version: 66.07
glider: 542
mission: 9
dive: 311
start: 2 5 115 7 35 41
data:
$ID,542
$MISSION,9
$DIVE,311
$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,-22596.676
$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,31
$R_STBD_OVSHOOT,34
$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
$GPS1,050215,071633,-5626.017,-2.889,36,1.1,40,-20.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-48.9
$GPS2,050215,073447,-5626.068,-2.631,18,1.0,19,-20.0
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET1
$TGT_LATLONG,-5700.000,-2.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.183,-0.141
$KALMAN_X,341455.8,-125.2,-391.3,-343585.4,3930.5
$KALMAN_Y,-145880.9,630.8,33.3,97234.8,-5326.9
$MHEAD_RNG_PITCHd_Wd,252.5,62846,-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,-146.1,0.0,0.0,0,107,0.00,0.00,-89.28,0.000,2,0.000,0.000,42,2951,2456,0,0,0,0,0,0
$GC,110,-0.44,-146.1,3.4,-1.8,11,136,6.38,1.58,-13.70,0.000,4,0.218,0.083,1633,3886,2939,0,0,0,0,0,0
$GC,327,-0.44,-146.1,41.6,-16.0,45,334,0.00,1.52,0.00,0.000,6,0.000,0.032,1633,2896,2940,0,0,0,0,0,0
$GC,440,-0.44,-146.1,60.5,-13.7,64,449,0.00,2.10,0.00,0.000,4,0.000,0.040,1633,1551,2941,0,0,0,0,0,0
$GC,499,-0.44,-146.1,67.7,-11.7,73,506,0.00,2.22,0.00,0.000,6,0.000,0.055,1622,2918,2941,0,0,0,0,0,0
$GC,613,-0.44,-146.1,84.1,-15.5,92,620,0.00,1.60,0.00,0.000,4,0.000,0.061,1614,3892,2941,0,0,0,0,0,0
$GC,684,-0.44,-146.1,95.1,-15.8,104,692,0.08,1.48,0.00,0.000,6,0.168,0.031,1638,2933,2941,0,0,0,0,0,0
$GC,913,-0.44,-146.1,122.8,-11.8,128,917,0.00,2.15,0.00,0.000,4,0.000,0.040,1638,1532,2941,0,0,0,0,0,0
$GC,944,-0.44,-146.1,126.5,-11.5,130,948,0.00,2.28,0.00,0.000,6,0.000,0.054,1628,2930,2941,0,0,0,0,0,0
$GC,1269,-0.44,-146.1,169.7,-14.0,160,1272,0.00,1.58,0.00,0.000,4,0.000,0.061,1621,3896,2941,0,0,0,0,0,0
$GC,1316,-0.44,-146.1,176.6,-14.6,164,1319,0.00,1.48,0.00,0.000,6,0.000,0.031,1621,2922,2941,0,0,0,0,0,0
$GC,1648,-0.44,-146.1,223.8,-13.9,195,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2916,2941,0,0,0,0,0,0
$GC,1971,-0.44,-146.1,268.7,-14.2,220,1975,0.00,1.65,0.00,0.000,4,0.000,0.061,1612,3916,2941,0,0,0,0,0,0
$GC,2022,-0.44,-146.1,276.4,-14.4,222,2026,0.08,1.50,0.00,0.000,6,0.166,0.032,1637,2940,2941,0,0,0,0,0,0
$GC,2350,-0.44,-146.1,317.4,-12.8,238,2351,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2939,2941,0,0,0,0,0,0
$GC,2661,-0.44,-146.1,357.1,-12.9,253,2662,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2939,2940,0,0,0,0,0,0
$GC,2968,-0.44,-146.1,395.9,-12.4,268,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2939,2941,0,0,0,0,0,0
$GC,3276,-0.44,-146.1,434.2,-12.5,283,3277,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2939,2940,0,0,0,0,0,0
$GC,3585,-0.44,-146.1,472.2,-12.1,298,3589,0.00,1.60,0.00,0.000,4,0.000,0.061,1630,3893,2940,0,0,0,0,0,0
$GC,3624,-0.44,-146.1,477.3,-13.4,299,3631,0.00,1.48,0.00,0.000,6,0.000,0.031,1630,2913,2940,0,0,0,0,0,0
$GC,3941,-0.44,-146.1,516.9,-12.6,315,3942,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2913,2940,0,0,0,0,0,0
$GC,4249,-0.44,-146.1,555.4,-12.3,330,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2913,2940,0,0,0,0,0,0
$GC,4559,-0.44,-146.1,594.2,-12.9,345,4560,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2913,2940,0,0,0,0,0,0
$GC,4868,-0.44,-146.1,632.7,-12.2,360,4872,0.00,1.65,0.00,0.000,4,0.000,0.061,1622,3896,2940,0,0,0,0,0,0
$GC,4905,-0.44,-146.1,637.8,-12.3,361,4913,0.00,1.45,0.00,0.000,6,0.000,0.031,1622,2934,2940,0,0,0,0,0,0
$GC,5223,-0.44,-146.1,677.3,-12.6,377,5224,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2934,2940,0,0,0,0,0,0
$GC,5531,-0.44,-146.1,715.7,-12.4,392,5532,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2934,2941,0,0,0,0,0,0
$GC,5841,-0.44,-146.1,754.1,-12.5,407,5843,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2933,2940,0,0,0,0,0,0
$GC,6150,-0.44,-146.1,792.9,-12.5,422,6151,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2933,2940,0,0,0,0,0,0
$GC,6459,-0.44,-146.1,830.7,-12.1,437,6460,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2933,2940,0,0,0,0,0,0
$GC,6769,-0.44,-146.1,868.3,-12.2,452,6771,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2933,2940,0,0,0,0,0,0
$GC,7078,-0.44,-146.1,906.5,-12.4,467,7079,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2933,2940,0,0,0,0,0,0
$GC,7387,-0.44,-146.1,944.1,-12.0,482,7388,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2933,2940,0,0,0,0,0,0
$GC,7697,-0.44,-146.1,981.3,-11.9,497,7701,0.00,1.62,0.00,0.000,4,0.000,0.061,1615,3899,2940,0,0,0,0,0,0
$GC,7724,-0.44,-146.1,985.1,-13.1,498,7729,0.08,1.45,0.00,0.000,6,0.161,0.031,1639,2940,2940,0,0,0,0,0,0
$STATE,7884,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7884,begin apogee
$GC,7890,-0.13,0.0,1002.0,10.4,506,8031,0.35,0.00,138.75,1.769,6,0.153,0.000,1742,2718,2342,0,0,0,0,0,0
$STATE,8032,end apogee,CONTROL_FINISHED_OK
$STATE,8032,begin climb
$GC,8035,0.44,146.1,1007.7,0.0,513,8192,0.62,0.00,151.48,1.733,6,0.117,0.000,1924,2718,1746,0,0,0,0,0,0
$GC,8490,0.44,146.1,968.0,10.4,535,8491,0.00,0.00,0.00,0.000,6,0.000,0.000,1924,2718,1737,0,0,0,0,0,0
$GC,8799,0.44,146.1,934.5,10.9,550,8803,0.00,2.00,0.00,0.000,4,0.000,0.058,1924,3892,1735,0,0,0,0,0,0
$GC,8831,0.44,146.1,930.2,13.1,551,8835,0.00,1.88,0.00,0.000,6,0.000,0.034,1933,2728,1734,0,0,0,0,0,0
$GC,9154,0.44,146.1,892.5,12.0,567,9155,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2728,1734,0,0,0,0,0,0
$GC,9462,0.44,146.1,855.5,12.1,582,9463,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2728,1733,0,0,0,0,0,0
$GC,9772,0.44,146.1,817.9,12.0,597,9775,0.00,1.95,0.00,0.000,4,0.000,0.057,1933,3904,1733,0,0,0,0,0,0
$GC,9797,0.44,146.1,814.9,12.8,598,9801,0.00,1.90,0.00,0.000,6,0.000,0.037,1942,2702,1732,0,0,0,0,0,0
$GC,10129,0.44,146.1,771.5,12.9,614,10130,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2702,1732,0,0,0,0,0,0
$GC,10440,0.44,146.1,730.7,13.4,629,10441,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2702,1732,0,0,0,0,0,0
$GC,10749,0.44,146.1,689.7,13.3,644,10753,0.00,2.00,0.00,0.000,4,0.000,0.057,1942,3900,1732,0,0,0,0,0,0
$GC,10772,0.44,146.1,686.3,14.4,645,10775,0.00,1.88,0.00,0.000,6,0.000,0.035,1951,2702,1731,0,0,0,0,0,0
$GC,11104,0.44,146.1,640.9,13.7,661,11105,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2701,1730,0,0,0,0,0,0
$GC,11414,0.44,146.1,598.7,13.5,676,11418,0.00,1.98,0.00,0.000,4,0.000,0.056,1951,3901,1731,0,0,0,0,0,0
$GC,11459,0.44,146.1,591.5,16.3,678,11463,0.00,1.88,0.00,0.000,6,0.000,0.035,1961,2708,1730,0,0,0,0,0,0
$GC,11793,0.44,146.1,544.6,13.7,694,11797,0.00,1.98,0.00,0.000,4,0.000,0.055,1961,3892,1730,0,0,0,0,0,0
$GC,11819,0.44,146.1,540.2,16.3,695,11824,0.10,1.88,0.00,0.000,6,0.196,0.034,1942,2712,1730,0,0,0,0,0,0
$GC,12146,0.44,146.1,500.7,12.0,711,12147,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2710,1730,0,0,0,0,0,0
$GC,12456,0.44,146.1,464.4,11.5,726,12458,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2710,1730,0,0,0,0,0,0
$GC,12765,0.44,146.1,428.4,11.5,741,12766,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2710,1730,0,0,0,0,0,0
$GC,13074,0.44,146.1,392.3,11.7,756,13075,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2711,1730,0,0,0,0,0,0
$GC,13386,0.44,146.1,356.0,12.0,771,13388,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2710,1730,0,0,0,0,0,0
$GC,13693,0.44,146.1,318.4,12.1,786,13694,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2710,1730,0,0,0,0,0,0
$GC,14005,0.44,146.1,281.4,12.3,801,14008,0.00,1.98,0.00,0.000,4,0.000,0.056,1941,3904,1730,0,0,0,0,0,0
$GC,14028,0.44,146.1,278.0,12.7,802,14033,0.00,1.90,0.00,0.000,6,0.000,0.034,1950,2707,1729,0,0,0,0,0,0
$GC,14353,0.44,146.1,237.2,12.4,822,14355,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2707,1729,0,0,0,0,0,0
$GC,14674,0.44,146.1,200.7,11.1,852,14677,0.00,1.98,0.00,0.000,4,0.000,0.056,1949,3902,1730,0,0,0,0,0,0
$GC,14701,0.44,146.1,197.0,13.3,854,14712,0.10,1.90,0.00,0.000,6,0.198,0.034,1931,2708,1730,0,0,0,0,0,0
$GC,15030,0.49,206.1,169.7,6.9,885,15090,0.00,0.00,52.10,1.278,6,0.000,0.000,1931,2707,1500,0,0,0,0,0,0
$GC,15407,0.49,206.1,137.6,9.6,921,15412,0.00,2.22,0.00,0.000,4,0.000,0.045,1941,1290,1494,0,0,0,0,0,0
$GC,15436,0.50,216.6,134.6,9.1,923,15456,0.00,2.33,7.47,1.099,6,0.000,0.050,1941,2735,1458,0,0,0,0,0,0
$GC,15773,0.53,253.2,101.1,7.9,955,15802,0.00,0.00,26.35,1.083,6,0.000,0.000,1941,2735,1308,0,0,0,0,0,0
$GC,16032,0.55,279.6,80.3,8.4,998,16060,0.00,2.38,18.25,0.990,4,0.000,0.044,1951,1288,1201,0,0,0,0,0,0
$GC,16086,0.57,306.2,75.6,8.4,1006,16111,0.00,2.35,18.90,0.974,6,0.000,0.050,1951,2718,1092,0,0,0,0,0,0
$GC,16219,0.57,306.2,62.0,10.9,1027,16226,0.00,1.92,0.00,0.000,4,0.000,0.058,1951,3893,1086,0,0,0,0,0,0
$GC,16246,0.57,306.2,59.0,10.7,1031,16253,0.00,1.92,0.00,0.000,6,0.000,0.036,1957,2707,1085,0,0,0,0,0,0
$GC,16360,0.59,333.9,48.1,8.3,1050,16384,0.00,2.33,18.08,0.886,4,0.000,0.044,1967,1285,978,0,0,0,0,0,0
$GC,16421,0.60,341.3,42.9,9.2,1059,16437,0.00,2.33,4.28,0.688,6,0.000,0.050,1967,2719,949,0,0,0,0,0,0
$GC,16546,0.60,341.3,30.3,12.3,1079,16553,0.00,1.92,0.00,0.000,4,0.000,0.058,1967,3894,946,0,0,0,0,0,0
$GC,16568,0.60,341.3,27.4,12.6,1082,16577,0.00,1.90,0.00,0.000,6,0.000,0.035,1975,2714,947,0,0,0,0,0,0
$GC,16653,0.60,341.3,18.1,10.1,1095,16662,0.00,2.28,0.00,0.000,4,0.000,0.047,1985,1291,945,0,0,0,0,0,0
$GC,16702,0.60,341.3,12.5,12.3,1102,16711,0.00,2.33,0.00,0.000,6,0.000,0.053,1985,2705,944,0,0,0,0,0,0
$STATE,16785,end climb,SURFACE_DEPTH_REACHED
$STATE,16785,begin surface coast
$FINISH,1.2,1.015160
$STATE,16818,end surface coast,CONTROL_FINISHED_OK
$STATE,16819,begin surface
$SM_CCo,16892,0.00,0.000,0,0,941,343.41
$SM_GC,1.94,5.43,0.00,0.00,0.076,0.000,0.000,61,2950,941,-5.32,0.40,343.41
$IRIDIUM_FIX,-5601.98,-3.89,050215,070752
$TT8_MAMPS,0.026215
$HUMID,57.24
$INTERNAL_PRESSURE,8.92579
$TCM_TEMP,6.90
$XPDR_PINGS,0
$24V_AH,21.3,61.142
$10V_AH,9.8,42.582
$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,13.200,84.275,435.650,0.000,0.000,77.054,105.710,584.935,0.000,0.000,21.599,2682.346,11010.604,530.954,3432.839,318.240,33.374,1564.625,0.000,2460.223,0.000,0.540,0.000
$DEVICE_MAMPS,218.025,82.620,1768.680,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,794.570,2328.868,1134.603,1182.400,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353916
$DATA_FILE_SIZE,77003,1120
$CAP_FILE_SIZE,143027,0
$CFSIZE,259252224,204468224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050215,121828,-5628.713,-4.301,41,0.8,41,-20.0