version: 66.07
glider: 542
mission: 9
dive: 288
start: 1 31 115 12 38 47
data:
$ID,542
$MISSION,9
$DIVE,288
$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,-22517.848
$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,29
$R_STBD_OVSHOOT,29
$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
$GPS1,310115,122658,-5550.018,-39.482,58,1.0,58,-19.8
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-71.6
$GPS2,310115,123753,-5550.104,-39.399,17,1.8,18,-19.8
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET3
$TGT_LATLONG,-5600.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.200,-0.116
$KALMAN_X,275294.0,11.0,-81.6,-315951.8,5428.0
$KALMAN_Y,-105042.1,685.1,216.9,122758.8,-2772.9
$MHEAD_RNG_PITCHd_Wd,259.7,28126,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.44,-146.1,0.0,0.0,0,51,0.00,0.00,-33.50,0.000,2,0.000,0.000,43,2942,2207,0,0,0,0,0,0
$GC,53,-0.44,-146.1,3.0,-1.4,4,88,6.65,1.67,-21.92,0.000,4,0.237,0.081,1631,3902,2939,0,0,0,0,0,0
$GC,270,-0.44,-146.1,42.0,-21.1,38,280,0.00,1.58,0.00,0.000,6,0.000,0.031,1632,2890,2941,0,0,0,0,0,0
$GC,388,-0.44,-146.1,65.6,-20.2,57,394,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2889,2941,0,0,0,0,0,0
$GC,503,-0.44,-146.1,84.4,-14.7,76,510,0.00,1.70,0.00,0.000,4,0.000,0.060,1624,3890,2941,0,0,0,0,0,0
$GC,622,-0.44,-146.1,104.1,-16.4,95,630,0.00,1.48,0.00,0.000,6,0.000,0.030,1624,2915,2942,0,0,0,0,0,0
$GC,948,-0.44,-146.1,157.7,-16.0,126,952,0.00,2.08,0.00,0.000,4,0.000,0.038,1624,1555,2942,0,0,0,0,0,0
$GC,977,-0.44,-146.1,162.0,-14.6,128,981,0.12,2.25,0.00,0.000,6,0.183,0.055,1646,2929,2942,0,0,0,0,0,0
$GC,1304,-0.44,-146.1,202.5,-11.7,158,1307,0.00,1.60,0.00,0.000,4,0.000,0.062,1638,3902,2942,0,0,0,0,0,0
$GC,1342,-0.44,-146.1,207.8,-12.6,161,1350,0.00,1.45,0.00,0.000,6,0.000,0.030,1638,2929,2942,0,0,0,0,0,0
$GC,1668,-0.44,-146.1,246.2,-11.4,192,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2928,2942,0,0,0,0,0,0
$GC,1981,-0.44,-146.1,281.3,-11.2,209,1985,0.00,2.10,0.00,0.000,4,0.000,0.037,1638,1550,2942,0,0,0,0,0,0
$GC,2002,-0.44,-146.1,284.2,-11.3,210,2007,0.00,2.28,0.00,0.000,6,0.000,0.054,1628,2928,2942,0,0,0,0,0,0
$GC,2331,-0.44,-146.1,325.3,-12.8,226,2332,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2928,2942,0,0,0,0,0,0
$GC,2641,-0.44,-146.1,366.5,-13.6,241,2642,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2928,2942,0,0,0,0,0,0
$GC,2948,-0.44,-146.1,407.8,-13.3,256,2950,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2928,2942,0,0,0,0,0,0
$GC,3259,-0.44,-146.1,450.2,-14.0,271,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2928,2942,0,0,0,0,0,0
$GC,3567,-0.44,-146.1,492.5,-13.7,286,3568,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2928,2942,0,0,0,0,0,0
$GC,3876,-0.44,-146.1,534.2,-13.3,301,3878,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2928,2942,0,0,0,0,0,0
$GC,4187,-0.44,-146.1,575.0,-13.4,316,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2928,2942,0,0,0,0,0,0
$GC,4495,-0.44,-146.1,616.7,-13.6,331,4499,0.00,2.12,0.00,0.000,4,0.000,0.038,1628,1550,2942,0,0,0,0,0,0
$GC,4518,-0.44,-146.1,619.8,-13.6,332,4522,0.00,2.28,0.00,0.000,6,0.000,0.057,1618,2941,2942,0,0,0,0,0,0
$GC,4845,-0.44,-146.1,665.7,-14.2,348,4846,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2940,2942,0,0,0,0,0,0
$GC,5153,-0.44,-146.1,707.6,-13.2,363,5155,0.00,0.00,0.00,0.000,6,0.000,0.000,1618,2941,2943,0,0,0,0,0,0
$GC,5464,-0.44,-146.1,747.5,-12.9,378,5467,0.00,1.58,0.00,0.000,4,0.000,0.063,1611,3903,2943,0,0,0,0,0,0
$GC,5497,-0.44,-146.1,752.3,-14.0,379,5501,0.08,1.45,0.00,0.000,6,0.158,0.031,1636,2948,2942,0,0,0,0,0,0
$GC,5817,-0.44,-146.1,787.5,-10.5,395,5821,0.00,2.15,0.00,0.000,4,0.000,0.038,1636,1536,2943,0,0,0,0,0,0
$GC,5849,-0.44,-146.1,791.0,-10.5,396,5857,0.00,2.30,0.00,0.000,6,0.000,0.056,1626,2926,2943,0,0,0,0,0,0
$GC,6167,-0.44,-146.1,826.4,-11.2,412,6168,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2927,2942,0,0,0,0,0,0
$GC,6475,-0.44,-146.1,861.7,-11.5,427,6476,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2927,2942,0,0,0,0,0,0
$GC,6785,-0.44,-146.1,895.5,-10.6,442,6789,0.00,2.12,0.00,0.000,4,0.000,0.038,1626,1537,2943,0,0,0,0,0,0
$GC,6812,-0.44,-146.1,898.4,-10.9,443,6816,0.00,2.30,0.00,0.000,6,0.000,0.057,1617,2937,2942,0,0,0,0,0,0
$GC,7133,-0.44,-146.1,933.1,-10.8,459,7134,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2937,2942,0,0,0,0,0,0
$GC,7442,-0.44,-146.1,966.6,-10.9,474,7443,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2937,2942,0,0,0,0,0,0
$STATE,7750,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7750,begin apogee
$GC,7756,-0.13,0.0,1000.7,11.0,489,7896,0.43,0.00,137.68,1.760,6,0.167,0.000,1738,2710,2342,0,0,0,0,0,0
$STATE,7897,end apogee,CONTROL_FINISHED_OK
$STATE,7897,begin climb
$GC,7899,0.44,146.1,1005.5,0.0,496,8054,0.68,0.00,151.32,1.760,6,0.125,0.000,1926,2710,1746,0,0,0,0,0,0
$GC,8362,0.44,146.1,959.0,11.7,519,8366,0.00,2.05,0.00,0.000,4,0.000,0.060,1926,3905,1737,0,0,0,0,0,0
$GC,8422,0.44,146.1,950.6,13.6,521,8430,0.00,1.92,0.00,0.000,6,0.000,0.033,1935,2736,1735,0,0,0,0,0,0
$GC,8739,0.44,146.1,910.4,12.9,537,8743,0.00,1.98,0.00,0.000,4,0.000,0.058,1935,3909,1734,0,0,0,0,0,0
$GC,8766,0.44,146.1,906.4,14.0,538,8770,0.00,1.92,0.00,0.000,6,0.000,0.033,1944,2711,1734,0,0,0,0,0,0
$GC,9093,0.44,146.1,863.7,12.9,554,9097,0.00,2.00,0.00,0.000,4,0.000,0.058,1944,3917,1734,0,0,0,0,0,0
$GC,9126,0.44,146.1,858.7,15.9,555,9130,0.00,1.90,0.00,0.000,6,0.000,0.034,1954,2711,1733,0,0,0,0,0,0
$GC,9447,0.44,146.1,814.8,13.7,571,9451,0.00,1.98,0.00,0.000,4,0.000,0.057,1954,3906,1733,0,0,0,0,0,0
$GC,9485,0.44,146.1,808.8,16.0,572,9492,0.00,1.90,0.00,0.000,6,0.000,0.034,1963,2716,1732,0,0,0,0,0,0
$GC,9802,0.44,146.1,764.0,14.3,588,9803,0.00,0.00,0.00,0.000,6,0.000,0.000,1963,2717,1732,0,0,0,0,0,0
$GC,10110,0.44,146.1,720.3,14.1,603,10114,0.00,1.98,0.00,0.000,4,0.000,0.057,1963,3911,1732,0,0,0,0,0,0
$GC,10167,0.44,146.1,711.3,16.5,605,10171,0.15,1.90,0.00,0.000,6,0.205,0.034,1937,2700,1731,0,0,0,0,0,0
$GC,10488,0.44,146.1,675.0,10.8,621,10489,0.00,0.00,0.00,0.000,6,0.000,0.000,1937,2699,1731,0,0,0,0,0,0
$GC,10796,0.44,146.1,642.3,10.6,636,10800,0.00,2.00,0.00,0.000,4,0.000,0.057,1937,3907,1731,0,0,0,0,0,0
$GC,10843,0.44,146.1,636.8,12.3,638,10846,0.00,1.88,0.00,0.000,6,0.000,0.034,1945,2709,1730,0,0,0,0,0,0
$GC,11175,0.44,146.1,597.9,11.8,654,11179,0.00,1.98,0.00,0.000,4,0.000,0.057,1946,3903,1731,0,0,0,0,0,0
$GC,11213,0.44,146.1,592.7,13.7,655,11220,0.00,1.90,0.00,0.000,6,0.000,0.034,1955,2705,1730,0,0,0,0,0,0
$GC,11530,0.44,146.1,552.9,12.7,671,11531,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2705,1730,0,0,0,0,0,0
$GC,11838,0.44,146.1,513.1,12.8,686,11842,0.00,1.98,0.00,0.000,4,0.000,0.057,1955,3901,1731,0,0,0,0,0,0
$GC,11887,0.44,146.1,505.4,15.0,688,11893,0.08,1.90,0.00,0.000,6,0.197,0.034,1943,2705,1730,0,0,0,0,0,0
$GC,12215,0.44,146.1,466.5,11.5,704,12216,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2705,1730,0,0,0,0,0,0
$GC,12524,0.44,146.1,430.0,12.0,719,12527,0.00,1.98,0.00,0.000,4,0.000,0.056,1942,3902,1730,0,0,0,0,0,0
$GC,12561,0.44,146.1,424.6,13.6,720,12569,0.00,1.88,0.00,0.000,6,0.000,0.033,1951,2714,1729,0,0,0,0,0,0
$GC,12880,0.44,146.1,383.2,13.2,736,12884,0.00,1.98,0.00,0.000,4,0.000,0.056,1951,3909,1730,0,0,0,0,0,0
$GC,12919,0.44,146.1,377.0,15.0,737,12926,0.00,1.90,0.00,0.000,6,0.000,0.033,1960,2702,1730,0,0,0,0,0,0
$GC,13238,0.44,146.1,334.0,13.1,753,13241,0.00,1.98,0.00,0.000,4,0.000,0.056,1960,3902,1730,0,0,0,0,0,0
$GC,13270,0.44,146.1,328.8,15.3,754,13275,0.10,1.88,0.00,0.000,6,0.192,0.033,1942,2716,1730,0,0,0,0,0,0
$GC,13591,0.44,146.1,290.8,11.7,770,13595,0.00,1.98,0.00,0.000,4,0.000,0.056,1941,3913,1729,0,0,0,0,0,0
$GC,13619,0.44,146.1,287.0,13.2,771,13623,0.00,1.90,0.00,0.000,6,0.000,0.034,1949,2712,1730,0,0,0,0,0,0
$GC,13937,0.44,146.1,247.3,12.3,787,13939,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2711,1729,0,0,0,0,0,0
$GC,14257,0.44,146.1,210.2,11.3,817,14261,0.00,1.98,0.00,0.000,4,0.000,0.056,1949,3909,1730,0,0,0,0,0,0
$GC,14319,0.44,146.1,201.2,13.2,822,14328,0.00,1.90,0.00,0.000,6,0.000,0.034,1959,2707,1729,0,0,0,0,0,0
$GC,14649,0.44,146.1,161.3,12.1,853,14652,0.00,1.95,0.00,0.000,4,0.000,0.055,1959,3901,1729,0,0,0,0,0,0
$GC,14720,0.44,146.1,151.4,13.5,859,14725,0.12,1.88,0.00,0.000,6,0.203,0.034,1939,2697,1729,0,0,0,0,0,0
$GC,15051,0.44,146.1,118.3,9.8,890,15052,0.00,0.00,0.00,0.000,6,0.000,0.000,1939,2696,1729,0,0,0,0,0,0
$GC,15373,0.47,186.6,90.8,7.8,930,15408,0.00,0.00,29.48,1.040,6,0.000,0.000,1939,2696,1580,0,0,0,0,0,0
$GC,15644,0.52,241.4,69.1,7.1,975,15693,0.00,0.00,44.65,0.951,6,0.000,0.000,1939,2695,1356,0,0,0,0,0,0
$GC,15801,0.54,271.7,54.9,8.2,1000,15826,0.00,2.10,20.40,0.897,4,0.000,0.057,1939,3900,1232,0,0,0,0,0,0
$GC,15863,0.57,302.3,49.5,8.2,1009,15885,0.00,1.95,15.85,0.881,6,0.000,0.035,1946,2690,1107,0,0,0,0,0,0
$GC,15994,0.65,407.7,39.3,4.9,1030,16052,0.15,2.33,47.45,0.879,4,0.097,0.044,2011,1297,675,0,0,0,0,0,0
$GC,16074,0.65,407.7,28.1,16.3,1041,16083,0.00,2.40,0.00,0.000,6,0.000,0.050,2011,2733,670,0,0,0,0,0,0
$GC,16159,0.65,407.7,14.5,15.8,1054,16168,0.00,2.35,0.00,0.000,4,0.000,0.046,2021,1306,666,0,0,0,0,0,0
$GC,16189,0.65,407.7,10.0,15.3,1058,16199,0.00,2.33,0.00,0.000,6,0.000,0.048,2021,2714,664,0,0,0,0,0,0
$STATE,16230,end climb,SURFACE_DEPTH_REACHED
$STATE,16230,begin surface coast
$FINISH,1.0,1.013830
$STATE,16250,end surface coast,CONTROL_FINISHED_OK
$STATE,16250,begin surface
$SM_CCo,16324,0.00,0.000,0,0,662,412.10
$SM_GC,1.48,5.35,0.00,0.00,0.053,0.000,0.000,63,2949,662,-5.32,0.54,412.10
$IRIDIUM_FIX,-5527.50,-38.32,310115,070724
$TT8_MAMPS,0.026215
$HUMID,56.85
$INTERNAL_PRESSURE,8.91603
$TCM_TEMP,7.30
$XPDR_PINGS,0
$24V_AH,21.5,56.551
$10V_AH,9.8,39.467
$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,13.900,102.875,446.825,0.000,0.000,28.717,28.661,442.933,0.000,0.000,20.631,2581.779,10539.466,527.026,3053.357,266.643,33.376,1533.890,0.000,2370.238,0.000,0.540,0.000
$DEVICE_MAMPS,237.150,81.090,1760.265,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,756.575,2179.658,1029.138,1061.061,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353480
$DATA_FILE_SIZE,73781,1067
$CAP_FILE_SIZE,138840,0
$CFSIZE,259252224,206258176
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,310115,171205,-5552.033,-39.596,40,0.9,40,-19.8