version: 66.07
glider: 542
mission: 9
dive: 239
start: 1 21 115 14 27 12
data:
$ID,542
$MISSION,9
$DIVE,239
$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,-22351.744
$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,33
$R_STBD_OVSHOOT,29
$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
$GPS1,210115,141707,-5556.732,-55.481,34,0.9,35,-19.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-38.0
$GPS2,210115,142618,-5556.847,-55.536,14,0.9,15,-19.7
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET4
$TGT_LATLONG,-5545.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.226,0.048
$KALMAN_X,180049.9,-239.3,-180.2,-237065.5,5338.1
$KALMAN_Y,-23194.4,88.8,233.2,29010.0,-3840.2
$MHEAD_RNG_PITCHd_Wd,301.8,22428,-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,-146.0,0.0,0.0,0,85,0.00,0.00,-65.70,0.000,2,0.000,0.000,44,2943,2478,0,0,0,0,0,0
$GC,88,-0.44,-146.1,3.2,-4.2,8,114,6.43,2.22,-12.88,0.000,4,0.234,0.048,1637,1502,2939,0,0,0,0,0,0
$GC,135,-0.44,-146.1,12.1,-19.2,14,144,0.00,2.38,0.00,0.000,6,0.000,0.054,1626,2922,2941,0,0,0,0,0,0
$GC,220,-0.44,-146.1,29.1,-19.9,27,229,0.00,2.25,0.00,0.000,4,0.000,0.039,1626,1509,2941,0,0,0,0,0,0
$GC,379,-0.44,-146.1,55.7,-16.0,53,386,0.12,2.33,0.00,0.000,6,0.186,0.053,1647,2931,2941,0,0,0,0,0,0
$GC,493,-0.44,-146.1,74.2,-15.0,72,502,0.00,1.58,0.00,0.000,4,0.000,0.059,1640,3894,2942,0,0,0,0,0,0
$GC,565,-0.44,-146.1,85.2,-14.5,84,574,0.00,1.55,0.00,0.000,6,0.000,0.030,1640,2883,2942,0,0,0,0,0,0
$GC,800,-0.44,-146.1,122.6,-16.2,113,807,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2882,2942,0,0,0,0,0,0
$GC,1127,-0.44,-146.1,174.7,-15.7,144,1131,0.00,1.70,0.00,0.000,4,0.000,0.059,1632,3893,2942,0,0,0,0,0,0
$GC,1196,-0.44,-146.1,185.7,-16.2,150,1199,0.00,1.48,0.00,0.000,6,0.000,0.031,1632,2929,2942,0,0,0,0,0,0
$GC,1528,-0.44,-146.1,232.3,-13.3,181,1532,0.00,1.62,0.00,0.000,4,0.000,0.059,1624,3894,2942,0,0,0,0,0,0
$GC,1563,-0.44,-146.1,237.2,-13.3,184,1567,0.00,1.48,0.00,0.000,6,0.000,0.031,1624,2921,2942,0,0,0,0,0,0
$GC,1901,-0.44,-146.1,281.2,-13.1,205,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2916,2942,0,0,0,0,0,0
$GC,2206,-0.44,-146.1,321.3,-12.9,220,2210,0.00,1.65,0.00,0.000,4,0.000,0.060,1617,3919,2942,0,0,0,0,0,0
$GC,2278,-0.44,-146.1,331.4,-14.4,223,2283,0.00,1.50,0.00,0.000,6,0.000,0.030,1617,2933,2942,0,0,0,0,0,0
$GC,2608,-0.44,-146.1,374.0,-13.1,239,2612,0.00,1.62,0.00,0.000,4,0.000,0.060,1609,3903,2942,0,0,0,0,0,0
$GC,2656,-0.44,-146.1,380.6,-14.3,241,2660,0.10,1.48,0.00,0.000,6,0.168,0.031,1640,2940,2942,0,0,0,0,0,0
$GC,2988,-0.44,-146.1,416.8,-10.6,257,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2939,2942,0,0,0,0,0,0
$GC,3297,-0.44,-146.1,450.6,-10.9,272,3300,0.00,1.60,0.00,0.000,4,0.000,0.060,1633,3896,2942,0,0,0,0,0,0
$GC,3346,-0.44,-146.1,456.5,-11.5,274,3351,0.00,1.48,0.00,0.000,6,0.000,0.029,1633,2919,2942,0,0,0,0,0,0
$GC,3674,-0.44,-146.1,493.1,-11.2,290,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2915,2942,0,0,0,0,0,0
$GC,3983,-0.44,-146.1,530.1,-12.1,305,3986,0.00,1.65,0.00,0.000,4,0.000,0.060,1625,3917,2942,0,0,0,0,0,0
$GC,4028,-0.44,-146.1,535.7,-12.9,307,4031,0.00,1.50,0.00,0.000,6,0.000,0.031,1625,2926,2942,0,0,0,0,0,0
$GC,4360,-0.44,-146.1,576.9,-12.4,323,4364,0.00,1.62,0.00,0.000,4,0.000,0.059,1618,3897,2942,0,0,0,0,0,0
$GC,4398,-0.44,-146.1,582.1,-13.3,324,4406,0.00,1.48,0.00,0.000,6,0.000,0.030,1617,2921,2942,0,0,0,0,0,0
$GC,4714,-0.44,-146.1,622.7,-12.7,340,4715,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2921,2942,0,0,0,0,0,0
$GC,5024,-0.44,-146.1,660.1,-12.1,355,5028,0.00,1.62,0.00,0.000,4,0.000,0.060,1610,3899,2942,0,0,0,0,0,0
$GC,5096,-0.44,-146.1,669.7,-12.9,358,5101,0.10,1.48,0.00,0.000,6,0.163,0.030,1641,2935,2943,0,0,0,0,0,0
$GC,5424,-0.44,-146.1,702.8,-10.2,374,5425,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2934,2942,0,0,0,0,0,0
$GC,5732,-0.44,-146.1,733.6,-10.0,389,5733,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2934,2942,0,0,0,0,0,0
$GC,6042,-0.44,-146.1,764.7,-9.9,404,6043,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2934,2942,0,0,0,0,0,0
$GC,6352,-0.44,-146.1,795.7,-9.8,419,6355,0.00,1.62,0.00,0.000,4,0.000,0.060,1634,3903,2942,0,0,0,0,0,0
$GC,6406,-0.44,-146.1,802.0,-10.8,421,6411,0.00,1.48,0.00,0.000,6,0.000,0.030,1634,2918,2942,0,0,0,0,0,0
$GC,6728,-0.44,-146.1,836.2,-10.7,437,6729,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2918,2942,0,0,0,0,0,0
$GC,7038,-0.44,-146.1,868.9,-10.5,452,7042,0.00,1.65,0.00,0.000,4,0.000,0.060,1626,3920,2942,0,0,0,0,0,0
$GC,7071,-0.44,-146.1,872.8,-11.3,453,7075,0.00,1.50,0.00,0.000,6,0.000,0.030,1626,2942,2942,0,0,0,0,0,0
$GC,7392,-0.44,-146.1,907.9,-10.8,469,7393,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2936,2942,0,0,0,0,0,0
$GC,7702,-0.44,-146.1,941.9,-11.1,484,7704,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2936,2942,0,0,0,0,0,0
$GC,8011,-0.44,-146.1,975.6,-10.8,499,8014,0.00,1.60,0.00,0.000,4,0.000,0.060,1619,3893,2942,0,0,0,0,0,0
$GC,8071,-0.44,-146.1,982.9,-11.9,501,8079,0.00,1.48,0.00,0.000,6,0.000,0.031,1619,2913,2942,0,0,0,0,0,0
$STATE,8221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8221,begin apogee
$GC,8226,-0.13,0.0,1000.4,11.6,509,8366,0.43,0.00,136.43,1.776,6,0.161,0.000,1743,2713,2342,0,0,0,0,0,0
$STATE,8367,end apogee,CONTROL_FINISHED_OK
$STATE,8367,begin climb
$GC,8369,0.44,146.1,1005.9,0.0,516,8525,0.62,2.50,147.30,1.722,4,0.121,0.041,1936,1341,1746,0,0,0,0,0,0
$GC,8560,0.44,146.1,991.2,11.3,525,8564,0.00,2.42,0.00,0.000,6,0.000,0.049,1936,2721,1743,0,0,0,0,0,0
$GC,8887,0.44,146.1,950.8,12.4,541,8890,0.00,1.95,0.00,0.000,4,0.000,0.057,1936,3888,1737,0,0,0,0,0,0
$GC,8932,0.44,146.1,944.2,15.5,543,8936,0.00,1.88,0.00,0.000,6,0.000,0.033,1945,2729,1735,0,0,0,0,0,0
$GC,9264,0.44,146.1,900.1,13.2,559,9266,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2729,1735,0,0,0,0,0,0
$GC,9574,0.44,146.1,859.8,12.8,574,9575,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2729,1734,0,0,0,0,0,0
$GC,9883,0.44,146.1,819.7,13.0,589,9884,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2729,1734,0,0,0,0,0,0
$GC,10192,0.44,146.1,778.9,13.3,604,10193,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2729,1733,0,0,0,0,0,0
$GC,10502,0.44,146.1,737.5,13.3,619,10503,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2729,1733,0,0,0,0,0,0
$GC,10811,0.44,146.1,695.3,13.8,634,10814,0.00,1.92,0.00,0.000,4,0.000,0.057,1945,3893,1732,0,0,0,0,0,0
$GC,10848,0.44,146.1,689.2,16.3,635,10856,0.00,1.88,0.00,0.000,6,0.000,0.034,1954,2714,1732,0,0,0,0,0,0
$GC,11166,0.44,146.1,643.6,14.5,651,11167,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2713,1732,0,0,0,0,0,0
$GC,11474,0.44,146.1,598.5,14.7,666,11475,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2713,1732,0,0,0,0,0,0
$GC,11783,0.44,146.1,553.8,14.2,681,11785,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2713,1732,0,0,0,0,0,0
$GC,12094,0.44,146.1,511.3,13.5,696,12095,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2713,1732,0,0,0,0,0,0
$GC,12402,0.44,146.1,471.9,12.6,711,12403,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2713,1732,0,0,0,0,0,0
$GC,12712,0.44,146.1,432.5,12.6,726,12716,0.00,1.98,0.00,0.000,4,0.000,0.057,1954,3890,1732,0,0,0,0,0,0
$GC,12750,0.44,146.1,426.7,15.1,727,12758,0.00,1.90,0.00,0.000,6,0.000,0.034,1963,2699,1731,0,0,0,0,0,0
$GC,13068,0.44,146.1,383.6,13.6,743,13069,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,2699,1731,0,0,0,0,0,0
$GC,13378,0.44,146.1,342.0,13.4,758,13379,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,2699,1730,0,0,0,0,0,0
$GC,13689,0.44,146.1,301.2,13.2,773,13692,0.00,1.98,0.00,0.000,4,0.000,0.056,1963,3894,1730,0,0,0,0,0,0
$GC,13743,0.44,146.1,292.3,14.8,775,13749,0.12,1.88,0.00,0.000,6,0.187,0.034,1936,2710,1731,0,0,0,0,0,0
$GC,14068,0.44,146.1,257.2,11.0,791,14069,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2709,1731,0,0,0,0,0,0
$GC,14383,0.44,146.1,223.6,10.4,817,14384,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2709,1731,0,0,0,0,0,0
$GC,14704,0.44,146.1,189.6,10.4,847,14710,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2709,1731,0,0,0,0,0,0
$GC,15030,0.44,146.1,153.0,11.3,878,15033,0.00,1.95,0.00,0.000,4,0.000,0.057,1937,3889,1731,0,0,0,0,0,0
$GC,15069,0.44,146.1,147.7,13.3,881,15077,0.00,1.88,0.00,0.000,6,0.000,0.034,1945,2703,1731,0,0,0,0,0,0
$GC,15394,0.44,146.1,110.3,11.7,912,15398,0.00,2.00,0.00,0.000,4,0.000,0.057,1945,3896,1731,0,0,0,0,0,0
$GC,15442,0.44,146.1,104.4,13.6,916,15446,0.00,1.85,0.00,0.000,6,0.000,0.034,1954,2710,1731,0,0,0,0,0,0
$GC,15791,0.45,160.4,69.2,8.9,973,15807,0.00,2.20,8.70,0.923,4,0.000,0.041,1964,1288,1687,0,0,0,0,0,0
$GC,15857,0.47,187.3,63.4,8.4,983,15888,0.00,2.28,18.62,0.948,6,0.000,0.050,1965,2715,1578,0,0,0,0,0,0
$GC,15996,0.47,187.3,48.8,10.5,1005,16003,0.00,1.92,0.00,0.000,4,0.000,0.057,1965,3880,1575,0,0,0,0,0,0
$GC,16095,0.47,187.3,37.1,12.1,1021,16102,0.08,1.88,0.00,0.000,6,0.179,0.034,1944,2715,1573,0,0,0,0,0,0
$GC,16214,0.50,223.8,26.0,7.9,1040,16241,0.00,2.30,22.08,0.830,4,0.000,0.043,1954,1293,1427,0,0,0,0,0,0
$GC,16269,0.52,243.9,20.7,8.6,1047,16287,0.00,2.33,10.20,0.773,6,0.000,0.050,1954,2713,1345,0,0,0,0,0,0
$GC,16363,0.52,243.9,11.9,10.8,1061,16371,0.00,1.95,0.00,0.000,4,0.000,0.059,1954,3886,1340,0,0,0,0,0,0
$GC,16404,0.52,243.9,7.1,11.8,1067,16413,0.00,1.90,0.00,0.000,6,0.000,0.035,1962,2715,1339,0,0,0,0,0,0
$STATE,16445,end climb,SURFACE_DEPTH_REACHED
$STATE,16445,begin surface coast
$FINISH,0.8,1.026929
$STATE,16477,end surface coast,CONTROL_FINISHED_OK
$STATE,16477,begin surface
$SM_CCo,16551,0.00,0.000,0,0,1335,247.01
$SM_GC,1.65,5.30,0.00,0.00,0.066,0.000,0.000,55,2922,1335,-5.34,-0.23,247.01
$IRIDIUM_FIX,-5535.12,-53.83,210115,090933
$TT8_MAMPS,0.026964
$HUMID,57.52
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,6.80
$XPDR_PINGS,0
$24V_AH,21.8,47.532
$10V_AH,9.9,32.875
$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,13.300,91.900,343.325,0.000,0.000,25.830,39.903,345.251,0.000,0.000,16.685,2630.640,10729.961,441.171,3039.823,251.148,33.370,1473.584,0.000,2444.416,0.000,0.539,0.000
$DEVICE_MAMPS,234.090,74.205,1775.565,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,765.877,2229.767,1065.969,1100.396,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353420
$DATA_FILE_SIZE,73661,1078
$CAP_FILE_SIZE,137995,0
$CFSIZE,259252224,210055168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,210115,190406,-5557.782,-57.159,28,1.0,29,-19.7