,0,0
$GC,16114,0.60,149.6,28.1,6.4,1163,16130,0.00,2.30,8.48,0.814,6,0.000,0.049,1925,3289,1860,0,0,0,0,0,0
$GC,16278,0.60,149.6,11.1,11.6,1189,16286,0.00,2.17,0.00,0.000,4,0.000,0.028,1936,1871,1858,0,0,0,0,0,0
$GC,16301,0.60,149.6,8.1,11.8,1192,16310,0.00,2.30,0.00,0.000,6,0.000,0.049,1936,3282,1858,0,0,0,0,0,0
$STATE,16347,end climb,SURFACE_DEPTH_REACHED
$STATE,16347,begin surface coast
$FINISH,0.8,1.026030
$STATE,16374,end surface coast,CONTROL_FINISHED_OK
$STATE,16374,begin surface
$SM_CCo,16387,29.25,0.764,0,0,1573,220.03
$SM_GC,2.16,0.00,0.00,29.25,0.000,0.000,0.764,48,3386,1573,-5.23,0.17,220.03
$IRIDIUM_FIX,-4247.91,834.47,300114,060637
$TT8_MAMPS,0.026215
$HUMID,62.08
$INTERNAL_PRESSURE,9.57185
$TCM_TEMP,14.50
$XPDR_PINGS,0
$24V_AH,22.0,49.450
$10V_AH,9.7,39.396
$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,13.050,95.525,214.350,29.250,0.000,27.818,23.781,369.308,0.000,0.000,20.484,3063.619,9739.172,360.937,3518.946,300.746,0.000,1641.364,0.000,2953.463,0.000,1.011,0.000
$DEVICE_MAMPS,230.265,92.565,1861.245,764.235,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,833.526,2048.480,829.741,403.717,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354408
$DATA_FILE_SIZE,87169,1203
$CAP_FILE_SIZE,164240,0
$CFSIZE,259252224,232464384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300114,153822,-4300.198,831.411,37,0.9,37,-25.1