version: 66.07
glider: 542
mission: 9
dive: 250
start: 1 23 115 19 59 53
data:
$ID,542
$MISSION,9
$DIVE,250
$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,-22388.512
$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,34
$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
$GPS1,230115,195004,-5550.999,-59.533,25,0.8,26,-19.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-71.9
$GPS2,230115,195859,-5550.944,-59.402,18,1.4,18,-19.7
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET4
$TGT_LATLONG,-5545.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.090,0.212
$KALMAN_X,209963.0,-428.6,-605.5,-270356.5,5519.6
$KALMAN_Y,-44093.1,542.3,193.9,60416.2,-3455.1
$MHEAD_RNG_PITCHd_Wd,356.7,11026,-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,-49.70,0.000,2,0.000,0.000,45,2936,2335,0,0,0,0,0,0
$GC,71,-0.44,-146.1,3.0,-2.8,6,106,6.57,2.22,-19.90,0.000,4,0.238,0.050,1642,1503,2936,0,0,0,0,0,0
$GC,132,-0.44,-146.1,9.6,-13.0,14,142,0.00,2.38,0.00,0.000,6,0.000,0.056,1632,2921,2937,0,0,0,0,0,0
$GC,218,-0.44,-146.1,24.0,-17.7,27,227,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2921,2937,0,0,0,0,0,0
$GC,300,-0.44,-146.1,39.6,-18.2,40,308,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2921,2938,0,0,0,0,0,0
$GC,415,-0.44,-146.1,60.9,-18.3,59,421,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2921,2937,0,0,0,0,0,0
$GC,528,-0.44,-146.1,80.1,-16.3,78,537,0.00,2.25,0.00,0.000,4,0.000,0.038,1632,1506,2938,0,0,0,0,0,0
$GC,590,-0.44,-146.1,89.0,-13.5,88,597,0.00,2.33,0.00,0.000,6,0.000,0.055,1621,2929,2938,0,0,0,0,0,0
$GC,816,-0.44,-146.1,124.9,-15.5,115,817,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2929,2938,0,0,0,0,0,0
$GC,1136,-0.44,-146.1,172.1,-15.1,145,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2929,2938,0,0,0,0,0,0
$GC,1461,-0.44,-146.1,217.6,-13.6,176,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2929,2938,0,0,0,0,0,0
$GC,1779,-0.44,-146.1,262.0,-13.9,202,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2929,2938,0,0,0,0,0,0
$GC,2090,-0.44,-146.1,305.8,-14.2,217,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2928,2939,0,0,0,0,0,0
$GC,2396,-0.44,-146.1,349.0,-14.0,232,2397,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2929,2938,0,0,0,0,0,0
$GC,2707,-0.44,-146.1,391.2,-13.5,247,2708,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2929,2938,0,0,0,0,0,0
$GC,3014,-0.44,-146.1,431.2,-12.8,262,3015,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2929,2939,0,0,0,0,0,0
$GC,3324,-0.44,-146.1,470.0,-12.4,277,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2929,2938,0,0,0,0,0,0
$GC,3633,-0.44,-146.1,510.6,-13.0,292,3636,0.00,1.58,0.00,0.000,4,0.000,0.062,1614,3892,2938,0,0,0,0,0,0
$GC,3689,-0.44,-146.1,518.2,-13.2,294,3693,0.08,1.52,0.00,0.000,6,0.168,0.031,1638,2905,2938,0,0,0,0,0,0
$GC,4010,-0.44,-146.1,552.2,-10.5,310,4011,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2903,2938,0,0,0,0,0,0
$GC,4319,-0.44,-146.1,585.1,-10.6,325,4322,0.00,1.62,0.00,0.000,4,0.000,0.062,1631,3900,2938,0,0,0,0,0,0
$GC,4367,-0.44,-146.1,591.0,-12.1,327,4373,0.00,1.50,0.00,0.000,6,0.000,0.030,1631,2919,2939,0,0,0,0,0,0
$GC,4696,-0.44,-146.1,628.5,-11.4,343,4697,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2917,2939,0,0,0,0,0,0
$GC,5004,-0.44,-146.1,663.1,-11.0,358,5006,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2918,2939,0,0,0,0,0,0
$GC,5315,-0.44,-146.1,695.7,-10.1,373,5318,0.00,1.65,0.00,0.000,4,0.000,0.062,1623,3913,2939,0,0,0,0,0,0
$GC,5369,-0.44,-146.1,701.8,-10.5,375,5374,0.00,1.50,0.00,0.000,6,0.000,0.031,1623,2935,2939,0,0,0,0,0,0
$GC,5691,-0.44,-146.1,735.0,-10.7,391,5692,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2934,2939,0,0,0,0,0,0
$GC,6001,-0.44,-146.1,768.2,-10.8,406,6003,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2934,2939,0,0,0,0,0,0
$GC,6310,-0.44,-146.1,802.1,-11.2,421,6311,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2934,2939,0,0,0,0,0,0
$GC,6619,-0.44,-146.1,837.7,-11.8,436,6620,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2934,2939,0,0,0,0,0,0
$GC,6929,-0.44,-146.1,873.4,-11.2,451,6933,0.00,1.62,0.00,0.000,4,0.000,0.063,1616,3927,2939,0,0,0,0,0,0
$GC,6990,-0.44,-146.1,881.2,-12.5,453,6998,0.08,1.52,0.00,0.000,6,0.160,0.031,1640,2936,2939,0,0,0,0,0,0
$GC,7306,-0.44,-146.1,913.9,-10.4,469,7307,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2936,2939,0,0,0,0,0,0
$GC,7616,-0.44,-146.1,945.7,-10.1,484,7617,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2936,2939,0,0,0,0,0,0
$GC,7924,-0.44,-146.1,976.8,-9.8,499,7926,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2936,2939,0,0,0,0,0,0
$STATE,8170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8170,begin apogee
$GC,8175,-0.13,0.0,1001.6,10.3,511,8314,0.35,0.00,135.62,1.759,6,0.151,0.000,1745,2708,2342,0,0,0,0,0,0
$STATE,8315,end apogee,CONTROL_FINISHED_OK
$STATE,8315,begin climb
$GC,8317,0.44,146.1,1006.7,0.0,518,8470,0.60,0.00,147.90,1.724,6,0.119,0.000,1922,2708,1746,0,0,0,0,0,0
$GC,8771,0.44,146.1,962.2,11.6,540,8772,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,2708,1738,0,0,0,0,0,0
$GC,9080,0.44,146.1,925.9,11.7,555,9084,0.00,2.05,0.00,0.000,4,0.000,0.060,1922,3924,1736,0,0,0,0,0,0
$GC,9134,0.44,146.1,918.4,14.3,557,9139,0.00,1.92,0.00,0.000,6,0.000,0.035,1931,2742,1734,0,0,0,0,0,0
$GC,9457,0.44,146.1,877.0,13.1,573,9458,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2742,1734,0,0,0,0,0,0
$GC,9765,0.44,146.1,836.9,12.8,588,9769,0.00,1.92,0.00,0.000,4,0.000,0.059,1931,3907,1734,0,0,0,0,0,0
$GC,9803,0.44,146.1,831.1,15.3,589,9811,0.00,1.92,0.00,0.000,6,0.000,0.037,1940,2715,1732,0,0,0,0,0,0
$GC,10120,0.44,146.1,789.9,12.6,605,10122,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2714,1732,0,0,0,0,0,0
$GC,10429,0.44,146.1,749.7,13.6,620,10433,0.00,2.00,0.00,0.000,4,0.000,0.059,1940,3901,1732,0,0,0,0,0,0
$GC,10500,0.44,146.1,738.7,15.4,623,10504,0.00,1.92,0.00,0.000,6,0.000,0.036,1950,2698,1731,0,0,0,0,0,0
$GC,10828,0.44,146.1,691.6,14.5,639,10832,0.00,2.00,0.00,0.000,4,0.000,0.057,1950,3910,1731,0,0,0,0,0,0
$GC,10904,0.44,146.1,678.8,16.4,642,10909,0.00,1.92,0.00,0.000,6,0.000,0.035,1959,2708,1731,0,0,0,0,0,0
$GC,11227,0.44,146.1,629.7,15.3,658,11228,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2708,1731,0,0,0,0,0,0
$GC,11535,0.44,146.1,582.4,15.0,673,11539,0.00,1.98,0.00,0.000,4,0.000,0.057,1959,3900,1731,0,0,0,0,0,0
$GC,11626,0.44,146.1,566.8,17.9,677,11630,0.12,1.85,0.00,0.000,6,0.214,0.036,1940,2709,1731,0,0,0,0,0,0
$GC,11958,0.44,146.1,521.1,13.4,693,11959,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2708,1730,0,0,0,0,0,0
$GC,12267,0.44,146.1,480.1,13.3,708,12270,0.00,1.98,0.00,0.000,4,0.000,0.057,1940,3903,1731,0,0,0,0,0,0
$GC,12316,0.44,146.1,472.9,15.1,710,12320,0.00,1.88,0.00,0.000,6,0.000,0.035,1948,2698,1730,0,0,0,0,0,0
$GC,12643,0.44,146.1,430.8,12.2,726,12647,0.00,1.98,0.00,0.000,4,0.000,0.057,1949,3909,1731,0,0,0,0,0,0
$GC,12692,0.44,146.1,423.9,13.2,728,12697,0.00,1.90,0.00,0.000,6,0.000,0.034,1958,2716,1730,0,0,0,0,0,0
$GC,13022,0.44,146.1,383.6,11.9,744,13024,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,2716,1730,0,0,0,0,0,0
$GC,13333,0.44,146.1,346.3,12.0,759,13336,0.00,1.98,0.00,0.000,4,0.000,0.057,1958,3910,1730,0,0,0,0,0,0
$GC,13416,0.44,146.1,334.3,13.6,762,13426,0.12,1.90,0.00,0.000,6,0.190,0.034,1932,2715,1730,0,0,0,0,0,0
$GC,13732,0.44,146.1,302.4,9.7,778,13733,0.00,0.00,0.00,0.000,6,0.000,0.000,1932,2714,1730,0,0,0,0,0,0
$GC,14043,0.44,147.7,272.5,9.5,793,14045,0.00,0.00,0.00,0.000,6,0.000,0.000,1933,2714,1730,0,0,0,0,0,0
$GC,14356,0.45,151.1,243.7,9.4,811,14360,0.00,1.95,0.00,0.000,4,0.000,0.057,1932,3899,1730,0,0,0,0,0,0
$GC,14407,0.45,151.1,237.4,11.3,815,14414,0.00,1.90,0.00,0.000,6,0.000,0.034,1941,2704,1730,0,0,0,0,0,0
$GC,14734,0.45,151.1,202.3,11.4,846,14735,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2703,1730,0,0,0,0,0,0
$GC,15052,0.45,151.1,168.7,9.7,876,15053,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2703,1730,0,0,0,0,0,0
$GC,15371,0.45,151.1,133.0,11.1,906,15375,0.00,1.98,0.00,0.000,4,0.000,0.057,1940,3903,1730,0,0,0,0,0,0
$GC,15511,0.45,151.1,116.0,12.1,918,15515,0.00,1.88,0.00,0.000,6,0.000,0.034,1950,2702,1730,0,0,0,0,0,0
$GC,15851,0.47,182.9,83.8,8.1,964,15880,0.00,2.05,23.77,1.020,4,0.000,0.057,1950,3903,1595,0,0,0,0,0,0
$GC,15936,0.47,182.9,75.7,10.5,977,15943,0.00,1.92,0.00,0.000,6,0.000,0.034,1959,2704,1592,0,0,0,0,0,0
$GC,16047,0.48,190.3,65.2,9.2,996,16056,0.00,0.00,5.28,0.798,6,0.000,0.000,1959,2705,1565,0,0,0,0,0,0
$GC,16166,0.49,205.5,55.1,8.9,1015,16181,0.00,0.00,10.55,0.877,6,0.000,0.000,1959,2704,1503,0,0,0,0,0,0
$GC,16289,0.49,210.3,43.3,9.3,1035,16296,0.00,0.00,3.17,0.578,6,0.000,0.000,1959,2704,1484,0,0,0,0,0,0
$GC,16403,0.49,210.3,31.7,9.8,1054,16411,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,2704,1481,0,0,0,0,0,0
$GC,16524,0.49,210.3,19.6,10.3,1073,16532,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2704,1481,0,0,0,0,0,0
$GC,16608,0.49,210.3,10.8,10.9,1086,16616,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2704,1480,0,0,0,0,0,0
$STATE,16684,end climb,SURFACE_DEPTH_REACHED
$STATE,16684,begin surface coast
$FINISH,1.0,1.002933
$STATE,16717,end surface coast,CONTROL_FINISHED_OK
$STATE,16718,begin surface
$SM_CCo,16791,0.00,0.000,0,0,1479,211.69
$SM_GC,2.41,5.28,0.00,0.00,0.067,0.000,0.000,65,2950,1479,-5.33,0.57,211.69
$IRIDIUM_FIX,-5531.31,-53.77,230115,141427
$TT8_MAMPS,0.026215
$HUMID,57.71
$INTERNAL_PRESSURE,8.98439
$TCM_TEMP,6.80
$XPDR_PINGS,0
$24V_AH,21.8,49.587
$10V_AH,9.8,34.336
$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,13.200,65.175,326.300,0.000,0.000,27.157,43.218,324.170,0.000,0.000,20.776,2680.975,10865.204,429.912,3070.832,269.624,33.370,1434.168,0.000,2501.777,0.000,0.540,0.000
$DEVICE_MAMPS,237.915,62.730,1758.735,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,784.396,2294.503,1118.616,1146.655,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353476
$DATA_FILE_SIZE,76898,1103
$CAP_FILE_SIZE,132296,0
$CFSIZE,259252224,209215488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,240115,004058,-5549.606,-59.894,39,1.0,40,-19.7