version: 66.07
glider: 542
mission: 9
dive: 222
start: 1 18 115 4 58 42
data:
$ID,542
$MISSION,9
$DIVE,222
$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,-22296.932
$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,30
$R_STBD_OVSHOOT,19
$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
$GPS1,180115,044505,-5550.405,-37.312,28,1.0,29,-19.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-61.9
$GPS2,180115,045748,-5550.465,-37.199,19,1.1,20,-19.8
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET3
$TGT_LATLONG,-5600.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.230,-0.020
$KALMAN_X,132456.6,66.2,-100.9,-170882.5,2808.6
$KALMAN_Y,5223.4,151.8,-181.0,12774.0,-1097.1
$MHEAD_RNG_PITCHd_Wd,284.9,29486,-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,-34.15,0.000,2,0.000,0.000,44,2938,2093,0,0,0,0,0,0
$GC,54,-0.44,-146.1,3.1,-4.7,4,97,6.47,1.62,-28.48,0.000,4,0.236,0.087,1631,3905,2934,0,0,0,0,0,0
$GC,367,-0.44,-146.1,51.9,-18.5,54,376,0.00,1.58,0.00,0.000,6,0.000,0.033,1631,2902,2936,0,0,0,0,0,0
$GC,485,-0.44,-146.1,72.7,-18.0,73,491,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2902,2936,0,0,0,0,0,0
$GC,595,-0.44,-146.1,91.6,-16.3,92,602,0.00,2.10,0.00,0.000,4,0.000,0.041,1632,1532,2936,0,0,0,0,0,0
$GC,628,-0.44,-146.1,96.1,-15.2,97,635,0.00,2.33,0.00,0.000,6,0.000,0.061,1621,2929,2936,0,0,0,0,0,0
$GC,851,-0.44,-146.1,130.6,-16.0,120,855,0.00,1.62,0.00,0.000,4,0.000,0.068,1613,3906,2936,0,0,0,0,0,0
$GC,867,-0.44,-146.1,133.4,-15.7,121,875,0.08,1.50,0.00,0.000,6,0.167,0.033,1638,2937,2936,0,0,0,0,0,0
$GC,1193,-0.44,-146.1,177.4,-14.2,152,1196,0.00,1.62,0.00,0.000,4,0.000,0.067,1630,3903,2936,0,0,0,0,0,0
$GC,1242,-0.44,-146.1,184.8,-13.2,156,1252,0.00,1.50,0.00,0.000,6,0.000,0.031,1630,2916,2936,0,0,0,0,0,0
$GC,1570,-0.44,-146.1,226.2,-12.8,187,1574,0.00,2.10,0.00,0.000,4,0.000,0.041,1630,1545,2936,0,0,0,0,0,0
$GC,1756,-0.44,-146.1,248.4,-11.8,203,1760,0.00,2.30,0.00,0.000,6,0.000,0.063,1620,2932,2937,0,0,0,0,0,0
$GC,2084,-0.44,-146.1,296.9,-15.0,219,2085,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2932,2936,0,0,0,0,0,0
$GC,2393,-0.44,-146.1,342.4,-14.4,234,2395,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2932,2936,0,0,0,0,0,0
$GC,2704,-0.44,-146.1,387.2,-14.5,249,2707,0.00,1.60,0.00,0.000,4,0.000,0.068,1612,3903,2936,0,0,0,0,0,0
$GC,2766,-0.44,-146.1,397.1,-15.3,251,2773,0.08,1.48,0.00,0.000,6,0.164,0.033,1637,2949,2937,0,0,0,0,0,0
$GC,3082,-0.44,-146.1,437.7,-12.7,267,3083,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2949,2937,0,0,0,0,0,0
$GC,3390,-0.44,-146.1,475.1,-11.9,282,3394,0.00,2.17,0.00,0.000,4,0.000,0.040,1637,1525,2937,0,0,0,0,0,0
$GC,3423,-0.44,-146.1,479.2,-11.5,283,3427,0.00,2.33,0.00,0.000,6,0.000,0.061,1627,2941,2937,0,0,0,0,0,0
$GC,3744,-0.44,-146.1,519.0,-12.3,299,3748,0.00,1.58,0.00,0.000,4,0.000,0.067,1620,3900,2937,0,0,0,0,0,0
$GC,3778,-0.44,-146.1,523.6,-13.3,300,3782,0.00,1.50,0.00,0.000,6,0.000,0.031,1619,2910,2937,0,0,0,0,0,0
$GC,4100,-0.44,-146.1,564.6,-12.7,316,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2904,2937,0,0,0,0,0,0
$GC,4408,-0.44,-146.1,604.4,-12.8,331,4409,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2904,2937,0,0,0,0,0,0
$GC,4717,-0.44,-146.1,643.2,-12.5,346,4721,0.00,1.65,0.00,0.000,4,0.000,0.067,1611,3903,2937,0,0,0,0,0,0
$GC,4767,-0.44,-146.1,649.9,-13.2,348,4772,0.08,1.48,0.00,0.000,6,0.158,0.031,1637,2943,2937,0,0,0,0,0,0
$GC,5094,-0.44,-146.1,687.4,-11.4,364,5095,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2942,2937,0,0,0,0,0,0
$GC,5403,-0.44,-146.1,721.8,-11.0,379,5404,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2942,2937,0,0,0,0,0,0
$GC,5713,-0.44,-146.1,755.5,-10.8,394,5715,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2942,2937,0,0,0,0,0,0
$GC,6022,-0.44,-146.1,788.0,-10.3,409,6026,0.00,2.15,0.00,0.000,4,0.000,0.039,1637,1523,2937,0,0,0,0,0,0
$GC,6042,-0.44,-146.1,790.3,-10.4,410,6047,0.00,2.33,0.00,0.000,6,0.000,0.059,1627,2924,2937,0,0,0,0,0,0
$GC,6371,-0.44,-146.1,825.6,-10.8,426,6372,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2924,2937,0,0,0,0,0,0
$GC,6679,-0.44,-146.1,857.8,-10.2,441,6680,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2924,2938,0,0,0,0,0,0
$GC,6989,-0.44,-146.1,889.5,-10.3,456,6991,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2924,2937,0,0,0,0,0,0
$GC,7298,-0.44,-146.1,921.9,-10.5,471,7299,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2923,2937,0,0,0,0,0,0
$GC,7607,-0.44,-146.1,954.6,-10.7,486,7611,0.00,1.60,0.00,0.000,4,0.000,0.067,1619,3898,2937,0,0,0,0,0,0
$GC,7639,-0.44,-146.1,958.5,-11.7,487,7644,0.00,1.48,0.00,0.000,6,0.000,0.031,1620,2919,2937,0,0,0,0,0,0
$GC,7962,-0.44,-146.1,995.1,-11.3,503,7963,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2914,2937,0,0,0,0,0,0
$STATE,8021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8022,begin apogee
$GC,8026,-0.13,0.0,1002.2,11.4,506,8165,0.43,0.00,134.93,1.791,6,0.162,0.000,1743,2734,2342,0,0,0,0,0,0
$STATE,8166,end apogee,CONTROL_FINISHED_OK
$STATE,8166,begin climb
$GC,8168,0.44,146.1,1006.9,0.0,513,8321,0.62,0.00,148.65,1.749,6,0.125,0.000,1925,2734,1746,0,0,0,0,0,0
$GC,8619,0.44,146.1,959.9,11.9,535,8620,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,2734,1738,0,0,0,0,0,0
$GC,8929,0.44,146.1,922.8,11.9,550,8930,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,2734,1736,0,0,0,0,0,0
$GC,9238,0.44,146.1,885.0,12.5,565,9242,0.00,2.00,0.00,0.000,4,0.000,0.066,1925,3899,1735,0,0,0,0,0,0
$GC,9275,0.44,146.1,879.3,15.0,566,9283,0.00,1.90,0.00,0.000,6,0.000,0.034,1934,2725,1733,0,0,0,0,0,0
$GC,9592,0.44,146.1,837.9,13.3,582,9596,0.00,2.25,0.00,0.000,4,0.000,0.044,1945,1298,1733,0,0,0,0,0,0
$GC,9623,0.44,146.1,833.4,13.1,583,9631,0.00,2.35,0.00,0.000,6,0.000,0.058,1945,2724,1733,0,0,0,0,0,0
$GC,9940,0.44,146.1,788.2,14.4,599,9943,0.00,1.92,0.00,0.000,4,0.000,0.063,1945,3896,1732,0,0,0,0,0,0
$GC,9989,0.44,146.1,779.8,17.4,601,9994,0.00,1.90,0.00,0.000,6,0.000,0.035,1954,2709,1731,0,0,0,0,0,0
$GC,10316,0.44,146.1,730.3,15.1,617,10318,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2709,1731,0,0,0,0,0,0
$GC,10626,0.44,146.1,683.5,15.1,632,10629,0.00,1.98,0.00,0.000,4,0.000,0.063,1954,3892,1731,0,0,0,0,0,0
$GC,10664,0.44,146.1,677.0,17.3,633,10672,0.08,1.90,0.00,0.000,6,0.200,0.034,1943,2698,1730,0,0,0,0,0,0
$GC,10980,0.44,146.1,634.7,13.0,649,10981,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2698,1731,0,0,0,0,0,0
$GC,11290,0.44,146.1,594.8,12.7,664,11294,0.00,1.98,0.00,0.000,4,0.000,0.063,1942,3890,1730,0,0,0,0,0,0
$GC,11322,0.44,146.1,589.8,15.7,665,11327,0.00,1.88,0.00,0.000,6,0.000,0.034,1950,2712,1730,0,0,0,0,0,0
$GC,11644,0.44,146.1,545.2,14.1,681,11645,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2711,1730,0,0,0,0,0,0
$GC,11954,0.44,146.1,500.1,14.7,696,11958,0.00,2.00,0.00,0.000,4,0.000,0.063,1950,3894,1729,0,0,0,0,0,0
$GC,11985,0.44,146.1,494.5,16.7,697,11990,0.00,1.90,0.00,0.000,6,0.000,0.034,1960,2702,1730,0,0,0,0,0,0
$GC,12308,0.44,146.1,443.6,16.0,713,12309,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,2702,1730,0,0,0,0,0,0
$GC,12618,0.44,146.1,397.4,14.2,728,12619,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,2702,1730,0,0,0,0,0,0
$GC,12928,0.44,146.1,354.0,13.6,743,12932,0.00,1.98,0.00,0.000,4,0.000,0.062,1960,3890,1730,0,0,0,0,0,0
$GC,12985,0.44,146.1,344.6,15.2,745,12989,0.15,1.85,0.00,0.000,6,0.205,0.035,1933,2709,1729,0,0,0,0,0,0
$GC,13308,0.44,146.1,305.3,12.0,761,13312,0.00,2.20,0.00,0.000,4,0.000,0.042,1943,1295,1730,0,0,0,0,0,0
$GC,13339,0.44,146.1,301.2,11.5,762,13349,0.00,2.30,0.00,0.000,6,0.000,0.057,1943,2704,1730,0,0,0,0,0,0
$GC,13657,0.44,146.1,261.3,12.7,778,13661,0.00,1.95,0.00,0.000,4,0.000,0.063,1944,3898,1730,0,0,0,0,0,0
$GC,13742,0.44,146.1,248.4,15.7,781,13749,0.00,1.90,0.00,0.000,6,0.000,0.034,1953,2703,1729,0,0,0,0,0,0
$GC,14068,0.44,146.1,208.6,11.5,812,14072,0.00,1.98,0.00,0.000,4,0.000,0.062,1953,3894,1729,0,0,0,0,0,0
$GC,14184,0.44,146.1,192.6,13.9,822,14187,0.00,1.85,0.00,0.000,6,0.000,0.034,1962,2709,1729,0,0,0,0,0,0
$GC,14517,0.44,146.1,152.9,11.7,853,14521,0.00,1.98,0.00,0.000,4,0.000,0.062,1962,3901,1729,0,0,0,0,0,0
$GC,14706,0.44,146.1,126.9,12.8,869,14711,0.15,1.88,0.00,0.000,6,0.203,0.034,1936,2701,1729,0,0,0,0,0,0
$GC,15036,0.48,194.4,96.1,7.4,904,15077,0.00,2.05,30.15,1.066,4,0.000,0.063,1936,3896,1547,0,0,0,0,0,0
$GC,15167,0.48,196.5,84.9,9.4,925,15174,0.00,1.90,0.00,0.000,6,0.000,0.034,1944,2705,1543,0,0,0,0,0,0
$GC,15406,0.49,210.1,66.2,8.9,966,15421,0.00,0.00,10.82,0.910,6,0.000,0.000,1944,2704,1484,0,0,0,0,0,0
$GC,15528,0.51,229.6,56.0,8.7,986,15543,0.00,0.00,12.70,0.884,6,0.000,0.000,1944,2704,1405,0,0,0,0,0,0
$GC,15650,0.52,249.1,45.8,8.7,1006,15673,0.00,2.30,13.23,0.859,4,0.000,0.044,1955,1289,1323,0,0,0,0,0,0
$GC,15692,0.55,276.8,42.1,8.3,1012,15716,0.00,2.38,13.45,0.858,6,0.000,0.056,1955,2722,1212,0,0,0,0,0,0
$GC,15825,0.57,310.0,31.0,8.1,1033,15855,0.00,2.00,19.25,0.831,4,0.000,0.063,1955,3890,1076,0,0,0,0,0,0
$GC,15900,0.57,310.0,23.5,14.3,1044,15909,0.00,1.92,0.00,0.000,6,0.000,0.036,1963,2720,1073,0,0,0,0,0,0
$GC,15987,0.57,310.0,12.1,11.3,1057,15995,0.00,2.33,0.00,0.000,4,0.000,0.047,1974,1290,1069,0,0,0,0,0,0
$GC,16028,0.57,310.0,6.9,10.8,1063,16037,0.00,2.35,0.00,0.000,6,0.000,0.056,1974,2705,1067,0,0,0,0,0,0
$STATE,16075,end climb,SURFACE_DEPTH_REACHED
$STATE,16075,begin surface coast
$FINISH,1.1,1.016273
$STATE,16101,end surface coast,CONTROL_FINISHED_OK
$STATE,16101,begin surface
$SM_CCo,16174,0.00,0.000,0,0,1065,313.24
$SM_GC,1.92,5.38,0.00,0.00,0.070,0.000,0.000,60,2929,1065,-5.34,-0.03,313.24
$IRIDIUM_FIX,-5527.50,-34.49,180115,040454
$TT8_MAMPS,0.026215
$HUMID,56.34
$INTERNAL_PRESSURE,8.94533
$TCM_TEMP,7.40
$XPDR_PINGS,0
$24V_AH,22.0,44.511
$10V_AH,9.9,30.642
$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,13.500,101.250,383.175,0.000,0.000,52.905,84.018,404.159,0.000,0.000,21.853,2626.137,10359.583,500.542,3182.589,260.346,33.365,1518.671,0.000,2440.004,0.000,0.540,0.000
$DEVICE_MAMPS,235.620,87.210,1790.865,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,761.744,2216.079,1069.476,1139.316,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353400
$DATA_FILE_SIZE,73759,1074
$CAP_FILE_SIZE,140689,0
$CFSIZE,259252224,211361792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180115,092929,-5551.313,-39.193,39,0.9,40,-19.8