version: 66.07
glider: 542
mission: 9
dive: 59
start: 12 20 114 11 41 59
data:
$ID,542
$MISSION,9
$DIVE,59
$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,200
$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,-21838.898
$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,1790
$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,335
$ROLL_MAX,3901
$ROLL_DEG,40
$C_ROLL_DIVE,2930
$C_ROLL_CLIMB,2710
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,23
$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,0.00079999998
$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
$GPS1,201214,113351,-5601.400,-28.026,28,1.3,36,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-69.2
$GPS2,201214,114105,-5601.324,-27.931,15,1.9,15,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.184,-0.065
$KALMAN_X,28408.9,358.0,277.3,-57920.5,1734.9
$KALMAN_Y,52854.0,-659.5,100.6,-54430.7,3819.1
$MHEAD_RNG_PITCHd_Wd,270.3,3257,-21.3,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.48,-102.8,0.0,0.0,0,50,0.00,0.00,-33.95,0.000,2,0.000,0.000,58,2938,2249,0,0,0,0,0,0
$GC,53,-0.52,-146.1,3.2,-4.5,4,96,6.35,1.62,-24.98,0.000,4,0.253,0.087,1606,3892,2938,0,0,0,0,0,0
$GC,171,-0.52,-146.1,18.0,-18.0,21,180,0.00,1.58,0.00,0.000,6,0.000,0.036,1606,2902,2941,0,0,0,0,0,0
$GC,253,-0.52,-146.1,33.0,-18.0,34,262,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2902,2941,0,0,0,0,0,0
$GC,369,-0.52,-146.1,52.7,-16.6,53,376,0.00,1.67,0.00,0.000,4,0.000,0.063,1599,3894,2940,0,0,0,0,0,0
$GC,408,-0.52,-146.1,59.5,-17.9,59,415,0.00,1.52,0.00,0.000,6,0.000,0.037,1599,2923,2940,0,0,0,0,0,0
$GC,522,-0.52,-146.1,79.0,-16.7,78,531,0.00,0.00,0.00,0.000,6,0.000,0.000,1599,2923,2941,0,0,0,0,0,0
$GC,635,-0.52,-146.1,96.9,-16.4,97,641,0.00,1.62,0.00,0.000,4,0.000,0.064,1591,3892,2941,0,0,0,0,0,0
$GC,720,-0.52,-146.1,112.0,-16.7,106,732,0.12,1.52,0.00,0.000,6,0.206,0.035,1621,2924,2941,0,0,0,0,0,0
$GC,1048,-0.52,-146.1,156.3,-14.0,137,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2925,2941,0,0,0,0,0,0
$GC,1367,-0.52,-146.1,200.5,-13.9,167,1371,0.00,1.62,0.00,0.000,4,0.000,0.067,1614,3896,2941,0,0,0,0,0,0
$GC,1402,-0.52,-146.1,205.9,-15.0,170,1405,0.00,1.50,0.00,0.000,6,0.000,0.036,1614,2938,2941,0,0,0,0,0,0
$GC,1744,-0.52,-146.1,254.1,-13.5,201,1747,0.00,1.60,0.00,0.000,4,0.000,0.066,1607,3896,2941,0,0,0,0,0,0
$GC,1793,-0.52,-146.1,261.6,-14.2,203,1798,0.00,1.50,0.00,0.000,6,0.000,0.037,1606,2926,2941,0,0,0,0,0,0
$GC,2122,-0.52,-146.1,308.1,-14.3,219,2123,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2921,2941,0,0,0,0,0,0
$GC,2429,-0.52,-146.1,351.0,-13.6,234,2433,0.00,1.62,0.00,0.000,4,0.000,0.064,1599,3900,2941,0,0,0,0,0,0
$GC,2479,-0.52,-146.1,358.5,-14.9,236,2483,0.00,1.50,0.00,0.000,6,0.000,0.036,1599,2933,2941,0,0,0,0,0,0
$GC,2806,-0.52,-146.1,404.7,-14.1,252,2807,0.00,0.00,0.00,0.000,6,0.000,0.000,1599,2929,2941,0,0,0,0,0,0
$GC,3115,-0.52,-146.1,447.0,-13.5,267,3119,0.00,1.60,0.00,0.000,4,0.000,0.065,1592,3896,2941,0,0,0,0,0,0
$GC,3183,-0.52,-146.1,456.9,-15.0,270,3187,0.00,1.50,0.00,0.000,6,0.000,0.036,1592,2924,2941,0,0,0,0,0,0
$GC,3515,-0.52,-146.1,503.0,-13.9,286,3519,0.10,1.62,0.00,0.000,4,0.215,0.065,1608,3904,2941,0,0,0,0,0,0
$GC,3560,-0.52,-146.1,509.0,-13.6,288,3563,0.00,1.50,0.00,0.000,6,0.000,0.036,1608,2936,2941,0,0,0,0,0,0
$GC,3891,-0.52,-146.1,549.3,-11.8,304,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,1608,2932,2941,0,0,0,0,0,0
$GC,4201,-0.52,-146.1,585.8,-11.6,319,4204,0.00,1.60,0.00,0.000,4,0.000,0.065,1601,3900,2942,0,0,0,0,0,0
$GC,4239,-0.52,-146.1,590.8,-13.4,320,4246,0.00,1.50,0.00,0.000,6,0.000,0.035,1601,2924,2942,0,0,0,0,0,0
$GC,4554,-0.52,-146.1,629.5,-12.5,336,4556,0.00,0.00,0.00,0.000,6,0.000,0.000,1601,2923,2942,0,0,0,0,0,0
$GC,4864,-0.52,-146.1,668.1,-12.3,351,4867,0.00,1.60,0.00,0.000,4,0.000,0.065,1593,3893,2942,0,0,0,0,0,0
$GC,4909,-0.52,-146.1,673.9,-12.9,353,4913,0.00,1.48,0.00,0.000,6,0.000,0.037,1593,2938,2942,0,0,0,0,0,0
$GC,5241,-0.52,-146.1,715.1,-12.2,369,5242,0.00,0.00,0.00,0.000,6,0.000,0.000,1593,2935,2942,0,0,0,0,0,0
$GC,5551,-0.52,-146.1,752.6,-11.9,384,5554,0.00,1.58,0.00,0.000,4,0.000,0.065,1586,3896,2942,0,0,0,0,0,0
$GC,5600,-0.52,-146.1,759.3,-13.7,386,5605,0.10,1.50,0.00,0.000,6,0.187,0.036,1616,2923,2942,0,0,0,0,0,0
$GC,5927,-0.52,-146.1,794.2,-10.6,402,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2922,2942,0,0,0,0,0,0
$GC,6237,-0.52,-146.1,827.4,-10.9,417,6238,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2922,2942,0,0,0,0,0,0
$GC,6545,-0.52,-146.1,860.5,-10.6,432,6546,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2922,2942,0,0,0,0,0,0
$GC,6855,-0.52,-146.1,893.9,-10.9,447,6856,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2922,2942,0,0,0,0,0,0
$GC,7165,-0.52,-146.1,927.7,-11.0,462,7166,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2922,2942,0,0,0,0,0,0
$GC,7473,-0.52,-146.1,962.1,-11.1,477,7474,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2922,2942,0,0,0,0,0,0
$GC,7783,-0.52,-146.1,997.0,-11.1,492,7784,0.00,0.00,0.00,0.000,6,0.000,0.000,1616,2922,2942,0,0,0,0,0,0
$STATE,7823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7823,begin apogee
$GC,7827,-0.13,0.0,1001.7,11.3,494,7966,0.43,0.00,133.98,1.800,6,0.169,0.000,1743,2713,2342,0,0,0,0,0,0
$STATE,7967,end apogee,CONTROL_FINISHED_OK
$STATE,7967,begin climb
$GC,7968,0.52,146.1,1006.2,0.0,501,8121,0.68,0.00,148.38,1.756,6,0.122,0.000,1947,2713,1746,0,0,0,0,0,0
$GC,8420,0.52,146.1,945.0,15.4,523,8421,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2713,1737,0,0,0,0,0,0
$GC,8730,0.52,146.1,896.9,15.8,538,8731,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2713,1735,0,0,0,0,0,0
$GC,9039,0.52,146.1,848.0,15.7,553,9043,0.00,2.00,0.00,0.000,4,0.000,0.062,1947,3908,1734,0,0,0,0,0,0
$GC,9065,0.52,146.1,843.4,16.8,554,9069,0.00,1.92,0.00,0.000,6,0.000,0.038,1956,2739,1733,0,0,0,0,0,0
$GC,9392,0.52,146.1,789.5,16.3,570,9393,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,2738,1733,0,0,0,0,0,0
$GC,9702,0.52,146.1,739.7,15.8,585,9706,0.00,2.30,0.00,0.000,4,0.000,0.049,1967,1292,1732,0,0,0,0,0,0
$GC,9728,0.52,146.1,735.3,15.6,586,9733,0.00,2.33,0.00,0.000,6,0.000,0.054,1966,2720,1731,0,0,0,0,0,0
$GC,10049,0.52,146.1,681.8,17.0,602,10053,0.00,1.90,0.00,0.000,4,0.000,0.062,1966,3889,1731,0,0,0,0,0,0
$GC,10109,0.52,146.1,670.2,18.7,604,10117,0.00,1.90,0.00,0.000,6,0.000,0.037,1975,2705,1730,0,0,0,0,0,0
$GC,10425,0.52,146.1,614.7,17.3,620,10426,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2706,1730,0,0,0,0,0,0
$GC,10735,0.52,146.1,560.8,17.1,635,10737,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,2705,1730,0,0,0,0,0,0
$GC,11044,0.52,146.1,507.3,17.5,650,11048,0.00,1.98,0.00,0.000,4,0.000,0.062,1975,3891,1730,0,0,0,0,0,0
$GC,11076,0.52,146.1,500.6,19.7,651,11081,0.00,1.90,0.00,0.000,6,0.000,0.037,1985,2701,1729,0,0,0,0,0,0
$GC,11398,0.52,146.1,440.6,18.8,667,11402,0.00,1.95,0.00,0.000,4,0.000,0.060,1985,3895,1730,0,0,0,0,0,0
$GC,11425,0.52,146.1,435.1,20.4,668,11430,0.10,1.90,0.00,0.000,6,0.216,0.038,1966,2705,1729,0,0,0,0,0,0
$GC,11752,0.52,146.1,379.5,16.7,684,11756,0.00,1.92,0.00,0.000,4,0.000,0.061,1966,3887,1729,0,0,0,0,0,0
$GC,11784,0.52,146.1,373.1,18.8,685,11789,0.00,1.88,0.00,0.000,6,0.000,0.037,1975,2712,1729,0,0,0,0,0,0
$GC,12109,0.52,146.1,315.8,17.8,701,12110,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,2712,1729,0,0,0,0,0,0
$GC,12417,0.52,146.1,261.1,17.6,716,12421,0.00,1.92,0.00,0.000,4,0.000,0.061,1975,3890,1729,0,0,0,0,0,0
$GC,12455,0.52,146.1,253.4,18.4,717,12463,0.00,1.88,0.00,0.000,6,0.000,0.037,1984,2708,1729,0,0,0,0,0,0
$GC,12782,0.52,146.1,195.2,17.8,747,12786,0.00,1.92,0.00,0.000,4,0.000,0.060,1984,3892,1729,0,0,0,0,0,0
$GC,12809,0.52,146.1,189.2,19.6,749,12818,0.10,1.88,0.00,0.000,6,0.213,0.037,1965,2711,1729,0,0,0,0,0,0
$GC,13135,0.52,146.1,138.0,15.0,780,13139,0.00,2.20,0.00,0.000,4,0.000,0.047,1975,1293,1729,0,0,0,0,0,0
$GC,13176,0.52,146.1,132.3,14.0,783,13180,0.00,2.25,0.00,0.000,6,0.000,0.055,1975,2710,1729,0,0,0,0,0,0
$GC,13510,0.52,146.1,83.7,13.9,823,13516,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2710,1728,0,0,0,0,0,0
$GC,13751,0.52,146.1,50.5,12.6,864,13759,0.00,2.22,0.00,0.000,4,0.000,0.048,1985,1302,1729,0,0,0,0,0,0
$GC,13796,0.52,146.1,45.0,12.0,871,13803,0.00,2.25,0.00,0.000,6,0.000,0.056,1985,2724,1729,0,0,0,0,0,0
$GC,13907,0.52,146.1,29.9,13.8,890,13916,0.00,1.90,0.00,0.000,4,0.000,0.063,1985,3893,1729,0,0,0,0,0,0
$GC,13950,0.52,146.1,23.8,16.0,896,13959,0.10,1.88,0.00,0.000,6,0.213,0.039,1966,2711,1729,0,0,0,0,0,0
$GC,14035,0.52,146.1,12.3,13.1,909,14044,0.00,2.22,0.00,0.000,4,0.000,0.049,1976,1289,1729,0,0,0,0,0,0
$GC,14064,0.52,146.1,8.7,12.2,913,14074,0.00,2.30,0.00,0.000,6,0.000,0.057,1976,2716,1729,0,0,0,0,0,0
$STATE,14111,end climb,SURFACE_DEPTH_REACHED
$STATE,14111,begin surface coast
$FINISH,1.3,1.009269
$STATE,14137,end surface coast,CONTROL_FINISHED_OK
$STATE,14138,begin surface
$SM_CCo,14150,20.25,0.187,0,0,1524,200.16
$SM_GC,2.85,0.00,0.00,20.25,0.000,0.000,0.187,65,2925,1524,-5.40,-0.14,200.16
$IRIDIUM_FIX,-5535.12,-26.95,201214,080834
$TT8_MAMPS,0.026215
$HUMID,55.51
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.30
$XPDR_PINGS,0
$24V_AH,21.6,17.936
$10V_AH,10.1,11.745
$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,13.225,83.675,282.350,20.250,0.000,28.071,23.780,269.237,0.000,0.000,17.729,2284.481,9162.417,437.272,2570.879,151.923,33.359,1309.101,0.000,2087.235,0.000,0.539,0.000
$DEVICE_MAMPS,253.215,87.210,1800.045,187.425,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,656.829,1903.160,904.358,939.223,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353972
$DATA_FILE_SIZE,63520,924
$CAP_FILE_SIZE,121354,0
$CFSIZE,259252224,222597120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,201214,153922,-5601.536,-29.975,37,0.8,37,-19.9