version: 66.07
glider: 542
mission: 9
dive: 264
start: 1 26 115 14 42 23
data:
$ID,542
$MISSION,9
$DIVE,264
$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,-22435.684
$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,30
$R_STBD_OVSHOOT,21
$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
$GPS1,260115,143304,-5600.083,-32.305,25,1.0,26,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-67.9
$GPS2,260115,144129,-5600.117,-32.226,20,1.0,20,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET2
$TGT_LATLONG,-5545.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.018,0.230
$KALMAN_X,218856.4,-26.1,21.7,-252158.8,616.2
$KALMAN_Y,-56023.6,-257.8,-146.5,56529.2,-1935.5
$MHEAD_RNG_PITCHd_Wd,15.4,28093,-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,-146.1,0.0,0.0,0,77,0.00,0.00,-57.72,0.000,2,0.000,0.000,45,2935,2195,0,0,0,0,0,0
$GC,79,-0.44,-146.1,3.2,-3.1,7,122,6.25,2.25,-26.50,0.000,4,0.221,0.047,1640,1510,2938,0,0,0,0,0,0
$GC,266,-0.44,-146.1,25.1,-13.8,35,275,0.00,2.38,0.00,0.000,6,0.000,0.057,1629,2929,2940,0,0,0,0,0,0
$GC,348,-0.44,-146.1,39.0,-18.5,48,356,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2929,2940,0,0,0,0,0,0
$GC,463,-0.44,-146.1,58.6,-16.9,67,470,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2929,2940,0,0,0,0,0,0
$GC,576,-0.44,-146.1,75.7,-15.2,86,585,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2929,2940,0,0,0,0,0,0
$GC,687,-0.44,-146.1,92.5,-15.4,105,696,0.00,1.60,0.00,0.000,4,0.000,0.064,1621,3899,2940,0,0,0,0,0,0
$GC,774,-0.44,-146.1,107.5,-15.8,116,785,0.00,1.55,0.00,0.000,6,0.000,0.031,1621,2893,2941,0,0,0,0,0,0
$GC,1102,-0.44,-146.1,154.0,-13.5,147,1103,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2893,2941,0,0,0,0,0,0
$GC,1421,-0.44,-146.1,199.4,-14.6,177,1427,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2893,2941,0,0,0,0,0,0
$GC,1748,-0.44,-146.1,243.9,-13.1,208,1751,0.00,1.70,0.00,0.000,4,0.000,0.065,1613,3911,2941,0,0,0,0,0,0
$GC,1867,-0.44,-146.1,261.5,-13.8,215,1872,0.08,1.50,0.00,0.000,6,0.164,0.031,1638,2937,2941,0,0,0,0,0,0
$GC,2197,-0.44,-146.1,298.8,-11.2,231,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2936,2941,0,0,0,0,0,0
$GC,2505,-0.44,-146.1,332.5,-10.9,246,2508,0.00,1.62,0.00,0.000,4,0.000,0.063,1631,3900,2941,0,0,0,0,0,0
$GC,2561,-0.44,-146.1,339.5,-12.4,248,2565,0.00,1.50,0.00,0.000,6,0.000,0.031,1631,2920,2941,0,0,0,0,0,0
$GC,2884,-0.44,-146.1,377.0,-12.0,264,2887,0.00,1.65,0.00,0.000,4,0.000,0.063,1623,3906,2941,0,0,0,0,0,0
$GC,2939,-0.44,-146.1,384.6,-13.7,266,2944,0.00,1.50,0.00,0.000,6,0.000,0.031,1623,2916,2941,0,0,0,0,0,0
$GC,3262,-0.44,-146.1,425.3,-12.9,282,3263,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2913,2941,0,0,0,0,0,0
$GC,3570,-0.44,-146.1,464.5,-12.6,297,3574,0.00,1.65,0.00,0.000,4,0.000,0.064,1616,3905,2940,0,0,0,0,0,0
$GC,3627,-0.44,-146.1,472.2,-13.9,299,3631,0.08,1.48,0.00,0.000,6,0.158,0.031,1640,2941,2941,0,0,0,0,0,0
$GC,3948,-0.44,-146.1,508.2,-11.1,315,3949,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2940,2941,0,0,0,0,0,0
$GC,4256,-0.44,-146.1,543.2,-11.8,330,4260,0.00,1.62,0.00,0.000,4,0.000,0.063,1633,3906,2941,0,0,0,0,0,0
$GC,4324,-0.44,-146.1,551.5,-11.6,333,4328,0.00,1.50,0.00,0.000,6,0.000,0.031,1633,2920,2941,0,0,0,0,0,0
$GC,4657,-0.44,-146.1,592.2,-12.4,349,4658,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2915,2940,0,0,0,0,0,0
$GC,4966,-0.44,-146.1,628.5,-11.5,364,4970,0.00,1.67,0.00,0.000,4,0.000,0.063,1625,3906,2940,0,0,0,0,0,0
$GC,5027,-0.44,-146.1,636.4,-13.0,366,5034,0.00,1.48,0.00,0.000,6,0.000,0.031,1625,2921,2941,0,0,0,0,0,0
$GC,5342,-0.44,-146.1,674.0,-11.8,382,5346,0.00,1.65,0.00,0.000,4,0.000,0.063,1617,3914,2941,0,0,0,0,0,0
$GC,5388,-0.44,-146.1,679.8,-13.1,384,5391,0.00,1.48,0.00,0.000,6,0.000,0.031,1617,2936,2941,0,0,0,0,0,0
$GC,5721,-0.44,-146.1,721.5,-12.6,400,5724,0.00,1.62,0.00,0.000,4,0.000,0.063,1610,3899,2941,0,0,0,0,0,0
$GC,5766,-0.44,-146.1,727.7,-14.0,402,5770,0.10,1.45,0.00,0.000,6,0.158,0.031,1642,2945,2941,0,0,0,0,0,0
$GC,6098,-0.44,-146.1,762.0,-9.7,418,6101,0.00,1.62,0.00,0.000,4,0.000,0.063,1634,3917,2941,0,0,0,0,0,0
$GC,6136,-0.44,-146.1,766.2,-10.8,419,6143,0.00,1.50,0.00,0.000,6,0.000,0.030,1635,2933,2941,0,0,0,0,0,0
$GC,6452,-0.44,-146.1,800.4,-10.8,435,6453,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2934,2941,0,0,0,0,0,0
$GC,6761,-0.44,-146.1,833.9,-10.7,450,6762,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2935,2941,0,0,0,0,0,0
$GC,7071,-0.44,-146.1,866.2,-10.4,465,7075,0.00,1.65,0.00,0.000,4,0.000,0.064,1627,3923,2941,0,0,0,0,0,0
$GC,7139,-0.44,-146.1,873.8,-11.3,468,7143,0.00,1.52,0.00,0.000,6,0.000,0.032,1626,2929,2941,0,0,0,0,0,0
$GC,7473,-0.44,-146.1,909.0,-10.5,484,7474,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2927,2941,0,0,0,0,0,0
$GC,7781,-0.44,-146.1,941.1,-10.3,499,7785,0.00,1.65,0.00,0.000,4,0.000,0.066,1620,3899,2941,0,0,0,0,0,0
$GC,7871,-0.44,-146.1,950.9,-10.7,503,7875,0.00,1.50,0.00,0.000,6,0.000,0.032,1619,2922,2941,0,0,0,0,0,0
$GC,8203,-0.44,-146.1,987.5,-10.9,519,8204,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2920,2941,0,0,0,0,0,0
$STATE,8324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8324,begin apogee
$GC,8329,-0.13,0.0,1000.8,10.7,525,8469,0.43,0.00,136.43,1.760,6,0.158,0.000,1744,2702,2342,0,0,0,0,0,0
$STATE,8470,end apogee,CONTROL_FINISHED_OK
$STATE,8470,begin climb
$GC,8472,0.44,146.1,1004.0,0.0,532,8628,0.60,2.47,147.65,1.723,4,0.119,0.043,1931,1348,1746,0,0,0,0,0,0
$GC,8673,0.44,146.1,986.0,11.3,541,8678,0.00,2.47,0.00,0.000,6,0.000,0.057,1931,2721,1742,0,0,0,0,0,0
$GC,8996,0.44,146.1,943.8,13.1,557,8997,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2721,1737,0,0,0,0,0,0
$GC,9304,0.44,146.1,903.7,12.8,572,9305,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2721,1735,0,0,0,0,0,0
$GC,9614,0.44,146.1,864.1,13.0,587,9618,0.00,1.95,0.00,0.000,4,0.000,0.066,1931,3893,1734,0,0,0,0,0,0
$GC,9668,0.44,146.1,855.9,14.5,589,9673,0.00,1.85,0.00,0.000,6,0.000,0.034,1940,2742,1731,0,0,0,0,0,0
$GC,9990,0.44,146.1,812.3,13.9,605,9991,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2741,1732,0,0,0,0,0,0
$GC,10300,0.44,146.1,770.6,13.5,620,10301,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2741,1732,0,0,0,0,0,0
$GC,10609,0.44,146.1,728.9,13.3,635,10610,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2741,1731,0,0,0,0,0,0
$GC,10918,0.44,146.1,687.9,13.2,650,10919,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2741,1731,0,0,0,0,0,0
$GC,11228,0.44,146.1,647.1,13.1,665,11229,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2741,1731,0,0,0,0,0,0
$GC,11537,0.44,146.1,608.0,12.3,680,11538,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2740,1731,0,0,0,0,0,0
$GC,11846,0.44,146.1,571.3,11.6,695,11847,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2741,1731,0,0,0,0,0,0
$GC,12156,0.44,146.1,535.5,11.5,710,12157,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2741,1731,0,0,0,0,0,0
$GC,12465,0.44,146.1,499.8,11.4,725,12466,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2741,1730,0,0,0,0,0,0
$GC,12774,0.44,146.1,464.9,10.8,740,12775,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,2740,1730,0,0,0,0,0,0
$GC,13084,0.44,146.1,430.0,11.4,755,13085,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2741,1730,0,0,0,0,0,0
$GC,13393,0.44,146.1,394.1,11.8,770,13394,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2740,1730,0,0,0,0,0,0
$GC,13704,0.44,146.1,356.5,12.0,785,13706,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,2741,1730,0,0,0,0,0,0
$GC,14012,0.44,146.1,319.1,12.2,800,14014,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2741,1730,0,0,0,0,0,0
$GC,14323,0.44,146.1,282.6,11.6,815,14324,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2741,1731,0,0,0,0,0,0
$GC,14634,0.44,146.1,247.0,11.5,831,14641,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2741,1731,0,0,0,0,0,0
$GC,14961,0.44,146.1,210.3,11.0,862,14962,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2741,1730,0,0,0,0,0,0
$GC,15280,0.44,146.1,177.4,10.1,892,15281,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2741,1730,0,0,0,0,0,0
$GC,15598,0.44,147.3,146.9,9.5,922,15599,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2741,1730,0,0,0,0,0,0
$GC,15917,0.46,165.4,117.2,8.7,952,15935,0.00,2.30,12.27,1.100,4,0.000,0.044,1951,1296,1667,0,0,0,0,0,0
$GC,15958,0.49,210.1,113.7,7.6,955,16003,0.00,2.30,32.85,1.112,6,0.000,0.059,1950,2718,1483,0,0,0,0,0,0
$GC,16338,0.49,210.1,73.6,10.5,1009,16344,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2719,1477,0,0,0,0,0,0
$GC,16452,0.49,210.1,62.3,9.9,1028,16460,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2718,1476,0,0,0,0,0,0
$GC,16569,0.49,210.1,50.9,10.4,1047,16576,0.00,2.28,0.00,0.000,4,0.000,0.044,1961,1290,1475,0,0,0,0,0,0
$GC,16612,0.52,240.7,47.0,8.2,1054,16637,0.00,2.35,20.35,0.889,6,0.000,0.060,1961,2703,1360,0,0,0,0,0,0
$GC,16746,0.52,240.7,33.2,11.6,1075,16752,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2703,1355,0,0,0,0,0,0
$GC,16863,0.52,240.7,20.5,10.2,1094,16871,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2703,1354,0,0,0,0,0,0
$GC,16947,0.52,240.7,11.5,10.5,1107,16955,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2703,1353,0,0,0,0,0,0
$STATE,17028,end climb,SURFACE_DEPTH_REACHED
$STATE,17028,begin surface coast
$FINISH,1.3,1.026936
$STATE,17061,end surface coast,CONTROL_FINISHED_OK
$STATE,17061,begin surface
$SM_CCo,17135,0.00,0.000,0,0,1350,243.09
$SM_GC,2.10,5.12,0.00,0.00,0.049,0.000,0.000,50,2927,1350,-5.34,-0.06,243.09
$IRIDIUM_FIX,-5535.12,-38.45,260115,090941
$TT8_MAMPS,0.026215
$HUMID,57.71
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,7.10
$XPDR_PINGS,0
$24V_AH,21.8,52.104
$10V_AH,9.8,36.210
$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,12.650,60.900,349.550,0.000,0.000,26.225,19.095,312.007,0.000,0.000,23.657,2719.915,11083.042,436.600,3116.741,273.163,33.366,1494.671,0.000,2571.897,0.000,0.539,0.000
$DEVICE_MAMPS,221.085,65.790,1759.500,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,799.838,2355.360,1151.237,1180.522,0.000,0.000,0.000,0.000,0.000,0.000
$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,77171,1125
$CAP_FILE_SIZE,133691,0
$CFSIZE,259252224,208121856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,260115,192905,-5558.792,-30.037,32,1.0,33,-19.9