version: 66.07
glider: 542
mission: 9
dive: 117
start: 12 29 114 5 55 3
data:
$ID,542
$MISSION,9
$DIVE,117
$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,-21984.951
$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,32
$R_STBD_OVSHOOT,33
$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
$GPS1,291214,054631,-5557.795,-29.782,57,1.0,58,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-64.3
$GPS2,291214,055409,-5557.790,-29.690,18,1.2,18,-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,-0.025
$KALMAN_X,63624.9,240.0,204.0,-94750.3,521.7
$KALMAN_Y,26522.2,407.3,303.1,-22842.2,-3948.1
$MHEAD_RNG_PITCHd_Wd,281.0,4105,-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,-34.30,0.000,2,0.000,0.000,44,2952,2229,0,0,0,0,0,0
$GC,53,-0.59,-126.4,3.0,-5.0,4,89,6.45,1.62,-21.90,0.000,4,0.257,0.084,1586,3897,2860,0,0,0,0,0,0
$GC,195,-0.59,-126.4,29.6,-22.5,25,204,0.00,1.58,0.00,0.000,6,0.000,0.034,1585,2901,2862,0,0,0,0,0,0
$GC,275,-0.59,-126.4,46.1,-18.6,38,283,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,2900,2862,0,0,0,0,0,0
$GC,390,-0.59,-126.4,67.3,-17.7,57,397,0.00,1.65,0.00,0.000,4,0.000,0.060,1578,3887,2862,0,0,0,0,0,0
$GC,421,-0.59,-126.4,74.0,-20.3,62,430,0.00,1.50,0.00,0.000,6,0.000,0.034,1578,2921,2862,0,0,0,0,0,0
$GC,534,-0.59,-126.4,96.9,-20.2,81,542,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2920,2862,0,0,0,0,0,0
$GC,758,-0.59,-126.4,135.2,-15.8,103,759,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2920,2862,0,0,0,0,0,0
$GC,1077,-0.59,-126.4,190.0,-17.5,133,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2920,2862,0,0,0,0,0,0
$GC,1397,-0.59,-126.4,243.0,-16.4,163,1400,0.00,1.60,0.00,0.000,4,0.000,0.062,1571,3886,2862,0,0,0,0,0,0
$GC,1469,-0.59,-126.4,257.2,-18.0,168,1474,0.00,1.50,0.00,0.000,6,0.000,0.033,1571,2925,2862,0,0,0,0,0,0
$GC,1799,-0.59,-126.4,314.1,-17.2,184,1803,0.00,1.60,0.00,0.000,4,0.000,0.061,1563,3887,2862,0,0,0,0,0,0
$GC,1854,-0.59,-126.4,325.0,-19.4,186,1860,0.12,1.50,0.00,0.000,6,0.207,0.033,1595,2918,2862,0,0,0,0,0,0
$GC,2178,-0.59,-126.4,374.4,-15.6,202,2179,0.00,0.00,0.00,0.000,6,0.000,0.000,1596,2917,2862,0,0,0,0,0,0
$GC,2485,-0.59,-126.4,421.3,-15.1,217,2489,0.00,1.60,0.00,0.000,4,0.000,0.062,1588,3887,2862,0,0,0,0,0,0
$GC,2534,-0.59,-126.4,429.5,-17.2,219,2539,0.00,1.45,0.00,0.000,6,0.000,0.031,1588,2937,2862,0,0,0,0,0,0
$GC,2862,-0.59,-126.4,480.5,-15.8,235,2863,0.00,0.00,0.00,0.000,6,0.000,0.000,1588,2930,2862,0,0,0,0,0,0
$GC,3171,-0.59,-126.4,529.4,-15.8,250,3175,0.00,1.60,0.00,0.000,4,0.000,0.063,1581,3888,2862,0,0,0,0,0,0
$GC,3220,-0.59,-126.4,537.9,-17.4,252,3225,0.00,1.48,0.00,0.000,6,0.000,0.032,1581,2925,2862,0,0,0,0,0,0
$GC,3548,-0.59,-126.4,589.5,-15.5,268,3551,0.00,1.60,0.00,0.000,4,0.000,0.060,1574,3893,2862,0,0,0,0,0,0
$GC,3602,-0.59,-126.4,598.9,-16.8,270,3607,0.00,1.48,0.00,0.000,6,0.000,0.032,1574,2929,2862,0,0,0,0,0,0
$GC,3924,-0.59,-126.4,649.5,-15.6,286,3928,0.00,1.58,0.00,0.000,4,0.000,0.060,1567,3883,2862,0,0,0,0,0,0
$GC,3972,-0.59,-126.4,657.1,-17.4,288,3976,0.10,1.45,0.00,0.000,6,0.187,0.033,1595,2938,2862,0,0,0,0,0,0
$GC,4303,-0.59,-126.4,704.5,-14.1,304,4304,0.00,0.00,0.00,0.000,6,0.000,0.000,1596,2938,2863,0,0,0,0,0,0
$GC,4613,-0.59,-126.4,747.1,-13.7,319,4614,0.00,0.00,0.00,0.000,6,0.000,0.000,1596,2937,2863,0,0,0,0,0,0
$GC,4922,-0.59,-126.4,788.6,-13.1,334,4925,0.00,1.58,0.00,0.000,4,0.000,0.062,1588,3897,2863,0,0,0,0,0,0
$GC,4989,-0.59,-126.4,798.3,-14.4,337,4993,0.00,1.48,0.00,0.000,6,0.000,0.033,1588,2923,2862,0,0,0,0,0,0
$GC,5322,-0.59,-126.4,844.5,-13.7,353,5323,0.00,0.00,0.00,0.000,6,0.000,0.000,1589,2918,2863,0,0,0,0,0,0
$GC,5630,-0.59,-126.4,886.6,-13.6,368,5634,0.00,1.60,0.00,0.000,4,0.000,0.061,1581,3893,2863,0,0,0,0,0,0
$GC,5698,-0.59,-126.4,896.6,-15.0,371,5702,0.00,1.48,0.00,0.000,6,0.000,0.033,1581,2918,2863,0,0,0,0,0,0
$GC,6031,-0.59,-126.4,943.9,-14.3,387,6032,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2913,2863,0,0,0,0,0,0
$GC,6339,-0.59,-126.4,987.5,-14.0,402,6340,0.00,0.00,0.00,0.000,6,0.000,0.000,1581,2913,2863,0,0,0,0,0,0
$STATE,6441,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6441,begin apogee
$GC,6446,-0.13,0.0,1001.9,14.0,407,6565,0.55,0.00,115.25,1.769,6,0.181,0.000,1740,2726,2342,0,0,0,0,0,0
$STATE,6565,end apogee,CONTROL_FINISHED_OK
$STATE,6565,begin climb
$GC,6567,0.59,126.4,1007.1,0.0,413,6698,0.77,0.00,127.03,1.717,6,0.126,0.000,1972,2726,1825,0,0,0,0,0,0
$GC,6997,0.59,126.4,944.2,16.6,434,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2726,1818,0,0,0,0,0,0
$GC,7307,0.59,126.4,893.4,16.6,449,7308,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2726,1816,0,0,0,0,0,0
$GC,7616,0.59,126.4,841.4,16.7,464,7620,0.00,1.98,0.00,0.000,4,0.000,0.060,1973,3893,1814,0,0,0,0,0,0
$GC,7665,0.59,126.4,831.9,20.1,466,7669,0.00,1.90,0.00,0.000,6,0.000,0.035,1981,2722,1813,0,0,0,0,0,0
$GC,7993,0.59,126.4,774.9,17.4,482,7994,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2721,1813,0,0,0,0,0,0
$GC,8301,0.59,126.4,721.5,17.0,497,8305,0.00,1.92,0.00,0.000,4,0.000,0.057,1981,3892,1813,0,0,0,0,0,0
$GC,8339,0.59,126.4,713.9,20.4,498,8346,0.00,1.90,0.00,0.000,6,0.000,0.035,1990,2707,1812,0,0,0,0,0,0
$GC,8655,0.59,126.4,657.7,17.7,514,8659,0.00,1.95,0.00,0.000,4,0.000,0.057,1990,3882,1812,0,0,0,0,0,0
$GC,8686,0.59,126.4,651.3,20.0,515,8691,0.00,1.88,0.00,0.000,6,0.000,0.035,2000,2713,1811,0,0,0,0,0,0
$GC,9009,0.59,126.4,593.1,18.3,531,9010,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,2712,1811,0,0,0,0,0,0
$GC,9317,0.59,126.4,537.0,18.5,546,9321,0.00,1.92,0.00,0.000,4,0.000,0.058,1999,3891,1812,0,0,0,0,0,0
$GC,9372,0.59,126.4,525.5,20.9,548,9377,0.10,1.90,0.00,0.000,6,0.213,0.035,1981,2700,1811,0,0,0,0,0,0
$GC,9694,0.59,126.4,471.3,16.9,564,9695,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2700,1810,0,0,0,0,0,0
$GC,10002,0.59,126.4,419.2,16.9,579,10006,0.00,1.95,0.00,0.000,4,0.000,0.057,1981,3897,1811,0,0,0,0,0,0
$GC,10047,0.59,126.4,410.9,18.8,581,10051,0.00,1.88,0.00,0.000,6,0.000,0.036,1990,2701,1811,0,0,0,0,0,0
$GC,10382,0.59,126.4,353.3,17.1,597,10383,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,2701,1811,0,0,0,0,0,0
$GC,10689,0.59,126.4,301.9,16.5,612,10692,0.00,1.92,0.00,0.000,4,0.000,0.057,1990,3889,1810,0,0,0,0,0,0
$GC,10744,0.59,126.4,291.2,19.3,614,10749,0.00,1.88,0.00,0.000,6,0.000,0.036,1999,2704,1810,0,0,0,0,0,0
$GC,11069,0.59,126.4,235.6,17.0,634,11070,0.00,0.00,0.00,0.000,6,0.000,0.000,1999,2704,1810,0,0,0,0,0,0
$GC,11387,0.59,126.4,182.0,16.7,664,11391,0.00,1.92,0.00,0.000,4,0.000,0.057,1999,3891,1811,0,0,0,0,0,0
$GC,11484,0.59,126.4,164.1,18.3,672,11495,0.00,1.88,0.00,0.000,6,0.000,0.035,2008,2710,1810,0,0,0,0,0,0
$GC,11812,0.59,126.4,116.0,14.1,703,11814,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2710,1810,0,0,0,0,0,0
$GC,12147,0.59,126.4,64.6,13.4,753,12155,0.00,1.95,0.00,0.000,4,0.000,0.058,2007,3890,1810,0,0,0,0,0,0
$GC,12175,0.59,126.4,60.2,16.4,757,12182,0.08,1.88,0.00,0.000,6,0.215,0.035,1985,2705,1810,0,0,0,0,0,0
$GC,12289,0.59,126.4,42.1,15.4,776,12298,0.00,2.20,0.00,0.000,4,0.000,0.044,1994,1298,1810,0,0,0,0,0,0
$GC,12323,0.59,126.4,38.0,12.1,781,12331,0.00,2.22,0.00,0.000,6,0.000,0.052,1995,2720,1810,0,0,0,0,0,0
$GC,12442,0.59,126.4,23.6,10.0,800,12451,0.00,1.90,0.00,0.000,4,0.000,0.064,1995,3880,1810,0,0,0,0,0,0
$GC,12509,0.59,126.4,15.1,12.5,810,12518,0.00,1.85,0.00,0.000,6,0.000,0.040,2003,2720,1810,0,0,0,0,0,0
$GC,12594,0.59,126.4,3.0,16.1,823,12602,0.00,2.17,0.00,0.000,4,0.000,0.040,2014,1296,1810,0,0,0,0,0,0
$STATE,12610,end climb,SURFACE_DEPTH_REACHED
$STATE,12610,begin surface coast
$FINISH,1.0,1.027141
$STATE,12630,end surface coast,CONTROL_FINISHED_OK
$STATE,12630,begin surface
$SM_CCo,12645,29.88,0.174,0,0,1523,200.16
$SM_GC,1.82,0.00,0.00,29.88,0.000,0.000,0.174,62,2920,1523,-5.40,-0.25,200.16
$IRIDIUM_FIX,-5538.94,-30.80,281214,222236
$TT8_MAMPS,0.026215
$HUMID,56.49
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,6.60
$XPDR_PINGS,0
$24V_AH,22.0,26.838
$10V_AH,10.0,17.597
$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,13.625,74.750,242.275,29.875,0.000,26.938,22.997,284.656,0.000,0.000,20.480,2072.323,8100.345,395.148,2397.779,170.411,33.362,1187.176,0.000,1917.028,0.000,0.539,0.000
$DEVICE_MAMPS,257.040,84.150,1768.680,173.655,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,589.125,1727.921,835.150,867.807,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353964
$DATA_FILE_SIZE,57167,828
$CAP_FILE_SIZE,109831,0
$CFSIZE,259252224,219004928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291214,092733,-5558.723,-31.510,37,1.7,41,-19.9