version: 66.07
glider: 542
mission: 9
dive: 215
start: 1 16 115 18 52 19
data:
$ID,542
$MISSION,9
$DIVE,215
$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,-22275.346
$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,29
$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
$GPS1,160115,183704,-5554.099,-23.534,27,1.0,28,-19.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-67.8
$GPS2,160115,185125,-5554.075,-23.587,15,1.2,15,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET2
$TGT_LATLONG,-5545.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.061,0.223
$KALMAN_X,123318.9,825.3,49.3,-148576.2,-556.3
$KALMAN_Y,10575.3,-325.7,110.5,923.9,-41.4
$MHEAD_RNG_PITCHd_Wd,4.7,18087,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.44,-146.1,0.0,0.0,0,51,0.00,0.00,-33.80,0.000,2,0.000,0.000,50,2933,2261,0,0,0,0,0,0
$GC,53,-0.44,-146.1,3.0,-3.6,4,88,6.50,1.67,-22.65,0.000,4,0.238,0.083,1633,3905,2939,0,0,0,0,0,0
$GC,313,-0.44,-146.1,40.8,-15.0,45,320,0.00,1.58,0.00,0.000,6,0.000,0.031,1633,2893,2941,0,0,0,0,0,0
$GC,426,-0.44,-146.1,59.1,-16.0,64,434,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2893,2941,0,0,0,0,0,0
$GC,543,-0.44,-146.1,77.1,-16.3,83,550,0.00,1.70,0.00,0.000,4,0.000,0.060,1625,3903,2941,0,0,0,0,0,0
$GC,584,-0.44,-146.1,84.1,-16.1,90,593,0.00,1.50,0.00,0.000,6,0.000,0.032,1625,2932,2942,0,0,0,0,0,0
$GC,816,-0.44,-146.1,119.3,-14.9,119,820,0.00,2.15,0.00,0.000,4,0.000,0.041,1625,1532,2942,0,0,0,0,0,0
$GC,864,-0.44,-146.1,126.2,-12.6,123,869,0.10,2.25,0.00,0.000,6,0.192,0.053,1638,2929,2942,0,0,0,0,0,0
$GC,1191,-0.44,-146.1,168.4,-13.2,153,1192,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2929,2942,0,0,0,0,0,0
$GC,1510,-0.44,-146.1,211.4,-13.3,183,1517,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2929,2942,0,0,0,0,0,0
$GC,1849,-0.44,-146.1,255.0,-12.5,213,1852,0.00,1.58,0.00,0.000,4,0.000,0.062,1632,3896,2941,0,0,0,0,0,0
$GC,1918,-0.44,-146.1,264.4,-13.0,216,1921,0.00,1.48,0.00,0.000,6,0.000,0.031,1632,2932,2942,0,0,0,0,0,0
$GC,2250,-0.44,-146.1,307.3,-12.7,232,2251,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2926,2942,0,0,0,0,0,0
$GC,2562,-0.44,-146.1,345.1,-11.9,247,2563,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2926,2942,0,0,0,0,0,0
$GC,2869,-0.44,-146.1,380.3,-11.2,262,2870,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2926,2942,0,0,0,0,0,0
$GC,3178,-0.44,-146.1,415.5,-11.6,277,3182,0.00,1.62,0.00,0.000,4,0.000,0.061,1625,3927,2942,0,0,0,0,0,0
$GC,3228,-0.44,-146.1,421.8,-12.4,279,3232,0.00,1.52,0.00,0.000,6,0.000,0.031,1624,2926,2943,0,0,0,0,0,0
$GC,3554,-0.44,-146.1,463.1,-12.7,295,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2920,2943,0,0,0,0,0,0
$GC,3864,-0.44,-146.1,502.0,-12.4,310,3868,0.00,1.62,0.00,0.000,4,0.000,0.061,1617,3896,2943,0,0,0,0,0,0
$GC,3924,-0.44,-146.1,510.2,-12.9,312,3931,0.00,1.48,0.00,0.000,6,0.000,0.031,1617,2919,2943,0,0,0,0,0,0
$GC,4240,-0.44,-146.1,550.1,-12.7,328,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2918,2943,0,0,0,0,0,0
$GC,4549,-0.44,-146.1,588.9,-12.6,343,4553,0.00,1.62,0.00,0.000,4,0.000,0.060,1609,3891,2943,0,0,0,0,0,0
$GC,4610,-0.44,-146.1,597.4,-13.4,345,4618,0.10,1.45,0.00,0.000,6,0.157,0.032,1641,2942,2943,0,0,0,0,0,0
$GC,4926,-0.44,-146.1,630.5,-10.2,361,4927,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2942,2943,0,0,0,0,0,0
$GC,5235,-0.44,-146.1,662.0,-10.3,376,5236,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2942,2943,0,0,0,0,0,0
$GC,5545,-0.44,-146.1,693.0,-9.8,391,5546,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2942,2943,0,0,0,0,0,0
$GC,5854,-0.44,-146.1,722.9,-9.7,406,5855,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2942,2943,0,0,0,0,0,0
$GC,6165,-0.44,-146.1,752.5,-9.5,421,6166,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2942,2943,0,0,0,0,0,0
$GC,6473,-0.44,-146.1,781.0,-9.0,436,6474,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2941,2943,0,0,0,0,0,0
$GC,6782,-0.44,-146.1,808.5,-8.8,451,6783,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2942,2943,0,0,0,0,0,0
$GC,7092,-0.44,-146.1,835.6,-8.7,466,7093,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2942,2943,0,0,0,0,0,0
$GC,7401,-0.44,-146.1,862.7,-8.8,481,7402,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2942,2943,0,0,0,0,0,0
$GC,7710,-0.44,-146.1,890.5,-9.0,496,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2942,2943,0,0,0,0,0,0
$GC,8020,-0.44,-146.1,917.1,-8.6,511,8021,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2942,2943,0,0,0,0,0,0
$GC,8329,-0.44,-146.1,944.1,-8.7,526,8330,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2942,2943,0,0,0,0,0,0
$GC,8638,-0.44,-146.1,972.4,-9.2,541,8639,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2941,2943,0,0,0,0,0,0
$STATE,8946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8946,begin apogee
$GC,8951,-0.13,0.0,1000.5,9.3,556,9090,0.32,0.00,136.07,1.788,6,0.153,0.000,1739,2704,2342,0,0,0,0,0,0
$STATE,9091,end apogee,CONTROL_FINISHED_OK
$STATE,9091,begin climb
$GC,9093,0.44,146.1,1004.9,0.0,563,9245,0.62,0.00,147.65,1.750,6,0.125,0.000,1921,2704,1745,0,0,0,0,0,0
$GC,9566,0.44,146.1,953.7,12.4,586,9567,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,2704,1737,0,0,0,0,0,0
$GC,9876,0.44,146.1,915.9,12.1,601,9878,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,2704,1736,0,0,0,0,0,0
$GC,10185,0.44,146.1,878.8,12.0,616,10186,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,2704,1735,0,0,0,0,0,0
$GC,10495,0.44,146.1,841.5,12.0,631,10499,0.00,1.98,0.00,0.000,4,0.000,0.060,1921,3900,1734,0,0,0,0,0,0
$GC,10544,0.44,146.1,834.4,14.5,633,10548,0.00,1.88,0.00,0.000,6,0.000,0.037,1930,2737,1732,0,0,0,0,0,0
$GC,10871,0.44,146.1,790.4,13.7,649,10872,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2736,1732,0,0,0,0,0,0
$GC,11181,0.44,146.1,750.3,12.9,664,11182,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2736,1732,0,0,0,0,0,0
$GC,11491,0.44,146.1,711.3,12.7,679,11492,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2736,1731,0,0,0,0,0,0
$GC,11799,0.44,146.1,673.0,12.3,694,11800,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2736,1731,0,0,0,0,0,0
$GC,12109,0.44,146.1,634.1,12.8,709,12110,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2736,1731,0,0,0,0,0,0
$GC,12418,0.44,146.1,595.6,12.5,724,12419,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2736,1731,0,0,0,0,0,0
$GC,12727,0.44,146.1,557.7,12.3,739,12731,0.00,2.28,0.00,0.000,4,0.000,0.047,1941,1285,1731,0,0,0,0,0,0
$GC,12771,0.44,146.1,552.6,11.6,741,12775,0.00,2.33,0.00,0.000,6,0.000,0.054,1941,2731,1731,0,0,0,0,0,0
$GC,13098,0.44,146.1,510.3,12.9,757,13102,0.00,1.85,0.00,0.000,4,0.000,0.060,1941,3888,1730,0,0,0,0,0,0
$GC,13158,0.44,146.1,501.4,14.8,759,13166,0.00,1.88,0.00,0.000,6,0.000,0.034,1950,2709,1729,0,0,0,0,0,0
$GC,13475,0.44,146.1,458.8,13.0,775,13476,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2708,1730,0,0,0,0,0,0
$GC,13783,0.44,146.1,418.9,12.6,790,13784,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2708,1729,0,0,0,0,0,0
$GC,14095,0.44,146.1,380.4,12.4,805,14096,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2708,1730,0,0,0,0,0,0
$GC,14404,0.44,146.1,343.7,11.7,820,14406,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2708,1730,0,0,0,0,0,0
$GC,14715,0.44,146.1,307.7,11.6,835,14716,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2708,1730,0,0,0,0,0,0
$GC,15021,0.44,146.1,270.4,12.1,850,15024,0.00,1.92,0.00,0.000,4,0.000,0.058,1950,3889,1730,0,0,0,0,0,0
$GC,15067,0.44,146.1,263.9,14.0,852,15071,0.00,1.88,0.00,0.000,6,0.000,0.036,1959,2697,1729,0,0,0,0,0,0
$GC,15395,0.44,146.1,220.2,13.4,878,15397,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2696,1729,0,0,0,0,0,0
$GC,15715,0.44,146.1,176.1,13.4,908,15717,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2696,1730,0,0,0,0,0,0
$GC,16033,0.44,146.1,134.0,12.3,938,16035,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2696,1730,0,0,0,0,0,0
$GC,16357,0.44,146.1,97.0,10.7,970,16364,0.00,2.00,0.00,0.000,4,0.000,0.058,1959,3911,1729,0,0,0,0,0,0
$GC,16434,0.44,146.1,87.3,12.8,983,16442,0.12,1.90,0.00,0.000,6,0.207,0.034,1940,2698,1730,0,0,0,0,0,0
$GC,16675,0.47,181.8,65.6,8.0,1024,16699,0.00,0.00,20.52,0.967,6,0.000,0.000,1940,2697,1599,0,0,0,0,0,0
$GC,16806,0.48,197.6,54.6,8.8,1045,16821,0.00,0.00,9.85,0.872,6,0.000,0.000,1940,2697,1535,0,0,0,0,0,0
$GC,16928,0.50,213.2,43.8,8.8,1065,16943,0.00,0.00,10.05,0.839,6,0.000,0.000,1940,2696,1471,0,0,0,0,0,0
$GC,17051,0.50,220.5,32.9,9.2,1085,17058,0.00,0.00,4.07,0.653,6,0.000,0.000,1940,2696,1442,0,0,0,0,0,0
$GC,17171,0.52,244.6,21.8,8.5,1104,17188,0.00,0.00,12.62,0.794,6,0.000,0.000,1940,2696,1342,0,0,0,0,0,0
$GC,17264,0.52,244.6,12.5,9.7,1118,17272,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2696,1338,0,0,0,0,0,0
$GC,17348,0.57,306.5,5.2,6.8,1131,17375,0.10,0.00,24.08,0.755,2,0.129,0.000,1978,2696,1144,0,0,0,0,0,0
$STATE,17376,end climb,SURFACE_DEPTH_REACHED
$STATE,17376,begin surface coast
$FINISH,1.1,1.026993
$STATE,17420,end surface coast,CONTROL_FINISHED_OK
$STATE,17420,begin surface
$SM_CCo,17493,0.00,0.000,0,0,1135,296.07
$SM_GC,1.89,5.28,0.00,0.00,0.057,0.000,0.000,52,2923,1135,-5.34,-0.20,296.07
$IRIDIUM_FIX,-5531.31,-19.18,160115,181842
$TT8_MAMPS,0.026215
$HUMID,56.89
$INTERNAL_PRESSURE,8.94533
$TCM_TEMP,7.30
$XPDR_PINGS,0
$24V_AH,22.0,43.250
$10V_AH,9.9,29.725
$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,13.150,43.825,364.925,0.000,0.000,82.242,202.283,319.639,0.000,0.000,18.365,2737.824,11693.514,403.088,3275.391,236.750,33.369,1395.385,0.000,2484.916,0.000,0.539,0.000
$DEVICE_MAMPS,237.915,82.620,1787.805,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,811.478,2363.374,1122.303,1168.075,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353444
$DATA_FILE_SIZE,76863,1141
$CAP_FILE_SIZE,131019,0
$CFSIZE,259252224,211894272
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,160115,234505,-5551.691,-24.593,39,0.8,39,-19.9