version: 66.07
glider: 542
mission: 9
dive: 310
start: 2 5 115 2 29 41
data:
$ID,542
$MISSION,9
$DIVE,310
$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,-22593.266
$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,22
$R_STBD_OVSHOOT,22
$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
$GPS1,050215,021935,-5622.949,-0.192,30,0.9,30,-20.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-43.7
$GPS2,050215,022847,-5623.021,0.055,18,1.2,19,-20.1
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET1
$TGT_LATLONG,-5700.000,-2.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.212,-0.091
$KALMAN_X,339834.2,-353.8,-138.4,-339222.6,4205.0
$KALMAN_Y,-142987.0,872.6,525.5,99238.4,-6098.9
$MHEAD_RNG_PITCHd_Wd,266.8,68517,-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,-146.1,0.0,0.0,0,85,0.00,0.00,-65.70,0.000,2,0.000,0.000,45,2933,2221,0,0,0,0,0,0
$GC,88,-0.44,-146.1,3.2,-3.0,8,123,6.53,1.65,-22.73,0.000,4,0.230,0.079,1630,3898,2940,0,0,0,0,0,0
$GC,313,-0.44,-146.1,37.8,-15.7,43,320,0.00,1.58,0.00,0.000,6,0.000,0.031,1630,2883,2940,0,0,0,0,0,0
$GC,426,-0.44,-146.1,57.2,-15.4,62,434,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2882,2941,0,0,0,0,0,0
$GC,543,-0.44,-146.1,73.4,-12.1,81,549,0.00,0.00,0.00,0.000,6,0.000,0.000,1630,2882,2941,0,0,0,0,0,0
$GC,658,-0.44,-146.1,89.9,-13.9,100,665,0.00,1.73,0.00,0.000,4,0.000,0.060,1622,3903,2941,0,0,0,0,0,0
$GC,728,-0.44,-146.1,101.2,-14.7,112,732,0.00,1.50,0.00,0.000,6,0.000,0.032,1623,2924,2941,0,0,0,0,0,0
$GC,1061,-0.44,-146.1,151.7,-15.4,143,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,1623,2919,2942,0,0,0,0,0,0
$GC,1380,-0.44,-146.1,200.2,-14.5,173,1384,0.00,1.65,0.00,0.000,4,0.000,0.060,1615,3897,2942,0,0,0,0,0,0
$GC,1420,-0.44,-146.1,206.8,-15.2,176,1430,0.08,1.48,0.00,0.000,6,0.165,0.033,1638,2938,2942,0,0,0,0,0,0
$GC,1747,-0.44,-146.1,247.5,-12.4,207,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2937,2941,0,0,0,0,0,0
$GC,2056,-0.44,-146.1,286.2,-12.5,223,2057,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2938,2942,0,0,0,0,0,0
$GC,2363,-0.44,-146.1,322.5,-11.4,238,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2937,2941,0,0,0,0,0,0
$GC,2674,-0.44,-146.1,356.6,-11.0,253,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2937,2941,0,0,0,0,0,0
$GC,2984,-0.44,-146.1,389.8,-10.8,268,2985,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2937,2941,0,0,0,0,0,0
$GC,3291,-0.44,-146.1,424.9,-11.6,283,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2937,2942,0,0,0,0,0,0
$GC,3600,-0.44,-146.1,460.4,-11.3,298,3604,0.00,2.17,0.00,0.000,4,0.000,0.043,1639,1537,2941,0,0,0,0,0,0
$GC,3621,-0.44,-146.1,463.1,-11.7,299,3626,0.00,2.30,0.00,0.000,6,0.000,0.054,1628,2933,2941,0,0,0,0,0,0
$GC,3950,-0.44,-146.1,500.7,-11.6,315,3953,0.00,1.58,0.00,0.000,4,0.000,0.060,1621,3900,2941,0,0,0,0,0,0
$GC,3982,-0.44,-146.1,505.0,-12.6,316,3986,0.00,1.48,0.00,0.000,6,0.000,0.031,1621,2917,2941,0,0,0,0,0,0
$GC,4305,-0.44,-146.1,543.1,-12.0,332,4306,0.00,0.00,0.00,0.000,6,0.000,0.000,1621,2912,2941,0,0,0,0,0,0
$GC,4613,-0.44,-146.1,579.5,-11.7,347,4617,0.00,1.65,0.00,0.000,4,0.000,0.060,1613,3911,2941,0,0,0,0,0,0
$GC,4651,-0.44,-146.1,584.5,-13.3,348,4659,0.08,1.48,0.00,0.000,6,0.159,0.031,1638,2940,2941,0,0,0,0,0,0
$GC,4968,-0.44,-146.1,617.2,-10.3,364,4969,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2940,2941,0,0,0,0,0,0
$GC,5279,-0.44,-146.1,648.9,-10.2,379,5281,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2940,2941,0,0,0,0,0,0
$GC,5586,-0.44,-146.1,680.9,-10.4,394,5587,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2939,2941,0,0,0,0,0,0
$GC,5896,-0.44,-146.1,714.1,-10.7,409,5897,0.00,0.00,0.00,0.000,6,0.000,0.000,1638,2940,2941,0,0,0,0,0,0
$GC,6205,-0.44,-146.1,747.6,-10.9,424,6208,0.00,1.62,0.00,0.000,4,0.000,0.061,1631,3903,2941,0,0,0,0,0,0
$GC,6250,-0.44,-146.1,752.8,-12.0,426,6254,0.00,1.50,0.00,0.000,6,0.000,0.032,1631,2919,2941,0,0,0,0,0,0
$GC,6583,-0.44,-146.1,791.1,-11.6,442,6584,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2914,2941,0,0,0,0,0,0
$GC,6892,-0.44,-146.1,827.2,-11.8,457,6893,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2914,2941,0,0,0,0,0,0
$GC,7201,-0.44,-146.1,863.7,-12.0,472,7202,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2914,2941,0,0,0,0,0,0
$GC,7511,-0.44,-146.1,900.3,-11.6,487,7512,0.00,0.00,0.00,0.000,6,0.000,0.000,1631,2915,2941,0,0,0,0,0,0
$GC,7820,-0.44,-146.1,936.1,-11.6,502,7823,0.00,1.65,0.00,0.000,4,0.000,0.060,1623,3909,2941,0,0,0,0,0,0
$GC,7852,-0.44,-146.1,940.3,-12.9,503,7856,0.00,1.50,0.00,0.000,6,0.000,0.031,1623,2930,2941,0,0,0,0,0,0
$GC,8175,-0.44,-146.1,979.7,-12.2,519,8179,0.00,2.17,0.00,0.000,4,0.000,0.041,1623,1538,2941,0,0,0,0,0,0
$GC,8196,-0.44,-146.1,982.9,-13.1,520,8201,0.08,2.28,0.00,0.000,6,0.155,0.052,1638,2929,2941,0,0,0,0,0,0
$STATE,8356,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8356,begin apogee
$GC,8362,-0.13,0.0,1000.4,11.1,528,8505,0.35,0.00,139.60,1.765,6,0.154,0.000,1741,2717,2342,0,0,0,0,0,0
$STATE,8506,end apogee,CONTROL_FINISHED_OK
$STATE,8506,begin climb
$GC,8507,0.44,146.1,1007.2,0.0,535,8666,0.62,2.47,150.77,1.737,4,0.122,0.044,1932,1335,1746,0,0,0,0,0,0
$GC,8699,0.46,166.0,996.5,8.7,544,8726,0.00,2.47,21.75,1.655,6,0.000,0.049,1932,2731,1664,0,0,0,0,0,0
$GC,9044,0.46,166.0,961.2,10.6,561,9047,0.00,1.95,0.00,0.000,4,0.000,0.057,1932,3896,1658,0,0,0,0,0,0
$GC,9072,0.46,166.0,957.5,12.6,562,9076,0.00,1.90,0.00,0.000,6,0.000,0.036,1941,2731,1657,0,0,0,0,0,0
$GC,9398,0.46,166.0,920.3,11.4,578,9402,0.00,2.28,0.00,0.000,4,0.000,0.047,1952,1287,1656,0,0,0,0,0,0
$GC,9430,0.46,166.0,916.8,10.1,579,9437,0.00,2.30,0.00,0.000,6,0.000,0.049,1951,2718,1656,0,0,0,0,0,0
$GC,9746,0.46,166.0,877.7,12.6,595,9750,0.00,1.92,0.00,0.000,4,0.000,0.057,1951,3889,1655,0,0,0,0,0,0
$GC,9792,0.46,166.0,871.2,14.1,597,9796,0.00,1.88,0.00,0.000,6,0.000,0.037,1960,2703,1653,0,0,0,0,0,0
$GC,10125,0.46,166.0,826.8,13.2,613,10127,0.00,0.00,0.00,0.000,6,0.000,0.000,1960,2704,1653,0,0,0,0,0,0
$GC,10434,0.46,166.0,786.1,13.2,628,10435,0.00,0.00,0.00,0.000,6,0.000,0.000,1961,2704,1653,0,0,0,0,0,0
$GC,10743,0.46,166.0,744.0,13.8,643,10747,0.00,1.98,0.00,0.000,4,0.000,0.057,1960,3884,1653,0,0,0,0,0,0
$GC,10776,0.46,166.0,738.6,15.6,644,10781,0.12,1.83,0.00,0.000,6,0.213,0.036,1942,2705,1652,0,0,0,0,0,0
$GC,11097,0.46,166.0,698.5,12.4,660,11099,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2705,1652,0,0,0,0,0,0
$GC,11407,0.46,166.0,661.0,12.1,675,11408,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2705,1652,0,0,0,0,0,0
$GC,11717,0.46,166.0,622.2,12.7,690,11718,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2705,1652,0,0,0,0,0,0
$GC,12025,0.46,166.0,582.4,13.0,705,12027,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2705,1652,0,0,0,0,0,0
$GC,12336,0.46,166.0,542.9,12.5,720,12337,0.00,0.00,0.00,0.000,6,0.000,0.000,1942,2705,1652,0,0,0,0,0,0
$GC,12644,0.46,166.0,503.9,12.4,735,12645,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2705,1652,0,0,0,0,0,0
$GC,12953,0.46,166.0,466.4,11.9,750,12955,0.00,0.00,0.00,0.000,6,0.000,0.000,1941,2705,1652,0,0,0,0,0,0
$GC,13264,0.46,166.0,430.1,11.8,765,13267,0.00,1.95,0.00,0.000,4,0.000,0.056,1941,3887,1652,0,0,0,0,0,0
$GC,13296,0.46,166.0,425.4,14.5,766,13300,0.00,1.88,0.00,0.000,6,0.000,0.035,1949,2708,1651,0,0,0,0,0,0
$GC,13618,0.46,166.0,385.7,12.3,782,13619,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2707,1651,0,0,0,0,0,0
$GC,13930,0.46,166.0,345.8,13.5,797,13931,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2707,1651,0,0,0,0,0,0
$GC,14237,0.46,166.0,302.7,14.2,812,14238,0.00,0.00,0.00,0.000,6,0.000,0.000,1950,2708,1651,0,0,0,0,0,0
$GC,14548,0.46,166.0,262.5,12.5,827,14549,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2707,1651,0,0,0,0,0,0
$GC,14862,0.46,166.0,224.5,11.4,852,14863,0.00,0.00,0.00,0.000,6,0.000,0.000,1949,2707,1651,0,0,0,0,0,0
$GC,15181,0.46,166.0,187.9,11.3,882,15185,0.00,1.95,0.00,0.000,4,0.000,0.056,1949,3889,1651,0,0,0,0,0,0
$GC,15221,0.46,166.0,182.5,13.6,885,15228,0.00,1.85,0.00,0.000,6,0.000,0.036,1959,2703,1651,0,0,0,0,0,0
$GC,15546,0.46,166.0,148.7,10.6,916,15547,0.00,0.00,0.00,0.000,6,0.000,0.000,1959,2703,1651,0,0,0,0,0,0
$GC,15868,0.46,166.0,114.8,10.8,946,15872,0.00,2.20,0.00,0.000,4,0.000,0.047,1969,1291,1651,0,0,0,0,0,0
$GC,15911,0.46,166.0,110.1,10.6,949,15916,0.12,2.28,0.00,0.000,6,0.185,0.050,1940,2719,1651,0,0,0,0,0,0
$GC,16257,0.46,166.0,79.4,10.1,999,16264,0.00,1.90,0.00,0.000,4,0.000,0.057,1939,3877,1650,0,0,0,0,0,0
$GC,16297,0.46,166.0,74.9,11.6,1005,16304,0.00,1.85,0.00,0.000,6,0.000,0.036,1947,2710,1650,0,0,0,0,0,0
$GC,16410,0.46,166.0,62.0,10.1,1024,16419,0.00,0.00,0.00,0.000,6,0.000,0.000,1947,2709,1650,0,0,0,0,0,0
$GC,16526,0.49,207.9,52.3,7.7,1043,16562,0.00,2.22,29.02,0.929,4,0.000,0.044,1958,1297,1494,0,0,0,0,0,0
$GC,16596,0.53,260.0,47.3,7.3,1053,16642,0.00,2.28,38.15,0.890,6,0.000,0.048,1958,2719,1279,0,0,0,0,0,0
$GC,16749,0.54,274.4,33.4,8.9,1077,16765,0.00,2.28,9.35,0.792,4,0.000,0.043,1968,1296,1221,0,0,0,0,0,0
$GC,16792,0.62,364.2,30.4,5.6,1083,16864,0.00,2.33,61.17,0.838,6,0.000,0.049,1968,2728,855,0,0,0,0,0,0
$GC,16942,0.68,449.4,18.9,5.8,1104,16999,0.12,0.00,51.42,0.776,6,0.099,0.000,2013,2728,505,0,0,0,0,0,0
$STATE,17043,end climb,SURFACE_DEPTH_REACHED
$STATE,17043,begin surface coast
$FINISH,1.1,1.026977
$STATE,17064,end surface coast,CONTROL_FINISHED_OK
$STATE,17065,begin surface
$SM_CCo,17138,0.00,0.000,0,0,493,453.55
$SM_GC,1.58,5.45,0.00,0.00,0.056,0.000,0.000,58,2938,493,-5.32,0.23,453.55
$IRIDIUM_FIX,-5554.28,0.00,040215,212122
$TT8_MAMPS,0.026215
$HUMID,57.79
$INTERNAL_PRESSURE,8.88673
$TCM_TEMP,6.80
$XPDR_PINGS,0
$24V_AH,21.3,60.912
$10V_AH,9.8,42.442
$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,13.550,77.500,501.250,0.000,0.000,28.089,41.372,333.939,0.000,0.000,21.016,2677.255,11146.761,519.806,3051.254,285.172,33.372,1590.344,0.000,2460.706,0.000,0.540,0.000
$DEVICE_MAMPS,229.500,78.795,1764.855,0.000,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,794.986,2310.656,1101.934,1143.843,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353888
$DATA_FILE_SIZE,77232,1121
$CAP_FILE_SIZE,137419,0
$CFSIZE,259252224,204550144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,050215,071633,-5626.017,-2.889,36,1.1,40,-20.0