version: 66.07
glider: 543
mission: 9
dive: 371
start: 2 5 114 4 41 58
data:
$ID,543
$MISSION,9
$DIVE,371
$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,-13694.405
$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,44
$R_STBD_OVSHOOT,34
$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
$GPS1,050214,043105,-4301.327,818.748,25,1.7,25,-25.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-73.6
$GPS2,050214,044135,-4301.321,818.903,15,1.5,15,-25.0
$SPEED_LIMITS,0.150,0.228
$TGT_NAME,SAZ
$TGT_LATLONG,-4300.000,750.000
$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,298.6,39224,-17.0,-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,-0.40,-121.7,0.0,0.0,0,58,0.00,0.00,-41.05,0.000,2,0.000,0.000,46,3397,2517,0,0,0,0,0,0
$GC,61,-0.40,-121.7,3.1,-3.6,5,87,6.28,2.22,-12.62,0.000,4,0.224,0.041,1582,1952,2973,0,0,0,0,0,0
$GC,103,-0.40,-121.7,9.2,-14.2,10,112,0.00,2.33,0.00,0.000,6,0.000,0.050,1573,3365,2974,0,0,0,0,0,0
$GC,163,-0.40,-121.7,16.4,-12.9,19,172,0.00,0.95,0.00,0.000,4,0.000,0.058,1569,3954,2975,0,0,0,0,0,0
$GC,221,-0.40,-121.7,24.7,-14.1,28,230,0.00,0.88,0.00,0.000,6,0.000,0.033,1569,3370,2975,0,0,0,0,0,0
$GC,372,-0.40,-121.7,47.2,-16.1,53,379,0.00,0.93,0.00,0.000,4,0.000,0.059,1564,3947,2976,0,0,0,0,0,0
$GC,472,-0.40,-121.7,61.6,-14.3,70,479,0.00,0.85,0.00,0.000,6,0.000,0.033,1565,3379,2976,0,0,0,0,0,0
$GC,828,-0.40,-121.7,101.4,-10.1,131,832,0.00,2.10,0.00,0.000,4,0.000,0.026,1564,1961,2978,0,0,0,0,0,0
$GC,892,-0.40,-121.7,106.9,-7.7,136,897,0.12,2.28,0.00,0.000,6,0.154,0.050,1586,3382,2978,0,0,0,0,0,0
$GC,1217,-0.40,-121.7,133.4,-8.2,166,1221,0.00,0.90,0.00,0.000,4,0.000,0.059,1583,3941,2978,0,0,0,0,0,0
$GC,1346,-0.40,-121.7,145.2,-9.2,177,1353,0.00,0.85,0.00,0.000,6,0.000,0.032,1583,3377,2979,0,0,0,0,0,0
$GC,1672,-0.40,-121.7,173.8,-8.7,208,1676,0.00,0.93,0.00,0.000,4,0.000,0.059,1579,3950,2979,0,0,0,0,0,0
$GC,1706,-0.40,-121.7,177.1,-9.8,211,1710,0.00,0.85,0.00,0.000,6,0.000,0.034,1579,3378,2979,0,0,0,0,0,0
$GC,2037,-0.40,-121.7,208.1,-9.3,242,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,3377,2979,0,0,0,0,0,0
$GC,2357,-0.40,-121.7,236.7,-8.6,272,2361,0.00,0.90,0.00,0.000,4,0.000,0.059,1575,3941,2979,0,0,0,0,0,0
$GC,2461,-0.40,-121.7,246.5,-9.4,281,2465,0.00,0.82,0.00,0.000,6,0.000,0.034,1575,3385,2979,0,0,0,0,0,0
$GC,2791,-0.40,-121.7,277.3,-9.0,312,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,1575,3385,2979,0,0,0,0,0,0
$GC,3112,-0.40,-121.7,307.4,-9.1,342,3115,0.00,0.90,0.00,0.000,4,0.000,0.060,1571,3951,2979,0,0,0,0,0,0
$GC,3193,-0.40,-121.7,315.2,-9.5,349,3197,0.00,0.85,0.00,0.000,6,0.000,0.034,1571,3379,2979,0,0,0,0,0,0
$GC,3524,-0.40,-121.7,345.1,-8.9,380,3528,0.00,0.90,0.00,0.000,4,0.000,0.060,1567,3941,2979,0,0,0,0,0,0
$GC,3583,-0.40,-121.7,350.3,-9.4,385,3586,0.00,0.82,0.00,0.000,6,0.000,0.034,1567,3386,2979,0,0,0,0,0,0
$GC,3913,-0.40,-121.7,379.7,-9.1,416,3917,0.00,0.90,0.00,0.000,4,0.000,0.060,1563,3951,2978,0,0,0,0,0,0
$GC,3971,-0.40,-121.7,384.9,-9.5,421,3975,0.00,0.85,0.00,0.000,6,0.000,0.034,1562,3381,2978,0,0,0,0,0,0
$GC,4309,-0.40,-121.7,415.7,-9.1,445,4312,0.00,0.90,0.00,0.000,4,0.000,0.061,1558,3939,2978,0,0,0,0,0,0
$GC,4408,-0.40,-121.7,425.6,-9.5,449,4414,0.12,0.88,0.00,0.000,6,0.161,0.034,1591,3368,2978,0,0,0,0,0,0
$GC,4731,-0.40,-121.7,447.1,-6.5,465,4735,0.00,0.93,0.00,0.000,4,0.000,0.061,1588,3942,2978,0,0,0,0,0,0
$GC,4803,-0.40,-121.7,452.2,-7.1,468,4807,0.00,0.85,0.00,0.000,6,0.000,0.035,1588,3381,2978,0,0,0,0,0,0
$GC,5130,-0.40,-121.7,473.7,-6.4,484,5134,0.00,0.90,0.00,0.000,4,0.000,0.062,1584,3942,2978,0,0,0,0,0,0
$GC,5181,-0.40,-121.7,477.1,-6.8,486,5184,0.00,0.85,0.00,0.000,6,0.000,0.035,1584,3380,2977,0,0,0,0,0,0
$GC,5508,-0.40,-121.7,499.0,-6.8,502,5512,0.00,0.93,0.00,0.000,4,0.000,0.062,1580,3938,2977,0,0,0,0,0,0
$GC,5603,-0.40,-121.7,506.1,-7.3,506,5606,0.00,0.85,0.00,0.000,6,0.000,0.036,1580,3375,2977,0,0,0,0,0,0
$GC,5930,-0.40,-121.7,529.0,-7.7,522,5933,0.00,0.93,0.00,0.000,4,0.000,0.062,1575,3950,2976,0,0,0,0,0,0
$GC,5998,-0.40,-121.7,535.0,-9.1,525,6002,0.00,0.85,0.00,0.000,6,0.000,0.035,1575,3383,2976,0,0,0,0,0,0
$GC,6331,-0.40,-121.7,562.3,-8.3,541,6335,0.00,0.90,0.00,0.000,4,0.000,0.062,1572,3942,2976,0,0,0,0,0,0
$GC,6376,-0.40,-121.7,566.3,-8.9,543,6380,0.00,0.85,0.00,0.000,6,0.000,0.035,1572,3381,2976,0,0,0,0,0,0
$GC,6710,-0.40,-121.7,593.8,-8.3,559,6713,0.00,0.93,0.00,0.000,4,0.000,0.063,1567,3936,2975,0,0,0,0,0,0
$GC,6748,-0.40,-121.7,597.2,-8.4,560,6755,0.00,0.85,0.00,0.000,6,0.000,0.035,1567,3375,2975,0,0,0,0,0,0
$GC,7065,-0.40,-121.7,623.6,-8.3,576,7068,0.00,0.93,0.00,0.000,4,0.000,0.062,1563,3948,2975,0,0,0,0,0,0
$GC,7126,-0.40,-121.7,629.0,-9.0,578,7133,0.00,0.85,0.00,0.000,6,0.000,0.036,1563,3382,2974,0,0,0,0,0,0
$GC,7442,-0.40,-121.7,655.8,-8.5,594,7445,0.00,0.90,0.00,0.000,4,0.000,0.062,1559,3937,2974,0,0,0,0,0,0
$GC,7510,-0.40,-121.7,662.0,-9.0,597,7514,0.08,0.85,0.00,0.000,6,0.138,0.036,1584,3381,2974,0,0,0,0,0,0
$GC,7843,-0.40,-121.7,683.3,-6.3,613,7846,0.00,0.90,0.00,0.000,4,0.000,0.062,1581,3934,2973,0,0,0,0,0,0
$GC,7889,-0.40,-121.7,686.3,-6.7,615,7892,0.00,0.85,0.00,0.000,6,0.000,0.036,1581,3376,2974,0,0,0,0,0,0
$GC,8222,-0.40,-121.7,706.4,-5.7,631,8226,0.00,0.93,0.00,0.000,4,0.000,0.063,1577,3947,2974,0,0,0,0,0,0
$GC,8282,-0.40,-121.7,710.3,-6.5,633,8289,0.00,0.85,0.00,0.000,6,0.000,0.036,1577,3385,2973,0,0,0,0,0,0
$GC,8600,-0.40,-121.7,729.8,-6.2,649,8604,0.00,0.90,0.00,0.000,4,0.000,0.063,1573,3941,2973,0,0,0,0,0,0
$GC,8650,-0.40,-121.7,733.3,-6.8,651,8654,0.00,0.85,0.00,0.000,6,0.000,0.037,1573,3382,2973,0,0,0,0,0,0
$GC,8977,-0.40,-121.7,755.2,-7.1,667,8981,0.00,0.90,0.00,0.000,4,0.000,0.063,1569,3935,2973,0,0,0,0,0,0
$GC,9050,-0.40,-121.7,760.7,-7.5,670,9053,0.00,0.85,0.00,0.000,6,0.000,0.037,1569,3380,2973,0,0,0,0,0,0
$GC,9379,-0.40,-121.7,785.5,-7.9,686,9380,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,3380,2973,0,0,0,0,0,0
$GC,9687,-0.40,-121.7,809.1,-7.6,701,9690,0.00,0.95,0.00,0.000,4,0.000,0.063,1565,3950,2972,0,0,0,0,0,0
$GC,9733,-0.40,-121.7,812.8,-8.4,703,9736,0.00,0.88,0.00,0.000,6,0.000,0.037,1565,3374,2972,0,0,0,0,0,0
$GC,10067,-0.40,-121.7,839.3,-7.9,719,10071,0.00,0.93,0.00,0.000,4,0.000,0.063,1561,3945,2972,0,0,0,0,0,0
$GC,10185,-0.40,-121.7,849.3,-8.3,724,10188,0.00,0.85,0.00,0.000,6,0.000,0.037,1561,3386,2971,0,0,0,0,0,0
$GC,10512,-0.40,-121.7,874.4,-7.3,740,10516,0.10,0.93,0.00,0.000,4,0.171,0.063,1583,3943,2971,0,0,0,0,0,0
$GC,10580,-0.40,-121.7,878.5,-5.5,743,10584,0.00,0.85,0.00,0.000,6,0.000,0.037,1583,3384,2971,0,0,0,0,0,0
$GC,10913,-0.40,-121.7,896.9,-5.5,759,10917,0.00,0.90,0.00,0.000,4,0.000,0.063,1579,3937,2971,0,0,0,0,0,0
$GC,10959,-0.40,-121.7,899.7,-5.9,761,10963,0.00,0.85,0.00,0.000,6,0.000,0.037,1579,3379,2971,0,0,0,0,0,0
$GC,11294,-0.40,-121.7,917.8,-5.3,777,11298,0.00,0.90,0.00,0.000,4,0.000,0.063,1575,3935,2971,0,0,0,0,0,0
$GC,11408,-0.40,-121.7,924.0,-5.3,782,11411,0.00,0.85,0.00,0.000,6,0.000,0.037,1575,3378,2970,0,0,0,0,0,0
$GC,11741,-0.40,-121.7,942.1,-5.9,798,11744,0.00,0.90,0.00,0.000,4,0.000,0.063,1571,3933,2970,0,0,0,0,0,0
$GC,11835,-0.40,-121.7,948.1,-6.0,802,11840,0.00,0.85,0.00,0.000,6,0.000,0.037,1571,3380,2970,0,0,0,0,0,0
$GC,12164,-0.40,-121.7,968.6,-6.7,818,12167,0.00,0.95,0.00,0.000,4,0.000,0.065,1567,3953,2970,0,0,0,0,0,0
$GC,12232,-0.40,-121.7,973.5,-7.1,821,12236,0.00,0.88,0.00,0.000,6,0.000,0.037,1567,3373,2970,0,0,0,0,0,0
$STATE,12480,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12480,begin apogee
$GC,12486,-0.09,0.0,990.1,6.6,833,12612,0.38,0.00,122.43,1.853,6,0.128,0.000,1682,3288,2473,0,0,0,0,0,0
$STATE,12612,end apogee,CONTROL_FINISHED_OK
$STATE,12613,begin climb
$GC,12614,0.40,121.7,993.6,0.0,839,12750,0.45,2.47,128.45,1.791,4,0.055,0.030,1858,1865,1976,0,0,0,0,0,0
$GC,12761,0.40,121.7,986.7,9.8,846,12766,0.00,2.53,0.00,0.000,6,0.000,0.050,1858,3278,1973,0,0,0,0,0,0
$GC,13083,0.40,121.7,945.2,12.9,862,13087,0.00,2.22,0.00,0.000,4,0.000,0.031,1869,1870,1964,0,0,0,0,0,0
$GC,13109,0.40,121.7,941.8,11.9,863,13113,0.00,2.38,0.00,0.000,6,0.000,0.051,1869,3285,1963,0,0,0,0,0,0
$GC,13432,0.40,121.7,901.0,12.5,879,13436,0.00,1.10,0.00,0.000,4,0.000,0.060,1869,3958,1962,0,0,0,0,0,0
$GC,13455,0.40,121.7,897.7,13.1,880,13459,0.00,1.02,0.00,0.000,6,0.000,0.035,1874,3289,1962,0,0,0,0,0,0
$GC,13788,0.40,121.7,853.7,13.5,896,13792,0.00,2.20,0.00,0.000,4,0.000,0.031,1885,1866,1960,0,0,0,0,0,0
$GC,13842,0.40,121.7,846.6,11.6,898,13851,0.08,2.33,0.00,0.000,6,0.155,0.052,1862,3287,1959,0,0,0,0,0,0
$GC,14160,0.40,121.7,808.8,12.1,914,14164,0.00,2.17,0.00,0.000,4,0.000,0.031,1871,1865,1959,0,0,0,0,0,0
$GC,14187,0.40,121.7,805.5,11.2,915,14192,0.00,2.30,0.00,0.000,6,0.000,0.050,1871,3288,1958,0,0,0,0,0,0
$GC,14509,0.40,121.7,767.0,12.0,931,14513,0.00,2.15,0.00,0.000,4,0.000,0.031,1882,1867,1957,0,0,0,0,0,0
$GC,14557,0.40,121.7,761.6,10.5,933,14562,0.10,2.30,0.00,0.000,6,0.153,0.050,1852,3277,1957,0,0,0,0,0,0
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$STATE,21647,end climb,SURFACE_DEPTH_REACHED
$STATE,21647,begin surface coast
$FINISH,0.8,1.026161
$STATE,21680,end surface coast,CONTROL_FINISHED_OK
$STATE,21680,begin surface
$SM_CCo,21693,12.90,0.760,0,0,1576,220.03
$SM_GC,2.97,0.00,0.00,12.90,0.000,0.000,0.760,51,3394,1576,-5.22,0.40,220.03
$IRIDIUM_FIX,-4244.98,822.38,040214,222225
$TT8_MAMPS,0.026215
$HUMID,62.56
$INTERNAL_PRESSURE,9.56208
$TCM_TEMP,14.10
$XPDR_PINGS,0
$24V_AH,21.7,53.528
$10V_AH,9.7,42.961
$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
$DEVICE_SECS,12.950,139.225,291.875,12.900,0.000,25.130,41.343,396.633,0.000,0.000,17.629,3839.860,13606.072,452.441,4029.203,393.398,0.000,1968.747,0.000,3403.168,0.000,1.011,0.000
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$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1058.319,2586.876,946.799,426.936,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354392
$DATA_FILE_SIZE,107096,1524
$CAP_FILE_SIZE,210553,0
$CFSIZE,259252224,230019072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050214,104458,-4300.891,816.732,36,0.9,36,-25.0