version: 66.07
glider: 542
mission: 9
dive: 255
start: 1 24 115 20 9 31
data:
$ID,542
$MISSION,9
$DIVE,255
$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,-22406.285
$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,25
$R_STBD_OVSHOOT,17
$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
$GPS1,240115,195204,-5545.095,-105.015,40,0.8,40,-19.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-58.8
$GPS2,240115,200835,-5545.184,-104.931,15,1.3,15,-19.6
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET4
$TGT_LATLONG,-5545.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.100,0.168
$KALMAN_X,217377.7,-390.1,-211.8,-283941.0,2995.4
$KALMAN_Y,-51371.9,598.2,287.2,78221.6,-3170.9
$MHEAD_RNG_PITCHd_Wd,50.4,5151,-21.3,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.48,-103.0,0.0,0.0,0,75,0.00,0.00,-57.28,0.000,2,0.000,0.000,60,2921,2209,0,0,0,0,0,0
$GC,77,-0.52,-146.1,3.1,-3.5,7,120,6.43,1.65,-25.35,0.000,4,0.239,0.080,1609,3897,2940,0,0,0,0,0,0
$GC,135,-0.52,-146.1,8.8,-12.7,14,144,0.00,1.58,0.00,0.000,6,0.000,0.031,1609,2885,2941,0,0,0,0,0,0
$GC,220,-0.52,-146.1,25.5,-20.1,27,228,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2884,2941,0,0,0,0,0,0
$GC,301,-0.52,-146.1,42.4,-20.1,40,309,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2885,2942,0,0,0,0,0,0
$GC,416,-0.52,-146.1,64.9,-19.9,59,422,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2885,2942,0,0,0,0,0,0
$GC,528,-0.52,-146.1,86.9,-19.8,78,536,0.00,0.00,0.00,0.000,6,0.000,0.000,1609,2885,2942,0,0,0,0,0,0
$GC,761,-0.52,-146.1,126.7,-15.9,105,765,0.00,2.05,0.00,0.000,4,0.000,0.040,1609,1536,2942,0,0,0,0,0,0
$GC,826,-0.52,-146.1,136.2,-13.0,110,830,0.00,2.28,0.00,0.000,6,0.000,0.053,1599,2936,2942,0,0,0,0,0,0
$GC,1150,-0.52,-146.1,190.5,-16.9,140,1154,0.00,1.58,0.00,0.000,4,0.000,0.060,1591,3900,2942,0,0,0,0,0,0
$GC,1259,-0.52,-146.1,210.1,-17.0,149,1267,0.08,1.48,0.00,0.000,6,0.187,0.031,1613,2936,2942,0,0,0,0,0,0
$GC,1596,-0.52,-146.1,259.0,-14.3,178,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2936,2942,0,0,0,0,0,0
$GC,1907,-0.52,-146.1,301.5,-13.5,193,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2936,2942,0,0,0,0,0,0
$GC,2212,-0.52,-146.1,342.6,-12.9,208,2215,0.00,1.60,0.00,0.000,4,0.000,0.060,1606,3897,2942,0,0,0,0,0,0
$GC,2272,-0.52,-146.1,351.1,-13.5,210,2282,0.00,1.48,0.00,0.000,6,0.000,0.030,1606,2909,2942,0,0,0,0,0,0
$GC,2591,-0.52,-146.1,392.7,-13.4,226,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2908,2942,0,0,0,0,0,0
$GC,2898,-0.52,-146.1,434.1,-13.5,241,2902,0.00,1.65,0.00,0.000,4,0.000,0.059,1598,3897,2942,0,0,0,0,0,0
$GC,2947,-0.52,-146.1,441.7,-15.5,243,2951,0.00,1.45,0.00,0.000,6,0.000,0.030,1598,2937,2942,0,0,0,0,0,0
$GC,3275,-0.52,-146.1,489.6,-15.0,259,3279,0.00,1.65,0.00,0.000,4,0.000,0.060,1591,3904,2942,0,0,0,0,0,0
$GC,3324,-0.52,-146.1,497.8,-15.6,261,3329,0.08,1.48,0.00,0.000,6,0.182,0.030,1613,2935,2942,0,0,0,0,0,0
$GC,3651,-0.52,-146.1,542.4,-13.5,277,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,1613,2933,2942,0,0,0,0,0,0
$GC,3961,-0.52,-146.1,584.5,-13.5,292,3965,0.00,1.60,0.00,0.000,4,0.000,0.059,1606,3896,2942,0,0,0,0,0,0
$GC,4040,-0.52,-146.1,596.0,-14.7,295,4043,0.00,1.48,0.00,0.000,6,0.000,0.031,1606,2920,2942,0,0,0,0,0,0
$GC,4361,-0.52,-146.1,640.3,-13.8,311,4362,0.00,0.00,0.00,0.000,6,0.000,0.000,1606,2915,2942,0,0,0,0,0,0
$GC,4670,-0.52,-146.1,681.6,-13.3,326,4673,0.00,1.62,0.00,0.000,4,0.000,0.060,1598,3917,2942,0,0,0,0,0,0
$GC,4739,-0.52,-146.1,691.1,-13.7,329,4742,0.00,1.50,0.00,0.000,6,0.000,0.030,1598,2924,2942,0,0,0,0,0,0
$GC,5072,-0.52,-146.1,737.5,-14.0,345,5073,0.00,0.00,0.00,0.000,6,0.000,0.000,1599,2919,2942,0,0,0,0,0,0
$GC,5380,-0.52,-146.1,780.4,-13.4,360,5384,0.00,1.62,0.00,0.000,4,0.000,0.058,1591,3892,2942,0,0,0,0,0,0
$GC,5429,-0.52,-146.1,787.8,-14.7,362,5435,0.08,1.45,0.00,0.000,6,0.177,0.029,1614,2937,2943,0,0,0,0,0,0
$GC,5757,-0.52,-146.1,827.0,-11.9,378,5758,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2937,2942,0,0,0,0,0,0
$GC,6065,-0.52,-146.1,863.3,-11.9,393,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2937,2942,0,0,0,0,0,0
$GC,6375,-0.52,-146.1,899.3,-11.3,408,6376,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2937,2942,0,0,0,0,0,0
$GC,6685,-0.52,-146.1,936.3,-12.2,423,6686,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,2937,2942,0,0,0,0,0,0
$GC,6993,-0.52,-146.1,974.0,-11.9,438,6997,0.00,1.60,0.00,0.000,4,0.000,0.060,1607,3893,2942,0,0,0,0,0,0
$GC,7049,-0.52,-146.1,981.4,-13.7,440,7053,0.00,1.48,0.00,0.000,6,0.000,0.031,1607,2923,2942,0,0,0,0,0,0
$STATE,7204,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7204,begin apogee
$GC,7209,-0.13,0.0,1000.9,12.6,448,7349,0.47,0.00,136.38,1.763,6,0.165,0.000,1744,2712,2342,0,0,0,0,0,0
$STATE,7350,end apogee,CONTROL_FINISHED_OK
$STATE,7350,begin climb
$GC,7352,0.52,146.1,1006.7,0.0,455,7505,0.70,0.00,147.98,1.721,6,0.119,0.000,1949,2712,1746,0,0,0,0,0,0
$GC,7805,0.52,146.1,954.1,13.6,477,7806,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2712,1738,0,0,0,0,0,0
$GC,8114,0.52,146.1,911.3,13.7,492,8118,0.00,2.00,0.00,0.000,4,0.000,0.056,1949,3913,1736,0,0,0,0,0,0
$GC,8174,0.52,146.1,901.4,16.8,494,8181,0.00,1.90,0.00,0.000,6,0.000,0.034,1958,2747,1734,0,0,0,0,0,0
$GC,8490,0.52,146.1,853.6,15.0,510,8491,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,2745,1734,0,0,0,0,0,0
$GC,8800,0.52,146.1,808.0,14.6,525,8804,0.00,1.92,0.00,0.000,4,0.000,0.055,1958,3909,1733,0,0,0,0,0,0
$GC,8867,0.52,146.1,796.6,18.0,528,8871,0.00,1.90,0.00,0.000,6,0.000,0.035,1967,2709,1732,0,0,0,0,0,0
$GC,9199,0.52,146.1,746.2,14.7,544,9203,0.00,1.98,0.00,0.000,4,0.000,0.054,1967,3893,1732,0,0,0,0,0,0
$GC,9260,0.52,146.1,735.8,17.2,546,9267,0.00,1.90,0.00,0.000,6,0.000,0.034,1976,2707,1731,0,0,0,0,0,0
$GC,9576,0.52,146.1,687.9,15.3,562,9577,0.00,0.00,0.00,0.000,6,0.000,0.000,1976,2707,1731,0,0,0,0,0,0
$GC,9885,0.52,146.1,641.2,15.3,577,9889,0.00,1.95,0.00,0.000,4,0.000,0.054,1976,3909,1731,0,0,0,0,0,0
$GC,10002,0.52,146.1,620.0,18.4,582,10006,0.00,1.92,0.00,0.000,6,0.000,0.034,1986,2701,1731,0,0,0,0,0,0
$GC,10329,0.52,146.1,566.4,16.7,598,10332,0.00,1.95,0.00,0.000,4,0.000,0.054,1986,3906,1731,0,0,0,0,0,0
$GC,10412,0.52,146.1,550.5,20.1,601,10420,0.12,1.90,0.00,0.000,6,0.203,0.035,1952,2713,1730,0,0,0,0,0,0
$GC,10728,0.52,146.1,507.5,12.7,617,10729,0.00,0.00,0.00,0.000,6,0.000,0.000,1952,2712,1730,0,0,0,0,0,0
$GC,11037,0.52,146.1,467.8,13.0,632,11041,0.00,1.98,0.00,0.000,4,0.000,0.055,1952,3898,1730,0,0,0,0,0,0
$GC,11120,0.52,146.1,454.9,16.1,635,11127,0.00,1.90,0.00,0.000,6,0.000,0.034,1961,2701,1730,0,0,0,0,0,0
$GC,11436,0.52,146.1,409.7,14.5,651,11437,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2701,1730,0,0,0,0,0,0
$GC,11746,0.52,146.1,366.2,13.8,666,11749,0.00,1.98,0.00,0.000,4,0.000,0.055,1960,3900,1730,0,0,0,0,0,0
$GC,11806,0.52,146.1,356.2,15.2,668,11816,0.00,1.90,0.00,0.000,6,0.000,0.033,1969,2701,1730,0,0,0,0,0,0
$GC,12124,0.52,146.1,310.6,13.9,684,12127,0.00,1.98,0.00,0.000,4,0.000,0.054,1970,3904,1730,0,0,0,0,0,0
$GC,12174,0.52,146.1,302.1,17.2,686,12178,0.00,1.90,0.00,0.000,6,0.000,0.034,1979,2711,1730,0,0,0,0,0,0
$GC,12501,0.52,146.1,252.5,15.5,702,12502,0.00,0.00,0.00,0.000,6,0.000,0.000,1979,2711,1730,0,0,0,0,0,0
$GC,12823,0.52,146.1,204.3,14.8,731,12827,0.00,1.95,0.00,0.000,4,0.000,0.054,1979,3900,1730,0,0,0,0,0,0
$GC,12898,0.52,146.1,190.7,16.4,737,12906,0.10,1.88,0.00,0.000,6,0.203,0.033,1961,2715,1730,0,0,0,0,0,0
$GC,13224,0.52,146.1,146.7,13.5,768,13228,0.00,1.98,0.00,0.000,4,0.000,0.054,1961,3903,1730,0,0,0,0,0,0
$GC,13285,0.52,146.1,137.3,15.4,773,13293,0.00,1.90,0.00,0.000,6,0.000,0.034,1969,2710,1730,0,0,0,0,0,0
$GC,13614,0.52,146.1,96.6,11.7,806,13620,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,2710,1730,0,0,0,0,0,0
$GC,13853,0.52,146.1,71.2,10.2,847,13859,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,2710,1730,0,0,0,0,0,0
$GC,13966,0.52,146.1,59.5,10.2,866,13975,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,2710,1730,0,0,0,0,0,0
$GC,14082,0.52,148.5,48.0,9.4,885,14088,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,2710,1730,0,0,0,0,0,0
$GC,14195,0.53,155.3,37.2,9.1,904,14204,0.00,0.00,3.33,0.639,6,0.000,0.000,1970,2710,1707,0,0,0,0,0,0
$GC,14313,0.53,155.3,25.6,10.8,923,14322,0.00,0.00,0.00,0.000,6,0.000,0.000,1970,2709,1707,0,0,0,0,0,0
$GC,14397,0.53,155.3,15.6,11.6,936,14406,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,2709,1707,0,0,0,0,0,0
$GC,14481,0.53,155.3,6.7,11.1,949,14489,0.00,0.00,0.00,0.000,6,0.000,0.000,1969,2709,1706,0,0,0,0,0,0
$STATE,14515,end climb,SURFACE_DEPTH_REACHED
$STATE,14515,begin surface coast
$FINISH,1.1,1.026670
$STATE,14547,end surface coast,CONTROL_FINISHED_OK
$STATE,14547,begin surface
$SM_CCo,14561,19.48,0.178,0,0,1523,200.16
$SM_GC,3.14,0.00,0.00,19.48,0.000,0.000,0.178,59,2937,1523,-5.41,0.17,200.16
$IRIDIUM_FIX,-5519.90,-105.00,240115,191959
$TT8_MAMPS,0.026215
$HUMID,56.65
$INTERNAL_PRESSURE,8.99416
$TCM_TEMP,7.40
$XPDR_PINGS,0
$24V_AH,21.9,50.448
$10V_AH,9.8,34.992
$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,13.350,71.525,287.675,19.475,0.000,73.707,163.141,476.038,0.000,0.000,19.762,2368.374,9346.358,450.909,3165.980,235.018,33.367,1403.672,0.000,2271.611,0.000,0.539,0.000
$DEVICE_MAMPS,238.680,79.560,1762.560,178.245,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,681.159,1997.555,970.303,1013.075,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353444
$DATA_FILE_SIZE,66997,959
$CAP_FILE_SIZE,129735,0
$CFSIZE,259252224,208842752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,250115,001352,-5543.726,-101.582,44,0.8,44,-19.7