version: 66.07
glider: 543
mission: 9
dive: 350
start: 1 31 114 11 11 17
data:
$ID,543
$MISSION,9
$DIVE,350
$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,-13625.346
$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,24
$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
$GPS1,310114,104858,-4300.574,831.319,40,0.8,40,-25.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-61.1
$GPS2,310114,111053,-4300.826,831.510,16,1.3,16,-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,331.9,2555,-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,-51.0,0.0,0.0,0,59,0.00,0.00,-41.85,0.000,2,0.000,0.000,59,3363,2552,0,0,0,0,0,0
$GC,61,-0.56,-82.9,3.2,-5.1,5,80,6.22,0.98,-6.85,0.000,4,0.236,0.084,1529,3954,2814,0,0,0,0,0,0
$GC,282,-0.56,-82.9,42.0,-17.5,41,288,0.00,0.88,0.00,0.000,6,0.000,0.033,1532,3373,2818,0,0,0,0,0,0
$GC,634,-0.56,-82.9,87.8,-12.7,102,642,0.00,2.15,0.00,0.000,4,0.000,0.028,1532,1959,2819,0,0,0,0,0,0
$GC,655,-0.56,-82.9,90.2,-11.4,105,664,0.00,2.30,0.00,0.000,6,0.000,0.049,1523,3378,2819,0,0,0,0,0,0
$GC,993,-0.56,-82.9,134.0,-13.2,143,997,0.00,0.90,0.00,0.000,4,0.000,0.055,1518,3948,2819,0,0,0,0,0,0
$GC,1065,-0.56,-82.9,144.7,-14.4,149,1073,0.00,0.88,0.00,0.000,6,0.000,0.031,1518,3367,2819,0,0,0,0,0,0
$GC,1392,-0.56,-82.9,188.6,-13.1,180,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,1518,3367,2820,0,0,0,0,0,0
$GC,1711,-0.56,-82.9,230.3,-13.0,210,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,1518,3367,2820,0,0,0,0,0,0
$GC,2030,-0.56,-82.9,271.1,-12.9,240,2031,0.00,0.00,0.00,0.000,6,0.000,0.000,1518,3367,2820,0,0,0,0,0,0
$GC,2347,-0.56,-82.9,313.1,-13.2,270,2351,0.00,2.08,0.00,0.000,4,0.000,0.026,1518,1966,2820,0,0,0,0,0,0
$GC,2376,-0.56,-82.9,316.6,-12.6,272,2381,0.10,2.28,0.00,0.000,6,0.166,0.050,1533,3387,2820,0,0,0,0,0,0
$GC,2701,-0.56,-82.9,353.1,-10.7,302,2705,0.00,0.88,0.00,0.000,4,0.000,0.057,1530,3941,2820,0,0,0,0,0,0
$GC,2750,-0.56,-82.9,359.1,-11.9,306,2758,0.00,0.85,0.00,0.000,6,0.000,0.032,1530,3377,2820,0,0,0,0,0,0
$GC,3078,-0.56,-82.9,395.5,-11.1,337,3082,0.00,2.10,0.00,0.000,4,0.000,0.028,1530,1966,2820,0,0,0,0,0,0
$GC,3099,-0.56,-82.9,398.2,-11.2,338,3107,0.00,2.28,0.00,0.000,6,0.000,0.050,1520,3374,2820,0,0,0,0,0,0
$GC,3417,-0.56,-82.9,433.7,-11.2,355,3418,0.00,0.00,0.00,0.000,6,0.000,0.000,1519,3374,2820,0,0,0,0,0,0
$GC,3726,-0.56,-82.9,468.5,-11.1,370,3730,0.00,2.10,0.00,0.000,4,0.000,0.027,1520,1965,2819,0,0,0,0,0,0
$GC,3769,-0.56,-82.9,473.0,-9.5,372,3774,0.00,2.30,0.00,0.000,6,0.000,0.050,1509,3380,2819,0,0,0,0,0,0
$GC,4098,-0.56,-82.9,512.6,-12.4,388,4099,0.00,0.00,0.00,0.000,6,0.000,0.000,1509,3380,2819,0,0,0,0,0,0
$GC,4406,-0.56,-82.9,549.7,-11.7,403,4410,0.00,2.15,0.00,0.000,4,0.000,0.028,1509,1959,2818,0,0,0,0,0,0
$GC,4440,-0.56,-82.9,553.6,-10.4,404,4447,0.15,2.30,0.00,0.000,6,0.158,0.050,1538,3387,2817,0,0,0,0,0,0
$GC,4756,-0.56,-82.9,582.3,-9.2,420,4757,0.00,0.00,0.00,0.000,6,0.000,0.000,1538,3387,2817,0,0,0,0,0,0
$GC,5065,-0.56,-82.9,610.4,-8.8,435,5069,0.00,2.15,0.00,0.000,4,0.000,0.028,1538,1957,2816,0,0,0,0,0,0
$GC,5091,-0.56,-83.1,612.8,-8.7,436,5095,0.00,2.28,0.00,0.000,6,0.000,0.051,1528,3381,2816,0,0,0,0,0,0
$GC,5415,-0.56,-83.1,643.5,-10.1,452,5416,0.00,0.00,0.00,0.000,6,0.000,0.000,1528,3381,2815,0,0,0,0,0,0
$GC,5722,-0.56,-83.1,674.8,-10.3,467,5726,0.00,2.12,0.00,0.000,4,0.000,0.028,1528,1964,2815,0,0,0,0,0,0
$GC,5749,-0.56,-83.1,677.6,-9.7,468,5754,0.00,2.30,0.00,0.000,6,0.000,0.051,1518,3374,2814,0,0,0,0,0,0
$GC,6072,-0.56,-83.1,713.2,-11.6,484,6075,0.00,2.12,0.00,0.000,4,0.000,0.028,1518,1959,2814,0,0,0,0,0,0
$GC,6098,-0.56,-83.1,716.4,-11.3,485,6103,0.08,2.33,0.00,0.000,6,0.137,0.051,1531,3379,2814,0,0,0,0,0,0
$GC,6420,-0.56,-83.1,751.0,-11.1,501,6421,0.00,0.00,0.00,0.000,6,0.000,0.000,1531,3379,2813,0,0,0,0,0,0
$GC,6731,-0.56,-83.1,785.8,-11.4,516,6735,0.00,2.12,0.00,0.000,4,0.000,0.029,1531,1967,2813,0,0,0,0,0,0
$GC,6774,-0.56,-83.1,791.0,-9.8,518,6779,0.00,2.33,0.00,0.000,6,0.000,0.052,1522,3383,2813,0,0,0,0,0,0
$GC,7102,-0.56,-83.1,830.8,-12.3,534,7103,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3383,2813,0,0,0,0,0,0
$GC,7413,-0.56,-83.1,867.0,-11.0,549,7414,0.00,0.00,0.00,0.000,6,0.000,0.000,1522,3383,2812,0,0,0,0,0,0
$GC,7720,-0.56,-83.1,900.1,-10.8,564,7724,0.00,2.15,0.00,0.000,4,0.000,0.030,1522,1959,2812,0,0,0,0,0,0
$GC,7748,-0.56,-83.1,902.9,-11.0,565,7752,0.00,2.35,0.00,0.000,6,0.000,0.054,1511,3386,2811,0,0,0,0,0,0
$GC,8069,-0.56,-83.1,937.6,-10.8,581,8070,0.00,0.00,0.00,0.000,6,0.000,0.000,1511,3385,2811,0,0,0,0,0,0
$GC,8378,-0.56,-83.1,970.7,-10.5,596,8382,0.00,2.15,0.00,0.000,4,0.000,0.031,1511,1965,2810,0,0,0,0,0,0
$GC,8428,-0.56,-83.1,975.7,-9.0,598,8433,0.12,2.30,0.00,0.000,6,0.161,0.054,1532,3391,2810,0,0,0,0,0,0
$STATE,8598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8598,begin apogee
$GC,8603,-0.09,0.0,990.0,8.2,606,8689,0.50,0.00,82.57,1.873,6,0.150,0.000,1681,3298,2473,0,0,0,0,0,0
$STATE,8689,end apogee,CONTROL_FINISHED_OK
$STATE,8690,begin climb
$GC,8691,0.56,83.1,991.6,0.0,610,8788,0.62,2.45,87.78,1.810,4,0.070,0.029,1910,1865,2135,0,0,0,0,0,0
$GC,8826,0.56,83.1,982.2,11.8,616,8831,0.00,2.50,0.00,0.000,6,0.000,0.050,1910,3280,2131,0,0,0,0,0,0
$GC,9148,0.56,83.1,938.8,13.4,632,9152,0.00,1.10,0.00,0.000,4,0.000,0.057,1910,3947,2124,0,0,0,0,0,0
$GC,9276,0.56,83.1,918.8,15.4,637,9284,0.00,1.05,0.00,0.000,6,0.000,0.034,1915,3275,2123,0,0,0,0,0,0
$GC,9592,0.56,83.1,874.9,13.7,653,9594,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,3275,2122,0,0,0,0,0,0
$GC,9902,0.56,83.1,830.7,14.5,668,9906,0.00,1.10,0.00,0.000,4,0.000,0.058,1915,3954,2120,0,0,0,0,0,0
$GC,10160,0.56,83.1,791.2,15.3,679,10164,0.00,1.00,0.00,0.000,6,0.000,0.034,1920,3291,2120,0,0,0,0,0,0
$GC,10481,0.56,83.1,747.7,13.5,695,10482,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,3291,2118,0,0,0,0,0,0
$GC,10791,0.56,83.1,707.3,12.4,710,10794,0.00,1.08,0.00,0.000,4,0.000,0.058,1920,3954,2117,0,0,0,0,0,0
$GC,10837,0.56,83.1,701.3,13.5,712,10840,0.00,1.02,0.00,0.000,6,0.000,0.034,1926,3276,2117,0,0,0,0,0,0
$GC,11169,0.56,83.1,660.7,11.8,728,11173,0.00,1.10,0.00,0.000,4,0.000,0.058,1925,3955,2117,0,0,0,0,0,0
$GC,11252,0.56,83.1,649.5,13.2,731,11260,0.00,1.02,0.00,0.000,6,0.000,0.034,1930,3282,2117,0,0,0,0,0,0
$GC,11569,0.56,83.1,613.2,11.7,747,11572,0.00,1.10,0.00,0.000,4,0.000,0.058,1930,3959,2116,0,0,0,0,0,0
$GC,11825,0.56,83.1,578.9,13.4,758,11830,0.10,1.02,0.00,0.000,6,0.194,0.034,1908,3285,2116,0,0,0,0,0,0
$GC,12146,0.56,83.1,545.1,10.4,774,12150,0.00,1.08,0.00,0.000,4,0.000,0.057,1908,3957,2115,0,0,0,0,0,0
$GC,12398,0.56,83.1,515.1,11.8,785,12402,0.00,1.02,0.00,0.000,6,0.000,0.034,1912,3285,2115,0,0,0,0,0,0
$GC,12726,0.56,83.1,481.3,9.9,801,12729,0.00,1.08,0.00,0.000,4,0.000,0.057,1912,3952,2115,0,0,0,0,0,0
$GC,12809,0.56,83.1,471.8,10.9,804,12816,0.00,1.00,0.00,0.000,6,0.000,0.033,1917,3288,2115,0,0,0,0,0,0
$GC,13125,0.56,83.1,440.0,10.0,820,13129,0.00,1.08,0.00,0.000,4,0.000,0.057,1917,3956,2114,0,0,0,0,0,0
$GC,13264,0.56,83.1,424.5,11.1,826,13268,0.00,1.00,0.00,0.000,6,0.000,0.034,1922,3292,2114,0,0,0,0,0,0
$GC,13583,0.56,83.1,393.5,9.5,844,13586,0.00,1.08,0.00,0.000,4,0.000,0.057,1922,3959,2115,0,0,0,0,0,0
$GC,13757,0.56,83.1,374.1,11.1,859,13764,0.00,1.05,0.00,0.000,6,0.000,0.033,1927,3271,2115,0,0,0,0,0,0
$GC,14082,0.56,83.1,342.2,9.8,890,14086,0.00,1.10,0.00,0.000,4,0.000,0.057,1927,3954,2114,0,0,0,0,0,0
$GC,14344,0.56,83.1,311.2,11.1,913,14348,0.10,1.00,0.00,0.000,6,0.191,0.034,1904,3287,2114,0,0,0,0,0,0
$GC,14675,0.56,83.1,279.9,9.4,944,14679,0.00,1.08,0.00,0.000,4,0.000,0.057,1904,3954,2114,0,0,0,0,0,0
$GC,14779,0.56,83.1,269.3,9.6,953,14783,0.00,1.00,0.00,0.000,6,0.000,0.034,1908,3290,2114,0,0,0,0,0,0
$GC,15110,0.56,86.7,239.0,8.3,984,15111,0.00,0.00,0.00,0.000,6,0.000,0.000,1908,3289,2114,0,0,0,0,0,0
$GC,15429,0.56,86.7,210.3,9.4,1014,15433,0.00,1.08,0.00,0.000,4,0.000,0.057,1907,3960,2114,0,0,0,0,0,0
$GC,15571,0.56,86.7,195.3,10.5,1026,15578,0.00,1.02,0.00,0.000,6,0.000,0.033,1913,3280,2114,0,0,0,0,0,0
$GC,15898,0.56,86.7,165.4,8.7,1057,15902,0.00,1.08,0.00,0.000,4,0.000,0.057,1912,3953,2114,0,0,0,0,0,0
$GC,16071,0.56,86.7,147.2,9.6,1072,16081,0.00,1.02,0.00,0.000,6,0.000,0.032,1918,3281,2114,0,0,0,0,0,0
$GC,16398,0.56,86.7,117.9,9.1,1103,16399,0.00,0.00,0.00,0.000,6,0.000,0.000,1918,3281,2114,0,0,0,0,0,0
$GC,16726,0.56,86.9,88.6,8.7,1144,16733,0.00,2.12,0.00,0.000,4,0.000,0.028,1929,1862,2114,0,0,0,0,0,0
$GC,16836,0.56,86.9,78.7,8.8,1163,16843,0.00,2.30,0.00,0.000,6,0.000,0.048,1929,3297,2113,0,0,0,0,0,0
$GC,17186,0.57,92.3,54.3,8.1,1224,17196,0.00,2.17,1.90,0.301,4,0.000,0.026,1940,1857,2095,0,0,0,0,0,0
$GC,17456,0.59,133.5,35.3,4.0,1270,17480,0.00,2.30,18.40,0.892,6,0.000,0.049,1940,3277,1926,0,0,0,0,0,0
$GC,17624,0.59,133.5,19.2,11.2,1297,17632,0.00,2.15,0.00,0.000,4,0.000,0.028,1951,1870,1922,0,0,0,0,0,0
$STATE,17760,end climb,SURFACE_DEPTH_REACHED
$STATE,17761,begin surface coast
$FINISH,0.5,1.015427
$STATE,17788,end surface coast,CONTROL_FINISHED_OK
$STATE,17788,begin surface
$SM_CCo,17804,35.75,0.761,0,0,1573,220.03
$SM_GC,1.37,0.00,0.00,35.75,0.000,0.000,0.761,68,3394,1573,-5.16,0.40,220.03
$IRIDIUM_FIX,-4247.91,831.55,310114,111159
$TT8_MAMPS,0.026215
$HUMID,62.01
$INTERNAL_PRESSURE,9.57185
$TCM_TEMP,14.90
$XPDR_PINGS,0
$24V_AH,22.0,50.144
$10V_AH,9.7,40.042
$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,13.225,100.050,190.650,35.750,0.000,164.436,280.112,458.046,0.000,0.000,20.173,3276.584,11160.411,353.477,4032.021,326.816,0.000,1603.147,0.000,2969.970,0.000,1.013,0.000
$DEVICE_MAMPS,235.620,84.150,1873.485,761.175,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,0.000,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,917.109,2237.010,903.865,416.092,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354412
$DATA_FILE_SIZE,93526,1323
$CAP_FILE_SIZE,166702,0
$CFSIZE,259252224,232026112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310114,161022,-4300.802,831.755,68,0.9,68,-25.1