version: 66.07
glider: 542
mission: 9
dive: 247
start: 1 23 115 5 18 59
data:
$ID,542
$MISSION,9
$DIVE,247
$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,-22378.83
$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,31
$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
$GPS1,230115,050905,-5554.152,-100.005,36,0.8,37,-19.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-70.7
$GPS2,230115,051805,-5554.115,-59.872,17,0.9,17,-19.7
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET4
$TGT_LATLONG,-5545.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.226,0.101
$KALMAN_X,202404.9,-149.3,-314.0,-263871.6,4753.9
$KALMAN_Y,-38321.8,125.8,246.0,49153.1,-3561.0
$MHEAD_RNG_PITCHd_Wd,313.8,16882,-15.6,-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,-0.41,-146.1,0.0,0.0,0,61,0.00,0.00,-42.15,0.000,2,0.000,0.000,44,2954,2195,0,0,0,0,0,0
$GC,63,-0.41,-146.1,3.1,-3.8,5,106,6.62,2.28,-27.75,0.000,4,0.238,0.050,1651,1504,2937,0,0,0,0,0,0
$GC,169,-0.41,-146.1,13.4,-13.5,20,179,0.00,2.35,0.00,0.000,6,0.000,0.054,1641,2915,2938,0,0,0,0,0,0
$GC,255,-0.41,-146.1,27.4,-17.4,33,264,0.00,1.60,0.00,0.000,4,0.000,0.060,1633,3886,2938,0,0,0,0,0,0
$GC,301,-0.41,-146.1,36.3,-18.3,40,310,0.00,1.55,0.00,0.000,6,0.000,0.031,1633,2886,2939,0,0,0,0,0,0
$GC,417,-0.41,-146.1,56.8,-18.3,59,423,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2886,2939,0,0,0,0,0,0
$GC,530,-0.41,-146.1,76.3,-15.9,78,539,0.00,2.10,0.00,0.000,4,0.000,0.040,1633,1541,2939,0,0,0,0,0,0
$GC,586,-0.41,-146.1,84.1,-13.1,87,596,0.08,2.30,0.00,0.000,6,0.161,0.054,1647,2929,2939,0,0,0,0,0,0
$GC,816,-0.41,-146.1,115.0,-14.0,118,819,0.00,1.58,0.00,0.000,4,0.000,0.060,1640,3893,2939,0,0,0,0,0,0
$GC,877,-0.41,-146.1,123.5,-14.2,123,881,0.00,1.48,0.00,0.000,6,0.000,0.031,1640,2917,2940,0,0,0,0,0,0
$GC,1207,-0.41,-146.1,169.4,-14.1,154,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2911,2939,0,0,0,0,0,0
$GC,1527,-0.41,-146.1,212.4,-13.0,184,1530,0.00,1.65,0.00,0.000,4,0.000,0.060,1632,3910,2939,0,0,0,0,0,0
$GC,1589,-0.41,-146.1,221.2,-13.7,189,1597,0.00,1.48,0.00,0.000,6,0.000,0.031,1632,2932,2939,0,0,0,0,0,0
$GC,1915,-0.41,-146.1,265.3,-13.7,215,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2931,2939,0,0,0,0,0,0
$GC,2221,-0.41,-146.1,304.4,-12.4,230,2224,0.00,1.62,0.00,0.000,4,0.000,0.060,1624,3900,2938,0,0,0,0,0,0
$GC,2259,-0.41,-146.1,309.6,-13.0,231,2267,0.08,1.48,0.00,0.000,6,0.164,0.031,1648,2937,2939,0,0,0,0,0,0
$GC,2577,-0.41,-146.1,344.0,-10.7,247,2578,0.00,0.00,0.00,0.000,6,0.000,0.000,1648,2937,2939,0,0,0,0,0,0
$GC,2884,-0.41,-146.1,376.6,-10.1,262,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,1648,2937,2939,0,0,0,0,0,0
$GC,3194,-0.41,-146.1,406.8,-9.7,277,3196,0.00,0.00,0.00,0.000,6,0.000,0.000,1648,2937,2939,0,0,0,0,0,0
$GC,3503,-0.41,-146.1,437.0,-9.7,292,3504,0.00,0.00,0.00,0.000,6,0.000,0.000,1648,2937,2939,0,0,0,0,0,0
$GC,3812,-0.41,-146.1,468.7,-10.2,307,3814,0.00,0.00,0.00,0.000,6,0.000,0.000,1648,2937,2939,0,0,0,0,0,0
$GC,4122,-0.41,-146.1,500.4,-10.2,322,4126,0.00,1.62,0.00,0.000,4,0.000,0.062,1641,3903,2940,0,0,0,0,0,0
$GC,4176,-0.41,-146.1,506.6,-10.6,324,4181,0.00,1.48,0.00,0.000,6,0.000,0.031,1641,2934,2940,0,0,0,0,0,0
$GC,4499,-0.41,-146.1,539.9,-10.3,340,4500,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2933,2940,0,0,0,0,0,0
$GC,4808,-0.41,-146.1,571.9,-10.2,355,4811,0.00,1.62,0.00,0.000,4,0.000,0.060,1634,3902,2940,0,0,0,0,0,0
$GC,4857,-0.41,-146.1,577.5,-11.3,357,4862,0.00,1.50,0.00,0.000,6,0.000,0.030,1634,2919,2940,0,0,0,0,0,0
$GC,5185,-0.41,-146.1,612.9,-11.0,373,5186,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2919,2940,0,0,0,0,0,0
$GC,5494,-0.41,-146.1,648.1,-11.5,388,5495,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2919,2940,0,0,0,0,0,0
$GC,5803,-0.41,-146.1,683.4,-11.5,403,5804,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2919,2940,0,0,0,0,0,0
$GC,6113,-0.41,-146.1,717.6,-11.0,418,6117,0.00,1.65,0.00,0.000,4,0.000,0.061,1626,3917,2940,0,0,0,0,0,0
$GC,6158,-0.41,-146.1,722.9,-11.8,420,6163,0.08,1.50,0.00,0.000,6,0.158,0.031,1650,2939,2940,0,0,0,0,0,0
$GC,6492,-0.41,-146.1,754.1,-9.1,436,6493,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2939,2940,0,0,0,0,0,0
$GC,6801,-0.41,-146.1,781.3,-8.8,451,6802,0.00,0.00,0.00,0.000,6,0.000,0.000,1650,2939,2940,0,0,0,0,0,0
$GC,7110,-0.41,-146.1,807.9,-8.4,466,7114,0.00,2.15,0.00,0.000,4,0.000,0.039,1650,1522,2940,0,0,0,0,0,0
$GC,7150,-0.41,-146.1,811.3,-7.7,468,7154,0.00,2.30,0.00,0.000,6,0.000,0.054,1640,2938,2941,0,0,0,0,0,0
$GC,7477,-0.41,-146.1,841.0,-9.2,484,7481,0.00,1.58,0.00,0.000,4,0.000,0.060,1632,3904,2940,0,0,0,0,0,0
$GC,7515,-0.41,-146.1,845.1,-10.2,485,7523,0.00,1.50,0.00,0.000,6,0.000,0.031,1632,2917,2941,0,0,0,0,0,0
$GC,7832,-0.41,-146.1,875.6,-9.9,501,7834,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2917,2941,0,0,0,0,0,0
$GC,8141,-0.41,-146.1,906.3,-10.3,516,8142,0.00,0.00,0.00,0.000,6,0.000,0.000,1633,2917,2941,0,0,0,0,0,0
$GC,8450,-0.41,-146.1,937.5,-9.9,531,8451,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2917,2941,0,0,0,0,0,0
$GC,8760,-0.41,-146.1,968.6,-10.2,546,8762,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2917,2941,0,0,0,0,0,0
$GC,9069,-0.41,-146.1,999.5,-9.8,561,9073,0.00,1.65,0.00,0.000,4,0.000,0.060,1624,3898,2941,0,0,0,0,0,0
$STATE,9076,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9076,begin apogee
$GC,9083,-0.13,0.0,1000.6,9.8,561,9222,0.38,0.00,136.10,1.777,6,0.164,0.000,1738,2729,2341,0,0,0,0,0,0
$STATE,9224,end apogee,CONTROL_FINISHED_OK
$STATE,9224,begin climb
$GC,9226,0.41,146.1,1004.8,0.0,568,9379,0.60,0.00,147.68,1.712,6,0.125,0.000,1912,2729,1746,0,0,0,0,0,0
$GC,9681,0.41,146.1,959.4,11.6,590,9682,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,2729,1738,0,0,0,0,0,0
$GC,9989,0.41,146.1,923.9,11.4,605,9990,0.00,0.00,0.00,0.000,6,0.000,0.000,1912,2729,1736,0,0,0,0,0,0
$GC,10299,0.41,146.1,886.1,11.9,620,10303,0.00,2.00,0.00,0.000,4,0.000,0.060,1912,3903,1735,0,0,0,0,0,0
$GC,10337,0.41,146.1,880.6,14.0,621,10344,0.00,1.90,0.00,0.000,6,0.000,0.034,1921,2722,1733,0,0,0,0,0,0
$GC,10653,0.41,146.1,839.1,13.4,637,10654,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,2722,1733,0,0,0,0,0,0
$GC,10962,0.41,146.1,798.0,13.4,652,10963,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,2722,1733,0,0,0,0,0,0
$GC,11272,0.41,146.1,756.7,13.2,667,11273,0.00,0.00,0.00,0.000,6,0.000,0.000,1921,2722,1733,0,0,0,0,0,0
$GC,11581,0.41,146.1,715.6,13.3,682,11584,0.00,1.95,0.00,0.000,4,0.000,0.057,1921,3900,1733,0,0,0,0,0,0
$GC,11630,0.41,146.1,708.1,16.3,684,11635,0.00,1.90,0.00,0.000,6,0.000,0.034,1930,2709,1731,0,0,0,0,0,0
$GC,11958,0.41,146.1,663.6,13.9,700,11959,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2709,1731,0,0,0,0,0,0
$GC,12267,0.41,146.1,621.3,13.7,715,12270,0.00,1.98,0.00,0.000,4,0.000,0.057,1931,3903,1731,0,0,0,0,0,0
$GC,12336,0.41,146.1,610.9,15.3,718,12339,0.00,1.88,0.00,0.000,6,0.000,0.035,1939,2710,1731,0,0,0,0,0,0
$GC,12668,0.41,146.1,563.9,13.9,734,12669,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2709,1731,0,0,0,0,0,0
$GC,12977,0.41,146.1,521.8,13.3,749,12981,0.00,1.98,0.00,0.000,4,0.000,0.057,1940,3909,1731,0,0,0,0,0,0
$GC,13026,0.41,146.1,514.3,14.3,751,13030,0.00,1.90,0.00,0.000,6,0.000,0.035,1949,2716,1730,0,0,0,0,0,0
$GC,13353,0.41,146.1,469.1,13.8,767,13357,0.00,1.95,0.00,0.000,4,0.000,0.057,1949,3900,1731,0,0,0,0,0,0
$GC,13398,0.41,146.1,462.1,15.5,769,13402,0.12,1.88,0.00,0.000,6,0.210,0.035,1930,2704,1730,0,0,0,0,0,0
$GC,13730,0.41,146.1,421.4,12.1,785,13732,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2704,1730,0,0,0,0,0,0
$GC,14039,0.41,146.1,384.7,11.8,800,14040,0.00,0.00,0.00,0.000,6,0.000,0.000,1930,2704,1730,0,0,0,0,0,0
$GC,14351,0.41,146.1,349.6,10.9,815,14355,0.00,1.98,0.00,0.000,4,0.000,0.056,1929,3903,1730,0,0,0,0,0,0
$GC,14399,0.41,146.1,343.6,12.9,817,14402,0.00,1.88,0.00,0.000,6,0.000,0.035,1938,2708,1730,0,0,0,0,0,0
$GC,14733,0.41,146.1,306.0,10.8,833,14734,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,2708,1730,0,0,0,0,0,0
$GC,15043,0.41,146.1,272.8,10.8,848,15044,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,2708,1730,0,0,0,0,0,0
$GC,15354,0.41,146.1,237.8,11.7,867,15358,0.00,1.98,0.00,0.000,4,0.000,0.056,1938,3906,1730,0,0,0,0,0,0
$GC,15403,0.41,146.1,231.4,14.5,871,15407,0.00,1.88,0.00,0.000,6,0.000,0.035,1947,2711,1730,0,0,0,0,0,0
$GC,15733,0.41,146.1,184.3,14.3,902,15734,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2710,1730,0,0,0,0,0,0
$GC,16054,0.41,146.1,141.0,12.4,932,16055,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2710,1730,0,0,0,0,0,0
$GC,16373,0.43,165.8,105.7,8.8,962,16391,0.00,1.98,11.20,1.063,4,0.000,0.057,1947,3892,1666,0,0,0,0,0,0
$GC,16495,0.43,165.8,92.8,10.4,978,16505,0.08,1.90,0.00,0.000,6,0.184,0.035,1935,2707,1664,0,0,0,0,0,0
$GC,16732,0.54,302.3,81.0,4.4,1019,16830,0.00,0.00,89.62,1.008,6,0.000,0.000,1935,2707,1108,0,0,0,0,0,0
$GC,16940,0.62,402.6,69.8,5.8,1051,17012,0.17,0.00,66.12,0.936,6,0.095,0.000,1998,2706,698,0,0,0,0,0,0
$GC,17118,0.62,402.6,48.0,13.9,1079,17125,0.00,2.30,0.00,0.000,4,0.000,0.046,2008,1296,690,0,0,0,0,0,0
$GC,17161,0.62,402.6,42.1,13.9,1086,17170,0.00,2.38,0.00,0.000,6,0.000,0.048,2008,2725,689,0,0,0,0,0,0
$GC,17278,0.62,402.6,25.3,15.3,1105,17287,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2725,687,0,0,0,0,0,0
$GC,17362,0.62,402.6,12.2,15.9,1118,17370,0.00,0.00,0.00,0.000,6,0.000,0.000,2008,2725,686,0,0,0,0,0,0
$STATE,17420,end climb,SURFACE_DEPTH_REACHED
$STATE,17420,begin surface coast
$FINISH,1.3,1.014556
$STATE,17440,end surface coast,CONTROL_FINISHED_OK
$STATE,17440,begin surface
$SM_CCo,17513,0.00,0.000,0,0,684,406.70
$SM_GC,1.97,5.38,0.00,0.00,0.060,0.000,0.000,62,2932,684,-5.32,0.06,406.70
$IRIDIUM_FIX,-5531.31,-57.55,230115,000050
$TT8_MAMPS,0.026215
$HUMID,57.08
$INTERNAL_PRESSURE,8.91603
$TCM_TEMP,7.20
$XPDR_PINGS,0
$24V_AH,21.9,49.046
$10V_AH,9.9,33.936
$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,13.575,77.725,450.725,0.000,0.000,25.889,44.565,328.787,0.000,0.000,19.854,2715.696,11488.151,503.968,3063.517,272.185,33.367,1575.077,0.000,2488.534,0.000,0.540,0.000
$DEVICE_MAMPS,237.915,63.495,1777.095,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,801.669,2278.413,1062.510,1067.919,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353440
$DATA_FILE_SIZE,77045,1130
$CAP_FILE_SIZE,139571,0
$CFSIZE,259252224,209436672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230115,101204,-5554.683,-101.807,37,0.9,38,-19.6