version: 66.07
glider: 542
mission: 9
dive: 248
start: 1 23 115 10 21 54
data:
$ID,542
$MISSION,9
$DIVE,248
$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,-22382.045
$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,28
$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
$GPS1,230115,101204,-5554.683,-101.807,37,0.9,38,-19.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-63.8
$GPS2,230115,102100,-5554.707,-101.810,12,0.8,13,-19.6
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET4
$TGT_LATLONG,-5545.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.034,0.228
$KALMAN_X,205385.2,-634.5,-169.4,-268513.1,5067.9
$KALMAN_Y,-41273.8,359.1,-233.5,51258.8,-3415.9
$MHEAD_RNG_PITCHd_Wd,11.1,18076,-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,-146.1,0.0,0.0,0,85,0.00,0.00,-66.12,0.000,2,0.000,0.000,50,2941,2134,0,0,0,0,0,0
$GC,88,-0.44,-146.1,3.1,-2.6,8,130,6.45,0.00,-30.90,0.000,6,0.236,0.000,1640,2941,2939,0,0,0,0,0,0
$GC,205,-0.44,-146.1,16.0,-17.2,25,213,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2941,2941,0,0,0,0,0,0
$GC,289,-0.44,-146.1,30.4,-17.1,38,298,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2941,2941,0,0,0,0,0,0
$GC,407,-0.44,-146.1,50.5,-17.1,57,413,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2942,2941,0,0,0,0,0,0
$GC,519,-0.44,-146.1,68.6,-14.2,76,528,0.00,1.60,0.00,0.000,4,0.000,0.062,1632,3893,2941,0,0,0,0,0,0
$GC,647,-0.44,-146.1,88.1,-16.0,97,654,0.00,1.55,0.00,0.000,6,0.000,0.031,1632,2902,2941,0,0,0,0,0,0
$GC,872,-0.44,-146.1,124.9,-15.7,124,873,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2901,2941,0,0,0,0,0,0
$GC,1192,-0.44,-146.1,174.5,-15.0,154,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2902,2941,0,0,0,0,0,0
$GC,1509,-0.44,-146.1,222.7,-14.3,184,1513,0.00,1.67,0.00,0.000,4,0.000,0.062,1625,3892,2941,0,0,0,0,0,0
$GC,1578,-0.44,-146.1,232.6,-13.6,190,1582,0.00,1.50,0.00,0.000,6,0.000,0.032,1625,2922,2941,0,0,0,0,0,0
$GC,1913,-0.44,-146.1,277.7,-13.0,212,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2917,2942,0,0,0,0,0,0
$GC,2225,-0.44,-146.1,318.5,-13.4,227,2229,0.00,1.65,0.00,0.000,4,0.000,0.063,1617,3910,2941,0,0,0,0,0,0
$GC,2302,-0.44,-146.1,330.2,-13.5,230,2307,0.00,1.50,0.00,0.000,6,0.000,0.031,1617,2928,2941,0,0,0,0,0,0
$GC,2624,-0.44,-146.1,375.4,-14.2,246,2628,0.00,1.62,0.00,0.000,4,0.000,0.063,1609,3890,2941,0,0,0,0,0,0
$GC,2663,-0.44,-146.1,381.4,-15.7,247,2670,0.10,1.48,0.00,0.000,6,0.169,0.032,1640,2939,2941,0,0,0,0,0,0
$GC,2978,-0.44,-146.1,418.9,-11.7,263,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2939,2941,0,0,0,0,0,0
$GC,3288,-0.44,-146.1,455.0,-11.8,278,3289,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2939,2941,0,0,0,0,0,0
$GC,3598,-0.44,-146.1,489.7,-11.1,293,3601,0.00,1.60,0.00,0.000,4,0.000,0.064,1634,3886,2941,0,0,0,0,0,0
$GC,3652,-0.44,-146.1,496.2,-11.0,295,3657,0.00,1.48,0.00,0.000,6,0.000,0.031,1633,2923,2941,0,0,0,0,0,0
$GC,3974,-0.44,-146.1,532.5,-11.1,311,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2923,2941,0,0,0,0,0,0
$GC,4284,-0.44,-146.1,566.9,-11.2,326,4288,0.00,1.62,0.00,0.000,4,0.000,0.063,1626,3886,2941,0,0,0,0,0,0
$GC,4330,-0.44,-146.1,572.1,-12.1,328,4334,0.00,1.48,0.00,0.000,6,0.000,0.031,1626,2925,2941,0,0,0,0,0,0
$GC,4663,-0.44,-146.1,612.0,-12.0,344,4664,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2920,2942,0,0,0,0,0,0
$GC,4972,-0.44,-146.1,650.2,-12.6,359,4975,0.00,1.62,0.00,0.000,4,0.000,0.063,1618,3886,2942,0,0,0,0,0,0
$GC,5032,-0.44,-146.1,658.5,-13.6,361,5040,0.00,1.48,0.00,0.000,6,0.000,0.031,1618,2917,2941,0,0,0,0,0,0
$GC,5348,-0.44,-146.1,700.1,-12.9,377,5349,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2917,2942,0,0,0,0,0,0
$GC,5658,-0.44,-146.1,740.2,-12.9,392,5661,0.00,1.65,0.00,0.000,4,0.000,0.063,1610,3910,2942,0,0,0,0,0,0
$GC,5729,-0.44,-146.1,750.1,-13.1,395,5734,0.10,1.50,0.00,0.000,6,0.164,0.031,1642,2937,2942,0,0,0,0,0,0
$GC,6057,-0.44,-146.1,784.5,-10.4,411,6058,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2937,2942,0,0,0,0,0,0
$GC,6365,-0.44,-146.1,816.9,-10.2,426,6369,0.00,1.60,0.00,0.000,4,0.000,0.063,1635,3887,2942,0,0,0,0,0,0
$GC,6412,-0.44,-146.1,821.9,-10.7,428,6416,0.00,1.48,0.00,0.000,6,0.000,0.031,1635,2920,2941,0,0,0,0,0,0
$GC,6745,-0.44,-146.1,858.5,-11.0,444,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2915,2941,0,0,0,0,0,0
$GC,7054,-0.44,-146.1,892.8,-11.0,459,7057,0.00,1.65,0.00,0.000,4,0.000,0.064,1627,3909,2942,0,0,0,0,0,0
$GC,7122,-0.44,-146.1,900.6,-11.6,462,7125,0.00,1.48,0.00,0.000,6,0.000,0.031,1627,2934,2941,0,0,0,0,0,0
$GC,7455,-0.44,-146.1,938.1,-11.4,478,7456,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2927,2942,0,0,0,0,0,0
$GC,7763,-0.44,-146.1,970.9,-10.2,493,7767,0.00,1.62,0.00,0.000,4,0.000,0.063,1620,3892,2942,0,0,0,0,0,0
$GC,7831,-0.44,-146.1,978.2,-10.8,496,7835,0.00,1.48,0.00,0.000,6,0.000,0.032,1620,2923,2942,0,0,0,0,0,0
$STATE,8038,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8038,begin apogee
$GC,8043,-0.13,0.0,1000.9,11.0,506,8183,0.43,0.00,136.82,1.766,6,0.161,0.000,1744,2696,2342,0,0,0,0,0,0
$STATE,8183,end apogee,CONTROL_FINISHED_OK
$STATE,8183,begin climb
$GC,8185,0.44,146.1,1005.1,0.0,513,8338,0.62,0.00,147.27,1.724,6,0.121,0.000,1926,2696,1746,0,0,0,0,0,0
$GC,8638,0.44,146.1,955.5,12.4,535,8639,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,2696,1737,0,0,0,0,0,0
$GC,8949,0.44,146.1,917.2,12.1,550,8950,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,2696,1736,0,0,0,0,0,0
$GC,9257,0.44,146.1,880.1,12.2,565,9261,0.00,2.03,0.00,0.000,4,0.000,0.063,1926,3901,1735,0,0,0,0,0,0
$GC,9324,0.44,146.1,870.9,14.2,568,9328,0.00,1.85,0.00,0.000,6,0.000,0.035,1935,2740,1733,0,0,0,0,0,0
$GC,9658,0.44,146.1,829.5,12.1,584,9659,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2739,1733,0,0,0,0,0,0
$GC,9966,0.44,146.1,792.1,12.0,599,9967,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2739,1733,0,0,0,0,0,0
$GC,10275,0.44,146.1,754.7,11.9,614,10276,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2739,1732,0,0,0,0,0,0
$GC,10585,0.44,146.1,717.0,12.5,629,10586,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2739,1732,0,0,0,0,0,0
$GC,10894,0.44,146.1,678.6,12.8,644,10895,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2739,1732,0,0,0,0,0,0
$GC,11203,0.44,146.1,638.4,13.1,659,11207,0.00,1.92,0.00,0.000,4,0.000,0.061,1935,3896,1732,0,0,0,0,0,0
$GC,11249,0.44,146.1,631.8,15.4,661,11253,0.00,1.85,0.00,0.000,6,0.000,0.035,1944,2710,1731,0,0,0,0,0,0
$GC,11582,0.44,146.1,587.2,13.2,677,11583,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2710,1731,0,0,0,0,0,0
$GC,11892,0.44,146.1,547.1,12.9,692,11893,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2709,1731,0,0,0,0,0,0
$GC,12200,0.44,146.1,507.5,12.8,707,12201,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2709,1731,0,0,0,0,0,0
$GC,12510,0.44,146.1,467.8,12.7,722,12511,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2709,1731,0,0,0,0,0,0
$GC,12820,0.44,146.1,429.8,12.4,737,12823,0.00,1.95,0.00,0.000,4,0.000,0.060,1944,3903,1731,0,0,0,0,0,0
$GC,12887,0.44,146.1,420.0,14.6,740,12891,0.00,1.85,0.00,0.000,6,0.000,0.035,1954,2710,1730,0,0,0,0,0,0
$GC,13219,0.44,146.1,376.1,13.3,756,13221,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2710,1730,0,0,0,0,0,0
$GC,13532,0.44,146.1,334.9,13.2,771,13533,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2709,1730,0,0,0,0,0,0
$GC,13840,0.44,146.1,295.2,12.9,786,13841,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2709,1730,0,0,0,0,0,0
$GC,14150,0.44,146.1,256.0,12.7,801,14151,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2709,1730,0,0,0,0,0,0
$GC,14467,0.44,146.1,215.0,13.1,828,14471,0.00,1.98,0.00,0.000,4,0.000,0.060,1954,3903,1730,0,0,0,0,0,0
$GC,14529,0.44,146.1,205.7,16.8,833,14532,0.00,1.85,0.00,0.000,6,0.000,0.035,1963,2709,1730,0,0,0,0,0,0
$GC,14859,0.44,146.1,159.7,13.2,864,14860,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,2709,1730,0,0,0,0,0,0
$GC,15178,0.44,146.1,119.3,11.6,894,15180,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,2708,1730,0,0,0,0,0,0
$GC,15508,0.44,146.1,82.4,10.6,938,15515,0.00,2.20,0.00,0.000,4,0.000,0.044,1974,1293,1730,0,0,0,0,0,0
$GC,15552,0.44,146.1,77.8,10.8,945,15560,0.15,2.28,0.00,0.000,6,0.185,0.054,1936,2721,1730,0,0,0,0,0,0
$GC,15667,0.46,174.3,67.8,8.3,964,15690,0.00,0.00,16.73,0.963,6,0.000,0.000,1936,2721,1630,0,0,0,0,0,0
$GC,15797,0.49,209.0,57.3,8.0,985,15826,0.00,0.00,23.33,0.920,6,0.000,0.000,1937,2721,1488,0,0,0,0,0,0
$GC,15935,0.51,234.9,46.1,8.4,1007,15956,0.00,0.00,18.25,0.863,6,0.000,0.000,1937,2721,1383,0,0,0,0,0,0
$GC,16063,0.53,263.1,35.0,8.3,1028,16086,0.00,0.00,19.00,0.832,6,0.000,0.000,1937,2721,1267,0,0,0,0,0,0
$GC,16196,0.56,296.9,23.9,8.1,1049,16223,0.10,0.00,22.02,0.796,6,0.131,0.000,1975,2721,1129,0,0,0,0,0,0
$GC,16298,0.56,296.9,12.4,12.3,1064,16306,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2721,1123,0,0,0,0,0,0
$STATE,16380,end climb,SURFACE_DEPTH_REACHED
$STATE,16380,begin surface coast
$FINISH,1.2,1.012750
$STATE,16406,end surface coast,CONTROL_FINISHED_OK
$STATE,16407,begin surface
$SM_CCo,16480,0.00,0.000,0,0,1119,299.75
$SM_GC,2.13,5.35,0.00,0.00,0.066,0.000,0.000,58,2921,1119,-5.33,-0.25,299.75
$IRIDIUM_FIX,-5535.12,-57.61,230115,050502
$TT8_MAMPS,0.026215
$HUMID,57.28
$INTERNAL_PRESSURE,8.95509
$TCM_TEMP,7.00
$XPDR_PINGS,0
$24V_AH,21.8,49.232
$10V_AH,9.9,34.066
$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,13.300,54.650,383.425,0.000,0.000,25.475,41.893,326.208,0.000,0.000,16.591,2610.149,10682.724,452.968,3009.669,250.184,33.370,1462.303,0.000,2435.623,0.000,0.540,0.000
$DEVICE_MAMPS,235.620,66.555,1766.385,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,767.966,2241.866,1075.614,1134.728,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353440
$DATA_FILE_SIZE,73714,1081
$CAP_FILE_SIZE,129252,0
$CFSIZE,259252224,209375232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230115,145735,-5552.704,-59.845,26,1.0,27,-19.7