version: 66.07
glider: 542
mission: 9
dive: 307
start: 2 4 115 11 17 44
data:
$ID,542
$MISSION,9
$DIVE,307
$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,-22581.938
$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,29
$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
$GPS1,040215,110735,-5616.012,-2.127,26,0.9,27,-20.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-60.1
$GPS2,040215,111648,-5616.075,-1.968,17,1.3,18,-20.1
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET1
$TGT_LATLONG,-5615.000,-2.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.021,0.230
$KALMAN_X,331678.1,771.6,297.9,-334730.5,427.0
$KALMAN_Y,-132701.3,-38.0,-51.5,103340.2,-4501.5
$MHEAD_RNG_PITCHd_Wd,15.0,1992,-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,-49.38,0.000,2,0.000,0.000,51,2943,2003,0,0,0,0,0,0
$GC,70,-0.44,-146.1,3.0,-2.6,6,120,6.57,2.25,-36.62,0.000,4,0.236,0.053,1640,1502,2938,0,0,0,0,0,0
$GC,141,-0.44,-146.1,7.5,-11.8,15,150,0.00,2.35,0.00,0.000,6,0.000,0.057,1629,2909,2940,0,0,0,0,0,0
$GC,226,-0.44,-146.1,21.1,-18.2,28,234,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2909,2940,0,0,0,0,0,0
$GC,310,-0.44,-146.1,35.7,-17.2,41,316,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2909,2940,0,0,0,0,0,0
$GC,422,-0.44,-146.1,54.5,-15.1,60,430,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2909,2940,0,0,0,0,0,0
$GC,538,-0.44,-146.1,70.4,-14.2,79,544,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2909,2940,0,0,0,0,0,0
$GC,649,-0.44,-146.1,87.1,-14.3,98,656,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2909,2941,0,0,0,0,0,0
$GC,878,-0.44,-146.1,118.9,-14.4,127,882,0.00,2.17,0.00,0.000,4,0.000,0.040,1629,1507,2941,0,0,0,0,0,0
$GC,918,-0.44,-146.1,124.7,-12.8,130,922,0.00,2.33,0.00,0.000,6,0.000,0.058,1619,2936,2941,0,0,0,0,0,0
$GC,1242,-0.44,-146.1,176.9,-16.3,160,1244,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2936,2941,0,0,0,0,0,0
$GC,1563,-0.44,-146.1,229.4,-16.4,190,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2936,2941,0,0,0,0,0,0
$GC,1884,-0.44,-146.1,278.9,-14.9,212,1888,0.00,1.58,0.00,0.000,4,0.000,0.065,1611,3894,2941,0,0,0,0,0,0
$GC,1935,-0.44,-146.1,286.9,-15.5,214,1939,0.08,1.52,0.00,0.000,6,0.163,0.032,1635,2901,2941,0,0,0,0,0,0
$GC,2262,-0.44,-146.1,327.2,-12.0,230,2264,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2899,2941,0,0,0,0,0,0
$GC,2574,-0.44,-146.1,362.6,-11.1,245,2575,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2899,2941,0,0,0,0,0,0
$GC,2880,-0.44,-146.1,395.8,-10.4,260,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2899,2941,0,0,0,0,0,0
$GC,3189,-0.44,-146.1,427.6,-10.5,275,3190,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2899,2941,0,0,0,0,0,0
$GC,3499,-0.44,-146.1,460.4,-10.5,290,3500,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2899,2941,0,0,0,0,0,0
$GC,3807,-0.44,-146.1,492.9,-10.5,305,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2899,2941,0,0,0,0,0,0
$GC,4117,-0.44,-146.1,525.3,-10.5,320,4118,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2898,2941,0,0,0,0,0,0
$GC,4427,-0.44,-146.1,557.3,-10.2,335,4428,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2898,2941,0,0,0,0,0,0
$GC,4735,-0.44,-146.1,588.9,-10.3,350,4737,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2898,2941,0,0,0,0,0,0
$GC,5045,-0.44,-146.1,619.4,-9.8,365,5046,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2899,2941,0,0,0,0,0,0
$GC,5354,-0.44,-146.1,649.1,-9.6,380,5355,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2899,2941,0,0,0,0,0,0
$GC,5663,-0.44,-146.1,678.7,-9.6,395,5665,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2898,2941,0,0,0,0,0,0
$GC,5973,-0.44,-146.1,707.6,-9.4,410,5974,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2898,2940,0,0,0,0,0,0
$GC,6283,-0.44,-146.1,737.6,-9.9,425,6284,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2898,2941,0,0,0,0,0,0
$GC,6591,-0.44,-146.1,767.8,-9.9,440,6593,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2898,2940,0,0,0,0,0,0
$GC,6901,-0.44,-146.1,798.1,-9.8,455,6902,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2899,2941,0,0,0,0,0,0
$GC,7211,-0.44,-146.1,827.8,-9.5,470,7212,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2898,2940,0,0,0,0,0,0
$GC,7519,-0.44,-146.1,857.5,-9.5,485,7521,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2898,2941,0,0,0,0,0,0
$GC,7829,-0.44,-146.1,886.7,-9.5,500,7830,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2898,2941,0,0,0,0,0,0
$GC,8139,-0.44,-146.1,914.7,-9.1,515,8141,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2899,2941,0,0,0,0,0,0
$GC,8448,-0.44,-146.1,942.6,-8.9,530,8449,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2898,2941,0,0,0,0,0,0
$GC,8757,-0.44,-146.1,969.3,-8.9,545,8758,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2898,2941,0,0,0,0,0,0
$GC,9067,-0.44,-146.1,996.4,-8.4,560,9069,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2899,2941,0,0,0,0,0,0
$STATE,9126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9126,begin apogee
$GC,9131,-0.13,0.0,1001.6,8.5,563,9273,0.35,0.00,139.05,1.782,6,0.154,0.000,1738,2702,2341,0,0,0,0,0,0
$STATE,9274,end apogee,CONTROL_FINISHED_OK
$STATE,9274,begin climb
$GC,9277,0.44,146.1,1004.5,0.0,570,9435,0.65,2.47,150.43,1.739,4,0.121,0.043,1935,1331,1747,0,0,0,0,0,0
$GC,9468,0.44,146.1,987.3,11.6,579,9472,0.00,2.53,0.00,0.000,6,0.000,0.054,1935,2725,1743,0,0,0,0,0,0
$GC,9796,0.44,146.1,944.3,13.1,595,9800,0.00,1.98,0.00,0.000,4,0.000,0.060,1935,3895,1737,0,0,0,0,0,0
$GC,9851,0.44,146.1,935.8,15.2,597,9856,0.00,1.90,0.00,0.000,6,0.000,0.035,1944,2735,1735,0,0,0,0,0,0
$GC,10173,0.44,146.1,890.6,14.2,613,10174,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2734,1736,0,0,0,0,0,0
$GC,10482,0.44,146.1,847.3,14.0,628,10483,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2735,1734,0,0,0,0,0,0
$GC,10791,0.44,146.1,806.1,12.9,643,10792,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2735,1734,0,0,0,0,0,0
$GC,11101,0.44,146.1,766.5,12.9,658,11102,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2734,1734,0,0,0,0,0,0
$GC,11410,0.44,146.1,726.7,13.0,673,11411,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2735,1733,0,0,0,0,0,0
$GC,11719,0.44,146.1,686.8,12.9,688,11720,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2734,1733,0,0,0,0,0,0
$GC,12029,0.44,146.1,648.4,12.0,703,12033,0.00,1.95,0.00,0.000,4,0.000,0.060,1944,3890,1733,0,0,0,0,0,0
$GC,12076,0.44,146.1,642.0,14.7,705,12080,0.00,1.85,0.00,0.000,6,0.000,0.037,1953,2698,1732,0,0,0,0,0,0
$GC,12408,0.44,146.1,600.1,12.3,721,12410,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2698,1732,0,0,0,0,0,0
$GC,12719,0.44,146.1,561.8,12.4,736,12722,0.00,2.00,0.00,0.000,4,0.000,0.059,1953,3904,1732,0,0,0,0,0,0
$GC,12775,0.44,146.1,553.8,14.0,738,12779,0.00,1.88,0.00,0.000,6,0.000,0.037,1962,2698,1731,0,0,0,0,0,0
$GC,13097,0.44,146.1,513.1,12.7,754,13098,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,2698,1731,0,0,0,0,0,0
$GC,13405,0.44,146.1,473.5,12.8,769,13409,0.00,1.98,0.00,0.000,4,0.000,0.057,1963,3896,1731,0,0,0,0,0,0
$GC,13495,0.44,146.1,460.2,14.6,773,13499,0.15,1.83,0.00,0.000,6,0.206,0.035,1937,2708,1731,0,0,0,0,0,0
$GC,13827,0.44,146.1,424.9,10.0,789,13829,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2708,1731,0,0,0,0,0,0
$GC,14137,0.44,146.1,394.8,9.7,804,14139,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2707,1731,0,0,0,0,0,0
$GC,14449,0.44,146.9,365.4,9.5,819,14453,0.00,1.98,0.00,0.000,4,0.000,0.058,1937,3901,1731,0,0,0,0,0,0
$GC,14512,0.44,146.9,358.2,11.5,821,14519,0.00,1.85,0.00,0.000,6,0.000,0.036,1945,2713,1731,0,0,0,0,0,0
$GC,14829,0.44,146.9,326.2,10.0,837,14833,0.00,2.22,0.00,0.000,4,0.000,0.046,1956,1288,1731,0,0,0,0,0,0
$GC,14862,0.45,157.3,322.8,9.1,838,14876,0.00,2.33,9.00,1.265,6,0.000,0.052,1956,2723,1700,0,0,0,0,0,0
$GC,15200,0.45,157.3,287.0,10.6,855,15204,0.00,1.88,0.00,0.000,4,0.000,0.059,1956,3898,1699,0,0,0,0,0,0
$GC,15248,0.45,157.3,281.4,12.4,857,15251,0.00,1.88,0.00,0.000,6,0.000,0.036,1965,2716,1698,0,0,0,0,0,0
$GC,15573,0.45,157.3,247.3,10.4,873,15579,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,2716,1698,0,0,0,0,0,0
$GC,15900,0.45,157.3,214.4,10.4,904,15901,0.00,0.00,0.00,0.000,6,0.000,0.000,1965,2716,1698,0,0,0,0,0,0
$GC,16218,0.45,157.3,182.4,10.5,934,16221,0.00,1.90,0.00,0.000,4,0.000,0.057,1965,3887,1698,0,0,0,0,0,0
$GC,16278,0.45,157.3,175.1,12.3,939,16283,0.15,1.83,0.00,0.000,6,0.203,0.035,1938,2706,1697,0,0,0,0,0,0
$GC,16608,0.45,157.3,143.9,10.3,970,16609,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,2706,1697,0,0,0,0,0,0
$GC,16929,0.47,176.5,111.4,8.7,1000,16947,0.00,0.00,14.48,1.108,6,0.000,0.000,1938,2705,1621,0,0,0,0,0,0
$GC,17283,0.47,176.5,75.3,9.8,1052,17291,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,2706,1619,0,0,0,0,0,0
$GC,17398,0.47,176.5,63.8,10.8,1071,17404,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,2706,1619,0,0,0,0,0,0
$GC,17509,0.50,223.7,53.9,7.5,1090,17546,0.00,0.00,30.80,0.929,6,0.000,0.000,1938,2706,1429,0,0,0,0,0,0
$GC,17655,0.52,244.5,42.0,8.6,1113,17677,0.00,2.03,13.15,0.851,4,0.000,0.059,1939,3886,1344,0,0,0,0,0,0
$GC,17709,0.52,244.5,36.7,10.1,1121,17716,0.00,1.90,0.00,0.000,6,0.000,0.037,1946,2715,1342,0,0,0,0,0,0
$GC,17825,0.53,252.2,25.5,9.2,1140,17835,0.00,2.30,4.25,0.644,4,0.000,0.045,1956,1292,1312,0,0,0,0,0,0
$GC,17875,0.55,284.0,21.3,8.1,1147,17901,0.00,2.33,18.95,0.803,6,0.000,0.052,1956,2710,1182,0,0,0,0,0,0
$GC,17978,0.55,284.0,11.8,10.4,1162,17987,0.00,1.98,0.00,0.000,4,0.000,0.060,1956,3890,1176,0,0,0,0,0,0
$GC,18021,0.55,284.0,7.2,11.3,1168,18029,0.00,1.90,0.00,0.000,6,0.000,0.036,1963,2712,1175,0,0,0,0,0,0
$STATE,18061,end climb,SURFACE_DEPTH_REACHED
$STATE,18061,begin surface coast
$FINISH,1.2,1.026810
$STATE,18093,end surface coast,CONTROL_FINISHED_OK
$STATE,18093,begin surface
$SM_CCo,18166,0.00,0.000,0,0,1172,286.75
$SM_GC,1.84,5.22,0.00,0.00,0.058,0.000,0.000,56,2930,1172,-5.33,0.03,286.75
$IRIDIUM_FIX,-5554.28,-3.88,040215,060625
$TT8_MAMPS,0.026215
$HUMID,57.40
$INTERNAL_PRESSURE,8.95509
$TCM_TEMP,6.40
$XPDR_PINGS,1
$24V_AH,21.4,60.287
$10V_AH,9.8,42.040
$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,13.175,61.450,380.100,0.000,0.000,26.485,40.701,336.485,0.250,0.000,20.364,2837.024,11975.895,451.034,3170.379,275.751,33.371,1514.732,0.000,2579.267,0.000,0.540,0.000
$DEVICE_MAMPS,236.385,65.025,1782.450,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,838.111,2434.240,1157.612,1187.419,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353920
$DATA_FILE_SIZE,80600,1179
$CAP_FILE_SIZE,138240,0
$CFSIZE,259252224,204779520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040215,162134,-5615.681,-0.840,30,0.8,30,-20.1