version: 66.07
glider: 542
mission: 9
dive: 252
start: 1 24 115 5 41 5
data:
$ID,542
$MISSION,9
$DIVE,252
$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,-22395.047
$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,30
$R_STBD_OVSHOOT,30
$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
$GPS1,240115,053134,-5548.825,-101.538,38,0.7,38,-19.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-73.2
$GPS2,240115,054011,-5548.821,-101.415,16,1.2,16,-19.7
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET4
$TGT_LATLONG,-5545.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.196,0.122
$KALMAN_X,212814.1,-523.0,-136.6,-275681.1,3868.3
$KALMAN_Y,-47351.0,86.7,408.4,67860.2,-3770.0
$MHEAD_RNG_PITCHd_Wd,321.6,7228,-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,16,begin dive
$GC,17,-0.44,-146.0,0.0,0.0,0,53,0.00,0.00,-33.42,0.000,2,0.000,0.000,45,2948,2253,0,0,0,0,0,0
$GC,55,-0.44,-146.1,3.2,-3.0,4,91,6.72,2.35,-23.00,0.000,4,0.246,0.050,1640,1502,2939,0,0,0,0,0,0
$GC,191,-0.44,-146.1,19.2,-13.8,24,200,0.00,2.35,0.00,0.000,6,0.000,0.054,1629,2916,2942,0,0,0,0,0,0
$GC,276,-0.44,-146.1,33.1,-17.5,37,282,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2916,2941,0,0,0,0,0,0
$GC,388,-0.44,-146.1,53.9,-18.5,56,396,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2916,2941,0,0,0,0,0,0
$GC,504,-0.44,-146.1,73.5,-16.9,75,511,0.00,1.62,0.00,0.000,4,0.000,0.060,1621,3903,2941,0,0,0,0,0,0
$GC,591,-0.44,-146.1,88.1,-15.5,90,600,0.00,1.55,0.00,0.000,6,0.000,0.031,1621,2899,2941,0,0,0,0,0,0
$GC,821,-0.44,-146.1,124.0,-15.7,117,827,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2899,2942,0,0,0,0,0,0
$GC,1148,-0.44,-146.1,177.0,-16.2,148,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2898,2942,0,0,0,0,0,0
$GC,1466,-0.44,-146.1,225.5,-14.3,178,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2898,2942,0,0,0,0,0,0
$GC,1792,-0.44,-146.1,270.5,-13.6,202,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2899,2942,0,0,0,0,0,0
$GC,2102,-0.44,-146.1,312.8,-13.7,217,2106,0.00,1.65,0.00,0.000,4,0.000,0.060,1613,3909,2942,0,0,0,0,0,0
$GC,2171,-0.44,-146.1,323.3,-14.3,220,2175,0.08,1.50,0.00,0.000,6,0.168,0.031,1638,2934,2942,0,0,0,0,0,0
$GC,2503,-0.44,-146.1,365.5,-12.5,236,2506,0.00,1.62,0.00,0.000,4,0.000,0.060,1630,3900,2942,0,0,0,0,0,0
$GC,2557,-0.44,-146.1,373.3,-13.3,238,2562,0.00,1.50,0.00,0.000,6,0.000,0.030,1630,2917,2942,0,0,0,0,0,0
$GC,2880,-0.44,-146.1,413.8,-12.4,254,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2913,2942,0,0,0,0,0,0
$GC,3189,-0.44,-146.1,452.5,-12.2,269,3193,0.00,1.65,0.00,0.000,4,0.000,0.060,1623,3897,2942,0,0,0,0,0,0
$GC,3265,-0.44,-146.1,463.0,-13.0,272,3270,0.00,1.48,0.00,0.000,6,0.000,0.030,1623,2921,2942,0,0,0,0,0,0
$GC,3588,-0.44,-146.1,503.7,-12.4,288,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2916,2942,0,0,0,0,0,0
$GC,3897,-0.44,-146.1,540.6,-11.6,303,3900,0.00,1.65,0.00,0.000,4,0.000,0.060,1615,3915,2942,0,0,0,0,0,0
$GC,3943,-0.44,-146.1,546.2,-12.8,305,3947,0.08,1.50,0.00,0.000,6,0.165,0.031,1639,2936,2942,0,0,0,0,0,0
$GC,4274,-0.44,-146.1,581.4,-10.8,321,4275,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2936,2942,0,0,0,0,0,0
$GC,4584,-0.44,-146.1,614.7,-10.9,336,4587,0.00,1.60,0.00,0.000,4,0.000,0.060,1632,3898,2943,0,0,0,0,0,0
$GC,4639,-0.44,-146.1,621.2,-11.5,338,4643,0.00,1.48,0.00,0.000,6,0.000,0.030,1632,2912,2943,0,0,0,0,0,0
$GC,4960,-0.44,-146.1,659.2,-11.9,354,4961,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2907,2943,0,0,0,0,0,0
$GC,5270,-0.44,-146.1,694.2,-11.0,369,5274,0.00,1.65,0.00,0.000,4,0.000,0.060,1623,3892,2943,0,0,0,0,0,0
$GC,5347,-0.44,-146.1,703.7,-12.1,372,5351,0.00,1.45,0.00,0.000,6,0.000,0.030,1624,2926,2943,0,0,0,0,0,0
$GC,5669,-0.44,-146.1,741.9,-12.2,388,5670,0.00,0.00,0.00,0.000,6,0.000,0.000,1624,2920,2943,0,0,0,0,0,0
$GC,5979,-0.44,-146.1,777.5,-11.4,403,5982,0.00,1.62,0.00,0.000,4,0.000,0.059,1616,3919,2943,0,0,0,0,0,0
$GC,6028,-0.44,-146.1,783.9,-12.5,405,6032,0.00,1.48,0.00,0.000,6,0.000,0.030,1616,2930,2943,0,0,0,0,0,0
$GC,6355,-0.44,-146.1,823.2,-12.2,421,6357,0.10,0.00,0.00,0.000,6,0.194,0.000,1641,2926,2943,0,0,0,0,0,0
$GC,6665,-0.44,-146.1,855.4,-10.3,436,6669,0.00,1.62,0.00,0.000,4,0.000,0.060,1634,3897,2943,0,0,0,0,0,0
$GC,6736,-0.44,-146.1,863.2,-10.2,439,6740,0.00,1.45,0.00,0.000,6,0.000,0.029,1633,2930,2943,0,0,0,0,0,0
$GC,7064,-0.44,-146.1,897.0,-10.2,455,7067,0.00,1.62,0.00,0.000,4,0.000,0.060,1625,3926,2943,0,0,0,0,0,0
$GC,7103,-0.44,-146.1,901.4,-10.6,456,7110,0.00,1.50,0.00,0.000,6,0.000,0.030,1626,2926,2943,0,0,0,0,0,0
$GC,7418,-0.44,-146.1,934.6,-10.5,472,7422,0.00,1.62,0.00,0.000,4,0.000,0.060,1618,3894,2943,0,0,0,0,0,0
$GC,7450,-0.44,-146.1,938.5,-11.3,473,7455,0.00,1.45,0.00,0.000,6,0.000,0.030,1618,2923,2942,0,0,0,0,0,0
$GC,7772,-0.44,-146.1,972.8,-10.7,489,7773,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2920,2943,0,0,0,0,0,0
$STATE,8039,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8039,begin apogee
$GC,8043,-0.13,0.0,1000.9,10.5,502,8183,0.43,0.00,136.85,1.756,6,0.163,0.000,1741,2716,2342,0,0,0,0,0,0
$STATE,8184,end apogee,CONTROL_FINISHED_OK
$STATE,8184,begin climb
$GC,8187,0.44,146.1,1004.5,0.0,509,8343,0.62,2.50,147.60,1.704,4,0.124,0.043,1933,1348,1746,0,0,0,0,0,0
$GC,8388,0.44,146.1,987.2,11.1,518,8392,0.00,2.40,0.00,0.000,6,0.000,0.049,1933,2725,1742,0,0,0,0,0,0
$GC,8708,0.44,146.1,945.3,13.3,534,8712,0.00,1.98,0.00,0.000,4,0.000,0.057,1933,3899,1737,0,0,0,0,0,0
$GC,8784,0.44,146.1,933.6,15.2,537,8789,0.00,1.90,0.00,0.000,6,0.000,0.034,1941,2747,1734,0,0,0,0,0,0
$GC,9107,0.44,146.1,889.9,13.4,553,9108,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2745,1734,0,0,0,0,0,0
$GC,9416,0.44,146.1,849.9,12.7,568,9419,0.00,1.92,0.00,0.000,4,0.000,0.057,1941,3888,1734,0,0,0,0,0,0
$GC,9465,0.44,146.1,842.7,14.6,570,9469,0.00,1.90,0.00,0.000,6,0.000,0.034,1950,2710,1733,0,0,0,0,0,0
$GC,9793,0.44,146.1,798.1,13.8,586,9797,0.00,1.95,0.00,0.000,4,0.000,0.056,1950,3893,1733,0,0,0,0,0,0
$GC,9842,0.44,146.1,790.1,16.0,588,9846,0.00,1.90,0.00,0.000,6,0.000,0.035,1960,2710,1732,0,0,0,0,0,0
$GC,10170,0.44,146.1,743.6,14.6,604,10171,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,2710,1732,0,0,0,0,0,0
$GC,10479,0.44,146.1,699.8,14.2,619,10482,0.00,1.95,0.00,0.000,4,0.000,0.056,1959,3895,1732,0,0,0,0,0,0
$GC,10556,0.44,146.1,687.2,16.4,622,10561,0.10,1.90,0.00,0.000,6,0.194,0.034,1940,2707,1731,0,0,0,0,0,0
$GC,10878,0.44,146.1,646.4,12.8,638,10882,0.00,1.95,0.00,0.000,4,0.000,0.055,1941,3892,1731,0,0,0,0,0,0
$GC,10924,0.44,146.1,639.5,15.8,640,10928,0.00,1.88,0.00,0.000,6,0.000,0.035,1949,2699,1731,0,0,0,0,0,0
$GC,11257,0.44,146.1,595.0,13.0,656,11260,0.00,1.98,0.00,0.000,4,0.000,0.055,1949,3897,1731,0,0,0,0,0,0
$GC,11317,0.44,146.1,585.7,15.2,658,11325,0.00,1.90,0.00,0.000,6,0.000,0.034,1958,2705,1730,0,0,0,0,0,0
$GC,11633,0.44,146.1,543.0,13.8,674,11637,0.00,1.95,0.00,0.000,4,0.000,0.054,1958,3892,1730,0,0,0,0,0,0
$GC,11679,0.44,146.1,536.0,15.8,676,11684,0.12,1.85,0.00,0.000,6,0.210,0.034,1939,2711,1731,0,0,0,0,0,0
$GC,12012,0.44,146.1,494.8,12.2,692,12013,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,2709,1731,0,0,0,0,0,0
$GC,12321,0.44,146.1,456.3,12.6,707,12325,0.00,1.95,0.00,0.000,4,0.000,0.055,1939,3895,1730,0,0,0,0,0,0
$GC,12367,0.44,146.1,449.8,14.3,709,12371,0.00,1.88,0.00,0.000,6,0.000,0.034,1947,2700,1730,0,0,0,0,0,0
$GC,12699,0.44,146.1,406.0,13.0,725,12700,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2699,1730,0,0,0,0,0,0
$GC,13009,0.44,146.1,365.3,13.2,740,13010,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2700,1730,0,0,0,0,0,0
$GC,13320,0.44,146.1,325.2,12.9,755,13324,0.00,1.98,0.00,0.000,4,0.000,0.057,1947,3896,1731,0,0,0,0,0,0
$GC,13397,0.44,146.1,313.9,14.3,758,13401,0.00,1.88,0.00,0.000,6,0.000,0.034,1956,2713,1730,0,0,0,0,0,0
$GC,13720,0.44,146.1,271.4,13.5,774,13721,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,2712,1731,0,0,0,0,0,0
$GC,14032,0.44,146.1,230.7,12.3,796,14034,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,2712,1730,0,0,0,0,0,0
$GC,14353,0.44,146.1,191.9,12.2,826,14356,0.00,1.95,0.00,0.000,4,0.000,0.055,1957,3899,1730,0,0,0,0,0,0
$GC,14438,0.44,146.1,179.7,13.2,833,14447,0.08,1.88,0.00,0.000,6,0.189,0.034,1944,2714,1730,0,0,0,0,0,0
$GC,14764,0.44,147.7,147.0,9.5,864,14768,0.00,1.95,0.00,0.000,4,0.000,0.055,1944,3896,1730,0,0,0,0,0,0
$GC,14814,0.44,147.7,141.4,11.3,868,14824,0.00,1.88,0.00,0.000,6,0.000,0.034,1952,2711,1730,0,0,0,0,0,0
$GC,15144,0.44,147.7,108.4,9.7,899,15148,0.00,2.17,0.00,0.000,4,0.000,0.043,1963,1296,1730,0,0,0,0,0,0
$GC,15200,0.46,164.1,102.8,8.8,903,15221,0.00,2.28,11.02,1.041,6,0.000,0.049,1963,2707,1671,0,0,0,0,0,0
$GC,15561,0.46,168.8,67.6,9.3,964,15570,0.00,0.00,3.10,0.626,6,0.000,0.000,1963,2707,1654,0,0,0,0,0,0
$GC,15677,0.47,180.7,56.9,9.0,983,15692,0.00,0.00,8.88,0.886,6,0.000,0.000,1963,2707,1607,0,0,0,0,0,0
$GC,15799,0.48,193.9,45.8,8.9,1003,15814,0.00,0.00,9.32,0.845,6,0.000,0.000,1963,2707,1551,0,0,0,0,0,0
$GC,15921,0.48,193.9,34.0,9.7,1023,15927,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,2707,1548,0,0,0,0,0,0
$GC,16039,0.48,193.9,22.4,10.1,1042,16048,0.00,1.95,0.00,0.000,4,0.000,0.058,1963,3887,1546,0,0,0,0,0,0
$GC,16089,0.48,193.9,16.4,12.1,1049,16098,0.00,1.90,0.00,0.000,6,0.000,0.035,1972,2704,1546,0,0,0,0,0,0
$GC,16175,0.48,193.9,6.8,11.2,1062,16183,0.00,0.00,0.00,0.000,6,0.000,0.000,1972,2704,1545,0,0,0,0,0,0
$STATE,16208,end climb,SURFACE_DEPTH_REACHED
$STATE,16209,begin surface coast
$FINISH,1.1,1.000835
$STATE,16241,end surface coast,CONTROL_FINISHED_OK
$STATE,16241,begin surface
$SM_CCo,16254,2.67,0.169,0,0,1525,200.16
$SM_GC,2.40,0.00,0.00,2.67,0.000,0.000,0.169,62,2932,1525,-5.40,0.06,200.16
$IRIDIUM_FIX,-5523.70,-101.25,240115,000051
$TT8_MAMPS,0.026215
$HUMID,57.08
$INTERNAL_PRESSURE,8.98439
$TCM_TEMP,7.40
$XPDR_PINGS,0
$24V_AH,21.9,49.919
$10V_AH,9.9,34.601
$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,13.675,95.025,316.775,2.675,0.000,25.389,44.301,306.434,0.000,0.000,19.471,2668.281,10309.051,418.671,3104.760,266.121,33.379,1481.826,0.000,2549.058,0.000,0.541,0.000
$DEVICE_MAMPS,246.330,60.435,1756.440,169.065,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,762.570,2227.661,1071.873,1128.308,0.000,0.000,0.000,0.000,0.000,0.000
$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,73782,1072
$CAP_FILE_SIZE,142490,0
$CFSIZE,259252224,209055744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,240115,101329,-5548.533,-103.597,50,0.9,51,-19.6