version: 66.07
glider: 542
mission: 9
dive: 19
start: 12 13 114 22 25 54
data:
$ID,542
$MISSION,9
$DIVE,19
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$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,333
$T_MISSION,348
$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,-21742.689
$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,43
$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,2745
$C_ROLL_CLIMB,2654
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,30
$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,0
$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
$GPS1,131214,220933,-5555.263,0.379,16,1.5,30,-20.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,3
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-65.0
$GPS2,131214,222459,-5555.277,0.575,20,1.3,20,-20.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.260,-0.007
$KALMAN_X,5219.4,-281.9,325.7,-4602.8,1713.5
$KALMAN_Y,-16205.5,1493.6,238.9,23525.2,-7780.9
$MHEAD_RNG_PITCHd_Wd,288.5,32850,-17.5,-10.010
$D_GRID,1000
$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
$STATE,13,begin dive
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$GC,6226,-0.59,-146.1,917.8,-12.1,1010,6235,0.00,1.92,0.00,0.000,4,0.000,0.075,1586,3882,3102,0,0,0,0,0,0
$GC,6260,-0.59,-146.1,921.9,-12.9,1015,6267,0.00,1.85,0.00,0.000,6,0.000,0.048,1586,2740,3101,0,0,0,0,0,0
$GC,6373,-0.59,-146.1,936.6,-13.0,1034,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,2740,3101,0,0,0,0,0,0
$GC,6489,-0.59,-146.1,951.1,-13.2,1053,6496,0.00,1.92,0.00,0.000,4,0.000,0.074,1577,3899,3102,0,0,0,0,0,0
$GC,6551,-0.59,-146.1,960.0,-13.9,1063,6559,0.10,1.88,0.00,0.000,6,0.184,0.047,1606,2741,3102,0,0,0,0,0,0
$GC,6665,-0.59,-146.1,973.6,-10.8,1082,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2741,3102,0,0,0,0,0,0
$GC,6781,-0.59,-146.1,986.1,-10.7,1101,6788,0.00,1.92,0.00,0.000,4,0.000,0.074,1598,3899,3101,0,0,0,0,0,0
$GC,6836,-0.59,-146.1,992.8,-12.1,1110,6844,0.00,1.88,0.00,0.000,6,0.000,0.047,1598,2740,3101,0,0,0,0,0,0
$STATE,6896,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6896,begin apogee
$GC,6901,-0.16,0.0,1000.1,11.8,1120,7043,0.45,0.00,133.77,1.803,6,0.163,0.000,1739,2636,2502,0,0,0,0,0,0
$STATE,7044,end apogee,CONTROL_FINISHED_OK
$STATE,7044,begin climb
$GC,7045,0.59,146.1,1004.0,0.0,1140,7202,0.80,2.65,145.05,1.758,4,0.116,0.060,1992,1263,1903,0,0,0,0,0,0
$GC,7257,0.59,146.1,978.7,16.0,1171,7264,0.00,2.53,0.00,0.000,6,0.000,0.062,1991,2646,1898,0,0,0,0,0,0
$GC,7370,0.59,146.1,957.8,19.0,1190,7379,0.00,2.25,0.00,0.000,4,0.000,0.070,1991,3892,1895,0,0,0,0,0,0
$GC,7427,0.59,146.1,945.9,22.1,1199,7434,0.00,2.12,0.00,0.000,6,0.000,0.052,2001,2672,1894,0,0,0,0,0,0
$GC,7539,0.59,146.1,923.0,21.0,1218,7547,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,2670,1893,0,0,0,0,0,0
$GC,7655,0.59,146.1,900.7,20.2,1237,7662,0.00,2.17,0.00,0.000,4,0.000,0.071,2001,3901,1892,0,0,0,0,0,0
$GC,7685,0.59,146.1,893.6,21.6,1242,7695,0.00,2.15,0.00,0.000,6,0.000,0.051,2010,2653,1892,0,0,0,0,0,0
$GC,7802,0.59,146.1,870.1,19.8,1261,7808,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,2654,1892,0,0,0,0,0,0
$GC,7913,0.59,146.1,847.1,21.3,1280,7922,0.00,2.17,0.00,0.000,4,0.000,0.071,2010,3893,1891,0,0,0,0,0,0
$GC,7974,0.59,146.1,833.1,23.7,1290,7983,0.00,2.10,0.00,0.000,6,0.000,0.051,2020,2655,1890,0,0,0,0,0,0
$GC,8091,0.59,146.1,808.0,21.4,1309,8097,0.00,0.00,0.00,0.000,6,0.000,0.000,2020,2655,1891,0,0,0,0,0,0
$GC,8204,0.59,146.1,783.8,21.7,1328,8213,0.00,2.15,0.00,0.000,4,0.000,0.071,2020,3895,1890,0,0,0,0,0,0
$GC,8261,0.59,146.1,771.1,24.0,1337,8269,0.15,2.08,0.00,0.000,6,0.236,0.051,1998,2645,1890,0,0,0,0,0,0
$GC,8375,0.59,146.1,748.7,18.1,1356,8384,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,2645,1890,0,0,0,0,0,0
$GC,8489,0.59,146.1,728.0,19.1,1375,8496,0.00,2.15,0.00,0.000,4,0.000,0.070,1998,3903,1890,0,0,0,0,0,0
$GC,8517,0.59,146.1,722.7,20.6,1379,8524,0.00,2.08,0.00,0.000,6,0.000,0.051,2007,2645,1890,0,0,0,0,0,0
$GC,8629,0.59,146.1,700.2,19.0,1398,8638,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,2645,1889,0,0,0,0,0,0
$GC,8745,0.59,146.1,678.4,19.7,1417,8752,0.00,2.12,0.00,0.000,4,0.000,0.071,2007,3897,1889,0,0,0,0,0,0
$GC,8777,0.59,146.1,671.5,21.1,1422,8786,0.00,2.08,0.00,0.000,6,0.000,0.052,2017,2652,1889,0,0,0,0,0,0
$GC,8893,0.59,146.1,648.0,20.7,1441,8900,0.00,2.12,0.00,0.000,4,0.000,0.071,2017,3890,1889,0,0,0,0,0,0
$GC,8924,0.59,146.1,640.9,21.6,1446,8934,0.10,2.05,0.00,0.000,6,0.227,0.052,2000,2657,1889,0,0,0,0,0,0
$GC,9042,0.59,146.1,618.6,19.1,1465,9048,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,2656,1889,0,0,0,0,0,0
$GC,9154,0.59,146.1,597.4,17.5,1484,9163,0.00,2.12,0.00,0.000,4,0.000,0.072,2000,3902,1889,0,0,0,0,0,0
$GC,9204,0.59,146.1,586.9,22.6,1492,9213,0.00,2.08,0.00,0.000,6,0.000,0.052,2009,2648,1889,0,0,0,0,0,0
$GC,9321,0.59,146.1,564.5,17.7,1511,9327,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2648,1889,0,0,0,0,0,0
$GC,9433,0.59,146.1,542.3,20.7,1530,9442,0.00,2.12,0.00,0.000,4,0.000,0.071,2009,3893,1889,0,0,0,0,0,0
$GC,9491,0.59,146.1,530.3,23.2,1539,9498,0.00,2.03,0.00,0.000,6,0.000,0.050,2018,2645,1889,0,0,0,0,0,0
$GC,9603,0.59,146.1,506.8,19.8,1558,9612,0.00,2.12,0.00,0.000,4,0.000,0.071,2018,3895,1889,0,0,0,0,0,0
$GC,9637,0.59,146.1,499.7,22.1,1563,9645,0.15,2.03,0.00,0.000,6,0.236,0.051,1995,2649,1888,0,0,0,0,0,0
$GC,9751,0.59,146.1,477.9,18.4,1582,9759,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2649,1889,0,0,0,0,0,0
$GC,9866,0.59,146.1,457.4,18.5,1601,9872,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2649,1888,0,0,0,0,0,0
$GC,9979,0.59,146.1,436.6,18.8,1620,9988,0.00,2.12,0.00,0.000,4,0.000,0.071,1995,3899,1889,0,0,0,0,0,0
$GC,10036,0.59,146.1,424.9,22.4,1629,10043,0.00,2.03,0.00,0.000,6,0.000,0.050,2003,2644,1889,0,0,0,0,0,0
$GC,10148,0.59,146.1,402.8,19.3,1648,10156,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2644,1889,0,0,0,0,0,0
$GC,10263,0.59,146.1,381.9,18.8,1667,10270,0.00,2.10,0.00,0.000,4,0.000,0.071,2004,3900,1888,0,0,0,0,0,0
$GC,10302,0.59,146.1,373.9,21.4,1673,10309,0.00,2.03,0.00,0.000,6,0.000,0.050,2013,2645,1888,0,0,0,0,0,0
$GC,10416,0.59,146.1,352.0,18.5,1692,10424,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,2645,1889,0,0,0,0,0,0
$GC,10530,0.59,146.1,331.4,17.9,1711,10537,0.00,2.10,0.00,0.000,4,0.000,0.071,2013,3904,1889,0,0,0,0,0,0
$GC,10581,0.59,146.1,321.1,21.3,1719,10588,0.12,2.03,0.00,0.000,6,0.239,0.050,1997,2646,1888,0,0,0,0,0,0
$GC,10696,0.59,146.1,301.9,15.2,1738,10704,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,2646,1889,0,0,0,0,0,0
$GC,10812,0.59,146.1,284.0,15.3,1757,10818,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,2646,1889,0,0,0,0,0,0
$GC,10924,0.59,146.1,266.3,14.7,1776,10932,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,2646,1888,0,0,0,0,0,0
$GC,11038,0.59,146.1,249.5,14.6,1795,11045,0.00,2.08,0.00,0.000,4,0.000,0.071,1997,3897,1889,0,0,0,0,0,0
$GC,11128,0.59,146.1,233.9,18.1,1810,11136,0.00,2.03,0.00,0.000,6,0.000,0.050,2005,2652,1888,0,0,0,0,0,0
$GC,11244,0.59,146.1,215.8,16.2,1829,11250,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,2651,1888,0,0,0,0,0,0
$GC,11356,0.59,146.1,197.1,16.2,1848,11366,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,2652,1889,0,0,0,0,0,0
$GC,11473,0.59,146.1,179.4,15.5,1867,11479,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,2652,1889,0,0,0,0,0,0
$GC,11585,0.59,146.1,162.0,15.4,1886,11593,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,2652,1888,0,0,0,0,0,0
$GC,11699,0.59,146.1,144.1,14.6,1905,11706,0.00,2.08,0.00,0.000,4,0.000,0.072,2005,3903,1888,0,0,0,0,0,0
$GC,11797,0.59,146.1,126.0,19.7,1921,11804,0.00,2.00,0.00,0.000,6,0.000,0.051,2015,2651,1889,0,0,0,0,0,0
$GC,11909,0.59,146.1,106.4,15.6,1940,11918,0.00,2.10,0.00,0.000,4,0.000,0.073,2015,3895,1889,0,0,0,0,0,0
$GC,11991,0.59,146.1,92.0,19.3,1953,11999,0.12,2.00,0.00,0.000,6,0.238,0.051,1998,2644,1889,0,0,0,0,0,0
$GC,12104,0.59,146.1,74.5,12.9,1972,12112,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,2644,1888,0,0,0,0,0,0
$GC,12220,0.59,146.1,58.4,13.3,1991,12227,0.00,2.10,0.00,0.000,4,0.000,0.073,1998,3904,1888,0,0,0,0,0,0
$GC,12251,0.59,146.1,53.4,15.5,1996,12260,0.00,2.03,0.00,0.000,6,0.000,0.051,2007,2656,1889,0,0,0,0,0,0
$GC,12367,0.59,146.1,36.8,13.1,2015,12373,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,2656,1888,0,0,0,0,0,0
$GC,12485,0.59,146.1,20.2,13.7,2034,12493,0.00,0.00,0.00,0.000,6,0.000,0.000,2007,2657,1889,0,0,0,0,0,0
$GC,12568,0.59,146.1,8.5,13.9,2047,12577,0.00,2.08,0.00,0.000,4,0.000,0.071,2007,3894,1888,0,0,0,0,0,0
$STATE,12602,end climb,SURFACE_DEPTH_REACHED
$STATE,12602,begin surface coast
$FINISH,0.8,1.013625
$STATE,12622,end surface coast,CONTROL_FINISHED_OK
$STATE,12622,begin surface
$SM_CCo,12635,40.75,0.183,0,0,1478,250.20
$SM_GC,1.47,0.00,0.00,40.75,0.000,0.000,0.183,64,2733,1478,-5.43,-0.37,250.20
$IRIDIUM_FIX,-5531.31,0.00,131214,191935
$TT8_MAMPS,0.026215
$HUMID,55.23
$INTERNAL_PRESSURE,8.92579
$TCM_TEMP,6.70
$XPDR_PINGS,0
$24V_AH,21.6,11.386
$10V_AH,10.1,6.539
$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,14.825,218.200,278.825,40.750,0.000,27.918,21.369,709.850,0.000,0.000,23.109,4676.873,1287.791,804.987,6437.311,364.836,33.327,2671.374,0.000,5111.138,0.000,0.539,0.000
$DEVICE_MAMPS,263.160,97.155,1803.105,182.835,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1455.858,5225.423,3484.330,5626.990,0.000,0.000,0.000,0.000,0.000,0.000
$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,150773,2055
$CAP_FILE_SIZE,238548,0
$CFSIZE,259252224,225464320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,141214,015823,-5556.328,-1.630,38,0.8,38,-20.1