version: 66.07
glider: 542
mission: 9
dive: 150
start: 1 3 115 23 54 50
data:
$ID,542
$MISSION,9
$DIVE,150
$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,-22079.361
$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,32
$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
$GPS1,030115,234534,-5559.026,-36.054,24,0.9,24,-19.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-70.9
$GPS2,030115,235356,-5559.002,-36.053,20,1.0,20,-19.8
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.016,-0.230
$KALMAN_X,92005.8,-989.2,-535.1,-127730.0,2638.1
$KALMAN_Y,26002.1,-259.3,-59.9,-23510.4,3954.2
$MHEAD_RNG_PITCHd_Wd,195.9,6535,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.44,-146.1,0.0,0.0,0,52,0.00,0.00,-33.90,0.000,2,0.000,0.000,57,2947,2261,0,0,0,0,0,0
$GC,54,-0.44,-146.1,3.2,-3.5,4,97,6.55,2.28,-24.40,0.000,4,0.251,0.051,1637,1505,2940,0,0,0,0,0,0
$GC,329,-0.44,-146.1,36.8,-13.7,47,336,0.00,2.33,0.00,0.000,6,0.000,0.055,1627,2927,2941,0,0,0,0,0,0
$GC,443,-0.44,-146.1,55.8,-16.7,66,452,0.00,1.60,0.00,0.000,4,0.000,0.062,1620,3903,2941,0,0,0,0,0,0
$GC,471,-0.44,-146.1,60.7,-18.0,70,480,0.00,1.55,0.00,0.000,6,0.000,0.031,1620,2891,2941,0,0,0,0,0,0
$GC,587,-0.44,-146.1,80.8,-17.3,89,594,0.00,1.67,0.00,0.000,4,0.000,0.062,1612,3900,2941,0,0,0,0,0,0
$GC,681,-0.44,-146.1,96.6,-14.9,105,691,0.10,1.48,0.00,0.000,6,0.183,0.031,1641,2941,2942,0,0,0,0,0,0
$GC,911,-0.44,-146.1,123.0,-10.6,128,915,0.00,2.15,0.00,0.000,4,0.000,0.039,1641,1538,2941,0,0,0,0,0,0
$GC,954,-0.44,-146.1,127.2,-9.7,131,958,0.00,2.28,0.00,0.000,6,0.000,0.056,1631,2934,2942,0,0,0,0,0,0
$GC,1281,-0.44,-146.1,165.8,-12.8,161,1284,0.00,1.58,0.00,0.000,4,0.000,0.063,1623,3903,2942,0,0,0,0,0,0
$GC,1331,-0.44,-146.1,173.3,-13.9,165,1338,0.00,1.50,0.00,0.000,6,0.000,0.031,1623,2913,2942,0,0,0,0,0,0
$GC,1656,-0.44,-146.1,220.6,-14.4,196,1657,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2913,2941,0,0,0,0,0,0
$GC,1974,-0.44,-146.1,265.5,-14.0,221,1978,0.00,1.65,0.00,0.000,4,0.000,0.062,1615,3922,2941,0,0,0,0,0,0
$GC,2000,-0.44,-146.1,270.1,-15.6,222,2006,0.08,1.52,0.00,0.000,6,0.179,0.030,1638,2933,2942,0,0,0,0,0,0
$GC,2328,-0.44,-146.1,307.6,-11.0,238,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2933,2942,0,0,0,0,0,0
$GC,2639,-0.44,-146.1,340.6,-10.4,253,2640,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2933,2942,0,0,0,0,0,0
$GC,2947,-0.44,-146.1,371.0,-9.5,268,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2933,2941,0,0,0,0,0,0
$GC,3259,-0.44,-146.1,399.3,-8.9,283,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2933,2942,0,0,0,0,0,0
$GC,3565,-0.44,-146.1,427.4,-9.1,298,3569,0.00,1.60,0.00,0.000,4,0.000,0.063,1631,3897,2942,0,0,0,0,0,0
$GC,3603,-0.44,-146.1,431.4,-10.0,299,3611,0.00,1.50,0.00,0.000,6,0.000,0.030,1631,2906,2942,0,0,0,0,0,0
$GC,3920,-0.44,-146.1,462.7,-10.1,315,3921,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2905,2942,0,0,0,0,0,0
$GC,4229,-0.44,-146.1,494.2,-10.2,330,4230,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2905,2942,0,0,0,0,0,0
$GC,4538,-0.44,-146.1,525.7,-10.2,345,4539,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2904,2942,0,0,0,0,0,0
$GC,4848,-0.44,-146.1,557.5,-10.4,360,4849,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2904,2942,0,0,0,0,0,0
$GC,5157,-0.44,-146.1,589.5,-10.4,375,5160,0.00,1.65,0.00,0.000,4,0.000,0.061,1623,3900,2942,0,0,0,0,0,0
$GC,5188,-0.44,-146.1,593.3,-11.9,376,5193,0.00,1.48,0.00,0.000,6,0.000,0.031,1623,2929,2942,0,0,0,0,0,0
$GC,5511,-0.44,-146.1,629.7,-11.2,392,5512,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2926,2942,0,0,0,0,0,0
$GC,5819,-0.44,-146.1,665.4,-11.8,407,5820,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2926,2942,0,0,0,0,0,0
$GC,6129,-0.44,-146.1,701.8,-11.9,422,6130,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2926,2942,0,0,0,0,0,0
$GC,6438,-0.44,-146.1,739.0,-12.2,437,6439,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2926,2942,0,0,0,0,0,0
$GC,6747,-0.44,-146.1,777.6,-12.7,452,6751,0.00,2.08,0.00,0.000,4,0.000,0.039,1623,1545,2942,0,0,0,0,0,0
$GC,6768,-0.44,-146.1,780.5,-13.0,453,6773,0.08,2.25,0.00,0.000,6,0.171,0.054,1638,2931,2942,0,0,0,0,0,0
$GC,7096,-0.44,-146.1,817.7,-11.5,469,7100,0.00,1.55,0.00,0.000,4,0.000,0.062,1631,3896,2942,0,0,0,0,0,0
$GC,7128,-0.44,-146.1,822.0,-12.3,470,7133,0.00,1.45,0.00,0.000,6,0.000,0.030,1631,2929,2942,0,0,0,0,0,0
$GC,7451,-0.44,-146.1,860.2,-11.9,486,7452,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2928,2942,0,0,0,0,0,0
$GC,7759,-0.44,-146.1,897.3,-12.0,501,7761,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2927,2942,0,0,0,0,0,0
$GC,8069,-0.44,-146.1,934.5,-11.9,516,8070,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2927,2942,0,0,0,0,0,0
$GC,8379,-0.44,-146.1,970.3,-11.3,531,8383,0.00,2.10,0.00,0.000,4,0.000,0.038,1631,1535,2942,0,0,0,0,0,0
$GC,8399,-0.44,-146.1,972.9,-11.9,532,8404,0.00,2.25,0.00,0.000,6,0.000,0.054,1621,2925,2942,0,0,0,0,0,0
$STATE,8643,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8643,begin apogee
$GC,8647,-0.13,0.0,1002.0,11.8,544,8786,0.40,0.00,134.30,1.791,6,0.168,0.000,1739,2711,2342,0,0,0,0,0,0
$STATE,8787,end apogee,CONTROL_FINISHED_OK
$STATE,8787,begin climb
$GC,8789,0.44,146.1,1008.0,0.0,551,8945,0.62,2.50,146.62,1.740,4,0.128,0.042,1932,1346,1745,0,0,0,0,0,0
$GC,8961,0.44,146.1,995.2,10.1,559,8966,0.00,2.45,0.00,0.000,6,0.000,0.049,1932,2718,1743,0,0,0,0,0,0
$GC,9288,0.44,146.1,955.8,12.2,575,9289,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2719,1737,0,0,0,0,0,0
$GC,9597,0.44,146.1,918.0,12.4,590,9598,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2719,1735,0,0,0,0,0,0
$GC,9907,0.44,146.1,879.9,12.0,605,9908,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2719,1734,0,0,0,0,0,0
$GC,10216,0.44,146.1,841.5,12.5,620,10220,0.00,1.95,0.00,0.000,4,0.000,0.061,1932,3894,1733,0,0,0,0,0,0
$GC,10238,0.44,146.1,838.5,14.2,621,10242,0.00,1.80,0.00,0.000,6,0.000,0.034,1940,2753,1732,0,0,0,0,0,0
$GC,10571,0.44,146.1,794.0,13.6,637,10575,0.00,2.28,0.00,0.000,4,0.000,0.044,1951,1297,1732,0,0,0,0,0,0
$GC,10591,0.44,146.1,791.1,13.1,638,10596,0.00,2.30,0.00,0.000,6,0.000,0.050,1951,2720,1732,0,0,0,0,0,0
$GC,10919,0.44,146.1,743.9,14.8,654,10923,0.00,1.88,0.00,0.000,4,0.000,0.060,1951,3891,1732,0,0,0,0,0,0
$GC,10951,0.44,146.1,738.2,16.9,655,10956,0.00,1.88,0.00,0.000,6,0.000,0.034,1960,2714,1731,0,0,0,0,0,0
$GC,11273,0.44,146.1,687.7,16.0,671,11274,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,2713,1731,0,0,0,0,0,0
$GC,11584,0.44,146.1,638.4,16.1,686,11587,0.00,1.92,0.00,0.000,4,0.000,0.058,1960,3898,1731,0,0,0,0,0,0
$GC,11615,0.44,146.1,632.3,18.2,687,11621,0.10,1.88,0.00,0.000,6,0.206,0.034,1941,2714,1730,0,0,0,0,0,0
$GC,11937,0.44,146.1,585.7,14.4,703,11938,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2713,1730,0,0,0,0,0,0
$GC,12247,0.44,146.1,539.1,15.2,718,12248,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2713,1730,0,0,0,0,0,0
$GC,12556,0.44,146.1,492.9,15.2,733,12557,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2713,1730,0,0,0,0,0,0
$GC,12865,0.44,146.1,448.3,13.2,748,12869,0.00,1.95,0.00,0.000,4,0.000,0.060,1941,3883,1730,0,0,0,0,0,0
$GC,12891,0.44,146.1,444.1,15.8,749,12895,0.00,1.88,0.00,0.000,6,0.000,0.034,1949,2703,1729,0,0,0,0,0,0
$GC,13220,0.44,146.1,395.1,14.7,765,13224,0.00,2.20,0.00,0.000,4,0.000,0.043,1960,1282,1730,0,0,0,0,0,0
$GC,13240,0.44,146.1,391.7,13.8,766,13245,0.00,2.28,0.00,0.000,6,0.000,0.051,1960,2701,1730,0,0,0,0,0,0
$GC,13569,0.44,146.1,341.0,16.0,782,13570,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,2702,1729,0,0,0,0,0,0
$GC,13879,0.44,146.1,290.6,16.4,797,13880,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,2701,1729,0,0,0,0,0,0
$GC,14188,0.44,146.1,241.3,15.6,814,14192,0.00,2.20,0.00,0.000,4,0.000,0.042,1970,1290,1729,0,0,0,0,0,0
$GC,14208,0.44,146.1,238.7,14.9,815,14213,0.15,2.25,0.00,0.000,6,0.201,0.052,1934,2722,1729,0,0,0,0,0,0
$GC,14535,0.44,146.1,197.6,11.8,845,14538,0.00,1.88,0.00,0.000,4,0.000,0.060,1933,3889,1729,0,0,0,0,0,0
$GC,14550,0.44,146.1,195.2,12.3,846,14560,0.00,1.85,0.00,0.000,6,0.000,0.034,1941,2711,1729,0,0,0,0,0,0
$GC,14879,0.44,146.1,158.5,10.9,877,14883,0.00,2.20,0.00,0.000,4,0.000,0.042,1952,1283,1729,0,0,0,0,0,0
$GC,14910,0.44,146.1,155.2,10.2,879,14914,0.00,2.25,0.00,0.000,6,0.000,0.053,1952,2714,1729,0,0,0,0,0,0
$GC,15236,0.44,146.1,121.4,9.9,909,15237,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2714,1729,0,0,0,0,0,0
$GC,15561,0.44,146.1,91.6,9.7,946,15568,0.00,1.92,0.00,0.000,4,0.000,0.061,1952,3893,1729,0,0,0,0,0,0
$GC,15582,0.44,146.1,89.4,10.1,949,15589,0.00,1.85,0.00,0.000,6,0.000,0.034,1961,2699,1729,0,0,0,0,0,0
$GC,15822,0.44,146.1,64.5,9.9,990,15831,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2699,1729,0,0,0,0,0,0
$GC,15938,0.44,146.1,52.9,10.3,1009,15945,0.00,1.98,0.00,0.000,4,0.000,0.057,1961,3915,1729,0,0,0,0,0,0
$GC,15970,0.44,146.1,49.0,11.8,1014,15980,0.10,1.90,0.00,0.000,6,0.200,0.035,1941,2713,1729,0,0,0,0,0,0
$GC,16088,0.47,176.7,38.6,8.2,1033,16110,0.00,2.20,15.20,0.872,4,0.000,0.041,1951,1286,1620,0,0,0,0,0,0
$GC,16134,0.50,216.8,34.4,7.8,1040,16164,0.00,2.30,21.10,0.855,6,0.000,0.054,1951,2705,1456,0,0,0,0,0,0
$GC,16279,0.50,216.8,19.7,10.1,1062,16287,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2705,1449,0,0,0,0,0,0
$GC,16363,0.50,216.8,10.8,10.4,1075,16371,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2705,1448,0,0,0,0,0,0
$STATE,16439,end climb,SURFACE_DEPTH_REACHED
$STATE,16439,begin surface coast
$FINISH,1.3,1.015781
$STATE,16472,end surface coast,CONTROL_FINISHED_OK
$STATE,16472,begin surface
$SM_CCo,16545,0.00,0.000,0,0,1446,219.79
$SM_GC,2.22,5.18,0.00,0.00,0.061,0.000,0.000,53,2930,1446,-5.34,0.00,219.79
$IRIDIUM_FIX,-5535.12,-38.45,030115,181809
$TT8_MAMPS,0.026215
$HUMID,56.45
$INTERNAL_PRESSURE,8.95509
$TCM_TEMP,6.70
$XPDR_PINGS,1
$24V_AH,22.0,32.254
$10V_AH,10.0,21.434
$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,13.350,94.000,317.225,0.000,0.000,26.907,24.948,314.374,0.250,0.000,23.068,2663.929,10751.380,423.963,2975.767,224.361,33.368,1420.683,0.000,2433.664,0.000,0.540,0.000
$DEVICE_MAMPS,250.920,62.730,1790.865,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,776.727,2284.544,1119.082,1162.889,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353828
$DATA_FILE_SIZE,73910,1092
$CAP_FILE_SIZE,137216,0
$CFSIZE,259252224,216657920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,040115,043134,-5559.963,-36.277,25,0.9,25,-19.8