version: 66.07
glider: 542
mission: 9
dive: 32
start: 12 15 114 23 30 59
data:
$ID,542
$MISSION,9
$DIVE,32
$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,350
$T_MISSION,365
$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,0.00251332
$HD_B,0.0127788
$HD_C,1.44018e-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,210
$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,-21775.188
$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,2810
$C_ROLL_CLIMB,2670
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3961
$C_VBD,2342
$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
$GPS1,151214,231828,-5551.645,-34.748,75,0.8,75,-19.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-68.0
$GPS2,151214,233005,-5551.548,-34.736,21,1.0,21,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.002,-0.231
$KALMAN_X,25025.8,-846.1,-831.9,-59226.7,5071.8
$KALMAN_Y,2798.7,-1105.3,-133.4,14419.7,11381.9
$MHEAD_RNG_PITCHd_Wd,200.3,16404,-17.2,-9.524
$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
$GC,14,-0.58,-146.1,0.0,0.0,0,66,0.00,0.00,-49.80,0.000,2,0.000,0.000,63,2829,2775,0,0,0,0,0,0
$GC,69,-0.58,-146.1,3.4,-3.2,6,87,6.40,1.75,-4.55,0.000,4,0.256,0.076,1599,3890,2937,0,0,0,0,0,0
$GC,279,-0.58,-146.1,47.3,-18.2,40,288,0.00,1.77,0.00,0.000,6,0.000,0.039,1602,2803,2939,0,0,0,0,0,0
$GC,396,-0.58,-146.1,67.6,-16.7,59,403,0.00,0.00,0.00,0.000,6,0.000,0.000,1603,2803,2939,0,0,0,0,0,0
$GC,507,-0.58,-146.1,86.5,-17.7,78,515,0.00,2.25,0.00,0.000,4,0.000,0.049,1602,1411,2939,0,0,0,0,0,0
$GC,539,-0.58,-146.1,91.9,-17.1,83,546,0.00,2.28,0.00,0.000,6,0.000,0.059,1592,2800,2939,0,0,0,0,0,0
$GC,770,-0.58,-146.1,126.0,-14.3,109,773,0.00,1.80,0.00,0.000,4,0.000,0.067,1584,3898,2939,0,0,0,0,0,0
$GC,899,-0.58,-146.1,147.1,-16.2,120,909,0.00,1.75,0.00,0.000,6,0.000,0.037,1584,2805,2939,0,0,0,0,0,0
$GC,1228,-0.58,-146.1,195.9,-15.7,151,1232,0.12,1.83,0.00,0.000,4,0.213,0.067,1605,3896,2938,0,0,0,0,0,0
$GC,1323,-0.58,-146.1,209.8,-13.4,159,1326,0.00,1.73,0.00,0.000,6,0.000,0.038,1608,2800,2938,0,0,0,0,0,0
$GC,1654,-0.58,-146.1,253.9,-13.1,189,1657,0.00,1.80,0.00,0.000,4,0.000,0.066,1600,3903,2938,0,0,0,0,0,0
$GC,1736,-0.58,-146.1,266.6,-14.7,192,1747,0.00,1.77,0.00,0.000,6,0.000,0.037,1599,2797,2938,0,0,0,0,0,0
$GC,2053,-0.58,-146.1,310.9,-14.2,208,2057,0.00,1.83,0.00,0.000,4,0.000,0.066,1591,3904,2938,0,0,0,0,0,0
$GC,2113,-0.58,-146.1,320.4,-14.7,210,2124,0.00,1.75,0.00,0.000,6,0.000,0.037,1591,2808,2938,0,0,0,0,0,0
$GC,2430,-0.58,-146.1,366.5,-14.6,226,2433,0.00,1.80,0.00,0.000,4,0.000,0.066,1583,3904,2938,0,0,0,0,0,0
$GC,2463,-0.58,-146.1,371.6,-15.7,227,2468,0.08,1.73,0.00,0.000,6,0.187,0.037,1605,2805,2938,0,0,0,0,0,0
$GC,2784,-0.58,-146.1,413.4,-12.7,243,2788,0.00,1.83,0.00,0.000,4,0.000,0.067,1597,3899,2938,0,0,0,0,0,0
$GC,2851,-0.58,-146.1,423.0,-14.6,246,2855,0.00,1.70,0.00,0.000,6,0.000,0.037,1605,2810,2938,0,0,0,0,0,0
$GC,3184,-0.58,-146.1,466.5,-13.1,262,3187,0.00,1.77,0.00,0.000,4,0.000,0.065,1596,3895,2938,0,0,0,0,0,0
$GC,3283,-0.58,-146.1,481.3,-15.2,266,3288,0.00,1.75,0.00,0.000,6,0.000,0.037,1602,2799,2938,0,0,0,0,0,0
$GC,3605,-0.58,-146.1,524.0,-13.4,282,3609,0.00,1.80,0.00,0.000,4,0.000,0.065,1594,3896,2939,0,0,0,0,0,0
$GC,3687,-0.58,-146.1,536.4,-14.5,285,3696,0.00,1.75,0.00,0.000,6,0.000,0.037,1594,2798,2939,0,0,0,0,0,0
$GC,4005,-0.58,-146.1,580.2,-13.9,301,4008,0.00,1.83,0.00,0.000,4,0.000,0.065,1586,3896,2939,0,0,0,0,0,0
$GC,4076,-0.58,-146.1,591.6,-15.3,304,4081,0.00,1.70,0.00,0.000,6,0.000,0.036,1585,2808,2939,0,0,0,0,0,0
$GC,4404,-0.58,-146.1,639.7,-14.7,320,4407,0.00,1.77,0.00,0.000,4,0.000,0.065,1578,3894,2939,0,0,0,0,0,0
$GC,4452,-0.58,-146.1,647.7,-15.9,322,4457,0.10,1.70,0.00,0.000,6,0.190,0.036,1607,2804,2939,0,0,0,0,0,0
$GC,4779,-0.58,-146.1,689.6,-12.5,338,4782,0.00,1.80,0.00,0.000,4,0.000,0.065,1599,3891,2939,0,0,0,0,0,0
$GC,4816,-0.58,-146.1,694.9,-14.4,339,4824,0.00,1.73,0.00,0.000,6,0.000,0.036,1602,2797,2939,0,0,0,0,0,0
$GC,5133,-0.58,-146.1,733.8,-12.0,355,5136,0.00,1.80,0.00,0.000,4,0.000,0.066,1594,3897,2939,0,0,0,0,0,0
$GC,5187,-0.58,-146.1,741.5,-14.1,357,5192,0.00,1.73,0.00,0.000,6,0.000,0.036,1594,2806,2939,0,0,0,0,0,0
$GC,5510,-0.58,-146.1,781.7,-12.4,373,5514,0.00,1.77,0.00,0.000,4,0.000,0.065,1586,3894,2939,0,0,0,0,0,0
$GC,5599,-0.58,-146.1,794.1,-13.7,377,5603,0.00,1.67,0.00,0.000,6,0.000,0.037,1586,2807,2940,0,0,0,0,0,0
$GC,5931,-0.58,-146.1,836.7,-12.7,393,5935,0.00,1.77,0.00,0.000,4,0.000,0.066,1578,3896,2940,0,0,0,0,0,0
$GC,5980,-0.58,-146.1,843.9,-14.6,395,5986,0.08,1.70,0.00,0.000,6,0.190,0.037,1600,2804,2940,0,0,0,0,0,0
$GC,6307,-0.58,-146.1,881.8,-11.4,411,6310,0.00,1.80,0.00,0.000,4,0.000,0.066,1592,3906,2939,0,0,0,0,0,0
$GC,6366,-0.58,-146.1,889.5,-12.2,413,6375,0.00,1.73,0.00,0.000,6,0.000,0.036,1594,2806,2940,0,0,0,0,0,0
$GC,6683,-0.58,-146.1,926.4,-11.5,429,6687,0.00,1.80,0.00,0.000,4,0.000,0.066,1586,3893,2940,0,0,0,0,0,0
$GC,6731,-0.58,-146.1,932.8,-13.2,431,6736,0.00,1.70,0.00,0.000,6,0.000,0.037,1586,2809,2940,0,0,0,0,0,0
$GC,7059,-0.58,-146.1,973.2,-12.3,447,7063,0.00,1.77,0.00,0.000,4,0.000,0.065,1578,3899,2939,0,0,0,0,0,0
$GC,7091,-0.58,-146.1,977.9,-14.5,448,7096,0.10,1.73,0.00,0.000,6,0.213,0.036,1606,2803,2940,0,0,0,0,0,0
$STATE,7308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7308,begin apogee
$GC,7312,-0.16,0.0,1002.1,10.6,459,7452,0.45,0.00,133.62,1.814,6,0.170,0.000,1741,2650,2342,0,0,0,0,0,0
$STATE,7452,end apogee,CONTROL_FINISHED_OK
$STATE,7453,begin climb
$GC,7454,0.58,146.1,1005.0,0.0,466,7610,0.80,2.60,146.25,1.771,4,0.123,0.050,1992,1286,1745,0,0,0,0,0,0
$GC,7623,0.58,146.1,982.0,17.8,474,7628,0.00,2.53,0.00,0.000,6,0.000,0.053,1992,2663,1743,0,0,0,0,0,0
$GC,7949,0.58,146.1,915.3,20.6,490,7953,0.00,2.12,0.00,0.000,4,0.000,0.062,1992,3904,1736,0,0,0,0,0,0
$GC,7998,0.58,146.1,904.2,23.3,492,8003,0.00,2.05,0.00,0.000,6,0.000,0.041,2001,2708,1734,0,0,0,0,0,0
$GC,8326,0.58,146.1,835.3,21.3,508,8327,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,2708,1733,0,0,0,0,0,0
$GC,8635,0.58,146.1,769.1,21.6,523,8638,0.00,2.00,0.00,0.000,4,0.000,0.062,2001,3903,1732,0,0,0,0,0,0
$GC,8657,0.58,146.1,764.0,22.0,524,8661,0.00,2.00,0.00,0.000,6,0.000,0.041,2010,2656,1731,0,0,0,0,0,0
$GC,8989,0.58,146.1,689.3,22.4,540,8993,0.00,2.08,0.00,0.000,4,0.000,0.060,2011,3910,1731,0,0,0,0,0,0
$GC,9043,0.58,146.1,675.5,25.6,542,9048,0.10,2.03,0.00,0.000,6,0.213,0.041,1993,2673,1730,0,0,0,0,0,0
$GC,9365,0.58,146.1,607.1,21.3,558,9369,0.00,2.03,0.00,0.000,4,0.000,0.060,1994,3910,1730,0,0,0,0,0,0
$GC,9410,0.58,146.1,596.7,23.0,560,9414,0.00,2.00,0.00,0.000,6,0.000,0.041,2002,2665,1730,0,0,0,0,0,0
$GC,9742,0.58,146.1,524.0,21.6,576,9746,0.00,2.03,0.00,0.000,4,0.000,0.061,2003,3903,1730,0,0,0,0,0,0
$GC,9780,0.58,146.1,514.8,24.5,577,9787,0.00,2.00,0.00,0.000,6,0.000,0.041,2012,2672,1729,0,0,0,0,0,0
$GC,10096,0.58,146.1,445.4,21.9,593,10099,0.00,2.03,0.00,0.000,4,0.000,0.061,2012,3901,1729,0,0,0,0,0,0
$GC,10133,0.58,146.1,436.2,23.6,594,10142,0.10,2.00,0.00,0.000,6,0.213,0.040,1995,2664,1729,0,0,0,0,0,0
$GC,10450,0.58,146.1,372.9,19.8,610,10454,0.00,2.03,0.00,0.000,4,0.000,0.061,1995,3906,1729,0,0,0,0,0,0
$GC,10495,0.58,146.1,363.0,22.0,612,10498,0.00,1.98,0.00,0.000,6,0.000,0.041,2003,2665,1729,0,0,0,0,0,0
$GC,10826,0.58,146.1,293.1,20.9,628,10830,0.00,2.00,0.00,0.000,4,0.000,0.061,2004,3900,1729,0,0,0,0,0,0
$GC,10881,0.58,146.1,279.8,24.6,630,10886,0.00,1.98,0.00,0.000,6,0.000,0.041,2013,2670,1728,0,0,0,0,0,0
$GC,11211,0.58,146.1,208.1,20.9,655,11214,0.00,2.00,0.00,0.000,4,0.000,0.061,2013,3906,1728,0,0,0,0,0,0
$GC,11268,0.58,146.1,194.4,24.9,660,11273,0.12,1.98,0.00,0.000,6,0.229,0.042,1995,2660,1728,0,0,0,0,0,0
$GC,11592,0.58,146.1,131.5,17.2,690,11593,0.00,0.00,0.00,0.000,6,0.000,0.000,1995,2660,1727,0,0,0,0,0,0
$GC,11921,0.58,146.1,77.2,14.7,732,11930,0.00,2.05,0.00,0.000,4,0.000,0.063,1995,3898,1728,0,0,0,0,0,0
$GC,11991,0.58,146.1,65.5,18.4,743,11998,0.00,1.98,0.00,0.000,6,0.000,0.041,2004,2661,1728,0,0,0,0,0,0
$GC,12105,0.58,146.1,45.1,16.8,762,12114,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2660,1728,0,0,0,0,0,0
$GC,12221,0.58,146.1,27.9,15.2,781,12230,0.00,2.05,0.00,0.000,4,0.000,0.063,2004,3899,1728,0,0,0,0,0,0
$GC,12268,0.58,146.1,19.5,17.8,788,12277,0.00,1.95,0.00,0.000,6,0.000,0.039,2014,2670,1728,0,0,0,0,0,0
$GC,12353,0.58,146.1,4.9,17.1,801,12363,0.00,2.03,0.00,0.000,4,0.000,0.066,2014,3893,1728,0,0,0,0,0,0
$STATE,12370,end climb,SURFACE_DEPTH_REACHED
$STATE,12370,begin surface coast
$FINISH,1.0,1.021686
$STATE,12390,end surface coast,CONTROL_FINISHED_OK
$STATE,12390,begin surface
$SM_CCo,12402,24.40,0.200,0,0,1482,210.22
$SM_GC,1.77,0.00,0.00,24.40,0.000,0.000,0.200,56,2795,1482,-5.46,-0.45,210.22
$IRIDIUM_FIX,-5527.50,-34.49,151214,232351
$TT8_MAMPS,0.026215
$HUMID,55.47
$INTERNAL_PRESSURE,8.95509
$TCM_TEMP,7.50
$XPDR_PINGS,0
$24V_AH,21.6,13.624
$10V_AH,10.1,8.738
$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,13.650,121.300,279.875,24.400,0.000,57.702,63.664,375.412,0.000,0.000,24.004,2065.238,7760.729,434.879,2719.206,145.359,33.355,1340.655,0.000,2036.195,0.000,0.539,0.000
$DEVICE_MAMPS,256.275,75.735,1813.815,200.430,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,572.486,1667.449,792.143,818.463,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354004
$DATA_FILE_SIZE,56996,806
$CAP_FILE_SIZE,127363,0
$CFSIZE,259252224,224481280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,161214,025928,-5552.100,-35.346,46,0.8,46,-19.9