version: 66.07
glider: 542
mission: 9
dive: 227
start: 1 19 115 4 47 36
data:
$ID,542
$MISSION,9
$DIVE,227
$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,-22312.334
$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,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
$GPS1,190115,043757,-5551.636,-50.826,38,1.5,42,-19.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-67.3
$GPS2,190115,044642,-5551.593,-50.801,16,1.5,16,-19.7
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET3
$TGT_LATLONG,-5600.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.205,0.106
$KALMAN_X,141275.3,-140.8,-498.6,-193168.7,3823.4
$KALMAN_Y,-3154.5,326.5,85.1,18613.3,-3015.4
$MHEAD_RNG_PITCHd_Wd,316.9,18253,-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,-146.1,0.0,0.0,0,52,0.00,0.00,-33.30,0.000,2,0.000,0.000,45,2945,2216,0,0,0,0,0,0
$GC,54,-0.44,-146.1,3.1,-2.8,4,90,6.40,1.65,-24.23,0.000,4,0.230,0.082,1633,3895,2939,0,0,0,0,0,0
$GC,220,-0.44,-146.1,26.4,-16.0,29,229,0.00,1.58,0.00,0.000,6,0.000,0.032,1633,2893,2941,0,0,0,0,0,0
$GC,302,-0.44,-146.1,40.8,-18.3,42,310,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2893,2941,0,0,0,0,0,0
$GC,418,-0.44,-146.1,61.7,-18.5,61,424,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2893,2941,0,0,0,0,0,0
$GC,531,-0.44,-146.1,81.9,-16.4,80,537,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2893,2942,0,0,0,0,0,0
$GC,760,-0.44,-146.1,115.3,-13.5,111,764,0.00,2.10,0.00,0.000,4,0.000,0.039,1633,1522,2942,0,0,0,0,0,0
$GC,809,-0.44,-146.1,121.2,-11.9,115,813,0.00,2.30,0.00,0.000,6,0.000,0.053,1622,2934,2942,0,0,0,0,0,0
$GC,1136,-0.44,-146.1,169.1,-15.1,145,1137,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2934,2942,0,0,0,0,0,0
$GC,1455,-0.44,-146.1,216.7,-14.2,175,1459,0.00,1.58,0.00,0.000,4,0.000,0.062,1615,3897,2942,0,0,0,0,0,0
$GC,1528,-0.44,-146.1,228.5,-14.9,181,1536,0.08,1.50,0.00,0.000,6,0.160,0.032,1638,2919,2942,0,0,0,0,0,0
$GC,1853,-0.44,-146.1,268.3,-12.3,205,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2919,2942,0,0,0,0,0,0
$GC,2159,-0.44,-146.1,306.4,-12.5,220,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2919,2942,0,0,0,0,0,0
$GC,2470,-0.44,-146.1,345.4,-12.7,235,2473,0.00,1.65,0.00,0.000,4,0.000,0.061,1632,3917,2942,0,0,0,0,0,0
$GC,2517,-0.44,-146.1,351.6,-13.3,237,2521,0.00,1.50,0.00,0.000,6,0.000,0.031,1631,2933,2942,0,0,0,0,0,0
$GC,2852,-0.44,-146.1,395.1,-12.7,253,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2927,2942,0,0,0,0,0,0
$GC,3159,-0.44,-146.1,433.9,-12.4,268,3162,0.00,1.62,0.00,0.000,4,0.000,0.060,1624,3900,2942,0,0,0,0,0,0
$GC,3197,-0.44,-146.1,439.1,-13.5,269,3204,0.00,1.48,0.00,0.000,6,0.000,0.031,1624,2926,2942,0,0,0,0,0,0
$GC,3514,-0.44,-146.1,480.5,-13.2,285,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2926,2943,0,0,0,0,0,0
$GC,3822,-0.44,-146.1,521.2,-13.1,300,3826,0.00,1.62,0.00,0.000,4,0.000,0.060,1616,3900,2943,0,0,0,0,0,0
$GC,3867,-0.44,-146.1,527.4,-14.0,302,3871,0.00,1.48,0.00,0.000,6,0.000,0.031,1616,2932,2943,0,0,0,0,0,0
$GC,4200,-0.44,-146.1,572.4,-13.3,318,4202,0.10,0.00,0.00,0.000,6,0.192,0.000,1641,2925,2943,0,0,0,0,0,0
$GC,4509,-0.44,-146.1,607.0,-11.1,333,4510,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2925,2943,0,0,0,0,0,0
$GC,4819,-0.44,-146.1,641.2,-11.0,348,4822,0.00,1.62,0.00,0.000,4,0.000,0.061,1633,3927,2943,0,0,0,0,0,0
$GC,4873,-0.44,-146.1,647.9,-11.7,350,4878,0.00,1.52,0.00,0.000,6,0.000,0.030,1634,2929,2943,0,0,0,0,0,0
$GC,5195,-0.44,-146.1,685.4,-11.6,366,5197,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2925,2943,0,0,0,0,0,0
$GC,5505,-0.44,-146.1,722.1,-11.9,381,5507,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2925,2943,0,0,0,0,0,0
$GC,5814,-0.44,-146.1,758.6,-11.7,396,5818,0.00,1.62,0.00,0.000,4,0.000,0.060,1626,3896,2943,0,0,0,0,0,0
$GC,5852,-0.44,-146.1,763.6,-12.9,397,5860,0.00,1.48,0.00,0.000,6,0.000,0.031,1626,2927,2943,0,0,0,0,0,0
$GC,6169,-0.44,-146.1,801.3,-11.9,413,6170,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2926,2943,0,0,0,0,0,0
$GC,6478,-0.44,-146.1,836.9,-11.5,428,6479,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2926,2943,0,0,0,0,0,0
$GC,6787,-0.44,-146.1,871.4,-11.2,443,6788,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2925,2943,0,0,0,0,0,0
$GC,7097,-0.44,-146.1,904.9,-10.6,458,7100,0.00,1.62,0.00,0.000,4,0.000,0.060,1618,3926,2943,0,0,0,0,0,0
$GC,7153,-0.44,-146.1,911.4,-11.7,460,7156,0.00,1.52,0.00,0.000,6,0.000,0.031,1618,2932,2943,0,0,0,0,0,0
$GC,7474,-0.44,-146.1,947.0,-11.0,476,7475,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2924,2943,0,0,0,0,0,0
$GC,7784,-0.44,-146.1,981.4,-11.1,491,7787,0.00,1.62,0.00,0.000,4,0.000,0.060,1610,3897,2943,0,0,0,0,0,0
$GC,7821,-0.44,-146.1,986.1,-12.1,492,7830,0.08,1.48,0.00,0.000,6,0.155,0.031,1635,2927,2943,0,0,0,0,0,0
$STATE,7971,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7971,begin apogee
$GC,7977,-0.13,0.0,1000.9,9.8,500,8116,0.35,0.00,136.07,1.795,6,0.161,0.000,1738,2708,2342,0,0,0,0,0,0
$STATE,8117,end apogee,CONTROL_FINISHED_OK
$STATE,8117,begin climb
$GC,8118,0.44,146.1,1005.5,0.0,507,8271,0.65,0.00,148.55,1.749,6,0.128,0.000,1925,2708,1746,0,0,0,0,0,0
$GC,8571,0.44,146.1,956.2,12.2,529,8573,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2708,1737,0,0,0,0,0,0
$GC,8880,0.44,146.1,918.4,12.1,544,8881,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,2708,1736,0,0,0,0,0,0
$GC,9189,0.44,146.1,881.7,11.6,559,9193,0.00,2.03,0.00,0.000,4,0.000,0.058,1924,3927,1735,0,0,0,0,0,0
$GC,9239,0.44,146.1,874.9,14.3,561,9242,0.00,1.92,0.00,0.000,6,0.000,0.035,1934,2745,1733,0,0,0,0,0,0
$GC,9565,0.44,146.1,833.8,12.6,577,9569,0.00,2.30,0.00,0.000,4,0.000,0.045,1945,1293,1733,0,0,0,0,0,0
$GC,9605,0.44,146.1,829.0,11.1,579,9609,0.00,2.30,0.00,0.000,6,0.000,0.052,1945,2722,1733,0,0,0,0,0,0
$GC,9932,0.44,146.1,785.8,13.6,595,9935,0.00,1.90,0.00,0.000,4,0.000,0.059,1945,3893,1732,0,0,0,0,0,0
$GC,9986,0.44,146.1,776.8,16.7,597,9991,0.00,1.90,0.00,0.000,6,0.000,0.034,1954,2704,1730,0,0,0,0,0,0
$GC,10309,0.44,146.1,731.3,13.9,613,10310,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2703,1731,0,0,0,0,0,0
$GC,10617,0.44,146.1,689.5,13.4,628,10621,0.00,1.98,0.00,0.000,4,0.000,0.057,1954,3880,1731,0,0,0,0,0,0
$GC,10655,0.44,146.1,683.7,15.6,629,10663,0.00,1.88,0.00,0.000,6,0.000,0.035,1963,2709,1730,0,0,0,0,0,0
$GC,10972,0.44,146.1,639.2,14.0,645,10973,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,2709,1730,0,0,0,0,0,0
$GC,11281,0.44,146.1,595.9,14.2,660,11284,0.00,1.95,0.00,0.000,4,0.000,0.058,1963,3887,1730,0,0,0,0,0,0
$GC,11326,0.44,146.1,588.5,16.7,662,11330,0.15,1.88,0.00,0.000,6,0.207,0.036,1937,2698,1730,0,0,0,0,0,0
$GC,11658,0.44,146.1,548.7,11.7,678,11660,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2698,1730,0,0,0,0,0,0
$GC,11967,0.44,146.1,512.3,12.1,693,11968,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2698,1730,0,0,0,0,0,0
$GC,12276,0.44,146.1,474.7,11.8,708,12277,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2698,1730,0,0,0,0,0,0
$GC,12586,0.44,146.1,438.1,11.9,723,12590,0.00,1.98,0.00,0.000,4,0.000,0.057,1937,3897,1730,0,0,0,0,0,0
$GC,12635,0.44,146.1,431.1,14.5,725,12640,0.00,1.90,0.00,0.000,6,0.000,0.034,1945,2704,1730,0,0,0,0,0,0
$GC,12967,0.44,146.1,389.7,12.7,741,12968,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,2703,1729,0,0,0,0,0,0
$GC,13272,0.44,146.1,350.0,13.0,756,13276,0.00,1.95,0.00,0.000,4,0.000,0.057,1945,3887,1730,0,0,0,0,0,0
$GC,13310,0.44,146.1,344.0,14.0,757,13318,0.00,1.88,0.00,0.000,6,0.000,0.034,1955,2711,1729,0,0,0,0,0,0
$GC,13629,0.44,146.1,301.0,13.4,773,13630,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2711,1730,0,0,0,0,0,0
$GC,13936,0.44,146.1,258.5,14.0,788,13937,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2711,1730,0,0,0,0,0,0
$GC,14252,0.44,146.1,216.3,12.7,814,14255,0.00,1.95,0.00,0.000,4,0.000,0.057,1955,3899,1729,0,0,0,0,0,0
$GC,14291,0.44,146.1,210.6,15.0,817,14299,0.08,1.90,0.00,0.000,6,0.194,0.034,1943,2704,1730,0,0,0,0,0,0
$GC,14616,0.44,146.1,173.8,11.1,848,14617,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2703,1729,0,0,0,0,0,0
$GC,14936,0.44,146.1,142.6,9.8,878,14937,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2703,1729,0,0,0,0,0,0
$GC,15255,0.45,157.5,113.8,9.0,908,15270,0.00,1.98,6.15,1.012,4,0.000,0.055,1942,3891,1700,0,0,0,0,0,0
$GC,15319,0.45,157.5,107.1,10.7,913,15323,0.00,1.88,0.00,0.000,6,0.000,0.034,1951,2695,1700,0,0,0,0,0,0
$GC,15666,0.45,157.5,74.6,9.6,967,15672,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2694,1699,0,0,0,0,0,0
$GC,15779,0.45,158.4,63.2,9.5,986,15788,0.00,1.98,0.00,0.000,4,0.000,0.057,1951,3882,1699,0,0,0,0,0,0
$GC,15876,0.45,158.4,52.9,10.9,1002,15885,0.00,1.88,0.00,0.000,6,0.000,0.034,1960,2704,1699,0,0,0,0,0,0
$GC,15993,0.46,168.8,42.1,9.1,1021,16009,0.00,2.22,7.25,0.840,4,0.000,0.042,1970,1292,1652,0,0,0,0,0,0
$GC,16046,0.47,181.1,37.2,9.0,1029,16062,0.00,2.28,8.30,0.820,6,0.000,0.050,1970,2718,1603,0,0,0,0,0,0
$GC,16173,0.47,181.1,23.0,12.1,1049,16183,0.00,1.92,0.00,0.000,4,0.000,0.060,1971,3887,1599,0,0,0,0,0,0
$GC,16228,0.47,181.1,14.9,15.3,1057,16238,0.10,1.90,0.00,0.000,6,0.190,0.037,1951,2710,1598,0,0,0,0,0,0
$GC,16314,0.47,181.1,5.1,10.3,1070,16322,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2708,1598,0,0,0,0,0,0
$STATE,16341,end climb,SURFACE_DEPTH_REACHED
$STATE,16341,begin surface coast
$FINISH,1.2,1.026995
$STATE,16385,end surface coast,CONTROL_FINISHED_OK
$STATE,16386,begin surface
$SM_CCo,16398,11.12,0.154,0,0,1524,200.16
$SM_GC,3.13,0.00,0.00,11.12,0.000,0.000,0.154,63,2935,1524,-5.40,0.14,200.16
$IRIDIUM_FIX,-5531.31,-49.87,180115,232304
$TT8_MAMPS,0.026215
$HUMID,57.36
$INTERNAL_PRESSURE,8.98439
$TCM_TEMP,7.30
$XPDR_PINGS,0
$24V_AH,21.9,45.379
$10V_AH,9.9,31.294
$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,13.200,80.800,306.325,11.125,0.000,28.816,40.707,317.485,0.000,0.000,18.730,2650.932,10602.427,439.439,2989.933,246.887,33.372,1420.298,0.000,2426.103,0.000,0.539,0.000
$DEVICE_MAMPS,230.265,81.855,1795.455,153.765,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,768.571,2230.889,1075.850,1111.485,0.000,0.000,0.000,0.000,0.000,0.000
$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,73508,1081
$CAP_FILE_SIZE,135260,0
$CFSIZE,259252224,210989056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190115,092222,-5551.551,-53.406,39,0.8,40,-19.7