version: 66.07
glider: 542
mission: 9
dive: 137
start: 1 1 115 11 1 36
data:
$ID,542
$MISSION,9
$DIVE,137
$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,-22041.061
$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,23
$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
$GPS1,010115,105229,-5548.921,-27.161,40,0.9,40,-19.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-70.6
$GPS2,010115,110042,-5548.935,-27.083,13,1.1,13,-19.9
$SPEED_LIMITS,0.165,0.231
$TGT_NAME,TARGET2
$TGT_LATLONG,-5545.000,-30.000
$TGT_RADIUS,4000.000
$KALMAN_CONTROL,-0.095,0.210
$KALMAN_X,73406.9,-101.4,12.0,-101305.3,2018.6
$KALMAN_Y,9704.5,428.4,568.6,10086.1,-4458.7
$MHEAD_RNG_PITCHd_Wd,355.5,7897,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,16,-0.44,-146.1,0.0,0.0,0,52,0.00,0.00,-33.80,0.000,2,0.000,0.000,57,2926,2240,0,0,0,0,0,0
$GC,54,-0.44,-146.1,3.1,-4.3,4,97,6.55,2.28,-25.73,0.000,4,0.252,0.057,1639,1508,2940,0,0,0,0,0,0
$GC,142,-0.44,-146.1,11.1,-12.9,16,151,0.00,2.35,0.00,0.000,6,0.000,0.055,1628,2925,2941,0,0,0,0,0,0
$GC,227,-0.44,-146.1,24.5,-16.8,29,236,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2926,2941,0,0,0,0,0,0
$GC,309,-0.44,-146.1,38.5,-17.0,42,317,0.00,0.00,0.00,0.000,6,0.000,0.000,1628,2926,2940,0,0,0,0,0,0
$GC,422,-0.44,-146.1,56.4,-15.4,61,428,0.00,0.00,0.00,0.000,6,0.000,0.000,1629,2926,2941,0,0,0,0,0,0
$GC,534,-0.44,-146.1,74.1,-15.6,80,543,0.00,1.60,0.00,0.000,4,0.000,0.062,1621,3904,2941,0,0,0,0,0,0
$GC,578,-0.44,-146.1,81.3,-16.6,87,586,0.00,1.58,0.00,0.000,6,0.000,0.034,1621,2893,2941,0,0,0,0,0,0
$GC,814,-0.44,-146.1,115.4,-14.6,119,818,0.00,1.67,0.00,0.000,4,0.000,0.061,1613,3896,2941,0,0,0,0,0,0
$GC,872,-0.44,-146.1,124.6,-16.0,124,876,0.08,1.50,0.00,0.000,6,0.184,0.034,1636,2930,2941,0,0,0,0,0,0
$GC,1204,-0.44,-146.1,168.1,-12.1,155,1208,0.00,2.12,0.00,0.000,4,0.000,0.041,1637,1530,2941,0,0,0,0,0,0
$GC,1237,-0.44,-146.1,172.4,-10.9,157,1245,0.00,2.30,0.00,0.000,6,0.000,0.054,1626,2935,2941,0,0,0,0,0,0
$GC,1562,-0.44,-146.1,211.9,-12.0,188,1566,0.00,1.58,0.00,0.000,4,0.000,0.062,1619,3906,2941,0,0,0,0,0,0
$GC,1624,-0.44,-146.1,220.5,-13.5,193,1632,0.00,1.50,0.00,0.000,6,0.000,0.033,1619,2919,2942,0,0,0,0,0,0
$GC,1949,-0.44,-146.1,264.8,-14.0,219,1952,0.00,1.62,0.00,0.000,4,0.000,0.062,1610,3929,2941,0,0,0,0,0,0
$GC,1997,-0.44,-146.1,271.9,-15.1,221,2001,0.10,1.52,0.00,0.000,6,0.182,0.033,1656,2940,2941,0,0,0,0,0,0
$GC,2331,-0.44,-146.1,308.9,-10.7,237,2332,0.00,0.00,0.00,0.000,6,0.000,0.000,1656,2940,2941,0,0,0,0,0,0
$GC,2638,-0.44,-146.1,341.2,-10.5,252,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,1656,2940,2941,0,0,0,0,0,0
$GC,2950,-0.44,-146.1,371.7,-9.5,267,2951,0.00,0.00,0.00,0.000,6,0.000,0.000,1656,2940,2941,0,0,0,0,0,0
$GC,3258,-0.44,-146.1,399.5,-9.0,282,3259,0.00,0.00,0.00,0.000,6,0.000,0.000,1656,2940,2941,0,0,0,0,0,0
$GC,3566,-0.44,-146.1,427.6,-9.2,297,3567,0.00,0.00,0.00,0.000,6,0.000,0.000,1656,2940,2942,0,0,0,0,0,0
$GC,3876,-0.44,-146.1,457.7,-9.9,312,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,1655,2940,2941,0,0,0,0,0,0
$GC,4184,-0.44,-146.1,490.9,-11.1,327,4185,0.00,0.00,0.00,0.000,6,0.000,0.000,1656,2940,2941,0,0,0,0,0,0
$GC,4494,-0.44,-146.1,524.2,-10.7,342,4497,0.00,2.12,0.00,0.000,4,0.000,0.041,1656,1533,2942,0,0,0,0,0,0
$GC,4534,-0.44,-146.1,528.3,-10.0,344,4538,0.00,2.22,0.00,0.000,6,0.000,0.054,1646,2934,2942,0,0,0,0,0,0
$GC,4860,-0.44,-146.1,565.1,-11.5,360,4861,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2935,2942,0,0,0,0,0,0
$GC,5169,-0.44,-146.1,601.0,-11.4,375,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2934,2942,0,0,0,0,0,0
$GC,5479,-0.44,-146.1,635.9,-10.7,390,5480,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2935,2942,0,0,0,0,0,0
$GC,5788,-0.44,-146.1,668.4,-10.2,405,5789,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2935,2942,0,0,0,0,0,0
$GC,6097,-0.44,-146.1,699.1,-10.0,420,6098,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2934,2942,0,0,0,0,0,0
$GC,6407,-0.44,-146.1,729.1,-9.6,435,6408,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2935,2942,0,0,0,0,0,0
$GC,6716,-0.44,-146.1,759.4,-9.6,450,6717,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2935,2942,0,0,0,0,0,0
$GC,7026,-0.44,-146.1,789.2,-9.6,465,7027,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2935,2942,0,0,0,0,0,0
$GC,7335,-0.44,-146.1,819.3,-9.8,480,7336,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2935,2942,0,0,0,0,0,0
$GC,7644,-0.44,-146.1,849.9,-9.7,495,7645,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2935,2942,0,0,0,0,0,0
$GC,7954,-0.44,-146.1,880.7,-10.0,510,7955,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2935,2942,0,0,0,0,0,0
$GC,8263,-0.44,-146.1,912.2,-10.3,525,8264,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2935,2942,0,0,0,0,0,0
$GC,8572,-0.44,-146.1,944.6,-10.6,540,8573,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2935,2942,0,0,0,0,0,0
$GC,8882,-0.44,-146.1,977.7,-10.6,555,8883,0.00,0.00,0.00,0.000,6,0.000,0.000,1646,2935,2942,0,0,0,0,0,0
$STATE,9107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9107,begin apogee
$GC,9111,-0.13,0.0,1000.2,9.7,566,9250,0.32,0.00,134.48,1.786,6,0.166,0.000,1741,2714,2342,0,0,0,0,0,0
$STATE,9251,end apogee,CONTROL_FINISHED_OK
$STATE,9251,begin climb
$GC,9253,0.44,146.1,1005.2,0.0,573,9403,0.65,0.00,147.52,1.731,6,0.127,0.000,1926,2714,1745,0,0,0,0,0,0
$GC,9698,0.44,146.1,958.0,11.9,595,9699,0.00,0.00,0.00,0.000,6,0.000,0.000,1926,2714,1737,0,0,0,0,0,0
$GC,10008,0.44,146.1,921.5,11.8,610,10012,0.00,2.03,0.00,0.000,4,0.000,0.060,1926,3896,1735,0,0,0,0,0,0
$GC,10055,0.44,146.1,915.3,14.3,612,10059,0.00,1.88,0.00,0.000,6,0.000,0.036,1935,2724,1734,0,0,0,0,0,0
$GC,10387,0.44,146.1,871.6,12.8,628,10391,0.00,2.25,0.00,0.000,4,0.000,0.046,1946,1292,1733,0,0,0,0,0,0
$GC,10429,0.44,146.1,866.3,11.2,630,10434,0.00,2.35,0.00,0.000,6,0.000,0.052,1946,2729,1733,0,0,0,0,0,0
$GC,10758,0.44,146.1,822.0,14.0,646,10761,0.00,1.90,0.00,0.000,4,0.000,0.059,1946,3898,1732,0,0,0,0,0,0
$GC,10803,0.44,146.1,814.5,16.6,648,10806,0.00,1.88,0.00,0.000,6,0.000,0.035,1955,2700,1731,0,0,0,0,0,0
$GC,11135,0.44,146.1,764.1,15.0,664,11137,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2699,1731,0,0,0,0,0,0
$GC,11444,0.44,146.1,717.0,15.2,679,11445,0.00,0.00,0.00,0.000,6,0.000,0.000,1955,2700,1731,0,0,0,0,0,0
$GC,11753,0.44,146.1,669.9,15.2,694,11757,0.00,1.98,0.00,0.000,4,0.000,0.057,1955,3893,1730,0,0,0,0,0,0
$GC,11803,0.44,146.1,661.3,18.0,696,11807,0.08,1.90,0.00,0.000,6,0.204,0.036,1935,2702,1730,0,0,0,0,0,0
$GC,12130,0.44,146.1,617.5,13.2,712,12131,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2702,1730,0,0,0,0,0,0
$GC,12439,0.44,146.1,574.3,14.1,727,12440,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2701,1730,0,0,0,0,0,0
$GC,12749,0.44,146.1,529.7,14.7,742,12750,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2701,1729,0,0,0,0,0,0
$GC,13058,0.44,146.1,485.1,14.1,757,13059,0.00,0.00,0.00,0.000,6,0.000,0.000,1936,2701,1730,0,0,0,0,0,0
$GC,13367,0.44,146.1,441.2,14.2,772,13368,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2701,1729,0,0,0,0,0,0
$GC,13677,0.44,146.1,398.3,13.5,787,13678,0.00,0.00,0.00,0.000,6,0.000,0.000,1935,2701,1730,0,0,0,0,0,0
$GC,13987,0.44,146.1,357.3,13.1,802,13991,0.00,1.92,0.00,0.000,4,0.000,0.058,1935,3894,1729,0,0,0,0,0,0
$GC,14025,0.44,146.1,351.2,15.1,803,14033,0.00,1.90,0.00,0.000,6,0.000,0.036,1943,2703,1729,0,0,0,0,0,0
$GC,14344,0.44,146.1,308.6,13.6,819,14345,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2702,1729,0,0,0,0,0,0
$GC,14651,0.44,146.1,268.0,12.4,834,14652,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2702,1729,0,0,0,0,0,0
$GC,14968,0.44,146.1,228.9,12.7,857,14969,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2702,1729,0,0,0,0,0,0
$GC,15286,0.44,146.1,192.0,11.2,887,15287,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2702,1729,0,0,0,0,0,0
$GC,15607,0.44,146.1,158.5,9.7,917,15613,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2703,1729,0,0,0,0,0,0
$GC,15932,0.44,146.1,126.1,10.0,948,15933,0.00,0.00,0.00,0.000,6,0.000,0.000,1944,2703,1729,0,0,0,0,0,0
$GC,16254,0.44,146.1,93.6,10.5,983,16261,0.00,2.20,0.00,0.000,4,0.000,0.046,1954,1281,1729,0,0,0,0,0,0
$GC,16342,0.46,168.6,85.1,8.5,998,16358,0.00,2.25,9.15,1.014,6,0.000,0.053,1954,2717,1654,0,0,0,0,0,0
$GC,16592,0.46,168.6,58.4,9.9,1040,16601,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2717,1650,0,0,0,0,0,0
$GC,16708,0.46,168.6,46.1,11.2,1059,16715,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2717,1649,0,0,0,0,0,0
$GC,16822,0.46,168.6,33.6,10.6,1078,16830,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2717,1649,0,0,0,0,0,0
$GC,16941,0.46,168.6,19.7,10.7,1097,16949,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2717,1649,0,0,0,0,0,0
$GC,17026,0.46,168.6,10.7,11.0,1110,17035,0.00,0.00,0.00,0.000,6,0.000,0.000,1954,2717,1649,0,0,0,0,0,0
$STATE,17102,end climb,SURFACE_DEPTH_REACHED
$STATE,17102,begin surface coast
$FINISH,1.1,1.015773
$STATE,17141,end surface coast,CONTROL_FINISHED_OK
$STATE,17141,begin surface
$SM_CCo,17153,12.77,0.176,0,0,1523,200.16
$SM_GC,3.38,0.00,0.00,12.77,0.000,0.000,0.176,60,2934,1523,-5.40,0.08,200.16
$IRIDIUM_FIX,-5531.31,-237.73,010115,060603
$TT8_MAMPS,0.026215
$HUMID,56.65
$INTERNAL_PRESSURE,8.96486
$TCM_TEMP,7.00
$XPDR_PINGS,0
$24V_AH,21.9,30.081
$10V_AH,10.0,19.791
$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,12.800,51.050,291.150,12.775,0.000,26.776,40.901,303.618,0.000,0.000,16.222,2723.058,11318.892,430.864,2975.749,207.898,33.371,1371.070,0.000,2433.673,0.000,0.540,0.000
$DEVICE_MAMPS,251.685,65.790,1786.275,175.950,0.000,91.800,160.000,223.000,420.000,0.000,31.460,14.460,2.190,14.460,42.170,49.660,68.390,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,803.149,2339.990,1132.127,1152.731,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,17.980,105.000,17.980,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,353848
$DATA_FILE_SIZE,77045,1128
$CAP_FILE_SIZE,126695,0
$CFSIZE,259252224,217645056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010115,154859,-5547.620,-28.297,41,0.8,41,-19.9