version: 66.07
glider: 542
mission: 9
dive: 53
start: 12 19 114 14 23 0
data:
$ID,542
$MISSION,9
$DIVE,53
$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,-21824.922
$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,28
$R_STBD_OVSHOOT,31
$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
$GPS1,191214,141434,-5601.908,-34.419,40,0.8,40,-19.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-70.4
$GPS2,191214,142206,-5601.878,-34.407,21,0.8,21,-19.8
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.116,-0.117
$KALMAN_X,27566.7,-291.1,-426.7,-62402.3,3634.5
$KALMAN_Y,48480.0,-757.8,-445.7,-50421.8,4381.8
$MHEAD_RNG_PITCHd_Wd,155.2,5739,-25.7,-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,-0.54,-73.9,0.0,0.0,0,58,0.00,0.00,-42.10,0.000,2,0.000,0.000,55,2953,2443,0,0,0,0,0,0
$GC,61,-0.59,-135.6,3.1,-4.2,5,88,6.45,1.62,-15.55,0.000,4,0.264,0.086,1585,3896,2896,0,0,0,0,0,0
$GC,289,-0.59,-135.6,43.2,-19.7,41,296,0.00,1.58,0.00,0.000,6,0.000,0.036,1586,2905,2899,0,0,0,0,0,0
$GC,403,-0.59,-135.6,64.8,-18.2,60,411,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,2904,2899,0,0,0,0,0,0
$GC,519,-0.59,-135.6,85.9,-18.4,79,525,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,2905,2899,0,0,0,0,0,0
$GC,750,-0.59,-135.6,124.5,-15.8,107,752,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,2905,2899,0,0,0,0,0,0
$GC,1069,-0.59,-135.6,172.6,-15.2,137,1072,0.00,1.65,0.00,0.000,4,0.000,0.064,1579,3905,2899,0,0,0,0,0,0
$GC,1130,-0.59,-135.6,183.4,-17.1,142,1140,0.00,1.55,0.00,0.000,6,0.000,0.037,1579,2924,2899,0,0,0,0,0,0
$GC,1458,-0.59,-135.6,235.2,-15.3,173,1462,0.00,1.60,0.00,0.000,4,0.000,0.065,1572,3886,2899,0,0,0,0,0,0
$GC,1519,-0.59,-135.6,246.1,-16.5,178,1529,0.00,1.50,0.00,0.000,6,0.000,0.036,1572,2923,2899,0,0,0,0,0,0
$GC,1840,-0.59,-135.6,296.3,-16.1,195,1844,0.00,1.60,0.00,0.000,4,0.000,0.064,1565,3886,2899,0,0,0,0,0,0
$GC,1911,-0.59,-135.6,309.4,-17.0,198,1917,0.12,1.50,0.00,0.000,6,0.213,0.036,1594,2927,2899,0,0,0,0,0,0
$GC,2239,-0.59,-135.6,355.3,-14.2,214,2243,0.00,1.60,0.00,0.000,4,0.000,0.065,1587,3892,2900,0,0,0,0,0,0
$GC,2299,-0.59,-135.6,365.0,-16.2,216,2309,0.00,1.50,0.00,0.000,6,0.000,0.035,1587,2928,2900,0,0,0,0,0,0
$GC,2615,-0.59,-135.6,413.2,-15.2,232,2619,0.00,1.60,0.00,0.000,4,0.000,0.064,1579,3894,2900,0,0,0,0,0,0
$GC,2653,-0.59,-135.6,419.7,-17.1,233,2661,0.00,1.50,0.00,0.000,6,0.000,0.035,1579,2921,2900,0,0,0,0,0,0
$GC,2969,-0.59,-135.6,470.3,-16.2,249,2970,0.00,0.00,0.00,0.000,6,0.000,0.000,1580,2921,2899,0,0,0,0,0,0
$GC,3278,-0.59,-135.6,518.8,-15.5,264,3282,0.00,1.60,0.00,0.000,4,0.000,0.064,1572,3890,2900,0,0,0,0,0,0
$GC,3369,-0.59,-135.6,533.8,-16.8,268,3372,0.00,1.48,0.00,0.000,6,0.000,0.036,1572,2933,2900,0,0,0,0,0,0
$GC,3700,-0.59,-135.6,587.9,-16.1,284,3704,0.00,1.58,0.00,0.000,4,0.000,0.063,1565,3883,2899,0,0,0,0,0,0
$GC,3755,-0.59,-135.6,597.5,-16.9,286,3760,0.08,1.48,0.00,0.000,6,0.194,0.035,1587,2935,2899,0,0,0,0,0,0
$GC,4076,-0.59,-135.6,645.2,-14.6,302,4080,0.00,1.58,0.00,0.000,4,0.000,0.064,1580,3889,2900,0,0,0,0,0,0
$GC,4124,-0.59,-135.6,653.0,-16.0,304,4129,0.00,1.50,0.00,0.000,6,0.000,0.034,1580,2921,2900,0,0,0,0,0,0
$GC,4452,-0.59,-135.6,700.8,-14.5,320,4456,0.00,1.60,0.00,0.000,4,0.000,0.063,1573,3886,2900,0,0,0,0,0,0
$GC,4497,-0.59,-135.6,708.0,-15.6,322,4500,0.00,1.48,0.00,0.000,6,0.000,0.036,1576,2930,2900,0,0,0,0,0,0
$GC,4829,-0.59,-135.6,756.0,-14.0,338,4832,0.00,1.60,0.00,0.000,4,0.000,0.064,1569,3895,2900,0,0,0,0,0,0
$GC,4874,-0.59,-135.6,762.7,-15.5,340,4878,0.00,1.50,0.00,0.000,6,0.000,0.037,1574,2923,2900,0,0,0,0,0,0
$GC,5206,-0.59,-135.6,810.4,-14.5,356,5210,0.00,1.60,0.00,0.000,4,0.000,0.063,1567,3892,2900,0,0,0,0,0,0
$GC,5274,-0.59,-135.6,821.1,-16.5,359,5278,0.00,1.48,0.00,0.000,6,0.000,0.035,1569,2932,2900,0,0,0,0,0,0
$GC,5607,-0.59,-135.6,868.5,-13.8,375,5611,0.00,1.58,0.00,0.000,4,0.000,0.063,1562,3886,2900,0,0,0,0,0,0
$GC,5656,-0.59,-135.6,876.4,-15.0,377,5661,0.12,1.50,0.00,0.000,6,0.210,0.035,1591,2922,2901,0,0,0,0,0,0
$GC,5983,-0.59,-135.6,917.3,-12.6,393,5987,0.00,1.60,0.00,0.000,4,0.000,0.064,1583,3893,2900,0,0,0,0,0,0
$GC,6037,-0.59,-135.6,924.8,-13.2,395,6043,0.00,1.50,0.00,0.000,6,0.000,0.034,1586,2925,2900,0,0,0,0,0,0
$GC,6359,-0.59,-135.6,965.8,-12.7,411,6363,0.00,1.60,0.00,0.000,4,0.000,0.063,1579,3893,2900,0,0,0,0,0,0
$GC,6407,-0.59,-135.6,971.9,-14.1,413,6410,0.00,1.48,0.00,0.000,6,0.000,0.036,1579,2939,2900,0,0,0,0,0,0
$STATE,6613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6613,begin apogee
$GC,6617,-0.13,0.0,1000.0,13.3,423,6746,0.55,0.00,125.20,1.816,6,0.188,0.000,1738,2711,2342,0,0,0,0,0,0
$STATE,6747,end apogee,CONTROL_FINISHED_OK
$STATE,6747,begin climb
$GC,6749,0.59,135.6,1003.9,0.0,429,6893,0.77,0.00,136.93,1.776,6,0.127,0.000,1969,2711,1789,0,0,0,0,0,0
$GC,7200,0.59,135.6,931.3,18.2,451,7204,0.00,2.05,0.00,0.000,4,0.000,0.061,1969,3890,1781,0,0,0,0,0,0
$GC,7216,0.59,135.6,928.1,18.7,451,7224,0.00,1.95,0.00,0.000,6,0.000,0.036,1978,2735,1780,0,0,0,0,0,0
$GC,7532,0.59,135.6,867.5,18.5,467,7535,0.00,1.98,0.00,0.000,4,0.000,0.060,1978,3893,1779,0,0,0,0,0,0
$GC,7554,0.59,135.6,862.8,21.1,468,7558,0.00,1.92,0.00,0.000,6,0.000,0.038,1987,2709,1778,0,0,0,0,0,0
$GC,7886,0.59,135.6,796.3,19.9,484,7890,0.00,1.98,0.00,0.000,4,0.000,0.061,1988,3890,1777,0,0,0,0,0,0
$GC,7918,0.59,135.6,788.7,23.4,485,7923,0.00,1.95,0.00,0.000,6,0.000,0.038,1997,2703,1776,0,0,0,0,0,0
$GC,8240,0.59,135.6,722.5,20.9,501,8244,0.00,2.00,0.00,0.000,4,0.000,0.060,1997,3900,1776,0,0,0,0,0,0
$GC,8274,0.59,135.6,715.0,24.2,502,8277,0.00,1.90,0.00,0.000,6,0.000,0.039,2006,2708,1775,0,0,0,0,0,0
$GC,8594,0.59,135.6,645.5,21.6,518,8598,0.00,1.95,0.00,0.000,4,0.000,0.060,2006,3889,1776,0,0,0,0,0,0
$GC,8631,0.59,135.6,636.3,23.0,519,8640,0.10,1.92,0.00,0.000,6,0.214,0.038,1988,2701,1775,0,0,0,0,0,0
$GC,8948,0.59,135.6,573.9,19.6,535,8952,0.00,1.98,0.00,0.000,4,0.000,0.060,1988,3911,1775,0,0,0,0,0,0
$GC,8971,0.59,135.6,569.0,20.6,536,8974,0.00,1.90,0.00,0.000,6,0.000,0.039,1997,2704,1775,0,0,0,0,0,0
$GC,9302,0.59,135.6,500.8,20.1,552,9306,0.00,1.95,0.00,0.000,4,0.000,0.060,1997,3893,1775,0,0,0,0,0,0
$GC,9351,0.59,135.6,489.6,22.7,554,9356,0.00,1.90,0.00,0.000,6,0.000,0.037,2006,2713,1774,0,0,0,0,0,0
$GC,9679,0.59,135.6,423.4,20.0,570,9682,0.00,1.95,0.00,0.000,4,0.000,0.059,2006,3890,1775,0,0,0,0,0,0
$GC,9727,0.59,135.6,412.3,23.5,572,9733,0.10,1.90,0.00,0.000,6,0.213,0.037,1988,2708,1774,0,0,0,0,0,0
$GC,10055,0.59,135.6,353.4,17.7,588,10059,0.00,1.95,0.00,0.000,4,0.000,0.060,1988,3898,1774,0,0,0,0,0,0
$GC,10109,0.59,135.6,341.7,20.9,590,10114,0.00,1.90,0.00,0.000,6,0.000,0.038,1996,2711,1774,0,0,0,0,0,0
$GC,10432,0.59,135.6,281.1,19.1,606,10436,0.00,1.92,0.00,0.000,4,0.000,0.060,1997,3895,1774,0,0,0,0,0,0
$GC,10502,0.59,135.6,266.1,22.2,609,10505,0.00,1.88,0.00,0.000,6,0.000,0.039,2006,2708,1774,0,0,0,0,0,0
$GC,10832,0.59,135.6,197.7,20.9,636,10836,0.00,1.92,0.00,0.000,4,0.000,0.060,2006,3890,1774,0,0,0,0,0,0
$GC,10855,0.59,135.6,192.7,20.1,638,10860,0.12,1.85,0.00,0.000,6,0.231,0.037,1988,2697,1774,0,0,0,0,0,0
$GC,11187,0.59,135.6,130.8,18.0,669,11190,0.00,1.95,0.00,0.000,4,0.000,0.060,1988,3893,1774,0,0,0,0,0,0
$GC,11212,0.59,135.6,126.1,18.9,671,11216,0.00,1.85,0.00,0.000,6,0.000,0.039,1996,2703,1774,0,0,0,0,0,0
$GC,11552,0.59,135.6,69.6,15.5,718,11561,0.00,1.95,0.00,0.000,4,0.000,0.061,1996,3880,1774,0,0,0,0,0,0
$GC,11574,0.59,135.6,66.4,15.2,721,11581,0.00,1.88,0.00,0.000,6,0.000,0.038,2005,2707,1774,0,0,0,0,0,0
$GC,11686,0.59,135.6,48.3,15.3,740,11695,0.00,1.95,0.00,0.000,4,0.000,0.061,2005,3885,1774,0,0,0,0,0,0
$GC,11708,0.59,135.6,44.8,16.9,743,11716,0.10,1.88,0.00,0.000,6,0.210,0.040,1986,2714,1774,0,0,0,0,0,0
$GC,11825,0.59,135.6,28.0,13.4,762,11833,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2713,1774,0,0,0,0,0,0
$GC,11908,0.59,135.6,16.3,13.5,775,11917,0.00,1.95,0.00,0.000,4,0.000,0.063,1986,3889,1774,0,0,0,0,0,0
$GC,11926,0.59,135.6,13.8,14.5,777,11935,0.00,1.90,0.00,0.000,6,0.000,0.039,1995,2700,1774,0,0,0,0,0,0
$STATE,12003,end climb,SURFACE_DEPTH_REACHED
$STATE,12003,begin surface coast
$FINISH,1.3,1.027011
$STATE,12029,end surface coast,CONTROL_FINISHED_OK
$STATE,12029,begin surface
$SM_CCo,12041,24.60,0.187,0,0,1524,200.16
$SM_GC,2.45,0.00,0.00,24.60,0.000,0.000,0.187,62,2933,1524,-5.40,0.08,200.16
$IRIDIUM_FIX,-5542.76,-30.87,191214,101000
$TT8_MAMPS,0.026215
$HUMID,55.94
$INTERNAL_PRESSURE,8.95509
$TCM_TEMP,7.30
$XPDR_PINGS,0
$24V_AH,21.6,17.012
$10V_AH,10.1,11.136
$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,13.800,105.075,262.125,24.600,0.000,24.991,50.980,259.618,0.000,0.000,23.430,2030.110,7476.481,420.060,2454.041,139.677,33.353,1269.132,0.000,1957.519,0.000,0.539,0.000
$DEVICE_MAMPS,263.925,86.445,1816.110,186.660,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,563.647,1653.554,811.996,843.193,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353952
$DATA_FILE_SIZE,53753,793
$CAP_FILE_SIZE,118485,0
$CFSIZE,259252224,222990336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,191214,174505,-5602.976,-32.703,24,0.8,24,-19.9