version: 66.07
glider: 542
mission: 9
dive: 277
start: 1 29 115 6 42 55
data:
$ID,542
$MISSION,9
$DIVE,277
$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,-22478.439
$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,32
$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
$GPS1,290115,063004,-5549.931,-30.187,40,0.8,40,-19.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-74.3
$GPS2,290115,064200,-5549.953,-30.045,19,1.1,19,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET2
$TGT_LATLONG,-5545.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.174,0.127
$KALMAN_X,248935.0,-359.4,-225.7,-279383.2,3643.5
$KALMAN_Y,-88144.3,398.8,321.2,106326.5,-4079.4
$MHEAD_RNG_PITCHd_Wd,326.0,9174,-18.9,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.46,-125.6,0.0,0.0,0,51,0.00,0.00,-33.53,0.000,2,0.000,0.000,45,2929,2253,0,0,0,0,0,0
$GC,53,-0.47,-146.1,3.2,-3.6,4,89,6.50,1.70,-23.33,0.000,4,0.233,0.081,1621,3906,2938,0,0,0,0,0,0
$GC,360,-0.47,-146.1,55.4,-18.3,53,367,0.00,1.58,0.00,0.000,6,0.000,0.031,1621,2893,2941,0,0,0,0,0,0
$GC,473,-0.47,-146.1,75.8,-17.7,72,482,0.00,1.70,0.00,0.000,4,0.000,0.061,1613,3891,2941,0,0,0,0,0,0
$GC,605,-0.47,-146.1,98.9,-16.7,94,612,0.00,1.48,0.00,0.000,6,0.000,0.030,1613,2921,2942,0,0,0,0,0,0
$GC,827,-0.47,-146.1,136.9,-16.5,115,831,0.00,2.12,0.00,0.000,4,0.000,0.037,1613,1541,2942,0,0,0,0,0,0
$GC,891,-0.47,-146.1,147.1,-14.0,120,896,0.12,2.28,0.00,0.000,6,0.184,0.056,1634,2926,2942,0,0,0,0,0,0
$GC,1216,-0.47,-146.1,189.0,-12.7,150,1220,0.00,1.60,0.00,0.000,4,0.000,0.062,1627,3900,2942,0,0,0,0,0,0
$GC,1302,-0.47,-146.1,201.1,-13.1,157,1309,0.00,1.48,0.00,0.000,6,0.000,0.030,1627,2936,2942,0,0,0,0,0,0
$GC,1630,-0.47,-146.1,244.4,-13.5,188,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2936,2942,0,0,0,0,0,0
$GC,1948,-0.47,-146.1,289.0,-14.1,206,1950,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2935,2942,0,0,0,0,0,0
$GC,2260,-0.47,-146.1,332.8,-14.0,221,2261,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2936,2942,0,0,0,0,0,0
$GC,2570,-0.47,-146.1,374.9,-13.5,236,2571,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2935,2942,0,0,0,0,0,0
$GC,2877,-0.47,-146.1,415.4,-12.8,251,2878,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2935,2942,0,0,0,0,0,0
$GC,3186,-0.47,-146.1,454.4,-12.2,266,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2935,2942,0,0,0,0,0,0
$GC,3496,-0.47,-146.1,492.2,-12.3,281,3500,0.00,1.62,0.00,0.000,4,0.000,0.063,1620,3899,2942,0,0,0,0,0,0
$GC,3550,-0.47,-146.1,499.6,-13.3,283,3554,0.00,1.48,0.00,0.000,6,0.000,0.030,1619,2929,2942,0,0,0,0,0,0
$GC,3872,-0.47,-146.1,540.1,-12.6,299,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2927,2942,0,0,0,0,0,0
$GC,4182,-0.47,-146.1,579.0,-12.2,314,4186,0.00,1.65,0.00,0.000,4,0.000,0.062,1611,3921,2942,0,0,0,0,0,0
$GC,4220,-0.47,-146.1,584.3,-13.4,315,4228,0.00,1.52,0.00,0.000,6,0.000,0.030,1611,2917,2942,0,0,0,0,0,0
$GC,4536,-0.47,-146.1,624.0,-12.6,331,4537,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2917,2942,0,0,0,0,0,0
$GC,4846,-0.47,-146.1,663.3,-12.8,346,4848,0.00,0.00,0.00,0.000,6,0.000,0.000,1611,2917,2942,0,0,0,0,0,0
$GC,5155,-0.47,-146.1,702.8,-12.9,361,5159,0.00,1.65,0.00,0.000,4,0.000,0.063,1604,3896,2942,0,0,0,0,0,0
$GC,5209,-0.47,-146.1,710.6,-13.9,363,5214,0.08,1.48,0.00,0.000,6,0.164,0.031,1628,2939,2942,0,0,0,0,0,0
$GC,5530,-0.47,-146.1,746.4,-10.8,379,5532,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2939,2942,0,0,0,0,0,0
$GC,5840,-0.47,-146.1,778.9,-10.4,394,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2939,2942,0,0,0,0,0,0
$GC,6150,-0.47,-146.1,809.4,-9.4,409,6151,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2939,2942,0,0,0,0,0,0
$GC,6459,-0.47,-146.1,838.5,-9.4,424,6463,0.00,1.62,0.00,0.000,4,0.000,0.063,1621,3900,2942,0,0,0,0,0,0
$GC,6496,-0.47,-146.1,842.5,-10.7,425,6504,0.00,1.48,0.00,0.000,6,0.000,0.030,1621,2920,2943,0,0,0,0,0,0
$GC,6814,-0.47,-146.1,872.9,-9.5,441,6815,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2919,2942,0,0,0,0,0,0
$GC,7122,-0.47,-146.1,901.5,-9.2,456,7126,0.00,1.62,0.00,0.000,4,0.000,0.063,1613,3908,2942,0,0,0,0,0,0
$GC,7177,-0.47,-146.1,907.4,-10.4,458,7182,0.00,1.48,0.00,0.000,6,0.000,0.030,1613,2929,2942,0,0,0,0,0,0
$GC,7500,-0.47,-146.1,938.7,-10.0,474,7501,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2924,2942,0,0,0,0,0,0
$GC,7808,-0.47,-146.1,969.5,-10.0,489,7812,0.00,1.62,0.00,0.000,4,0.000,0.063,1605,3910,2942,0,0,0,0,0,0
$GC,7857,-0.47,-146.1,975.2,-10.8,491,7863,0.08,1.50,0.00,0.000,6,0.160,0.031,1629,2937,2943,0,0,0,0,0,0
$STATE,8142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8142,begin apogee
$GC,8148,-0.13,0.0,1001.1,9.2,505,8289,0.38,0.00,137.75,1.773,6,0.157,0.000,1740,2712,2342,0,0,0,0,0,0
$STATE,8290,end apogee,CONTROL_FINISHED_OK
$STATE,8290,begin climb
$GC,8291,0.47,146.1,1004.4,0.0,512,8449,0.68,0.00,151.43,1.777,6,0.120,0.000,1936,2712,1745,0,0,0,0,0,0
$GC,8744,0.47,146.1,951.7,13.2,534,8745,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2712,1737,0,0,0,0,0,0
$GC,9054,0.47,146.1,911.7,12.7,549,9058,0.00,2.05,0.00,0.000,4,0.000,0.063,1936,3924,1736,0,0,0,0,0,0
$GC,9122,0.47,146.1,901.4,15.9,552,9126,0.00,1.90,0.00,0.000,6,0.000,0.035,1945,2736,1733,0,0,0,0,0,0
$GC,9454,0.47,146.1,856.4,13.6,568,9455,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2735,1733,0,0,0,0,0,0
$GC,9764,0.47,146.1,815.9,12.9,583,9767,0.00,1.95,0.00,0.000,4,0.000,0.062,1945,3900,1733,0,0,0,0,0,0
$GC,9818,0.47,146.1,807.6,14.9,585,9823,0.00,1.90,0.00,0.000,6,0.000,0.035,1954,2713,1732,0,0,0,0,0,0
$GC,10140,0.47,146.1,764.9,13.1,601,10141,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2712,1732,0,0,0,0,0,0
$GC,10450,0.47,146.1,726.1,12.2,616,10454,0.00,2.00,0.00,0.000,4,0.000,0.061,1954,3894,1732,0,0,0,0,0,0
$GC,10510,0.47,146.1,717.0,15.4,618,10517,0.00,1.90,0.00,0.000,6,0.000,0.034,1963,2703,1731,0,0,0,0,0,0
$GC,10826,0.47,146.1,674.1,13.7,634,10830,0.00,2.00,0.00,0.000,4,0.000,0.060,1963,3903,1731,0,0,0,0,0,0
$GC,10882,0.47,146.1,665.3,17.1,636,10885,0.00,1.90,0.00,0.000,6,0.000,0.036,1973,2696,1730,0,0,0,0,0,0
$GC,11203,0.47,146.1,618.8,14.1,652,11206,0.00,2.00,0.00,0.000,4,0.000,0.059,1972,3900,1731,0,0,0,0,0,0
$GC,11252,0.47,146.1,610.4,16.6,654,11257,0.15,1.88,0.00,0.000,6,0.213,0.035,1947,2702,1730,0,0,0,0,0,0
$GC,11579,0.47,146.1,571.1,11.8,670,11580,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2702,1730,0,0,0,0,0,0
$GC,11888,0.47,146.1,534.7,11.9,685,11892,0.00,2.00,0.00,0.000,4,0.000,0.059,1948,3904,1730,0,0,0,0,0,0
$GC,11959,0.47,146.1,524.7,14.2,688,11964,0.00,1.90,0.00,0.000,6,0.000,0.034,1955,2703,1730,0,0,0,0,0,0
$GC,12287,0.47,146.1,482.1,13.3,704,12288,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2704,1730,0,0,0,0,0,0
$GC,12596,0.47,146.1,441.5,13.1,719,12600,0.00,1.98,0.00,0.000,4,0.000,0.058,1956,3900,1730,0,0,0,0,0,0
$GC,12665,0.47,146.1,431.2,15.1,722,12669,0.00,1.88,0.00,0.000,6,0.000,0.034,1964,2713,1730,0,0,0,0,0,0
$GC,12997,0.47,146.1,385.2,13.8,738,12998,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,2712,1730,0,0,0,0,0,0
$GC,13309,0.47,146.1,342.4,13.7,753,13313,0.00,1.98,0.00,0.000,4,0.000,0.059,1965,3903,1729,0,0,0,0,0,0
$GC,13381,0.47,146.1,330.4,15.8,756,13386,0.08,1.90,0.00,0.000,6,0.189,0.034,1952,2704,1730,0,0,0,0,0,0
$GC,13708,0.47,146.1,290.6,11.8,772,13709,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2704,1730,0,0,0,0,0,0
$GC,14020,0.47,146.1,253.6,11.6,787,14024,0.00,2.00,0.00,0.000,4,0.000,0.058,1951,3907,1730,0,0,0,0,0,0
$GC,14077,0.47,146.1,245.0,15.7,790,14081,0.00,1.88,0.00,0.000,6,0.000,0.034,1960,2705,1730,0,0,0,0,0,0
$GC,14410,0.47,146.1,204.6,12.3,821,14413,0.00,2.00,0.00,0.000,4,0.000,0.059,1960,3908,1729,0,0,0,0,0,0
$GC,14467,0.47,146.1,196.5,14.5,826,14471,0.00,1.88,0.00,0.000,6,0.000,0.034,1969,2710,1729,0,0,0,0,0,0
$GC,14800,0.47,146.1,155.6,11.8,857,14804,0.00,2.17,0.00,0.000,4,0.000,0.043,1980,1295,1730,0,0,0,0,0,0
$GC,14876,0.47,146.1,147.0,10.7,863,14881,0.12,2.30,0.00,0.000,6,0.190,0.054,1949,2725,1729,0,0,0,0,0,0
$GC,15203,0.47,146.1,114.1,9.7,893,15206,0.00,1.90,0.00,0.000,4,0.000,0.060,1949,3886,1729,0,0,0,0,0,0
$GC,15311,0.47,146.1,101.3,11.5,902,15321,0.00,1.85,0.00,0.000,6,0.000,0.033,1957,2710,1729,0,0,0,0,0,0
$GC,15662,0.47,146.1,66.3,10.3,962,15671,0.00,2.22,0.00,0.000,4,0.000,0.043,1967,1288,1729,0,0,0,0,0,0
$GC,15724,0.49,168.4,60.7,8.4,972,15748,0.00,2.33,14.80,0.923,6,0.000,0.054,1968,2710,1654,0,0,0,0,0,0
$GC,15857,0.49,168.4,47.1,10.4,993,15863,0.00,1.98,0.00,0.000,4,0.000,0.062,1968,3903,1652,0,0,0,0,0,0
$GC,15920,0.49,168.4,38.8,12.5,1003,15927,0.00,1.90,0.00,0.000,6,0.000,0.034,1977,2711,1651,0,0,0,0,0,0
$GC,16038,0.49,168.4,26.2,10.1,1022,16046,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,2710,1651,0,0,0,0,0,0
$GC,16121,0.49,168.4,17.5,10.1,1035,16129,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,2710,1651,0,0,0,0,0,0
$GC,16205,0.49,168.4,8.7,10.7,1048,16214,0.00,0.00,0.00,0.000,6,0.000,0.000,1977,2710,1651,0,0,0,0,0,0
$STATE,16263,end climb,SURFACE_DEPTH_REACHED
$STATE,16263,begin surface coast
$FINISH,1.0,1.003083
$STATE,16301,end surface coast,CONTROL_FINISHED_OK
$STATE,16302,begin surface
$SM_CCo,16315,19.35,0.142,0,0,1526,200.16
$SM_GC,3.26,0.00,0.00,19.35,0.000,0.000,0.142,61,2943,1526,-5.40,0.37,200.16
$IRIDIUM_FIX,-5527.50,-22.99,290115,060600
$TT8_MAMPS,0.026215
$HUMID,57.04
$INTERNAL_PRESSURE,8.99416
$TCM_TEMP,7.50
$XPDR_PINGS,0
$24V_AH,21.6,54.505
$10V_AH,9.8,37.983
$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,13.300,88.825,303.975,19.350,0.000,51.239,37.784,396.260,0.000,0.000,22.196,2630.006,10578.208,432.627,3134.013,269.913,33.371,1430.853,0.000,2454.609,0.000,0.540,0.000
$DEVICE_MAMPS,232.560,81.090,1777.095,142.290,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,756.666,2195.316,1042.346,1082.656,0.000,0.000,0.000,0.000,0.000,0.000
$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,73581,1063
$CAP_FILE_SIZE,138245,0
$CFSIZE,259252224,207114240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,290115,111704,-5549.738,-31.623,78,0.8,78,-19.9