version: 66.07
glider: 542
mission: 9
dive: 267
start: 1 27 115 5 56 30
data:
$ID,542
$MISSION,9
$DIVE,267
$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,-22445.484
$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,24
$R_STBD_OVSHOOT,23
$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
$GPS1,270115,054635,-5556.239,-28.378,24,1.0,25,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-68.4
$GPS2,270115,055536,-5556.364,-28.317,16,1.9,17,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET2
$TGT_LATLONG,-5545.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.091,0.212
$KALMAN_X,226076.9,131.3,121.3,-255591.1,1873.0
$KALMAN_Y,-64463.2,311.2,109.5,71084.5,-4078.8
$MHEAD_RNG_PITCHd_Wd,356.8,21119,-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,-146.0,0.0,0.0,0,61,0.00,0.00,-42.15,0.000,2,0.000,0.000,53,2926,2165,0,0,0,0,0,0
$GC,64,-0.44,-146.1,3.2,-4.1,5,106,6.40,1.62,-28.77,0.000,4,0.228,0.083,1634,3896,2938,0,0,0,0,0,0
$GC,332,-0.44,-146.1,44.6,-17.5,47,339,0.00,1.55,0.00,0.000,6,0.000,0.031,1634,2888,2940,0,0,0,0,0,0
$GC,446,-0.44,-146.1,63.9,-15.8,66,454,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2888,2940,0,0,0,0,0,0
$GC,562,-0.44,-146.1,81.9,-16.3,85,568,0.00,0.00,0.00,0.000,6,0.000,0.000,1634,2888,2941,0,0,0,0,0,0
$GC,793,-0.44,-146.1,118.1,-14.9,116,797,0.00,1.70,0.00,0.000,4,0.000,0.063,1626,3903,2941,0,0,0,0,0,0
$GC,840,-0.44,-146.1,125.5,-15.3,120,844,0.00,1.50,0.00,0.000,6,0.000,0.031,1626,2923,2941,0,0,0,0,0,0
$GC,1172,-0.44,-146.1,173.8,-13.9,151,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2916,2940,0,0,0,0,0,0
$GC,1492,-0.44,-146.1,217.8,-13.9,181,1496,0.00,1.65,0.00,0.000,4,0.000,0.063,1618,3892,2941,0,0,0,0,0,0
$GC,1565,-0.44,-146.1,228.0,-14.8,187,1569,0.00,1.48,0.00,0.000,6,0.000,0.032,1618,2925,2941,0,0,0,0,0,0
$GC,1890,-0.44,-146.1,275.6,-14.7,210,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2920,2941,0,0,0,0,0,0
$GC,2202,-0.44,-146.1,320.0,-14.1,225,2205,0.00,1.62,0.00,0.000,4,0.000,0.063,1610,3910,2941,0,0,0,0,0,0
$GC,2263,-0.44,-146.1,329.5,-14.8,227,2271,0.10,1.50,0.00,0.000,6,0.158,0.032,1642,2939,2941,0,0,0,0,0,0
$GC,2581,-0.44,-146.1,367.4,-11.9,243,2582,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2939,2941,0,0,0,0,0,0
$GC,2890,-0.44,-146.1,403.6,-11.6,258,2894,0.00,1.62,0.00,0.000,4,0.000,0.063,1635,3928,2942,0,0,0,0,0,0
$GC,2936,-0.44,-146.1,409.4,-12.3,260,2939,0.00,1.55,0.00,0.000,6,0.000,0.031,1635,2923,2941,0,0,0,0,0,0
$GC,3268,-0.44,-146.1,449.9,-12.3,276,3269,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2919,2941,0,0,0,0,0,0
$GC,3578,-0.44,-146.1,487.8,-12.3,291,3582,0.00,1.65,0.00,0.000,4,0.000,0.063,1627,3896,2941,0,0,0,0,0,0
$GC,3660,-0.44,-146.1,499.2,-13.3,294,3668,0.00,1.48,0.00,0.000,6,0.000,0.031,1628,2926,2941,0,0,0,0,0,0
$GC,3977,-0.44,-146.1,541.5,-13.2,310,3981,0.00,1.62,0.00,0.000,4,0.000,0.062,1620,3891,2942,0,0,0,0,0,0
$GC,4027,-0.44,-146.1,548.6,-14.2,312,4030,0.00,1.48,0.00,0.000,6,0.000,0.032,1620,2916,2941,0,0,0,0,0,0
$GC,4353,-0.44,-146.1,592.1,-13.2,328,4354,0.00,0.00,0.00,0.000,6,0.000,0.000,1620,2913,2941,0,0,0,0,0,0
$GC,4664,-0.44,-146.1,631.5,-12.4,343,4667,0.00,1.62,0.00,0.000,4,0.000,0.063,1612,3904,2942,0,0,0,0,0,0
$GC,4735,-0.44,-146.1,641.2,-13.3,346,4740,0.08,1.45,0.00,0.000,6,0.161,0.031,1637,2948,2942,0,0,0,0,0,0
$GC,5062,-0.44,-146.1,675.5,-10.2,362,5063,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2947,2942,0,0,0,0,0,0
$GC,5372,-0.44,-146.1,707.5,-10.3,377,5375,0.00,1.60,0.00,0.000,4,0.000,0.062,1630,3898,2941,0,0,0,0,0,0
$GC,5439,-0.44,-146.1,714.8,-11.4,380,5443,0.00,1.48,0.00,0.000,6,0.000,0.031,1630,2923,2942,0,0,0,0,0,0
$GC,5772,-0.44,-146.1,750.4,-11.1,396,5773,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2920,2942,0,0,0,0,0,0
$GC,6082,-0.44,-146.1,784.7,-11.2,411,6086,0.00,1.65,0.00,0.000,4,0.000,0.061,1623,3899,2941,0,0,0,0,0,0
$GC,6150,-0.44,-146.1,792.9,-12.3,414,6153,0.00,1.45,0.00,0.000,6,0.000,0.031,1623,2930,2941,0,0,0,0,0,0
$GC,6483,-0.44,-146.1,832.2,-11.9,430,6484,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2923,2941,0,0,0,0,0,0
$GC,6791,-0.44,-146.1,869.2,-11.8,445,6795,0.00,1.65,0.00,0.000,4,0.000,0.062,1615,3920,2942,0,0,0,0,0,0
$GC,6874,-0.44,-146.1,880.0,-12.5,448,6882,0.08,1.50,0.00,0.000,6,0.155,0.031,1640,2939,2942,0,0,0,0,0,0
$GC,7191,-0.44,-146.1,912.8,-10.2,464,7192,0.00,0.00,0.00,0.000,6,0.000,0.000,1640,2939,2941,0,0,0,0,0,0
$GC,7500,-0.44,-146.1,944.2,-9.8,479,7503,0.00,1.62,0.00,0.000,4,0.000,0.061,1632,3931,2942,0,0,0,0,0,0
$GC,7556,-0.44,-146.1,950.3,-11.1,481,7559,0.00,1.52,0.00,0.000,6,0.000,0.030,1632,2923,2942,0,0,0,0,0,0
$GC,7878,-0.44,-146.1,983.9,-10.5,497,7879,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2919,2941,0,0,0,0,0,0
$STATE,8040,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8040,begin apogee
$GC,8045,-0.13,0.0,1001.4,10.5,505,8185,0.38,0.00,136.73,1.756,6,0.155,0.000,1744,2716,2342,0,0,0,0,0,0
$STATE,8186,end apogee,CONTROL_FINISHED_OK
$STATE,8186,begin climb
$GC,8189,0.44,146.1,1006.4,0.0,512,8344,0.60,2.50,147.93,1.715,4,0.117,0.044,1931,1348,1746,0,0,0,0,0,0
$GC,8383,0.44,146.1,992.3,10.6,521,8387,0.00,2.45,0.00,0.000,6,0.000,0.050,1931,2718,1743,0,0,0,0,0,0
$GC,8711,0.44,146.1,953.2,12.0,537,8712,0.00,0.00,0.00,0.000,6,0.000,0.000,1931,2718,1738,0,0,0,0,0,0
$GC,9020,0.44,146.1,915.7,12.3,552,9023,0.00,1.95,0.00,0.000,4,0.000,0.060,1931,3897,1737,0,0,0,0,0,0
$GC,9074,0.44,146.1,907.6,15.5,554,9078,0.00,1.85,0.00,0.000,6,0.000,0.037,1940,2753,1734,0,0,0,0,0,0
$GC,9396,0.44,146.1,863.7,13.8,570,9397,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2751,1734,0,0,0,0,0,0
$GC,9705,0.44,146.1,820.5,14.2,585,9706,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2751,1734,0,0,0,0,0,0
$GC,10015,0.44,146.1,776.1,14.5,600,10019,0.00,2.28,0.00,0.000,4,0.000,0.047,1950,1288,1733,0,0,0,0,0,0
$GC,10054,0.44,146.1,770.7,13.6,602,10058,0.00,2.28,0.00,0.000,6,0.000,0.053,1950,2714,1733,0,0,0,0,0,0
$GC,10380,0.44,146.1,720.9,15.2,618,10384,0.00,1.90,0.00,0.000,4,0.000,0.059,1950,3886,1733,0,0,0,0,0,0
$GC,10449,0.44,146.1,709.1,17.2,621,10453,0.00,1.85,0.00,0.000,6,0.000,0.036,1960,2693,1732,0,0,0,0,0,0
$GC,10784,0.44,146.1,655.2,16.3,637,10785,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,2693,1732,0,0,0,0,0,0
$GC,11091,0.44,146.1,608.0,14.8,652,11095,0.00,1.95,0.00,0.000,4,0.000,0.057,1960,3887,1732,0,0,0,0,0,0
$GC,11140,0.44,146.1,599.1,16.9,654,11145,0.10,1.88,0.00,0.000,6,0.199,0.036,1940,2713,1731,0,0,0,0,0,0
$GC,11468,0.44,146.1,556.7,12.5,670,11469,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2712,1731,0,0,0,0,0,0
$GC,11778,0.44,146.1,518.4,12.0,685,11779,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2712,1731,0,0,0,0,0,0
$GC,12087,0.44,146.1,481.9,11.5,700,12088,0.00,0.00,0.00,0.000,6,0.000,0.000,1940,2712,1731,0,0,0,0,0,0
$GC,12396,0.44,146.1,446.0,11.6,715,12400,0.00,1.98,0.00,0.000,4,0.000,0.058,1940,3890,1731,0,0,0,0,0,0
$GC,12445,0.44,146.1,439.3,13.4,717,12449,0.00,1.85,0.00,0.000,6,0.000,0.036,1949,2698,1731,0,0,0,0,0,0
$GC,12772,0.44,146.1,400.8,11.5,733,12773,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2697,1731,0,0,0,0,0,0
$GC,13084,0.44,146.1,365.8,11.1,748,13085,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2697,1731,0,0,0,0,0,0
$GC,13394,0.44,146.1,331.3,11.3,763,13395,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2697,1731,0,0,0,0,0,0
$GC,13700,0.44,146.1,297.9,10.9,778,13704,0.00,1.98,0.00,0.000,4,0.000,0.057,1949,3889,1731,0,0,0,0,0,0
$GC,13746,0.44,146.1,292.2,12.8,780,13750,0.00,1.85,0.00,0.000,6,0.000,0.036,1958,2697,1731,0,0,0,0,0,0
$GC,14079,0.44,146.1,252.2,12.3,796,14080,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,2696,1731,0,0,0,0,0,0
$GC,14400,0.44,146.1,209.8,13.8,825,14406,0.00,0.00,0.00,0.000,6,0.000,0.000,1958,2696,1731,0,0,0,0,0,0
$GC,14727,0.44,146.1,164.3,13.3,856,14731,0.00,2.00,0.00,0.000,4,0.000,0.057,1958,3890,1731,0,0,0,0,0,0
$GC,14799,0.44,146.1,152.9,14.8,862,14810,0.10,1.88,0.00,0.000,6,0.186,0.034,1939,2714,1731,0,0,0,0,0,0
$GC,15127,0.45,152.6,120.5,9.2,893,15135,0.00,0.00,2.62,0.686,6,0.000,0.000,1939,2713,1721,0,0,0,0,0,0
$GC,15462,0.46,173.3,90.2,8.6,933,15482,0.00,0.00,16.73,1.026,6,0.000,0.000,1939,2713,1634,0,0,0,0,0,0
$GC,15719,0.49,203.2,66.4,8.2,976,15749,0.00,2.28,22.23,0.946,4,0.000,0.044,1949,1285,1511,0,0,0,0,0,0
$GC,15793,0.51,236.0,60.3,8.1,987,15823,0.00,2.33,24.55,0.916,6,0.000,0.051,1949,2722,1378,0,0,0,0,0,0
$GC,15931,0.51,236.0,47.5,9.6,1009,15938,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2722,1372,0,0,0,0,0,0
$GC,16044,0.51,236.0,36.9,9.8,1028,16052,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2722,1371,0,0,0,0,0,0
$GC,16162,0.53,252.0,26.1,8.8,1047,16181,0.00,0.00,9.45,0.782,6,0.000,0.000,1949,2722,1311,0,0,0,0,0,0
$GC,16257,0.53,252.0,16.9,10.2,1061,16265,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,2722,1309,0,0,0,0,0,0
$GC,16341,0.54,263.4,8.7,9.0,1074,16351,0.00,0.00,6.15,0.679,6,0.000,0.000,1949,2722,1266,0,0,0,0,0,0
$STATE,16406,end climb,SURFACE_DEPTH_REACHED
$STATE,16406,begin surface coast
$FINISH,1.2,1.017362
$STATE,16439,end surface coast,CONTROL_FINISHED_OK
$STATE,16439,begin surface
$SM_CCo,16513,0.00,0.000,0,0,1261,265.16
$SM_GC,2.00,5.25,0.00,0.00,0.064,0.000,0.000,53,2925,1261,-5.34,-0.14,265.16
$IRIDIUM_FIX,-5535.12,-26.89,270115,000058
$TT8_MAMPS,0.026215
$HUMID,57.32
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.00
$XPDR_PINGS,0
$24V_AH,21.7,52.656
$10V_AH,9.8,36.627
$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,13.075,75.150,366.375,0.000,0.000,27.128,48.254,322.029,0.000,0.000,19.499,2662.285,10555.786,432.534,3127.309,265.988,33.372,1486.486,0.000,2544.969,0.000,0.540,0.000
$DEVICE_MAMPS,227.970,83.385,1756.440,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,774.023,2271.583,1111.452,1154.994,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353468
$DATA_FILE_SIZE,73813,1089
$CAP_FILE_SIZE,136434,0
$CFSIZE,259252224,207884288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270115,103252,-5555.095,-28.355,35,0.9,35,-19.9