version: 66.07
glider: 542
mission: 9
dive: 207
start: 1 15 115 4 22 41
data:
$ID,542
$MISSION,9
$DIVE,207
$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,-22250.824
$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
$GPS1,150115,041334,-5552.067,-47.312,27,1.1,28,-19.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-66.9
$GPS2,150115,042147,-5552.030,-47.389,17,1.3,17,-19.8
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET1
$TGT_LATLONG,-5600.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.223,0.060
$KALMAN_X,126400.4,585.8,234.8,-176236.7,-3349.3
$KALMAN_Y,12084.9,-96.5,61.3,3018.4,-2349.3
$MHEAD_RNG_PITCHd_Wd,94.8,23284,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-0.44,-146.1,0.0,0.0,0,52,0.00,0.00,-33.38,0.000,2,0.000,0.000,60,2944,2183,0,0,0,0,0,0
$GC,54,-0.44,-146.1,3.1,-3.3,4,97,6.50,1.60,-27.08,0.000,4,0.242,0.079,1633,3890,2938,0,0,0,0,0,0
$GC,193,-0.44,-146.1,20.1,-15.4,24,202,0.00,1.55,0.00,0.000,6,0.000,0.033,1633,2899,2940,0,0,0,0,0,0
$GC,277,-0.44,-146.1,34.3,-16.0,37,283,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2899,2940,0,0,0,0,0,0
$GC,389,-0.44,-146.1,53.7,-16.2,56,398,0.00,1.67,0.00,0.000,4,0.000,0.057,1625,3898,2940,0,0,0,0,0,0
$GC,463,-0.44,-146.1,66.4,-17.2,68,472,0.00,1.50,0.00,0.000,6,0.000,0.032,1625,2923,2940,0,0,0,0,0,0
$GC,578,-0.44,-146.1,85.3,-17.0,87,586,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2922,2940,0,0,0,0,0,0
$GC,806,-0.44,-146.1,121.4,-14.4,115,807,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2923,2940,0,0,0,0,0,0
$GC,1126,-0.44,-146.1,167.0,-14.1,145,1130,0.00,1.62,0.00,0.000,4,0.000,0.060,1618,3895,2940,0,0,0,0,0,0
$GC,1229,-0.44,-146.1,182.8,-15.3,154,1232,0.00,1.48,0.00,0.000,6,0.000,0.032,1618,2933,2941,0,0,0,0,0,0
$GC,1561,-0.44,-146.1,231.0,-15.2,185,1565,0.00,1.60,0.00,0.000,4,0.000,0.059,1610,3889,2940,0,0,0,0,0,0
$GC,1596,-0.44,-146.1,236.8,-16.2,188,1600,0.10,1.48,0.00,0.000,6,0.161,0.032,1642,2930,2941,0,0,0,0,0,0
$GC,1934,-0.44,-146.1,276.9,-11.5,209,1935,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2927,2941,0,0,0,0,0,0
$GC,2238,-0.44,-146.1,312.8,-11.6,224,2242,0.00,2.12,0.00,0.000,4,0.000,0.039,1642,1535,2941,0,0,0,0,0,0
$GC,2273,-0.44,-146.1,316.7,-10.9,225,2280,0.00,2.25,0.00,0.000,6,0.000,0.052,1632,2934,2940,0,0,0,0,0,0
$GC,2591,-0.44,-146.1,355.0,-12.0,241,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2934,2941,0,0,0,0,0,0
$GC,2897,-0.44,-146.1,392.7,-12.3,256,2899,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2935,2941,0,0,0,0,0,0
$GC,3207,-0.44,-146.1,430.3,-12.4,271,3211,0.00,2.15,0.00,0.000,4,0.000,0.038,1632,1529,2941,0,0,0,0,0,0
$GC,3251,-0.44,-146.1,435.7,-10.9,273,3255,0.00,2.25,0.00,0.000,6,0.000,0.053,1621,2930,2941,0,0,0,0,0,0
$GC,3578,-0.44,-146.1,477.5,-13.0,289,3579,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2930,2942,0,0,0,0,0,0
$GC,3887,-0.44,-146.1,517.2,-12.7,304,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2931,2941,0,0,0,0,0,0
$GC,4197,-0.44,-146.1,556.3,-12.4,319,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2930,2941,0,0,0,0,0,0
$GC,4506,-0.44,-146.1,594.5,-12.2,334,4507,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2930,2941,0,0,0,0,0,0
$GC,4815,-0.44,-146.1,631.9,-11.9,349,4819,0.00,2.17,0.00,0.000,4,0.000,0.039,1622,1524,2941,0,0,0,0,0,0
$GC,4853,-0.44,-146.1,636.3,-10.8,350,4860,0.12,2.28,0.00,0.000,6,0.184,0.054,1644,2937,2942,0,0,0,0,0,0
$GC,5169,-0.44,-146.1,666.9,-9.4,366,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2937,2942,0,0,0,0,0,0
$GC,5478,-0.44,-146.1,696.1,-9.2,381,5479,0.00,0.00,0.00,0.000,6,0.000,0.000,1644,2937,2942,0,0,0,0,0,0
$GC,5788,-0.44,-146.1,725.7,-9.5,396,5792,0.00,2.12,0.00,0.000,4,0.000,0.037,1644,1536,2942,0,0,0,0,0,0
$GC,5827,-0.44,-146.1,729.5,-9.4,398,5831,0.00,2.25,0.00,0.000,6,0.000,0.054,1634,2930,2942,0,0,0,0,0,0
$GC,6154,-0.44,-146.1,763.4,-10.7,414,6156,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2931,2942,0,0,0,0,0,0
$GC,6463,-0.44,-146.1,797.5,-10.9,429,6464,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2930,2942,0,0,0,0,0,0
$GC,6772,-0.44,-146.1,832.0,-10.9,444,6776,0.00,2.15,0.00,0.000,4,0.000,0.039,1634,1533,2942,0,0,0,0,0,0
$GC,6816,-0.44,-146.1,836.8,-10.0,446,6820,0.00,2.25,0.00,0.000,6,0.000,0.054,1624,2930,2942,0,0,0,0,0,0
$GC,7144,-0.44,-146.1,873.6,-11.3,462,7145,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2930,2942,0,0,0,0,0,0
$GC,7453,-0.44,-146.1,909.2,-11.7,477,7454,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2930,2942,0,0,0,0,0,0
$GC,7763,-0.44,-146.1,945.3,-11.6,492,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2930,2942,0,0,0,0,0,0
$GC,8071,-0.44,-146.1,982.0,-11.9,507,8072,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2930,2941,0,0,0,0,0,0
$STATE,8235,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8235,begin apogee
$GC,8239,-0.13,0.0,1001.7,11.8,515,8378,0.40,0.00,134.90,1.771,6,0.152,0.000,1744,2713,2342,0,0,0,0,0,0
$STATE,8379,end apogee,CONTROL_FINISHED_OK
$STATE,8379,begin climb
$GC,8381,0.44,146.1,1007.3,0.0,522,8542,0.65,2.30,147.88,1.731,4,0.121,0.059,1929,3900,1745,0,0,0,0,0,0
$GC,8570,0.44,146.1,991.2,15.2,531,8574,0.00,2.03,0.00,0.000,6,0.000,0.032,1938,2745,1742,0,0,0,0,0,0
$GC,8897,0.44,146.1,948.3,13.7,547,8898,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2743,1737,0,0,0,0,0,0
$GC,9206,0.44,146.1,906.4,13.4,562,9210,0.00,1.95,0.00,0.000,4,0.000,0.057,1938,3903,1735,0,0,0,0,0,0
$GC,9251,0.44,146.1,899.7,16.0,564,9255,0.00,1.92,0.00,0.000,6,0.000,0.034,1947,2704,1734,0,0,0,0,0,0
$GC,9583,0.44,146.1,852.0,14.3,580,9585,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2703,1733,0,0,0,0,0,0
$GC,9893,0.44,146.1,808.2,14.4,595,9897,0.00,2.00,0.00,0.000,4,0.000,0.057,1947,3897,1733,0,0,0,0,0,0
$GC,9930,0.44,146.1,802.0,16.4,596,9938,0.00,1.90,0.00,0.000,6,0.000,0.034,1956,2711,1732,0,0,0,0,0,0
$GC,10246,0.44,146.1,754.7,15.1,612,10247,0.00,0.00,0.00,0.000,6,0.000,0.000,1956,2711,1732,0,0,0,0,0,0
$GC,10555,0.44,146.1,708.0,15.0,627,10559,0.00,1.95,0.00,0.000,4,0.000,0.057,1956,3901,1732,0,0,0,0,0,0
$GC,10594,0.44,146.1,701.2,17.5,628,10601,0.10,1.90,0.00,0.000,6,0.200,0.034,1938,2708,1731,0,0,0,0,0,0
$GC,10909,0.44,146.1,658.3,13.4,644,10911,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,2708,1731,0,0,0,0,0,0
$GC,11219,0.44,146.1,617.3,13.3,659,11220,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,2708,1731,0,0,0,0,0,0
$GC,11529,0.44,146.1,576.8,13.0,674,11530,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,2708,1731,0,0,0,0,0,0
$GC,11837,0.44,146.1,536.8,12.8,689,11841,0.00,1.98,0.00,0.000,4,0.000,0.057,1938,3909,1731,0,0,0,0,0,0
$GC,11864,0.44,146.1,532.8,15.3,690,11869,0.00,1.92,0.00,0.000,6,0.000,0.034,1946,2703,1730,0,0,0,0,0,0
$GC,12192,0.44,146.1,488.3,13.8,706,12193,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,2703,1730,0,0,0,0,0,0
$GC,12501,0.44,146.1,447.2,13.3,721,12502,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,2703,1730,0,0,0,0,0,0
$GC,12811,0.44,146.1,407.7,12.5,736,12815,0.00,1.98,0.00,0.000,4,0.000,0.057,1946,3891,1730,0,0,0,0,0,0
$GC,12857,0.44,146.1,401.2,15.1,738,12861,0.00,1.85,0.00,0.000,6,0.000,0.034,1955,2708,1730,0,0,0,0,0,0
$GC,13189,0.44,146.1,356.4,13.4,754,13190,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2708,1730,0,0,0,0,0,0
$GC,13502,0.44,146.1,314.9,13.1,769,13503,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2708,1730,0,0,0,0,0,0
$GC,13810,0.44,146.1,273.5,12.9,784,13813,0.00,1.95,0.00,0.000,4,0.000,0.056,1955,3897,1730,0,0,0,0,0,0
$GC,13848,0.44,146.1,267.6,14.7,785,13856,0.08,1.88,0.00,0.000,6,0.202,0.034,1942,2716,1730,0,0,0,0,0,0
$GC,14174,0.44,146.1,231.3,11.1,809,14180,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2715,1730,0,0,0,0,0,0
$GC,14500,0.44,146.1,194.7,10.8,840,14503,0.00,1.95,0.00,0.000,4,0.000,0.057,1943,3903,1730,0,0,0,0,0,0
$GC,14538,0.44,146.1,190.4,13.3,843,14541,0.00,1.88,0.00,0.000,6,0.000,0.034,1951,2701,1730,0,0,0,0,0,0
$GC,14868,0.44,146.1,151.7,11.9,874,14872,0.00,1.98,0.00,0.000,4,0.000,0.057,1951,3892,1730,0,0,0,0,0,0
$GC,14952,0.44,146.1,140.7,13.8,881,14955,0.00,1.85,0.00,0.000,6,0.000,0.034,1961,2705,1730,0,0,0,0,0,0
$GC,15282,0.44,146.1,102.3,10.6,912,15286,0.00,2.20,0.00,0.000,4,0.000,0.042,1971,1289,1730,0,0,0,0,0,0
$GC,15325,0.45,150.8,98.4,9.3,916,15333,0.15,2.28,0.00,0.000,6,0.195,0.051,1935,2724,1730,0,0,0,0,0,0
$GC,15564,0.48,195.0,79.4,7.6,957,15599,0.00,0.00,29.35,1.008,6,0.000,0.000,1935,2723,1546,0,0,0,0,0,0
$GC,15707,0.50,222.8,67.9,8.3,980,15730,0.00,0.00,17.98,0.939,6,0.000,0.000,1935,2724,1432,0,0,0,0,0,0
$GC,15836,0.52,248.8,57.3,8.4,1001,15857,0.00,0.00,15.93,0.903,6,0.000,0.000,1935,2724,1325,0,0,0,0,0,0
$GC,15965,0.55,278.8,46.5,8.2,1022,15988,0.00,2.30,16.73,0.877,4,0.000,0.041,1945,1298,1203,0,0,0,0,0,0
$GC,16014,0.58,324.1,42.6,7.5,1029,16044,0.00,2.33,22.42,0.866,6,0.000,0.050,1945,2719,1018,0,0,0,0,0,0
$GC,16153,0.59,330.7,30.6,9.2,1051,16162,0.10,0.00,2.72,0.483,6,0.122,0.000,1987,2719,990,0,0,0,0,0,0
$GC,16274,0.59,330.7,14.5,14.7,1070,16283,0.00,2.33,0.00,0.000,4,0.000,0.046,1998,1294,988,0,0,0,0,0,0
$GC,16299,0.59,330.7,10.8,15.6,1073,16308,0.00,2.33,0.00,0.000,6,0.000,0.052,1998,2700,986,0,0,0,0,0,0
$STATE,16351,end climb,SURFACE_DEPTH_REACHED
$STATE,16351,begin surface coast
$FINISH,1.1,1.016172
$STATE,16377,end surface coast,CONTROL_FINISHED_OK
$STATE,16377,begin surface
$SM_CCo,16450,0.00,0.000,0,0,983,333.11
$SM_GC,2.02,5.40,0.00,0.00,0.066,0.000,0.000,59,2934,983,-5.34,0.14,333.11
$IRIDIUM_FIX,-5527.50,-49.82,140115,232309
$TT8_MAMPS,0.026215
$HUMID,56.85
$INTERNAL_PRESSURE,8.93556
$TCM_TEMP,6.80
$XPDR_PINGS,0
$24V_AH,22.0,41.864
$10V_AH,9.9,28.682
$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,13.600,84.075,387.900,0.000,0.000,26.725,19.304,313.715,0.000,0.000,20.021,2623.204,10655.982,473.207,2942.568,241.138,33.368,1472.591,0.000,2401.501,0.000,0.539,0.000
$DEVICE_MAMPS,241.740,78.795,1770.975,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,769.851,2232.827,1069.293,1115.873,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353516
$DATA_FILE_SIZE,73758,1085
$CAP_FILE_SIZE,134227,0
$CFSIZE,259252224,212480000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,150115,085804,-5551.844,-42.985,39,1.0,40,-19.8