version: 66.07
glider: 542
mission: 9
dive: 303
start: 2 3 115 14 51 27
data:
$ID,542
$MISSION,9
$DIVE,303
$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,-22568.568
$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,26
$R_STBD_OVSHOOT,16
$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
$GPS1,030215,144122,-5610.643,-22.946,36,0.8,37,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-49.8
$GPS2,030215,145031,-5610.693,-22.730,18,0.7,20,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET1
$TGT_LATLONG,-5615.000,-2.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.211,-0.094
$KALMAN_X,329452.7,-351.2,-641.8,-351894.3,3882.3
$KALMAN_Y,-118853.8,152.4,-162.6,99371.4,-1115.1
$MHEAD_RNG_PITCHd_Wd,134.0,22772,-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,-146.1,0.0,0.0,0,67,0.00,0.00,-49.70,0.000,2,0.000,0.000,56,2927,2110,0,0,0,0,0,0
$GC,70,-0.44,-146.1,3.0,-2.4,6,113,6.55,2.22,-28.75,0.000,4,0.233,0.050,1637,1493,2939,0,0,0,0,0,0
$GC,384,-0.44,-146.1,44.3,-12.6,56,393,0.00,2.38,0.00,0.000,6,0.000,0.055,1626,2924,2941,0,0,0,0,0,0
$GC,501,-0.44,-146.1,60.1,-14.9,75,507,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2924,2941,0,0,0,0,0,0
$GC,615,-0.44,-146.1,77.0,-14.7,94,623,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2924,2941,0,0,0,0,0,0
$GC,727,-0.44,-146.1,94.1,-15.5,113,733,0.00,1.60,0.00,0.000,4,0.000,0.060,1619,3901,2941,0,0,0,0,0,0
$GC,785,-0.44,-146.1,103.5,-16.2,122,789,0.00,1.55,0.00,0.000,6,0.000,0.031,1619,2890,2941,0,0,0,0,0,0
$GC,1120,-0.44,-146.1,156.4,-15.7,153,1123,0.00,1.65,0.00,0.000,4,0.000,0.060,1610,3900,2941,0,0,0,0,0,0
$GC,1154,-0.44,-146.1,162.6,-16.4,156,1159,0.08,1.48,0.00,0.000,6,0.167,0.031,1635,2936,2941,0,0,0,0,0,0
$GC,1487,-0.44,-146.1,204.5,-12.5,187,1488,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2936,2942,0,0,0,0,0,0
$GC,1806,-0.44,-146.1,245.6,-13.8,217,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2936,2941,0,0,0,0,0,0
$GC,2125,-0.44,-146.1,289.7,-13.3,234,2128,0.00,1.62,0.00,0.000,4,0.000,0.061,1628,3927,2941,0,0,0,0,0,0
$GC,2163,-0.44,-146.1,295.3,-13.4,235,2171,0.00,1.52,0.00,0.000,6,0.000,0.031,1628,2926,2941,0,0,0,0,0,0
$GC,2481,-0.44,-146.1,335.1,-12.4,251,2485,0.00,1.62,0.00,0.000,4,0.000,0.060,1620,3894,2941,0,0,0,0,0,0
$GC,2514,-0.44,-146.1,339.9,-13.1,252,2518,0.00,1.48,0.00,0.000,6,0.000,0.031,1620,2931,2941,0,0,0,0,0,0
$GC,2836,-0.44,-146.1,379.4,-12.3,268,2837,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2928,2941,0,0,0,0,0,0
$GC,3145,-0.44,-146.1,418.1,-12.4,283,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2927,2941,0,0,0,0,0,0
$GC,3455,-0.44,-146.1,457.4,-12.8,298,3459,0.00,1.62,0.00,0.000,4,0.000,0.060,1612,3923,2941,0,0,0,0,0,0
$GC,3504,-0.44,-146.1,464.5,-13.9,300,3509,0.08,1.52,0.00,0.000,6,0.164,0.031,1637,2925,2941,0,0,0,0,0,0
$GC,3831,-0.44,-146.1,502.2,-11.5,316,3832,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2925,2941,0,0,0,0,0,0
$GC,4142,-0.44,-146.1,536.8,-10.9,331,4143,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2925,2941,0,0,0,0,0,0
$GC,4450,-0.44,-146.1,570.9,-11.1,346,4454,0.00,1.65,0.00,0.000,4,0.000,0.061,1630,3921,2941,0,0,0,0,0,0
$GC,4477,-0.44,-146.1,574.1,-11.4,347,4481,0.00,1.52,0.00,0.000,6,0.000,0.030,1630,2913,2941,0,0,0,0,0,0
$GC,4805,-0.44,-146.1,611.1,-11.8,363,4806,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2908,2941,0,0,0,0,0,0
$GC,5113,-0.44,-146.1,647.6,-11.6,378,5115,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2908,2941,0,0,0,0,0,0
$GC,5424,-0.44,-146.1,683.1,-11.2,393,5427,0.00,1.65,0.00,0.000,4,0.000,0.060,1622,3905,2941,0,0,0,0,0,0
$GC,5461,-0.44,-146.1,688.1,-12.7,394,5469,0.00,1.45,0.00,0.000,6,0.000,0.031,1622,2933,2942,0,0,0,0,0,0
$GC,5778,-0.44,-146.1,725.3,-11.9,410,5779,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2932,2941,0,0,0,0,0,0
$GC,6087,-0.44,-146.1,761.1,-11.4,425,6088,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2932,2941,0,0,0,0,0,0
$GC,6397,-0.44,-146.1,796.6,-11.6,440,6400,0.00,1.62,0.00,0.000,4,0.000,0.060,1614,3899,2942,0,0,0,0,0,0
$GC,6444,-0.44,-146.1,802.1,-12.3,442,6448,0.08,1.45,0.00,0.000,6,0.164,0.031,1638,2949,2942,0,0,0,0,0,0
$GC,6776,-0.44,-146.1,835.8,-10.0,458,6777,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2948,2942,0,0,0,0,0,0
$GC,7085,-0.44,-146.1,866.4,-9.8,473,7086,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2947,2941,0,0,0,0,0,0
$GC,7394,-0.44,-146.1,896.8,-9.9,488,7395,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2947,2941,0,0,0,0,0,0
$GC,7704,-0.44,-146.1,927.1,-9.9,503,7705,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2947,2941,0,0,0,0,0,0
$GC,8013,-0.44,-146.1,956.2,-9.4,518,8017,0.00,1.60,0.00,0.000,4,0.000,0.060,1631,3898,2941,0,0,0,0,0,0
$GC,8045,-0.44,-146.1,959.6,-10.1,519,8049,0.00,1.48,0.00,0.000,6,0.000,0.030,1631,2924,2941,0,0,0,0,0,0
$GC,8368,-0.44,-146.1,991.1,-10.0,535,8369,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2923,2941,0,0,0,0,0,0
$STATE,8468,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8468,begin apogee
$GC,8473,-0.13,0.0,1001.3,9.9,540,8615,0.38,0.00,139.32,1.783,6,0.164,0.000,1739,2699,2342,0,0,0,0,0,0
$STATE,8616,end apogee,CONTROL_FINISHED_OK
$STATE,8616,begin climb
$GC,8619,0.44,146.1,1005.3,0.0,547,8777,0.62,2.45,150.52,1.734,4,0.122,0.039,1929,1342,1746,0,0,0,0,0,0
$GC,8793,0.44,146.1,992.1,9.9,555,8798,0.00,2.50,0.00,0.000,6,0.000,0.050,1928,2714,1744,0,0,0,0,0,0
$GC,9116,0.44,146.1,953.1,12.3,571,9120,0.00,1.98,0.00,0.000,4,0.000,0.057,1928,3896,1737,0,0,0,0,0,0
$GC,9148,0.44,146.1,948.3,14.6,572,9152,0.00,1.88,0.00,0.000,6,0.000,0.032,1937,2754,1735,0,0,0,0,0,0
$GC,9471,0.44,146.1,905.6,13.2,588,9472,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2753,1734,0,0,0,0,0,0
$GC,9779,0.44,146.1,864.1,13.5,603,9780,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2752,1734,0,0,0,0,0,0
$GC,10088,0.44,146.1,823.1,13.0,618,10090,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2752,1734,0,0,0,0,0,0
$GC,10399,0.44,146.1,782.9,13.0,633,10400,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2753,1733,0,0,0,0,0,0
$GC,10707,0.44,146.1,741.6,13.5,648,10708,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2752,1733,0,0,0,0,0,0
$GC,11016,0.44,146.1,700.6,13.2,663,11017,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2752,1733,0,0,0,0,0,0
$GC,11326,0.44,146.1,661.5,12.4,678,11328,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2752,1733,0,0,0,0,0,0
$GC,11635,0.44,146.1,623.7,12.2,693,11636,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2753,1733,0,0,0,0,0,0
$GC,11944,0.44,146.1,586.3,11.9,708,11945,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,2752,1733,0,0,0,0,0,0
$GC,12255,0.44,146.1,550.1,11.6,723,12256,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2752,1733,0,0,0,0,0,0
$GC,12563,0.44,146.1,514.1,11.5,738,12564,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2752,1732,0,0,0,0,0,0
$GC,12872,0.44,146.1,479.7,11.0,753,12873,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2752,1732,0,0,0,0,0,0
$GC,13183,0.44,146.1,444.8,11.6,768,13184,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2752,1732,0,0,0,0,0,0
$GC,13491,0.44,146.1,409.8,11.1,783,13495,0.00,2.28,0.00,0.000,4,0.000,0.043,1948,1288,1732,0,0,0,0,0,0
$GC,13506,0.44,146.1,408.0,11.2,783,13514,0.00,2.30,0.00,0.000,6,0.000,0.050,1948,2705,1732,0,0,0,0,0,0
$GC,13827,0.44,146.1,371.6,11.3,799,13830,0.00,1.92,0.00,0.000,4,0.000,0.058,1948,3894,1732,0,0,0,0,0,0
$GC,13853,0.44,146.1,367.7,12.3,800,13858,0.00,1.88,0.00,0.000,6,0.000,0.033,1957,2706,1731,0,0,0,0,0,0
$GC,14181,0.44,146.1,329.7,11.4,816,14182,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,2706,1731,0,0,0,0,0,0
$GC,14491,0.44,146.1,292.9,12.3,831,14495,0.00,1.98,0.00,0.000,4,0.000,0.057,1957,3899,1731,0,0,0,0,0,0
$GC,14541,0.44,146.1,285.5,14.3,833,14546,0.10,1.88,0.00,0.000,6,0.194,0.033,1938,2717,1731,0,0,0,0,0,0
$GC,14871,0.44,146.1,250.6,10.6,849,14872,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,2716,1731,0,0,0,0,0,0
$GC,15187,0.44,146.3,219.6,9.5,878,15188,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,2716,1731,0,0,0,0,0,0
$GC,15507,0.45,155.6,189.2,9.1,908,15522,0.00,1.98,7.15,1.186,4,0.000,0.057,1938,3893,1707,0,0,0,0,0,0
$GC,15572,0.45,155.6,182.1,10.3,913,15580,0.00,1.88,0.00,0.000,6,0.000,0.033,1946,2708,1707,0,0,0,0,0,0
$GC,15898,0.45,155.6,151.8,9.8,944,15901,0.00,1.95,0.00,0.000,4,0.000,0.057,1946,3889,1707,0,0,0,0,0,0
$GC,15945,0.45,155.6,147.0,10.5,948,15949,0.00,1.85,0.00,0.000,6,0.000,0.034,1956,2705,1706,0,0,0,0,0,0
$GC,16277,0.45,155.6,115.0,9.8,979,16279,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,2705,1707,0,0,0,0,0,0
$GC,16607,0.46,175.2,82.4,8.7,1025,16628,0.00,1.95,14.57,1.014,4,0.000,0.056,1956,3892,1628,0,0,0,0,0,0
$GC,16688,0.46,175.2,74.2,11.4,1038,16697,0.00,1.90,0.00,0.000,6,0.000,0.035,1965,2704,1625,0,0,0,0,0,0
$GC,16805,0.48,195.9,63.9,8.6,1057,16827,0.00,0.00,14.52,0.946,6,0.000,0.000,1965,2704,1542,0,0,0,0,0,0
$GC,16935,0.50,213.4,52.6,8.8,1078,16950,0.00,0.00,11.85,0.894,6,0.000,0.000,1966,2704,1470,0,0,0,0,0,0
$GC,17059,0.52,245.5,41.7,8.1,1098,17088,0.00,2.05,20.05,0.890,4,0.000,0.057,1965,3890,1339,0,0,0,0,0,0
$GC,17110,0.54,273.0,37.7,8.3,1105,17132,0.00,1.92,15.38,0.855,6,0.000,0.036,1974,2708,1228,0,0,0,0,0,0
$GC,17244,0.54,273.0,23.0,11.2,1126,17252,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2708,1220,0,0,0,0,0,0
$GC,17328,0.54,273.0,10.1,14.0,1139,17339,0.00,2.28,0.00,0.000,4,0.000,0.044,1985,1287,1218,0,0,0,0,0,0
$GC,17353,0.54,273.0,6.3,15.4,1142,17362,0.00,2.33,0.00,0.000,6,0.000,0.050,1985,2708,1217,0,0,0,0,0,0
$STATE,17381,end climb,SURFACE_DEPTH_REACHED
$STATE,17381,begin surface coast
$FINISH,1.2,1.021655
$STATE,17407,end surface coast,CONTROL_FINISHED_OK
$STATE,17407,begin surface
$SM_CCo,17481,0.00,0.000,0,0,1215,276.45
$SM_GC,2.03,5.45,0.00,0.00,0.073,0.000,0.000,56,2935,1215,-5.35,0.14,276.45
$IRIDIUM_FIX,-5546.59,-19.33,030215,090935
$TT8_MAMPS,0.026215
$HUMID,57.48
$INTERNAL_PRESSURE,8.94533
$TCM_TEMP,7.00
$XPDR_PINGS,0
$24V_AH,21.3,59.509
$10V_AH,9.8,41.486
$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,13.325,74.425,373.375,0.000,0.000,28.712,42.857,326.936,0.000,0.000,22.570,2780.500,11387.099,457.455,3114.238,282.254,33.372,1504.105,0.000,2531.828,0.000,0.539,0.000
$DEVICE_MAMPS,233.325,61.200,1783.215,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,817.393,2378.364,1141.780,1188.103,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353900
$DATA_FILE_SIZE,80325,1150
$CAP_FILE_SIZE,139334,0
$CFSIZE,259252224,205078528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,030215,194406,-5613.131,-19.002,42,1.7,43,-19.9