version: 66.07
glider: 542
mission: 9
dive: 265
start: 1 26 115 19 39 18
data:
$ID,542
$MISSION,9
$DIVE,265
$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,-22438.963
$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
$GPS1,260115,192905,-5558.792,-30.037,32,1.0,33,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-71.7
$GPS2,260115,193824,-5558.827,-29.877,20,1.6,20,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET2
$TGT_LATLONG,-5545.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.039,0.253
$KALMAN_X,221036.5,291.9,432.2,-252650.7,807.5
$KALMAN_Y,-58752.2,-185.3,31.5,61392.4,-2784.6
$MHEAD_RNG_PITCHd_Wd,11.1,25607,-14.8,-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,-0.40,-146.1,0.0,0.0,0,53,0.00,0.00,-34.12,0.000,2,0.000,0.000,45,2935,2084,0,0,0,0,0,0
$GC,55,-0.40,-146.1,3.2,-4.8,4,106,6.55,1.70,-32.22,0.000,4,0.232,0.085,1645,3907,2938,0,0,0,0,0,0
$GC,301,-0.40,-146.1,35.3,-15.5,42,310,0.00,1.58,0.00,0.000,6,0.000,0.031,1645,2892,2940,0,0,0,0,0,0
$GC,417,-0.40,-146.1,53.6,-16.0,61,423,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2892,2941,0,0,0,0,0,0
$GC,531,-0.40,-146.1,71.4,-13.9,80,539,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2892,2941,0,0,0,0,0,0
$GC,645,-0.40,-146.1,87.1,-12.4,99,653,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2892,2941,0,0,0,0,0,0
$GC,872,-0.40,-146.1,116.7,-13.2,128,873,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2892,2941,0,0,0,0,0,0
$GC,1194,-0.40,-146.1,156.2,-12.0,158,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2892,2941,0,0,0,0,0,0
$GC,1523,-0.40,-146.1,195.6,-12.3,189,1527,0.00,1.70,0.00,0.000,4,0.000,0.068,1637,3899,2941,0,0,0,0,0,0
$GC,1574,-0.40,-146.1,202.8,-12.3,193,1581,0.00,1.48,0.00,0.000,6,0.000,0.031,1637,2926,2941,0,0,0,0,0,0
$GC,1901,-0.40,-146.1,240.7,-11.7,224,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2924,2941,0,0,0,0,0,0
$GC,2214,-0.40,-146.1,276.5,-11.4,243,2217,0.00,1.65,0.00,0.000,4,0.000,0.067,1629,3912,2940,0,0,0,0,0,0
$GC,2261,-0.40,-146.1,282.4,-12.7,245,2265,0.00,1.50,0.00,0.000,6,0.000,0.031,1630,2933,2941,0,0,0,0,0,0
$GC,2596,-0.40,-146.1,325.8,-13.3,261,2598,0.10,0.00,0.00,0.000,6,0.191,0.000,1654,2932,2941,0,0,0,0,0,0
$GC,2904,-0.40,-146.1,359.8,-10.9,276,2907,0.00,1.62,0.00,0.000,4,0.000,0.067,1648,3890,2941,0,0,0,0,0,0
$GC,2936,-0.40,-146.1,363.9,-11.9,277,2941,0.00,1.48,0.00,0.000,6,0.000,0.031,1647,2925,2941,0,0,0,0,0,0
$GC,3260,-0.40,-146.1,399.9,-11.1,293,3262,0.00,0.00,0.00,0.000,6,0.000,0.000,1648,2926,2941,0,0,0,0,0,0
$GC,3569,-0.40,-146.1,434.2,-10.8,308,3572,0.00,1.65,0.00,0.000,4,0.000,0.067,1639,3913,2941,0,0,0,0,0,0
$GC,3636,-0.40,-146.1,441.8,-11.0,311,3640,0.00,1.50,0.00,0.000,6,0.000,0.032,1639,2933,2941,0,0,0,0,0,0
$GC,3969,-0.40,-146.1,477.6,-10.4,327,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2933,2941,0,0,0,0,0,0
$GC,4279,-0.40,-146.1,509.9,-10.2,342,4280,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2933,2941,0,0,0,0,0,0
$GC,4587,-0.40,-146.1,540.8,-9.8,357,4591,0.00,1.62,0.00,0.000,4,0.000,0.067,1632,3891,2941,0,0,0,0,0,0
$GC,4642,-0.40,-146.1,546.7,-10.5,359,4646,0.00,1.48,0.00,0.000,6,0.000,0.031,1632,2906,2941,0,0,0,0,0,0
$GC,4965,-0.40,-146.1,579.7,-10.4,375,4968,0.00,1.65,0.00,0.000,4,0.000,0.066,1624,3895,2941,0,0,0,0,0,0
$GC,5014,-0.40,-146.1,585.3,-11.3,377,5019,0.08,1.45,0.00,0.000,6,0.155,0.031,1650,2946,2941,0,0,0,0,0,0
$GC,5342,-0.40,-146.1,613.8,-8.9,393,5343,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2945,2941,0,0,0,0,0,0
$GC,5651,-0.40,-146.1,641.6,-9.0,408,5652,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2945,2941,0,0,0,0,0,0
$GC,5960,-0.40,-146.1,669.3,-8.8,423,5963,0.00,1.60,0.00,0.000,4,0.000,0.066,1643,3890,2942,0,0,0,0,0,0
$GC,6010,-0.40,-146.1,674.3,-9.9,425,6013,0.00,1.48,0.00,0.000,6,0.000,0.031,1643,2915,2941,0,0,0,0,0,0
$GC,6336,-0.40,-146.1,705.4,-9.6,441,6338,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2914,2941,0,0,0,0,0,0
$GC,6646,-0.40,-146.1,736.3,-9.7,456,6649,0.00,1.65,0.00,0.000,4,0.000,0.065,1635,3900,2941,0,0,0,0,0,0
$GC,6714,-0.40,-146.1,743.1,-10.3,459,6718,0.00,1.48,0.00,0.000,6,0.000,0.031,1635,2923,2941,0,0,0,0,0,0
$GC,7048,-0.40,-146.1,777.1,-10.3,475,7049,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2920,2941,0,0,0,0,0,0
$GC,7357,-0.40,-146.1,809.6,-10.4,490,7360,0.00,1.65,0.00,0.000,4,0.000,0.065,1627,3909,2941,0,0,0,0,0,0
$GC,7406,-0.40,-146.1,815.4,-11.9,492,7411,0.08,1.48,0.00,0.000,6,0.155,0.031,1653,2939,2942,0,0,0,0,0,0
$GC,7733,-0.40,-146.1,845.9,-9.3,508,7734,0.00,0.00,0.00,0.000,6,0.000,0.000,1652,2939,2941,0,0,0,0,0,0
$GC,8043,-0.40,-146.1,874.0,-9.2,523,8044,0.00,0.00,0.00,0.000,6,0.000,0.000,1652,2939,2941,0,0,0,0,0,0
$GC,8352,-0.40,-146.1,902.1,-9.0,538,8355,0.00,1.62,0.00,0.000,4,0.000,0.065,1646,3896,2941,0,0,0,0,0,0
$GC,8401,-0.40,-146.1,907.0,-9.8,540,8405,0.00,1.45,0.00,0.000,6,0.000,0.030,1646,2920,2942,0,0,0,0,0,0
$GC,8729,-0.40,-146.1,938.0,-9.5,556,8731,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2920,2941,0,0,0,0,0,0
$GC,9038,-0.40,-146.1,966.7,-9.2,571,9042,0.00,1.65,0.00,0.000,4,0.000,0.066,1638,3907,2941,0,0,0,0,0,0
$GC,9098,-0.40,-146.1,973.0,-10.2,573,9106,0.00,1.48,0.00,0.000,6,0.000,0.030,1638,2937,2941,0,0,0,0,0,0
$STATE,9392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9393,begin apogee
$GC,9398,-0.13,0.0,1001.8,9.6,588,9538,0.35,0.00,136.62,1.760,6,0.155,0.000,1741,2706,2342,0,0,0,0,0,0
$STATE,9540,end apogee,CONTROL_FINISHED_OK
$STATE,9540,begin climb
$GC,9542,0.40,146.1,1006.2,0.0,595,9697,0.57,2.47,147.88,1.711,4,0.123,0.042,1919,1347,1746,0,0,0,0,0,0
$GC,9724,0.40,146.1,992.9,10.0,603,9732,0.00,2.50,0.00,0.000,6,0.000,0.057,1919,2718,1743,0,0,0,0,0,0
$GC,10042,0.40,146.1,956.0,12.0,619,10046,0.00,2.03,0.00,0.000,4,0.000,0.065,1919,3891,1738,0,0,0,0,0,0
$GC,10079,0.40,146.1,950.5,14.8,620,10087,0.00,1.88,0.00,0.000,6,0.000,0.034,1927,2748,1735,0,0,0,0,0,0
$GC,10395,0.40,146.1,909.7,12.9,636,10396,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,2747,1735,0,0,0,0,0,0
$GC,10705,0.40,146.1,869.5,13.2,651,10707,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,2747,1734,0,0,0,0,0,0
$GC,11014,0.40,146.1,829.9,12.7,666,11015,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,2747,1734,0,0,0,0,0,0
$GC,11323,0.40,146.1,791.3,12.4,681,11325,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,2747,1733,0,0,0,0,0,0
$GC,11634,0.40,146.1,752.8,12.7,696,11635,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,2747,1733,0,0,0,0,0,0
$GC,11942,0.40,146.1,714.2,12.5,711,11943,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,2747,1733,0,0,0,0,0,0
$GC,12251,0.40,146.1,675.7,12.4,726,12252,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,2747,1733,0,0,0,0,0,0
$GC,12561,0.40,146.1,636.8,12.7,741,12563,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,2746,1732,0,0,0,0,0,0
$GC,12870,0.40,146.1,598.4,12.3,756,12871,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,2746,1732,0,0,0,0,0,0
$GC,13180,0.40,146.1,561.4,11.7,771,13181,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,2746,1732,0,0,0,0,0,0
$GC,13489,0.40,146.1,526.3,10.9,786,13490,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,2747,1732,0,0,0,0,0,0
$GC,13798,0.40,146.1,493.1,10.8,801,13799,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,2747,1732,0,0,0,0,0,0
$GC,14108,0.40,146.1,460.5,10.3,816,14109,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,2746,1732,0,0,0,0,0,0
$GC,14417,0.40,146.1,428.8,10.2,831,14418,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,2747,1732,0,0,0,0,0,0
$GC,14726,0.40,146.1,396.7,10.9,846,14727,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,2747,1732,0,0,0,0,0,0
$GC,15038,0.40,146.1,363.2,10.9,861,15039,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,2747,1731,0,0,0,0,0,0
$GC,15345,0.40,146.1,329.4,11.0,876,15346,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,2746,1731,0,0,0,0,0,0
$GC,15656,0.40,146.1,296.6,10.5,891,15660,0.00,1.92,0.00,0.000,4,0.000,0.064,1927,3892,1732,0,0,0,0,0,0
$GC,15712,0.40,146.1,289.6,12.3,893,15716,0.00,1.85,0.00,0.000,6,0.000,0.035,1937,2697,1731,0,0,0,0,0,0
$GC,16035,0.40,146.1,254.3,11.0,909,16036,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2696,1730,0,0,0,0,0,0
$GC,16354,0.40,146.1,219.6,11.1,937,16361,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2696,1731,0,0,0,0,0,0
$GC,16680,0.40,146.1,182.3,11.3,968,16681,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2696,1731,0,0,0,0,0,0
$GC,16999,0.40,146.1,145.8,11.6,998,17003,0.00,2.00,0.00,0.000,4,0.000,0.062,1937,3891,1731,0,0,0,0,0,0
$GC,17062,0.40,146.1,137.5,14.0,1003,17070,0.00,1.88,0.00,0.000,6,0.000,0.035,1946,2713,1730,0,0,0,0,0,0
$GC,17387,0.40,146.1,101.1,11.0,1034,17389,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,2712,1730,0,0,0,0,0,0
$GC,17736,0.40,155.4,67.5,9.2,1093,17744,0.00,0.00,4.97,0.811,6,0.000,0.000,1946,2712,1707,0,0,0,0,0,0
$GC,17853,0.44,203.4,57.3,7.9,1112,17882,0.00,0.00,25.48,0.955,6,0.000,0.000,1946,2712,1510,0,0,0,0,0,0
$GC,17987,0.46,225.0,46.3,8.8,1134,18002,0.00,0.00,11.05,0.874,6,0.000,0.000,1946,2712,1422,0,0,0,0,0,0
$GC,18111,0.50,274.4,35.8,7.8,1154,18140,0.00,0.00,25.17,0.868,6,0.000,0.000,1946,2712,1220,0,0,0,0,0,0
$GC,18252,0.54,319.2,24.0,8.0,1176,18285,0.00,0.00,26.02,0.811,6,0.000,0.000,1946,2712,1038,0,0,0,0,0,0
$GC,18361,0.55,336.8,14.9,8.9,1192,18378,0.00,0.00,8.32,0.731,6,0.000,0.000,1946,2712,964,0,0,0,0,0,0
$GC,18455,0.57,365.0,7.1,8.5,1206,18472,0.00,0.00,12.77,0.741,6,0.000,0.000,1946,2712,850,0,0,0,0,0,0
$STATE,18504,end climb,SURFACE_DEPTH_REACHED
$STATE,18504,begin surface coast
$FINISH,1.2,1.013330
$STATE,18548,end surface coast,CONTROL_FINISHED_OK
$STATE,18548,begin surface
$SM_CCo,18622,0.00,0.000,0,0,843,367.70
$SM_GC,1.96,5.25,0.00,0.00,0.063,0.000,0.000,57,2923,843,-5.33,-0.20,367.70
$IRIDIUM_FIX,-5535.12,-38.45,260115,090941
$TT8_MAMPS,0.026215
$HUMID,56.81
$INTERNAL_PRESSURE,8.93556
$TCM_TEMP,7.50
$XPDR_PINGS,0
$24V_AH,21.8,52.293
$10V_AH,9.8,36.356
$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,12.975,54.775,398.300,0.000,0.000,31.229,59.637,323.127,0.000,0.000,22.952,2929.729,12170.073,447.969,3337.005,287.302,33.364,1558.324,0.000,2729.475,0.000,0.540,0.000
$DEVICE_MAMPS,231.795,84.915,1760.265,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,867.433,2538.536,1223.936,1269.422,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353464
$DATA_FILE_SIZE,83649,1220
$CAP_FILE_SIZE,141740,0
$CFSIZE,259252224,208031744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270115,005054,-5557.318,-28.336,39,1.1,39,-19.9