version: 66.07
glider: 542
mission: 9
dive: 332
start: 2 9 115 12 36 23
data:
$ID,542
$MISSION,9
$DIVE,332
$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,-22670.688
$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,36
$R_STBD_OVSHOOT,35
$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
$GPS1,090215,122640,-5701.135,-4.440,42,1.0,42,-20.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-65.6
$GPS2,090215,123529,-5701.034,-4.128,26,0.9,27,-20.0
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET1
$TGT_LATLONG,-5700.000,-2.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.108,0.125
$KALMAN_X,337025.0,-302.7,-91.7,-340833.0,2542.0
$KALMAN_Y,-132630.2,-661.0,-82.2,20659.9,1499.8
$MHEAD_RNG_PITCHd_Wd,339.2,2877,-25.7,-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,16,-0.54,-73.9,0.0,0.0,0,51,0.00,0.00,-32.85,0.000,2,0.000,0.000,44,2953,2225,0,0,0,0,0,0
$GC,54,-0.60,-146.1,3.0,-2.4,4,88,6.55,0.00,-25.17,0.000,6,0.246,0.000,1588,2953,2939,0,0,0,0,0,0
$GC,163,-0.60,-146.1,18.4,-19.0,20,172,0.00,0.00,0.00,0.000,6,0.000,0.000,1588,2953,2941,0,0,0,0,0,0
$GC,245,-0.60,-146.1,36.3,-23.2,33,252,0.00,0.00,0.00,0.000,6,0.000,0.000,1588,2953,2941,0,0,0,0,0,0
$GC,359,-0.60,-146.1,58.9,-20.3,52,368,0.00,2.28,0.00,0.000,4,0.000,0.039,1588,1507,2941,0,0,0,0,0,0
$GC,464,-0.60,-146.1,77.6,-18.5,69,471,0.00,2.30,0.00,0.000,6,0.000,0.053,1578,2923,2942,0,0,0,0,0,0
$GC,577,-0.60,-146.1,97.3,-17.6,88,584,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2923,2942,0,0,0,0,0,0
$GC,797,-0.60,-146.1,138.4,-18.6,110,798,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2923,2942,0,0,0,0,0,0
$GC,1118,-0.60,-146.1,197.0,-18.4,140,1119,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2923,2942,0,0,0,0,0,0
$GC,1437,-0.60,-146.1,255.6,-18.7,169,1440,0.00,1.58,0.00,0.000,4,0.000,0.059,1571,3896,2942,0,0,0,0,0,0
$GC,1484,-0.60,-146.1,265.1,-20.4,171,1488,0.00,1.52,0.00,0.000,6,0.000,0.031,1571,2898,2942,0,0,0,0,0,0
$GC,1819,-0.60,-146.1,327.3,-18.6,187,1823,0.00,1.67,0.00,0.000,4,0.000,0.059,1563,3909,2942,0,0,0,0,0,0
$GC,1857,-0.60,-146.1,335.6,-19.9,188,1868,0.08,1.50,0.00,0.000,6,0.172,0.032,1585,2933,2942,0,0,0,0,0,0
$GC,2175,-0.60,-146.1,389.8,-17.1,204,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2933,2941,0,0,0,0,0,0
$GC,2483,-0.60,-146.1,441.6,-16.5,219,2484,0.00,0.00,0.00,0.000,6,0.000,0.000,1585,2933,2941,0,0,0,0,0,0
$GC,2792,-0.60,-146.1,493.3,-16.6,234,2796,0.00,1.62,0.00,0.000,4,0.000,0.059,1578,3903,2942,0,0,0,0,0,0
$GC,2854,-0.60,-146.1,504.4,-17.8,236,2860,0.00,1.50,0.00,0.000,6,0.000,0.031,1578,2914,2942,0,0,0,0,0,0
$GC,3169,-0.60,-146.1,558.3,-17.3,252,3170,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2914,2942,0,0,0,0,0,0
$GC,3479,-0.60,-146.1,611.6,-17.4,267,3482,0.00,1.65,0.00,0.000,4,0.000,0.059,1571,3897,2942,0,0,0,0,0,0
$GC,3526,-0.60,-146.1,619.8,-18.1,269,3530,0.00,1.45,0.00,0.000,6,0.000,0.031,1571,2940,2942,0,0,0,0,0,0
$GC,3859,-0.60,-146.1,679.3,-17.4,285,3860,0.00,0.00,0.00,0.000,6,0.000,0.000,1571,2933,2942,0,0,0,0,0,0
$GC,4168,-0.60,-146.1,731.4,-16.5,300,4172,0.00,1.62,0.00,0.000,4,0.000,0.059,1563,3929,2942,0,0,0,0,0,0
$GC,4230,-0.60,-146.1,742.5,-18.1,302,4237,0.08,1.52,0.00,0.000,6,0.171,0.032,1586,2934,2942,0,0,0,0,0,0
$GC,4545,-0.60,-146.1,790.7,-14.9,318,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,1586,2934,2942,0,0,0,0,0,0
$GC,4855,-0.60,-146.1,836.4,-14.6,333,4859,0.00,1.62,0.00,0.000,4,0.000,0.058,1579,3910,2942,0,0,0,0,0,0
$GC,4893,-0.60,-146.1,842.7,-16.4,334,4901,0.00,1.50,0.00,0.000,6,0.000,0.030,1579,2919,2942,0,0,0,0,0,0
$GC,5210,-0.60,-146.1,890.8,-15.3,350,5211,0.00,0.00,0.00,0.000,6,0.000,0.000,1579,2918,2942,0,0,0,0,0,0
$GC,5520,-0.60,-146.1,936.7,-14.5,365,5524,0.00,1.65,0.00,0.000,4,0.000,0.058,1572,3901,2942,0,0,0,0,0,0
$GC,5569,-0.60,-146.1,944.7,-16.0,367,5573,0.00,1.48,0.00,0.000,6,0.000,0.031,1572,2929,2942,0,0,0,0,0,0
$GC,5896,-0.60,-146.1,993.0,-14.8,383,5897,0.00,0.00,0.00,0.000,6,0.000,0.000,1572,2923,2942,0,0,0,0,0,0
$STATE,5956,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5956,begin apogee
$GC,5962,-0.13,0.0,1002.2,14.7,386,6107,0.60,0.00,141.30,1.779,6,0.174,0.000,1740,2705,2342,0,0,0,0,0,0
$STATE,6108,end apogee,CONTROL_FINISHED_OK
$STATE,6108,begin climb
$GC,6110,0.60,146.1,1007.1,0.0,393,6272,0.80,2.47,154.27,1.723,4,0.116,0.043,1982,1340,1745,0,0,0,0,0,0
$GC,6305,0.60,146.1,986.9,13.9,401,6309,0.00,2.47,0.00,0.000,6,0.000,0.047,1982,2718,1742,0,0,0,0,0,0
$GC,6627,0.60,146.1,934.1,16.5,417,6630,0.00,1.98,0.00,0.000,4,0.000,0.055,1982,3899,1735,0,0,0,0,0,0
$GC,6688,0.60,146.1,922.5,19.2,419,6695,0.00,1.85,0.00,0.000,6,0.000,0.034,1991,2747,1734,0,0,0,0,0,0
$GC,7003,0.60,146.1,868.4,17.4,435,7005,0.00,0.00,0.00,0.000,6,0.000,0.000,1991,2745,1734,0,0,0,0,0,0
$GC,7313,0.60,146.1,815.5,17.0,450,7317,0.00,1.92,0.00,0.000,4,0.000,0.054,1991,3893,1732,0,0,0,0,0,0
$GC,7374,0.60,146.1,803.8,20.1,452,7381,0.00,1.88,0.00,0.000,6,0.000,0.036,2001,2697,1732,0,0,0,0,0,0
$GC,7690,0.60,146.1,749.0,17.4,468,7693,0.00,1.98,0.00,0.000,4,0.000,0.054,2001,3900,1731,0,0,0,0,0,0
$GC,7739,0.60,146.1,739.3,19.8,470,7743,0.00,1.90,0.00,0.000,6,0.000,0.035,2010,2709,1731,0,0,0,0,0,0
$GC,8067,0.60,146.1,682.4,17.1,486,8071,0.00,1.95,0.00,0.000,4,0.000,0.054,2010,3898,1730,0,0,0,0,0,0
$GC,8127,0.60,146.1,670.5,19.5,488,8135,0.12,1.90,0.00,0.000,6,0.211,0.036,1986,2704,1730,0,0,0,0,0,0
$GC,8444,0.60,146.1,621.6,15.3,504,8445,0.00,0.00,0.00,0.000,6,0.000,0.000,1986,2703,1730,0,0,0,0,0,0
$GC,8753,0.60,146.1,574.5,14.9,519,8756,0.00,1.95,0.00,0.000,4,0.000,0.054,1986,3894,1730,0,0,0,0,0,0
$GC,8830,0.60,146.1,561.0,17.7,522,8834,0.00,1.88,0.00,0.000,6,0.000,0.035,1994,2711,1730,0,0,0,0,0,0
$GC,9153,0.60,146.1,510.0,15.9,538,9156,0.00,1.95,0.00,0.000,4,0.000,0.054,1994,3899,1730,0,0,0,0,0,0
$GC,9202,0.60,146.1,500.9,18.6,540,9207,0.00,1.88,0.00,0.000,6,0.000,0.035,2003,2714,1730,0,0,0,0,0,0
$GC,9530,0.60,146.1,447.0,16.5,556,9531,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,2714,1730,0,0,0,0,0,0
$GC,9840,0.60,146.1,397.4,15.8,571,9843,0.00,1.95,0.00,0.000,4,0.000,0.054,2004,3902,1729,0,0,0,0,0,0
$GC,9933,0.60,146.1,380.8,18.2,575,9936,0.00,1.85,0.00,0.000,6,0.000,0.035,2012,2703,1729,0,0,0,0,0,0
$GC,10268,0.60,146.1,323.9,17.2,591,10269,0.00,0.00,0.00,0.000,6,0.000,0.000,2012,2704,1730,0,0,0,0,0,0
$GC,10574,0.60,146.1,269.7,17.4,606,10578,0.00,1.95,0.00,0.000,4,0.000,0.054,2012,3890,1729,0,0,0,0,0,0
$GC,10669,0.60,146.1,250.9,18.9,610,10674,0.12,1.85,0.00,0.000,6,0.211,0.034,1987,2718,1729,0,0,0,0,0,0
$GC,10995,0.60,146.1,199.6,15.6,640,10996,0.00,0.00,0.00,0.000,6,0.000,0.000,1988,2718,1729,0,0,0,0,0,0
$GC,11315,0.60,146.1,151.2,15.3,670,11319,0.00,1.92,0.00,0.000,4,0.000,0.054,1988,3890,1729,0,0,0,0,0,0
$GC,11366,0.60,146.1,142.7,15.6,674,11376,0.00,1.88,0.00,0.000,6,0.000,0.033,1996,2706,1729,0,0,0,0,0,0
$GC,11694,0.60,146.1,99.8,12.9,705,11702,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2706,1729,0,0,0,0,0,0
$GC,11932,0.60,146.1,70.2,10.9,746,11940,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2706,1729,0,0,0,0,0,0
$GC,12048,0.60,146.1,57.8,10.4,765,12054,0.00,0.00,0.00,0.000,6,0.000,0.000,1996,2705,1729,0,0,0,0,0,0
$GC,12161,0.60,146.1,44.0,11.6,784,12170,0.00,2.22,0.00,0.000,4,0.000,0.041,2007,1292,1729,0,0,0,0,0,0
$GC,12231,0.60,146.1,36.2,12.3,795,12238,0.00,2.28,0.00,0.000,6,0.000,0.048,2006,2728,1729,0,0,0,0,0,0
$GC,12349,0.60,146.1,19.8,13.4,814,12358,0.00,2.25,0.00,0.000,4,0.000,0.040,2017,1293,1729,0,0,0,0,0,0
$GC,12409,0.61,157.6,14.4,8.5,823,12420,0.00,2.28,5.38,0.672,6,0.000,0.050,2017,2696,1698,0,0,0,0,0,0
$GC,12496,0.61,157.6,6.4,12.3,836,12505,0.00,0.00,0.00,0.000,6,0.000,0.000,2017,2696,1695,0,0,0,0,0,0
$STATE,12520,end climb,SURFACE_DEPTH_REACHED
$STATE,12521,begin surface coast
$FINISH,1.2,1.027186
$STATE,12541,end surface coast,CONTROL_FINISHED_OK
$STATE,12541,begin surface
$SM_CCo,12555,24.45,0.148,0,0,1524,200.16
$SM_GC,2.83,0.00,0.00,24.45,0.000,0.000,0.148,57,2974,1524,-5.41,1.27,200.16
$IRIDIUM_FIX,-5640.91,0.00,090215,080851
$TT8_MAMPS,0.025466
$HUMID,57.48
$INTERNAL_PRESSURE,8.98439
$TCM_TEMP,7.10
$XPDR_PINGS,0
$24V_AH,21.1,65.029
$10V_AH,9.8,45.343
$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,13.775,75.475,300.950,24.450,0.000,37.638,21.731,314.388,0.000,0.000,29.372,2092.550,7800.827,425.910,2545.873,238.516,33.369,1281.585,0.000,2021.054,0.000,0.539,0.000
$DEVICE_MAMPS,246.330,58.905,1779.390,147.645,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,598.250,1767.104,878.059,937.168,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353908
$DATA_FILE_SIZE,60461,842
$CAP_FILE_SIZE,113766,0
$CFSIZE,259252224,202911744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,090215,160735,-5659.569,-5.804,56,0.9,56,-20.0