version: 66.07
glider: 542
mission: 9
dive: 112
start: 12 28 114 11 57 23
data:
$ID,542
$MISSION,9
$DIVE,112
$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,-21970.641
$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,46
$R_STBD_OVSHOOT,35
$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
$GPS1,281214,114357,-5558.097,-34.588,28,1.4,37,-19.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-61.5
$GPS2,281214,115629,-5558.042,-34.326,17,0.9,17,-19.8
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,3000.000
$KALMAN_CONTROL,0.165,-0.011
$KALMAN_X,63751.9,89.5,-379.8,-98934.8,2887.7
$KALMAN_Y,30357.7,478.6,35.5,-26944.0,-3516.4
$MHEAD_RNG_PITCHd_Wd,113.5,5764,-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,-73.9,0.0,0.0,0,59,0.00,0.00,-42.38,0.000,2,0.000,0.000,44,2906,2440,0,0,0,0,0,0
$GC,62,-0.59,-131.4,3.3,-4.6,5,89,6.30,2.15,-13.02,0.000,4,0.246,0.050,1595,1518,2877,0,0,0,0,0,0
$GC,361,-0.59,-131.4,50.4,-14.9,53,368,0.00,2.30,0.00,0.000,6,0.000,0.060,1584,2913,2879,0,0,0,0,0,0
$GC,474,-0.59,-131.4,70.7,-18.0,72,482,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2914,2879,0,0,0,0,0,0
$GC,589,-0.59,-131.4,91.6,-18.5,91,596,0.00,1.62,0.00,0.000,4,0.000,0.067,1576,3899,2879,0,0,0,0,0,0
$GC,648,-0.59,-131.4,103.6,-20.6,100,652,0.00,1.52,0.00,0.000,6,0.000,0.033,1576,2912,2880,0,0,0,0,0,0
$GC,982,-0.59,-131.4,168.6,-19.4,131,985,0.00,1.65,0.00,0.000,4,0.000,0.064,1569,3910,2880,0,0,0,0,0,0
$GC,1112,-0.59,-131.4,195.8,-19.9,142,1123,0.00,1.50,0.00,0.000,6,0.000,0.034,1569,2927,2880,0,0,0,0,0,0
$GC,1448,-0.59,-131.4,259.4,-18.8,172,1452,0.00,1.62,0.00,0.000,4,0.000,0.065,1562,3905,2880,0,0,0,0,0,0
$GC,1497,-0.59,-131.4,269.8,-20.0,174,1503,0.12,1.50,0.00,0.000,6,0.213,0.033,1591,2937,2880,0,0,0,0,0,0
$GC,1827,-0.59,-131.4,323.3,-16.2,190,1830,0.00,1.60,0.00,0.000,4,0.000,0.064,1584,3905,2880,0,0,0,0,0,0
$GC,1887,-0.59,-131.4,334.9,-17.7,192,1897,0.00,1.52,0.00,0.000,6,0.000,0.032,1584,2912,2880,0,0,0,0,0,0
$GC,2204,-0.59,-131.4,387.7,-16.5,208,2205,0.00,0.00,0.00,0.000,6,0.000,0.000,1583,2912,2879,0,0,0,0,0,0
$GC,2513,-0.59,-131.4,438.1,-16.2,223,2514,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2912,2879,0,0,0,0,0,0
$GC,2822,-0.59,-131.4,486.1,-15.0,238,2823,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2912,2879,0,0,0,0,0,0
$GC,3132,-0.59,-131.4,532.4,-14.9,253,3136,0.00,1.65,0.00,0.000,4,0.000,0.066,1576,3924,2880,0,0,0,0,0,0
$GC,3200,-0.59,-131.4,543.1,-16.3,256,3203,0.00,1.50,0.00,0.000,6,0.000,0.033,1576,2939,2880,0,0,0,0,0,0
$GC,3531,-0.59,-131.4,592.3,-14.3,272,3533,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2932,2880,0,0,0,0,0,0
$GC,3841,-0.59,-131.4,634.6,-13.4,287,3843,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2932,2880,0,0,0,0,0,0
$GC,4150,-0.59,-131.4,676.1,-13.2,302,4151,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2932,2880,0,0,0,0,0,0
$GC,4459,-0.59,-131.4,718.3,-13.8,317,4461,0.00,0.00,0.00,0.000,6,0.000,0.000,1576,2932,2880,0,0,0,0,0,0
$GC,4769,-0.59,-131.4,761.9,-14.3,332,4773,0.00,1.60,0.00,0.000,4,0.000,0.065,1568,3900,2880,0,0,0,0,0,0
$GC,4807,-0.59,-131.4,768.0,-15.5,333,4815,0.08,1.50,0.00,0.000,6,0.188,0.033,1590,2924,2880,0,0,0,0,0,0
$GC,5124,-0.59,-131.4,808.3,-12.8,349,5125,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2923,2881,0,0,0,0,0,0
$GC,5433,-0.59,-131.4,847.7,-12.7,364,5434,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2923,2881,0,0,0,0,0,0
$GC,5742,-0.59,-131.4,886.3,-12.3,379,5743,0.00,0.00,0.00,0.000,6,0.000,0.000,1590,2923,2881,0,0,0,0,0,0
$GC,6052,-0.59,-131.4,923.9,-11.8,394,6055,0.00,1.62,0.00,0.000,4,0.000,0.065,1583,3906,2881,0,0,0,0,0,0
$GC,6089,-0.59,-131.4,929.1,-14.0,395,6098,0.00,1.50,0.00,0.000,6,0.000,0.032,1583,2921,2881,0,0,0,0,0,0
$GC,6406,-0.59,-131.4,968.8,-12.8,411,6407,0.00,0.00,0.00,0.000,6,0.000,0.000,1584,2920,2880,0,0,0,0,0,0
$STATE,6672,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6673,begin apogee
$GC,6677,-0.13,0.0,1002.6,12.7,424,6800,0.55,0.00,119.43,1.773,6,0.184,0.000,1741,2728,2342,0,0,0,0,0,0
$STATE,6801,end apogee,CONTROL_FINISHED_OK
$STATE,6801,begin climb
$GC,6802,0.59,131.4,1006.3,0.0,430,6943,0.77,2.47,131.38,1.714,4,0.129,0.044,1981,1331,1806,0,0,0,0,0,0
$GC,6964,0.59,131.4,986.7,16.7,437,6972,0.00,2.53,0.00,0.000,6,0.000,0.051,1981,2723,1802,0,0,0,0,0,0
$GC,7281,0.59,131.4,928.8,18.9,453,7285,0.00,2.00,0.00,0.000,4,0.000,0.060,1981,3891,1797,0,0,0,0,0,0
$GC,7319,0.59,131.4,920.9,20.5,454,7326,0.00,1.92,0.00,0.000,6,0.000,0.036,1990,2741,1794,0,0,0,0,0,0
$GC,7635,0.59,131.4,860.9,18.7,470,7638,0.00,1.95,0.00,0.000,4,0.000,0.060,1990,3898,1793,0,0,0,0,0,0
$GC,7661,0.59,131.4,855.3,21.3,471,7666,0.00,1.95,0.00,0.000,6,0.000,0.037,1999,2709,1793,0,0,0,0,0,0
$GC,7989,0.59,131.4,792.1,19.5,487,7993,0.00,1.98,0.00,0.000,4,0.000,0.060,1999,3895,1792,0,0,0,0,0,0
$GC,8021,0.59,131.4,785.0,22.0,488,8026,0.00,1.92,0.00,0.000,6,0.000,0.036,2008,2709,1792,0,0,0,0,0,0
$GC,8343,0.59,131.4,720.1,20.7,504,8347,0.00,1.98,0.00,0.000,4,0.000,0.060,2009,3891,1792,0,0,0,0,0,0
$GC,8398,0.59,131.4,707.4,22.4,506,8402,0.12,1.90,0.00,0.000,6,0.208,0.037,1984,2710,1790,0,0,0,0,0,0
$GC,8719,0.59,131.4,645.8,19.0,522,8722,0.00,1.95,0.00,0.000,4,0.000,0.060,1984,3901,1790,0,0,0,0,0,0
$GC,8756,0.59,131.4,637.9,21.1,523,8764,0.00,1.92,0.00,0.000,6,0.000,0.037,1992,2700,1790,0,0,0,0,0,0
$GC,9073,0.59,131.4,577.8,19.1,539,9077,0.00,1.98,0.00,0.000,4,0.000,0.059,1992,3888,1790,0,0,0,0,0,0
$GC,9105,0.59,131.4,570.6,21.9,540,9110,0.00,1.88,0.00,0.000,6,0.000,0.036,2001,2714,1790,0,0,0,0,0,0
$GC,9427,0.59,131.4,508.8,19.1,556,9431,0.00,1.92,0.00,0.000,4,0.000,0.059,2001,3893,1790,0,0,0,0,0,0
$GC,9487,0.59,131.4,495.4,21.5,558,9496,0.08,1.90,0.00,0.000,6,0.213,0.036,1990,2703,1789,0,0,0,0,0,0
$GC,9803,0.59,131.4,437.8,18.0,574,9805,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,2703,1790,0,0,0,0,0,0
$GC,10115,0.59,131.4,383.2,17.6,589,10119,0.00,1.95,0.00,0.000,4,0.000,0.059,1990,3899,1789,0,0,0,0,0,0
$GC,10183,0.59,131.4,369.3,20.5,592,10187,0.00,1.88,0.00,0.000,6,0.000,0.036,1998,2701,1789,0,0,0,0,0,0
$GC,10515,0.59,131.4,307.9,18.2,608,10519,0.00,1.95,0.00,0.000,4,0.000,0.058,1998,3900,1789,0,0,0,0,0,0
$GC,10548,0.59,131.4,301.2,20.7,609,10552,0.00,1.90,0.00,0.000,6,0.000,0.036,2007,2706,1789,0,0,0,0,0,0
$GC,10869,0.59,131.4,242.8,18.4,626,10873,0.00,1.92,0.00,0.000,4,0.000,0.058,2007,3892,1789,0,0,0,0,0,0
$GC,10941,0.59,131.4,227.9,20.9,632,10952,0.10,1.88,0.00,0.000,6,0.207,0.035,1989,2707,1789,0,0,0,0,0,0
$GC,11269,0.59,131.4,173.3,16.8,663,11272,0.00,1.92,0.00,0.000,4,0.000,0.058,1989,3891,1788,0,0,0,0,0,0
$GC,11303,0.59,131.4,166.9,18.1,666,11307,0.00,1.85,0.00,0.000,6,0.000,0.036,1997,2708,1789,0,0,0,0,0,0
$GC,11635,0.59,131.4,113.1,15.4,697,11638,0.00,1.92,0.00,0.000,4,0.000,0.059,1997,3894,1789,0,0,0,0,0,0
$GC,11706,0.59,131.4,101.0,16.8,703,11710,0.00,1.85,0.00,0.000,6,0.000,0.036,2006,2709,1789,0,0,0,0,0,0
$GC,12062,0.59,131.4,49.9,14.2,763,12069,0.00,1.95,0.00,0.000,4,0.000,0.059,2006,3890,1789,0,0,0,0,0,0
$GC,12194,0.59,131.4,28.5,16.2,785,12204,0.10,1.88,0.00,0.000,6,0.207,0.035,1988,2702,1789,0,0,0,0,0,0
$GC,12280,0.59,131.4,15.9,13.8,798,12288,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2702,1789,0,0,0,0,0,0
$GC,12365,0.59,131.4,4.4,14.9,811,12373,0.00,1.95,0.00,0.000,4,0.000,0.058,1988,3891,1789,0,0,0,0,0,0
$STATE,12380,end climb,SURFACE_DEPTH_REACHED
$STATE,12381,begin surface coast
$FINISH,1.1,1.027133
$STATE,12407,end surface coast,CONTROL_FINISHED_OK
$STATE,12407,begin surface
$SM_CCo,12420,27.33,0.189,0,0,1524,200.16
$SM_GC,2.06,0.00,0.00,27.33,0.000,0.000,0.189,58,2903,1524,-5.41,-0.76,200.16
$IRIDIUM_FIX,-5535.12,-34.61,281214,111126
$TT8_MAMPS,0.026215
$HUMID,55.98
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,6.40
$XPDR_PINGS,0
$24V_AH,21.9,26.100
$10V_AH,10.0,17.086
$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,13.425,85.125,250.800,27.325,0.000,53.132,81.969,418.194,0.000,0.000,20.112,2041.915,7970.434,384.924,2642.403,162.780,33.359,1197.871,0.000,1924.011,0.000,0.540,0.000
$DEVICE_MAMPS,246.330,66.555,1773.270,188.955,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,581.024,1697.645,815.439,860.580,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353980
$DATA_FILE_SIZE,57002,817
$CAP_FILE_SIZE,113855,0
$CFSIZE,259252224,219308032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,281214,152604,-5558.985,-31.354,38,1.3,38,-19.9