version: 66.07
glider: 542
mission: 9
dive: 232
start: 1 20 115 4 59 49
data:
$ID,542
$MISSION,9
$DIVE,232
$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,-22328.006
$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,49
$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
$GPS1,200115,045004,-5557.614,-55.011,94,0.7,95,-19.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-55.1
$GPS2,200115,045854,-5557.607,-54.737,15,1.8,15,-19.7
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET3
$TGT_LATLONG,-5600.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.227,-0.044
$KALMAN_X,158618.6,-420.0,104.8,-214924.5,5844.1
$KALMAN_Y,-8556.5,250.7,203.1,12831.0,-2231.2
$MHEAD_RNG_PITCHd_Wd,278.7,7024,-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,-146.1,0.0,0.0,0,43,0.00,0.00,-25.42,0.000,2,0.000,0.000,45,2960,1993,0,0,0,0,0,0
$GC,45,-0.44,-146.1,3.0,-4.2,3,96,6.60,1.58,-35.45,0.000,4,0.243,0.083,1630,3872,2936,0,0,0,0,0,0
$GC,172,-0.44,-146.1,19.6,-17.8,21,181,0.00,1.52,0.00,0.000,6,0.000,0.031,1630,2897,2936,0,0,0,0,0,0
$GC,255,-0.44,-146.1,35.1,-20.1,34,263,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2897,2937,0,0,0,0,0,0
$GC,372,-0.44,-146.1,55.4,-17.7,53,378,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2897,2937,0,0,0,0,0,0
$GC,484,-0.44,-146.1,73.8,-15.5,72,493,0.00,1.65,0.00,0.000,4,0.000,0.059,1622,3876,2937,0,0,0,0,0,0
$GC,570,-0.44,-146.1,87.5,-15.3,86,578,0.00,1.48,0.00,0.000,6,0.000,0.031,1622,2912,2937,0,0,0,0,0,0
$GC,798,-0.44,-146.1,120.9,-14.8,114,799,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2912,2937,0,0,0,0,0,0
$GC,1117,-0.44,-146.1,169.5,-15.0,144,1121,0.00,1.62,0.00,0.000,4,0.000,0.060,1615,3880,2938,0,0,0,0,0,0
$GC,1191,-0.44,-146.1,182.3,-17.1,150,1202,0.08,1.45,0.00,0.000,6,0.176,0.031,1638,2937,2937,0,0,0,0,0,0
$GC,1518,-0.44,-146.1,229.0,-14.5,181,1522,0.00,1.58,0.00,0.000,4,0.000,0.061,1631,3877,2937,0,0,0,0,0,0
$GC,1556,-0.44,-146.1,235.5,-15.1,184,1566,0.00,1.45,0.00,0.000,6,0.000,0.031,1631,2920,2938,0,0,0,0,0,0
$GC,1888,-0.44,-146.1,284.4,-14.6,205,1890,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2920,2937,0,0,0,0,0,0
$GC,2195,-0.44,-146.1,328.6,-13.8,220,2199,0.00,1.60,0.00,0.000,4,0.000,0.060,1623,3878,2937,0,0,0,0,0,0
$GC,2266,-0.44,-146.1,338.4,-13.7,223,2270,0.00,1.45,0.00,0.000,6,0.000,0.031,1623,2920,2937,0,0,0,0,0,0
$GC,2602,-0.44,-146.1,382.8,-13.2,239,2605,0.00,1.60,0.00,0.000,4,0.000,0.060,1616,3873,2937,0,0,0,0,0,0
$GC,2662,-0.44,-146.1,392.3,-14.3,241,2670,0.08,1.42,0.00,0.000,6,0.171,0.031,1639,2943,2938,0,0,0,0,0,0
$GC,2979,-0.44,-146.1,429.2,-11.7,257,2980,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2943,2937,0,0,0,0,0,0
$GC,3288,-0.44,-146.1,465.1,-11.4,272,3289,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2943,2938,0,0,0,0,0,0
$GC,3597,-0.44,-146.1,498.8,-10.9,287,3600,0.00,1.55,0.00,0.000,4,0.000,0.061,1632,3871,2938,0,0,0,0,0,0
$GC,3659,-0.44,-146.1,506.0,-11.7,289,3666,0.00,1.45,0.00,0.000,6,0.000,0.031,1632,2920,2938,0,0,0,0,0,0
$GC,3975,-0.44,-146.1,542.3,-11.5,305,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2919,2938,0,0,0,0,0,0
$GC,4284,-0.44,-146.1,579.4,-12.1,320,4288,0.00,2.10,0.00,0.000,4,0.000,0.038,1632,1541,2938,0,0,0,0,0,0
$GC,4311,-0.44,-146.1,582.7,-12.4,321,4315,0.00,2.20,0.00,0.000,6,0.000,0.053,1622,2907,2938,0,0,0,0,0,0
$GC,4632,-0.44,-146.1,623.0,-13.0,337,4636,0.00,1.60,0.00,0.000,4,0.000,0.060,1614,3890,2938,0,0,0,0,0,0
$GC,4681,-0.44,-146.1,629.8,-13.4,339,4685,0.08,1.45,0.00,0.000,6,0.170,0.030,1638,2939,2938,0,0,0,0,0,0
$GC,5009,-0.44,-146.1,668.2,-11.5,355,5013,0.00,2.15,0.00,0.000,4,0.000,0.037,1637,1524,2938,0,0,0,0,0,0
$GC,5029,-0.44,-146.1,670.9,-11.4,356,5034,0.00,2.28,0.00,0.000,6,0.000,0.052,1628,2921,2938,0,0,0,0,0,0
$GC,5357,-0.44,-146.1,710.7,-12.5,372,5361,0.00,1.58,0.00,0.000,4,0.000,0.060,1620,3895,2939,0,0,0,0,0,0
$GC,5404,-0.44,-146.1,716.6,-13.7,374,5408,0.00,1.48,0.00,0.000,6,0.000,0.030,1620,2919,2939,0,0,0,0,0,0
$GC,5736,-0.44,-146.1,761.1,-13.6,390,5738,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2913,2939,0,0,0,0,0,0
$GC,6046,-0.44,-146.1,801.9,-13.2,405,6050,0.00,1.62,0.00,0.000,4,0.000,0.060,1612,3890,2939,0,0,0,0,0,0
$GC,6092,-0.44,-146.1,808.4,-14.1,407,6096,0.08,1.45,0.00,0.000,6,0.167,0.031,1637,2939,2939,0,0,0,0,0,0
$GC,6423,-0.44,-146.1,847.3,-11.3,423,6427,0.00,2.15,0.00,0.000,4,0.000,0.037,1637,1526,2938,0,0,0,0,0,0
$GC,6451,-0.44,-146.1,850.4,-11.3,424,6455,0.00,2.28,0.00,0.000,6,0.000,0.052,1627,2932,2939,0,0,0,0,0,0
$GC,6766,-0.44,-146.1,886.9,-11.6,439,6770,0.00,1.58,0.00,0.000,4,0.000,0.060,1619,3903,2939,0,0,0,0,0,0
$GC,6798,-0.44,-146.1,891.1,-12.9,440,6803,0.00,1.50,0.00,0.000,6,0.000,0.029,1619,2912,2938,0,0,0,0,0,0
$GC,7121,-0.44,-146.1,928.1,-11.5,456,7122,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2910,2938,0,0,0,0,0,0
$GC,7430,-0.44,-146.1,964.3,-11.5,471,7431,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2910,2939,0,0,0,0,0,0
$GC,7739,-0.44,-146.1,999.2,-11.2,486,7740,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2910,2938,0,0,0,0,0,0
$STATE,7760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7760,begin apogee
$GC,7765,-0.13,0.0,1001.6,11.2,487,7904,0.43,0.00,135.35,1.782,6,0.168,0.000,1742,2718,2342,0,0,0,0,0,0
$STATE,7904,end apogee,CONTROL_FINISHED_OK
$STATE,7905,begin climb
$GC,7906,0.44,146.1,1006.4,0.0,494,8062,0.62,2.53,147.52,1.727,4,0.125,0.042,1932,1330,1745,0,0,0,0,0,0
$GC,8084,0.44,146.1,992.0,10.2,502,8088,0.00,2.50,0.00,0.000,6,0.000,0.050,1933,2723,1743,0,0,0,0,0,0
$GC,8406,0.44,146.1,951.3,12.9,518,8407,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2724,1737,0,0,0,0,0,0
$GC,8715,0.44,146.1,910.6,13.2,533,8716,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2724,1735,0,0,0,0,0,0
$GC,9024,0.44,146.1,870.6,13.0,548,9026,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2724,1734,0,0,0,0,0,0
$GC,9334,0.44,146.1,829.4,13.3,563,9338,0.00,1.95,0.00,0.000,4,0.000,0.059,1933,3896,1734,0,0,0,0,0,0
$GC,9361,0.44,146.1,825.3,14.8,564,9365,0.00,1.88,0.00,0.000,6,0.000,0.034,1942,2722,1732,0,0,0,0,0,0
$GC,9688,0.44,146.1,779.4,14.1,580,9689,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2722,1732,0,0,0,0,0,0
$GC,9997,0.44,146.1,736.7,13.7,595,9998,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2722,1732,0,0,0,0,0,0
$GC,10307,0.44,146.1,693.4,13.9,610,10308,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2722,1732,0,0,0,0,0,0
$GC,10616,0.44,146.1,652.5,12.8,625,10617,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2722,1732,0,0,0,0,0,0
$GC,10925,0.44,146.1,612.0,13.1,640,10926,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2722,1732,0,0,0,0,0,0
$GC,11235,0.44,146.1,571.5,12.9,655,11236,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2722,1732,0,0,0,0,0,0
$GC,11544,0.44,146.1,531.1,13.0,670,11547,0.00,1.95,0.00,0.000,4,0.000,0.057,1942,3903,1732,0,0,0,0,0,0
$GC,11576,0.44,146.1,526.3,14.4,671,11580,0.00,1.90,0.00,0.000,6,0.000,0.034,1950,2710,1731,0,0,0,0,0,0
$GC,11898,0.44,146.1,482.0,13.7,687,11899,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2709,1731,0,0,0,0,0,0
$GC,12207,0.44,146.1,438.2,14.5,702,12208,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2710,1731,0,0,0,0,0,0
$GC,12520,0.44,146.1,395.6,13.5,717,12521,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2709,1731,0,0,0,0,0,0
$GC,12827,0.44,146.1,354.8,12.8,732,12829,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2709,1731,0,0,0,0,0,0
$GC,13139,0.44,146.1,315.0,12.9,747,13140,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2710,1731,0,0,0,0,0,0
$GC,13445,0.44,146.1,278.1,11.5,762,13446,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2709,1731,0,0,0,0,0,0
$GC,13757,0.44,146.1,244.5,10.4,779,13758,0.00,0.00,0.00,0.000,6,0.000,0.000,1951,2709,1731,0,0,0,0,0,0
$GC,14077,0.44,146.1,208.6,11.6,809,14081,0.00,1.98,0.00,0.000,4,0.000,0.058,1951,3890,1731,0,0,0,0,0,0
$GC,14115,0.44,146.1,202.8,13.8,812,14125,0.00,1.88,0.00,0.000,6,0.000,0.034,1960,2712,1730,0,0,0,0,0,0
$GC,14442,0.44,146.1,163.0,11.4,843,14446,0.00,2.22,0.00,0.000,4,0.000,0.044,1971,1283,1730,0,0,0,0,0,0
$GC,14486,0.44,146.1,157.8,11.1,846,14496,0.10,2.30,0.00,0.000,6,0.177,0.050,1941,2715,1730,0,0,0,0,0,0
$GC,14813,0.44,147.6,124.5,9.5,877,14816,0.00,1.88,0.00,0.000,4,0.000,0.057,1941,3883,1731,0,0,0,0,0,0
$GC,14864,0.44,147.6,118.7,10.7,881,14871,0.00,1.85,0.00,0.000,6,0.000,0.034,1949,2711,1730,0,0,0,0,0,0
$GC,15201,0.47,180.6,89.0,8.1,922,15228,0.00,0.00,22.23,1.037,6,0.000,0.000,1949,2710,1604,0,0,0,0,0,0
$GC,15460,0.47,180.6,64.2,9.7,966,15469,0.00,2.28,0.00,0.000,4,0.000,0.043,1960,1289,1600,0,0,0,0,0,0
$GC,15519,0.47,188.2,59.2,9.2,975,15535,0.00,2.28,5.12,0.776,6,0.000,0.050,1960,2705,1574,0,0,0,0,0,0
$GC,15643,0.47,188.2,46.2,10.3,995,15649,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,2705,1573,0,0,0,0,0,0
$GC,15755,0.47,188.2,34.6,11.0,1014,15763,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,2705,1572,0,0,0,0,0,0
$GC,15874,0.48,192.5,21.2,9.3,1033,15884,0.00,2.25,2.60,0.444,4,0.000,0.042,1970,1285,1557,0,0,0,0,0,0
$GC,15910,0.48,192.5,17.1,10.5,1038,15920,0.00,2.33,0.00,0.000,6,0.000,0.050,1970,2716,1556,0,0,0,0,0,0
$GC,15996,0.48,192.5,7.4,10.7,1051,16005,0.00,1.92,0.00,0.000,4,0.000,0.060,1970,3883,1555,0,0,0,0,0,0
$STATE,16024,end climb,SURFACE_DEPTH_REACHED
$STATE,16024,begin surface coast
$FINISH,1.3,1.026971
$STATE,16050,end surface coast,CONTROL_FINISHED_OK
$STATE,16050,begin surface
$SM_CCo,16064,4.15,0.175,0,0,1524,200.16
$SM_GC,2.55,0.00,0.00,4.15,0.000,0.000,0.175,64,2885,1524,-5.40,-1.27,200.16
$IRIDIUM_FIX,-5531.31,-53.71,190115,232357
$TT8_MAMPS,0.026215
$HUMID,57.00
$INTERNAL_PRESSURE,8.98439
$TCM_TEMP,7.30
$XPDR_PINGS,0
$24V_AH,21.9,46.273
$10V_AH,9.9,31.957
$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,13.200,84.450,312.825,4.150,0.000,28.150,43.757,318.534,0.000,0.000,18.190,2591.451,10378.612,426.911,2943.356,249.117,33.368,1421.097,0.000,2378.696,0.000,0.540,0.000
$DEVICE_MAMPS,242.505,82.620,1781.685,175.185,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,752.804,2186.314,1049.306,1090.201,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353500
$DATA_FILE_SIZE,73650,1059
$CAP_FILE_SIZE,134841,0
$CFSIZE,259252224,210591744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,200115,092853,-5559.109,-55.639,39,1.0,40,-19.7