version: 66.07
glider: 542
mission: 9
dive: 135
start: 1 1 115 1 32 17
data:
$ID,542
$MISSION,9
$DIVE,135
$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,-22035.289
$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,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
$GPS1,010115,012304,-5552.678,-28.760,35,0.8,35,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-72.6
$GPS2,010115,013123,-5552.692,-28.617,17,0.9,17,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET2
$TGT_LATLONG,-5545.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.005,0.231
$KALMAN_X,70351.9,251.0,131.7,-100311.0,-328.3
$KALMAN_Y,12544.1,507.3,61.2,716.0,-2716.4
$MHEAD_RNG_PITCHd_Wd,21.3,14318,-17.2,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.44,-146.1,0.0,0.0,0,52,0.00,0.00,-34.00,0.000,2,0.000,0.000,44,2943,2237,0,0,0,0,0,0
$GC,54,-0.44,-146.1,3.0,-3.3,4,97,6.53,2.30,-26.58,0.000,4,0.248,0.054,1637,1505,2936,0,0,0,0,0,0
$GC,215,-0.44,-146.1,20.3,-14.1,28,225,0.00,2.35,0.00,0.000,6,0.000,0.057,1627,2917,2938,0,0,0,0,0,0
$GC,300,-0.44,-146.1,34.2,-17.6,41,307,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2917,2938,0,0,0,0,0,0
$GC,414,-0.44,-146.1,55.6,-18.3,60,422,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2917,2938,0,0,0,0,0,0
$GC,530,-0.44,-146.1,76.7,-18.8,79,536,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2917,2938,0,0,0,0,0,0
$GC,639,-0.44,-146.1,97.3,-16.4,98,646,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2917,2938,0,0,0,0,0,0
$GC,859,-0.44,-146.1,134.5,-17.2,120,860,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2917,2938,0,0,0,0,0,0
$GC,1179,-0.44,-146.1,181.5,-13.9,150,1180,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2917,2938,0,0,0,0,0,0
$GC,1497,-0.44,-146.1,223.7,-13.2,180,1498,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2917,2938,0,0,0,0,0,0
$GC,1815,-0.44,-146.1,263.4,-12.3,205,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2917,2938,0,0,0,0,0,0
$GC,2121,-0.44,-146.1,300.8,-11.8,220,2122,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2917,2938,0,0,0,0,0,0
$GC,2433,-0.44,-146.1,336.8,-11.6,235,2434,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2917,2938,0,0,0,0,0,0
$GC,2742,-0.44,-146.1,372.0,-11.4,250,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2917,2938,0,0,0,0,0,0
$GC,3049,-0.44,-146.1,406.9,-11.3,265,3050,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2917,2938,0,0,0,0,0,0
$GC,3359,-0.44,-146.1,441.9,-11.1,280,3362,0.00,1.60,0.00,0.000,4,0.000,0.067,1619,3900,2938,0,0,0,0,0,0
$GC,3404,-0.44,-146.1,447.2,-11.5,282,3408,0.00,1.52,0.00,0.000,6,0.000,0.033,1619,2903,2938,0,0,0,0,0,0
$GC,3736,-0.44,-146.1,485.5,-11.6,298,3737,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2899,2938,0,0,0,0,0,0
$GC,4046,-0.44,-146.1,521.5,-11.6,313,4047,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2899,2938,0,0,0,0,0,0
$GC,4355,-0.44,-146.1,557.4,-11.4,328,4356,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2899,2938,0,0,0,0,0,0
$GC,4664,-0.44,-146.1,593.3,-11.8,343,4668,0.00,1.65,0.00,0.000,4,0.000,0.063,1611,3909,2938,0,0,0,0,0,0
$GC,4709,-0.44,-146.1,599.1,-13.3,345,4714,0.08,1.50,0.00,0.000,6,0.173,0.034,1636,2926,2938,0,0,0,0,0,0
$GC,5042,-0.44,-146.1,636.0,-11.2,361,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2923,2939,0,0,0,0,0,0
$GC,5351,-0.44,-146.1,670.1,-11.0,376,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2923,2939,0,0,0,0,0,0
$GC,5661,-0.44,-146.1,703.6,-10.8,391,5662,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2923,2939,0,0,0,0,0,0
$GC,5969,-0.44,-146.1,738.2,-11.4,406,5970,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2923,2939,0,0,0,0,0,0
$GC,6279,-0.44,-146.1,773.0,-11.3,421,6280,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2923,2939,0,0,0,0,0,0
$GC,6589,-0.44,-146.1,807.3,-11.0,436,6590,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2923,2939,0,0,0,0,0,0
$GC,6897,-0.44,-146.1,840.6,-10.8,451,6898,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2923,2939,0,0,0,0,0,0
$GC,7206,-0.44,-146.1,874.4,-11.0,466,7208,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2923,2939,0,0,0,0,0,0
$GC,7516,-0.44,-146.1,908.5,-11.0,481,7518,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2923,2939,0,0,0,0,0,0
$GC,7825,-0.44,-146.1,942.9,-11.1,496,7826,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2923,2939,0,0,0,0,0,0
$GC,8134,-0.44,-146.1,977.1,-10.9,511,8136,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2923,2939,0,0,0,0,0,0
$STATE,8360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8360,begin apogee
$GC,8365,-0.13,0.0,1002.1,11.1,522,8503,0.35,0.00,133.85,1.786,6,0.162,0.000,1740,2716,2342,0,0,0,0,0,0
$STATE,8504,end apogee,CONTROL_FINISHED_OK
$STATE,8504,begin climb
$GC,8506,0.44,146.1,1008.0,0.0,529,8656,0.65,0.00,147.00,1.736,6,0.122,0.000,1927,2717,1746,0,0,0,0,0,0
$GC,8951,0.44,146.1,959.0,12.5,551,8955,0.00,2.05,0.00,0.000,4,0.000,0.060,1927,3906,1736,0,0,0,0,0,0
$GC,8997,0.44,146.1,952.6,14.4,553,9001,0.00,1.95,0.00,0.000,6,0.000,0.037,1936,2728,1735,0,0,0,0,0,0
$GC,9329,0.44,146.1,907.4,13.6,569,9333,0.00,2.28,0.00,0.000,4,0.000,0.046,1947,1294,1734,0,0,0,0,0,0
$GC,9361,0.44,146.1,902.9,12.2,570,9368,0.00,2.38,0.00,0.000,6,0.000,0.052,1947,2729,1733,0,0,0,0,0,0
$GC,9676,0.44,146.1,856.9,15.0,586,9678,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2730,1733,0,0,0,0,0,0
$GC,9986,0.44,146.1,811.2,15.1,601,9990,0.00,1.92,0.00,0.000,4,0.000,0.061,1947,3894,1732,0,0,0,0,0,0
$GC,10035,0.44,146.1,802.7,17.2,603,10039,0.00,1.90,0.00,0.000,6,0.000,0.036,1956,2714,1730,0,0,0,0,0,0
$GC,10361,0.44,146.1,750.5,16.1,619,10363,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,2712,1730,0,0,0,0,0,0
$GC,10671,0.44,146.1,700.5,15.8,634,10673,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,2713,1730,0,0,0,0,0,0
$GC,10980,0.44,146.1,650.2,16.3,649,10981,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,2713,1730,0,0,0,0,0,0
$GC,11289,0.44,146.1,601.1,15.7,664,11291,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,2713,1730,0,0,0,0,0,0
$GC,11599,0.44,146.1,553.5,15.2,679,11603,0.00,1.92,0.00,0.000,4,0.000,0.059,1956,3892,1730,0,0,0,0,0,0
$GC,11648,0.44,146.1,544.6,17.7,681,11654,0.10,1.88,0.00,0.000,6,0.201,0.036,1937,2711,1729,0,0,0,0,0,0
$GC,11975,0.44,146.1,501.3,13.1,697,11976,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2710,1729,0,0,0,0,0,0
$GC,12285,0.44,146.1,460.8,12.9,712,12286,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2710,1729,0,0,0,0,0,0
$GC,12594,0.44,146.1,418.5,13.6,727,12595,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2710,1729,0,0,0,0,0,0
$GC,12903,0.44,146.1,376.7,13.3,742,12904,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2710,1729,0,0,0,0,0,0
$GC,13215,0.44,146.1,336.5,13.0,757,13216,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2710,1729,0,0,0,0,0,0
$GC,13522,0.44,146.1,296.6,12.4,772,13523,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2710,1729,0,0,0,0,0,0
$GC,13833,0.44,146.1,258.8,12.1,787,13834,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2710,1729,0,0,0,0,0,0
$GC,14150,0.44,146.1,219.3,12.3,813,14151,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2710,1729,0,0,0,0,0,0
$GC,14470,0.44,146.1,183.8,10.9,843,14476,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2710,1729,0,0,0,0,0,0
$GC,14795,0.44,146.1,148.8,10.2,874,14799,0.00,2.20,0.00,0.000,4,0.000,0.045,1947,1283,1729,0,0,0,0,0,0
$GC,14840,0.46,164.7,144.5,8.7,877,14853,0.00,2.30,8.38,1.180,6,0.000,0.053,1947,2722,1669,0,0,0,0,0,0
$GC,15171,0.46,164.7,110.2,10.8,908,15172,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2723,1668,0,0,0,0,0,0
$GC,15513,0.46,164.7,73.2,11.4,959,15520,0.00,1.88,0.00,0.000,4,0.000,0.062,1947,3877,1666,0,0,0,0,0,0
$GC,15576,0.46,164.7,65.0,12.8,970,15586,0.00,1.85,0.00,0.000,6,0.000,0.036,1956,2710,1666,0,0,0,0,0,0
$GC,15694,0.46,164.7,51.7,11.2,989,15700,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,2710,1666,0,0,0,0,0,0
$GC,15806,0.46,164.7,38.5,11.4,1008,15815,0.00,2.22,0.00,0.000,4,0.000,0.045,1966,1286,1666,0,0,0,0,0,0
$GC,15845,0.46,164.7,34.3,10.4,1014,15854,0.00,2.30,0.00,0.000,6,0.000,0.054,1966,2713,1665,0,0,0,0,0,0
$GC,15964,0.46,164.7,20.4,12.7,1033,15973,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,2713,1665,0,0,0,0,0,0
$GC,16048,0.46,164.7,10.1,12.6,1046,16056,0.00,0.00,0.00,0.000,6,0.000,0.000,1966,2713,1665,0,0,0,0,0,0
$STATE,16111,end climb,SURFACE_DEPTH_REACHED
$STATE,16112,begin surface coast
$FINISH,1.1,1.004510
$STATE,16145,end surface coast,CONTROL_FINISHED_OK
$STATE,16145,begin surface
$SM_CCo,16158,14.18,0.183,0,0,1523,200.16
$SM_GC,3.38,0.00,0.00,14.18,0.000,0.000,0.183,58,2926,1523,-5.41,-0.11,200.16
$IRIDIUM_FIX,-5531.31,-30.73,311214,202009
$TT8_MAMPS,0.026215
$HUMID,56.53
$INTERNAL_PRESSURE,8.95509
$TCM_TEMP,6.50
$XPDR_PINGS,2
$24V_AH,21.9,29.757
$10V_AH,10.0,19.533
$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,12.825,40.550,289.225,14.175,0.000,26.681,42.886,303.185,0.500,0.000,19.442,2551.171,10696.720,416.943,2821.572,182.277,33.359,1287.004,0.000,2274.373,0.000,0.540,0.000
$DEVICE_MAMPS,247.860,66.555,1785.510,182.835,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,755.599,2208.496,1072.818,1082.525,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353844
$DATA_FILE_SIZE,73821,1061
$CAP_FILE_SIZE,116263,0
$CFSIZE,259252224,217800704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010115,060311,-5550.839,-27.724,46,1.0,46,-19.9