version: 66.07
glider: 542
mission: 9
dive: 292
start: 2 1 115 8 8 49
data:
$ID,542
$MISSION,9
$DIVE,292
$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,-22531.26
$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,66
$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
$GPS1,010215,075522,-5553.262,-39.501,38,0.9,38,-19.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-63.2
$GPS2,010215,080754,-5553.291,-39.331,16,1.4,16,-19.8
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET3
$TGT_LATLONG,-5600.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.165,0.161
$KALMAN_X,291145.8,-900.7,-4.0,-330887.5,6702.3
$KALMAN_Y,-107669.8,269.5,60.5,120076.2,-1510.8
$MHEAD_RNG_PITCHd_Wd,334.0,24751,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.44,-146.1,0.0,0.0,0,91,0.00,0.00,-73.72,0.000,2,0.000,0.000,43,2976,2388,0,0,0,0,0,0
$GC,94,-0.44,-146.1,3.0,-3.0,9,128,6.68,1.50,-17.73,0.000,4,0.239,0.080,1631,3850,2941,0,0,0,0,0,0
$GC,397,-0.44,-146.1,52.1,-14.9,58,406,0.00,1.48,0.00,0.000,6,0.000,0.032,1631,2904,2942,0,0,0,0,0,0
$GC,515,-0.44,-146.1,68.5,-15.2,77,522,0.00,1.62,0.00,0.000,4,0.000,0.061,1623,3860,2942,0,0,0,0,0,0
$GC,572,-0.44,-146.1,77.6,-15.2,86,581,0.00,1.45,0.00,0.000,6,0.000,0.032,1624,2921,2942,0,0,0,0,0,0
$GC,683,-0.44,-146.1,95.2,-14.7,105,692,0.00,2.15,0.00,0.000,4,0.000,0.039,1623,1540,2942,0,0,0,0,0,0
$GC,714,-0.44,-146.1,99.2,-15.2,109,722,0.12,2.20,0.00,0.000,6,0.182,0.057,1645,2887,2942,0,0,0,0,0,0
$GC,933,-0.44,-146.1,126.2,-11.7,130,936,0.00,1.62,0.00,0.000,4,0.000,0.063,1638,3902,2942,0,0,0,0,0,0
$GC,1030,-0.44,-146.1,138.9,-12.2,138,1039,0.00,1.48,0.00,0.000,6,0.000,0.031,1638,2922,2942,0,0,0,0,0,0
$GC,1357,-0.44,-146.1,180.3,-12.6,169,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2921,2942,0,0,0,0,0,0
$GC,1677,-0.44,-146.1,221.0,-13.4,199,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2922,2942,0,0,0,0,0,0
$GC,2003,-0.44,-146.1,264.0,-13.3,225,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2921,2942,0,0,0,0,0,0
$GC,2309,-0.44,-146.1,303.4,-12.2,240,2313,0.00,1.62,0.00,0.000,4,0.000,0.063,1630,3916,2942,0,0,0,0,0,0
$GC,2355,-0.44,-146.1,309.4,-12.7,242,2358,0.00,1.48,0.00,0.000,6,0.000,0.031,1630,2933,2942,0,0,0,0,0,0
$GC,2687,-0.44,-146.1,349.6,-11.8,258,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2926,2942,0,0,0,0,0,0
$GC,2999,-0.44,-146.1,386.8,-12.0,273,3000,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2926,2942,0,0,0,0,0,0
$GC,3306,-0.44,-146.1,422.3,-11.3,288,3309,0.00,1.62,0.00,0.000,4,0.000,0.063,1623,3890,2942,0,0,0,0,0,0
$GC,3366,-0.44,-146.1,429.8,-12.1,290,3374,0.00,1.45,0.00,0.000,6,0.000,0.031,1623,2928,2942,0,0,0,0,0,0
$GC,3683,-0.44,-146.1,467.5,-12.0,306,3684,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2927,2942,0,0,0,0,0,0
$GC,3992,-0.44,-146.1,504.5,-11.9,321,3993,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2927,2942,0,0,0,0,0,0
$GC,4301,-0.44,-146.1,540.5,-11.6,336,4305,0.00,1.62,0.00,0.000,4,0.000,0.063,1615,3920,2942,0,0,0,0,0,0
$GC,4347,-0.44,-146.1,546.1,-12.4,338,4351,0.08,1.50,0.00,0.000,6,0.161,0.031,1639,2940,2942,0,0,0,0,0,0
$GC,4679,-0.44,-146.1,581.1,-10.8,354,4680,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2940,2942,0,0,0,0,0,0
$GC,4989,-0.44,-146.1,614.1,-11.2,369,4993,0.00,1.62,0.00,0.000,4,0.000,0.063,1631,3929,2942,0,0,0,0,0,0
$GC,5059,-0.44,-146.1,622.1,-11.3,372,5063,0.00,1.52,0.00,0.000,6,0.000,0.030,1631,2924,2942,0,0,0,0,0,0
$GC,5391,-0.44,-146.1,661.8,-11.6,388,5392,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2919,2942,0,0,0,0,0,0
$GC,5702,-0.44,-146.1,698.6,-12.0,403,5705,0.00,1.65,0.00,0.000,4,0.000,0.063,1623,3911,2942,0,0,0,0,0,0
$GC,5750,-0.44,-146.1,705.4,-12.8,405,5756,0.00,1.48,0.00,0.000,6,0.000,0.030,1623,2923,2942,0,0,0,0,0,0
$GC,6079,-0.44,-146.1,744.6,-12.1,421,6081,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2922,2942,0,0,0,0,0,0
$GC,6388,-0.44,-146.1,781.6,-11.7,436,6392,0.00,1.65,0.00,0.000,4,0.000,0.064,1615,3910,2942,0,0,0,0,0,0
$GC,6434,-0.44,-146.1,787.5,-13.2,438,6437,0.00,1.48,0.00,0.000,6,0.000,0.031,1616,2934,2942,0,0,0,0,0,0
$GC,6766,-0.44,-146.1,828.6,-12.2,454,6768,0.10,0.00,0.00,0.000,6,0.192,0.000,1640,2933,2942,0,0,0,0,0,0
$GC,7076,-0.44,-146.1,861.0,-10.4,469,7080,0.00,1.62,0.00,0.000,4,0.000,0.063,1633,3893,2942,0,0,0,0,0,0
$GC,7125,-0.44,-146.1,866.5,-10.2,471,7130,0.00,1.45,0.00,0.000,6,0.000,0.029,1633,2934,2942,0,0,0,0,0,0
$GC,7454,-0.44,-146.1,900.6,-10.5,487,7455,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2934,2942,0,0,0,0,0,0
$GC,7762,-0.44,-146.1,932.2,-10.0,502,7766,0.00,1.62,0.00,0.000,4,0.000,0.063,1626,3896,2942,0,0,0,0,0,0
$GC,7830,-0.44,-146.1,939.5,-10.1,505,7834,0.00,1.45,0.00,0.000,6,0.000,0.031,1626,2930,2942,0,0,0,0,0,0
$GC,8163,-0.44,-146.1,974.6,-10.6,521,8164,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2923,2942,0,0,0,0,0,0
$STATE,8408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8408,begin apogee
$GC,8413,-0.13,0.0,1000.9,10.4,533,8554,0.40,0.00,137.93,1.763,6,0.158,0.000,1742,2702,2342,0,0,0,0,0,0
$STATE,8554,end apogee,CONTROL_FINISHED_OK
$STATE,8554,begin climb
$GC,8556,0.44,146.1,1005.4,0.0,540,8713,0.62,2.45,149.38,1.759,4,0.120,0.041,1934,1337,1746,0,0,0,0,0,0
$GC,8757,0.44,146.1,989.1,11.1,549,8765,0.00,2.47,0.00,0.000,6,0.000,0.054,1934,2711,1742,0,0,0,0,0,0
$GC,9075,0.44,146.1,949.9,12.3,565,9078,0.00,2.00,0.00,0.000,4,0.000,0.060,1934,3897,1737,0,0,0,0,0,0
$GC,9134,0.44,146.1,941.0,14.6,567,9142,0.00,1.88,0.00,0.000,6,0.000,0.033,1943,2750,1735,0,0,0,0,0,0
$GC,9452,0.44,146.1,898.7,13.3,583,9453,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2749,1735,0,0,0,0,0,0
$GC,9760,0.44,146.1,857.3,13.0,598,9761,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2749,1734,0,0,0,0,0,0
$GC,10070,0.44,146.1,816.9,13.1,613,10071,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2749,1733,0,0,0,0,0,0
$GC,10379,0.44,146.1,777.0,12.7,628,10380,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2749,1733,0,0,0,0,0,0
$GC,10688,0.44,146.1,737.6,12.8,643,10692,0.00,1.92,0.00,0.000,4,0.000,0.060,1943,3900,1733,0,0,0,0,0,0
$GC,10737,0.44,146.1,730.4,14.5,645,10741,0.00,1.90,0.00,0.000,6,0.000,0.034,1952,2710,1731,0,0,0,0,0,0
$GC,11065,0.44,146.1,687.5,13.1,661,11066,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2710,1731,0,0,0,0,0,0
$GC,11374,0.44,146.1,647.1,12.9,676,11375,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2709,1731,0,0,0,0,0,0
$GC,11683,0.44,146.1,607.2,12.8,691,11686,0.00,1.98,0.00,0.000,4,0.000,0.059,1952,3902,1731,0,0,0,0,0,0
$GC,11746,0.44,146.1,598.0,14.6,693,11752,0.00,1.88,0.00,0.000,6,0.000,0.034,1961,2703,1730,0,0,0,0,0,0
$GC,12061,0.44,146.1,555.7,13.3,709,12062,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2703,1730,0,0,0,0,0,0
$GC,12371,0.44,146.1,515.8,12.7,724,12375,0.00,1.98,0.00,0.000,4,0.000,0.058,1961,3893,1730,0,0,0,0,0,0
$GC,12420,0.44,146.1,508.5,14.7,726,12425,0.10,1.88,0.00,0.000,6,0.195,0.034,1942,2713,1729,0,0,0,0,0,0
$GC,12747,0.44,146.1,471.4,11.4,742,12748,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2712,1729,0,0,0,0,0,0
$GC,13057,0.44,146.1,435.2,11.9,757,13058,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2712,1729,0,0,0,0,0,0
$GC,13365,0.44,146.1,399.2,11.3,772,13369,0.00,1.95,0.00,0.000,4,0.000,0.058,1941,3891,1730,0,0,0,0,0,0
$GC,13403,0.44,146.1,394.3,12.8,773,13411,0.00,1.88,0.00,0.000,6,0.000,0.034,1949,2714,1729,0,0,0,0,0,0
$GC,13723,0.44,146.1,356.9,12.0,789,13724,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2713,1729,0,0,0,0,0,0
$GC,14031,0.44,146.1,320.9,11.5,804,14032,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2713,1729,0,0,0,0,0,0
$GC,14342,0.44,146.1,284.5,12.1,819,14343,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2713,1729,0,0,0,0,0,0
$GC,14652,0.44,146.1,246.9,11.8,835,14658,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2713,1729,0,0,0,0,0,0
$GC,14978,0.44,146.1,207.9,11.8,866,14982,0.00,1.98,0.00,0.000,4,0.000,0.058,1949,3887,1729,0,0,0,0,0,0
$GC,15028,0.44,146.1,200.7,14.5,870,15037,0.00,1.88,0.00,0.000,6,0.000,0.034,1959,2707,1729,0,0,0,0,0,0
$GC,15355,0.44,146.1,159.7,11.9,901,15357,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2707,1729,0,0,0,0,0,0
$GC,15675,0.44,146.1,122.4,11.4,931,15681,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2706,1729,0,0,0,0,0,0
$GC,16008,0.51,228.6,95.7,5.9,967,16069,0.00,0.00,52.17,1.064,6,0.000,0.000,1959,2706,1409,0,0,0,0,0,0
$GC,16303,0.51,228.6,63.8,11.1,1016,16312,0.00,2.28,0.00,0.000,4,0.000,0.044,1969,1298,1401,0,0,0,0,0,0
$GC,16351,0.51,228.6,58.8,11.0,1023,16358,0.00,2.30,0.00,0.000,6,0.000,0.052,1969,2716,1400,0,0,0,0,0,0
$GC,16464,0.51,228.6,44.8,11.6,1042,16473,0.00,1.98,0.00,0.000,4,0.000,0.060,1969,3887,1399,0,0,0,0,0,0
$GC,16511,0.51,228.6,38.8,14.0,1049,16518,0.00,1.90,0.00,0.000,6,0.000,0.034,1978,2708,1398,0,0,0,0,0,0
$GC,16628,0.51,228.6,23.8,12.5,1068,16636,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,2708,1398,0,0,0,0,0,0
$GC,16712,0.51,228.6,13.3,12.1,1081,16720,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,2708,1397,0,0,0,0,0,0
$GC,16797,0.51,228.6,3.9,10.9,1094,16805,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,2707,1396,0,0,0,0,0,0
$STATE,16814,end climb,SURFACE_DEPTH_REACHED
$STATE,16814,begin surface coast
$FINISH,1.0,1.013105
$STATE,16840,end surface coast,CONTROL_FINISHED_OK
$STATE,16840,begin surface
$SM_CCo,16914,0.00,0.000,0,0,1396,232.05
$SM_GC,2.31,5.28,0.00,0.00,0.060,0.000,0.000,56,2935,1396,-5.34,0.14,232.05
$IRIDIUM_FIX,-5535.12,-38.45,010215,070724
$TT8_MAMPS,0.026215
$HUMID,56.97
$INTERNAL_PRESSURE,8.98439
$TCM_TEMP,7.50
$XPDR_PINGS,0
$24V_AH,21.5,57.316
$10V_AH,9.8,40.010
$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,13.375,75.450,339.475,0.000,0.000,52.615,64.962,396.854,0.000,0.000,19.149,2664.043,11034.730,458.966,3221.870,275.360,33.375,1506.061,0.000,2500.635,0.000,0.540,0.000
$DEVICE_MAMPS,238.680,80.325,1762.560,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,780.855,2277.260,1094.909,1110.581,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353452
$DATA_FILE_SIZE,76907,1100
$CAP_FILE_SIZE,137438,0
$CFSIZE,259252224,205938688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,010215,125158,-5552.130,-39.531,41,0.9,41,-19.8