version: 66.07
glider: 542
mission: 9
dive: 186
start: 1 10 115 23 57 54
data:
$ID,542
$MISSION,9
$DIVE,186
$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,-22184.736
$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,27
$R_STBD_OVSHOOT,24
$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
$GPS1,100115,234834,-5552.707,-53.256,84,1.0,84,-19.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-70.7
$GPS2,100115,235700,-5552.718,-53.285,14,0.9,14,-19.7
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET3
$TGT_LATLONG,-5600.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.231,0.008
$KALMAN_X,114306.8,-360.5,-286.2,-168760.2,3398.1
$KALMAN_Y,36114.9,181.1,62.1,-22564.6,-2965.9
$MHEAD_RNG_PITCHd_Wd,291.6,15174,-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,15,begin dive
$GC,16,-0.44,-146.1,0.0,0.0,0,60,0.00,0.00,-41.67,0.000,2,0.000,0.000,45,2932,2417,0,0,0,0,0,0
$GC,62,-0.44,-146.1,3.1,-3.3,5,89,6.50,1.67,-16.02,0.000,4,0.240,0.083,1632,3902,2940,0,0,0,0,0,0
$GC,362,-0.44,-146.1,51.5,-16.9,53,369,0.00,1.58,0.00,0.000,6,0.000,0.033,1632,2908,2942,0,0,0,0,0,0
$GC,474,-0.44,-146.1,70.3,-17.9,72,483,0.00,1.67,0.00,0.000,4,0.000,0.064,1624,3894,2942,0,0,0,0,0,0
$GC,513,-0.44,-146.1,77.3,-17.2,78,522,0.00,1.52,0.00,0.000,6,0.000,0.034,1624,2923,2942,0,0,0,0,0,0
$GC,627,-0.44,-146.1,95.8,-16.5,97,634,0.00,2.15,0.00,0.000,4,0.000,0.044,1624,1545,2942,0,0,0,0,0,0
$GC,649,-0.44,-146.1,99.0,-15.3,100,657,0.12,2.28,0.00,0.000,6,0.188,0.060,1646,2928,2942,0,0,0,0,0,0
$GC,870,-0.44,-146.1,128.2,-12.8,121,871,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2928,2942,0,0,0,0,0,0
$GC,1188,-0.44,-146.1,171.0,-13.1,151,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2928,2942,0,0,0,0,0,0
$GC,1509,-0.44,-146.1,211.2,-11.8,181,1515,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2928,2942,0,0,0,0,0,0
$GC,1834,-0.44,-146.1,251.1,-12.2,212,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2928,2942,0,0,0,0,0,0
$GC,2145,-0.44,-146.1,288.5,-12.1,227,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2928,2942,0,0,0,0,0,0
$GC,2454,-0.44,-146.1,325.8,-11.8,242,2456,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2928,2941,0,0,0,0,0,0
$GC,2765,-0.44,-146.1,362.1,-11.9,257,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2928,2942,0,0,0,0,0,0
$GC,3071,-0.44,-146.1,398.3,-11.6,272,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2928,2942,0,0,0,0,0,0
$GC,3381,-0.44,-146.1,433.8,-11.4,287,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2928,2942,0,0,0,0,0,0
$GC,3689,-0.44,-146.1,469.9,-12.0,302,3693,0.00,1.60,0.00,0.000,4,0.000,0.070,1638,3896,2942,0,0,0,0,0,0
$GC,3738,-0.44,-146.1,476.3,-12.5,304,3743,0.00,1.48,0.00,0.000,6,0.000,0.034,1638,2943,2942,0,0,0,0,0,0
$GC,4067,-0.44,-146.1,517.0,-12.5,320,4068,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2942,2942,0,0,0,0,0,0
$GC,4375,-0.44,-146.1,553.6,-11.2,335,4376,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2942,2943,0,0,0,0,0,0
$GC,4685,-0.44,-146.1,588.1,-10.9,350,4686,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2942,2943,0,0,0,0,0,0
$GC,4994,-0.44,-146.1,623.2,-11.4,365,4995,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2942,2943,0,0,0,0,0,0
$GC,5303,-0.44,-146.1,656.5,-10.4,380,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2942,2943,0,0,0,0,0,0
$GC,5613,-0.44,-146.1,689.4,-10.5,395,5614,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2942,2943,0,0,0,0,0,0
$GC,5922,-0.44,-146.1,722.5,-10.6,410,5923,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2942,2943,0,0,0,0,0,0
$GC,6231,-0.44,-146.1,755.8,-10.9,425,6232,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2942,2943,0,0,0,0,0,0
$GC,6541,-0.44,-146.1,790.4,-10.8,440,6542,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2942,2943,0,0,0,0,0,0
$GC,6850,-0.44,-146.1,824.1,-10.7,455,6851,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2942,2943,0,0,0,0,0,0
$GC,7159,-0.44,-146.1,855.6,-10.0,470,7160,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2942,2943,0,0,0,0,0,0
$GC,7469,-0.44,-146.1,884.6,-9.1,485,7470,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2942,2943,0,0,0,0,0,0
$GC,7778,-0.44,-146.1,912.0,-8.5,500,7779,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2942,2943,0,0,0,0,0,0
$GC,8088,-0.44,-146.1,938.8,-8.6,515,8089,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2942,2943,0,0,0,0,0,0
$GC,8398,-0.44,-146.1,965.7,-8.8,530,8402,0.00,2.17,0.00,0.000,4,0.000,0.044,1638,1531,2943,0,0,0,0,0,0
$GC,8424,-0.44,-146.1,968.3,-9.0,531,8429,0.00,2.33,0.00,0.000,6,0.000,0.063,1629,2926,2943,0,0,0,0,0,0
$GC,8753,-0.44,-146.1,997.5,-9.0,547,8754,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2926,2943,0,0,0,0,0,0
$STATE,8791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8791,begin apogee
$GC,8796,-0.13,0.0,1001.2,9.1,549,8935,0.38,0.00,135.12,1.767,6,0.157,0.000,1740,2700,2342,0,0,0,0,0,0
$STATE,8936,end apogee,CONTROL_FINISHED_OK
$STATE,8936,begin climb
$GC,8937,0.44,146.1,1003.5,0.0,556,9090,0.62,0.00,147.52,1.735,6,0.125,0.000,1922,2699,1746,0,0,0,0,0,0
$GC,9390,0.44,146.1,947.2,13.8,578,9391,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,2700,1737,0,0,0,0,0,0
$GC,9700,0.44,146.1,904.4,13.8,593,9704,0.00,2.05,0.00,0.000,4,0.000,0.068,1922,3912,1736,0,0,0,0,0,0
$GC,9746,0.44,146.1,897.3,16.0,595,9750,0.00,1.90,0.00,0.000,6,0.000,0.037,1931,2738,1734,0,0,0,0,0,0
$GC,10078,0.44,146.1,849.7,14.0,611,10079,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2737,1734,0,0,0,0,0,0
$GC,10387,0.44,146.1,805.6,14.2,626,10388,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2737,1734,0,0,0,0,0,0
$GC,10697,0.44,146.1,762.4,13.9,641,10698,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2737,1732,0,0,0,0,0,0
$GC,11006,0.44,146.1,720.2,13.5,656,11007,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2737,1732,0,0,0,0,0,0
$GC,11316,0.44,146.1,680.9,12.1,671,11317,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2737,1732,0,0,0,0,0,0
$GC,11624,0.44,146.1,643.5,12.1,686,11628,0.00,1.98,0.00,0.000,4,0.000,0.064,1931,3901,1732,0,0,0,0,0,0
$GC,11673,0.44,146.1,636.6,13.7,688,11677,0.00,1.92,0.00,0.000,6,0.000,0.037,1940,2705,1730,0,0,0,0,0,0
$GC,12001,0.44,146.1,596.2,12.2,704,12002,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2704,1731,0,0,0,0,0,0
$GC,12310,0.44,146.1,558.8,12.0,719,12311,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2704,1731,0,0,0,0,0,0
$GC,12619,0.44,146.1,522.1,11.9,734,12623,0.00,2.00,0.00,0.000,4,0.000,0.064,1940,3905,1731,0,0,0,0,0,0
$GC,12665,0.44,146.1,515.8,13.4,736,12669,0.00,1.90,0.00,0.000,6,0.000,0.037,1950,2701,1730,0,0,0,0,0,0
$GC,12997,0.44,146.1,470.9,14.0,752,12998,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2701,1730,0,0,0,0,0,0
$GC,13306,0.44,146.1,426.8,14.2,767,13307,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2701,1730,0,0,0,0,0,0
$GC,13616,0.44,146.1,382.8,14.3,782,13620,0.00,2.00,0.00,0.000,4,0.000,0.063,1950,3905,1730,0,0,0,0,0,0
$GC,13671,0.44,146.1,373.4,15.9,784,13676,0.00,1.90,0.00,0.000,6,0.000,0.037,1959,2716,1730,0,0,0,0,0,0
$GC,13994,0.44,146.1,325.5,14.4,800,13995,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2715,1730,0,0,0,0,0,0
$GC,14305,0.44,146.1,281.8,13.4,815,14306,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2715,1730,0,0,0,0,0,0
$GC,14616,0.44,146.1,241.8,13.2,833,14617,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2715,1730,0,0,0,0,0,0
$GC,14936,0.44,146.1,200.9,13.1,863,14939,0.00,1.98,0.00,0.000,4,0.000,0.063,1959,3907,1730,0,0,0,0,0,0
$GC,14983,0.44,146.1,193.8,14.6,867,14988,0.12,1.90,0.00,0.000,6,0.216,0.037,1940,2700,1730,0,0,0,0,0,0
$GC,15313,0.44,146.1,157.2,11.0,898,15317,0.00,2.00,0.00,0.000,4,0.000,0.062,1940,3906,1730,0,0,0,0,0,0
$GC,15351,0.44,146.1,152.8,13.5,901,15354,0.00,1.88,0.00,0.000,6,0.000,0.035,1948,2706,1730,0,0,0,0,0,0
$GC,15681,0.44,146.1,113.3,11.9,932,15684,0.00,1.98,0.00,0.000,4,0.000,0.062,1949,3904,1730,0,0,0,0,0,0
$GC,15798,0.44,146.1,97.8,13.3,943,15804,0.00,1.88,0.00,0.000,6,0.000,0.036,1958,2706,1730,0,0,0,0,0,0
$GC,16034,0.44,146.1,71.2,10.1,984,16042,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,2706,1730,0,0,0,0,0,0
$GC,16150,0.44,146.4,60.0,9.5,1003,16157,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,2706,1730,0,0,0,0,0,0
$GC,16264,0.44,146.4,48.7,9.7,1022,16272,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,2707,1730,0,0,0,0,0,0
$GC,16378,0.44,146.4,37.4,10.4,1041,16385,0.00,2.20,0.00,0.000,4,0.000,0.046,1968,1296,1730,0,0,0,0,0,0
$GC,16439,0.45,162.8,31.5,8.8,1051,16456,0.12,2.30,8.77,0.826,6,0.193,0.057,1938,2734,1677,0,0,0,0,0,0
$GC,16570,0.46,167.3,19.9,9.3,1071,16579,0.00,1.88,2.28,0.376,4,0.000,0.062,1938,3895,1661,0,0,0,0,0,0
$GC,16624,0.46,167.3,14.5,10.1,1079,16634,0.00,1.90,0.00,0.000,6,0.000,0.037,1946,2705,1660,0,0,0,0,0,0
$GC,16710,0.47,186.0,6.7,8.7,1092,16727,0.00,0.00,10.98,0.744,6,0.000,0.000,1946,2704,1582,0,0,0,0,0,0
$STATE,16746,end climb,SURFACE_DEPTH_REACHED
$STATE,16746,begin surface coast
$FINISH,1.0,1.016815
$STATE,16787,end surface coast,CONTROL_FINISHED_OK
$STATE,16787,begin surface
$SM_CCo,16800,6.80,0.167,0,0,1524,200.16
$SM_GC,2.83,0.00,0.00,6.80,0.000,0.000,0.167,60,2935,1524,-5.40,0.14,200.16
$IRIDIUM_FIX,-5531.31,-46.04,100115,191914
$TT8_MAMPS,0.026215
$HUMID,57.36
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,7.30
$XPDR_PINGS,0
$24V_AH,22.0,38.276
$10V_AH,10.0,25.974
$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,12.900,54.675,304.675,6.800,0.000,25.300,44.299,307.466,0.000,0.000,16.743,2672.160,11075.332,397.767,2942.281,220.677,33.370,1332.910,0.000,2386.849,0.000,0.541,0.000
$DEVICE_MAMPS,240.210,83.385,1767.150,166.770,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,784.888,2286.837,1099.198,1137.764,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353508
$DATA_FILE_SIZE,77049,1103
$CAP_FILE_SIZE,127374,0
$CFSIZE,259252224,214024192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,110115,043905,-5553.326,-55.687,27,0.9,27,-19.7