version: 66.07
glider: 542
mission: 9
dive: 214
start: 1 16 115 13 54 49
data:
$ID,542
$MISSION,9
$DIVE,214
$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,-22272.268
$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,23
$R_STBD_OVSHOOT,26
$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
$GPS1,160115,134534,-5556.498,-25.693,35,0.9,36,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-63.0
$GPS2,160115,135355,-5556.505,-25.614,14,0.7,15,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET2
$TGT_LATLONG,-5545.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.055,0.224
$KALMAN_X,121904.9,627.6,561.0,-149580.6,-2112.3
$KALMAN_Y,10465.2,185.1,-80.4,-3786.9,-189.0
$MHEAD_RNG_PITCHd_Wd,33.7,21792,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.44,-146.1,0.0,0.0,0,77,0.00,0.00,-57.70,0.000,2,0.000,0.000,50,2934,2197,0,0,0,0,0,0
$GC,79,-0.44,-146.1,3.2,-3.3,7,122,6.55,1.62,-27.92,0.000,4,0.242,0.079,1634,3896,2937,0,0,0,0,0,0
$GC,155,-0.44,-146.1,9.8,-15.4,17,163,0.00,1.58,0.00,0.000,6,0.000,0.030,1634,2878,2939,0,0,0,0,0,0
$GC,239,-0.44,-146.1,23.6,-17.3,30,247,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2878,2939,0,0,0,0,0,0
$GC,321,-0.44,-146.1,38.4,-17.4,43,327,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2878,2939,0,0,0,0,0,0
$GC,433,-0.44,-146.1,57.8,-16.8,62,442,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2878,2939,0,0,0,0,0,0
$GC,550,-0.44,-146.1,79.0,-18.4,81,556,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2878,2939,0,0,0,0,0,0
$GC,660,-0.44,-146.1,98.3,-16.5,100,666,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2878,2940,0,0,0,0,0,0
$GC,884,-0.44,-146.1,131.9,-13.5,122,888,0.00,1.70,0.00,0.000,4,0.000,0.060,1626,3905,2940,0,0,0,0,0,0
$GC,923,-0.44,-146.1,136.6,-14.1,125,927,0.00,1.58,0.00,0.000,6,0.000,0.031,1626,2893,2940,0,0,0,0,0,0
$GC,1254,-0.44,-146.1,182.0,-13.9,156,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2889,2940,0,0,0,0,0,0
$GC,1574,-0.44,-146.1,226.8,-13.3,186,1578,0.00,1.67,0.00,0.000,4,0.000,0.060,1618,3904,2939,0,0,0,0,0,0
$GC,1634,-0.44,-146.1,235.4,-14.0,191,1638,0.00,1.50,0.00,0.000,6,0.000,0.031,1618,2922,2939,0,0,0,0,0,0
$GC,1969,-0.44,-146.1,279.7,-13.3,212,1970,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2916,2940,0,0,0,0,0,0
$GC,2280,-0.44,-146.1,322.9,-13.9,227,2283,0.00,1.62,0.00,0.000,4,0.000,0.060,1610,3890,2940,0,0,0,0,0,0
$GC,2336,-0.44,-146.1,331.4,-15.0,229,2340,0.10,1.48,0.00,0.000,6,0.161,0.031,1642,2937,2940,0,0,0,0,0,0
$GC,2659,-0.44,-146.1,369.6,-11.9,245,2660,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2936,2940,0,0,0,0,0,0
$GC,2965,-0.44,-146.1,405.2,-11.2,260,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2936,2940,0,0,0,0,0,0
$GC,3275,-0.44,-146.1,438.7,-10.8,275,3276,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2936,2940,0,0,0,0,0,0
$GC,3585,-0.44,-146.1,470.7,-10.2,290,3586,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2936,2940,0,0,0,0,0,0
$GC,3893,-0.44,-146.1,500.9,-9.6,305,3894,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2936,2940,0,0,0,0,0,0
$GC,4203,-0.44,-146.1,530.1,-9.6,320,4204,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2936,2939,0,0,0,0,0,0
$GC,4513,-0.44,-146.1,559.5,-9.6,335,4517,0.00,1.60,0.00,0.000,4,0.000,0.062,1635,3893,2939,0,0,0,0,0,0
$GC,4550,-0.44,-146.1,563.8,-11.4,336,4558,0.00,1.48,0.00,0.000,6,0.000,0.031,1635,2916,2940,0,0,0,0,0,0
$GC,4867,-0.44,-146.1,597.1,-11.0,352,4868,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2916,2940,0,0,0,0,0,0
$GC,5177,-0.44,-146.1,630.6,-10.6,367,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2916,2940,0,0,0,0,0,0
$GC,5485,-0.44,-146.1,664.0,-10.9,382,5486,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2916,2940,0,0,0,0,0,0
$GC,5795,-0.44,-146.1,696.7,-10.6,397,5798,0.00,1.62,0.00,0.000,4,0.000,0.061,1627,3890,2940,0,0,0,0,0,0
$GC,5833,-0.44,-146.1,701.3,-11.4,398,5840,0.00,1.45,0.00,0.000,6,0.000,0.031,1627,2925,2940,0,0,0,0,0,0
$GC,6149,-0.44,-146.1,735.5,-10.9,414,6150,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2924,2940,0,0,0,0,0,0
$GC,6458,-0.44,-146.1,769.7,-11.1,429,6462,0.00,1.62,0.00,0.000,4,0.000,0.061,1620,3898,2940,0,0,0,0,0,0
$GC,6490,-0.44,-146.1,773.7,-12.2,430,6494,0.00,1.45,0.00,0.000,6,0.000,0.031,1620,2938,2940,0,0,0,0,0,0
$GC,6812,-0.44,-146.1,812.4,-12.2,446,6813,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2932,2940,0,0,0,0,0,0
$GC,7121,-0.44,-146.1,849.8,-12.1,461,7122,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2932,2939,0,0,0,0,0,0
$GC,7431,-0.44,-146.1,887.4,-12.1,476,7432,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2932,2939,0,0,0,0,0,0
$GC,7740,-0.44,-146.1,925.4,-12.5,491,7741,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2932,2940,0,0,0,0,0,0
$GC,8050,-0.44,-146.1,963.1,-12.2,506,8053,0.00,1.60,0.00,0.000,4,0.000,0.061,1612,3890,2940,0,0,0,0,0,0
$GC,8095,-0.44,-146.1,969.1,-13.7,508,8099,0.08,1.45,0.00,0.000,6,0.160,0.031,1638,2937,2940,0,0,0,0,0,0
$STATE,8404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8404,begin apogee
$GC,8409,-0.13,0.0,1001.9,10.4,523,8548,0.35,0.00,135.23,1.784,6,0.155,0.000,1743,2716,2342,0,0,0,0,0,0
$STATE,8549,end apogee,CONTROL_FINISHED_OK
$STATE,8549,begin climb
$GC,8551,0.44,146.1,1006.7,0.0,530,8702,0.62,0.00,147.32,1.739,6,0.122,0.000,1926,2715,1746,0,0,0,0,0,0
$GC,9004,0.44,146.1,956.3,13.0,552,9005,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,2715,1737,0,0,0,0,0,0
$GC,9313,0.44,146.1,915.1,13.4,567,9314,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,2715,1735,0,0,0,0,0,0
$GC,9622,0.44,146.1,874.0,13.4,582,9623,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,2716,1735,0,0,0,0,0,0
$GC,9932,0.44,146.1,833.2,13.0,597,9933,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,2715,1734,0,0,0,0,0,0
$GC,10241,0.44,146.1,794.1,12.6,612,10244,0.00,1.98,0.00,0.000,4,0.000,0.059,1926,3889,1733,0,0,0,0,0,0
$GC,10278,0.44,146.1,788.7,14.0,613,10286,0.00,1.85,0.00,0.000,6,0.000,0.034,1934,2734,1732,0,0,0,0,0,0
$GC,10595,0.44,146.1,748.6,12.7,629,10596,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2734,1732,0,0,0,0,0,0
$GC,10904,0.44,146.1,711.1,12.0,644,10905,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2734,1731,0,0,0,0,0,0
$GC,11213,0.44,146.1,674.9,11.6,659,11214,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2733,1731,0,0,0,0,0,0
$GC,11523,0.44,146.1,639.0,11.6,674,11524,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2734,1731,0,0,0,0,0,0
$GC,11832,0.44,146.1,603.5,11.5,689,11833,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2734,1731,0,0,0,0,0,0
$GC,12141,0.44,146.1,567.9,11.3,704,12142,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2733,1731,0,0,0,0,0,0
$GC,12451,0.44,146.1,532.6,11.5,719,12452,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2734,1731,0,0,0,0,0,0
$GC,12760,0.44,146.1,497.2,11.6,734,12764,0.00,2.25,0.00,0.000,4,0.000,0.044,1945,1289,1731,0,0,0,0,0,0
$GC,12808,0.44,146.1,491.9,9.7,736,12813,0.00,2.33,0.00,0.000,6,0.000,0.054,1945,2725,1730,0,0,0,0,0,0
$GC,13131,0.44,146.1,453.8,11.8,752,13132,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,2725,1730,0,0,0,0,0,0
$GC,13440,0.44,146.1,416.3,12.2,767,13443,0.00,1.88,0.00,0.000,4,0.000,0.060,1945,3897,1730,0,0,0,0,0,0
$GC,13485,0.44,146.1,409.8,15.1,769,13489,0.00,1.88,0.00,0.000,6,0.000,0.034,1954,2697,1729,0,0,0,0,0,0
$GC,13820,0.44,146.1,364.3,13.9,785,13821,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2697,1729,0,0,0,0,0,0
$GC,14128,0.44,146.1,319.9,14.6,800,14129,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2697,1729,0,0,0,0,0,0
$GC,14440,0.44,146.1,274.1,14.7,815,14441,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2697,1729,0,0,0,0,0,0
$GC,14749,0.44,146.1,230.3,13.7,836,14750,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2697,1729,0,0,0,0,0,0
$GC,15069,0.44,146.1,186.5,13.8,866,15072,0.00,1.95,0.00,0.000,4,0.000,0.057,1954,3896,1729,0,0,0,0,0,0
$GC,15131,0.44,146.1,176.0,16.5,871,15140,0.08,1.88,0.00,0.000,6,0.196,0.034,1942,2712,1729,0,0,0,0,0,0
$GC,15458,0.44,146.1,136.3,11.0,902,15462,0.00,2.20,0.00,0.000,4,0.000,0.043,1952,1286,1729,0,0,0,0,0,0
$GC,15494,0.44,147.0,132.7,9.5,905,15499,0.00,2.28,0.00,0.000,6,0.000,0.052,1952,2724,1729,0,0,0,0,0,0
$GC,15825,0.45,158.0,100.2,9.0,936,15837,0.00,0.00,6.53,0.976,6,0.000,0.000,1952,2724,1698,0,0,0,0,0,0
$GC,16184,0.48,191.4,67.2,8.1,997,16213,0.00,0.00,22.67,0.962,6,0.000,0.000,1952,2724,1559,0,0,0,0,0,0
$GC,16321,0.48,191.4,55.1,9.5,1019,16328,0.00,1.92,0.00,0.000,4,0.000,0.060,1952,3884,1554,0,0,0,0,0,0
$GC,16372,0.48,191.4,49.7,11.6,1027,16379,0.00,1.90,0.00,0.000,6,0.000,0.035,1961,2707,1554,0,0,0,0,0,0
$GC,16484,0.48,191.4,38.3,9.7,1046,16492,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2707,1553,0,0,0,0,0,0
$GC,16601,0.48,191.4,26.5,9.5,1065,16610,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2706,1553,0,0,0,0,0,0
$GC,16685,0.48,191.4,18.0,11.0,1078,16693,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2707,1553,0,0,0,0,0,0
$GC,16769,0.48,191.4,9.1,11.0,1091,16778,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2706,1552,0,0,0,0,0,0
$STATE,16821,end climb,SURFACE_DEPTH_REACHED
$STATE,16821,begin surface coast
$FINISH,1.1,1.026923
$STATE,16854,end surface coast,CONTROL_FINISHED_OK
$STATE,16855,begin surface
$SM_CCo,16867,3.55,0.174,0,0,1525,200.16
$SM_GC,1.62,0.00,0.00,3.55,0.000,0.000,0.174,60,2924,1525,-5.41,-0.17,200.16
$IRIDIUM_FIX,-5535.12,-30.76,160115,080811
$TT8_MAMPS,0.025466
$HUMID,57.08
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,6.80
$XPDR_PINGS,0
$24V_AH,22.0,43.060
$10V_AH,9.9,29.588
$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,13.025,49.975,311.750,3.550,0.000,26.709,21.734,319.501,0.000,0.000,18.154,2653.426,11121.467,435.299,2925.522,231.557,33.372,1398.385,0.000,2378.338,0.000,0.539,0.000
$DEVICE_MAMPS,241.740,78.795,1783.980,174.420,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,784.787,2267.216,1065.999,1124.174,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353500
$DATA_FILE_SIZE,76982,1104
$CAP_FILE_SIZE,126924,0
$CFSIZE,259252224,211972096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,160115,183704,-5554.099,-23.534,27,1.0,28,-19.9