version: 66.07
glider: 542
mission: 9
dive: 294
start: 2 1 115 17 52 48
data:
$ID,542
$MISSION,9
$DIVE,294
$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,-22537.875
$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,16
$R_STBD_OVSHOOT,32
$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
$GPS1,010215,174305,-5553.573,-39.541,30,0.9,31,-19.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-55.5
$GPS2,010215,175154,-5553.492,-39.571,18,1.4,19,-19.8
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET3
$TGT_LATLONG,-5600.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.197,0.120
$KALMAN_X,297870.0,-23.1,-249.5,-338493.8,6085.7
$KALMAN_Y,-109172.9,4.7,120.3,121403.9,-1420.6
$MHEAD_RNG_PITCHd_Wd,321.2,24350,-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,-146.1,0.0,0.0,0,69,0.00,0.00,-49.42,0.000,2,0.000,0.000,45,2931,2210,0,0,0,0,0,0
$GC,72,-0.44,-146.1,3.2,-3.5,6,106,6.72,1.70,-22.58,0.000,4,0.241,0.083,1633,3898,2938,0,0,0,0,0,0
$GC,378,-0.44,-146.1,58.3,-19.8,55,385,0.00,1.58,0.00,0.000,6,0.000,0.031,1633,2882,2941,0,0,0,0,0,0
$GC,490,-0.44,-146.1,79.6,-17.3,74,499,0.00,1.70,0.00,0.000,4,0.000,0.059,1625,3887,2941,0,0,0,0,0,0
$GC,571,-0.44,-146.1,93.4,-16.7,87,580,0.00,1.48,0.00,0.000,6,0.000,0.031,1625,2916,2942,0,0,0,0,0,0
$GC,804,-0.44,-146.1,131.2,-16.4,111,810,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2915,2942,0,0,0,0,0,0
$GC,1130,-0.44,-146.1,183.0,-15.6,142,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,1625,2915,2941,0,0,0,0,0,0
$GC,1448,-0.44,-146.1,231.0,-14.7,172,1452,0.00,1.62,0.00,0.000,4,0.000,0.062,1617,3907,2942,0,0,0,0,0,0
$GC,1498,-0.44,-146.1,239.2,-15.8,176,1508,0.00,1.48,0.00,0.000,6,0.000,0.031,1617,2937,2942,0,0,0,0,0,0
$GC,1827,-0.44,-146.1,286.6,-13.9,196,1828,0.00,0.00,0.00,0.000,6,0.000,0.000,1617,2937,2941,0,0,0,0,0,0
$GC,2138,-0.44,-146.1,328.9,-13.5,211,2141,0.00,1.60,0.00,0.000,4,0.000,0.061,1610,3886,2942,0,0,0,0,0,0
$GC,2210,-0.44,-146.1,339.9,-14.4,214,2215,0.10,1.45,0.00,0.000,6,0.158,0.031,1642,2946,2942,0,0,0,0,0,0
$GC,2540,-0.44,-146.1,377.1,-11.0,230,2541,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2946,2941,0,0,0,0,0,0
$GC,2846,-0.44,-146.1,410.3,-10.6,245,2847,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2946,2942,0,0,0,0,0,0
$GC,3156,-0.44,-146.1,444.7,-11.2,260,3158,0.00,0.00,0.00,0.000,6,0.000,0.000,1641,2946,2942,0,0,0,0,0,0
$GC,3465,-0.44,-146.1,480.5,-11.7,275,3468,0.00,1.60,0.00,0.000,4,0.000,0.061,1634,3897,2942,0,0,0,0,0,0
$GC,3510,-0.44,-146.1,486.1,-12.2,277,3514,0.00,1.48,0.00,0.000,6,0.000,0.031,1634,2919,2942,0,0,0,0,0,0
$GC,3843,-0.44,-146.1,526.8,-12.0,293,3844,0.00,0.00,0.00,0.000,6,0.000,0.000,1635,2914,2942,0,0,0,0,0,0
$GC,4151,-0.44,-146.1,564.7,-12.4,308,4155,0.00,1.62,0.00,0.000,4,0.000,0.062,1626,3903,2942,0,0,0,0,0,0
$GC,4206,-0.44,-146.1,572.1,-13.0,310,4210,0.00,1.48,0.00,0.000,6,0.000,0.031,1626,2933,2942,0,0,0,0,0,0
$GC,4529,-0.44,-146.1,613.1,-12.6,326,4530,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2933,2942,0,0,0,0,0,0
$GC,4837,-0.44,-146.1,652.1,-12.4,341,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2933,2942,0,0,0,0,0,0
$GC,5146,-0.44,-146.1,689.7,-11.9,356,5150,0.00,1.62,0.00,0.000,4,0.000,0.062,1619,3924,2942,0,0,0,0,0,0
$GC,5202,-0.44,-146.1,697.1,-12.4,358,5206,0.00,1.52,0.00,0.000,6,0.000,0.031,1619,2925,2942,0,0,0,0,0,0
$GC,5523,-0.44,-146.1,737.3,-12.2,374,5525,0.00,0.00,0.00,0.000,6,0.000,0.000,1619,2921,2942,0,0,0,0,0,0
$GC,5833,-0.44,-146.1,775.9,-12.4,389,5837,0.00,1.62,0.00,0.000,4,0.000,0.062,1611,3910,2942,0,0,0,0,0,0
$GC,5879,-0.44,-146.1,781.9,-13.8,391,5883,0.10,1.50,0.00,0.000,6,0.155,0.031,1643,2938,2942,0,0,0,0,0,0
$GC,6210,-0.44,-146.1,817.2,-10.3,407,6212,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2937,2942,0,0,0,0,0,0
$GC,6521,-0.44,-146.1,849.0,-10.5,422,6522,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2937,2942,0,0,0,0,0,0
$GC,6829,-0.44,-146.1,882.1,-10.5,437,6830,0.00,0.00,0.00,0.000,6,0.000,0.000,1643,2937,2942,0,0,0,0,0,0
$GC,7138,-0.44,-146.1,914.7,-10.6,452,7142,0.00,1.62,0.00,0.000,4,0.000,0.062,1636,3895,2942,0,0,0,0,0,0
$GC,7186,-0.44,-146.1,919.7,-11.5,454,7190,0.00,1.48,0.00,0.000,6,0.000,0.030,1636,2932,2942,0,0,0,0,0,0
$GC,7519,-0.44,-146.1,956.1,-10.8,470,7520,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2930,2942,0,0,0,0,0,0
$GC,7828,-0.44,-146.1,989.7,-10.8,485,7829,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2930,2942,0,0,0,0,0,0
$STATE,7929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7929,begin apogee
$GC,7934,-0.13,0.0,1000.6,10.7,490,8075,0.35,0.00,137.77,1.759,6,0.154,0.000,1739,2697,2342,0,0,0,0,0,0
$STATE,8076,end apogee,CONTROL_FINISHED_OK
$STATE,8076,begin climb
$GC,8078,0.44,146.1,1006.7,0.0,497,8235,0.62,0.00,151.02,1.756,6,0.122,0.000,1920,2696,1746,0,0,0,0,0,0
$GC,8531,0.44,146.1,967.5,10.3,519,8532,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,2697,1737,0,0,0,0,0,0
$GC,8840,0.44,146.1,934.7,10.7,534,8841,0.00,0.00,0.00,0.000,6,0.000,0.000,1920,2697,1735,0,0,0,0,0,0
$GC,9150,0.44,146.1,902.4,10.5,549,9151,0.00,0.00,0.00,0.000,6,0.000,0.000,1919,2696,1735,0,0,0,0,0,0
$GC,9459,0.44,146.1,870.0,10.6,564,9463,0.00,2.03,0.00,0.000,4,0.000,0.062,1920,3901,1734,0,0,0,0,0,0
$GC,9508,0.44,146.1,864.0,12.1,566,9512,0.00,1.85,0.00,0.000,6,0.000,0.035,1929,2755,1732,0,0,0,0,0,0
$GC,9836,0.44,146.1,825.9,11.7,582,9837,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,2754,1732,0,0,0,0,0,0
$GC,10145,0.44,146.1,789.4,12.2,597,10146,0.00,0.00,0.00,0.000,6,0.000,0.000,1929,2754,1733,0,0,0,0,0,0
$GC,10454,0.44,146.1,751.5,12.3,612,10458,0.00,2.30,0.00,0.000,4,0.000,0.046,1940,1293,1732,0,0,0,0,0,0
$GC,10487,0.44,146.1,747.6,10.9,613,10494,0.00,2.28,0.00,0.000,6,0.000,0.053,1940,2715,1731,0,0,0,0,0,0
$GC,10802,0.44,146.1,706.0,13.2,629,10806,0.00,1.92,0.00,0.000,4,0.000,0.060,1940,3883,1731,0,0,0,0,0,0
$GC,10863,0.44,146.1,697.0,15.1,631,10870,0.00,1.88,0.00,0.000,6,0.000,0.036,1948,2704,1730,0,0,0,0,0,0
$GC,11178,0.44,146.1,655.1,13.2,647,11179,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,2704,1729,0,0,0,0,0,0
$GC,11488,0.44,146.1,614.8,12.9,662,11491,0.00,1.95,0.00,0.000,4,0.000,0.058,1948,3886,1730,0,0,0,0,0,0
$GC,11537,0.44,146.1,607.4,15.0,664,11542,0.00,1.85,0.00,0.000,6,0.000,0.035,1957,2716,1730,0,0,0,0,0,0
$GC,11864,0.44,146.1,564.1,13.4,680,11865,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,2716,1730,0,0,0,0,0,0
$GC,12174,0.44,146.1,523.5,12.8,695,12175,0.00,0.00,0.00,0.000,6,0.000,0.000,1957,2716,1730,0,0,0,0,0,0
$GC,12484,0.44,146.1,483.6,12.9,710,12487,0.00,1.95,0.00,0.000,4,0.000,0.058,1957,3893,1730,0,0,0,0,0,0
$GC,12538,0.44,146.1,475.4,14.7,712,12543,0.10,1.88,0.00,0.000,6,0.187,0.034,1938,2712,1729,0,0,0,0,0,0
$GC,12861,0.44,146.1,439.8,11.1,728,12862,0.00,0.00,0.00,0.000,6,0.000,0.000,1938,2712,1729,0,0,0,0,0,0
$GC,13170,0.44,146.1,404.6,11.4,743,13173,0.00,1.95,0.00,0.000,4,0.000,0.057,1938,3890,1729,0,0,0,0,0,0
$GC,13207,0.44,146.1,399.5,13.0,744,13217,0.00,1.88,0.00,0.000,6,0.000,0.035,1946,2713,1730,0,0,0,0,0,0
$GC,13525,0.44,146.1,362.6,11.6,760,13526,0.00,0.00,0.00,0.000,6,0.000,0.000,1946,2712,1729,0,0,0,0,0,0
$GC,13835,0.44,146.1,326.2,12.1,775,13837,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2712,1729,0,0,0,0,0,0
$GC,14144,0.44,146.1,289.9,11.3,790,14148,0.00,1.95,0.00,0.000,4,0.000,0.057,1946,3887,1729,0,0,0,0,0,0
$GC,14183,0.44,146.1,284.5,12.9,791,14189,0.00,1.88,0.00,0.000,6,0.000,0.037,1955,2712,1729,0,0,0,0,0,0
$GC,14499,0.44,146.1,245.5,12.2,808,14500,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2712,1729,0,0,0,0,0,0
$GC,14821,0.44,146.1,206.4,12.0,838,14830,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2712,1729,0,0,0,0,0,0
$GC,15151,0.44,146.1,167.2,11.9,869,15154,0.00,1.95,0.00,0.000,4,0.000,0.057,1956,3890,1729,0,0,0,0,0,0
$GC,15224,0.44,146.1,156.1,13.3,875,15233,0.08,1.88,0.00,0.000,6,0.183,0.034,1942,2708,1729,0,0,0,0,0,0
$GC,15550,0.44,146.1,121.4,10.4,906,15554,0.00,1.95,0.00,0.000,4,0.000,0.057,1942,3889,1729,0,0,0,0,0,0
$GC,15623,0.44,146.1,112.6,11.8,912,15632,0.00,1.88,0.00,0.000,6,0.000,0.034,1950,2708,1729,0,0,0,0,0,0
$GC,15963,0.46,172.4,78.6,8.4,962,15987,0.00,2.22,16.62,0.986,4,0.000,0.043,1961,1285,1639,0,0,0,0,0,0
$GC,16071,0.54,271.9,71.3,5.2,979,16143,0.00,2.30,66.95,0.965,6,0.000,0.052,1960,2706,1232,0,0,0,0,0,0
$GC,16253,0.58,319.7,58.8,7.4,1007,16289,0.00,2.08,31.35,0.904,4,0.000,0.060,1961,3897,1037,0,0,0,0,0,0
$GC,16337,0.58,319.7,50.9,10.1,1020,16346,0.00,1.95,0.00,0.000,6,0.000,0.037,1968,2715,1034,0,0,0,0,0,0
$GC,16453,0.58,319.7,39.2,11.5,1039,16460,0.00,2.28,0.00,0.000,4,0.000,0.045,1978,1289,1030,0,0,0,0,0,0
$GC,16509,0.61,357.7,33.9,7.9,1048,16539,0.00,2.35,23.17,0.835,6,0.000,0.053,1978,2706,882,0,0,0,0,0,0
$GC,16653,0.61,357.7,21.1,12.7,1070,16662,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,2706,875,0,0,0,0,0,0
$GC,16738,0.61,357.7,10.2,14.0,1083,16746,0.00,0.00,0.00,0.000,6,0.000,0.000,1978,2707,874,0,0,0,0,0,0
$STATE,16796,end climb,SURFACE_DEPTH_REACHED
$STATE,16796,begin surface coast
$FINISH,1.4,1.019701
$STATE,16822,end surface coast,CONTROL_FINISHED_OK
$STATE,16822,begin surface
$SM_CCo,16895,0.00,0.000,0,0,872,360.59
$SM_GC,1.92,5.22,0.00,0.00,0.054,0.000,0.000,61,2937,872,-5.33,0.20,360.59
$IRIDIUM_FIX,-5531.31,-38.41,010215,121258
$TT8_MAMPS,0.026215
$HUMID,57.40
$INTERNAL_PRESSURE,8.93556
$TCM_TEMP,7.40
$XPDR_PINGS,0
$24V_AH,21.5,57.699
$10V_AH,9.8,40.276
$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,13.300,77.150,426.900,0.000,0.000,25.006,18.843,331.516,0.000,0.000,20.961,2636.984,11008.854,497.570,2993.896,275.236,33.373,1529.939,0.000,2444.874,0.000,0.541,0.000
$DEVICE_MAMPS,240.975,82.620,1758.735,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,777.567,2258.720,1065.503,1101.141,0.000,0.000,0.000,0.000,0.000,0.000
$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,73853,1096
$CAP_FILE_SIZE,134531,0
$CFSIZE,259252224,205787136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,010215,223535,-5553.168,-39.942,38,0.9,38,-19.8