version: 66.07
glider: 542
mission: 9
dive: 295
start: 2 1 115 22 49 7
data:
$ID,542
$MISSION,9
$DIVE,295
$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,-22541.242
$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,26
$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
$GPS1,010215,223535,-5553.168,-39.942,38,0.9,38,-19.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-53.0
$GPS2,010215,224813,-5553.172,-39.813,20,1.7,20,-19.8
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET3
$TGT_LATLONG,-5600.000,-100.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.208,0.100
$KALMAN_X,301831.6,-325.1,-129.2,-342529.8,5757.3
$KALMAN_Y,-110730.9,-89.9,-176.1,123956.1,-1266.6
$MHEAD_RNG_PITCHd_Wd,315.6,24433,-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,-146.1,0.0,0.0,0,83,0.00,0.00,-65.57,0.000,2,0.000,0.000,44,2948,2334,0,0,0,0,0,0
$GC,87,-0.44,-146.1,3.6,-3.2,8,122,6.50,2.30,-16.75,0.000,4,0.227,0.050,1642,1508,2942,0,0,0,0,0,0
$GC,269,-0.44,-146.1,32.6,-13.1,36,278,0.00,2.35,0.00,0.000,6,0.000,0.054,1632,2918,2942,0,0,0,0,0,0
$GC,386,-0.44,-146.1,51.6,-18.0,55,392,0.00,1.62,0.00,0.000,4,0.000,0.060,1623,3907,2942,0,0,0,0,0,0
$GC,437,-0.44,-146.1,61.5,-19.5,63,444,0.00,1.58,0.00,0.000,6,0.000,0.031,1623,2886,2943,0,0,0,0,0,0
$GC,550,-0.44,-146.1,82.2,-16.3,82,558,0.00,1.73,0.00,0.000,4,0.000,0.060,1615,3903,2943,0,0,0,0,0,0
$GC,623,-0.44,-146.1,93.9,-15.7,94,631,0.08,1.50,0.00,0.000,6,0.164,0.031,1639,2927,2942,0,0,0,0,0,0
$GC,848,-0.44,-146.1,124.0,-13.7,118,852,0.00,2.12,0.00,0.000,4,0.000,0.040,1639,1537,2943,0,0,0,0,0,0
$GC,885,-0.44,-146.1,128.6,-12.6,121,889,0.00,2.30,0.00,0.000,6,0.000,0.056,1628,2939,2943,0,0,0,0,0,0
$GC,1214,-0.44,-146.1,172.6,-13.5,152,1218,0.00,1.58,0.00,0.000,4,0.000,0.062,1621,3903,2943,0,0,0,0,0,0
$GC,1265,-0.44,-146.1,180.2,-14.8,156,1275,0.00,1.48,0.00,0.000,6,0.000,0.031,1621,2932,2943,0,0,0,0,0,0
$GC,1592,-0.44,-146.1,228.5,-15.5,187,1593,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2932,2943,0,0,0,0,0,0
$GC,1906,-0.44,-146.1,274.6,-14.5,209,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2932,2943,0,0,0,0,0,0
$GC,2212,-0.44,-146.1,317.9,-13.4,224,2216,0.00,1.62,0.00,0.000,4,0.000,0.061,1613,3901,2943,0,0,0,0,0,0
$GC,2260,-0.44,-146.1,324.5,-13.9,226,2264,0.08,1.48,0.00,0.000,6,0.158,0.031,1638,2934,2943,0,0,0,0,0,0
$GC,2592,-0.44,-146.1,362.7,-11.3,242,2593,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2933,2944,0,0,0,0,0,0
$GC,2903,-0.44,-146.1,396.3,-10.5,257,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2933,2943,0,0,0,0,0,0
$GC,3210,-0.44,-146.1,430.1,-11.2,272,3211,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2933,2943,0,0,0,0,0,0
$GC,3520,-0.44,-146.1,464.1,-11.0,287,3521,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2933,2943,0,0,0,0,0,0
$GC,3829,-0.44,-146.1,496.7,-10.3,302,3830,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2933,2943,0,0,0,0,0,0
$GC,4138,-0.44,-146.1,527.7,-9.9,317,4139,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2933,2943,0,0,0,0,0,0
$GC,4447,-0.44,-146.1,558.8,-10.3,332,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2933,2943,0,0,0,0,0,0
$GC,4757,-0.44,-146.1,590.0,-9.7,347,4761,0.00,1.62,0.00,0.000,4,0.000,0.061,1631,3896,2943,0,0,0,0,0,0
$GC,4794,-0.44,-146.1,594.1,-10.4,348,4802,0.00,1.48,0.00,0.000,6,0.000,0.030,1631,2927,2943,0,0,0,0,0,0
$GC,5112,-0.44,-146.1,627.3,-10.7,364,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2927,2943,0,0,0,0,0,0
$GC,5420,-0.44,-146.1,660.4,-10.6,379,5421,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2927,2943,0,0,0,0,0,0
$GC,5729,-0.44,-146.1,694.3,-11.0,394,5731,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2927,2943,0,0,0,0,0,0
$GC,6040,-0.44,-146.1,727.6,-10.7,409,6041,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2927,2943,0,0,0,0,0,0
$GC,6348,-0.44,-146.1,760.1,-10.5,424,6349,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2927,2943,0,0,0,0,0,0
$GC,6657,-0.44,-146.1,793.2,-10.6,439,6658,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2927,2943,0,0,0,0,0,0
$GC,6968,-0.44,-146.1,826.4,-10.6,454,6969,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2927,2943,0,0,0,0,0,0
$GC,7276,-0.44,-146.1,860.2,-11.1,469,7277,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2927,2943,0,0,0,0,0,0
$GC,7585,-0.44,-146.1,893.3,-10.7,484,7587,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2927,2943,0,0,0,0,0,0
$GC,7896,-0.44,-146.1,927.3,-11.0,499,7897,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2927,2943,0,0,0,0,0,0
$GC,8204,-0.44,-146.1,960.4,-10.6,514,8205,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2927,2943,0,0,0,0,0,0
$GC,8514,-0.44,-146.1,993.2,-10.4,529,8515,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2927,2943,0,0,0,0,0,0
$STATE,8594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8594,begin apogee
$GC,8599,-0.13,0.0,1001.6,10.2,533,8741,0.38,0.00,138.60,1.773,6,0.155,0.000,1740,2714,2342,0,0,0,0,0,0
$STATE,8742,end apogee,CONTROL_FINISHED_OK
$STATE,8742,begin climb
$GC,8743,0.44,146.1,1005.9,0.0,540,8898,0.62,0.00,150.73,1.746,6,0.121,0.000,1921,2713,1746,0,0,0,0,0,0
$GC,9194,0.44,146.1,960.4,12.0,562,9198,0.00,2.05,0.00,0.000,4,0.000,0.058,1921,3899,1737,0,0,0,0,0,0
$GC,9231,0.44,146.1,955.0,14.0,563,9239,0.00,1.92,0.00,0.000,6,0.000,0.034,1930,2745,1736,0,0,0,0,0,0
$GC,9549,0.44,146.1,915.5,12.3,579,9553,0.00,2.33,0.00,0.000,4,0.000,0.047,1941,1292,1735,0,0,0,0,0,0
$GC,9581,0.44,146.1,911.3,11.2,580,9588,0.00,2.35,0.00,0.000,6,0.000,0.051,1941,2723,1734,0,0,0,0,0,0
$GC,9897,0.44,146.1,869.6,13.3,596,9901,0.00,1.92,0.00,0.000,4,0.000,0.060,1940,3900,1734,0,0,0,0,0,0
$GC,9958,0.44,146.1,860.5,15.1,598,9965,0.00,1.90,0.00,0.000,6,0.000,0.035,1950,2697,1732,0,0,0,0,0,0
$GC,10274,0.44,146.1,816.5,14.2,614,10275,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2697,1732,0,0,0,0,0,0
$GC,10583,0.44,146.1,772.3,14.5,629,10587,0.00,1.98,0.00,0.000,4,0.000,0.057,1950,3889,1732,0,0,0,0,0,0
$GC,10629,0.44,146.1,764.9,17.3,631,10633,0.00,1.88,0.00,0.000,6,0.000,0.036,1959,2701,1731,0,0,0,0,0,0
$GC,10962,0.44,146.1,713.0,15.7,647,10963,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2700,1731,0,0,0,0,0,0
$GC,11271,0.44,146.1,664.1,16.0,662,11275,0.00,1.98,0.00,0.000,4,0.000,0.057,1959,3892,1731,0,0,0,0,0,0
$GC,11339,0.44,146.1,651.8,18.9,665,11344,0.10,1.88,0.00,0.000,6,0.195,0.037,1927,2718,1730,0,0,0,0,0,0
$GC,11671,0.44,146.1,608.3,12.8,681,11672,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,2717,1730,0,0,0,0,0,0
$GC,11981,0.44,146.1,569.4,12.7,696,11983,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,2717,1730,0,0,0,0,0,0
$GC,12290,0.44,146.1,530.3,12.7,711,12291,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,2717,1730,0,0,0,0,0,0
$GC,12599,0.44,146.1,492.1,12.3,726,12600,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,2717,1730,0,0,0,0,0,0
$GC,12909,0.44,146.1,454.9,12.2,741,12911,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,2717,1730,0,0,0,0,0,0
$GC,13218,0.44,146.1,417.4,12.2,756,13219,0.00,0.00,0.00,0.000,6,0.000,0.000,1927,2717,1730,0,0,0,0,0,0
$GC,13529,0.44,146.1,380.1,12.0,771,13533,0.00,1.95,0.00,0.000,4,0.000,0.057,1927,3894,1730,0,0,0,0,0,0
$GC,13568,0.44,146.1,374.4,14.3,772,13577,0.00,1.90,0.00,0.000,6,0.000,0.036,1936,2701,1730,0,0,0,0,0,0
$GC,13885,0.44,146.1,336.0,12.1,788,13886,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2701,1730,0,0,0,0,0,0
$GC,14196,0.44,146.1,298.6,12.1,803,14197,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2701,1730,0,0,0,0,0,0
$GC,14503,0.44,146.1,263.0,11.5,818,14504,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2701,1730,0,0,0,0,0,0
$GC,14817,0.44,146.1,228.9,10.2,842,14821,0.00,1.98,0.00,0.000,4,0.000,0.057,1936,3891,1730,0,0,0,0,0,0
$GC,14865,0.44,146.1,223.4,12.1,846,14868,0.00,1.88,0.00,0.000,6,0.000,0.036,1945,2699,1730,0,0,0,0,0,0
$GC,15197,0.45,154.3,190.5,9.2,877,15206,0.00,0.00,5.68,1.087,6,0.000,0.000,1945,2699,1713,0,0,0,0,0,0
$GC,15525,0.47,188.0,162.4,8.1,908,15564,0.00,0.00,32.10,1.258,6,0.000,0.000,1945,2699,1575,0,0,0,0,0,0
$GC,15885,0.49,213.0,131.7,8.4,942,15905,0.00,0.00,18.30,1.165,6,0.000,0.000,1945,2699,1472,0,0,0,0,0,0
$GC,16223,0.52,238.8,102.4,8.4,974,16243,0.00,0.00,18.20,1.056,6,0.000,0.000,1945,2699,1367,0,0,0,0,0,0
$GC,16586,0.52,247.4,67.6,9.1,1035,16602,0.00,2.25,5.47,0.821,4,0.000,0.046,1955,1299,1331,0,0,0,0,0,0
$GC,16668,0.53,254.6,59.3,9.2,1048,16678,0.00,2.30,5.07,0.760,6,0.000,0.053,1955,2701,1303,0,0,0,0,0,0
$GC,16785,0.53,254.6,45.6,11.8,1067,16792,0.00,1.95,0.00,0.000,4,0.000,0.059,1955,3894,1299,0,0,0,0,0,0
$GC,16825,0.53,254.6,40.9,12.0,1073,16832,0.00,1.90,0.00,0.000,6,0.000,0.034,1962,2709,1299,0,0,0,0,0,0
$GC,16942,0.55,286.3,29.1,8.1,1092,16967,0.00,2.28,17.05,0.836,4,0.000,0.044,1973,1293,1173,0,0,0,0,0,0
$GC,17000,0.55,286.3,23.1,9.9,1100,17009,0.00,2.33,0.00,0.000,6,0.000,0.050,1973,2712,1169,0,0,0,0,0,0
$GC,17087,0.55,286.3,13.6,12.3,1113,17096,0.00,1.95,0.00,0.000,4,0.000,0.058,1973,3888,1168,0,0,0,0,0,0
$GC,17111,0.55,286.3,10.1,13.0,1116,17120,0.00,1.90,0.00,0.000,6,0.000,0.038,1981,2716,1168,0,0,0,0,0,0
$STATE,17170,end climb,SURFACE_DEPTH_REACHED
$STATE,17170,begin surface coast
$FINISH,1.4,1.026946
$STATE,17196,end surface coast,CONTROL_FINISHED_OK
$STATE,17196,begin surface
$SM_CCo,17270,0.00,0.000,0,0,1166,288.47
$SM_GC,2.22,5.30,0.00,0.00,0.063,0.000,0.000,58,2922,1166,-5.33,-0.20,288.47
$IRIDIUM_FIX,-5531.31,-42.20,010215,222237
$TT8_MAMPS,0.026215
$HUMID,57.75
$INTERNAL_PRESSURE,8.95509
$TCM_TEMP,7.40
$XPDR_PINGS,0
$24V_AH,21.5,57.903
$10V_AH,9.8,40.411
$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,13.050,70.100,391.200,0.000,0.000,50.884,43.781,434.671,0.000,0.000,23.200,2706.625,11376.685,502.216,3154.983,277.707,33.377,1490.301,0.000,2432.781,0.000,0.539,0.000
$DEVICE_MAMPS,227.205,61.965,1772.505,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,801.919,2334.542,1114.983,1145.098,0.000,0.000,0.000,0.000,0.000,0.000
$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,76978,1129
$CAP_FILE_SIZE,135775,0
$CFSIZE,259252224,205709312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,020215,033804,-5552.994,-40.103,33,0.9,33,-19.8