version: 66.07
glider: 542
mission: 9
dive: 223
start: 1 18 115 9 38 54
data:
$ID,542
$MISSION,9
$DIVE,223
$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,-22300.043
$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,24
$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
$GPS1,180115,092929,-5551.313,-39.193,39,0.9,40,-19.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-49.7
$GPS2,180115,093800,-5551.347,-39.079,14,1.8,14,-19.8
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET3
$TGT_LATLONG,-5600.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.226,0.047
$KALMAN_X,135434.8,-335.1,211.1,-175717.5,3449.6
$KALMAN_Y,3860.1,4.5,107.4,12364.1,-1944.5
$MHEAD_RNG_PITCHd_Wd,301.5,26948,-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,-146.1,0.0,0.0,0,76,0.00,0.00,-57.12,0.000,2,0.000,0.000,44,2940,2291,0,0,0,0,0,0
$GC,78,-0.44,-146.1,3.1,-3.6,7,113,6.50,1.62,-20.73,0.000,4,0.239,0.086,1633,3909,2939,0,0,0,0,0,0
$GC,268,-0.44,-146.1,30.3,-15.9,36,278,0.00,1.60,0.00,0.000,6,0.000,0.033,1633,2888,2941,0,0,0,0,0,0
$GC,385,-0.44,-146.1,49.5,-17.7,55,391,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2887,2941,0,0,0,0,0,0
$GC,497,-0.44,-146.1,67.4,-15.0,74,506,0.00,2.12,0.00,0.000,4,0.000,0.041,1634,1532,2941,0,0,0,0,0,0
$GC,543,-0.44,-146.1,73.8,-14.7,81,551,0.00,2.30,0.00,0.000,6,0.000,0.060,1623,2928,2941,0,0,0,0,0,0
$GC,656,-0.44,-146.1,91.1,-15.8,100,663,0.00,1.62,0.00,0.000,4,0.000,0.067,1616,3909,2941,0,0,0,0,0,0
$GC,742,-0.44,-146.1,106.0,-17.4,112,752,0.08,1.50,0.00,0.000,6,0.174,0.031,1639,2942,2941,0,0,0,0,0,0
$GC,1069,-0.44,-146.1,152.9,-15.3,143,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2941,2941,0,0,0,0,0,0
$GC,1391,-0.44,-146.1,198.4,-13.2,173,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2942,2941,0,0,0,0,0,0
$GC,1716,-0.44,-146.1,241.9,-13.2,204,1719,0.00,1.62,0.00,0.000,4,0.000,0.067,1631,3903,2941,0,0,0,0,0,0
$GC,1766,-0.44,-146.1,248.9,-13.2,208,1777,0.00,1.50,0.00,0.000,6,0.000,0.031,1631,2914,2941,0,0,0,0,0,0
$GC,2096,-0.44,-146.1,291.5,-13.0,225,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2913,2941,0,0,0,0,0,0
$GC,2402,-0.44,-146.1,332.4,-13.2,240,2404,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2913,2942,0,0,0,0,0,0
$GC,2714,-0.44,-146.1,371.1,-12.1,255,2718,0.00,1.65,0.00,0.000,4,0.000,0.067,1623,3907,2941,0,0,0,0,0,0
$GC,2764,-0.44,-146.1,377.9,-12.8,257,2768,0.00,1.48,0.00,0.000,6,0.000,0.031,1623,2939,2942,0,0,0,0,0,0
$GC,3091,-0.44,-146.1,418.3,-12.4,273,3092,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2937,2941,0,0,0,0,0,0
$GC,3401,-0.44,-146.1,456.6,-12.1,288,3404,0.00,1.62,0.00,0.000,4,0.000,0.066,1616,3904,2942,0,0,0,0,0,0
$GC,3450,-0.44,-146.1,463.3,-13.5,290,3455,0.00,1.50,0.00,0.000,6,0.000,0.031,1616,2919,2942,0,0,0,0,0,0
$GC,3777,-0.44,-146.1,504.8,-13.1,306,3779,0.10,0.00,0.00,0.000,6,0.194,0.000,1640,2916,2942,0,0,0,0,0,0
$GC,4087,-0.44,-146.1,539.3,-11.0,321,4091,0.00,1.65,0.00,0.000,4,0.000,0.067,1633,3907,2942,0,0,0,0,0,0
$GC,4133,-0.44,-146.1,544.6,-12.2,323,4136,0.00,1.48,0.00,0.000,6,0.000,0.031,1633,2932,2942,0,0,0,0,0,0
$GC,4465,-0.44,-146.1,582.0,-11.3,339,4466,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2926,2942,0,0,0,0,0,0
$GC,4775,-0.44,-146.1,615.8,-10.8,354,4778,0.00,1.65,0.00,0.000,4,0.000,0.066,1625,3923,2942,0,0,0,0,0,0
$GC,4824,-0.44,-146.1,621.9,-12.1,356,4828,0.00,1.50,0.00,0.000,6,0.000,0.031,1625,2939,2942,0,0,0,0,0,0
$GC,5151,-0.44,-146.1,659.3,-11.4,372,5152,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2938,2942,0,0,0,0,0,0
$GC,5461,-0.44,-146.1,694.6,-11.4,387,5465,0.00,1.62,0.00,0.000,4,0.000,0.066,1618,3902,2942,0,0,0,0,0,0
$GC,5534,-0.44,-146.1,703.7,-12.4,390,5538,0.00,1.50,0.00,0.000,6,0.000,0.031,1618,2923,2942,0,0,0,0,0,0
$GC,5862,-0.44,-146.1,742.8,-12.0,406,5863,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2917,2942,0,0,0,0,0,0
$GC,6170,-0.44,-146.1,779.0,-11.6,421,6174,0.00,1.65,0.00,0.000,4,0.000,0.066,1610,3913,2942,0,0,0,0,0,0
$GC,6238,-0.44,-146.1,787.3,-12.7,424,6242,0.08,1.50,0.00,0.000,6,0.161,0.031,1635,2938,2942,0,0,0,0,0,0
$GC,6570,-0.44,-146.1,820.7,-10.3,440,6571,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2937,2942,0,0,0,0,0,0
$GC,6879,-0.44,-146.1,853.4,-10.7,455,6883,0.00,1.62,0.00,0.000,4,0.000,0.065,1628,3904,2942,0,0,0,0,0,0
$GC,6916,-0.44,-146.1,857.8,-11.8,456,6924,0.00,1.50,0.00,0.000,6,0.000,0.031,1628,2923,2942,0,0,0,0,0,0
$GC,7233,-0.44,-146.1,892.5,-10.9,472,7234,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2923,2942,0,0,0,0,0,0
$GC,7542,-0.44,-146.1,926.2,-10.8,487,7545,0.00,1.65,0.00,0.000,4,0.000,0.066,1620,3920,2942,0,0,0,0,0,0
$GC,7587,-0.44,-146.1,931.6,-12.5,489,7590,0.00,1.50,0.00,0.000,6,0.000,0.032,1621,2934,2942,0,0,0,0,0,0
$GC,7920,-0.44,-146.1,969.5,-11.3,505,7921,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2927,2942,0,0,0,0,0,0
$STATE,8206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8206,begin apogee
$GC,8211,-0.13,0.0,1001.0,11.0,519,8350,0.43,0.00,135.68,1.789,6,0.164,0.000,1745,2707,2342,0,0,0,0,0,0
$STATE,8350,end apogee,CONTROL_FINISHED_OK
$STATE,8351,begin climb
$GC,8353,0.44,146.1,1005.2,0.0,526,8509,0.60,2.50,146.73,1.753,4,0.122,0.043,1931,1348,1746,0,0,0,0,0,0
$GC,8545,0.44,146.1,988.8,11.1,535,8549,0.00,2.45,0.00,0.000,6,0.000,0.057,1931,2722,1743,0,0,0,0,0,0
$GC,8870,0.44,146.1,945.6,13.6,551,8874,0.00,1.98,0.00,0.000,4,0.000,0.064,1930,3890,1737,0,0,0,0,0,0
$GC,8924,0.44,146.1,937.1,15.4,553,8929,0.00,1.88,0.00,0.000,6,0.000,0.034,1939,2754,1735,0,0,0,0,0,0
$GC,9247,0.44,146.1,891.3,14.1,569,9251,0.00,2.30,0.00,0.000,4,0.000,0.044,1950,1293,1734,0,0,0,0,0,0
$GC,9279,0.44,146.1,886.6,13.3,570,9284,0.00,2.35,0.00,0.000,6,0.000,0.056,1950,2713,1733,0,0,0,0,0,0
$GC,9602,0.44,146.1,839.6,15.0,586,9606,0.00,1.95,0.00,0.000,4,0.000,0.063,1950,3898,1733,0,0,0,0,0,0
$GC,9670,0.44,146.1,827.9,17.1,589,9673,0.00,1.88,0.00,0.000,6,0.000,0.034,1959,2707,1731,0,0,0,0,0,0
$GC,10002,0.44,146.1,774.8,15.9,605,10003,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2707,1731,0,0,0,0,0,0
$GC,10312,0.44,146.1,726.9,15.1,620,10315,0.00,1.98,0.00,0.000,4,0.000,0.061,1959,3894,1731,0,0,0,0,0,0
$GC,10349,0.44,146.1,720.3,16.8,621,10358,0.10,1.90,0.00,0.000,6,0.197,0.034,1941,2705,1731,0,0,0,0,0,0
$GC,10666,0.44,146.1,678.0,13.3,637,10667,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2704,1731,0,0,0,0,0,0
$GC,10976,0.44,146.1,637.6,12.9,652,10977,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2705,1731,0,0,0,0,0,0
$GC,11284,0.44,146.1,597.2,13.1,667,11286,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2705,1731,0,0,0,0,0,0
$GC,11594,0.44,146.1,557.5,12.4,682,11595,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2705,1731,0,0,0,0,0,0
$GC,11904,0.44,146.1,519.9,11.7,697,11908,0.00,2.00,0.00,0.000,4,0.000,0.062,1940,3916,1731,0,0,0,0,0,0
$GC,11941,0.44,146.1,514.3,13.9,698,11949,0.00,1.92,0.00,0.000,6,0.000,0.034,1949,2711,1730,0,0,0,0,0,0
$GC,12259,0.44,146.1,474.2,12.6,714,12260,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2710,1730,0,0,0,0,0,0
$GC,12567,0.44,146.1,435.4,12.2,729,12571,0.00,1.95,0.00,0.000,4,0.000,0.062,1949,3892,1730,0,0,0,0,0,0
$GC,12622,0.44,146.1,427.3,14.8,731,12626,0.00,1.88,0.00,0.000,6,0.000,0.034,1958,2710,1730,0,0,0,0,0,0
$GC,12947,0.44,146.1,384.5,12.9,747,12948,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,2710,1730,0,0,0,0,0,0
$GC,13254,0.44,146.1,343.8,13.1,762,13256,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,2709,1729,0,0,0,0,0,0
$GC,13566,0.44,146.1,302.8,13.4,777,13567,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2709,1730,0,0,0,0,0,0
$GC,13872,0.44,146.1,260.7,13.5,792,13876,0.00,1.98,0.00,0.000,4,0.000,0.062,1958,3900,1729,0,0,0,0,0,0
$GC,13933,0.44,146.1,251.1,15.6,794,13943,0.00,1.90,0.00,0.000,6,0.000,0.033,1968,2700,1729,0,0,0,0,0,0
$GC,14258,0.44,146.1,204.6,14.3,824,14260,0.12,0.00,0.00,0.000,6,0.218,0.000,1939,2699,1729,0,0,0,0,0,0
$GC,14577,0.44,146.1,166.7,11.2,854,14578,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,2698,1729,0,0,0,0,0,0
$GC,14897,0.44,146.1,132.4,10.2,884,14900,0.00,1.98,0.00,0.000,4,0.000,0.061,1939,3890,1730,0,0,0,0,0,0
$GC,14957,0.44,146.1,125.7,12.2,889,14961,0.00,1.85,0.00,0.000,6,0.000,0.035,1947,2709,1729,0,0,0,0,0,0
$GC,15287,0.47,179.3,97.5,8.1,922,15314,0.00,2.25,19.05,1.066,4,0.000,0.044,1958,1290,1609,0,0,0,0,0,0
$GC,15362,0.47,186.8,90.6,9.2,934,15376,0.00,2.30,5.10,0.862,6,0.000,0.054,1958,2722,1581,0,0,0,0,0,0
$GC,15611,0.47,186.8,64.8,9.7,976,15620,0.00,1.92,0.00,0.000,4,0.000,0.063,1958,3882,1578,0,0,0,0,0,0
$GC,15658,0.47,186.8,59.7,10.8,983,15665,0.00,1.88,0.00,0.000,6,0.000,0.035,1967,2714,1578,0,0,0,0,0,0
$GC,15774,0.47,186.8,47.9,10.2,1002,15783,0.00,2.25,0.00,0.000,4,0.000,0.044,1977,1292,1577,0,0,0,0,0,0
$GC,15820,0.47,186.8,42.8,10.2,1009,15828,0.12,2.30,0.00,0.000,6,0.184,0.054,1947,2719,1577,0,0,0,0,0,0
$GC,15934,0.47,186.8,31.8,10.2,1028,15943,0.00,1.92,0.00,0.000,4,0.000,0.062,1946,3880,1576,0,0,0,0,0,0
$GC,15976,0.47,186.8,27.2,12.0,1034,15985,0.00,1.90,0.00,0.000,6,0.000,0.036,1955,2701,1576,0,0,0,0,0,0
$GC,16062,0.47,186.8,17.5,11.5,1047,16071,0.00,2.22,0.00,0.000,4,0.000,0.045,1965,1296,1576,0,0,0,0,0,0
$GC,16091,0.47,186.8,14.1,12.0,1051,16100,0.00,2.33,0.00,0.000,6,0.000,0.057,1965,2707,1575,0,0,0,0,0,0
$GC,16176,0.47,186.8,4.2,12.1,1064,16185,0.00,1.95,0.00,0.000,4,0.000,0.066,1965,3884,1575,0,0,0,0,0,0
$STATE,16192,end climb,SURFACE_DEPTH_REACHED
$STATE,16192,begin surface coast
$FINISH,1.2,1.027046
$STATE,16218,end surface coast,CONTROL_FINISHED_OK
$STATE,16219,begin surface
$SM_CCo,16232,6.97,0.161,0,0,1524,200.16
$SM_GC,2.55,0.00,0.00,6.97,0.000,0.000,0.161,50,2884,1524,-5.44,-1.27,200.16
$IRIDIUM_FIX,-5527.50,-34.49,180115,040443
$TT8_MAMPS,0.026215
$HUMID,57.24
$INTERNAL_PRESSURE,8.98439
$TCM_TEMP,6.80
$XPDR_PINGS,0
$24V_AH,22.0,44.681
$10V_AH,9.9,30.772
$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,13.350,100.650,306.550,6.975,0.000,25.256,23.329,328.841,0.000,0.000,16.632,2625.633,10412.060,448.340,3019.929,239.521,33.366,1485.137,0.000,2459.161,0.000,0.539,0.000
$DEVICE_MAMPS,238.680,85.680,1789.335,160.650,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,759.591,2224.722,1072.732,1122.289,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353480
$DATA_FILE_SIZE,73755,1070
$CAP_FILE_SIZE,139372,0
$CFSIZE,259252224,211283968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180115,141034,-5551.670,-42.176,23,0.9,24,-19.8