version: 66.07
glider: 542
mission: 9
dive: 58
start: 12 20 114 8 10 23
data:
$ID,542
$MISSION,9
$DIVE,58
$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,-21836.578
$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,29
$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
$GPS1,201214,080205,-5601.196,-27.788,34,0.9,34,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-70.0
$GPS2,201214,080929,-5601.155,-27.675,17,0.9,17,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.128,-0.105
$KALMAN_X,25368.9,404.3,479.0,-54854.3,-913.5
$KALMAN_Y,51295.6,-278.5,-424.7,-52406.5,3343.7
$MHEAD_RNG_PITCHd_Wd,250.6,3221,-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,-41.90,0.000,2,0.000,0.000,62,2957,2446,0,0,0,0,0,0
$GC,61,-0.60,-139.9,3.2,-3.9,5,88,6.35,1.62,-15.80,0.000,4,0.259,0.088,1582,3897,2914,0,0,0,0,0,0
$GC,206,-0.60,-139.9,28.2,-20.2,27,215,0.00,1.58,0.00,0.000,6,0.000,0.036,1582,2901,2915,0,0,0,0,0,0
$GC,286,-0.60,-139.9,44.9,-19.5,40,294,0.00,0.00,0.00,0.000,6,0.000,0.000,1582,2900,2915,0,0,0,0,0,0
$GC,401,-0.60,-139.9,66.9,-18.9,59,408,0.00,1.67,0.00,0.000,4,0.000,0.062,1575,3897,2915,0,0,0,0,0,0
$GC,488,-0.60,-139.9,84.4,-21.0,73,494,0.00,1.52,0.00,0.000,6,0.000,0.036,1579,2929,2915,0,0,0,0,0,0
$GC,716,-0.60,-139.9,123.0,-16.6,101,720,0.00,1.62,0.00,0.000,4,0.000,0.064,1572,3894,2915,0,0,0,0,0,0
$GC,857,-0.60,-139.9,146.8,-17.1,113,860,0.00,1.50,0.00,0.000,6,0.000,0.036,1576,2933,2916,0,0,0,0,0,0
$GC,1187,-0.60,-139.9,197.7,-15.2,144,1191,0.00,1.60,0.00,0.000,4,0.000,0.063,1569,3891,2916,0,0,0,0,0,0
$GC,1233,-0.60,-139.9,205.2,-17.0,148,1236,0.00,1.50,0.00,0.000,6,0.000,0.036,1569,2925,2916,0,0,0,0,0,0
$GC,1561,-0.60,-139.9,260.8,-17.1,176,1565,0.00,1.62,0.00,0.000,4,0.000,0.064,1561,3898,2916,0,0,0,0,0,0
$GC,1631,-0.60,-139.9,273.3,-18.8,179,1635,0.10,1.50,0.00,0.000,6,0.193,0.037,1590,2933,2916,0,0,0,0,0,0
$GC,1965,-0.60,-139.9,327.7,-16.1,195,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2933,2916,0,0,0,0,0,0
$GC,2273,-0.60,-139.9,377.7,-15.7,210,2277,0.00,1.60,0.00,0.000,4,0.000,0.065,1584,3900,2916,0,0,0,0,0,0
$GC,2343,-0.60,-139.9,389.3,-17.0,213,2347,0.00,1.50,0.00,0.000,6,0.000,0.035,1583,2933,2915,0,0,0,0,0,0
$GC,2675,-0.60,-139.9,441.8,-15.4,229,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,2928,2915,0,0,0,0,0,0
$GC,2984,-0.60,-139.9,488.8,-15.1,244,2988,0.00,1.60,0.00,0.000,4,0.000,0.064,1576,3897,2916,0,0,0,0,0,0
$GC,3043,-0.60,-139.9,498.5,-15.9,246,3052,0.00,1.52,0.00,0.000,6,0.000,0.035,1576,2912,2916,0,0,0,0,0,0
$GC,3360,-0.60,-139.9,547.2,-15.2,262,3364,0.00,1.62,0.00,0.000,4,0.000,0.063,1568,3896,2915,0,0,0,0,0,0
$GC,3392,-0.60,-139.9,552.8,-16.7,263,3397,0.00,1.50,0.00,0.000,6,0.000,0.035,1568,2935,2916,0,0,0,0,0,0
$GC,3714,-0.60,-139.9,604.2,-16.2,279,3718,0.00,1.58,0.00,0.000,4,0.000,0.063,1561,3890,2916,0,0,0,0,0,0
$GC,3791,-0.60,-139.9,617.9,-17.5,282,3796,0.10,1.48,0.00,0.000,6,0.194,0.035,1590,2935,2916,0,0,0,0,0,0
$GC,4112,-0.60,-139.9,663.7,-14.3,298,4113,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2934,2917,0,0,0,0,0,0
$GC,4422,-0.60,-139.9,706.4,-13.7,313,4425,0.00,1.58,0.00,0.000,4,0.000,0.064,1583,3890,2916,0,0,0,0,0,0
$GC,4459,-0.60,-139.9,712.2,-14.9,314,4467,0.00,1.50,0.00,0.000,6,0.000,0.034,1583,2919,2916,0,0,0,0,0,0
$GC,4776,-0.60,-139.9,756.1,-13.7,330,4779,0.00,1.60,0.00,0.000,4,0.000,0.063,1576,3890,2916,0,0,0,0,0,0
$GC,4825,-0.60,-139.9,763.8,-15.6,332,4829,0.00,1.48,0.00,0.000,6,0.000,0.034,1576,2933,2916,0,0,0,0,0,0
$GC,5152,-0.60,-139.9,809.8,-14.1,348,5155,0.00,1.60,0.00,0.000,4,0.000,0.064,1568,3889,2917,0,0,0,0,0,0
$GC,5211,-0.60,-139.9,819.1,-15.5,350,5220,0.00,1.50,0.00,0.000,6,0.000,0.034,1568,2916,2916,0,0,0,0,0,0
$GC,5529,-0.60,-139.9,862.9,-13.7,366,5532,0.00,1.60,0.00,0.000,4,0.000,0.063,1561,3890,2916,0,0,0,0,0,0
$GC,5577,-0.60,-139.9,870.5,-15.2,368,5583,0.10,1.45,0.00,0.000,6,0.193,0.035,1590,2943,2916,0,0,0,0,0,0
$GC,5905,-0.60,-139.9,910.5,-12.3,384,5906,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2944,2916,0,0,0,0,0,0
$GC,6213,-0.60,-139.9,948.1,-12.2,399,6215,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2944,2916,0,0,0,0,0,0
$GC,6523,-0.60,-139.9,985.1,-11.8,414,6526,0.00,1.55,0.00,0.000,4,0.000,0.064,1583,3889,2917,0,0,0,0,0,0
$GC,6568,-0.60,-139.9,990.8,-13.6,416,6572,0.00,1.48,0.00,0.000,6,0.000,0.035,1583,2920,2916,0,0,0,0,0,0
$STATE,6651,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6651,begin apogee
$GC,6655,-0.13,0.0,1001.1,12.1,420,6787,0.55,0.00,128.60,1.805,6,0.182,0.000,1743,2706,2342,0,0,0,0,0,0
$STATE,6788,end apogee,CONTROL_FINISHED_OK
$STATE,6788,begin climb
$GC,6789,0.60,139.9,1004.0,0.0,426,6935,0.77,0.00,142.05,1.763,6,0.122,0.000,1976,2706,1770,0,0,0,0,0,0
$GC,7241,0.60,139.9,925.8,19.3,448,7245,0.00,2.05,0.00,0.000,4,0.000,0.060,1976,3890,1762,0,0,0,0,0,0
$GC,7278,0.60,139.9,917.7,21.7,449,7287,0.00,1.95,0.00,0.000,6,0.000,0.038,1985,2744,1760,0,0,0,0,0,0
$GC,7595,0.60,139.9,854.3,19.9,465,7600,0.00,2.35,0.00,0.000,4,0.000,0.048,1996,1287,1760,0,0,0,0,0,0
$GC,7616,0.60,139.9,849.8,19.4,466,7621,0.00,2.38,0.00,0.000,6,0.000,0.053,1996,2711,1759,0,0,0,0,0,0
$GC,7944,0.60,139.9,782.9,20.4,482,7947,0.00,1.95,0.00,0.000,4,0.000,0.060,1996,3896,1758,0,0,0,0,0,0
$GC,8014,0.60,139.9,766.8,22.0,485,8018,0.00,1.95,0.00,0.000,6,0.000,0.039,2005,2703,1756,0,0,0,0,0,0
$GC,8341,0.60,139.9,699.6,20.1,501,8345,0.00,2.00,0.00,0.000,4,0.000,0.060,2006,3891,1756,0,0,0,0,0,0
$GC,8367,0.60,139.9,693.8,22.2,502,8372,0.08,1.92,0.00,0.000,6,0.219,0.039,1994,2708,1756,0,0,0,0,0,0
$GC,8694,0.60,139.9,630.5,18.9,518,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2708,1756,0,0,0,0,0,0
$GC,9004,0.60,139.9,573.4,18.5,533,9008,0.00,1.95,0.00,0.000,4,0.000,0.059,1994,3893,1756,0,0,0,0,0,0
$GC,9076,0.60,139.9,558.6,21.2,536,9080,0.00,1.92,0.00,0.000,6,0.000,0.039,2002,2703,1755,0,0,0,0,0,0
$GC,9403,0.60,139.9,496.8,18.5,552,9404,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,2702,1755,0,0,0,0,0,0
$GC,9712,0.60,139.9,439.8,18.6,567,9716,0.00,1.95,0.00,0.000,4,0.000,0.060,2003,3891,1755,0,0,0,0,0,0
$GC,9761,0.60,139.9,429.5,21.2,569,9765,0.00,1.90,0.00,0.000,6,0.000,0.039,2012,2710,1755,0,0,0,0,0,0
$GC,10090,0.60,139.9,365.1,20.1,585,10091,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,2710,1755,0,0,0,0,0,0
$GC,10399,0.60,139.9,303.6,20.3,600,10403,0.00,1.92,0.00,0.000,4,0.000,0.060,2012,3893,1755,0,0,0,0,0,0
$GC,10431,0.60,139.9,296.0,23.2,601,10436,0.10,1.90,0.00,0.000,6,0.211,0.039,1993,2705,1755,0,0,0,0,0,0
$GC,10755,0.60,139.9,234.6,18.8,620,10758,0.00,1.92,0.00,0.000,4,0.000,0.059,1993,3888,1755,0,0,0,0,0,0
$GC,10778,0.60,139.9,229.7,21.2,622,10782,0.00,1.88,0.00,0.000,6,0.000,0.038,2001,2698,1755,0,0,0,0,0,0
$GC,11110,0.60,139.9,164.7,19.5,653,11114,0.00,1.95,0.00,0.000,4,0.000,0.060,2001,3894,1755,0,0,0,0,0,0
$GC,11135,0.60,139.9,159.3,22.1,655,11139,0.00,1.90,0.00,0.000,6,0.000,0.040,2010,2710,1755,0,0,0,0,0,0
$GC,11460,0.60,139.9,98.2,17.0,686,11466,0.00,0.00,0.00,0.000,6,0.000,0.000,2010,2709,1755,0,0,0,0,0,0
$GC,11700,0.60,139.9,60.2,16.4,727,11707,0.00,1.95,0.00,0.000,4,0.000,0.061,2010,3887,1754,0,0,0,0,0,0
$GC,11854,0.60,139.9,32.7,18.5,753,11861,0.08,1.88,0.00,0.000,6,0.211,0.039,1990,2710,1755,0,0,0,0,0,0
$GC,11975,0.60,139.9,15.3,13.1,772,11983,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,2710,1755,0,0,0,0,0,0
$GC,12058,0.60,139.9,3.1,14.7,785,12067,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,2710,1755,0,0,0,0,0,0
$STATE,12075,end climb,SURFACE_DEPTH_REACHED
$STATE,12075,begin surface coast
$FINISH,1.3,1.019006
$STATE,12101,end surface coast,CONTROL_FINISHED_OK
$STATE,12102,begin surface
$SM_CCo,12113,23.38,0.181,0,0,1523,200.16
$SM_GC,2.52,0.00,0.00,23.38,0.000,0.000,0.181,58,2929,1523,-5.41,-0.03,200.16
$IRIDIUM_FIX,-5538.94,-30.80,201214,040427
$TT8_MAMPS,0.026215
$HUMID,56.30
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.30
$XPDR_PINGS,0
$24V_AH,21.7,17.775
$10V_AH,10.1,11.634
$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,13.500,83.700,270.650,23.375,0.000,28.341,46.022,259.998,0.000,0.000,19.932,2002.224,7653.975,405.769,2378.966,144.202,33.355,1205.529,0.000,1900.519,0.000,0.540,0.000
$DEVICE_MAMPS,259.335,87.975,1804.635,180.540,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,562.484,1644.080,795.516,826.605,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354012
$DATA_FILE_SIZE,53771,791
$CAP_FILE_SIZE,111610,0
$CFSIZE,259252224,222683136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,201214,113351,-5601.400,-28.026,28,1.3,36,-19.9