version: 66.07
glider: 542
mission: 9
dive: 309
start: 2 4 115 21 38 25
data:
$ID,542
$MISSION,9
$DIVE,309
$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,-22589.846
$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,23
$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
$GPS1,040215,212535,-5619.763,0.225,34,1.0,35,-20.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-52.1
$GPS2,040215,213730,-5619.886,0.358,19,0.8,20,-20.1
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET1
$TGT_LATLONG,-5700.000,-2.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.129,-0.192
$KALMAN_X,336998.0,-320.9,268.3,-336520.4,2371.4
$KALMAN_Y,-140793.9,457.5,400.3,103402.3,-6045.1
$MHEAD_RNG_PITCHd_Wd,234.0,74330,-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,-49.47,0.000,2,0.000,0.000,50,2947,2211,0,0,0,0,0,0
$GC,70,-0.44,-146.1,3.0,-3.4,6,112,6.55,1.62,-26.27,0.000,4,0.230,0.080,1635,3896,2940,0,0,0,0,0,0
$GC,383,-0.44,-146.1,49.9,-16.5,56,392,0.00,1.55,0.00,0.000,6,0.000,0.032,1635,2899,2942,0,0,0,0,0,0
$GC,498,-0.44,-146.1,67.5,-16.4,75,504,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2898,2942,0,0,0,0,0,0
$GC,613,-0.44,-146.1,87.3,-17.7,94,620,0.00,1.67,0.00,0.000,4,0.000,0.060,1627,3892,2942,0,0,0,0,0,0
$GC,707,-0.44,-146.1,105.5,-18.6,108,711,0.00,1.50,0.00,0.000,6,0.000,0.032,1627,2912,2942,0,0,0,0,0,0
$GC,1040,-0.44,-146.1,154.4,-11.7,139,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2906,2942,0,0,0,0,0,0
$GC,1359,-0.44,-146.1,195.1,-13.7,169,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2906,2943,0,0,0,0,0,0
$GC,1686,-0.44,-146.1,238.7,-14.1,200,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2905,2942,0,0,0,0,0,0
$GC,2000,-0.44,-146.1,283.7,-14.5,219,2003,0.00,1.65,0.00,0.000,4,0.000,0.063,1620,3901,2942,0,0,0,0,0,0
$GC,2062,-0.44,-146.1,293.9,-15.8,221,2068,0.00,1.48,0.00,0.000,6,0.000,0.033,1619,2933,2942,0,0,0,0,0,0
$GC,2380,-0.44,-146.1,341.0,-14.5,237,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2931,2942,0,0,0,0,0,0
$GC,2688,-0.44,-146.1,385.8,-13.9,252,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2932,2942,0,0,0,0,0,0
$GC,2997,-0.44,-146.1,430.3,-14.2,267,2998,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2932,2942,0,0,0,0,0,0
$GC,3305,-0.44,-146.1,473.9,-13.9,282,3306,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2932,2942,0,0,0,0,0,0
$GC,3615,-0.44,-146.1,517.6,-14.0,297,3618,0.00,1.62,0.00,0.000,4,0.000,0.063,1612,3897,2942,0,0,0,0,0,0
$GC,3653,-0.44,-146.1,523.4,-15.1,298,3661,0.08,1.48,0.00,0.000,6,0.164,0.034,1637,2940,2942,0,0,0,0,0,0
$GC,3969,-0.44,-146.1,562.5,-12.2,314,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2940,2942,0,0,0,0,0,0
$GC,4278,-0.44,-146.1,598.7,-11.4,329,4279,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2940,2942,0,0,0,0,0,0
$GC,4588,-0.44,-146.1,634.6,-11.8,344,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2940,2942,0,0,0,0,0,0
$GC,4897,-0.44,-146.1,670.5,-11.5,359,4898,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2940,2942,0,0,0,0,0,0
$GC,5206,-0.44,-146.1,704.7,-11.0,374,5207,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2940,2942,0,0,0,0,0,0
$GC,5516,-0.44,-146.1,737.4,-10.2,389,5517,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2940,2942,0,0,0,0,0,0
$GC,5825,-0.44,-146.1,767.5,-9.8,404,5826,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2940,2942,0,0,0,0,0,0
$GC,6134,-0.44,-146.1,796.3,-9.2,419,6138,0.00,1.60,0.00,0.000,4,0.000,0.063,1630,3886,2942,0,0,0,0,0,0
$GC,6167,-0.44,-146.1,799.9,-10.4,420,6171,0.00,1.48,0.00,0.000,6,0.000,0.032,1629,2931,2942,0,0,0,0,0,0
$GC,6489,-0.44,-146.1,832.5,-10.2,436,6490,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2927,2942,0,0,0,0,0,0
$GC,6798,-0.44,-146.1,862.8,-9.7,451,6799,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2927,2942,0,0,0,0,0,0
$GC,7108,-0.44,-146.1,892.5,-9.6,466,7109,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2927,2942,0,0,0,0,0,0
$GC,7418,-0.44,-146.1,922.9,-9.9,481,7419,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2927,2942,0,0,0,0,0,0
$GC,7726,-0.44,-146.1,953.1,-10.0,496,7727,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2928,2942,0,0,0,0,0,0
$GC,8036,-0.44,-146.1,983.8,-10.0,511,8037,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2927,2942,0,0,0,0,0,0
$STATE,8199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8199,begin apogee
$GC,8204,-0.13,0.0,1000.4,10.2,519,8347,0.38,0.00,139.70,1.779,6,0.160,0.000,1738,2697,2342,0,0,0,0,0,0
$STATE,8347,end apogee,CONTROL_FINISHED_OK
$STATE,8347,begin climb
$GC,8350,0.44,146.1,1005.3,0.0,526,8509,0.65,2.47,151.27,1.737,4,0.124,0.046,1934,1340,1746,0,0,0,0,0,0
$GC,8531,0.44,146.1,992.0,10.3,534,8538,0.00,2.45,0.00,0.000,6,0.000,0.050,1934,2711,1743,0,0,0,0,0,0
$GC,8847,0.44,146.1,953.0,12.7,550,8851,0.00,2.00,0.00,0.000,4,0.000,0.057,1935,3909,1737,0,0,0,0,0,0
$GC,8879,0.44,146.1,948.1,14.6,551,8883,0.00,1.92,0.00,0.000,6,0.000,0.036,1943,2748,1735,0,0,0,0,0,0
$GC,9201,0.44,146.1,905.6,13.0,567,9203,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2747,1735,0,0,0,0,0,0
$GC,9510,0.44,146.1,863.8,13.6,582,9511,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2747,1734,0,0,0,0,0,0
$GC,9819,0.44,146.1,822.2,13.3,597,9823,0.00,1.92,0.00,0.000,4,0.000,0.058,1943,3903,1733,0,0,0,0,0,0
$GC,9844,0.44,146.1,818.9,14.1,598,9848,0.00,1.90,0.00,0.000,6,0.000,0.037,1952,2706,1733,0,0,0,0,0,0
$GC,10177,0.44,146.1,772.8,13.6,614,10178,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2706,1733,0,0,0,0,0,0
$GC,10486,0.44,146.1,731.0,13.6,629,10490,0.00,1.98,0.00,0.000,4,0.000,0.057,1952,3888,1732,0,0,0,0,0,0
$GC,10524,0.44,146.1,725.3,15.8,630,10531,0.00,1.90,0.00,0.000,6,0.000,0.037,1961,2706,1731,0,0,0,0,0,0
$GC,10840,0.44,146.1,681.7,13.7,646,10843,0.00,1.95,0.00,0.000,4,0.000,0.055,1961,3893,1731,0,0,0,0,0,0
$GC,10864,0.44,146.1,678.2,15.6,647,10868,0.15,1.88,0.00,0.000,6,0.207,0.037,1936,2697,1731,0,0,0,0,0,0
$GC,11197,0.44,146.1,638.8,11.5,663,11200,0.00,1.98,0.00,0.000,4,0.000,0.056,1936,3900,1731,0,0,0,0,0,0
$GC,11223,0.44,146.1,635.2,13.0,664,11228,0.00,1.88,0.00,0.000,6,0.000,0.036,1944,2716,1731,0,0,0,0,0,0
$GC,11551,0.44,146.1,596.0,12.1,680,11555,0.00,1.95,0.00,0.000,4,0.000,0.056,1944,3889,1731,0,0,0,0,0,0
$GC,11574,0.44,146.1,592.9,14.0,681,11578,0.00,1.85,0.00,0.000,6,0.000,0.037,1953,2708,1731,0,0,0,0,0,0
$GC,11906,0.44,146.1,549.7,13.2,697,11907,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2708,1731,0,0,0,0,0,0
$GC,12216,0.44,146.1,508.9,13.1,712,12220,0.00,1.95,0.00,0.000,4,0.000,0.056,1954,3893,1731,0,0,0,0,0,0
$GC,12254,0.44,146.1,503.0,16.1,713,12263,0.08,1.88,0.00,0.000,6,0.201,0.036,1942,2716,1730,0,0,0,0,0,0
$GC,12571,0.44,146.1,465.6,11.8,729,12572,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2715,1730,0,0,0,0,0,0
$GC,12881,0.44,146.1,430.1,11.1,744,12884,0.00,1.95,0.00,0.000,4,0.000,0.056,1942,3900,1730,0,0,0,0,0,0
$GC,12904,0.44,146.1,427.3,12.3,745,12907,0.00,1.88,0.00,0.000,6,0.000,0.036,1950,2702,1730,0,0,0,0,0,0
$GC,13238,0.44,146.1,389.6,11.5,761,13239,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2702,1730,0,0,0,0,0,0
$GC,13546,0.44,146.1,353.6,11.7,776,13550,0.00,1.98,0.00,0.000,4,0.000,0.057,1950,3898,1730,0,0,0,0,0,0
$GC,13570,0.44,146.1,350.5,12.1,777,13574,0.00,1.88,0.00,0.000,6,0.000,0.037,1959,2702,1730,0,0,0,0,0,0
$GC,13905,0.44,146.1,309.9,12.1,793,13908,0.00,1.98,0.00,0.000,4,0.000,0.055,1960,3903,1730,0,0,0,0,0,0
$GC,13943,0.44,146.1,304.2,13.8,794,13953,0.10,1.90,0.00,0.000,6,0.195,0.037,1941,2711,1731,0,0,0,0,0,0
$GC,14259,0.44,146.1,271.8,10.2,810,14260,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2710,1730,0,0,0,0,0,0
$GC,14574,0.44,146.1,239.7,10.5,829,14578,0.00,1.95,0.00,0.000,4,0.000,0.056,1941,3897,1730,0,0,0,0,0,0
$GC,14613,0.44,146.1,234.4,13.2,832,14623,0.00,1.90,0.00,0.000,6,0.000,0.037,1949,2705,1730,0,0,0,0,0,0
$GC,14940,0.44,146.1,199.2,10.5,863,14944,0.00,1.98,0.00,0.000,4,0.000,0.056,1949,3900,1730,0,0,0,0,0,0
$GC,14975,0.44,146.1,194.8,12.2,866,14979,0.00,1.88,0.00,0.000,6,0.000,0.036,1959,2708,1730,0,0,0,0,0,0
$GC,15308,0.44,146.1,157.2,11.4,897,15309,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2708,1730,0,0,0,0,0,0
$GC,15628,0.44,146.1,119.9,12.1,927,15632,0.00,1.98,0.00,0.000,4,0.000,0.057,1959,3899,1730,0,0,0,0,0,0
$GC,15666,0.44,146.1,113.9,13.6,930,15677,0.12,1.90,0.00,0.000,6,0.190,0.036,1933,2710,1730,0,0,0,0,0,0
$GC,16007,0.52,247.6,85.6,5.1,978,16082,0.00,2.10,70.22,1.034,4,0.000,0.057,1933,3901,1331,0,0,0,0,0,0
$GC,16115,0.60,342.8,80.7,5.4,994,16186,0.10,1.98,63.88,0.986,6,0.076,0.038,1986,2714,942,0,0,0,0,0,0
$GC,16291,0.60,342.8,62.6,11.7,1022,16300,0.00,2.38,0.00,0.000,4,0.000,0.050,1997,1290,933,0,0,0,0,0,0
$GC,16362,0.62,368.9,55.8,8.4,1033,16384,0.00,2.35,16.92,0.881,6,0.000,0.048,1997,2724,836,0,0,0,0,0,0
$GC,16493,0.62,368.9,38.2,10.3,1054,16502,0.00,1.95,0.00,0.000,4,0.000,0.057,1997,3884,830,0,0,0,0,0,0
$GC,16527,0.62,368.9,33.7,13.7,1059,16535,0.00,1.92,0.00,0.000,6,0.000,0.041,2005,2716,830,0,0,0,0,0,0
$GC,16647,0.62,368.9,14.7,16.1,1078,16656,0.00,2.33,0.00,0.000,4,0.000,0.050,2016,1286,829,0,0,0,0,0,0
$GC,16689,0.62,368.9,8.1,13.1,1084,16698,0.00,2.35,0.00,0.000,6,0.000,0.054,2016,2705,827,0,0,0,0,0,0
$STATE,16711,end climb,SURFACE_DEPTH_REACHED
$STATE,16711,begin surface coast
$FINISH,1.2,1.027007
$STATE,16731,end surface coast,CONTROL_FINISHED_OK
$STATE,16732,begin surface
$SM_CCo,16806,0.00,0.000,0,0,825,372.11
$SM_GC,1.73,5.47,0.00,0.00,0.069,0.000,0.000,66,2923,825,-5.32,-0.20,372.11
$IRIDIUM_FIX,-5554.28,0.00,040215,212136
$TT8_MAMPS,0.026215
$HUMID,58.11
$INTERNAL_PRESSURE,8.91603
$TCM_TEMP,6.20
$XPDR_PINGS,0
$24V_AH,21.3,60.692
$10V_AH,9.8,42.307
$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,13.675,88.625,442.000,0.000,0.000,50.917,124.206,330.138,0.000,0.000,23.171,2614.905,11054.597,499.510,3069.124,272.804,33.375,1530.749,0.000,2386.995,0.000,0.539,0.000
$DEVICE_MAMPS,230.265,80.325,1779.390,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,772.918,2212.363,1035.829,1057.243,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353876
$DATA_FILE_SIZE,73880,1090
$CAP_FILE_SIZE,136649,0
$CFSIZE,259252224,204627968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050215,021935,-5622.949,-0.192,30,0.9,30,-20.1