version: 66.07
glider: 542
mission: 9
dive: 301
start: 2 3 115 5 1 7
data:
$ID,542
$MISSION,9
$DIVE,301
$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,-22561.688
$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,31
$R_STBD_OVSHOOT,35
$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
$GPS1,030215,045105,-5604.823,-28.362,34,0.9,35,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-63.7
$GPS2,030215,050011,-5604.925,-28.158,13,1.4,14,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET1
$TGT_LATLONG,-5615.000,-2.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,0.030,-0.229
$KALMAN_X,329025.4,-1661.6,-662.6,-355762.6,8580.5
$KALMAN_Y,-117280.6,9.4,195.6,108258.5,-1550.8
$MHEAD_RNG_PITCHd_Wd,192.3,32749,-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,-33.80,0.000,2,0.000,0.000,46,2946,2018,0,0,0,0,0,0
$GC,53,-0.44,-146.1,3.1,-4.2,4,97,6.35,2.33,-30.58,0.000,4,0.226,0.052,1638,1507,2940,0,0,0,0,0,0
$GC,227,-0.44,-146.1,27.1,-13.4,30,236,0.00,2.33,0.00,0.000,6,0.000,0.052,1627,2913,2942,0,0,0,0,0,0
$GC,310,-0.44,-146.1,41.4,-18.9,43,317,0.00,1.62,0.00,0.000,4,0.000,0.059,1619,3900,2942,0,0,0,0,0,0
$GC,361,-0.44,-146.1,51.8,-20.9,51,368,0.00,1.55,0.00,0.000,6,0.000,0.031,1620,2891,2942,0,0,0,0,0,0
$GC,474,-0.44,-146.1,71.3,-15.7,70,483,0.00,1.70,0.00,0.000,4,0.000,0.058,1611,3899,2942,0,0,0,0,0,0
$GC,525,-0.44,-146.1,79.9,-17.3,78,534,0.00,1.48,0.00,0.000,6,0.000,0.031,1612,2929,2942,0,0,0,0,0,0
$GC,639,-0.44,-146.1,99.9,-17.8,97,646,0.12,0.00,0.00,0.000,6,0.192,0.000,1643,2928,2942,0,0,0,0,0,0
$GC,859,-0.44,-146.1,132.7,-14.9,118,862,0.00,1.62,0.00,0.000,4,0.000,0.059,1636,3896,2942,0,0,0,0,0,0
$GC,896,-0.44,-146.1,138.1,-15.5,121,899,0.00,1.48,0.00,0.000,6,0.000,0.031,1636,2929,2943,0,0,0,0,0,0
$GC,1227,-0.44,-146.1,186.2,-13.5,152,1231,0.00,1.62,0.00,0.000,4,0.000,0.060,1628,3892,2943,0,0,0,0,0,0
$GC,1287,-0.44,-146.1,193.8,-12.4,157,1291,0.00,1.45,0.00,0.000,6,0.000,0.031,1628,2934,2943,0,0,0,0,0,0
$GC,1618,-0.44,-146.1,235.9,-12.8,188,1621,0.00,1.62,0.00,0.000,4,0.000,0.060,1621,3896,2943,0,0,0,0,0,0
$GC,1760,-0.44,-146.1,254.0,-13.2,199,1763,0.00,1.48,0.00,0.000,6,0.000,0.031,1621,2923,2943,0,0,0,0,0,0
$GC,2094,-0.44,-146.1,299.0,-13.6,215,2097,0.00,1.65,0.00,0.000,4,0.000,0.059,1613,3919,2942,0,0,0,0,0,0
$GC,2201,-0.44,-146.1,314.8,-14.5,219,2210,0.08,1.50,0.00,0.000,6,0.166,0.030,1637,2934,2942,0,0,0,0,0,0
$GC,2519,-0.44,-146.1,353.2,-12.2,235,2521,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2933,2942,0,0,0,0,0,0
$GC,2828,-0.44,-146.1,390.8,-12.0,250,2829,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2933,2942,0,0,0,0,0,0
$GC,3136,-0.44,-146.1,426.3,-11.4,265,3137,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2933,2943,0,0,0,0,0,0
$GC,3446,-0.44,-146.1,462.9,-12.0,280,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2933,2942,0,0,0,0,0,0
$GC,3756,-0.44,-146.1,499.8,-11.8,295,3757,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2933,2942,0,0,0,0,0,0
$GC,4064,-0.44,-146.1,535.8,-11.5,310,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2933,2942,0,0,0,0,0,0
$GC,4374,-0.44,-146.1,571.9,-11.8,325,4375,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2933,2942,0,0,0,0,0,0
$GC,4684,-0.44,-146.1,607.1,-11.1,340,4685,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2933,2942,0,0,0,0,0,0
$GC,4992,-0.44,-146.1,643.3,-11.6,355,4996,0.00,1.62,0.00,0.000,4,0.000,0.060,1630,3900,2942,0,0,0,0,0,0
$GC,5024,-0.44,-146.1,647.5,-12.6,356,5029,0.00,1.48,0.00,0.000,6,0.000,0.030,1630,2920,2942,0,0,0,0,0,0
$GC,5350,-0.44,-146.1,686.4,-12.2,372,5351,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2918,2943,0,0,0,0,0,0
$GC,5656,-0.44,-146.1,723.3,-11.7,387,5659,0.00,1.65,0.00,0.000,4,0.000,0.059,1622,3918,2943,0,0,0,0,0,0
$GC,5694,-0.44,-146.1,728.3,-13.4,388,5701,0.00,1.50,0.00,0.000,6,0.000,0.030,1622,2920,2942,0,0,0,0,0,0
$GC,6011,-0.44,-146.1,767.1,-12.7,404,6012,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2919,2943,0,0,0,0,0,0
$GC,6319,-0.44,-146.1,805.5,-12.6,419,6323,0.00,1.65,0.00,0.000,4,0.000,0.060,1614,3920,2943,0,0,0,0,0,0
$GC,6357,-0.44,-146.1,810.8,-13.3,420,6365,0.08,1.50,0.00,0.000,6,0.161,0.030,1639,2940,2943,0,0,0,0,0,0
$GC,6674,-0.44,-146.1,844.9,-10.8,436,6675,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2940,2942,0,0,0,0,0,0
$GC,6983,-0.44,-146.1,878.1,-10.8,451,6984,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2940,2942,0,0,0,0,0,0
$GC,7292,-0.44,-146.1,910.6,-10.5,466,7293,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2940,2942,0,0,0,0,0,0
$GC,7601,-0.44,-146.1,942.6,-10.6,481,7605,0.00,1.60,0.00,0.000,4,0.000,0.060,1632,3894,2943,0,0,0,0,0,0
$GC,7648,-0.44,-146.1,947.8,-12.2,483,7652,0.00,1.48,0.00,0.000,6,0.000,0.031,1632,2916,2943,0,0,0,0,0,0
$GC,7981,-0.44,-146.1,984.7,-11.2,499,7985,0.00,2.05,0.00,0.000,4,0.000,0.037,1631,1557,2942,0,0,0,0,0,0
$GC,8008,-0.44,-146.1,988.0,-11.1,500,8013,0.00,2.25,0.00,0.000,6,0.000,0.052,1622,2927,2942,0,0,0,0,0,0
$STATE,8128,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8128,begin apogee
$GC,8133,-0.13,0.0,1001.8,11.9,506,8276,0.40,0.00,139.77,1.781,6,0.163,0.000,1739,2696,2342,0,0,0,0,0,0
$STATE,8276,end apogee,CONTROL_FINISHED_OK
$STATE,8276,begin climb
$GC,8279,0.44,146.1,1007.8,0.0,513,8440,0.65,2.47,151.15,1.750,4,0.123,0.040,1936,1346,1746,0,0,0,0,0,0
$GC,8463,0.46,165.9,995.8,8.7,521,8491,0.00,2.45,21.70,1.660,6,0.000,0.049,1936,2722,1665,0,0,0,0,0,0
$GC,8802,0.46,165.9,956.5,11.9,538,8805,0.00,1.95,0.00,0.000,4,0.000,0.057,1936,3897,1658,0,0,0,0,0,0
$GC,8824,0.46,165.9,953.2,13.0,539,8828,0.00,1.85,0.00,0.000,6,0.000,0.033,1945,2755,1657,0,0,0,0,0,0
$GC,9157,0.46,165.9,908.7,13.4,555,9159,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2754,1656,0,0,0,0,0,0
$GC,9466,0.46,165.9,866.4,13.7,570,9467,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2754,1655,0,0,0,0,0,0
$GC,9775,0.46,165.9,823.9,13.5,585,9776,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2754,1655,0,0,0,0,0,0
$GC,10085,0.46,165.9,782.6,13.5,600,10087,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2754,1655,0,0,0,0,0,0
$GC,10394,0.46,165.9,740.7,13.8,615,10395,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2754,1654,0,0,0,0,0,0
$GC,10704,0.46,165.9,699.2,13.0,630,10705,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2754,1654,0,0,0,0,0,0
$GC,11013,0.46,165.9,658.5,13.3,645,11014,0.00,0.00,0.00,0.000,6,0.000,0.000,1945,2754,1654,0,0,0,0,0,0
$GC,11322,0.46,165.9,616.0,13.8,660,11326,0.00,2.28,0.00,0.000,4,0.000,0.044,1956,1288,1653,0,0,0,0,0,0
$GC,11331,0.46,165.9,614.6,13.5,660,11336,0.00,2.30,0.00,0.000,6,0.000,0.047,1956,2721,1653,0,0,0,0,0,0
$GC,11654,0.46,165.9,568.2,14.5,676,11658,0.00,1.90,0.00,0.000,4,0.000,0.058,1956,3892,1653,0,0,0,0,0,0
$GC,11692,0.46,165.9,561.5,16.3,677,11699,0.00,1.88,0.00,0.000,6,0.000,0.034,1964,2706,1651,0,0,0,0,0,0
$GC,12009,0.46,165.9,513.0,15.4,693,12010,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,2706,1651,0,0,0,0,0,0
$GC,12317,0.46,165.9,465.1,15.6,708,12319,0.00,0.00,0.00,0.000,6,0.000,0.000,1964,2706,1651,0,0,0,0,0,0
$GC,12627,0.46,165.9,416.9,15.3,723,12631,0.00,1.98,0.00,0.000,4,0.000,0.057,1964,3909,1651,0,0,0,0,0,0
$GC,12650,0.46,165.9,413.1,15.8,724,12655,0.12,1.90,0.00,0.000,6,0.210,0.034,1945,2696,1650,0,0,0,0,0,0
$GC,12982,0.46,165.9,368.6,13.0,740,12986,0.00,1.95,0.00,0.000,4,0.000,0.057,1945,3890,1650,0,0,0,0,0,0
$GC,12997,0.46,165.9,366.3,13.3,740,13007,0.00,1.88,0.00,0.000,6,0.000,0.031,1953,2704,1651,0,0,0,0,0,0
$GC,13314,0.46,165.9,323.8,13.2,756,13315,0.00,0.00,0.00,0.000,6,0.000,0.000,1953,2704,1650,0,0,0,0,0,0
$GC,13625,0.46,165.9,284.6,11.9,771,13628,0.00,1.95,0.00,0.000,4,0.000,0.057,1953,3893,1650,0,0,0,0,0,0
$GC,13647,0.46,165.9,281.4,12.9,772,13651,0.00,1.85,0.00,0.000,6,0.000,0.034,1962,2712,1650,0,0,0,0,0,0
$GC,13972,0.46,165.9,242.1,11.8,790,13973,0.00,0.00,0.00,0.000,6,0.000,0.000,1962,2711,1650,0,0,0,0,0,0
$GC,14290,0.46,165.9,204.0,11.9,820,14294,0.00,1.95,0.00,0.000,4,0.000,0.057,1962,3887,1651,0,0,0,0,0,0
$GC,14352,0.46,165.9,196.1,14.2,825,14356,0.12,1.83,0.00,0.000,6,0.204,0.034,1943,2709,1650,0,0,0,0,0,0
$GC,14682,0.46,165.9,162.2,10.5,856,14686,0.00,2.22,0.00,0.000,4,0.000,0.045,1952,1293,1650,0,0,0,0,0,0
$GC,14715,0.46,165.9,158.8,9.7,858,14724,0.00,2.30,0.00,0.000,6,0.000,0.051,1953,2709,1650,0,0,0,0,0,0
$GC,15042,0.46,165.9,121.4,12.3,889,15045,0.00,1.92,0.00,0.000,4,0.000,0.058,1953,3899,1650,0,0,0,0,0,0
$GC,15067,0.46,165.9,118.1,13.0,891,15071,0.00,1.88,0.00,0.000,6,0.000,0.035,1962,2700,1650,0,0,0,0,0,0
$GC,15408,0.46,165.9,76.5,13.2,938,15417,0.00,2.00,0.00,0.000,4,0.000,0.057,1962,3890,1650,0,0,0,0,0,0
$GC,15459,0.46,165.9,69.9,13.6,946,15468,0.10,1.88,0.00,0.000,6,0.183,0.035,1942,2712,1650,0,0,0,0,0,0
$GC,15578,0.47,176.1,58.1,9.1,965,15585,0.00,0.00,4.65,0.798,6,0.000,0.000,1943,2711,1624,0,0,0,0,0,0
$GC,15692,0.51,235.4,48.5,6.9,984,15735,0.00,0.00,39.70,0.920,6,0.000,0.000,1942,2711,1381,0,0,0,0,0,0
$GC,15843,0.54,273.3,35.6,7.9,1008,15872,0.00,0.00,24.27,0.852,6,0.000,0.000,1942,2711,1226,0,0,0,0,0,0
$GC,15985,0.55,287.6,23.4,8.9,1030,16002,0.00,0.00,8.23,0.747,6,0.000,0.000,1942,2711,1169,0,0,0,0,0,0
$GC,16077,0.62,373.0,17.0,5.8,1044,16137,0.15,2.35,49.53,0.794,4,0.106,0.047,2006,1292,816,0,0,0,0,0,0
$GC,16164,0.62,373.0,5.8,14.5,1055,16173,0.00,2.35,0.00,0.000,6,0.000,0.046,2006,2716,811,0,0,0,0,0,0
$STATE,16181,end climb,SURFACE_DEPTH_REACHED
$STATE,16181,begin surface coast
$FINISH,1.3,1.023093
$STATE,16201,end surface coast,CONTROL_FINISHED_OK
$STATE,16201,begin surface
$SM_CCo,16275,0.00,0.000,0,0,808,376.28
$SM_GC,1.98,5.38,0.00,0.00,0.054,0.000,0.000,62,2925,808,-5.33,-0.11,376.28
$IRIDIUM_FIX,-5531.31,-38.41,020215,131353
$TT8_MAMPS,0.026215
$HUMID,56.57
$INTERNAL_PRESSURE,8.91603
$TCM_TEMP,7.00
$XPDR_PINGS,0
$24V_AH,21.4,59.112
$10V_AH,9.8,41.213
$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,13.550,90.075,439.000,0.000,0.000,29.206,42.496,330.400,0.000,0.000,16.622,2575.724,10508.552,489.361,2975.002,263.698,33.378,1529.017,0.000,2399.198,0.000,0.539,0.000
$DEVICE_MAMPS,226.440,60.435,1780.920,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,752.168,2206.587,1062.336,1098.946,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353908
$DATA_FILE_SIZE,73848,1060
$CAP_FILE_SIZE,137771,0
$CFSIZE,259252224,205242368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$GPS,030215,093335,-5607.720,-26.047,39,0.9,39,-19.9