version: 66.07
glider: 542
mission: 9
dive: 224
start: 1 18 115 14 20 23
data:
$ID,542
$MISSION,9
$DIVE,224
$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,-22303.172
$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,57
$R_STBD_OVSHOOT,28
$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
$GPS1,180115,141034,-5551.670,-42.176,23,0.9,24,-19.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-66.8
$GPS2,180115,141929,-5551.653,-42.092,16,1.8,16,-19.8
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET3
$TGT_LATLONG,-5600.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.184,0.139
$KALMAN_X,137777.8,-456.4,-462.0,-180374.0,5032.2
$KALMAN_Y,2504.5,-137.2,70.5,13328.1,-1952.7
$MHEAD_RNG_PITCHd_Wd,326.8,24144,-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,-146.1,0.0,0.0,0,53,0.00,0.00,-34.20,0.000,2,0.000,0.000,45,2884,2276,0,0,0,0,0,0
$GC,55,-0.44,-146.1,3.2,-3.2,4,90,6.47,1.77,-22.42,0.000,4,0.237,0.085,1633,3892,2939,0,0,0,0,0,0
$GC,160,-0.44,-146.1,16.1,-15.7,19,169,0.00,1.52,0.00,0.000,6,0.000,0.032,1633,2919,2941,0,0,0,0,0,0
$GC,245,-0.44,-146.1,30.3,-16.2,32,253,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2919,2942,0,0,0,0,0,0
$GC,362,-0.44,-146.1,49.5,-15.3,51,368,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2919,2942,0,0,0,0,0,0
$GC,474,-0.44,-146.1,67.6,-15.1,70,482,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2919,2942,0,0,0,0,0,0
$GC,586,-0.44,-146.1,85.0,-15.7,89,592,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2919,2942,0,0,0,0,0,0
$GC,812,-0.44,-146.1,120.4,-16.6,118,813,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2919,2942,0,0,0,0,0,0
$GC,1132,-0.44,-146.1,171.9,-15.0,148,1133,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2919,2942,0,0,0,0,0,0
$GC,1451,-0.44,-146.1,213.9,-12.7,178,1455,0.00,1.65,0.00,0.000,4,0.000,0.066,1625,3906,2942,0,0,0,0,0,0
$GC,1513,-0.44,-146.1,221.9,-13.6,183,1517,0.00,1.50,0.00,0.000,6,0.000,0.032,1625,2933,2942,0,0,0,0,0,0
$GC,1842,-0.44,-146.1,270.2,-15.1,208,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2926,2942,0,0,0,0,0,0
$GC,2153,-0.44,-146.1,316.9,-15.1,223,2156,0.00,1.62,0.00,0.000,4,0.000,0.064,1617,3920,2942,0,0,0,0,0,0
$GC,2225,-0.44,-146.1,329.4,-15.7,226,2229,0.00,1.52,0.00,0.000,6,0.000,0.031,1617,2928,2942,0,0,0,0,0,0
$GC,2552,-0.44,-146.1,380.6,-15.7,242,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2922,2942,0,0,0,0,0,0
$GC,2862,-0.44,-146.1,427.5,-14.9,257,2865,0.00,1.62,0.00,0.000,4,0.000,0.063,1609,3920,2942,0,0,0,0,0,0
$GC,2922,-0.44,-146.1,437.2,-15.3,259,2930,0.08,1.52,0.00,0.000,6,0.161,0.031,1634,2936,2942,0,0,0,0,0,0
$GC,3238,-0.44,-146.1,478.0,-12.5,275,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2936,2942,0,0,0,0,0,0
$GC,3548,-0.44,-146.1,516.3,-12.2,290,3550,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2936,2942,0,0,0,0,0,0
$GC,3857,-0.44,-146.1,552.8,-11.6,305,3861,0.00,1.60,0.00,0.000,4,0.000,0.064,1627,3890,2942,0,0,0,0,0,0
$GC,3894,-0.44,-146.1,557.6,-12.1,306,3902,0.00,1.48,0.00,0.000,6,0.000,0.031,1627,2917,2942,0,0,0,0,0,0
$GC,4211,-0.44,-146.1,595.8,-11.9,322,4212,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2916,2943,0,0,0,0,0,0
$GC,4520,-0.44,-146.1,631.6,-11.3,337,4523,0.00,1.65,0.00,0.000,4,0.000,0.065,1620,3915,2943,0,0,0,0,0,0
$GC,4565,-0.44,-146.1,636.8,-11.4,339,4569,0.00,1.50,0.00,0.000,6,0.000,0.031,1619,2928,2943,0,0,0,0,0,0
$GC,4898,-0.44,-146.1,674.0,-11.0,355,4899,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2922,2943,0,0,0,0,0,0
$GC,5206,-0.44,-146.1,708.3,-11.1,370,5210,0.00,1.62,0.00,0.000,4,0.000,0.065,1612,3915,2943,0,0,0,0,0,0
$GC,5267,-0.44,-146.1,715.7,-12.0,372,5275,0.08,1.50,0.00,0.000,6,0.160,0.031,1637,2940,2943,0,0,0,0,0,0
$GC,5584,-0.44,-146.1,746.5,-10.0,388,5585,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2940,2943,0,0,0,0,0,0
$GC,5892,-0.44,-146.1,776.1,-9.5,403,5894,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2940,2943,0,0,0,0,0,0
$GC,6203,-0.44,-146.1,806.2,-9.7,418,6206,0.00,1.60,0.00,0.000,4,0.000,0.064,1630,3890,2943,0,0,0,0,0,0
$GC,6240,-0.44,-146.1,810.5,-10.9,419,6248,0.00,1.48,0.00,0.000,6,0.000,0.031,1630,2921,2943,0,0,0,0,0,0
$GC,6556,-0.44,-146.1,843.7,-10.7,435,6558,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2922,2943,0,0,0,0,0,0
$GC,6867,-0.44,-146.1,877.5,-11.0,450,6871,0.00,1.65,0.00,0.000,4,0.000,0.066,1622,3897,2943,0,0,0,0,0,0
$GC,6921,-0.44,-146.1,884.1,-11.3,452,6926,0.00,1.48,0.00,0.000,6,0.000,0.031,1622,2939,2943,0,0,0,0,0,0
$GC,7243,-0.44,-146.1,920.0,-11.2,468,7244,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2937,2943,0,0,0,0,0,0
$GC,7553,-0.44,-146.1,954.4,-11.2,483,7554,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2937,2943,0,0,0,0,0,0
$GC,7862,-0.44,-146.1,988.5,-11.0,498,7865,0.00,1.62,0.00,0.000,4,0.000,0.067,1614,3898,2942,0,0,0,0,0,0
$GC,7918,-0.44,-146.1,995.0,-11.1,500,7922,0.08,1.50,0.00,0.000,6,0.157,0.032,1639,2928,2943,0,0,0,0,0,0
$STATE,7969,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7969,begin apogee
$GC,7974,-0.13,0.0,1000.1,9.6,503,8113,0.35,0.00,136.07,1.793,6,0.158,0.000,1743,2698,2342,0,0,0,0,0,0
$STATE,8114,end apogee,CONTROL_FINISHED_OK
$STATE,8114,begin climb
$GC,8116,0.44,146.1,1003.8,0.0,510,8272,0.65,0.00,148.65,1.756,6,0.122,0.000,1928,2697,1745,0,0,0,0,0,0
$GC,8581,0.44,146.1,950.0,13.3,533,8583,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,2697,1737,0,0,0,0,0,0
$GC,8889,0.44,146.1,910.3,12.7,548,8890,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,2697,1735,0,0,0,0,0,0
$GC,9199,0.44,146.1,870.9,12.6,563,9201,0.00,0.00,0.00,0.000,6,0.000,0.000,1928,2697,1734,0,0,0,0,0,0
$GC,9508,0.44,146.1,832.0,12.4,578,9512,0.00,2.03,0.00,0.000,4,0.000,0.066,1928,3894,1734,0,0,0,0,0,0
$GC,9562,0.44,146.1,823.9,15.3,580,9567,0.00,1.85,0.00,0.000,6,0.000,0.035,1936,2745,1732,0,0,0,0,0,0
$GC,9885,0.44,146.1,780.5,13.7,596,9886,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2743,1732,0,0,0,0,0,0
$GC,10194,0.44,146.1,738.4,13.6,611,10195,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2743,1732,0,0,0,0,0,0
$GC,10503,0.44,146.1,696.5,13.8,626,10504,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2743,1731,0,0,0,0,0,0
$GC,10813,0.44,146.1,655.0,13.5,641,10817,0.00,2.28,0.00,0.000,4,0.000,0.044,1947,1286,1731,0,0,0,0,0,0
$GC,10857,0.44,146.1,649.1,11.9,643,10861,0.00,2.35,0.00,0.000,6,0.000,0.058,1947,2719,1731,0,0,0,0,0,0
$GC,11184,0.44,146.1,603.9,13.7,659,11188,0.00,1.92,0.00,0.000,4,0.000,0.064,1947,3900,1730,0,0,0,0,0,0
$GC,11253,0.44,146.1,593.2,16.1,662,11257,0.00,1.88,0.00,0.000,6,0.000,0.034,1957,2702,1730,0,0,0,0,0,0
$GC,11585,0.44,146.1,545.5,14.2,678,11586,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,2702,1730,0,0,0,0,0,0
$GC,11895,0.44,146.1,503.4,13.3,693,11896,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,2702,1730,0,0,0,0,0,0
$GC,12204,0.44,146.1,462.9,13.1,708,12205,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,2702,1730,0,0,0,0,0,0
$GC,12513,0.44,146.1,421.2,13.8,723,12517,0.00,1.98,0.00,0.000,4,0.000,0.063,1957,3889,1730,0,0,0,0,0,0
$GC,12559,0.44,146.1,414.2,15.9,725,12563,0.12,1.85,0.00,0.000,6,0.211,0.035,1937,2705,1729,0,0,0,0,0,0
$GC,12893,0.44,146.1,373.1,12.4,741,12894,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2705,1729,0,0,0,0,0,0
$GC,13202,0.44,146.1,337.9,11.2,756,13203,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,2705,1730,0,0,0,0,0,0
$GC,13514,0.44,146.1,301.8,11.9,771,13515,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,2705,1729,0,0,0,0,0,0
$GC,13819,0.44,146.1,264.7,11.7,786,13820,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,2705,1729,0,0,0,0,0,0
$GC,14136,0.44,146.1,229.5,11.2,809,14140,0.00,2.00,0.00,0.000,4,0.000,0.063,1937,3890,1729,0,0,0,0,0,0
$GC,14174,0.44,146.1,224.3,12.8,812,14184,0.00,1.88,0.00,0.000,6,0.000,0.034,1946,2703,1729,0,0,0,0,0,0
$GC,14501,0.44,146.1,184.6,12.9,843,14502,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,2703,1729,0,0,0,0,0,0
$GC,14821,0.44,146.1,148.0,10.5,873,14827,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,2703,1729,0,0,0,0,0,0
$GC,15147,0.44,146.1,112.5,11.6,904,15149,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,2703,1729,0,0,0,0,0,0
$GC,15481,0.44,150.5,78.2,9.3,953,15488,0.00,1.95,0.00,0.000,4,0.000,0.063,1946,3887,1729,0,0,0,0,0,0
$GC,15560,0.44,150.5,69.2,11.0,966,15569,0.00,1.88,0.00,0.000,6,0.000,0.034,1955,2704,1729,0,0,0,0,0,0
$GC,15675,0.46,170.3,58.4,8.7,985,15691,0.00,0.00,13.10,0.925,6,0.000,0.000,1955,2704,1646,0,0,0,0,0,0
$GC,15799,0.47,180.7,47.8,9.1,1005,15814,0.00,2.00,6.53,0.814,4,0.000,0.061,1956,3892,1604,0,0,0,0,0,0
$GC,15851,0.47,180.7,42.5,10.6,1013,15858,0.00,1.90,0.00,0.000,6,0.000,0.036,1964,2710,1603,0,0,0,0,0,0
$GC,15965,0.47,180.8,31.0,9.5,1032,15974,0.00,2.25,0.00,0.000,4,0.000,0.043,1975,1300,1602,0,0,0,0,0,0
$GC,16007,0.48,190.8,27.1,9.1,1038,16026,0.08,2.30,6.43,0.750,6,0.175,0.055,1952,2701,1565,0,0,0,0,0,0
$GC,16104,0.48,190.8,17.7,10.5,1052,16113,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2702,1563,0,0,0,0,0,0
$GC,16189,0.48,190.8,8.3,10.3,1065,16197,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2702,1562,0,0,0,0,0,0
$STATE,16247,end climb,SURFACE_DEPTH_REACHED
$STATE,16247,begin surface coast
$FINISH,1.2,1.013637
$STATE,16279,end surface coast,CONTROL_FINISHED_OK
$STATE,16279,begin surface
$SM_CCo,16292,4.82,0.168,0,0,1525,200.16
$SM_GC,2.36,0.00,0.00,4.82,0.000,0.000,0.168,52,2934,1525,-5.43,0.14,200.16
$IRIDIUM_FIX,-5527.50,-30.66,180115,090923
$TT8_MAMPS,0.026215
$HUMID,57.12
$INTERNAL_PRESSURE,8.98439
$TCM_TEMP,6.70
$XPDR_PINGS,0
$24V_AH,22.0,44.852
$10V_AH,9.9,30.902
$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,12.975,64.375,310.775,4.825,0.000,29.831,41.803,328.103,0.000,0.000,18.607,2635.596,10520.056,447.621,2964.248,258.659,33.367,1401.463,0.000,2399.919,0.000,0.541,0.000
$DEVICE_MAMPS,237.150,84.915,1793.160,167.535,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,766.741,2241.439,1085.956,1134.170,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353512
$DATA_FILE_SIZE,73753,1079
$CAP_FILE_SIZE,130602,0
$CFSIZE,259252224,211218432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,180115,185328,-5551.118,-45.190,51,0.9,52,-19.8