version: 66.07
glider: 542
mission: 9
dive: 226
start: 1 18 115 23 52 42
data:
$ID,542
$MISSION,9
$DIVE,226
$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,-22309.281
$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,28
$R_STBD_OVSHOOT,24
$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
$GPS1,180115,234304,-5551.504,-47.800,23,1.1,24,-19.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-57.7
$GPS2,180115,235148,-5551.508,-47.619,17,1.3,17,-19.8
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET3
$TGT_LATLONG,-5600.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.220,0.070
$KALMAN_X,139920.7,-557.9,54.5,-188656.7,3256.3
$KALMAN_Y,-1552.7,164.4,196.6,17227.8,-3143.0
$MHEAD_RNG_PITCHd_Wd,307.5,20292,-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,16,-0.44,-146.1,0.0,0.0,0,68,0.00,0.00,-49.42,0.000,2,0.000,0.000,47,2945,2275,0,0,0,0,0,0
$GC,71,-0.44,-146.1,3.1,-3.6,6,105,6.32,1.65,-23.12,0.000,4,0.227,0.083,1633,3900,2938,0,0,0,0,0,0
$GC,212,-0.44,-146.1,24.4,-16.9,27,221,0.00,1.58,0.00,0.000,6,0.000,0.031,1633,2892,2940,0,0,0,0,0,0
$GC,294,-0.44,-146.1,38.5,-16.3,40,302,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2891,2941,0,0,0,0,0,0
$GC,411,-0.44,-146.1,59.0,-17.6,59,417,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2892,2940,0,0,0,0,0,0
$GC,523,-0.44,-146.1,77.5,-16.9,78,531,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2892,2940,0,0,0,0,0,0
$GC,637,-0.44,-146.1,95.2,-16.2,97,643,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2892,2941,0,0,0,0,0,0
$GC,857,-0.44,-146.1,130.6,-15.7,120,861,0.00,1.67,0.00,0.000,4,0.000,0.061,1625,3900,2941,0,0,0,0,0,0
$GC,895,-0.44,-146.1,135.8,-15.4,123,899,0.00,1.50,0.00,0.000,6,0.000,0.032,1625,2925,2941,0,0,0,0,0,0
$GC,1227,-0.44,-146.1,188.0,-14.5,154,1230,0.00,1.65,0.00,0.000,4,0.000,0.060,1618,3917,2941,0,0,0,0,0,0
$GC,1299,-0.44,-146.1,199.5,-14.8,160,1309,0.00,1.52,0.00,0.000,6,0.000,0.031,1618,2929,2941,0,0,0,0,0,0
$GC,1629,-0.44,-146.1,244.4,-14.0,191,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2928,2941,0,0,0,0,0,0
$GC,1959,-0.44,-146.1,289.2,-13.2,209,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2928,2941,0,0,0,0,0,0
$GC,2265,-0.44,-146.1,329.7,-13.3,224,2269,0.00,1.62,0.00,0.000,4,0.000,0.060,1610,3900,2940,0,0,0,0,0,0
$GC,2314,-0.44,-146.1,337.2,-14.4,226,2320,0.10,1.48,0.00,0.000,6,0.157,0.031,1642,2941,2941,0,0,0,0,0,0
$GC,2643,-0.44,-146.1,373.9,-11.1,242,2644,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2940,2941,0,0,0,0,0,0
$GC,2951,-0.44,-146.1,406.9,-10.4,257,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2940,2941,0,0,0,0,0,0
$GC,3261,-0.44,-146.1,438.9,-10.0,272,3262,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2940,2942,0,0,0,0,0,0
$GC,3571,-0.44,-146.1,469.4,-9.8,287,3575,0.00,1.60,0.00,0.000,4,0.000,0.061,1635,3898,2941,0,0,0,0,0,0
$GC,3608,-0.44,-146.1,473.6,-10.3,288,3616,0.00,1.48,0.00,0.000,6,0.000,0.030,1635,2927,2941,0,0,0,0,0,0
$GC,3925,-0.44,-146.1,507.0,-10.9,304,3926,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2927,2941,0,0,0,0,0,0
$GC,4235,-0.44,-146.1,540.4,-10.6,319,4238,0.00,1.62,0.00,0.000,4,0.000,0.060,1627,3903,2942,0,0,0,0,0,0
$GC,4295,-0.44,-146.1,547.7,-11.8,321,4303,0.00,1.48,0.00,0.000,6,0.000,0.030,1627,2931,2942,0,0,0,0,0,0
$GC,4611,-0.44,-146.1,582.2,-10.8,337,4615,0.00,1.60,0.00,0.000,4,0.000,0.060,1620,3892,2942,0,0,0,0,0,0
$GC,4650,-0.44,-146.1,586.8,-12.3,338,4657,0.05,1.45,0.00,0.000,6,0.163,0.031,1637,2936,2942,0,0,0,0,0,0
$GC,4965,-0.44,-146.1,617.8,-9.7,354,4966,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2936,2942,0,0,0,0,0,0
$GC,5275,-0.44,-146.1,648.9,-10.1,369,5276,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2936,2942,0,0,0,0,0,0
$GC,5585,-0.44,-146.1,680.5,-10.3,384,5586,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2937,2942,0,0,0,0,0,0
$GC,5893,-0.44,-146.1,712.4,-10.4,399,5894,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2936,2942,0,0,0,0,0,0
$GC,6203,-0.44,-146.1,743.8,-9.9,414,6207,0.00,1.60,0.00,0.000,4,0.000,0.061,1631,3892,2942,0,0,0,0,0,0
$GC,6241,-0.44,-146.1,748.1,-11.3,415,6248,0.00,1.45,0.00,0.000,6,0.000,0.031,1631,2929,2942,0,0,0,0,0,0
$GC,6557,-0.44,-146.1,781.0,-10.5,431,6558,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2928,2942,0,0,0,0,0,0
$GC,6866,-0.44,-146.1,813.0,-10.7,446,6867,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2927,2942,0,0,0,0,0,0
$GC,7176,-0.44,-146.1,846.1,-10.9,461,7177,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2928,2942,0,0,0,0,0,0
$GC,7485,-0.44,-146.1,878.7,-10.5,476,7488,0.00,1.62,0.00,0.000,4,0.000,0.060,1623,3898,2942,0,0,0,0,0,0
$GC,7533,-0.44,-146.1,884.3,-11.7,478,7538,0.00,1.48,0.00,0.000,6,0.000,0.030,1623,2918,2942,0,0,0,0,0,0
$GC,7862,-0.44,-146.1,920.6,-11.2,494,7863,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2916,2942,0,0,0,0,0,0
$GC,8171,-0.44,-146.1,955.8,-11.4,509,8172,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2916,2942,0,0,0,0,0,0
$GC,8481,-0.44,-146.1,989.9,-11.2,524,8484,0.00,1.65,0.00,0.000,4,0.000,0.061,1615,3917,2942,0,0,0,0,0,0
$GC,8535,-0.44,-146.1,996.7,-11.8,526,8540,0.08,1.48,0.00,0.000,6,0.156,0.030,1639,2952,2942,0,0,0,0,0,0
$STATE,8567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8567,begin apogee
$GC,8571,-0.13,0.0,1000.1,11.0,528,8711,0.35,0.00,135.68,1.788,6,0.158,0.000,1744,2711,2342,0,0,0,0,0,0
$STATE,8712,end apogee,CONTROL_FINISHED_OK
$STATE,8712,begin climb
$GC,8714,0.44,146.1,1004.3,0.0,535,8866,0.62,0.00,148.12,1.745,6,0.125,0.000,1925,2711,1745,0,0,0,0,0,0
$GC,9165,0.44,146.1,955.4,12.5,557,9167,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,2711,1738,0,0,0,0,0,0
$GC,9476,0.44,146.1,917.3,12.3,572,9477,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,2711,1736,0,0,0,0,0,0
$GC,9784,0.44,146.1,880.8,11.8,587,9785,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,2710,1735,0,0,0,0,0,0
$GC,10093,0.44,146.1,843.6,11.9,602,10097,0.00,2.00,0.00,0.000,4,0.000,0.060,1925,3893,1733,0,0,0,0,0,0
$GC,10132,0.44,146.1,838.4,13.7,603,10139,0.00,1.85,0.00,0.000,6,0.000,0.034,1934,2742,1733,0,0,0,0,0,0
$GC,10447,0.44,146.1,797.8,12.7,619,10449,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2741,1732,0,0,0,0,0,0
$GC,10758,0.44,146.1,759.5,12.3,634,10759,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2741,1732,0,0,0,0,0,0
$GC,11066,0.44,146.1,722.2,12.2,649,11067,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2741,1732,0,0,0,0,0,0
$GC,11375,0.44,146.1,684.1,12.4,664,11377,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2741,1731,0,0,0,0,0,0
$GC,11686,0.44,146.1,646.4,12.2,679,11687,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2741,1731,0,0,0,0,0,0
$GC,11994,0.44,146.1,609.8,11.8,694,11998,0.00,2.28,0.00,0.000,4,0.000,0.045,1945,1292,1731,0,0,0,0,0,0
$GC,12026,0.44,146.1,605.9,11.6,695,12034,0.00,2.33,0.00,0.000,6,0.000,0.052,1945,2728,1731,0,0,0,0,0,0
$GC,12343,0.44,146.1,565.9,12.7,711,12347,0.00,1.90,0.00,0.000,4,0.000,0.060,1945,3885,1731,0,0,0,0,0,0
$GC,12397,0.44,146.1,557.7,14.9,713,12401,0.00,1.88,0.00,0.000,6,0.000,0.034,1954,2707,1730,0,0,0,0,0,0
$GC,12719,0.44,146.1,514.3,13.2,729,12720,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2707,1730,0,0,0,0,0,0
$GC,13029,0.44,146.1,474.8,12.7,744,13030,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2706,1730,0,0,0,0,0,0
$GC,13337,0.44,146.1,435.8,12.7,759,13339,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2707,1730,0,0,0,0,0,0
$GC,13647,0.44,146.1,395.1,13.2,774,13650,0.00,1.95,0.00,0.000,4,0.000,0.058,1954,3889,1730,0,0,0,0,0,0
$GC,13708,0.44,146.1,385.6,16.5,776,13717,0.00,1.88,0.00,0.000,6,0.000,0.035,1963,2710,1730,0,0,0,0,0,0
$GC,14025,0.44,146.1,341.0,14.0,792,14026,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,2710,1730,0,0,0,0,0,0
$GC,14337,0.44,146.1,296.9,14.0,807,14341,0.00,1.95,0.00,0.000,4,0.000,0.057,1963,3894,1729,0,0,0,0,0,0
$GC,14384,0.44,146.1,289.0,16.1,809,14388,0.15,1.88,0.00,0.000,6,0.203,0.034,1936,2698,1729,0,0,0,0,0,0
$GC,14717,0.44,146.1,249.9,11.3,825,14721,0.00,2.17,0.00,0.000,4,0.000,0.043,1946,1294,1730,0,0,0,0,0,0
$GC,14759,0.44,146.1,245.4,10.3,828,14763,0.00,2.25,0.00,0.000,6,0.000,0.051,1946,2707,1729,0,0,0,0,0,0
$GC,15085,0.44,146.1,209.1,10.9,858,15089,0.00,1.92,0.00,0.000,4,0.000,0.058,1946,3898,1729,0,0,0,0,0,0
$GC,15147,0.44,146.1,201.2,12.2,863,15154,0.00,1.85,0.00,0.000,6,0.000,0.034,1955,2703,1729,0,0,0,0,0,0
$GC,15472,0.44,146.1,163.1,12.5,894,15475,0.00,1.95,0.00,0.000,4,0.000,0.057,1955,3890,1729,0,0,0,0,0,0
$GC,15522,0.44,146.1,155.6,15.3,898,15533,0.08,1.85,0.00,0.000,6,0.194,0.033,1943,2714,1730,0,0,0,0,0,0
$GC,15850,0.44,146.1,117.5,10.9,929,15854,0.00,2.20,0.00,0.000,4,0.000,0.042,1952,1295,1729,0,0,0,0,0,0
$GC,15962,0.46,167.0,106.8,8.6,938,15983,0.00,2.28,13.60,1.082,6,0.000,0.052,1953,2705,1661,0,0,0,0,0,0
$GC,16325,0.46,167.0,68.0,10.4,995,16332,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2705,1659,0,0,0,0,0,0
$GC,16439,0.49,203.2,57.9,7.9,1014,16468,0.00,0.00,24.33,0.944,6,0.000,0.000,1952,2705,1511,0,0,0,0,0,0
$GC,16576,0.49,203.2,44.1,10.6,1036,16585,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2705,1506,0,0,0,0,0,0
$GC,16692,0.49,207.6,32.8,9.3,1055,16700,0.00,2.30,2.17,0.346,4,0.000,0.043,1963,1297,1494,0,0,0,0,0,0
$GC,16734,0.49,207.6,28.3,9.6,1061,16743,0.00,2.33,0.00,0.000,6,0.000,0.054,1963,2716,1492,0,0,0,0,0,0
$GC,16820,0.49,207.6,18.5,11.2,1074,16829,0.00,1.95,0.00,0.000,4,0.000,0.059,1962,3895,1492,0,0,0,0,0,0
$GC,16868,0.49,207.6,12.2,13.2,1081,16877,0.00,1.90,0.00,0.000,6,0.000,0.035,1972,2713,1491,0,0,0,0,0,0
$STATE,16939,end climb,SURFACE_DEPTH_REACHED
$STATE,16939,begin surface coast
$FINISH,1.2,1.015499
$STATE,16965,end surface coast,CONTROL_FINISHED_OK
$STATE,16965,begin surface
$SM_CCo,17039,0.00,0.000,0,0,1490,208.99
$SM_GC,2.60,5.25,0.00,0.00,0.060,0.000,0.000,56,2935,1490,-5.33,0.11,208.99
$IRIDIUM_FIX,-5527.50,-45.99,180115,181818
$TT8_MAMPS,0.026215
$HUMID,57.67
$INTERNAL_PRESSURE,8.97462
$TCM_TEMP,7.30
$XPDR_PINGS,0
$24V_AH,21.9,45.209
$10V_AH,9.9,31.164
$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,13.000,76.700,323.900,0.000,0.000,26.290,27.060,331.525,0.000,0.000,20.094,2668.597,11184.672,465.074,2989.510,245.502,33.371,1469.620,0.000,2421.783,0.000,0.540,0.000
$DEVICE_MAMPS,227.205,83.385,1787.805,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,778.257,2241.086,1039.685,1075.239,0.000,0.000,0.000,0.000,0.000,0.000
$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,73755,1096
$CAP_FILE_SIZE,136152,0
$CFSIZE,259252224,211058688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,190115,043757,-5551.636,-50.826,38,1.5,42,-19.7