version: 66.07
glider: 542
mission: 9
dive: 251
start: 1 24 115 0 50 25
data:
$ID,542
$MISSION,9
$DIVE,251
$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,-22391.781
$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,36
$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
$GPS1,240115,004058,-5549.606,-59.894,39,1.0,40,-19.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.35
$_SM_ANGLEo,-71.9
$GPS2,240115,004931,-5549.605,-59.923,16,1.4,16,-19.7
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET4
$TGT_LATLONG,-5545.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.176,0.149
$KALMAN_X,210853.0,-516.8,-243.4,-272058.3,3699.5
$KALMAN_Y,-45777.6,467.2,55.2,64808.2,-3298.8
$MHEAD_RNG_PITCHd_Wd,329.9,8529,-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,-145.7,0.0,0.0,0,53,0.00,0.00,-34.15,0.000,2,0.000,0.000,58,2960,2222,0,0,0,0,0,0
$GC,55,-0.44,-146.1,3.1,-3.5,4,98,6.50,2.33,-25.58,0.000,4,0.239,0.052,1640,1509,2938,0,0,0,0,0,0
$GC,216,-0.44,-146.1,21.3,-13.1,28,226,0.00,2.33,0.00,0.000,6,0.000,0.053,1630,2911,2940,0,0,0,0,0,0
$GC,301,-0.44,-146.1,34.9,-17.3,41,308,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2911,2940,0,0,0,0,0,0
$GC,415,-0.44,-146.1,56.0,-18.8,60,423,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2911,2940,0,0,0,0,0,0
$GC,532,-0.44,-146.1,75.2,-15.7,79,539,0.00,1.62,0.00,0.000,4,0.000,0.060,1622,3900,2940,0,0,0,0,0,0
$GC,664,-0.44,-146.1,99.9,-18.2,102,673,0.00,1.55,0.00,0.000,6,0.000,0.031,1622,2895,2941,0,0,0,0,0,0
$GC,884,-0.44,-146.1,137.9,-16.8,123,888,0.00,1.70,0.00,0.000,4,0.000,0.060,1615,3903,2941,0,0,0,0,0,0
$GC,957,-0.44,-146.1,149.9,-16.6,129,961,0.08,1.50,0.00,0.000,6,0.177,0.031,1637,2932,2941,0,0,0,0,0,0
$GC,1286,-0.44,-146.1,196.6,-12.9,160,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2932,2941,0,0,0,0,0,0
$GC,1607,-0.44,-146.1,240.2,-14.1,190,1610,0.00,1.62,0.00,0.000,4,0.000,0.061,1629,3927,2941,0,0,0,0,0,0
$GC,1657,-0.44,-146.1,248.2,-15.2,194,1667,0.00,1.55,0.00,0.000,6,0.000,0.030,1629,2902,2941,0,0,0,0,0,0
$GC,1986,-0.44,-146.1,295.5,-14.5,211,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2901,2941,0,0,0,0,0,0
$GC,2294,-0.44,-146.1,338.5,-13.5,226,2297,0.00,1.62,0.00,0.000,4,0.000,0.060,1622,3900,2941,0,0,0,0,0,0
$GC,2366,-0.44,-146.1,348.8,-14.1,229,2371,0.00,1.45,0.00,0.000,6,0.000,0.031,1622,2939,2941,0,0,0,0,0,0
$GC,2697,-0.44,-146.1,391.9,-13.0,245,2698,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2932,2941,0,0,0,0,0,0
$GC,3003,-0.44,-146.1,432.1,-12.8,260,3006,0.00,1.60,0.00,0.000,4,0.000,0.060,1614,3898,2941,0,0,0,0,0,0
$GC,3086,-0.44,-146.1,443.5,-13.2,263,3094,0.08,1.48,0.00,0.000,6,0.171,0.031,1638,2934,2941,0,0,0,0,0,0
$GC,3403,-0.44,-146.1,478.7,-10.9,279,3407,0.00,1.60,0.00,0.000,4,0.000,0.060,1630,3892,2941,0,0,0,0,0,0
$GC,3452,-0.44,-146.1,484.7,-11.9,281,3456,0.00,1.48,0.00,0.000,6,0.000,0.030,1630,2918,2941,0,0,0,0,0,0
$GC,3780,-0.44,-146.1,521.1,-11.1,297,3784,0.00,1.65,0.00,0.000,4,0.000,0.060,1623,3916,2941,0,0,0,0,0,0
$GC,3825,-0.44,-146.1,526.7,-12.3,299,3829,0.00,1.50,0.00,0.000,6,0.000,0.030,1623,2924,2941,0,0,0,0,0,0
$GC,4158,-0.44,-146.1,567.2,-12.5,315,4159,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2918,2941,0,0,0,0,0,0
$GC,4468,-0.44,-146.1,605.1,-12.3,330,4471,0.00,1.65,0.00,0.000,4,0.000,0.060,1615,3919,2942,0,0,0,0,0,0
$GC,4522,-0.44,-146.1,612.5,-12.6,332,4528,0.08,1.50,0.00,0.000,6,0.168,0.031,1639,2937,2942,0,0,0,0,0,0
$GC,4845,-0.44,-146.1,645.1,-10.1,348,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2937,2942,0,0,0,0,0,0
$GC,5154,-0.44,-146.1,675.0,-9.9,363,5157,0.00,1.60,0.00,0.000,4,0.000,0.060,1631,3895,2942,0,0,0,0,0,0
$GC,5208,-0.44,-146.1,680.8,-10.2,365,5213,0.00,1.48,0.00,0.000,6,0.000,0.030,1632,2916,2941,0,0,0,0,0,0
$GC,5532,-0.44,-146.1,714.5,-10.6,381,5533,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2914,2942,0,0,0,0,0,0
$GC,5840,-0.44,-146.1,747.3,-10.7,396,5843,0.00,1.62,0.00,0.000,4,0.000,0.060,1623,3912,2942,0,0,0,0,0,0
$GC,5900,-0.44,-146.1,754.3,-11.5,398,5908,0.00,1.50,0.00,0.000,6,0.000,0.030,1624,2920,2942,0,0,0,0,0,0
$GC,6217,-0.44,-146.1,788.4,-10.8,414,6218,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2920,2942,0,0,0,0,0,0
$GC,6526,-0.44,-146.1,822.5,-11.4,429,6530,0.00,1.65,0.00,0.000,4,0.000,0.060,1616,3904,2942,0,0,0,0,0,0
$GC,6616,-0.44,-146.1,833.4,-12.1,433,6621,0.08,1.48,0.00,0.000,6,0.161,0.031,1640,2939,2942,0,0,0,0,0,0
$GC,6950,-0.44,-146.1,865.3,-9.5,449,6953,0.00,1.60,0.00,0.000,4,0.000,0.060,1632,3892,2942,0,0,0,0,0,0
$GC,6995,-0.44,-146.1,870.0,-10.0,451,6999,0.00,1.48,0.00,0.000,6,0.000,0.031,1633,2912,2942,0,0,0,0,0,0
$GC,7328,-0.44,-146.1,903.5,-10.0,467,7332,0.00,1.65,0.00,0.000,4,0.000,0.060,1625,3906,2942,0,0,0,0,0,0
$GC,7382,-0.44,-146.1,909.7,-11.3,469,7387,0.00,1.45,0.00,0.000,6,0.000,0.030,1625,2927,2942,0,0,0,0,0,0
$GC,7705,-0.44,-146.1,944.3,-11.0,485,7706,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2927,2942,0,0,0,0,0,0
$GC,8015,-0.44,-146.1,977.3,-10.6,500,8018,0.00,1.62,0.00,0.000,4,0.000,0.060,1618,3898,2942,0,0,0,0,0,0
$GC,8083,-0.44,-146.1,985.0,-11.5,503,8086,0.00,1.45,0.00,0.000,6,0.000,0.031,1618,2931,2942,0,0,0,0,0,0
$STATE,8227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8228,begin apogee
$GC,8233,-0.13,0.0,1001.8,11.3,510,8373,0.43,0.00,136.30,1.753,6,0.164,0.000,1740,2723,2342,0,0,0,0,0,0
$STATE,8374,end apogee,CONTROL_FINISHED_OK
$STATE,8374,begin climb
$GC,8375,0.44,146.1,1006.4,0.0,517,8529,0.62,0.00,148.05,1.723,6,0.124,0.000,1922,2723,1746,0,0,0,0,0,0
$GC,8833,0.44,146.1,960.1,11.5,539,8834,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,2723,1738,0,0,0,0,0,0
$GC,9139,0.44,146.1,924.4,11.6,554,9140,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,2723,1736,0,0,0,0,0,0
$GC,9448,0.44,146.1,887.1,12.1,569,9452,0.00,1.98,0.00,0.000,4,0.000,0.058,1922,3899,1735,0,0,0,0,0,0
$GC,9497,0.44,146.1,880.1,13.9,571,9501,0.00,1.83,0.00,0.000,6,0.000,0.034,1931,2743,1733,0,0,0,0,0,0
$GC,9824,0.44,146.1,837.2,12.9,587,9825,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2742,1733,0,0,0,0,0,0
$GC,10134,0.44,146.1,797.6,12.5,602,10136,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2742,1733,0,0,0,0,0,0
$GC,10443,0.44,146.1,759.8,12.4,617,10444,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2742,1733,0,0,0,0,0,0
$GC,10752,0.44,146.1,720.5,12.7,632,10753,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2742,1732,0,0,0,0,0,0
$GC,11062,0.44,146.1,680.7,12.7,647,11066,0.00,1.95,0.00,0.000,4,0.000,0.058,1931,3900,1732,0,0,0,0,0,0
$GC,11109,0.44,146.1,674.1,14.6,649,11113,0.00,1.88,0.00,0.000,6,0.000,0.036,1941,2709,1731,0,0,0,0,0,0
$GC,11442,0.44,146.1,628.8,13.5,665,11443,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2709,1731,0,0,0,0,0,0
$GC,11752,0.44,146.1,586.5,13.7,680,11753,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2709,1731,0,0,0,0,0,0
$GC,12060,0.44,146.1,545.4,13.0,695,12064,0.00,2.00,0.00,0.000,4,0.000,0.057,1941,3903,1731,0,0,0,0,0,0
$GC,12115,0.44,146.1,537.2,15.8,697,12119,0.00,1.90,0.00,0.000,6,0.000,0.035,1950,2711,1731,0,0,0,0,0,0
$GC,12438,0.44,146.1,494.5,13.0,713,12439,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2710,1730,0,0,0,0,0,0
$GC,12746,0.44,146.1,454.4,12.8,728,12750,0.00,1.95,0.00,0.000,4,0.000,0.057,1950,3900,1731,0,0,0,0,0,0
$GC,12807,0.44,146.1,445.3,14.6,730,12814,0.00,1.90,0.00,0.000,6,0.000,0.034,1959,2708,1730,0,0,0,0,0,0
$GC,13123,0.44,146.1,404.6,12.5,746,13126,0.00,1.98,0.00,0.000,4,0.000,0.056,1960,3906,1730,0,0,0,0,0,0
$GC,13172,0.44,146.1,397.3,14.4,748,13177,0.10,1.90,0.00,0.000,6,0.190,0.035,1940,2711,1730,0,0,0,0,0,0
$GC,13501,0.44,146.1,363.1,10.3,764,13503,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2711,1730,0,0,0,0,0,0
$GC,13812,0.44,146.1,327.7,11.7,779,13815,0.00,1.95,0.00,0.000,4,0.000,0.055,1940,3900,1730,0,0,0,0,0,0
$GC,13866,0.44,146.1,319.9,14.4,781,13872,0.00,1.88,0.00,0.000,6,0.000,0.034,1949,2713,1730,0,0,0,0,0,0
$GC,14192,0.44,146.1,282.0,11.5,797,14193,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,2712,1730,0,0,0,0,0,0
$GC,14499,0.44,146.1,247.8,10.8,812,14501,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2712,1730,0,0,0,0,0,0
$GC,14818,0.44,146.1,210.4,11.8,842,14822,0.00,1.98,0.00,0.000,4,0.000,0.057,1948,3909,1730,0,0,0,0,0,0
$GC,14880,0.44,146.1,201.2,13.4,847,14888,0.00,1.90,0.00,0.000,6,0.000,0.034,1959,2714,1730,0,0,0,0,0,0
$GC,15208,0.44,146.1,162.4,11.4,878,15209,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,2713,1730,0,0,0,0,0,0
$GC,15526,0.44,146.1,127.3,10.1,908,15527,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2713,1730,0,0,0,0,0,0
$GC,15853,0.44,146.1,93.1,11.7,943,15859,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2713,1729,0,0,0,0,0,0
$GC,16089,0.46,165.9,69.4,8.7,984,16104,0.00,1.95,8.75,0.949,4,0.000,0.056,1959,3901,1665,0,0,0,0,0,0
$GC,16196,0.46,165.9,57.5,11.3,1001,16203,0.00,1.90,0.00,0.000,6,0.000,0.034,1968,2710,1662,0,0,0,0,0,0
$GC,16308,0.46,165.9,44.8,10.9,1020,16316,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,2709,1662,0,0,0,0,0,0
$GC,16423,0.46,165.9,32.8,10.8,1039,16430,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,2709,1662,0,0,0,0,0,0
$GC,16543,0.46,165.9,20.3,10.5,1058,16551,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,2709,1662,0,0,0,0,0,0
$GC,16626,0.46,165.9,11.6,11.1,1071,16634,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,2709,1662,0,0,0,0,0,0
$GC,16711,0.46,165.9,3.2,10.7,1084,16719,0.00,0.00,0.00,0.000,6,0.000,0.000,1968,2709,1661,0,0,0,0,0,0
$STATE,16728,end climb,SURFACE_DEPTH_REACHED
$STATE,16728,begin surface coast
$FINISH,1.2,1.025600
$STATE,16766,end surface coast,CONTROL_FINISHED_OK
$STATE,16766,begin surface
$SM_CCo,16779,14.73,0.178,0,0,1523,200.16
$SM_GC,3.48,0.00,0.00,14.73,0.000,0.000,0.178,50,2947,1523,-5.44,0.51,200.16
$IRIDIUM_FIX,-5527.50,-57.48,230115,191959
$TT8_MAMPS,0.026215
$HUMID,57.32
$INTERNAL_PRESSURE,8.98439
$TCM_TEMP,7.50
$XPDR_PINGS,0
$24V_AH,21.8,49.751
$10V_AH,9.8,34.469
$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,13.175,79.725,293.100,14.725,0.000,26.990,20.393,324.782,0.000,0.000,19.029,2705.655,10798.857,429.688,3093.308,274.655,33.372,1466.672,0.000,2538.752,0.000,0.539,0.000
$DEVICE_MAMPS,239.445,61.200,1753.380,178.245,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,777.067,2271.220,1092.007,1123.285,0.000,0.000,0.000,0.000,0.000,0.000
$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,73758,1092
$CAP_FILE_SIZE,139444,0
$CFSIZE,259252224,209133568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,240115,053134,-5548.825,-101.538,38,0.7,38,-19.7