version: 66.07
glider: 542
mission: 9
dive: 290
start: 1 31 115 22 10 46
data:
$ID,542
$MISSION,9
$DIVE,290
$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,-22524.541
$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,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
$GPS1,310115,220104,-5553.467,-39.381,27,1.3,28,-19.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-63.2
$GPS2,310115,220952,-5553.477,-39.201,18,1.0,20,-19.8
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET3
$TGT_LATLONG,-5600.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.121,0.197
$KALMAN_X,284399.5,-424.2,-70.4,-324428.2,6902.9
$KALMAN_Y,-105966.0,-141.9,315.1,118173.6,-1686.7
$MHEAD_RNG_PITCHd_Wd,348.2,24697,-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,-146.1,0.0,0.0,0,77,0.00,0.00,-57.78,0.000,2,0.000,0.000,44,2947,2366,0,0,0,0,0,0
$GC,79,-0.44,-146.1,3.4,-3.9,7,114,6.40,1.62,-17.50,0.000,4,0.224,0.082,1631,3887,2941,0,0,0,0,0,0
$GC,243,-0.44,-146.1,32.0,-19.8,32,252,0.00,1.55,0.00,0.000,6,0.000,0.031,1631,2897,2942,0,0,0,0,0,0
$GC,361,-0.44,-146.1,54.8,-19.1,51,367,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2897,2942,0,0,0,0,0,0
$GC,473,-0.44,-146.1,74.3,-15.1,70,482,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2897,2942,0,0,0,0,0,0
$GC,587,-0.44,-146.1,91.5,-14.9,89,593,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2897,2942,0,0,0,0,0,0
$GC,819,-0.44,-146.1,124.5,-14.2,115,820,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2897,2942,0,0,0,0,0,0
$GC,1139,-0.44,-146.1,165.7,-12.3,145,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2897,2942,0,0,0,0,0,0
$GC,1465,-0.44,-146.1,209.2,-14.0,176,1468,0.00,1.65,0.00,0.000,4,0.000,0.061,1623,3899,2942,0,0,0,0,0,0
$GC,1550,-0.44,-146.1,221.1,-14.0,183,1553,0.00,1.50,0.00,0.000,6,0.000,0.031,1623,2922,2942,0,0,0,0,0,0
$GC,1878,-0.44,-146.1,268.6,-14.5,208,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2917,2942,0,0,0,0,0,0
$GC,2188,-0.44,-146.1,311.5,-13.2,223,2191,0.00,1.62,0.00,0.000,4,0.000,0.060,1615,3912,2942,0,0,0,0,0,0
$GC,2236,-0.44,-146.1,318.1,-13.9,225,2240,0.08,1.50,0.00,0.000,6,0.162,0.031,1639,2937,2942,0,0,0,0,0,0
$GC,2570,-0.44,-146.1,357.6,-11.5,241,2571,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2937,2942,0,0,0,0,0,0
$GC,2879,-0.44,-146.1,392.8,-11.5,256,2880,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2937,2942,0,0,0,0,0,0
$GC,3187,-0.44,-146.1,427.1,-10.6,271,3191,0.00,1.60,0.00,0.000,4,0.000,0.061,1632,3889,2942,0,0,0,0,0,0
$GC,3234,-0.44,-146.1,432.5,-11.8,273,3238,0.00,1.48,0.00,0.000,6,0.000,0.031,1632,2916,2942,0,0,0,0,0,0
$GC,3568,-0.44,-146.1,470.6,-11.2,289,3569,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2912,2942,0,0,0,0,0,0
$GC,3876,-0.44,-146.1,505.6,-11.4,304,3880,0.00,1.65,0.00,0.000,4,0.000,0.061,1624,3894,2942,0,0,0,0,0,0
$GC,3947,-0.44,-146.1,514.2,-12.1,307,3951,0.00,1.45,0.00,0.000,6,0.000,0.030,1624,2933,2942,0,0,0,0,0,0
$GC,4276,-0.44,-146.1,552.8,-12.0,323,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2932,2942,0,0,0,0,0,0
$GC,4584,-0.44,-146.1,589.4,-11.9,338,4587,0.00,1.60,0.00,0.000,4,0.000,0.060,1617,3887,2942,0,0,0,0,0,0
$GC,4638,-0.44,-146.1,596.5,-12.3,340,4643,0.00,1.45,0.00,0.000,6,0.000,0.031,1617,2927,2942,0,0,0,0,0,0
$GC,4961,-0.44,-146.1,636.5,-12.5,356,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2922,2942,0,0,0,0,0,0
$GC,5270,-0.44,-146.1,675.9,-12.7,371,5274,0.00,1.62,0.00,0.000,4,0.000,0.060,1609,3890,2943,0,0,0,0,0,0
$GC,5337,-0.44,-146.1,684.6,-12.9,374,5341,0.10,1.45,0.00,0.000,6,0.158,0.031,1641,2941,2942,0,0,0,0,0,0
$GC,5670,-0.44,-146.1,718.9,-10.2,390,5673,0.00,1.60,0.00,0.000,4,0.000,0.060,1634,3893,2942,0,0,0,0,0,0
$GC,5708,-0.44,-146.1,723.5,-11.1,391,5715,0.00,1.48,0.00,0.000,6,0.000,0.029,1635,2914,2942,0,0,0,0,0,0
$GC,6025,-0.44,-146.1,757.1,-10.7,407,6026,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2913,2943,0,0,0,0,0,0
$GC,6333,-0.44,-146.1,791.0,-10.7,422,6337,0.00,1.62,0.00,0.000,4,0.000,0.061,1626,3909,2942,0,0,0,0,0,0
$GC,6390,-0.44,-146.1,797.4,-11.7,424,6393,0.00,1.48,0.00,0.000,6,0.000,0.031,1627,2932,2942,0,0,0,0,0,0
$GC,6711,-0.44,-146.1,833.1,-11.1,440,6713,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2924,2942,0,0,0,0,0,0
$GC,7020,-0.44,-146.1,867.3,-11.0,455,7023,0.00,1.62,0.00,0.000,4,0.000,0.060,1619,3922,2942,0,0,0,0,0,0
$GC,7069,-0.44,-146.1,873.4,-12.5,457,7074,0.00,1.50,0.00,0.000,6,0.000,0.031,1619,2923,2942,0,0,0,0,0,0
$GC,7397,-0.44,-146.1,911.9,-11.9,473,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2922,2942,0,0,0,0,0,0
$GC,7705,-0.44,-146.1,948.6,-11.8,488,7709,0.00,1.62,0.00,0.000,4,0.000,0.060,1611,3921,2942,0,0,0,0,0,0
$GC,7760,-0.44,-146.1,955.6,-12.7,490,7765,0.08,1.48,0.00,0.000,6,0.160,0.031,1636,2946,2942,0,0,0,0,0,0
$GC,8082,-0.44,-146.1,987.7,-9.7,506,8086,0.00,1.60,0.00,0.000,4,0.000,0.060,1629,3897,2943,0,0,0,0,0,0
$GC,8127,-0.44,-146.1,992.5,-10.2,508,8131,0.00,1.48,0.00,0.000,6,0.000,0.030,1629,2918,2942,0,0,0,0,0,0
$STATE,8210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8210,begin apogee
$GC,8216,-0.13,0.0,1000.8,9.8,512,8357,0.38,0.00,137.88,1.753,6,0.158,0.000,1738,2718,2342,0,0,0,0,0,0
$STATE,8358,end apogee,CONTROL_FINISHED_OK
$STATE,8358,begin climb
$GC,8360,0.44,146.1,1005.2,0.0,519,8513,0.65,0.00,149.85,1.714,6,0.123,0.000,1925,2718,1746,0,0,0,0,0,0
$GC,8812,0.44,146.1,959.3,11.8,541,8813,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,2718,1738,0,0,0,0,0,0
$GC,9120,0.44,146.1,922.9,11.6,556,9122,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,2718,1736,0,0,0,0,0,0
$GC,9430,0.44,146.1,885.8,12.0,571,9431,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,2718,1735,0,0,0,0,0,0
$GC,9740,0.44,146.1,849.0,12.2,586,9741,0.00,0.00,0.00,0.000,6,0.000,0.000,1925,2718,1735,0,0,0,0,0,0
$GC,10049,0.44,146.1,810.8,12.4,601,10053,0.00,2.00,0.00,0.000,4,0.000,0.060,1925,3897,1734,0,0,0,0,0,0
$GC,10096,0.44,146.1,804.5,15.0,603,10099,0.00,1.83,0.00,0.000,6,0.000,0.036,1935,2726,1732,0,0,0,0,0,0
$GC,10429,0.44,146.1,760.9,12.8,619,10430,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2726,1732,0,0,0,0,0,0
$GC,10737,0.44,146.1,721.8,12.7,634,10738,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2726,1732,0,0,0,0,0,0
$GC,11046,0.44,146.1,683.5,12.2,649,11048,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2726,1732,0,0,0,0,0,0
$GC,11357,0.44,146.1,646.4,11.9,664,11358,0.00,0.00,0.00,0.000,6,0.000,0.000,1934,2726,1732,0,0,0,0,0,0
$GC,11665,0.44,146.1,610.6,11.6,679,11666,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2727,1732,0,0,0,0,0,0
$GC,11975,0.44,146.1,574.3,11.7,694,11978,0.00,1.98,0.00,0.000,4,0.000,0.058,1934,3896,1732,0,0,0,0,0,0
$GC,12029,0.44,146.1,566.8,14.4,696,12034,0.00,1.90,0.00,0.000,6,0.000,0.036,1944,2710,1731,0,0,0,0,0,0
$GC,12351,0.44,146.1,528.2,11.7,712,12352,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2709,1731,0,0,0,0,0,0
$GC,12662,0.44,146.1,492.5,11.4,727,12663,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2710,1730,0,0,0,0,0,0
$GC,12970,0.44,146.1,458.2,11.0,742,12971,0.00,0.00,0.00,0.000,6,0.000,0.000,1943,2709,1731,0,0,0,0,0,0
$GC,13279,0.44,146.1,422.8,11.7,757,13280,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2709,1731,0,0,0,0,0,0
$GC,13589,0.44,146.1,385.9,12.1,772,13591,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2709,1731,0,0,0,0,0,0
$GC,13900,0.44,146.1,349.8,11.4,787,13903,0.00,1.98,0.00,0.000,4,0.000,0.057,1944,3898,1731,0,0,0,0,0,0
$GC,13955,0.44,146.1,342.0,13.5,789,13959,0.00,1.90,0.00,0.000,6,0.000,0.036,1953,2708,1730,0,0,0,0,0,0
$GC,14280,0.44,146.1,302.5,12.5,805,14281,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2707,1730,0,0,0,0,0,0
$GC,14586,0.44,146.1,264.2,12.2,820,14588,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2707,1730,0,0,0,0,0,0
$GC,14904,0.44,146.1,223.8,12.8,844,14905,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2707,1730,0,0,0,0,0,0
$GC,15220,0.44,146.1,184.8,11.6,874,15224,0.00,1.98,0.00,0.000,4,0.000,0.057,1952,3897,1730,0,0,0,0,0,0
$GC,15330,0.44,146.1,169.3,13.8,883,15337,0.00,1.88,0.00,0.000,6,0.000,0.035,1963,2700,1730,0,0,0,0,0,0
$GC,15655,0.44,146.1,126.6,13.6,914,15659,0.00,2.20,0.00,0.000,4,0.000,0.044,1973,1293,1730,0,0,0,0,0,0
$GC,15691,0.44,146.1,122.3,12.2,917,15696,0.15,2.28,0.00,0.000,6,0.187,0.050,1937,2722,1730,0,0,0,0,0,0
$GC,16024,0.48,195.9,93.2,7.4,955,16066,0.00,1.98,35.15,1.040,4,0.000,0.058,1936,3883,1542,0,0,0,0,0,0
$GC,16104,0.49,208.4,86.9,9.0,967,16118,0.00,1.88,9.05,0.937,6,0.000,0.034,1944,2709,1491,0,0,0,0,0,0
$GC,16353,0.49,208.4,64.8,9.9,1009,16360,0.00,2.22,0.00,0.000,4,0.000,0.044,1954,1293,1486,0,0,0,0,0,0
$GC,16420,0.49,208.4,57.8,9.8,1020,16429,0.00,2.30,0.00,0.000,6,0.000,0.050,1955,2698,1485,0,0,0,0,0,0
$GC,16536,0.49,208.4,45.7,11.8,1039,16543,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2698,1484,0,0,0,0,0,0
$GC,16651,0.51,225.8,35.4,8.8,1058,16666,0.00,0.00,11.80,0.821,6,0.000,0.000,1954,2698,1420,0,0,0,0,0,0
$GC,16778,0.52,244.6,24.8,8.7,1078,16796,0.00,2.22,10.50,0.781,4,0.000,0.042,1964,1293,1345,0,0,0,0,0,0
$GC,16849,0.55,275.8,19.1,8.2,1088,16875,0.00,2.33,15.82,0.790,6,0.000,0.051,1964,2711,1216,0,0,0,0,0,0
$GC,16950,0.55,275.8,9.6,10.3,1103,16958,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,2711,1211,0,0,0,0,0,0
$STATE,17014,end climb,SURFACE_DEPTH_REACHED
$STATE,17014,begin surface coast
$FINISH,1.1,1.014329
$STATE,17046,end surface coast,CONTROL_FINISHED_OK
$STATE,17047,begin surface
$SM_CCo,17121,0.00,0.000,0,0,1208,278.17
$SM_GC,1.92,5.22,0.00,0.00,0.058,0.000,0.000,55,2923,1208,-5.33,-0.20,278.17
$IRIDIUM_FIX,-5531.31,-34.53,310115,171706
$TT8_MAMPS,0.026215
$HUMID,57.16
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.40
$XPDR_PINGS,0
$24V_AH,21.5,56.934
$10V_AH,9.8,39.736
$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,13.050,70.625,370.050,0.000,0.000,27.985,21.529,328.093,0.000,0.000,22.563,2716.376,11106.128,462.268,3062.139,289.924,33.372,1488.907,0.000,2507.919,0.000,0.541,0.000
$DEVICE_MAMPS,224.145,81.855,1753.380,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,794.655,2309.494,1095.248,1147.751,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353452
$DATA_FILE_SIZE,77108,1118
$CAP_FILE_SIZE,136153,0
$CFSIZE,259252224,206098432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,010215,025723,-5551.762,-39.593,41,0.9,42,-19.8