version: 66.07
glider: 542
mission: 9
dive: 233
start: 1 20 115 9 38 17
data:
$ID,542
$MISSION,9
$DIVE,233
$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,-22331.17
$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,66
$R_STBD_OVSHOOT,35
$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
$GPS1,200115,092853,-5559.109,-55.639,39,1.0,40,-19.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-60.1
$GPS2,200115,093723,-5559.066,-55.490,13,1.5,13,-19.7
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET3
$TGT_LATLONG,-5600.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.180,0.145
$KALMAN_X,163140.0,-493.9,-441.0,-219593.8,7939.9
$KALMAN_Y,-9707.6,-11.4,-130.9,11886.3,-1508.5
$MHEAD_RNG_PITCHd_Wd,328.6,4980,-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,-146.1,0.0,0.0,0,53,0.00,0.00,-34.12,0.000,2,0.000,0.000,46,2881,2276,0,0,0,0,0,0
$GC,55,-0.44,-146.1,3.0,-2.1,4,90,6.40,2.12,-21.60,0.000,4,0.231,0.052,1641,1531,2938,0,0,0,0,0,0
$GC,153,-0.44,-146.1,14.9,-14.7,18,163,0.00,2.33,0.00,0.000,6,0.000,0.056,1629,2918,2939,0,0,0,0,0,0
$GC,239,-0.44,-146.1,30.0,-20.0,31,245,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2918,2939,0,0,0,0,0,0
$GC,352,-0.44,-146.1,53.0,-20.8,50,360,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2918,2939,0,0,0,0,0,0
$GC,468,-0.44,-146.1,73.7,-17.8,69,474,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2918,2939,0,0,0,0,0,0
$GC,581,-0.44,-146.1,93.2,-17.1,88,588,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2918,2939,0,0,0,0,0,0
$GC,805,-0.44,-146.1,129.4,-15.3,112,806,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2918,2939,0,0,0,0,0,0
$GC,1124,-0.44,-146.1,174.9,-14.0,142,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2918,2940,0,0,0,0,0,0
$GC,1442,-0.44,-146.1,218.8,-13.5,172,1443,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2918,2939,0,0,0,0,0,0
$GC,1770,-0.44,-146.1,261.7,-13.0,199,1772,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2918,2939,0,0,0,0,0,0
$GC,2077,-0.44,-146.1,302.2,-13.4,214,2081,0.00,1.60,0.00,0.000,4,0.000,0.063,1622,3898,2940,0,0,0,0,0,0
$GC,2139,-0.44,-146.1,311.0,-14.2,216,2148,0.00,1.48,0.00,0.000,6,0.000,0.031,1621,2916,2940,0,0,0,0,0,0
$GC,2456,-0.44,-146.1,354.5,-13.7,232,2457,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2916,2940,0,0,0,0,0,0
$GC,2766,-0.44,-146.1,395.8,-13.3,247,2767,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2916,2940,0,0,0,0,0,0
$GC,3073,-0.44,-146.1,437.2,-13.3,262,3077,0.00,1.62,0.00,0.000,4,0.000,0.060,1614,3915,2940,0,0,0,0,0,0
$GC,3123,-0.44,-146.1,444.5,-14.5,264,3128,0.08,1.48,0.00,0.000,6,0.168,0.031,1638,2953,2941,0,0,0,0,0,0
$GC,3449,-0.44,-146.1,484.3,-12.0,280,3450,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2949,2941,0,0,0,0,0,0
$GC,3759,-0.44,-146.1,522.0,-12.1,295,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2949,2941,0,0,0,0,0,0
$GC,4068,-0.44,-146.1,558.2,-11.5,310,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2949,2941,0,0,0,0,0,0
$GC,4377,-0.44,-146.1,594.3,-11.4,325,4378,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2949,2941,0,0,0,0,0,0
$GC,4687,-0.44,-146.1,630.4,-11.5,340,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2949,2941,0,0,0,0,0,0
$GC,4996,-0.44,-146.1,665.3,-11.3,355,4999,0.00,1.60,0.00,0.000,4,0.000,0.060,1631,3903,2941,0,0,0,0,0,0
$GC,5034,-0.44,-146.1,670.0,-12.7,356,5041,0.00,1.50,0.00,0.000,6,0.000,0.030,1631,2915,2942,0,0,0,0,0,0
$GC,5351,-0.44,-146.1,706.7,-11.7,372,5352,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2915,2941,0,0,0,0,0,0
$GC,5659,-0.44,-146.1,743.7,-12.0,387,5663,0.00,1.65,0.00,0.000,4,0.000,0.061,1623,3899,2941,0,0,0,0,0,0
$GC,5706,-0.44,-146.1,749.5,-12.8,389,5710,0.00,1.48,0.00,0.000,6,0.000,0.031,1623,2926,2941,0,0,0,0,0,0
$GC,6039,-0.44,-146.1,791.4,-12.4,405,6040,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2920,2941,0,0,0,0,0,0
$GC,6348,-0.44,-146.1,828.3,-11.8,420,6351,0.00,1.62,0.00,0.000,4,0.000,0.060,1615,3919,2941,0,0,0,0,0,0
$GC,6419,-0.44,-146.1,837.8,-12.5,423,6424,0.08,1.50,0.00,0.000,6,0.164,0.030,1638,2940,2941,0,0,0,0,0,0
$GC,6748,-0.44,-146.1,872.2,-10.4,439,6749,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2939,2941,0,0,0,0,0,0
$GC,7056,-0.44,-146.1,903.5,-10.1,454,7057,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2939,2941,0,0,0,0,0,0
$GC,7366,-0.44,-146.1,934.4,-10.0,469,7367,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2939,2941,0,0,0,0,0,0
$GC,7675,-0.44,-146.1,965.2,-10.0,484,7676,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2939,2941,0,0,0,0,0,0
$GC,7984,-0.44,-146.1,995.2,-9.5,499,7986,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2939,2942,0,0,0,0,0,0
$STATE,8044,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8044,begin apogee
$GC,8050,-0.13,0.0,1001.2,9.7,502,8189,0.35,0.00,136.05,1.772,6,0.161,0.000,1741,2716,2341,0,0,0,0,0,0
$STATE,8190,end apogee,CONTROL_FINISHED_OK
$STATE,8190,begin climb
$GC,8192,0.44,146.1,1005.4,0.0,509,8348,0.62,2.53,147.12,1.722,4,0.125,0.042,1933,1330,1746,0,0,0,0,0,0
$GC,8382,0.44,146.1,989.0,11.3,518,8387,0.00,2.47,0.00,0.000,6,0.000,0.050,1933,2731,1743,0,0,0,0,0,0
$GC,8709,0.44,146.1,945.9,13.1,534,8713,0.00,1.95,0.00,0.000,4,0.000,0.057,1933,3892,1737,0,0,0,0,0,0
$GC,8756,0.44,146.1,939.2,14.8,536,8759,0.00,1.88,0.00,0.000,6,0.000,0.034,1942,2726,1735,0,0,0,0,0,0
$GC,9088,0.44,146.1,892.1,14.1,552,9092,0.00,2.25,0.00,0.000,4,0.000,0.043,1953,1299,1735,0,0,0,0,0,0
$GC,9134,0.44,146.1,886.3,12.9,554,9138,0.00,2.30,0.00,0.000,6,0.000,0.050,1953,2718,1735,0,0,0,0,0,0
$GC,9461,0.44,146.1,838.1,14.8,570,9465,0.00,1.92,0.00,0.000,4,0.000,0.058,1953,3894,1734,0,0,0,0,0,0
$GC,9510,0.44,146.1,829.5,16.9,572,9515,0.00,1.90,0.00,0.000,6,0.000,0.034,1962,2715,1732,0,0,0,0,0,0
$GC,9839,0.44,146.1,777.5,16.0,588,9840,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,2713,1732,0,0,0,0,0,0
$GC,10147,0.44,146.1,728.6,15.6,603,10148,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,2713,1732,0,0,0,0,0,0
$GC,10456,0.44,146.1,680.8,15.4,618,10458,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,2713,1732,0,0,0,0,0,0
$GC,10767,0.44,146.1,634.2,15.2,633,10770,0.00,1.95,0.00,0.000,4,0.000,0.057,1962,3893,1732,0,0,0,0,0,0
$GC,10815,0.44,146.1,625.6,17.5,635,10821,0.10,1.90,0.00,0.000,6,0.200,0.034,1942,2705,1731,0,0,0,0,0,0
$GC,11143,0.44,146.1,581.3,13.5,651,11144,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2705,1731,0,0,0,0,0,0
$GC,11453,0.44,146.1,539.8,13.3,666,11454,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2705,1731,0,0,0,0,0,0
$GC,11761,0.44,146.1,498.9,13.3,681,11762,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2705,1731,0,0,0,0,0,0
$GC,12071,0.44,146.1,458.0,13.5,696,12073,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2705,1731,0,0,0,0,0,0
$GC,12380,0.44,146.1,416.9,13.1,711,12381,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2705,1731,0,0,0,0,0,0
$GC,12689,0.44,146.1,376.5,13.0,726,12690,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2705,1731,0,0,0,0,0,0
$GC,13002,0.44,146.1,336.8,13.0,741,13003,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2705,1731,0,0,0,0,0,0
$GC,13310,0.44,146.1,295.7,13.6,756,13311,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2705,1732,0,0,0,0,0,0
$GC,13621,0.44,146.1,252.2,13.9,771,13625,0.00,1.95,0.00,0.000,4,0.000,0.057,1943,3887,1731,0,0,0,0,0,0
$GC,13681,0.44,146.1,242.7,15.5,775,13685,0.00,1.85,0.00,0.000,6,0.000,0.034,1951,2709,1731,0,0,0,0,0,0
$GC,14012,0.44,146.1,197.4,12.5,806,14013,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2709,1731,0,0,0,0,0,0
$GC,14334,0.44,146.1,160.8,10.3,836,14342,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2709,1731,0,0,0,0,0,0
$GC,14663,0.44,146.1,123.1,11.9,867,14669,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2709,1731,0,0,0,0,0,0
$GC,14999,0.44,146.1,81.9,10.3,911,15006,0.00,1.95,0.00,0.000,4,0.000,0.057,1950,3889,1731,0,0,0,0,0,0
$GC,15085,0.44,146.1,73.4,10.0,925,15091,0.00,1.88,0.00,0.000,6,0.000,0.034,1960,2707,1731,0,0,0,0,0,0
$GC,15199,0.50,222.2,65.4,6.2,944,15256,0.00,0.00,50.35,0.965,6,0.000,0.000,1960,2707,1434,0,0,0,0,0,0
$GC,15364,0.55,284.6,53.1,6.8,970,15401,0.00,0.00,34.90,0.918,6,0.000,0.000,1960,2707,1180,0,0,0,0,0,0
$GC,15509,0.55,284.6,39.6,10.8,993,15516,0.00,2.25,0.00,0.000,4,0.000,0.042,1970,1298,1170,0,0,0,0,0,0
$GC,15552,0.55,284.6,33.7,11.8,1000,15562,0.00,2.33,0.00,0.000,6,0.000,0.050,1970,2705,1168,0,0,0,0,0,0
$GC,15675,0.55,284.6,20.2,9.9,1019,15683,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,2705,1167,0,0,0,0,0,0
$GC,15759,0.55,284.6,11.5,11.0,1032,15768,0.00,2.28,0.00,0.000,4,0.000,0.044,1980,1306,1165,0,0,0,0,0,0
$GC,15789,0.55,284.6,7.2,14.4,1036,15798,0.00,2.33,0.00,0.000,6,0.000,0.052,1981,2719,1164,0,0,0,0,0,0
$STATE,15817,end climb,SURFACE_DEPTH_REACHED
$STATE,15817,begin surface coast
$FINISH,1.5,1.026952
$STATE,15844,end surface coast,CONTROL_FINISHED_OK
$STATE,15844,begin surface
$SM_CCo,15917,0.00,0.000,0,0,1162,289.45
$SM_GC,1.94,5.22,0.00,0.00,0.054,0.000,0.000,62,2930,1162,-5.32,0.00,289.45
$IRIDIUM_FIX,-5535.12,-53.83,200115,040404
$TT8_MAMPS,0.026215
$HUMID,56.97
$INTERNAL_PRESSURE,8.95509
$TCM_TEMP,7.40
$XPDR_PINGS,0
$24V_AH,21.9,46.455
$10V_AH,9.9,32.083
$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,12.850,58.450,368.425,0.000,0.000,26.486,21.619,327.971,0.000,0.000,16.146,2519.716,10363.766,425.699,2855.956,253.666,33.371,1385.800,0.000,2321.141,0.000,0.540,0.000
$DEVICE_MAMPS,231.030,71.145,1771.740,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,741.571,2171.115,1039.926,1086.860,0.000,0.000,0.000,0.000,0.000,0.000
$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,70426,1044
$CAP_FILE_SIZE,124957,0
$CFSIZE,259252224,210526208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200115,140434,-5558.682,-56.270,25,0.8,26,-19.7