version: 66.07
glider: 542
mission: 9
dive: 66
start: 12 21 114 14 8 17
data:
$ID,542
$MISSION,9
$DIVE,66
$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,-21855.264
$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,26
$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
$GPS1,211214,135933,-5559.759,-34.728,33,1.1,35,-19.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-59.4
$GPS2,211214,140723,-5559.728,-34.685,15,1.1,15,-19.8
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.027,-0.163
$KALMAN_X,38062.8,-268.1,-467.1,-73168.3,4822.0
$KALMAN_Y,51650.9,101.9,11.0,-50949.9,-413.4
$MHEAD_RNG_PITCHd_Wd,190.5,4878,-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,15,-0.54,-73.9,0.0,0.0,0,67,0.00,0.00,-49.80,0.000,2,0.000,0.000,52,2940,2606,0,0,0,0,0,0
$GC,69,-0.60,-144.4,3.0,-3.5,6,96,6.40,1.62,-9.85,0.000,4,0.262,0.085,1579,3897,2932,0,0,0,0,0,0
$GC,365,-0.60,-144.4,63.1,-19.6,54,374,0.00,1.58,0.00,0.000,6,0.000,0.035,1581,2903,2934,0,0,0,0,0,0
$GC,481,-0.60,-144.4,88.0,-21.3,73,487,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2903,2934,0,0,0,0,0,0
$GC,707,-0.60,-144.4,130.4,-17.5,99,710,0.00,1.65,0.00,0.000,4,0.000,0.060,1574,3907,2934,0,0,0,0,0,0
$GC,764,-0.60,-144.4,142.1,-20.0,104,767,0.00,1.55,0.00,0.000,6,0.000,0.035,1574,2920,2934,0,0,0,0,0,0
$GC,1096,-0.60,-144.4,203.8,-18.3,135,1099,0.00,1.62,0.00,0.000,4,0.000,0.060,1567,3896,2934,0,0,0,0,0,0
$GC,1158,-0.60,-144.4,216.8,-20.1,140,1168,0.00,1.50,0.00,0.000,6,0.000,0.034,1567,2930,2934,0,0,0,0,0,0
$GC,1478,-0.60,-144.4,276.5,-18.1,164,1482,0.00,1.60,0.00,0.000,4,0.000,0.061,1560,3898,2934,0,0,0,0,0,0
$GC,1570,-0.60,-144.4,294.4,-19.6,168,1574,0.10,1.50,0.00,0.000,6,0.194,0.034,1588,2936,2934,0,0,0,0,0,0
$GC,1901,-0.60,-144.4,348.6,-15.9,184,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,1588,2936,2934,0,0,0,0,0,0
$GC,2212,-0.60,-144.4,394.9,-14.5,199,2216,0.00,1.58,0.00,0.000,4,0.000,0.061,1581,3893,2934,0,0,0,0,0,0
$GC,2290,-0.60,-144.4,407.3,-15.6,202,2294,0.00,1.50,0.00,0.000,6,0.000,0.034,1581,2921,2934,0,0,0,0,0,0
$GC,2611,-0.60,-144.4,453.7,-14.6,218,2615,0.00,1.62,0.00,0.000,4,0.000,0.060,1574,3903,2934,0,0,0,0,0,0
$GC,2672,-0.60,-144.4,463.4,-15.8,220,2679,0.00,1.50,0.00,0.000,6,0.000,0.034,1574,2924,2934,0,0,0,0,0,0
$GC,2988,-0.60,-144.4,511.1,-15.1,236,2992,0.00,1.60,0.00,0.000,4,0.000,0.060,1566,3899,2934,0,0,0,0,0,0
$GC,3037,-0.60,-144.4,519.5,-16.0,238,3041,0.00,1.48,0.00,0.000,6,0.000,0.034,1569,2939,2934,0,0,0,0,0,0
$GC,3364,-0.60,-144.4,571.6,-16.1,254,3368,0.00,1.58,0.00,0.000,4,0.000,0.061,1562,3894,2935,0,0,0,0,0,0
$GC,3447,-0.60,-144.4,586.0,-17.3,257,3456,0.12,1.50,0.00,0.000,6,0.209,0.033,1591,2921,2934,0,0,0,0,0,0
$GC,3764,-0.60,-144.4,629.7,-13.6,273,3768,0.00,1.60,0.00,0.000,4,0.000,0.060,1584,3896,2935,0,0,0,0,0,0
$GC,3835,-0.60,-144.4,640.4,-15.1,276,3840,0.00,1.50,0.00,0.000,6,0.000,0.033,1584,2926,2934,0,0,0,0,0,0
$GC,4162,-0.60,-144.4,685.3,-13.7,292,4166,0.00,1.60,0.00,0.000,4,0.000,0.060,1576,3897,2935,0,0,0,0,0,0
$GC,4208,-0.60,-144.4,692.1,-15.2,294,4212,0.00,1.48,0.00,0.000,6,0.000,0.034,1576,2932,2934,0,0,0,0,0,0
$GC,4540,-0.60,-144.4,740.3,-14.6,310,4543,0.00,1.60,0.00,0.000,4,0.000,0.061,1569,3902,2934,0,0,0,0,0,0
$GC,4577,-0.60,-144.4,746.5,-16.2,311,4585,0.00,1.50,0.00,0.000,6,0.000,0.033,1569,2922,2935,0,0,0,0,0,0
$GC,4894,-0.60,-144.4,793.4,-14.6,327,4898,0.00,1.60,0.00,0.000,4,0.000,0.061,1562,3900,2934,0,0,0,0,0,0
$GC,4953,-0.60,-144.4,803.4,-16.1,329,4963,0.12,1.50,0.00,0.000,6,0.210,0.033,1591,2922,2934,0,0,0,0,0,0
$GC,5270,-0.60,-144.4,843.9,-12.4,345,5274,0.00,1.60,0.00,0.000,4,0.000,0.061,1584,3900,2935,0,0,0,0,0,0
$GC,5302,-0.60,-144.4,848.4,-12.8,346,5307,0.00,1.50,0.00,0.000,6,0.000,0.032,1584,2923,2935,0,0,0,0,0,0
$GC,5624,-0.60,-144.4,888.1,-12.1,362,5628,0.00,1.60,0.00,0.000,4,0.000,0.060,1577,3899,2935,0,0,0,0,0,0
$GC,5650,-0.60,-144.4,891.8,-14.0,363,5655,0.00,1.50,0.00,0.000,6,0.000,0.032,1577,2924,2934,0,0,0,0,0,0
$GC,5978,-0.60,-144.4,933.0,-12.5,379,5981,0.00,1.60,0.00,0.000,4,0.000,0.061,1569,3899,2935,0,0,0,0,0,0
$GC,6054,-0.60,-144.4,944.0,-14.5,382,6059,0.00,1.48,0.00,0.000,6,0.000,0.033,1569,2932,2935,0,0,0,0,0,0
$GC,6377,-0.60,-144.4,985.6,-12.8,398,6380,0.00,1.60,0.00,0.000,4,0.000,0.061,1562,3905,2935,0,0,0,0,0,0
$GC,6436,-0.60,-144.4,994.5,-14.4,400,6445,0.12,1.50,0.00,0.000,6,0.210,0.033,1591,2925,2935,0,0,0,0,0,0
$STATE,6483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6484,begin apogee
$GC,6488,-0.13,0.0,1000.1,12.4,403,6627,0.52,0.00,132.10,1.803,6,0.181,0.000,1744,2721,2343,0,0,0,0,0,0
$STATE,6627,end apogee,CONTROL_FINISHED_OK
$STATE,6627,begin climb
$GC,6629,0.60,144.4,1001.1,0.0,410,6780,0.77,0.00,146.60,1.776,6,0.125,0.000,1976,2721,1752,0,0,0,0,0,0
$GC,7080,0.60,144.4,918.8,20.1,432,7084,0.00,2.05,0.00,0.000,4,0.000,0.059,1976,3906,1745,0,0,0,0,0,0
$GC,7112,0.60,144.4,911.4,22.2,433,7117,0.00,2.00,0.00,0.000,6,0.000,0.037,1984,2729,1743,0,0,0,0,0,0
$GC,7434,0.60,144.4,842.7,21.1,449,7435,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2729,1741,0,0,0,0,0,0
$GC,7744,0.60,144.4,776.1,21.5,464,7748,0.00,1.98,0.00,0.000,4,0.000,0.058,1985,3907,1741,0,0,0,0,0,0
$GC,7767,0.60,144.4,770.9,22.6,465,7770,0.00,1.92,0.00,0.000,6,0.000,0.036,1994,2710,1740,0,0,0,0,0,0
$GC,8098,0.60,144.4,697.3,21.8,481,8101,0.00,1.95,0.00,0.000,4,0.000,0.058,1994,3897,1739,0,0,0,0,0,0
$GC,8135,0.60,144.4,687.9,24.3,482,8144,0.00,1.92,0.00,0.000,6,0.000,0.037,2003,2709,1738,0,0,0,0,0,0
$GC,8452,0.60,144.4,617.4,22.0,498,8456,0.00,1.98,0.00,0.000,4,0.000,0.058,2004,3904,1739,0,0,0,0,0,0
$GC,8483,0.60,144.4,609.3,24.4,499,8488,0.00,1.92,0.00,0.000,6,0.000,0.037,2013,2716,1738,0,0,0,0,0,0
$GC,8806,0.60,144.4,536.7,22.8,515,8810,0.00,1.98,0.00,0.000,4,0.000,0.058,2013,3901,1738,0,0,0,0,0,0
$GC,8852,0.60,144.4,525.8,25.5,517,8856,0.15,1.90,0.00,0.000,6,0.223,0.037,1988,2706,1737,0,0,0,0,0,0
$GC,9184,0.60,144.4,458.9,19.4,533,9188,0.00,1.95,0.00,0.000,4,0.000,0.057,1987,3898,1737,0,0,0,0,0,0
$GC,9222,0.60,144.4,450.3,22.9,534,9230,0.00,1.90,0.00,0.000,6,0.000,0.037,1995,2714,1737,0,0,0,0,0,0
$GC,9538,0.60,144.4,389.8,18.3,550,9539,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2714,1737,0,0,0,0,0,0
$GC,9850,0.60,144.4,333.8,18.0,565,9853,0.00,1.95,0.00,0.000,4,0.000,0.058,1996,3905,1737,0,0,0,0,0,0
$GC,9897,0.60,144.4,324.7,20.5,567,9901,0.00,1.90,0.00,0.000,6,0.000,0.037,2005,2704,1737,0,0,0,0,0,0
$GC,10231,0.60,144.4,265.4,17.2,583,10235,0.00,1.92,0.00,0.000,4,0.000,0.057,2005,3900,1737,0,0,0,0,0,0
$GC,10254,0.60,144.4,260.9,18.6,584,10258,0.00,1.90,0.00,0.000,6,0.000,0.037,2015,2708,1737,0,0,0,0,0,0
$GC,10583,0.60,144.4,204.1,16.4,612,10587,0.12,1.92,0.00,0.000,4,0.238,0.057,1987,3897,1737,0,0,0,0,0,0
$GC,10629,0.60,144.4,196.2,16.8,616,10632,0.00,1.85,0.00,0.000,6,0.000,0.037,1995,2707,1737,0,0,0,0,0,0
$GC,10961,0.60,144.4,140.6,18.2,647,10965,0.00,2.20,0.00,0.000,4,0.000,0.046,2006,1292,1737,0,0,0,0,0,0
$GC,10992,0.60,144.4,135.3,18.6,649,10996,0.00,2.28,0.00,0.000,6,0.000,0.051,2006,2734,1737,0,0,0,0,0,0
$GC,11326,0.60,144.4,76.7,17.0,690,11335,0.00,1.88,0.00,0.000,4,0.000,0.060,2006,3890,1737,0,0,0,0,0,0
$GC,11360,0.60,144.4,71.1,17.8,695,11367,0.10,1.88,0.00,0.000,6,0.212,0.037,1980,2711,1737,0,0,0,0,0,0
$GC,11475,0.60,144.4,54.0,13.5,714,11483,0.00,0.00,0.00,0.000,6,0.000,0.000,1980,2710,1737,0,0,0,0,0,0
$GC,11590,0.60,144.4,38.9,14.0,733,11597,0.00,1.92,0.00,0.000,4,0.000,0.060,1980,3886,1737,0,0,0,0,0,0
$GC,11605,0.60,144.4,36.8,13.8,735,11612,0.00,1.88,0.00,0.000,6,0.000,0.037,1988,2704,1737,0,0,0,0,0,0
$GC,11724,0.60,144.4,20.5,12.5,754,11733,0.00,1.95,0.00,0.000,4,0.000,0.058,1988,3889,1737,0,0,0,0,0,0
$GC,11748,0.60,144.4,17.2,12.4,757,11757,0.00,1.88,0.00,0.000,6,0.000,0.039,1997,2715,1737,0,0,0,0,0,0
$GC,11832,0.60,144.4,3.6,17.6,770,11840,0.00,0.00,0.00,0.000,6,0.000,0.000,1997,2713,1736,0,0,0,0,0,0
$STATE,11848,end climb,SURFACE_DEPTH_REACHED
$STATE,11848,begin surface coast
$FINISH,1.0,1.027203
$STATE,11868,end surface coast,CONTROL_FINISHED_OK
$STATE,11868,begin surface
$SM_CCo,11880,21.10,0.187,0,0,1522,200.16
$SM_GC,2.27,0.00,0.00,21.10,0.000,0.000,0.187,67,2928,1522,-5.39,-0.06,200.16
$IRIDIUM_FIX,-5538.94,-30.83,211214,101054
$TT8_MAMPS,0.026215
$HUMID,56.61
$INTERNAL_PRESSURE,8.95509
$TCM_TEMP,6.70
$XPDR_PINGS,0
$24V_AH,21.6,19.027
$10V_AH,10.1,12.465
$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,13.850,101.100,278.700,21.100,0.000,25.335,21.983,316.471,0.000,0.000,17.707,1973.172,7390.285,447.080,2397.072,167.937,33.359,1276.393,0.000,1908.066,0.000,0.539,0.000
$DEVICE_MAMPS,261.630,84.915,1803.105,186.660,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,550.217,1621.157,785.701,814.098,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354124
$DATA_FILE_SIZE,53783,775
$CAP_FILE_SIZE,116836,0
$CFSIZE,259252224,222167040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,211214,172800,-5600.938,-34.323,46,0.8,46,-19.8