version: 66.07
glider: 542
mission: 9
dive: 249
start: 1 23 115 15 7 25
data:
$ID,542
$MISSION,9
$DIVE,249
$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,-22385.322
$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,31
$R_STBD_OVSHOOT,22
$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
$GPS1,230115,145735,-5552.704,-59.845,26,1.0,27,-19.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-67.7
$GPS2,230115,150631,-5552.770,-59.705,18,1.1,18,-19.7
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET4
$TGT_LATLONG,-5545.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.067,0.221
$KALMAN_X,208205.5,-630.5,-196.0,-269130.0,5559.9
$KALMAN_Y,-43258.6,380.4,613.2,55951.4,-4977.4
$MHEAD_RNG_PITCHd_Wd,2.8,14393,-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,-146.1,0.0,0.0,0,69,0.00,0.00,-50.03,0.000,2,0.000,0.000,45,2928,2202,0,0,0,0,0,0
$GC,71,-0.44,-146.1,3.1,-2.9,6,114,6.47,1.65,-28.10,0.000,4,0.236,0.082,1629,3897,2939,0,0,0,0,0,0
$GC,384,-0.44,-146.1,52.6,-17.0,56,393,0.00,1.55,0.00,0.000,6,0.000,0.031,1629,2898,2941,0,0,0,0,0,0
$GC,501,-0.44,-146.1,72.2,-16.4,75,507,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2897,2941,0,0,0,0,0,0
$GC,614,-0.44,-146.1,90.7,-17.4,94,620,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2897,2941,0,0,0,0,0,0
$GC,842,-0.44,-146.1,129.6,-17.8,120,843,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2897,2941,0,0,0,0,0,0
$GC,1160,-0.44,-146.1,180.6,-15.3,150,1162,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2897,2942,0,0,0,0,0,0
$GC,1481,-0.44,-146.1,226.3,-13.1,180,1484,0.00,1.67,0.00,0.000,4,0.000,0.063,1621,3905,2941,0,0,0,0,0,0
$GC,1589,-0.44,-146.1,242.2,-14.5,189,1597,0.00,1.50,0.00,0.000,6,0.000,0.031,1621,2915,2941,0,0,0,0,0,0
$GC,1918,-0.44,-146.1,288.3,-13.8,208,1919,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2914,2941,0,0,0,0,0,0
$GC,2228,-0.44,-146.1,329.3,-13.0,223,2232,0.00,1.65,0.00,0.000,4,0.000,0.063,1613,3909,2941,0,0,0,0,0,0
$GC,2301,-0.44,-146.1,340.0,-13.8,226,2305,0.08,1.48,0.00,0.000,6,0.169,0.031,1638,2949,2941,0,0,0,0,0,0
$GC,2629,-0.44,-146.1,379.2,-12.1,242,2631,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2949,2941,0,0,0,0,0,0
$GC,2937,-0.44,-146.1,416.3,-11.9,257,2938,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2949,2941,0,0,0,0,0,0
$GC,3247,-0.44,-146.1,452.1,-11.3,272,3248,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2949,2941,0,0,0,0,0,0
$GC,3556,-0.44,-146.1,485.0,-10.6,287,3560,0.00,1.60,0.00,0.000,4,0.000,0.062,1631,3900,2941,0,0,0,0,0,0
$GC,3593,-0.44,-146.1,489.3,-11.5,288,3601,0.00,1.48,0.00,0.000,6,0.000,0.030,1630,2919,2941,0,0,0,0,0,0
$GC,3910,-0.44,-146.1,524.4,-10.9,304,3914,0.00,1.62,0.00,0.000,4,0.000,0.061,1623,3916,2941,0,0,0,0,0,0
$GC,3955,-0.44,-146.1,529.6,-11.7,306,3959,0.00,1.50,0.00,0.000,6,0.000,0.031,1623,2929,2941,0,0,0,0,0,0
$GC,4287,-0.44,-146.1,567.4,-11.3,322,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2923,2941,0,0,0,0,0,0
$GC,4598,-0.44,-146.1,602.4,-11.3,337,4602,0.00,1.65,0.00,0.000,4,0.000,0.061,1615,3905,2941,0,0,0,0,0,0
$GC,4658,-0.44,-146.1,610.1,-12.6,339,4666,0.08,1.48,0.00,0.000,6,0.164,0.031,1639,2940,2941,0,0,0,0,0,0
$GC,4976,-0.44,-146.1,640.6,-8.8,355,4977,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2940,2941,0,0,0,0,0,0
$GC,5284,-0.44,-146.1,667.9,-9.1,370,5287,0.00,1.60,0.00,0.000,4,0.000,0.061,1632,3896,2941,0,0,0,0,0,0
$GC,5353,-0.44,-146.1,674.3,-9.6,373,5357,0.00,1.48,0.00,0.000,6,0.000,0.031,1632,2922,2941,0,0,0,0,0,0
$GC,5686,-0.44,-146.1,706.1,-10.3,389,5687,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2918,2941,0,0,0,0,0,0
$GC,5994,-0.44,-146.1,738.4,-10.5,404,5998,0.00,1.65,0.00,0.000,4,0.000,0.061,1624,3899,2941,0,0,0,0,0,0
$GC,6066,-0.44,-146.1,746.6,-11.4,407,6070,0.00,1.48,0.00,0.000,6,0.000,0.031,1624,2924,2941,0,0,0,0,0,0
$GC,6394,-0.44,-146.1,785.3,-12.2,423,6396,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2921,2941,0,0,0,0,0,0
$GC,6703,-0.44,-146.1,822.6,-11.9,438,6706,0.00,1.62,0.00,0.000,4,0.000,0.061,1617,3899,2941,0,0,0,0,0,0
$GC,6776,-0.44,-146.1,832.1,-13.0,441,6779,0.00,1.48,0.00,0.000,6,0.000,0.031,1617,2933,2941,0,0,0,0,0,0
$GC,7103,-0.44,-146.1,872.3,-12.1,457,7104,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2931,2941,0,0,0,0,0,0
$GC,7412,-0.44,-146.1,909.6,-12.3,472,7416,0.10,1.62,0.00,0.000,4,0.194,0.063,1634,3899,2941,0,0,0,0,0,0
$GC,7483,-0.44,-146.1,918.0,-10.7,475,7487,0.00,1.48,0.00,0.000,6,0.000,0.030,1634,2929,2941,0,0,0,0,0,0
$GC,7810,-0.44,-146.1,952.5,-10.5,491,7811,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2926,2941,0,0,0,0,0,0
$GC,8119,-0.44,-146.1,985.3,-10.5,506,8123,0.00,1.65,0.00,0.000,4,0.000,0.063,1626,3904,2941,0,0,0,0,0,0
$GC,8175,-0.44,-146.1,991.7,-11.4,508,8179,0.00,1.48,0.00,0.000,6,0.000,0.031,1626,2928,2942,0,0,0,0,0,0
$STATE,8268,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8268,begin apogee
$GC,8272,-0.13,0.0,1001.9,11.1,513,8412,0.40,0.00,136.55,1.766,6,0.162,0.000,1743,2702,2342,0,0,0,0,0,0
$STATE,8413,end apogee,CONTROL_FINISHED_OK
$STATE,8413,begin climb
$GC,8416,0.44,146.1,1007.2,0.0,520,8567,0.62,0.00,147.80,1.712,6,0.120,0.000,1926,2702,1746,0,0,0,0,0,0
$GC,8868,0.44,146.1,961.5,11.8,542,8872,0.00,2.08,0.00,0.000,4,0.000,0.061,1926,3898,1737,0,0,0,0,0,0
$GC,8917,0.44,146.1,954.4,14.2,544,8921,0.00,1.88,0.00,0.000,6,0.000,0.034,1934,2743,1736,0,0,0,0,0,0
$GC,9244,0.44,146.1,912.4,13.2,560,9245,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2742,1735,0,0,0,0,0,0
$GC,9553,0.44,146.1,871.2,13.8,575,9554,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2743,1735,0,0,0,0,0,0
$GC,9863,0.44,146.1,829.5,13.4,590,9865,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2743,1734,0,0,0,0,0,0
$GC,10172,0.44,146.1,787.0,13.8,605,10176,0.00,1.95,0.00,0.000,4,0.000,0.060,1935,3896,1733,0,0,0,0,0,0
$GC,10231,0.44,146.1,777.2,16.0,607,10239,0.00,1.90,0.00,0.000,6,0.000,0.034,1944,2712,1732,0,0,0,0,0,0
$GC,10549,0.44,146.1,732.3,14.1,623,10550,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2712,1732,0,0,0,0,0,0
$GC,10857,0.44,146.1,688.9,14.0,638,10861,0.00,1.95,0.00,0.000,4,0.000,0.059,1944,3899,1732,0,0,0,0,0,0
$GC,10918,0.44,146.1,679.1,15.8,640,10925,0.00,1.90,0.00,0.000,6,0.000,0.035,1953,2710,1731,0,0,0,0,0,0
$GC,11235,0.44,146.1,634.0,14.2,656,11236,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2710,1731,0,0,0,0,0,0
$GC,11543,0.44,146.1,591.4,13.9,671,11547,0.00,1.98,0.00,0.000,4,0.000,0.059,1953,3900,1731,0,0,0,0,0,0
$GC,11615,0.44,146.1,580.1,15.4,674,11619,0.00,1.88,0.00,0.000,6,0.000,0.034,1962,2694,1730,0,0,0,0,0,0
$GC,11942,0.44,146.1,536.8,12.8,690,11943,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,2694,1731,0,0,0,0,0,0
$GC,12252,0.44,146.1,497.5,12.5,705,12255,0.00,1.98,0.00,0.000,4,0.000,0.057,1962,3904,1730,0,0,0,0,0,0
$GC,12324,0.44,146.1,486.6,15.6,708,12328,0.15,1.85,0.00,0.000,6,0.203,0.035,1936,2710,1730,0,0,0,0,0,0
$GC,12650,0.44,146.1,452.9,10.0,724,12651,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2710,1730,0,0,0,0,0,0
$GC,12960,0.44,146.1,421.9,9.9,739,12964,0.00,1.98,0.00,0.000,4,0.000,0.057,1936,3891,1730,0,0,0,0,0,0
$GC,13010,0.44,146.1,416.0,12.2,741,13014,0.00,1.88,0.00,0.000,6,0.000,0.034,1944,2712,1730,0,0,0,0,0,0
$GC,13340,0.44,146.1,381.1,10.8,757,13342,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2711,1730,0,0,0,0,0,0
$GC,13647,0.44,146.1,347.3,10.9,772,13648,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2711,1730,0,0,0,0,0,0
$GC,13957,0.44,146.1,310.9,11.8,787,13961,0.00,1.98,0.00,0.000,4,0.000,0.058,1944,3904,1730,0,0,0,0,0,0
$GC,14018,0.44,146.1,302.1,13.5,789,14026,0.00,1.90,0.00,0.000,6,0.000,0.034,1953,2707,1730,0,0,0,0,0,0
$GC,14337,0.44,146.1,262.3,12.3,805,14341,0.00,1.95,0.00,0.000,4,0.000,0.057,1954,3899,1730,0,0,0,0,0,0
$GC,14398,0.44,146.1,253.1,14.0,807,14406,0.00,1.90,0.00,0.000,6,0.000,0.034,1963,2705,1730,0,0,0,0,0,0
$GC,14725,0.44,146.1,211.3,12.7,837,14726,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,2705,1730,0,0,0,0,0,0
$GC,15046,0.44,146.1,169.6,13.5,867,15050,0.00,1.98,0.00,0.000,4,0.000,0.057,1963,3899,1730,0,0,0,0,0,0
$GC,15128,0.44,146.1,156.4,14.6,874,15133,0.15,1.85,0.00,0.000,6,0.201,0.034,1936,2700,1730,0,0,0,0,0,0
$GC,15461,0.44,146.1,121.0,9.6,905,15462,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2699,1730,0,0,0,0,0,0
$GC,15788,0.45,153.7,91.7,9.2,943,15795,0.00,0.00,3.72,0.779,6,0.000,0.000,1937,2699,1715,0,0,0,0,0,0
$GC,16027,0.48,193.2,72.1,7.8,984,16066,0.00,2.25,28.42,0.975,4,0.000,0.044,1946,1300,1553,0,0,0,0,0,0
$GC,16091,0.52,246.9,67.2,7.2,993,16141,0.00,2.30,41.58,0.931,6,0.000,0.051,1946,2724,1333,0,0,0,0,0,0
$GC,16250,0.53,251.5,52.2,9.3,1018,16259,0.00,0.00,2.15,0.356,6,0.000,0.000,1946,2724,1317,0,0,0,0,0,0
$GC,16366,0.53,255.9,41.4,9.3,1037,16373,0.00,0.00,3.38,0.588,6,0.000,0.000,1946,2724,1297,0,0,0,0,0,0
$GC,16480,0.53,255.9,30.6,9.9,1056,16489,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,2724,1295,0,0,0,0,0,0
$GC,16601,0.54,267.3,19.4,9.0,1075,16610,0.00,0.00,7.10,0.728,6,0.000,0.000,1946,2724,1251,0,0,0,0,0,0
$GC,16686,0.54,267.3,11.4,10.5,1088,16694,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,2724,1247,0,0,0,0,0,0
$GC,16771,0.54,270.4,3.6,9.4,1101,16780,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,2724,1246,0,0,0,0,0,0
$STATE,16788,end climb,SURFACE_DEPTH_REACHED
$STATE,16788,begin surface coast
$FINISH,1.2,1.014684
$STATE,16826,end surface coast,CONTROL_FINISHED_OK
$STATE,16826,begin surface
$SM_CCo,16899,0.00,0.000,0,0,1245,269.09
$SM_GC,2.04,5.28,0.00,0.00,0.070,0.000,0.000,59,2927,1245,-5.32,-0.08,269.09
$IRIDIUM_FIX,-5531.31,-57.61,230115,101058
$TT8_MAMPS,0.026215
$HUMID,57.04
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.60
$XPDR_PINGS,0
$24V_AH,21.8,49.415
$10V_AH,9.8,34.202
$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,13.325,74.225,370.700,0.000,0.000,26.480,42.061,321.744,0.000,0.000,21.240,2705.141,10825.385,468.282,3160.245,268.094,33.368,1527.154,0.000,2582.349,0.000,0.539,0.000
$DEVICE_MAMPS,235.620,81.855,1766.385,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,788.011,2309.996,1121.918,1170.740,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353492
$DATA_FILE_SIZE,76889,1109
$CAP_FILE_SIZE,138312,0
$CFSIZE,259252224,209289216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,230115,195004,-5550.999,-59.533,25,0.8,26,-19.7