version: 66.07
glider: 542
mission: 9
dive: 91
start: 12 25 114 7 13 23
data:
$ID,542
$MISSION,9
$DIVE,91
$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,-21916.125
$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,23
$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
$GPS1,251214,065434,-5559.372,-31.960,25,0.9,25,-19.9
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-66.8
$GPS2,251214,071229,-5559.372,-31.946,16,1.0,16,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.163,0.022
$KALMAN_X,54333.4,-391.4,-127.8,-86826.2,3480.3
$KALMAN_Y,45695.3,67.3,151.0,-44446.2,-1355.5
$MHEAD_RNG_PITCHd_Wd,297.6,2328,-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,-73.9,0.0,0.0,0,51,0.00,0.00,-34.33,0.000,2,0.000,0.000,53,2933,2255,0,0,0,0,0,0
$GC,53,-0.59,-131.1,3.1,-4.6,4,88,6.35,0.00,-24.20,0.000,6,0.253,0.000,1590,2934,2878,0,0,0,0,0,0
$GC,163,-0.59,-131.1,16.6,-18.6,20,171,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2934,2879,0,0,0,0,0,0
$GC,246,-0.59,-131.1,32.9,-19.4,33,252,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2934,2879,0,0,0,0,0,0
$GC,360,-0.59,-131.1,55.5,-19.7,52,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2933,2879,0,0,0,0,0,0
$GC,475,-0.59,-131.1,77.6,-19.9,71,481,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2934,2879,0,0,0,0,0,0
$GC,583,-0.59,-131.1,98.7,-19.3,90,591,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2934,2879,0,0,0,0,0,0
$GC,810,-0.59,-131.1,139.2,-18.4,112,811,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2933,2879,0,0,0,0,0,0
$GC,1129,-0.59,-131.1,193.7,-16.3,142,1133,0.00,1.58,0.00,0.000,4,0.000,0.063,1583,3889,2880,0,0,0,0,0,0
$GC,1189,-0.59,-131.1,203.7,-17.5,147,1193,0.00,1.55,0.00,0.000,6,0.000,0.034,1583,2890,2880,0,0,0,0,0,0
$GC,1530,-0.59,-131.1,261.8,-17.3,176,1533,0.00,1.65,0.00,0.000,4,0.000,0.062,1576,3896,2881,0,0,0,0,0,0
$GC,1585,-0.59,-131.1,272.5,-18.7,178,1590,0.00,1.52,0.00,0.000,6,0.000,0.033,1576,2917,2880,0,0,0,0,0,0
$GC,1909,-0.59,-131.1,327.9,-17.0,194,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2911,2880,0,0,0,0,0,0
$GC,2220,-0.59,-131.1,377.6,-15.7,209,2221,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2911,2880,0,0,0,0,0,0
$GC,2527,-0.59,-131.1,426.4,-15.4,224,2530,0.00,1.62,0.00,0.000,4,0.000,0.061,1568,3896,2880,0,0,0,0,0,0
$GC,2580,-0.59,-131.1,435.9,-16.8,226,2586,0.12,1.50,0.00,0.000,6,0.199,0.033,1598,2925,2881,0,0,0,0,0,0
$GC,2902,-0.59,-131.1,479.6,-13.5,242,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,1598,2923,2881,0,0,0,0,0,0
$GC,3211,-0.59,-131.1,520.4,-13.5,257,3212,0.00,0.00,0.00,0.000,6,0.000,0.000,1598,2923,2881,0,0,0,0,0,0
$GC,3520,-0.59,-131.1,562.0,-13.3,272,3524,0.00,1.60,0.00,0.000,4,0.000,0.063,1591,3891,2881,0,0,0,0,0,0
$GC,3566,-0.59,-131.1,568.5,-14.9,274,3569,0.00,1.48,0.00,0.000,6,0.000,0.034,1591,2923,2881,0,0,0,0,0,0
$GC,3898,-0.59,-131.1,614.5,-13.7,290,3899,0.00,0.00,0.00,0.000,6,0.000,0.000,1591,2919,2881,0,0,0,0,0,0
$GC,4207,-0.59,-131.1,655.6,-13.1,305,4211,0.00,1.60,0.00,0.000,4,0.000,0.061,1584,3892,2881,0,0,0,0,0,0
$GC,4275,-0.59,-131.1,664.8,-13.4,308,4279,0.00,1.45,0.00,0.000,6,0.000,0.033,1584,2936,2881,0,0,0,0,0,0
$GC,4608,-0.59,-131.1,706.9,-12.8,324,4611,0.00,1.58,0.00,0.000,4,0.000,0.063,1577,3890,2881,0,0,0,0,0,0
$GC,4645,-0.59,-131.1,712.1,-13.5,325,4653,0.00,1.45,0.00,0.000,6,0.000,0.032,1577,2927,2881,0,0,0,0,0,0
$GC,4962,-0.59,-131.1,751.2,-12.3,341,4966,0.00,1.58,0.00,0.000,4,0.000,0.061,1569,3890,2882,0,0,0,0,0,0
$GC,5011,-0.59,-131.1,758.0,-13.7,343,5016,0.10,1.48,0.00,0.000,6,0.204,0.032,1592,2929,2882,0,0,0,0,0,0
$GC,5338,-0.59,-131.1,795.7,-11.7,359,5339,0.00,0.00,0.00,0.000,6,0.000,0.000,1592,2929,2882,0,0,0,0,0,0
$GC,5647,-0.59,-131.1,831.3,-11.5,374,5650,0.00,1.58,0.00,0.000,4,0.000,0.060,1585,3891,2882,0,0,0,0,0,0
$GC,5685,-0.59,-131.1,836.2,-13.4,375,5692,0.00,1.45,0.00,0.000,6,0.000,0.031,1585,2926,2881,0,0,0,0,0,0
$GC,6001,-0.59,-131.1,874.5,-12.1,391,6003,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2925,2882,0,0,0,0,0,0
$GC,6310,-0.59,-131.1,911.6,-12.0,406,6311,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,2925,2882,0,0,0,0,0,0
$GC,6619,-0.59,-131.1,950.1,-12.4,421,6621,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2925,2882,0,0,0,0,0,0
$GC,6929,-0.59,-131.1,988.7,-12.4,436,6931,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2925,2882,0,0,0,0,0,0
$STATE,7030,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7031,begin apogee
$GC,7035,-0.13,0.0,1001.6,12.3,441,7157,0.52,0.00,119.62,1.788,6,0.171,0.000,1741,2713,2342,0,0,0,0,0,0
$STATE,7158,end apogee,CONTROL_FINISHED_OK
$STATE,7158,begin climb
$GC,7160,0.59,131.1,1005.3,0.0,447,7295,0.80,0.00,131.73,1.734,6,0.122,0.000,1977,2713,1807,0,0,0,0,0,0
$GC,7602,0.59,131.1,935.1,17.7,469,7603,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,2713,1797,0,0,0,0,0,0
$GC,7912,0.59,131.1,880.4,17.8,484,7916,0.00,2.03,0.00,0.000,4,0.000,0.058,1978,3898,1795,0,0,0,0,0,0
$GC,7983,0.59,131.1,865.8,20.1,487,7988,0.00,1.92,0.00,0.000,6,0.000,0.037,1986,2736,1794,0,0,0,0,0,0
$GC,8310,0.59,131.1,804.5,19.1,503,8314,0.00,1.92,0.00,0.000,4,0.000,0.057,1986,3896,1793,0,0,0,0,0,0
$GC,8355,0.59,131.1,795.2,21.7,505,8359,0.00,1.92,0.00,0.000,6,0.000,0.037,1995,2701,1793,0,0,0,0,0,0
$GC,8688,0.59,131.1,728.6,19.9,521,8692,0.00,1.98,0.00,0.000,4,0.000,0.057,1996,3886,1792,0,0,0,0,0,0
$GC,8779,0.59,131.1,709.3,22.2,525,8782,0.00,1.88,0.00,0.000,6,0.000,0.037,2005,2710,1792,0,0,0,0,0,0
$GC,9111,0.59,131.1,642.5,20.2,541,9115,0.00,1.95,0.00,0.000,4,0.000,0.058,2005,3903,1792,0,0,0,0,0,0
$GC,9179,0.59,131.1,627.5,22.2,544,9183,0.12,1.90,0.00,0.000,6,0.227,0.037,1987,2710,1791,0,0,0,0,0,0
$GC,9510,0.59,131.1,566.9,17.9,560,9514,0.00,1.95,0.00,0.000,4,0.000,0.058,1986,3891,1791,0,0,0,0,0,0
$GC,9577,0.59,131.1,553.4,19.9,563,9581,0.00,1.88,0.00,0.000,6,0.000,0.037,1995,2707,1791,0,0,0,0,0,0
$GC,9910,0.59,131.1,489.5,19.1,579,9913,0.00,1.92,0.00,0.000,4,0.000,0.057,1995,3892,1791,0,0,0,0,0,0
$GC,9970,0.59,131.1,476.7,20.9,581,9978,0.00,1.90,0.00,0.000,6,0.000,0.036,2004,2704,1791,0,0,0,0,0,0
$GC,10287,0.59,131.1,416.1,19.1,597,10291,0.00,1.95,0.00,0.000,4,0.000,0.057,2004,3889,1791,0,0,0,0,0,0
$GC,10369,0.59,131.1,397.6,22.7,600,10378,0.10,1.88,0.00,0.000,6,0.213,0.035,1986,2711,1791,0,0,0,0,0,0
$GC,10686,0.59,131.1,341.1,17.7,616,10687,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2711,1791,0,0,0,0,0,0
$GC,10997,0.59,131.1,288.2,16.7,631,10998,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2711,1791,0,0,0,0,0,0
$GC,11309,0.59,131.1,236.9,16.9,649,11312,0.00,1.92,0.00,0.000,4,0.000,0.057,1986,3898,1791,0,0,0,0,0,0
$GC,11404,0.59,131.1,219.5,18.5,657,11408,0.00,1.88,0.00,0.000,6,0.000,0.037,1994,2707,1790,0,0,0,0,0,0
$GC,11734,0.59,131.1,162.2,17.3,688,11735,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2707,1791,0,0,0,0,0,0
$GC,12056,0.59,131.1,109.6,15.7,718,12060,0.00,1.92,0.00,0.000,4,0.000,0.057,1994,3896,1791,0,0,0,0,0,0
$GC,12231,0.59,131.1,78.5,18.1,743,12238,0.00,1.88,0.00,0.000,6,0.000,0.036,2003,2717,1791,0,0,0,0,0,0
$GC,12344,0.59,131.1,60.5,15.3,762,12352,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,2716,1791,0,0,0,0,0,0
$GC,12458,0.59,131.1,43.5,15.4,781,12465,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2716,1790,0,0,0,0,0,0
$GC,12573,0.59,131.1,26.9,15.1,800,12581,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2716,1790,0,0,0,0,0,0
$GC,12657,0.59,131.1,14.6,14.8,813,12665,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2717,1790,0,0,0,0,0,0
$STATE,12739,end climb,SURFACE_DEPTH_REACHED
$STATE,12739,begin surface coast
$FINISH,1.3,1.027170
$STATE,12765,end surface coast,CONTROL_FINISHED_OK
$STATE,12765,begin surface
$SM_CCo,12778,26.08,0.191,0,0,1523,200.16
$SM_GC,2.39,0.00,0.00,26.08,0.000,0.000,0.191,50,2932,1523,-5.44,0.06,200.16
$IRIDIUM_FIX,-5535.12,-23.07,251214,070739
$TT8_MAMPS,0.027713
$HUMID,55.82
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.00
$XPDR_PINGS,1
$24V_AH,21.8,22.912
$10V_AH,10.0,14.948
$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,13.325,59.850,251.350,26.075,0.000,104.693,218.135,433.402,0.250,0.000,18.658,2074.908,8374.774,393.796,2859.610,178.139,33.354,1193.193,0.000,1949.749,0.000,0.540,0.000
$DEVICE_MAMPS,253.215,63.495,1787.805,191.250,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,590.259,1723.700,822.028,851.456,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353940
$DATA_FILE_SIZE,57051,830
$CAP_FILE_SIZE,112747,0
$CFSIZE,259252224,220626944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,251214,104804,-5559.917,-34.352,42,0.8,42,-19.8