version: 66.07
glider: 542
mission: 9
dive: 60
start: 12 20 114 15 48 11
data:
$ID,542
$MISSION,9
$DIVE,60
$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,-21841.227
$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,20
$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
$GPS1,201214,153922,-5601.536,-29.975,37,0.8,37,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-68.7
$GPS2,201214,154717,-5601.473,-29.978,17,1.1,17,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.188,-0.077
$KALMAN_X,30980.2,176.5,-351.7,-61785.7,3919.6
$KALMAN_Y,54027.7,-618.9,-322.0,-55491.4,4336.4
$MHEAD_RNG_PITCHd_Wd,267.5,2727,-20.3,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.47,-111.4,0.0,0.0,0,51,0.00,0.00,-33.75,0.000,2,0.000,0.000,64,2929,2252,0,0,0,0,0,0
$GC,53,-0.50,-146.1,3.0,-3.6,4,96,6.47,1.62,-26.25,0.000,4,0.259,0.082,1614,3898,2937,0,0,0,0,0,0
$GC,244,-0.50,-146.1,29.3,-17.8,33,253,0.00,1.58,0.00,0.000,6,0.000,0.036,1615,2903,2939,0,0,0,0,0,0
$GC,324,-0.50,-146.1,43.3,-17.2,46,332,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2902,2940,0,0,0,0,0,0
$GC,440,-0.50,-146.1,63.1,-17.5,65,447,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2902,2939,0,0,0,0,0,0
$GC,551,-0.50,-146.1,82.6,-17.5,84,560,0.00,2.15,0.00,0.000,4,0.000,0.044,1615,1533,2940,0,0,0,0,0,0
$GC,590,-0.50,-146.1,88.7,-16.1,90,600,0.00,2.30,0.00,0.000,6,0.000,0.059,1604,2925,2940,0,0,0,0,0,0
$GC,818,-0.50,-146.1,128.6,-17.3,116,820,0.00,0.00,0.00,0.000,6,0.000,0.000,1604,2925,2940,0,0,0,0,0,0
$GC,1137,-0.50,-146.1,180.4,-15.9,146,1138,0.00,0.00,0.00,0.000,6,0.000,0.000,1604,2925,2940,0,0,0,0,0,0
$GC,1455,-0.50,-146.1,230.6,-15.3,176,1458,0.00,1.60,0.00,0.000,4,0.000,0.065,1596,3906,2940,0,0,0,0,0,0
$GC,1516,-0.50,-146.1,240.5,-17.0,181,1520,0.08,1.52,0.00,0.000,6,0.182,0.037,1620,2925,2940,0,0,0,0,0,0
$GC,1849,-0.50,-146.1,287.3,-13.4,200,1852,0.00,1.62,0.00,0.000,4,0.000,0.065,1612,3900,2940,0,0,0,0,0,0
$GC,1882,-0.50,-146.1,292.1,-14.5,201,1886,0.00,1.50,0.00,0.000,6,0.000,0.036,1612,2925,2940,0,0,0,0,0,0
$GC,2205,-0.50,-146.1,334.9,-13.0,217,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2922,2940,0,0,0,0,0,0
$GC,2512,-0.50,-146.1,374.8,-12.4,232,2515,0.00,1.62,0.00,0.000,4,0.000,0.064,1605,3903,2940,0,0,0,0,0,0
$GC,2566,-0.50,-146.1,382.5,-13.6,234,2572,0.00,1.52,0.00,0.000,6,0.000,0.035,1605,2921,2940,0,0,0,0,0,0
$GC,2889,-0.50,-146.1,423.8,-12.7,250,2890,0.00,0.00,0.00,0.000,6,0.000,0.000,1605,2921,2940,0,0,0,0,0,0
$GC,3198,-0.50,-146.1,463.3,-12.7,265,3201,0.00,1.62,0.00,0.000,4,0.000,0.064,1597,3905,2940,0,0,0,0,0,0
$GC,3235,-0.50,-146.1,468.7,-13.7,266,3244,0.12,1.52,0.00,0.000,6,0.199,0.034,1628,2922,2941,0,0,0,0,0,0
$GC,3551,-0.50,-146.1,504.7,-11.7,282,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2921,2941,0,0,0,0,0,0
$GC,3861,-0.50,-146.1,541.9,-12.3,297,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2922,2941,0,0,0,0,0,0
$GC,4171,-0.50,-146.1,580.6,-12.6,312,4175,0.00,1.62,0.00,0.000,4,0.000,0.065,1621,3903,2941,0,0,0,0,0,0
$GC,4202,-0.50,-146.1,585.0,-13.0,313,4207,0.00,1.50,0.00,0.000,6,0.000,0.034,1621,2929,2940,0,0,0,0,0,0
$GC,4524,-0.50,-146.1,625.8,-12.6,329,4526,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2928,2941,0,0,0,0,0,0
$GC,4834,-0.50,-146.1,666.7,-13.3,344,4835,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2928,2941,0,0,0,0,0,0
$GC,5143,-0.50,-146.1,706.6,-12.6,359,5144,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2928,2941,0,0,0,0,0,0
$GC,5452,-0.50,-146.1,744.2,-11.9,374,5454,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2928,2941,0,0,0,0,0,0
$GC,5762,-0.50,-146.1,779.9,-11.2,389,5764,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2928,2941,0,0,0,0,0,0
$GC,6071,-0.50,-146.1,814.9,-11.3,404,6072,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2928,2941,0,0,0,0,0,0
$GC,6380,-0.50,-146.1,848.8,-10.9,419,6381,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2928,2941,0,0,0,0,0,0
$GC,6690,-0.50,-146.1,881.2,-10.3,434,6692,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2927,2941,0,0,0,0,0,0
$GC,6999,-0.50,-146.1,912.5,-10.0,449,7000,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2928,2941,0,0,0,0,0,0
$GC,7308,-0.50,-146.1,942.0,-9.6,464,7309,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2927,2941,0,0,0,0,0,0
$GC,7619,-0.50,-146.1,970.4,-8.9,479,7622,0.00,1.60,0.00,0.000,4,0.000,0.066,1613,3899,2941,0,0,0,0,0,0
$GC,7656,-0.50,-146.1,974.5,-10.1,480,7664,0.00,1.50,0.00,0.000,6,0.000,0.035,1613,2920,2941,0,0,0,0,0,0
$STATE,7950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7951,begin apogee
$GC,7955,-0.13,0.0,1001.5,8.9,495,8094,0.43,0.00,133.55,1.798,6,0.172,0.000,1739,2724,2342,0,0,0,0,0,0
$STATE,8095,end apogee,CONTROL_FINISHED_OK
$STATE,8095,begin climb
$GC,8096,0.50,146.1,1002.4,0.0,502,8253,0.70,0.00,148.68,1.769,6,0.124,0.000,1943,2724,1746,0,0,0,0,0,0
$GC,8561,0.50,146.1,928.4,17.3,525,8565,0.00,2.03,0.00,0.000,4,0.000,0.062,1943,3897,1736,0,0,0,0,0,0
$GC,8598,0.50,146.1,920.9,20.1,526,8607,0.00,1.98,0.00,0.000,6,0.000,0.037,1952,2734,1735,0,0,0,0,0,0
$GC,8915,0.50,146.1,863.5,17.9,542,8916,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2734,1734,0,0,0,0,0,0
$GC,9225,0.50,146.1,807.6,18.4,557,9226,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2734,1733,0,0,0,0,0,0
$GC,9534,0.50,146.1,752.0,17.7,572,9535,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2734,1733,0,0,0,0,0,0
$GC,9843,0.50,146.1,698.0,17.5,587,9844,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2734,1732,0,0,0,0,0,0
$GC,10153,0.50,146.1,644.8,17.0,602,10154,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2734,1732,0,0,0,0,0,0
$GC,10462,0.50,146.1,592.7,17.0,617,10465,0.00,1.92,0.00,0.000,4,0.000,0.062,1952,3900,1732,0,0,0,0,0,0
$GC,10493,0.50,146.1,586.7,18.8,618,10498,0.00,1.92,0.00,0.000,6,0.000,0.039,1961,2712,1731,0,0,0,0,0,0
$GC,10816,0.50,146.1,530.9,17.7,634,10817,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2712,1731,0,0,0,0,0,0
$GC,11125,0.50,146.1,476.1,17.6,649,11128,0.00,1.95,0.00,0.000,4,0.000,0.061,1961,3900,1731,0,0,0,0,0,0
$GC,11156,0.50,146.1,469.7,20.4,650,11161,0.00,1.92,0.00,0.000,6,0.000,0.037,1970,2703,1730,0,0,0,0,0,0
$GC,11479,0.50,146.1,412.2,18.3,666,11483,0.00,1.98,0.00,0.000,4,0.000,0.061,1971,3894,1729,0,0,0,0,0,0
$GC,11510,0.50,146.1,405.2,20.7,667,11515,0.00,1.90,0.00,0.000,6,0.000,0.037,1980,2710,1730,0,0,0,0,0,0
$GC,11834,0.50,146.1,343.4,19.0,683,11836,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,2709,1730,0,0,0,0,0,0
$GC,12142,0.50,146.1,285.7,18.4,698,12146,0.00,1.95,0.00,0.000,4,0.000,0.061,1980,3910,1729,0,0,0,0,0,0
$GC,12168,0.50,146.1,280.0,20.1,699,12174,0.12,1.92,0.00,0.000,6,0.207,0.037,1954,2705,1729,0,0,0,0,0,0
$GC,12490,0.50,146.1,229.4,15.2,720,12491,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2705,1729,0,0,0,0,0,0
$GC,12808,0.50,146.1,183.4,13.8,750,12809,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2705,1729,0,0,0,0,0,0
$GC,13126,0.50,146.1,141.0,12.5,780,13130,0.00,1.95,0.00,0.000,4,0.000,0.060,1954,3903,1729,0,0,0,0,0,0
$GC,13186,0.50,146.1,132.8,14.1,785,13190,0.00,1.88,0.00,0.000,6,0.000,0.040,1963,2710,1729,0,0,0,0,0,0
$GC,13516,0.50,146.1,90.7,11.4,822,13525,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,2710,1729,0,0,0,0,0,0
$GC,13757,0.50,146.1,63.0,11.8,863,13764,0.00,2.17,0.00,0.000,4,0.000,0.047,1974,1292,1729,0,0,0,0,0,0
$GC,13832,0.50,146.1,55.0,10.8,875,13839,0.00,2.28,0.00,0.000,6,0.000,0.056,1974,2731,1730,0,0,0,0,0,0
$GC,13945,0.50,146.1,40.9,12.6,894,13954,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,2732,1729,0,0,0,0,0,0
$GC,14063,0.50,146.1,26.5,12.5,913,14071,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,2732,1730,0,0,0,0,0,0
$GC,14147,0.50,146.1,15.8,12.7,926,14155,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,2732,1729,0,0,0,0,0,0
$GC,14230,0.50,146.1,5.6,12.3,939,14239,0.00,0.00,0.00,0.000,6,0.000,0.000,1974,2731,1729,0,0,0,0,0,0
$STATE,14251,end climb,SURFACE_DEPTH_REACHED
$STATE,14252,begin surface coast
$FINISH,1.1,1.023829
$STATE,14278,end surface coast,CONTROL_FINISHED_OK
$STATE,14278,begin surface
$SM_CCo,14290,20.20,0.188,0,0,1524,200.16
$SM_GC,2.79,0.00,0.00,20.20,0.000,0.000,0.188,61,2929,1524,-5.40,-0.03,200.16
$IRIDIUM_FIX,-5538.94,-26.98,201214,111121
$TT8_MAMPS,0.026215
$HUMID,55.98
$INTERNAL_PRESSURE,8.95509
$TCM_TEMP,6.70
$XPDR_PINGS,0
$24V_AH,21.6,18.099
$10V_AH,10.1,11.858
$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,13.025,54.725,282.225,20.200,0.000,26.636,49.367,284.760,0.000,0.000,19.795,2298.172,9319.482,436.114,2589.728,142.925,33.360,1257.954,0.000,2061.323,0.000,0.540,0.000
$DEVICE_MAMPS,259.335,81.855,1797.750,188.190,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,672.872,1962.479,947.452,993.281,0.000,0.000,0.000,0.000,0.000,0.000
$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,63877,946
$CAP_FILE_SIZE,112100,0
$CFSIZE,259252224,222543872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,201214,194752,-5602.219,-31.740,35,0.9,35,-19.9