version: 66.07
glider: 542
mission: 9
dive: 245
start: 1 22 115 19 32 29
data:
$ID,542
$MISSION,9
$DIVE,245
$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,-22372.314
$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,29
$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
$GPS1,220115,192238,-5553.794,-57.709,31,1.0,32,-19.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-70.9
$GPS2,220115,193135,-5553.812,-57.672,22,1.5,22,-19.7
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET4
$TGT_LATLONG,-5545.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.227,0.044
$KALMAN_X,196201.7,-139.7,-394.2,-255309.7,4945.4
$KALMAN_Y,-33402.0,-89.7,-150.6,45405.3,-2186.8
$MHEAD_RNG_PITCHd_Wd,300.7,16499,-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,-145.9,0.0,0.0,0,61,0.00,0.00,-41.83,0.000,2,0.000,0.000,45,2938,2251,0,0,0,0,0,0
$GC,64,-0.44,-146.1,3.2,-3.8,5,99,6.32,2.33,-23.12,0.000,4,0.223,0.051,1641,1499,2939,0,0,0,0,0,0
$GC,217,-0.44,-146.1,21.9,-14.1,28,227,0.00,2.35,0.00,0.000,6,0.000,0.053,1631,2916,2941,0,0,0,0,0,0
$GC,302,-0.44,-146.1,35.8,-17.8,41,308,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2916,2941,0,0,0,0,0,0
$GC,415,-0.44,-146.1,57.5,-20.1,60,424,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2916,2941,0,0,0,0,0,0
$GC,531,-0.44,-146.1,77.6,-17.7,79,537,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2916,2941,0,0,0,0,0,0
$GC,643,-0.44,-146.1,95.9,-15.2,98,649,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2916,2941,0,0,0,0,0,0
$GC,871,-0.44,-146.1,131.8,-14.3,121,874,0.00,1.60,0.00,0.000,4,0.000,0.060,1623,3896,2941,0,0,0,0,0,0
$GC,966,-0.44,-146.1,145.4,-14.3,129,970,0.00,1.55,0.00,0.000,6,0.000,0.031,1623,2882,2941,0,0,0,0,0,0
$GC,1296,-0.44,-146.1,191.9,-13.5,160,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2879,2941,0,0,0,0,0,0
$GC,1618,-0.44,-146.1,236.0,-13.8,190,1622,0.00,1.70,0.00,0.000,4,0.000,0.060,1615,3910,2941,0,0,0,0,0,0
$GC,1664,-0.44,-146.1,243.2,-14.6,194,1669,0.08,1.50,0.00,0.000,6,0.168,0.031,1638,2937,2941,0,0,0,0,0,0
$GC,1987,-0.44,-146.1,281.8,-11.5,212,1988,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2935,2942,0,0,0,0,0,0
$GC,2298,-0.44,-146.1,318.2,-12.1,227,2299,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2936,2941,0,0,0,0,0,0
$GC,2607,-0.44,-146.1,357.1,-12.5,242,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2936,2941,0,0,0,0,0,0
$GC,2919,-0.44,-146.1,396.0,-12.6,257,2922,0.00,1.60,0.00,0.000,4,0.000,0.060,1631,3894,2941,0,0,0,0,0,0
$GC,2966,-0.44,-146.1,402.6,-13.6,259,2970,0.00,1.48,0.00,0.000,6,0.000,0.031,1631,2923,2942,0,0,0,0,0,0
$GC,3298,-0.44,-146.1,445.6,-12.9,275,3299,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2919,2942,0,0,0,0,0,0
$GC,3608,-0.44,-146.1,485.1,-12.5,290,3612,0.00,1.65,0.00,0.000,4,0.000,0.060,1623,3922,2941,0,0,0,0,0,0
$GC,3663,-0.44,-146.1,492.6,-13.0,292,3668,0.00,1.50,0.00,0.000,6,0.000,0.030,1623,2926,2942,0,0,0,0,0,0
$GC,3985,-0.44,-146.1,533.4,-12.5,308,3986,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2921,2941,0,0,0,0,0,0
$GC,4295,-0.44,-146.1,574.7,-13.1,323,4299,0.00,1.65,0.00,0.000,4,0.000,0.059,1615,3922,2942,0,0,0,0,0,0
$GC,4341,-0.44,-146.1,581.0,-13.9,325,4346,0.08,1.50,0.00,0.000,6,0.168,0.031,1640,2946,2942,0,0,0,0,0,0
$GC,4674,-0.44,-146.1,619.2,-11.0,341,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2942,2942,0,0,0,0,0,0
$GC,4983,-0.44,-146.1,652.6,-10.7,356,4984,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2941,2942,0,0,0,0,0,0
$GC,5292,-0.44,-146.1,685.1,-10.4,371,5293,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2941,2943,0,0,0,0,0,0
$GC,5602,-0.44,-146.1,716.6,-10.4,386,5606,0.00,1.60,0.00,0.000,4,0.000,0.060,1632,3894,2942,0,0,0,0,0,0
$GC,5640,-0.44,-146.1,721.0,-11.3,387,5648,0.00,1.50,0.00,0.000,6,0.000,0.030,1632,2912,2942,0,0,0,0,0,0
$GC,5956,-0.44,-146.1,754.9,-10.9,403,5958,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2912,2942,0,0,0,0,0,0
$GC,6266,-0.44,-146.1,788.1,-10.6,418,6270,0.00,1.65,0.00,0.000,4,0.000,0.060,1624,3912,2942,0,0,0,0,0,0
$GC,6321,-0.44,-146.1,794.7,-11.2,420,6326,0.00,1.50,0.00,0.000,6,0.000,0.030,1624,2929,2942,0,0,0,0,0,0
$GC,6643,-0.44,-146.1,831.3,-11.7,436,6644,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2924,2942,0,0,0,0,0,0
$GC,6953,-0.44,-146.1,867.9,-11.9,451,6954,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2924,2942,0,0,0,0,0,0
$GC,7262,-0.44,-146.1,905.0,-12.0,466,7265,0.00,1.62,0.00,0.000,4,0.000,0.060,1617,3895,2942,0,0,0,0,0,0
$GC,7307,-0.44,-146.1,911.0,-12.7,468,7311,0.08,1.48,0.00,0.000,6,0.162,0.031,1641,2935,2942,0,0,0,0,0,0
$GC,7640,-0.44,-146.1,947.4,-11.1,484,7641,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2935,2942,0,0,0,0,0,0
$GC,7948,-0.44,-146.1,980.5,-10.6,499,7951,0.00,1.62,0.00,0.000,4,0.000,0.060,1634,3903,2942,0,0,0,0,0,0
$GC,7993,-0.44,-146.1,985.7,-11.5,501,7997,0.00,1.50,0.00,0.000,6,0.000,0.031,1634,2917,2943,0,0,0,0,0,0
$STATE,8139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8139,begin apogee
$GC,8144,-0.13,0.0,1001.9,11.1,508,8284,0.38,0.00,136.43,1.776,6,0.159,0.000,1744,2711,2342,0,0,0,0,0,0
$STATE,8284,end apogee,CONTROL_FINISHED_OK
$STATE,8285,begin climb
$GC,8286,0.44,146.1,1007.4,0.0,515,8439,0.60,0.00,148.85,1.730,6,0.119,0.000,1920,2711,1746,0,0,0,0,0,0
$GC,8738,0.44,146.1,963.5,11.6,537,8742,0.00,2.05,0.00,0.000,4,0.000,0.057,1920,3907,1738,0,0,0,0,0,0
$GC,8775,0.44,146.1,958.2,13.5,538,8783,0.00,1.95,0.00,0.000,6,0.000,0.034,1929,2742,1735,0,0,0,0,0,0
$GC,9093,0.44,146.1,918.2,12.8,554,9094,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,2741,1735,0,0,0,0,0,0
$GC,9401,0.44,146.1,878.4,12.8,569,9402,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,2741,1734,0,0,0,0,0,0
$GC,9710,0.44,146.1,840.4,11.7,584,9714,0.00,2.30,0.00,0.000,4,0.000,0.044,1940,1285,1733,0,0,0,0,0,0
$GC,9754,0.44,146.1,835.3,11.4,586,9759,0.00,2.30,0.00,0.000,6,0.000,0.051,1940,2730,1733,0,0,0,0,0,0
$GC,10081,0.44,146.1,792.3,13.3,602,10085,0.00,1.88,0.00,0.000,4,0.000,0.057,1940,3889,1732,0,0,0,0,0,0
$GC,10142,0.44,146.1,783.1,15.8,604,10149,0.00,1.90,0.00,0.000,6,0.000,0.034,1949,2699,1731,0,0,0,0,0,0
$GC,10459,0.44,146.1,739.6,13.8,620,10460,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2700,1731,0,0,0,0,0,0
$GC,10767,0.44,146.1,697.2,13.9,635,10771,0.00,1.98,0.00,0.000,4,0.000,0.056,1949,3886,1732,0,0,0,0,0,0
$GC,10805,0.44,146.1,691.3,16.0,636,10813,0.08,1.88,0.00,0.000,6,0.197,0.034,1938,2709,1731,0,0,0,0,0,0
$GC,11122,0.44,146.1,650.8,12.6,652,11123,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,2708,1731,0,0,0,0,0,0
$GC,11431,0.44,146.1,612.8,12.2,667,11432,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,2709,1731,0,0,0,0,0,0
$GC,11741,0.44,146.1,574.8,12.5,682,11744,0.00,1.95,0.00,0.000,4,0.000,0.056,1937,3891,1731,0,0,0,0,0,0
$GC,11778,0.44,146.1,569.2,14.6,683,11786,0.00,1.88,0.00,0.000,6,0.000,0.034,1945,2710,1730,0,0,0,0,0,0
$GC,12095,0.44,146.1,527.7,13.2,699,12096,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,2710,1731,0,0,0,0,0,0
$GC,12405,0.44,146.1,488.6,12.3,714,12406,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,2710,1730,0,0,0,0,0,0
$GC,12714,0.44,146.1,446.5,14.5,729,12718,0.00,1.95,0.00,0.000,4,0.000,0.057,1946,3882,1730,0,0,0,0,0,0
$GC,12746,0.44,146.1,441.2,16.3,730,12750,0.00,1.88,0.00,0.000,6,0.000,0.034,1955,2705,1730,0,0,0,0,0,0
$GC,13068,0.44,146.1,393.8,14.5,746,13070,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2705,1730,0,0,0,0,0,0
$GC,13379,0.44,146.1,350.2,13.8,761,13383,0.00,1.95,0.00,0.000,4,0.000,0.055,1955,3890,1730,0,0,0,0,0,0
$GC,13411,0.44,146.1,344.9,16.0,762,13416,0.08,1.88,0.00,0.000,6,0.188,0.034,1942,2709,1730,0,0,0,0,0,0
$GC,13734,0.46,173.0,309.1,8.3,778,13764,0.00,2.30,23.25,1.347,4,0.000,0.044,1952,1290,1635,0,0,0,0,0,0
$GC,14020,0.51,236.6,290.7,6.8,790,14086,0.00,2.30,58.53,1.336,6,0.000,0.048,1952,2712,1376,0,0,0,0,0,0
$GC,14406,0.54,272.6,262.3,8.0,809,14441,0.00,0.00,33.15,1.291,6,0.000,0.000,1952,2712,1230,0,0,0,0,0,0
$GC,14744,0.58,313.7,235.3,7.7,833,14793,0.00,2.03,37.10,1.287,4,0.000,0.054,1952,3884,1062,0,0,0,0,0,0
$GC,15051,0.60,347.2,210.0,8.1,859,15086,0.00,1.92,30.55,1.267,6,0.000,0.037,1961,2704,926,0,0,0,0,0,0
$GC,15408,0.61,351.5,178.8,9.3,892,15419,0.00,0.00,3.97,0.962,6,0.000,0.000,1961,2704,909,0,0,0,0,0,0
$GC,15738,0.61,351.5,145.8,10.2,923,15741,0.00,1.95,0.00,0.000,4,0.000,0.053,1960,3894,907,0,0,0,0,0,0
$GC,16006,0.61,351.5,116.2,11.9,946,16010,0.00,1.88,0.00,0.000,6,0.000,0.035,1970,2706,907,0,0,0,0,0,0
$GC,16351,0.61,351.5,75.1,10.6,995,16358,0.00,2.20,0.00,0.000,4,0.000,0.044,1980,1290,906,0,0,0,0,0,0
$GC,16390,0.61,351.5,71.0,10.0,1001,16397,0.00,2.25,0.00,0.000,6,0.000,0.049,1980,2707,904,0,0,0,0,0,0
$GC,16504,0.61,351.5,57.5,12.0,1020,16513,0.00,1.92,0.00,0.000,4,0.000,0.057,1980,3883,904,0,0,0,0,0,0
$GC,16567,0.61,351.5,49.3,12.9,1030,16576,0.00,1.88,0.00,0.000,6,0.000,0.036,1988,2716,904,0,0,0,0,0,0
$GC,16685,0.61,351.5,34.1,13.1,1049,16692,0.00,2.22,0.00,0.000,4,0.000,0.045,1998,1287,904,0,0,0,0,0,0
$GC,16724,0.61,351.5,29.0,12.8,1055,16733,0.00,2.30,0.00,0.000,6,0.000,0.048,1999,2718,903,0,0,0,0,0,0
$GC,16809,0.61,351.5,16.9,14.4,1068,16818,0.00,1.92,0.00,0.000,4,0.000,0.058,1999,3892,903,0,0,0,0,0,0
$GC,16845,0.61,351.5,11.1,16.1,1073,16854,0.00,1.90,0.00,0.000,6,0.000,0.038,2007,2714,903,0,0,0,0,0,0
$STATE,16898,end climb,SURFACE_DEPTH_REACHED
$STATE,16898,begin surface coast
$FINISH,1.3,1.014567
$STATE,16918,end surface coast,CONTROL_FINISHED_OK
$STATE,16918,begin surface
$SM_CCo,16992,0.00,0.000,0,0,902,352.98
$SM_GC,2.09,5.35,0.00,0.00,0.066,0.000,0.000,55,2933,902,-5.32,0.08,352.98
$IRIDIUM_FIX,-5535.12,-53.77,220115,141458
$TT8_MAMPS,0.026215
$HUMID,57.24
$INTERNAL_PRESSURE,8.93556
$TCM_TEMP,7.40
$XPDR_PINGS,0
$24V_AH,21.9,48.654
$10V_AH,9.9,33.667
$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,13.025,90.150,471.825,0.000,0.000,27.581,24.050,341.245,0.000,0.000,24.607,2668.217,10894.719,564.489,3136.387,256.685,33.369,1640.685,0.000,2557.897,0.000,0.539,0.000
$DEVICE_MAMPS,223.380,60.435,1775.565,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,769.866,2245.671,1072.384,1056.694,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353420
$DATA_FILE_SIZE,73714,1084
$CAP_FILE_SIZE,141952,0
$CFSIZE,259252224,209596416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230115,001657,-5554.640,-58.675,41,0.8,42,-19.7