version: 66.07
glider: 542
mission: 9
dive: 359
start: 2 10 115 11 1 36
data:
$ID,542
$MISSION,9
$DIVE,359
$D_SURF,3
$D_FLARE,3
$D_TGT,80
$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,27
$T_MISSION,37
$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,-22759.316
$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,24
$R_STBD_OVSHOOT,30
$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
$GPS1,100215,105430,-5658.447,-1.904,19,1.0,20,-20.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-44.4
$GPS2,100215,110042,-5658.447,-1.876,15,2.0,16,-20.0
$SPEED_LIMITS,0.171,0.233
$TGT_NAME,TARGET1
$TGT_LATLONG,-5700.000,-2.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.105,-0.209
$KALMAN_X,340532.0,336.3,-644.3,-342104.8,-192.4
$KALMAN_Y,-127931.5,949.6,219.4,18830.2,-167.5
$MHEAD_RNG_PITCHd_Wd,173.3,2879,-17.9,-9.877
$D_GRID,80
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.45,-146.1,0.0,0.0,0,82,0.00,0.00,-65.32,0.000,2,0.000,0.000,44,2945,2531,0,0,0,0,0,0
$GC,85,-0.45,-146.1,3.0,-2.8,8,111,6.55,1.62,-10.62,0.000,4,0.243,0.081,1629,3896,2938,0,0,0,0,0,0
$GC,261,-0.45,-146.1,35.4,-17.2,35,268,0.00,1.55,0.00,0.000,6,0.000,0.034,1629,2899,2939,0,0,0,0,0,0
$GC,373,-0.45,-146.1,51.5,-12.5,54,381,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2899,2939,0,0,0,0,0,0
$GC,491,-0.45,-146.1,65.6,-11.8,73,497,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2899,2939,0,0,0,0,0,0
$GC,603,-0.45,-146.1,78.7,-10.6,92,612,0.00,2.12,0.00,0.000,4,0.000,0.044,1629,1535,2939,0,0,0,0,0,0
$STATE,617,end dive,TARGET_DEPTH_EXCEEDED
$STATE,617,begin apogee
$GC,623,-0.13,0.0,80.4,10.2,94,715,0.40,0.00,86.18,1.016,6,0.168,0.000,1739,2720,2341,0,0,0,0,0,0
$STATE,716,end apogee,CONTROL_FINISHED_OK
$STATE,716,begin climb
$GC,719,0.45,146.1,83.9,0.0,108,822,0.62,2.15,89.18,0.975,4,0.138,0.060,1928,3890,1743,0,0,0,0,0,0
$GC,837,0.47,164.2,76.0,9.1,125,853,0.00,1.95,10.80,0.877,6,0.000,0.034,1937,2734,1671,0,0,0,0,0,0
$GC,963,0.47,164.2,62.6,10.7,145,970,0.00,2.35,0.00,0.000,4,0.000,0.047,1947,1302,1665,0,0,0,0,0,0
$GC,1014,0.48,175.3,57.7,9.4,153,1030,0.00,2.38,6.80,0.774,6,0.000,0.054,1947,2717,1627,0,0,0,0,0,0
$GC,1139,0.48,175.3,44.4,10.7,173,1146,0.00,1.98,0.00,0.000,4,0.000,0.062,1947,3896,1625,0,0,0,0,0,0
$GC,1158,0.48,175.3,41.7,10.7,176,1167,0.00,1.92,0.00,0.000,6,0.000,0.037,1956,2721,1624,0,0,0,0,0,0
$GC,1274,0.55,261.7,32.1,6.0,195,1328,0.00,0.00,50.28,0.823,6,0.000,0.000,1957,2719,1272,0,0,0,0,0,0
$GC,1406,0.56,272.5,18.7,9.4,214,1415,0.00,0.00,5.97,0.646,6,0.000,0.000,1957,2719,1229,0,0,0,0,0,0
$GC,1491,0.56,272.5,11.3,11.2,227,1500,0.00,2.30,0.00,0.000,4,0.000,0.050,1967,1300,1224,0,0,0,0,0,0
$STATE,1616,end climb,SURFACE_DEPTH_REACHED
$STATE,1616,begin surface coast
$FINISH,0.9,1.027289
$STATE,1662,end surface coast,CONTROL_FINISHED_OK
$STATE,1662,begin surface
$SM_CCo,1738,0.00,0.000,0,0,1216,276.20
$SM_GC,1.68,5.20,0.00,0.00,0.057,0.000,0.000,57,2925,1216,-5.33,-0.14,276.20
$IRIDIUM_FIX,-5636.99,0.00,100215,101017
$TT8_MAMPS,0.026215
$HUMID,56.41
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,7.20
$XPDR_PINGS,0
$24V_AH,22.8,67.573
$10V_AH,9.7,46.654
$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,12.775,24.975,249.200,0.000,0.000,35.390,41.165,185.661,0.000,0.000,18.656,557.057,149.458,261.201,1053.196,100.563,33.349,592.523,0.000,724.001,0.000,0.539,0.000
$DEVICE_MAMPS,242.505,81.090,1015.920,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,175.680,692.132,545.473,737.843,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353852
$DATA_FILE_SIZE,16966,254
$CAP_FILE_SIZE,35560,0
$CFSIZE,259252224,202240000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,100215,113126,-5658.690,-1.824,19,1.3,19,-20.0