version: 66.07
glider: 542
mission: 9
dive: 16
start: 12 13 114 14 33 31
data:
$ID,542
$MISSION,9
$DIVE,16
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,5
$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,165
$T_MISSION,180
$T_ABORT,1440
$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,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,53031
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,-56
$TGT_DEFAULT_LON,0.1
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-21735.162
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,73
$PITCH_MAX,3888
$C_PITCH,1802
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,42
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,335
$ROLL_MAX,3901
$ROLL_DEG,40
$C_ROLL_DIVE,2666
$C_ROLL_CLIMB,2598
$HEAD_ERRBAND,20
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3961
$C_VBD,2500
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$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,-53.02364
$PRESSURE_SLOPE,0.00011816985
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,120
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.49
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$DEVICE4,134
$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,0.0042910837
$SEABIRD_T_H,0.00061853422
$SEABIRD_T_I,2.1182957e-05
$SEABIRD_T_J,2.0754619e-06
$SEABIRD_C_G,-9.7625904
$SEABIRD_C_H,1.1369455
$SEABIRD_C_I,-0.0017508121
$SEABIRD_C_J,0.00021125977
$GPS1,131214,141859,-5557.863,-0.271,16,1.1,16,-20.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-64.9
$GPS2,131214,143235,-5557.878,-0.316,16,0.9,16,-20.1
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,TARGET
$TGT_LATLONG,-56.000,-0.300
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.000,0.261
$KALMAN_X,2557.2,304.4,-19.0,-3106.6,671.9
$KALMAN_Y,-9619.1,-244.4,125.1,13976.0,-2284.5
$MHEAD_RNG_PITCHd_Wd,20.1,6115076,-17.7,-10.101
$D_GRID,500
$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,14,-0.60,-146.1,0.0,0.0,0,83,0.00,0.00,-66.25,0.000,2,0.000,0.000,55,2497,3010,0,0,0,0,0,0
$GC,85,-0.60,-146.1,3.6,-4.5,8,104,6.57,2.40,-2.05,0.000,4,0.260,0.077,1587,3898,3098,0,0,0,0,0,0
$GC,118,-0.60,-146.1,15.0,-30.5,12,127,0.00,2.10,0.00,0.000,6,0.000,0.052,1594,2656,3099,0,0,0,0,0,0
$GC,202,-0.60,-146.1,32.2,-18.6,25,209,0.00,2.33,0.00,0.000,4,0.000,0.063,1594,1251,3099,0,0,0,0,0,0
$GC,386,-0.60,-146.1,59.7,-15.4,56,395,0.00,2.42,0.00,0.000,6,0.000,0.069,1584,2661,3100,0,0,0,0,0,0
$GC,502,-0.60,-146.1,79.3,-17.9,75,508,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2661,3100,0,0,0,0,0,0
$GC,613,-0.60,-146.1,99.1,-16.6,94,622,0.00,2.10,0.00,0.000,4,0.000,0.077,1575,3897,3100,0,0,0,0,0,0
$GC,745,-0.60,-146.1,123.6,-17.9,116,755,0.08,2.05,0.00,0.000,6,0.185,0.053,1597,2657,3100,0,0,0,0,0,0
$GC,862,-0.60,-146.1,143.0,-16.7,135,868,0.00,0.00,0.00,0.000,6,0.000,0.000,1597,2658,3100,0,0,0,0,0,0
$GC,976,-0.60,-146.1,160.4,-15.5,154,985,0.00,2.15,0.00,0.000,4,0.000,0.077,1588,3905,3100,0,0,0,0,0,0
$GC,1069,-0.60,-146.1,175.6,-16.8,169,1076,0.00,2.00,0.00,0.000,6,0.000,0.052,1588,2666,3100,0,0,0,0,0,0
$GC,1185,-0.60,-146.1,194.2,-14.9,188,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,1588,2665,3099,0,0,0,0,0,0
$GC,1302,-0.60,-146.1,211.8,-15.7,207,1309,0.00,2.10,0.00,0.000,4,0.000,0.078,1579,3901,3100,0,0,0,0,0,0
$GC,1400,-0.60,-146.1,227.7,-16.6,223,1407,0.00,2.00,0.00,0.000,6,0.000,0.051,1579,2666,3100,0,0,0,0,0,0
$GC,1515,-0.60,-146.1,246.3,-15.1,242,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2666,3100,0,0,0,0,0,0
$GC,1631,-0.60,-146.1,264.1,-16.0,261,1639,0.00,2.12,0.00,0.000,4,0.000,0.077,1569,3913,3100,0,0,0,0,0,0
$GC,1725,-0.60,-146.1,280.4,-16.3,276,1734,0.10,2.05,0.00,0.000,6,0.182,0.051,1598,2660,3100,0,0,0,0,0,0
$GC,1842,-0.60,-146.1,297.5,-14.2,295,1849,0.00,2.10,0.00,0.000,4,0.000,0.076,1589,3907,3100,0,0,0,0,0,0
$GC,1907,-0.60,-146.1,307.6,-16.3,305,1914,0.00,2.03,0.00,0.000,6,0.000,0.051,1589,2654,3100,0,0,0,0,0,0
$GC,2023,-0.60,-146.1,325.8,-16.3,324,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,1589,2655,3100,0,0,0,0,0,0
$GC,2140,-0.60,-146.1,343.6,-15.2,343,2147,0.00,2.10,0.00,0.000,4,0.000,0.076,1580,3906,3100,0,0,0,0,0,0
$GC,2240,-0.60,-146.1,360.2,-17.3,359,2247,0.00,2.00,0.00,0.000,6,0.000,0.051,1580,2663,3100,0,0,0,0,0,0
$GC,2356,-0.60,-146.1,379.7,-16.5,378,2365,0.00,0.00,0.00,0.000,6,0.000,0.000,1580,2663,3100,0,0,0,0,0,0
$GC,2473,-0.60,-146.1,398.6,-16.1,397,2480,0.00,2.08,0.00,0.000,4,0.000,0.076,1570,3903,3100,0,0,0,0,0,0
$GC,2600,-0.60,-146.1,421.6,-17.6,417,2608,0.12,2.00,0.00,0.000,6,0.200,0.050,1600,2659,3100,0,0,0,0,0,0
$GC,2717,-0.60,-146.1,439.7,-14.7,436,2730,0.00,2.10,0.00,0.000,4,0.000,0.075,1591,3898,3100,0,0,0,0,0,0
$GC,2786,-0.60,-146.1,450.7,-16.1,446,2795,0.00,2.00,0.00,0.000,6,0.000,0.050,1591,2668,3100,0,0,0,0,0,0
$GC,2905,-0.60,-146.1,468.9,-15.1,465,2912,0.00,2.08,0.00,0.000,4,0.000,0.076,1581,3910,3100,0,0,0,0,0,0
$GC,2962,-0.60,-146.1,479.0,-16.9,474,2971,0.00,2.03,0.00,0.000,6,0.000,0.050,1581,2665,3100,0,0,0,0,0,0
$GC,3079,-0.60,-146.1,497.8,-16.9,493,3087,0.00,2.08,0.00,0.000,4,0.000,0.076,1572,3909,3100,0,0,0,0,0,0
$STATE,3095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3095,begin apogee
$GC,3101,-0.17,0.0,500.6,16.1,495,3234,0.55,0.00,126.60,1.505,6,0.175,0.000,1738,2597,2500,0,0,0,0,0,0
$STATE,3234,end apogee,CONTROL_FINISHED_OK
$STATE,3234,begin climb
$GC,3236,0.60,146.1,509.6,0.0,514,3378,0.82,2.67,134.30,1.460,4,0.125,0.062,1994,1190,1903,0,0,0,0,0,0
$GC,3422,0.60,146.1,493.8,14.1,541,3429,0.00,2.58,0.00,0.000,6,0.000,0.063,1995,2598,1899,0,0,0,0,0,0
$GC,3535,0.60,146.1,474.9,17.9,560,3543,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2598,1896,0,0,0,0,0,0
$GC,3649,0.60,146.1,455.4,17.5,579,3656,0.00,2.28,0.00,0.000,4,0.000,0.072,1994,3899,1894,0,0,0,0,0,0
$GC,3735,0.60,146.1,438.3,20.9,593,3742,0.00,2.22,0.00,0.000,6,0.000,0.052,2004,2598,1893,0,0,0,0,0,0
$GC,3849,0.60,146.1,416.8,18.1,612,3857,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2598,1893,0,0,0,0,0,0
$GC,3964,0.60,146.1,396.7,17.1,631,3971,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,2598,1893,0,0,0,0,0,0
$GC,4077,0.60,146.1,377.3,16.7,650,4085,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2598,1893,0,0,0,0,0,0
$GC,4191,0.60,146.1,357.8,17.4,669,4198,0.00,2.25,0.00,0.000,4,0.000,0.073,2004,3901,1892,0,0,0,0,0,0
$GC,4288,0.60,146.1,338.3,20.6,685,4295,0.00,2.17,0.00,0.000,6,0.000,0.052,2014,2595,1891,0,0,0,0,0,0
$GC,4401,0.60,146.1,316.9,18.1,704,4410,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,2595,1891,0,0,0,0,0,0
$GC,4517,0.60,146.1,296.1,17.6,723,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,2015,2595,1891,0,0,0,0,0,0
$GC,4629,0.60,146.1,275.7,17.8,742,4637,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,2595,1891,0,0,0,0,0,0
$GC,4745,0.60,146.1,254.5,18.4,761,4752,0.00,2.22,0.00,0.000,4,0.000,0.071,2015,3903,1891,0,0,0,0,0,0
$GC,4829,0.60,146.1,236.8,21.7,775,4836,0.00,2.15,0.00,0.000,6,0.000,0.054,2025,2599,1891,0,0,0,0,0,0
$GC,4942,0.60,146.1,215.0,17.8,794,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2599,1891,0,0,0,0,0,0
$GC,5058,0.60,146.1,194.7,17.3,813,5065,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2599,1891,0,0,0,0,0,0
$GC,5170,0.60,146.1,175.8,16.3,832,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2599,1891,0,0,0,0,0,0
$GC,5286,0.60,146.1,157.7,16.6,851,5294,0.00,2.20,0.00,0.000,4,0.000,0.071,2025,3906,1891,0,0,0,0,0,0
$GC,5383,0.60,146.1,139.3,19.2,867,5391,0.15,2.12,0.00,0.000,6,0.239,0.052,2003,2595,1890,0,0,0,0,0,0
$GC,5497,0.60,146.1,122.2,14.8,886,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,2595,1891,0,0,0,0,0,0
$GC,5610,0.60,146.1,106.7,13.4,905,5616,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,2595,1891,0,0,0,0,0,0
$GC,5721,0.60,146.1,91.1,13.6,924,5729,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,2595,1891,0,0,0,0,0,0
$GC,5837,0.60,146.1,74.8,14.4,943,5844,0.00,2.20,0.00,0.000,4,0.000,0.073,2003,3910,1891,0,0,0,0,0,0
$GC,5921,0.60,146.1,60.8,17.3,957,5928,0.00,2.12,0.00,0.000,6,0.000,0.053,2012,2594,1891,0,0,0,0,0,0
$GC,6034,0.60,146.1,44.1,13.9,976,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,2594,1891,0,0,0,0,0,0
$GC,6149,0.60,146.1,27.9,14.4,995,6157,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,2594,1891,0,0,0,0,0,0
$GC,6232,0.60,146.1,16.2,14.4,1008,6240,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,2594,1891,0,0,0,0,0,0
$GC,6315,0.60,146.1,3.9,15.6,1021,6323,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,2594,1891,0,0,0,0,0,0
$STATE,6330,end climb,SURFACE_DEPTH_REACHED
$STATE,6330,begin surface coast
$FINISH,0.6,1.014402
$STATE,6356,end surface coast,CONTROL_FINISHED_OK
$STATE,6357,begin surface
$SM_CCo,6369,41.17,0.177,0,0,1477,250.20
$SM_GC,1.67,0.00,0.00,41.17,0.000,0.000,0.177,65,2678,1477,-5.43,0.34,250.20
$IRIDIUM_FIX,-5535.12,0.00,131214,121254
$TT8_MAMPS,0.026215
$HUMID,54.13
$INTERNAL_PRESSURE,8.92579
$TCM_TEMP,6.30
$XPDR_PINGS,0
$24V_AH,22.1,10.851
$10V_AH,10.1,5.767
$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,13.825,77.900,260.900,41.175,0.000,27.739,48.661,593.450,19.250,0.000,18.264,2349.810,589.976,481.801,3604.819,182.779,33.328,1437.811,0.000,2590.673,0.000,124.332,0.000
$DEVICE_MAMPS,260.100,100.980,1504.755,176.715,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,726.434,2638.970,1787.339,2838.875,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354464
$DATA_FILE_SIZE,73781,1027
$CAP_FILE_SIZE,121889,0
$CFSIZE,259252224,225939456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,131214,162134,-5557.208,-0.068,38,0.9,38,-20.1