version: 66.07
glider: 542
mission: 9
dive: 110
start: 12 28 114 4 44 18
data:
$ID,542
$MISSION,9
$DIVE,110
$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,-21964.494
$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
$GPS1,281214,043622,-5556.532,-31.844,37,0.8,37,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-66.0
$GPS2,281214,044323,-5556.564,-31.858,19,0.9,19,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,-0.095,-0.135
$KALMAN_X,62326.4,-595.1,-162.9,-94483.0,2985.2
$KALMAN_Y,30988.5,518.6,426.2,-25276.6,-4813.9
$MHEAD_RNG_PITCHd_Wd,234.9,6647,-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,-73.9,0.0,0.0,0,50,0.00,0.00,-33.55,0.000,2,0.000,0.000,45,2971,2227,0,0,0,0,0,0
$GC,53,-0.60,-137.3,3.0,-4.1,4,95,6.25,1.55,-26.00,0.000,4,0.247,0.086,1584,3886,2903,0,0,0,0,0,0
$GC,365,-0.60,-137.3,61.2,-21.8,54,374,0.00,1.55,0.00,0.000,6,0.000,0.035,1585,2897,2905,0,0,0,0,0,0
$GC,481,-0.60,-137.3,84.7,-20.5,73,487,0.00,1.65,0.00,0.000,4,0.000,0.062,1576,3898,2905,0,0,0,0,0,0
$GC,648,-0.60,-137.3,119.9,-19.6,93,652,0.00,1.50,0.00,0.000,6,0.000,0.034,1577,2930,2905,0,0,0,0,0,0
$GC,978,-0.60,-137.3,185.8,-20.0,124,982,0.00,2.12,0.00,0.000,4,0.000,0.042,1577,1527,2905,0,0,0,0,0,0
$GC,1010,-0.60,-137.3,192.1,-18.3,126,1021,0.00,2.28,0.00,0.000,6,0.000,0.056,1567,2916,2905,0,0,0,0,0,0
$GC,1335,-0.60,-137.3,255.0,-19.0,156,1339,0.12,1.60,0.00,0.000,4,0.223,0.065,1588,3905,2905,0,0,0,0,0,0
$GC,1394,-0.60,-137.3,266.3,-17.3,158,1404,0.00,1.52,0.00,0.000,6,0.000,0.033,1588,2918,2906,0,0,0,0,0,0
$GC,1711,-0.60,-137.3,319.0,-16.5,174,1715,0.00,1.62,0.00,0.000,4,0.000,0.063,1580,3899,2906,0,0,0,0,0,0
$GC,1750,-0.60,-137.3,326.3,-17.5,175,1759,0.00,1.50,0.00,0.000,6,0.000,0.032,1580,2922,2906,0,0,0,0,0,0
$GC,2069,-0.60,-137.3,377.8,-16.0,191,2072,0.00,1.62,0.00,0.000,4,0.000,0.063,1573,3905,2906,0,0,0,0,0,0
$GC,2130,-0.60,-137.3,388.7,-17.4,193,2137,0.00,1.48,0.00,0.000,6,0.000,0.034,1572,2929,2905,0,0,0,0,0,0
$GC,2445,-0.60,-137.3,439.8,-15.7,209,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,1573,2928,2905,0,0,0,0,0,0
$GC,2756,-0.60,-137.3,487.8,-15.2,224,2759,0.00,1.60,0.00,0.000,4,0.000,0.063,1566,3900,2905,0,0,0,0,0,0
$GC,2862,-0.60,-137.3,505.5,-16.7,228,2870,0.08,1.45,0.00,0.000,6,0.183,0.034,1588,2948,2906,0,0,0,0,0,0
$GC,3177,-0.60,-137.3,549.7,-13.9,244,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,1588,2948,2906,0,0,0,0,0,0
$GC,3487,-0.60,-137.3,592.0,-13.5,259,3491,0.00,1.58,0.00,0.000,4,0.000,0.063,1581,3903,2906,0,0,0,0,0,0
$GC,3524,-0.60,-137.3,597.7,-14.5,260,3533,0.00,1.52,0.00,0.000,6,0.000,0.031,1581,2903,2907,0,0,0,0,0,0
$GC,3841,-0.60,-137.3,642.6,-14.1,276,3845,0.00,1.65,0.00,0.000,4,0.000,0.063,1573,3920,2906,0,0,0,0,0,0
$GC,3874,-0.60,-137.3,647.7,-16.3,277,3878,0.00,1.50,0.00,0.000,6,0.000,0.032,1574,2932,2906,0,0,0,0,0,0
$GC,4195,-0.60,-137.3,694.9,-14.5,293,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2926,2906,0,0,0,0,0,0
$GC,4505,-0.60,-137.3,739.3,-14.2,308,4509,0.00,1.60,0.00,0.000,4,0.000,0.063,1566,3901,2906,0,0,0,0,0,0
$GC,4554,-0.60,-137.3,747.1,-16.2,310,4559,0.08,1.48,0.00,0.000,6,0.184,0.033,1589,2940,2906,0,0,0,0,0,0
$GC,4880,-0.60,-137.3,788.5,-12.7,326,4881,0.00,0.00,0.00,0.000,6,0.000,0.000,1588,2939,2907,0,0,0,0,0,0
$GC,5190,-0.60,-137.3,828.0,-12.7,341,5193,0.00,1.58,0.00,0.000,4,0.000,0.063,1581,3898,2907,0,0,0,0,0,0
$GC,5239,-0.60,-137.3,835.1,-14.3,343,5243,0.00,1.48,0.00,0.000,6,0.000,0.032,1581,2920,2907,0,0,0,0,0,0
$GC,5566,-0.60,-137.3,879.1,-13.2,359,5569,0.00,1.62,0.00,0.000,4,0.000,0.064,1574,3902,2907,0,0,0,0,0,0
$GC,5615,-0.60,-137.3,886.2,-13.6,361,5619,0.00,1.48,0.00,0.000,6,0.000,0.032,1574,2929,2907,0,0,0,0,0,0
$GC,5942,-0.60,-137.3,931.1,-13.9,377,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,1574,2923,2907,0,0,0,0,0,0
$GC,6252,-0.60,-137.3,974.0,-13.6,392,6256,0.00,1.60,0.00,0.000,4,0.000,0.064,1566,3896,2907,0,0,0,0,0,0
$GC,6290,-0.60,-137.3,979.8,-15.1,393,6298,0.08,1.45,0.00,0.000,6,0.181,0.033,1589,2945,2907,0,0,0,0,0,0
$STATE,6460,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6460,begin apogee
$GC,6464,-0.13,0.0,1001.4,12.4,402,6593,0.52,0.00,125.60,1.777,6,0.175,0.000,1743,2704,2342,0,0,0,0,0,0
$STATE,6593,end apogee,CONTROL_FINISHED_OK
$STATE,6594,begin climb
$GC,6595,0.60,137.3,1004.8,0.0,408,6739,0.77,0.00,138.52,1.724,6,0.121,0.000,1976,2704,1782,0,0,0,0,0,0
$GC,7046,0.60,137.3,930.8,18.7,430,7050,0.00,2.08,0.00,0.000,4,0.000,0.062,1976,3908,1773,0,0,0,0,0,0
$GC,7093,0.60,137.3,921.8,21.0,432,7097,0.00,1.95,0.00,0.000,6,0.000,0.035,1985,2725,1771,0,0,0,0,0,0
$GC,7425,0.60,137.3,857.2,19.2,448,7426,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2725,1770,0,0,0,0,0,0
$GC,7734,0.60,137.3,797.9,19.5,463,7737,0.00,1.98,0.00,0.000,4,0.000,0.062,1985,3904,1770,0,0,0,0,0,0
$GC,7794,0.60,137.3,784.6,21.5,465,7802,0.00,1.92,0.00,0.000,6,0.000,0.036,1994,2717,1768,0,0,0,0,0,0
$GC,8110,0.60,137.3,721.8,19.6,481,8111,0.00,0.00,0.00,0.000,6,0.000,0.000,1994,2717,1768,0,0,0,0,0,0
$GC,8419,0.60,137.3,662.0,19.1,496,8423,0.00,1.98,0.00,0.000,4,0.000,0.061,1994,3907,1767,0,0,0,0,0,0
$GC,8481,0.60,137.3,648.9,21.7,498,8488,0.00,1.90,0.00,0.000,6,0.000,0.036,2004,2707,1766,0,0,0,0,0,0
$GC,8796,0.60,137.3,586.1,19.7,514,8800,0.00,1.98,0.00,0.000,4,0.000,0.061,2004,3909,1767,0,0,0,0,0,0
$GC,8858,0.60,137.3,572.5,23.4,516,8865,0.12,1.90,0.00,0.000,6,0.226,0.037,1985,2704,1766,0,0,0,0,0,0
$GC,9174,0.60,137.3,517.2,17.0,532,9177,0.00,1.98,0.00,0.000,4,0.000,0.060,1985,3910,1766,0,0,0,0,0,0
$GC,9211,0.60,137.3,509.6,20.2,533,9219,0.00,1.92,0.00,0.000,6,0.000,0.036,1994,2707,1766,0,0,0,0,0,0
$GC,9527,0.60,137.3,451.9,18.0,549,9531,0.00,1.98,0.00,0.000,4,0.000,0.061,1994,3896,1766,0,0,0,0,0,0
$GC,9575,0.60,137.3,443.0,20.7,551,9578,0.00,1.88,0.00,0.000,6,0.000,0.036,2003,2704,1765,0,0,0,0,0,0
$GC,9908,0.60,137.3,380.3,18.4,567,9912,0.00,1.98,0.00,0.000,4,0.000,0.060,2003,3913,1765,0,0,0,0,0,0
$GC,9946,0.60,137.3,371.9,21.0,568,9957,0.08,1.92,0.00,0.000,6,0.213,0.036,1992,2708,1765,0,0,0,0,0,0
$GC,10264,0.60,137.3,316.5,17.3,584,10268,0.00,1.95,0.00,0.000,4,0.000,0.060,1991,3903,1765,0,0,0,0,0,0
$GC,10297,0.60,137.3,309.5,20.5,585,10302,0.00,1.90,0.00,0.000,6,0.000,0.036,2000,2711,1765,0,0,0,0,0,0
$GC,10621,0.60,137.3,251.7,17.9,601,10625,0.00,1.95,0.00,0.000,4,0.000,0.060,2000,3904,1765,0,0,0,0,0,0
$GC,10693,0.60,137.3,236.1,21.3,606,10703,0.00,1.90,0.00,0.000,6,0.000,0.035,2010,2708,1765,0,0,0,0,0,0
$GC,11022,0.60,137.3,176.7,17.3,637,11026,0.00,1.98,0.00,0.000,4,0.000,0.060,2009,3901,1765,0,0,0,0,0,0
$GC,11056,0.60,137.3,169.6,19.5,640,11060,0.15,1.85,0.00,0.000,6,0.221,0.036,1983,2717,1765,0,0,0,0,0,0
$GC,11388,0.60,137.3,120.2,13.6,671,11392,0.00,2.20,0.00,0.000,4,0.000,0.044,1993,1294,1765,0,0,0,0,0,0
$GC,11408,0.60,137.3,116.6,14.7,672,11418,0.00,2.30,0.00,0.000,6,0.000,0.053,1994,2731,1765,0,0,0,0,0,0
$GC,11751,0.60,137.3,68.1,13.6,722,11760,0.00,1.90,0.00,0.000,4,0.000,0.063,1994,3896,1765,0,0,0,0,0,0
$GC,11860,0.60,137.3,49.8,18.8,740,11869,0.00,1.88,0.00,0.000,6,0.000,0.036,2003,2708,1765,0,0,0,0,0,0
$GC,11978,0.60,137.3,31.2,15.1,759,11985,0.00,1.95,0.00,0.000,4,0.000,0.061,2002,3887,1765,0,0,0,0,0,0
$GC,12104,0.60,137.3,9.1,19.5,779,12113,0.08,1.88,0.00,0.000,6,0.208,0.036,1991,2702,1765,0,0,0,0,0,0
$STATE,12144,end climb,SURFACE_DEPTH_REACHED
$STATE,12145,begin surface coast
$FINISH,1.0,1.024344
$STATE,12171,end surface coast,CONTROL_FINISHED_OK
$STATE,12171,begin surface
$SM_CCo,12183,23.92,0.190,0,0,1522,200.16
$SM_GC,2.60,0.00,0.00,23.92,0.000,0.000,0.190,51,2928,1522,-5.42,-0.08,200.16
$IRIDIUM_FIX,-5535.12,-34.57,281214,000026
$TT8_MAMPS,0.026215
$HUMID,56.85
$INTERNAL_PRESSURE,8.95509
$TCM_TEMP,6.90
$XPDR_PINGS,0
$24V_AH,21.9,25.787
$10V_AH,10.0,16.882
$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,13.675,93.225,264.125,23.925,0.000,27.151,17.128,259.901,0.000,0.000,21.530,1988.193,7713.288,433.051,2328.317,167.888,33.357,1239.600,0.000,1886.048,0.000,0.539,0.000
$DEVICE_MAMPS,247.095,86.445,1777.095,189.720,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,560.203,1634.756,779.137,801.203,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353972
$DATA_FILE_SIZE,53725,789
$CAP_FILE_SIZE,111931,0
$CFSIZE,259252224,219435008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,281214,080904,-5558.125,-32.284,44,1.0,44,-19.9