version: 66.07
glider: 542
mission: 9
dive: 145
start: 1 3 115 0 39 25
data:
$ID,542
$MISSION,9
$DIVE,145
$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,-22063.766
$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,23
$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
$GPS1,030115,003004,-5555.116,-31.910,41,0.9,41,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-71.1
$GPS2,030115,003831,-5555.091,-31.862,16,1.7,16,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.219,-0.073
$KALMAN_X,89412.2,-1172.0,-270.1,-120876.7,4565.0
$KALMAN_Y,13497.5,478.5,39.6,-4612.1,1708.9
$MHEAD_RNG_PITCHd_Wd,271.6,9293,-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,-33.95,0.000,2,0.000,0.000,55,2936,2247,0,0,0,0,0,0
$GC,54,-0.44,-146.1,3.2,-3.9,4,89,6.47,0.00,-24.62,0.000,6,0.247,0.000,1637,2936,2939,0,0,0,0,0,0
$GC,164,-0.44,-146.1,15.8,-15.4,20,172,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2935,2941,0,0,0,0,0,0
$GC,249,-0.44,-146.1,29.7,-16.3,33,257,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2936,2941,0,0,0,0,0,0
$GC,329,-0.44,-146.1,42.9,-15.7,46,338,0.00,1.60,0.00,0.000,4,0.000,0.063,1629,3897,2941,0,0,0,0,0,0
$GC,374,-0.44,-146.1,50.0,-16.2,53,381,0.00,1.58,0.00,0.000,6,0.000,0.032,1630,2885,2941,0,0,0,0,0,0
$GC,489,-0.44,-146.1,68.2,-15.8,72,497,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2884,2941,0,0,0,0,0,0
$GC,604,-0.44,-146.1,86.3,-17.3,91,609,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2883,2941,0,0,0,0,0,0
$GC,830,-0.44,-146.1,122.2,-15.6,119,834,0.00,1.67,0.00,0.000,4,0.000,0.063,1622,3897,2941,0,0,0,0,0,0
$GC,904,-0.44,-146.1,134.3,-15.1,125,911,0.00,1.50,0.00,0.000,6,0.000,0.032,1622,2919,2941,0,0,0,0,0,0
$GC,1229,-0.44,-146.1,182.3,-14.9,156,1233,0.00,2.12,0.00,0.000,4,0.000,0.041,1622,1534,2941,0,0,0,0,0,0
$GC,1259,-0.44,-146.1,186.4,-14.8,158,1264,0.12,2.28,0.00,0.000,6,0.194,0.056,1643,2934,2941,0,0,0,0,0,0
$GC,1584,-0.44,-146.1,227.3,-12.7,188,1587,0.00,1.58,0.00,0.000,4,0.000,0.064,1636,3897,2941,0,0,0,0,0,0
$GC,1631,-0.44,-146.1,233.4,-13.2,192,1634,0.00,1.48,0.00,0.000,6,0.000,0.031,1636,2926,2942,0,0,0,0,0,0
$GC,1965,-0.44,-146.1,276.0,-12.5,214,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2920,2941,0,0,0,0,0,0
$GC,2277,-0.44,-146.1,315.8,-12.7,229,2278,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2920,2941,0,0,0,0,0,0
$GC,2586,-0.44,-146.1,354.8,-12.8,244,2587,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2920,2941,0,0,0,0,0,0
$GC,2897,-0.44,-146.1,395.0,-12.7,259,2900,0.00,1.65,0.00,0.000,4,0.000,0.063,1627,3925,2941,0,0,0,0,0,0
$GC,2943,-0.44,-146.1,401.7,-14.1,261,2947,0.00,1.50,0.00,0.000,6,0.000,0.032,1628,2939,2941,0,0,0,0,0,0
$GC,3276,-0.44,-146.1,445.5,-13.1,277,3277,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2932,2942,0,0,0,0,0,0
$GC,3585,-0.44,-146.1,484.2,-12.4,292,3586,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2932,2941,0,0,0,0,0,0
$GC,3894,-0.44,-146.1,520.7,-11.7,307,3895,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2932,2941,0,0,0,0,0,0
$GC,4204,-0.44,-146.1,555.9,-11.3,322,4208,0.00,1.62,0.00,0.000,4,0.000,0.063,1620,3908,2941,0,0,0,0,0,0
$GC,4253,-0.44,-146.1,562.1,-11.9,324,4258,0.00,1.52,0.00,0.000,6,0.000,0.031,1620,2913,2942,0,0,0,0,0,0
$GC,4581,-0.44,-146.1,601.2,-12.2,340,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2910,2942,0,0,0,0,0,0
$GC,4890,-0.44,-146.1,637.7,-11.7,355,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2910,2942,0,0,0,0,0,0
$GC,5199,-0.44,-146.1,673.8,-12.0,370,5203,0.00,1.65,0.00,0.000,4,0.000,0.063,1612,3920,2942,0,0,0,0,0,0
$GC,5238,-0.44,-146.1,678.8,-12.9,371,5245,0.08,1.50,0.00,0.000,6,0.176,0.032,1636,2939,2942,0,0,0,0,0,0
$GC,5553,-0.44,-146.1,711.5,-10.3,387,5554,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2938,2942,0,0,0,0,0,0
$GC,5862,-0.44,-146.1,743.7,-10.4,402,5866,0.00,2.15,0.00,0.000,4,0.000,0.039,1636,1524,2942,0,0,0,0,0,0
$GC,5889,-0.44,-146.1,746.7,-10.6,403,5894,0.00,2.28,0.00,0.000,6,0.000,0.055,1626,2927,2941,0,0,0,0,0,0
$GC,6211,-0.44,-146.1,783.5,-11.8,419,6212,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2926,2942,0,0,0,0,0,0
$GC,6520,-0.44,-146.1,820.6,-11.9,434,6524,0.00,1.58,0.00,0.000,4,0.000,0.063,1619,3903,2942,0,0,0,0,0,0
$GC,6552,-0.44,-146.1,824.6,-12.8,435,6556,0.00,1.48,0.00,0.000,6,0.000,0.031,1619,2918,2941,0,0,0,0,0,0
$GC,6873,-0.44,-146.1,863.1,-11.9,451,6875,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2912,2942,0,0,0,0,0,0
$GC,7183,-0.44,-146.1,899.7,-11.8,466,7186,0.00,1.62,0.00,0.000,4,0.000,0.063,1611,3895,2942,0,0,0,0,0,0
$GC,7221,-0.44,-146.1,904.6,-12.9,467,7229,0.10,1.45,0.00,0.000,6,0.173,0.032,1642,2941,2942,0,0,0,0,0,0
$GC,7538,-0.44,-146.1,935.4,-9.5,483,7539,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2941,2942,0,0,0,0,0,0
$GC,7847,-0.44,-146.1,964.5,-9.1,498,7848,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2941,2942,0,0,0,0,0,0
$GC,8156,-0.44,-146.1,992.9,-9.2,513,8157,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2941,2942,0,0,0,0,0,0
$STATE,8236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8237,begin apogee
$GC,8241,-0.13,0.0,1000.5,9.1,517,8380,0.32,0.00,133.80,1.779,6,0.163,0.000,1738,2718,2342,0,0,0,0,0,0
$STATE,8381,end apogee,CONTROL_FINISHED_OK
$STATE,8381,begin climb
$GC,8383,0.44,146.1,1004.3,0.0,524,8535,0.62,0.00,147.00,1.739,6,0.123,0.000,1923,2718,1746,0,0,0,0,0,0
$GC,8836,0.44,146.1,952.0,12.9,546,8837,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,2718,1737,0,0,0,0,0,0
$GC,9146,0.44,146.1,912.7,12.9,561,9150,0.00,2.03,0.00,0.000,4,0.000,0.061,1922,3898,1735,0,0,0,0,0,0
$GC,9171,0.44,146.1,908.7,15.0,562,9176,0.00,1.90,0.00,0.000,6,0.000,0.034,1931,2740,1734,0,0,0,0,0,0
$GC,9499,0.44,146.1,864.5,13.4,578,9503,0.00,2.30,0.00,0.000,4,0.000,0.045,1943,1292,1734,0,0,0,0,0,0
$GC,9532,0.44,146.1,860.3,13.1,579,9539,0.00,2.33,0.00,0.000,6,0.000,0.054,1943,2731,1733,0,0,0,0,0,0
$GC,9848,0.44,146.1,815.7,14.2,595,9851,0.00,1.90,0.00,0.000,4,0.000,0.060,1943,3893,1733,0,0,0,0,0,0
$GC,9896,0.44,146.1,807.4,16.2,597,9901,0.00,1.90,0.00,0.000,6,0.000,0.035,1952,2710,1732,0,0,0,0,0,0
$GC,10225,0.44,146.1,758.3,14.9,613,10226,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2710,1732,0,0,0,0,0,0
$GC,10533,0.44,146.1,712.9,14.5,628,10534,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2710,1732,0,0,0,0,0,0
$GC,10843,0.44,146.1,667.0,15.9,643,10847,0.00,1.95,0.00,0.000,4,0.000,0.060,1952,3894,1731,0,0,0,0,0,0
$GC,10869,0.44,146.1,662.1,17.7,644,10874,0.00,1.88,0.00,0.000,6,0.000,0.034,1961,2715,1731,0,0,0,0,0,0
$GC,11197,0.44,146.1,608.6,16.6,660,11198,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2715,1731,0,0,0,0,0,0
$GC,11507,0.44,146.1,558.2,16.1,675,11511,0.00,1.92,0.00,0.000,4,0.000,0.059,1961,3890,1730,0,0,0,0,0,0
$GC,11552,0.44,146.1,550.0,18.1,677,11557,0.15,1.85,0.00,0.000,6,0.215,0.035,1934,2707,1730,0,0,0,0,0,0
$GC,11884,0.44,146.1,505.7,12.7,693,11885,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2707,1730,0,0,0,0,0,0
$GC,12194,0.44,146.1,466.5,12.9,708,12196,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2707,1730,0,0,0,0,0,0
$GC,12503,0.44,146.1,425.1,13.4,723,12504,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2707,1730,0,0,0,0,0,0
$GC,12812,0.44,146.1,384.0,13.3,738,12816,0.00,1.95,0.00,0.000,4,0.000,0.059,1934,3899,1730,0,0,0,0,0,0
$GC,12845,0.44,146.1,378.9,14.9,739,12850,0.00,1.88,0.00,0.000,6,0.000,0.034,1943,2712,1729,0,0,0,0,0,0
$GC,13169,0.44,146.1,333.1,14.4,755,13170,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2712,1729,0,0,0,0,0,0
$GC,13477,0.44,146.1,286.5,15.5,770,13478,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2712,1729,0,0,0,0,0,0
$GC,13789,0.44,146.1,241.6,13.6,787,13790,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2712,1730,0,0,0,0,0,0
$GC,14108,0.44,146.1,198.1,12.7,817,14114,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2712,1729,0,0,0,0,0,0
$GC,14434,0.44,146.1,156.1,12.7,848,14435,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2712,1729,0,0,0,0,0,0
$GC,14754,0.44,146.1,116.1,12.0,878,14758,0.00,1.95,0.00,0.000,4,0.000,0.060,1943,3900,1729,0,0,0,0,0,0
$GC,14800,0.44,146.1,109.7,13.1,882,14804,0.00,1.88,0.00,0.000,6,0.000,0.034,1952,2693,1730,0,0,0,0,0,0
$GC,15142,0.49,211.2,79.6,6.7,934,15180,0.00,0.00,33.55,1.028,6,0.000,0.000,1952,2693,1478,0,0,0,0,0,0
$GC,15288,0.49,211.2,66.2,10.3,957,15295,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2693,1470,0,0,0,0,0,0
$GC,15400,0.49,211.2,54.3,10.9,976,15408,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2693,1469,0,0,0,0,0,0
$GC,15514,0.49,211.2,41.7,11.5,995,15520,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2693,1468,0,0,0,0,0,0
$GC,15629,0.49,211.2,28.6,11.6,1014,15637,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2693,1467,0,0,0,0,0,0
$GC,15714,0.49,211.2,18.9,11.3,1027,15722,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2693,1467,0,0,0,0,0,0
$GC,15798,0.49,211.2,9.2,10.8,1040,15806,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2692,1467,0,0,0,0,0,0
$STATE,15862,end climb,SURFACE_DEPTH_REACHED
$STATE,15862,begin surface coast
$FINISH,1.2,1.022257
$STATE,15895,end surface coast,CONTROL_FINISHED_OK
$STATE,15895,begin surface
$SM_CCo,15968,0.00,0.000,0,0,1464,215.37
$SM_GC,2.44,5.18,0.00,0.00,0.064,0.000,0.000,57,2925,1464,-5.34,-0.14,215.37
$IRIDIUM_FIX,-5531.31,-30.69,020115,191919
$TT8_MAMPS,0.026215
$HUMID,56.49
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.10
$XPDR_PINGS,0
$24V_AH,22.0,31.399
$10V_AH,10.0,20.800
$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,13.050,62.100,314.350,0.000,0.000,26.867,42.255,306.538,0.000,0.000,18.842,2573.005,10366.297,419.383,2888.742,220.487,33.367,1372.382,0.000,2346.258,0.000,0.540,0.000
$DEVICE_MAMPS,247.095,65.790,1779.390,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,750.579,2180.323,1056.472,1101.335,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353824
$DATA_FILE_SIZE,73577,1055
$CAP_FILE_SIZE,128184,0
$CFSIZE,259252224,217042944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030115,050635,-5555.555,-34.507,28,1.0,28,-19.9